一种嵌入式车载网络系统的研究与设计
摘要
电子技术在汽车上的广泛应用使得智能传感器、电子执行器和电控单元急剧增加,各种通信设备陆续地在汽车上得到应用。随之而来,在汽车中的电气配线以及各种信号线越来越多,导致系统运行的可靠性下降、故障率增加。为了实现各个单元状态信息的共享、提高系统的可靠性,各种网络技术被引入到汽车中,车载网络技术成为研究热点之一。因此,本文开展嵌入式车载网络系统的研究与设计。
经典CAN总线网络能够很好地实现传输速率在500kbps以下的电控单元之间的信息交换；近几年发展迅速的LIN总线主要是针对简单的传感器-执行器之间数据传输而设计的一种总线,适合于在传输数据量更小、速率要求更低的设备之间传输数据；新型MOST总线非常适合汽车媒体设备应用环境的要求,汽车行业已经把MOST技术作为将来汽车媒体系统的一个标准。
本文重点分析了目前广泛使用的LIN总线、CAN总线以及MOST总线,结合各自总线的特点,设计了基于以上三种总线的车载网络系统。在本车载网络系统中,三种总线各自的分工如下：对于低速的传感器-执行器装置使用LIN总线；对于实时性要求高的汽车电子装置使用CAN总线；对于高速传输数据、要求严格的车载电子装置使用MOST总线。
基于以上思路,设计了基于ARM的嵌入式车载网络控制器。该系统的硬件平台主要由以下几部分组成：核心处理器S3C2440、扩展存储器SDRAM和NAND-Flash、LIN总线驱动器MC33661、CAN总线控制器SJA1000与收发器PCA82C250、MOST总线控制OS8104与光纤收发器MIT401/MIR401。
根据嵌入式系统软件设计的一般方法并结合硬件电路,完成了系统各部分硬件的底层驱动。详细论述了嵌入式Linux内核的移植,Yaffs根文件系统的制作、LCD显示设备驱动程序、LIN总线、CAN总线以及MOST总线驱动程序的实现方法。
针对车载网络中三种网络总线,论述了这些总线应用软件的实现,重点介绍总线数据帧格式的制定、一些重要函数的实现以及对远程诊断程序进行调试。
The widespread application of car electronic technology to automobile causes the smart sensor, the electronic actuator and electrically controlled unit to grow sharply, and every kind of communication equipments are applied to automobile one after another. Subsequently, more and more electrical wires as well as a variety of signal lines in automobile causes the operational reliability of system to drop, the failure rate to increase. In order to achieve each unit status information sharing, improve system reliability, a variety of network technologies have been introduced into the car, vehicle networking technology to become one of the research focus. Therefore, this paper thoroughly researched and designed embedded automotive network system.
Classic CAN bus network can be a good solution to control the electronic controlled unit, the transmission rate of which is less than500kbps. The rapidly developed LIN bus in recent years is a kind of bus which is designed for data transmission between simple sensors and actuators, effectively improving the utilization rate of the CAN bus. The new MOST bus is very suitable for the requirement of the vehicle media device application environment, the MOST technology has been regarded as a standard of car media system in the future by automotive industry.
This paper focuses on the current widely used LIN bus, CAN bus and MOST bus, designs a vehicle network system based on the above three bus in connection with their respective requirement for application. For the three bus of this vehicle network system, their respective division of work are as follows:LIN bus is used for low-speed sensor-actuator device; CAN bus is used for automotive electronic devices requiring better real-time; the MOST bus is used for automotive electronic device requiring high-speed transmission of data.
ARM-based embedded vehicle network controller is designed based on the above classification structure of vehicle bus. The hardware platform of this system consists of the following parts:core processor S3C2440, extended memory SDRAM, NAND-Flash, the LIN bus drive MC33661, CAN bus controller SJA1000, transceiver PCA82C250, MOST bus controller OS8104and optic fiber transceiver MIT401/ MIR401.
Bottom divers of various parts of hardware in this system are completed according to the general method of software design of the embedded system as well as hardware circuitry. The transplantation of embedded Linux kernel, production of Yaffs root file system, LCD display driver, the realizing method of driver of LIN bus, CAN bus and MOST bus are discussed in detail.
In connection with the three network bus in vehicle network, the realization of these bus application software is discussed, the formulation of the bus data frame format, realization of some important functions as well as debugging remote diagnosis program are emphasized.
经典CAN总线网络能够很好地实现传输速率在500kbps以下的电控单元之间的信息交换；近几年发展迅速的LIN总线主要是针对简单的传感器-执行器之间数据传输而设计的一种总线,适合于在传输数据量更小、速率要求更低的设备之间传输数据；新型MOST总线非常适合汽车媒体设备应用环境的要求,汽车行业已经把MOST技术作为将来汽车媒体系统的一个标准。
本文重点分析了目前广泛使用的LIN总线、CAN总线以及MOST总线,结合各自总线的特点,设计了基于以上三种总线的车载网络系统。在本车载网络系统中,三种总线各自的分工如下：对于低速的传感器-执行器装置使用LIN总线；对于实时性要求高的汽车电子装置使用CAN总线；对于高速传输数据、要求严格的车载电子装置使用MOST总线。
基于以上思路,设计了基于ARM的嵌入式车载网络控制器。该系统的硬件平台主要由以下几部分组成：核心处理器S3C2440、扩展存储器SDRAM和NAND-Flash、LIN总线驱动器MC33661、CAN总线控制器SJA1000与收发器PCA82C250、MOST总线控制OS8104与光纤收发器MIT401/MIR401。
根据嵌入式系统软件设计的一般方法并结合硬件电路,完成了系统各部分硬件的底层驱动。详细论述了嵌入式Linux内核的移植,Yaffs根文件系统的制作、LCD显示设备驱动程序、LIN总线、CAN总线以及MOST总线驱动程序的实现方法。
针对车载网络中三种网络总线,论述了这些总线应用软件的实现,重点介绍总线数据帧格式的制定、一些重要函数的实现以及对远程诊断程序进行调试。
The widespread application of car electronic technology to automobile causes the smart sensor, the electronic actuator and electrically controlled unit to grow sharply, and every kind of communication equipments are applied to automobile one after another. Subsequently, more and more electrical wires as well as a variety of signal lines in automobile causes the operational reliability of system to drop, the failure rate to increase. In order to achieve each unit status information sharing, improve system reliability, a variety of network technologies have been introduced into the car, vehicle networking technology to become one of the research focus. Therefore, this paper thoroughly researched and designed embedded automotive network system.
Classic CAN bus network can be a good solution to control the electronic controlled unit, the transmission rate of which is less than500kbps. The rapidly developed LIN bus in recent years is a kind of bus which is designed for data transmission between simple sensors and actuators, effectively improving the utilization rate of the CAN bus. The new MOST bus is very suitable for the requirement of the vehicle media device application environment, the MOST technology has been regarded as a standard of car media system in the future by automotive industry.
This paper focuses on the current widely used LIN bus, CAN bus and MOST bus, designs a vehicle network system based on the above three bus in connection with their respective requirement for application. For the three bus of this vehicle network system, their respective division of work are as follows:LIN bus is used for low-speed sensor-actuator device; CAN bus is used for automotive electronic devices requiring better real-time; the MOST bus is used for automotive electronic device requiring high-speed transmission of data.
ARM-based embedded vehicle network controller is designed based on the above classification structure of vehicle bus. The hardware platform of this system consists of the following parts:core processor S3C2440, extended memory SDRAM, NAND-Flash, the LIN bus drive MC33661, CAN bus controller SJA1000, transceiver PCA82C250, MOST bus controller OS8104and optic fiber transceiver MIT401/ MIR401.
Bottom divers of various parts of hardware in this system are completed according to the general method of software design of the embedded system as well as hardware circuitry. The transplantation of embedded Linux kernel, production of Yaffs root file system, LCD display driver, the realizing method of driver of LIN bus, CAN bus and MOST bus are discussed in detail.
In connection with the three network bus in vehicle network, the realization of these bus application software is discussed, the formulation of the bus data frame format, realization of some important functions as well as debugging remote diagnosis program are emphasized.
引文
[1]刘林森.欧盟：以“环保出行”减缓“汽车灾难”[J].观察与思考,2007(03)：49-50.
[2]湖南大学汽车车身先进设计制造国家重点实验室.第五届国际汽车交通安全学术会议,长沙,2007[C].长沙：湖南大学汽车车身先进设计制造国家重点实验室,2008.
[3]宁焕生,张彦RFID与物联网射频、中间件、解析与服务[M].北京：电子工业出版,2008：121-124.
[4]Trigg, Gayle. The Internet of Things, or Just Things on the Internet?[J]. World Communications Regulation Report.2008,3(11):1750-1784.
[5]王建强,吴辰文,李晓军.车联网架构与关键技术研究[J].微计算机信息,2011,27(4)156-158.
[6]Joao Borges de Sousa, Bernardo Maciel, Fernando Lobo Pereira. Sensor systems on networked vehicles[J]. Networks and Heterogeneous Media.2009,4(2):1556-1801.
[7]Baronti F,Petri E,Saponara S,Fanucci L, et al. Design and Verification of Hardware Building Blocks for High-Speed and Fault-Tolerant In-Vehicle Networks[J]. Industrial Electronics, IEEE Transactions on,2011,58 (3):792-801.
[8]姚钢.新能源汽车技术挑战的解决之策[J].电子设计技术,2010(09)：38-40.
[9]王景东.车联网：引领网络汽车新时代[J].运输经理世界,2011(Z1)：117-118.
[10]胡雨平.新物联网框架探讨[J].杭州科技,2011(01)：38-39.
[11]徐翠苹.车联网：缘起与归宿[J].通讯世界,2011,192(Z1)：40-43.
[12]Robert I. Davis, Alan Burns, Reinder J. Bril. Controller Area Network (CAN) schedulability analysis:Refuted, revisited and revised[J]. Real-Time Systems,2007,35 (3):239-272.
[13]Kren, Lawrence. Networks For Cars[J]. Machine Design,2000,72 (7):46.
[14]Henry Muyshondt. Media Oriented Systems Transport (MOST～®): A High-speed Multimedia and Control Bus[J]. Electronic Component News,2006,50 (9):25-26,28.
[15]Carmody, Thomas. Bluetooth Paves the Way for Truly Wireless Car Interiors[J]. Electronic Component News,2007,51 (2):28-30.
[16]黄斌,贺继林,何清华,等,基于CAN总线的高性能倒车雷达设计[J].工业控制计算机,2007(5)：74-76.
[17]郭鹏,赵玉超,基于LIN总线的重型载货汽车开关控制网络设计[J].汽车电器,2012(2)：4-7.
[18]仙人掌,无忧驾驶小助手第三方智能行车App[J].移动信息,2012(Z1)：209.
[19]葛步凯,陈海军,MOST网络协议在车辆上的应用[J].电子产品世界,2007(12)：140-14.
[20]洪魁元,嵌入式汽车网络系统的软件设计[D].杭州：浙江大学,2007.
[21]Daniel Watzenig,Eric Armengaud. Automotive Embedded Systems[J]. e & i Elektrotechnik und Informationstechnik,2011,128 (6):189.
[22]杨辉；.王毅,物联网与嵌入式系统的关系研究[J].计算机与现代化,20I1,192(08)126-129.
[23]Campbell, Jeremy. Trends for Microcontroller Device Testing[J]. Evaluation Engineering, 2012,51 (1):32-33.
[24]Takao NISHITANI. Low-Power Architectures for Programmable Multimedia Processors[J]. IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences,1999, E82-A (2):184-196.
[25]Jichao Li, Feng Lin, Chaoqun Nie,et al. Automatic efficiency optimization of an axial compressor with adjustable inlet guide vanes[J]. Journal of Thermal Science.2012,21 (2): 120-126.
[26]Andreas Hansson, Marcus Ekerhult, Anca Molnos, et al. Design and implementation of an operating system for composable processor sharing[J]. Microprocessors and microsystems, 2011,35 (2):246-260.
[27]Shin Minsuk, Han Jaehyun, Youn Jeamyoung, et al. Design of a networked traction control system using a real-time operating system[J]. Proceedings of the Institution of Mechanical Engineers. Part D:Journal of Automobile Engineering.2008,222 (8):1395-1408.
[28]李盛泉,谢镇祥.基于CAN总线的汽车检测系统的设计[J].中国仪器仪表,2011(03)：59-61.
[29]林国余,王东,姚平.基于LIN总线的主从式自适应前照灯控制系统[J].计算机测量与控制,2011,19(09)：2143-2146.
[30]洪宇.基于CAN总线的CAN中继器和CAN-LIN网关设计[D].长春：吉林大学,2007.
[31]付利娜,秦贵和,许冰,等CAN/MOST网关的设计与实现[J].吉林大学学报(信息科学版),2008,26(04)：369-373.
[32]余阳.武警车辆智能监控管理系统的设计与实现[D].长沙：国防科学技术大学,2011.
[33]陈会全,邢开宇,夏开华.基于MPC8313E嵌入式系统U-Boot的移植[J].物联网技术,2011(02)：85-88.
[34]卢洪涛.嵌入式Linux的ARM交叉编译环境[J].科技信息(学术研究),2007(12)：201-202.
[35]高焕吉.基于AUTOSAR的汽车电子控制系统嵌入式软件开发[J].汽车电器,2010(5)：11-14.
[36]谭林.基于嵌入式LINUX的车载信息系统及应用技术平台[D].长沙：湖南大学,2007
[37]王颖,吴怡,陈浩,等.基于车辆自组网的高速公路车载导航终端设计[J].工业控制计算机,2011(01)：58-60.
[38]郑巍,许旻鸿.开源软件Linux内核的进化分析[J].华南理工大学学报(自然科学版),2007,35(09)：74-77.
[39]王岩,王子牛.嵌入式Linux设备驱动程序开发[J].贵州工业大学学报(自然科学版),2008,37(1)：52-57.
[40]刘家瑜.LIN总线应用系统设计与LIN收发器研究[D].成都：电子科技大学,2011.
[41]Redoute J.-M, Steyaert M. An EMI Resisting LIN Driver in 0.35-micron High-Voltage CMOS[J]. Solid-State Circuits, IEEE Journal of,2007,42(7):1574-1582.
[42]宋作成,张广明,王崴.嵌入式Linux下CAN设备驱动的设计[J].计算机工程与设计,2009,30(15)：3552-3554,3558.
[43]A Suvinen, M Saarilahti. Measuring the mobility parameters of forwarders using GPS and CAN bus techniques[J]. Journal of Terramechanics,2006,43(2):237-252.
[44]郭华.基于MOST的车载多媒体系统分析[J].微电机,2011,44(05)：106-109.
[45]Pope, Byron. MOST Infotainment 'Backbone' of Auto Industry[J]. Ward's Auto World,2008,44(11):24.
[46]曲良东.基于IPv6的车载信息系统若干问题研究[D].长春：吉林大学,2010.
[47]刘圆.汽车集显中心单元的研发[D].长春：吉林大学,2010.
[48]鲁松涛.基于Internet的汽车电子远程诊断技术研究[D].南京：南京航空航天大学,2004.
[2]湖南大学汽车车身先进设计制造国家重点实验室.第五届国际汽车交通安全学术会议,长沙,2007[C].长沙：湖南大学汽车车身先进设计制造国家重点实验室,2008.
[3]宁焕生,张彦RFID与物联网射频、中间件、解析与服务[M].北京：电子工业出版,2008：121-124.
[4]Trigg, Gayle. The Internet of Things, or Just Things on the Internet?[J]. World Communications Regulation Report.2008,3(11):1750-1784.
[5]王建强,吴辰文,李晓军.车联网架构与关键技术研究[J].微计算机信息,2011,27(4)156-158.
[6]Joao Borges de Sousa, Bernardo Maciel, Fernando Lobo Pereira. Sensor systems on networked vehicles[J]. Networks and Heterogeneous Media.2009,4(2):1556-1801.
[7]Baronti F,Petri E,Saponara S,Fanucci L, et al. Design and Verification of Hardware Building Blocks for High-Speed and Fault-Tolerant In-Vehicle Networks[J]. Industrial Electronics, IEEE Transactions on,2011,58 (3):792-801.
[8]姚钢.新能源汽车技术挑战的解决之策[J].电子设计技术,2010(09)：38-40.
[9]王景东.车联网：引领网络汽车新时代[J].运输经理世界,2011(Z1)：117-118.
[10]胡雨平.新物联网框架探讨[J].杭州科技,2011(01)：38-39.
[11]徐翠苹.车联网：缘起与归宿[J].通讯世界,2011,192(Z1)：40-43.
[12]Robert I. Davis, Alan Burns, Reinder J. Bril. Controller Area Network (CAN) schedulability analysis:Refuted, revisited and revised[J]. Real-Time Systems,2007,35 (3):239-272.
[13]Kren, Lawrence. Networks For Cars[J]. Machine Design,2000,72 (7):46.
[14]Henry Muyshondt. Media Oriented Systems Transport (MOST～®): A High-speed Multimedia and Control Bus[J]. Electronic Component News,2006,50 (9):25-26,28.
[15]Carmody, Thomas. Bluetooth Paves the Way for Truly Wireless Car Interiors[J]. Electronic Component News,2007,51 (2):28-30.
[16]黄斌,贺继林,何清华,等,基于CAN总线的高性能倒车雷达设计[J].工业控制计算机,2007(5)：74-76.
[17]郭鹏,赵玉超,基于LIN总线的重型载货汽车开关控制网络设计[J].汽车电器,2012(2)：4-7.
[18]仙人掌,无忧驾驶小助手第三方智能行车App[J].移动信息,2012(Z1)：209.
[19]葛步凯,陈海军,MOST网络协议在车辆上的应用[J].电子产品世界,2007(12)：140-14.
[20]洪魁元,嵌入式汽车网络系统的软件设计[D].杭州：浙江大学,2007.
[21]Daniel Watzenig,Eric Armengaud. Automotive Embedded Systems[J]. e & i Elektrotechnik und Informationstechnik,2011,128 (6):189.
[22]杨辉；.王毅,物联网与嵌入式系统的关系研究[J].计算机与现代化,20I1,192(08)126-129.
[23]Campbell, Jeremy. Trends for Microcontroller Device Testing[J]. Evaluation Engineering, 2012,51 (1):32-33.
[24]Takao NISHITANI. Low-Power Architectures for Programmable Multimedia Processors[J]. IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences,1999, E82-A (2):184-196.
[25]Jichao Li, Feng Lin, Chaoqun Nie,et al. Automatic efficiency optimization of an axial compressor with adjustable inlet guide vanes[J]. Journal of Thermal Science.2012,21 (2): 120-126.
[26]Andreas Hansson, Marcus Ekerhult, Anca Molnos, et al. Design and implementation of an operating system for composable processor sharing[J]. Microprocessors and microsystems, 2011,35 (2):246-260.
[27]Shin Minsuk, Han Jaehyun, Youn Jeamyoung, et al. Design of a networked traction control system using a real-time operating system[J]. Proceedings of the Institution of Mechanical Engineers. Part D:Journal of Automobile Engineering.2008,222 (8):1395-1408.
[28]李盛泉,谢镇祥.基于CAN总线的汽车检测系统的设计[J].中国仪器仪表,2011(03)：59-61.
[29]林国余,王东,姚平.基于LIN总线的主从式自适应前照灯控制系统[J].计算机测量与控制,2011,19(09)：2143-2146.
[30]洪宇.基于CAN总线的CAN中继器和CAN-LIN网关设计[D].长春：吉林大学,2007.
[31]付利娜,秦贵和,许冰,等CAN/MOST网关的设计与实现[J].吉林大学学报(信息科学版),2008,26(04)：369-373.
[32]余阳.武警车辆智能监控管理系统的设计与实现[D].长沙：国防科学技术大学,2011.
[33]陈会全,邢开宇,夏开华.基于MPC8313E嵌入式系统U-Boot的移植[J].物联网技术,2011(02)：85-88.
[34]卢洪涛.嵌入式Linux的ARM交叉编译环境[J].科技信息(学术研究),2007(12)：201-202.
[35]高焕吉.基于AUTOSAR的汽车电子控制系统嵌入式软件开发[J].汽车电器,2010(5)：11-14.
[36]谭林.基于嵌入式LINUX的车载信息系统及应用技术平台[D].长沙：湖南大学,2007
[37]王颖,吴怡,陈浩,等.基于车辆自组网的高速公路车载导航终端设计[J].工业控制计算机,2011(01)：58-60.
[38]郑巍,许旻鸿.开源软件Linux内核的进化分析[J].华南理工大学学报(自然科学版),2007,35(09)：74-77.
[39]王岩,王子牛.嵌入式Linux设备驱动程序开发[J].贵州工业大学学报(自然科学版),2008,37(1)：52-57.
[40]刘家瑜.LIN总线应用系统设计与LIN收发器研究[D].成都：电子科技大学,2011.
[41]Redoute J.-M, Steyaert M. An EMI Resisting LIN Driver in 0.35-micron High-Voltage CMOS[J]. Solid-State Circuits, IEEE Journal of,2007,42(7):1574-1582.
[42]宋作成,张广明,王崴.嵌入式Linux下CAN设备驱动的设计[J].计算机工程与设计,2009,30(15)：3552-3554,3558.
[43]A Suvinen, M Saarilahti. Measuring the mobility parameters of forwarders using GPS and CAN bus techniques[J]. Journal of Terramechanics,2006,43(2):237-252.
[44]郭华.基于MOST的车载多媒体系统分析[J].微电机,2011,44(05)：106-109.
[45]Pope, Byron. MOST Infotainment 'Backbone' of Auto Industry[J]. Ward's Auto World,2008,44(11):24.
[46]曲良东.基于IPv6的车载信息系统若干问题研究[D].长春：吉林大学,2010.
[47]刘圆.汽车集显中心单元的研发[D].长春：吉林大学,2010.
[48]鲁松涛.基于Internet的汽车电子远程诊断技术研究[D].南京：南京航空航天大学,2004.