基于CAN总线的汽车控制系统的研究
摘要
现代汽车的迅猛发展和电子技术的日新月异,汽车电子设备不断增多,使汽车综合控制系统越来越复杂。另外,近年来ITS的发展,以3G(GPS、GIS和GSM)为代表的新型电子通信产品的出现,对汽车的综合布线和信息的共享交互提出了更高的要求。汽车网络总线的出现为这一系列问题提供了有效解决方法。
本文从研究汽车局域网入手,主要研究了国内外汽车控制器局域网的发展与现状,对当今国际汽车行业中应用最广的CAN总线原理和应用进行了深入分析与吸收。给出了车身控制系统的方案,对车身各节点的功能进行了设计规定。分析了CAN节点的两种设计方案,对独立CAN控制器sja1000的结构做了详细分析,本文选用内置CAN控制器的8位微处理器AT90CAN128,该处理器集成了sja1000的功能,可以缩短开发周期,给出了节点的硬件设计电路。软件设计分为CAN控制器的初始化,报文的发送和接收,报文标志符的定义。在CAN2.0协议的基础上,结合CANopen协议,针对功能相对简单的车灯控制系统,制定出了一套可靠运行的通信协议。通过实验验证,整个系统通讯可靠,数据的实时性较高,各节点之间能实现数据的完全共享。
With the rapid development of modern automobile and electronic technology, the electronic devices of automobile increase rapidly, which makes the automobile integrated control system to be more and more complex. Moreover, along with the recent years ITS development, take 3G (GPS, GIS and GSM) as representative's new electronic communications product appearance, set a higher request alternately to the automobile comprehensive wiring and information sharing.The automobile network bus appearance has provided the effective addressing method for this a series of questions.
This study starts from the vehicle LAN, mainly studied the development of the CAN-bus used in advanced automobiles in the world. Researched and absorbed the CAN-bus which is most wide applied in international car industry now. This paper analyzes two kind of design proposal of the CAN node, makes multianalysis to the structure of the independent CAN the controller sja1000, this article has selected 8 microprocessor AT90CAN128 of CAN controller, which integrated the sja1000 function, might reduce the development cycle, has given the node hardware design electric circuit.The software design divides into the CAN controller the initialization, the message transmission and receive, the message designator definition. Based on CAN2.0 protocol , combine with CANopen protocol, in view of the function relatively simple vehicle lamp control system, constructed a reliable communication protocol.The experiment confirms, the overall system communication is reliable, data timeliness is high, between various nodes can realize data complete sharing.
本文从研究汽车局域网入手,主要研究了国内外汽车控制器局域网的发展与现状,对当今国际汽车行业中应用最广的CAN总线原理和应用进行了深入分析与吸收。给出了车身控制系统的方案,对车身各节点的功能进行了设计规定。分析了CAN节点的两种设计方案,对独立CAN控制器sja1000的结构做了详细分析,本文选用内置CAN控制器的8位微处理器AT90CAN128,该处理器集成了sja1000的功能,可以缩短开发周期,给出了节点的硬件设计电路。软件设计分为CAN控制器的初始化,报文的发送和接收,报文标志符的定义。在CAN2.0协议的基础上,结合CANopen协议,针对功能相对简单的车灯控制系统,制定出了一套可靠运行的通信协议。通过实验验证,整个系统通讯可靠,数据的实时性较高,各节点之间能实现数据的完全共享。
With the rapid development of modern automobile and electronic technology, the electronic devices of automobile increase rapidly, which makes the automobile integrated control system to be more and more complex. Moreover, along with the recent years ITS development, take 3G (GPS, GIS and GSM) as representative's new electronic communications product appearance, set a higher request alternately to the automobile comprehensive wiring and information sharing.The automobile network bus appearance has provided the effective addressing method for this a series of questions.
This study starts from the vehicle LAN, mainly studied the development of the CAN-bus used in advanced automobiles in the world. Researched and absorbed the CAN-bus which is most wide applied in international car industry now. This paper analyzes two kind of design proposal of the CAN node, makes multianalysis to the structure of the independent CAN the controller sja1000, this article has selected 8 microprocessor AT90CAN128 of CAN controller, which integrated the sja1000 function, might reduce the development cycle, has given the node hardware design electric circuit.The software design divides into the CAN controller the initialization, the message transmission and receive, the message designator definition. Based on CAN2.0 protocol , combine with CANopen protocol, in view of the function relatively simple vehicle lamp control system, constructed a reliable communication protocol.The experiment confirms, the overall system communication is reliable, data timeliness is high, between various nodes can realize data complete sharing.
引文
[1] 阳宪惠,徐用惫,魏庆福.现场总线技术及其应用.清华大学出版社,2002
[2] 饶运涛,邹继军,郑勇芸.现场总线 CAN 原理与应用技术.北京航空航天大学出版社,2003
[3] 王箴.车身控制系统得 CAN 总线控制.汽车电器[J].2003(5):11-14
[4] 张祖祥.电子技术用于汽车布线的技术现状.客车技术与研究[J]. 1998,20(3):1-4
[5] 姜竹胜.基于控制器局域网(CAN)的汽车车身控制系统设计研究,[硕士学位论文].合肥. 合肥工业大学.2006
[6] Data Link Layer.The Truck&Bus Control and Communications Network Subcommittee of the Truck&Bus Electrical Committee. SAE J1939-21,1994:15～46
[7] Network Layer.The Truck&Bus Control and Communications Network Subcommittee of the Truck&Bus Electrical Committee. SAE J1939-31,1997:27～39
[8] Application Layer.The Truck&Bus Control and Communications Network Subcommittee of the Truck&Bus Electrical Committee. SAE J1939-71,1997:43～57
[9] 袁传义.电动汽车 CAN 总线的研究,[硕士论文].安徽农业大学.2004
[10] 刘银柱,巨永锋.网络技术在汽车中的应用.现代电子技术,2003,11(3):61~63
[11] 童卫东.CAN 总线技术在汽车中的应用研究,[硕士论文].南京.东南大学.2005
[12] 管秀君.汽车单片机及局域网技术.人民交通出版社,2005
[13] 秦贵和.车上网络技术.吉林大学.机械工业出版社
[14] 王锦川.汽车线束多路电了控制系统的现状与发展 2004. 3
[15] 秦贵和.车上网络技术.北京:机械工业出版社,汽车电了电器 2003. 5
[16] 广 州 周 立 功 单 片 机 发 展 有 限 公 司 .CAN-bus 现 场 总 线 应 用 方 案 汽 车 电 子 篇 www.zlgmcu.com
[17] 广 州 周 立 功 单 片 机 发 展 有 限 公 司 .CAN-bus 现 场 总 线 基 础 方 案 汽 通 讯 篇 www.zlgmcu.com
[18] CAN in automotion .Controller Area Network (CAN):A serial bus system-not just for vehicles www.can-cia. Org
[19] 史久根,张培仁,陈真勇.CAN 现场总线系统设计技术.国防工业出版社,2004
[20] 苟广鹏.控制器局域网(CAN)在汽车中应用的基础研究,[硕士学位论文].同济大学.2000
[21] 张平杨,孙隶华.汽车电气系统网络化技术及车身系统总线结构研究.汽车电器.2003
[22] Class A Multiplexing Architecture Strategies. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2057/4,1993:10～25
[23] CLASS A APPLICATION. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2057/1,1997: 32～58
[24] Class B Data Communication Network Messages:Detailed Header Formats and Physical Address Assignments. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/1,1992: 44～67
[25] Class B Data Communication Network Messages: Data Parameter Definitions. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/2, 1993:11～18
[26] Class B Data Communication Network Messages: Frame IDs for Single Byte Forms of Headers. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/3, 1993:3～17
[27] Class B Data Communication Network Messages: Message Definitions for Three Byte Headers. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/4, 1995:23～57
[28] Class C application requirement considerations. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2056/1,1993:61～82
[29] 邹宽明.CAN 总线原理和应用系统设计.北京航空航天大学出版社,1996
[30] ISO-IS 11898, Road Vehicles 一 Interchange of digital information -controller Aera Network (CAN) for high speed communication,1993
[31] 周立功.CAN 发展史. 广州周立功单片机发展有限公司 CAN-bus 实验室
[32] 周立功. CAN 基本知识. 广州周立功单片机发展有限公司 CAN-bus 实验室
[33] CAN Application layer for Industrial Applications, CiA DS 201-207Version1.1,1996
[34] 周立功.增强型 80C51 单片机速成与实战.北京航空航天大学出版社,2003
[35] Bosch, CAN Specification. Version 2.0, 1991.Robert Bosch GmbH
[36] 周立功.CAN-bus 规范 V2.0 版本. 广州周立功单片机发展有限公司 CAN-bus 实验室
[37] PHILIPS SJA1000 Stand-alone CAN controller product specification. 2000.Jan 04
[38] 周立功.CAN-bus 器件选型指南. 广州周立功单片机发展有限公司 CAN-bus 实验室
[39] 周立功.SJA1000 独立 CAN 控制器应用指南.广州周立功单片机发展有限公司 CAN-bus实验室
[40] 周立功.确定 SJAl000CAN 控制器的位定时参数
[41] 周立功.SJA1000 CAN 控制器 BasinCAN 模块
[42] 周立功.SJA1000 CAN 控制器 PeIiCAN 模块
[43] 周立功.SJA1000 独立 CAN 控制器数据手册.广州周立功单片机发展有限公司 CAN-bus实验室
[44] 邹继军,饶运涛.CAN 控制器 SJA1000 验收滤波器原理与应用
[45] 周立功. CAN-bus 应用方案. 广州周立功单片机发展有限公司 CAN-bus 实验室
[46] 邹继军,饶运涛.CAN 总线系统智能节点设计
[47] 马潮.高档 8 位单片机 ATmega128 原理与开发应用指南.北京航空航天大学出版社,2004
[48] Ateml Corporation AT90CAN128-DataSheet-Revg
[49] Philips Semicondutors.PCA82C250 CAN controller interface 2000.1
[50] 陈道炼.DC-AC 逆变技术及其应用.机械工业出版社,2003.11
[51] 成都国腾微电子有限公司 GM6639 固定 5v 或可调输出降压型 DC-DC 变换器数据手册 2006.3
[52] 马忠梅,籍顺心.单片机的 c 语言应用程序设计.北京航空航天大学出版社,1999
[53] Philips Semicondutors.SJA1000 Stand alone CAN controller 2000.1
[54] CANopen Application Layer and Communication Profile.CiA Draft Standard 301 V4.02,2002
[55] CANopen Framework for CANopen Managers and Programmable CANopen Devices.CiA Draft Standard Proposal 302 V3.2.1,2003
[56] CANopen Electronic data sheet specification for CANopen.CiA Draft Standard 306 V1.3,2005
[57] CANopen Layer Setting Services and Protocol.CiA Draft Standard 305 V1.1.1,2002
[58] CANopen Framework for Maritime Electronics.CiA Draft Standard 307 V1.0.1,2002
[59] CANopen Device Profile for Generic I/O Modules.CiA Draft Standard 401 V2.1,2002
[2] 饶运涛,邹继军,郑勇芸.现场总线 CAN 原理与应用技术.北京航空航天大学出版社,2003
[3] 王箴.车身控制系统得 CAN 总线控制.汽车电器[J].2003(5):11-14
[4] 张祖祥.电子技术用于汽车布线的技术现状.客车技术与研究[J]. 1998,20(3):1-4
[5] 姜竹胜.基于控制器局域网(CAN)的汽车车身控制系统设计研究,[硕士学位论文].合肥. 合肥工业大学.2006
[6] Data Link Layer.The Truck&Bus Control and Communications Network Subcommittee of the Truck&Bus Electrical Committee. SAE J1939-21,1994:15～46
[7] Network Layer.The Truck&Bus Control and Communications Network Subcommittee of the Truck&Bus Electrical Committee. SAE J1939-31,1997:27～39
[8] Application Layer.The Truck&Bus Control and Communications Network Subcommittee of the Truck&Bus Electrical Committee. SAE J1939-71,1997:43～57
[9] 袁传义.电动汽车 CAN 总线的研究,[硕士论文].安徽农业大学.2004
[10] 刘银柱,巨永锋.网络技术在汽车中的应用.现代电子技术,2003,11(3):61~63
[11] 童卫东.CAN 总线技术在汽车中的应用研究,[硕士论文].南京.东南大学.2005
[12] 管秀君.汽车单片机及局域网技术.人民交通出版社,2005
[13] 秦贵和.车上网络技术.吉林大学.机械工业出版社
[14] 王锦川.汽车线束多路电了控制系统的现状与发展 2004. 3
[15] 秦贵和.车上网络技术.北京:机械工业出版社,汽车电了电器 2003. 5
[16] 广 州 周 立 功 单 片 机 发 展 有 限 公 司 .CAN-bus 现 场 总 线 应 用 方 案 汽 车 电 子 篇 www.zlgmcu.com
[17] 广 州 周 立 功 单 片 机 发 展 有 限 公 司 .CAN-bus 现 场 总 线 基 础 方 案 汽 通 讯 篇 www.zlgmcu.com
[18] CAN in automotion .Controller Area Network (CAN):A serial bus system-not just for vehicles www.can-cia. Org
[19] 史久根,张培仁,陈真勇.CAN 现场总线系统设计技术.国防工业出版社,2004
[20] 苟广鹏.控制器局域网(CAN)在汽车中应用的基础研究,[硕士学位论文].同济大学.2000
[21] 张平杨,孙隶华.汽车电气系统网络化技术及车身系统总线结构研究.汽车电器.2003
[22] Class A Multiplexing Architecture Strategies. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2057/4,1993:10～25
[23] CLASS A APPLICATION. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2057/1,1997: 32～58
[24] Class B Data Communication Network Messages:Detailed Header Formats and Physical Address Assignments. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/1,1992: 44～67
[25] Class B Data Communication Network Messages: Data Parameter Definitions. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/2, 1993:11～18
[26] Class B Data Communication Network Messages: Frame IDs for Single Byte Forms of Headers. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/3, 1993:3～17
[27] Class B Data Communication Network Messages: Message Definitions for Three Byte Headers. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2178/4, 1995:23～57
[28] Class C application requirement considerations. SAE Vehicle Network for Multiplexing and Data Communications Standards Committee. SAE J2056/1,1993:61～82
[29] 邹宽明.CAN 总线原理和应用系统设计.北京航空航天大学出版社,1996
[30] ISO-IS 11898, Road Vehicles 一 Interchange of digital information -controller Aera Network (CAN) for high speed communication,1993
[31] 周立功.CAN 发展史. 广州周立功单片机发展有限公司 CAN-bus 实验室
[32] 周立功. CAN 基本知识. 广州周立功单片机发展有限公司 CAN-bus 实验室
[33] CAN Application layer for Industrial Applications, CiA DS 201-207Version1.1,1996
[34] 周立功.增强型 80C51 单片机速成与实战.北京航空航天大学出版社,2003
[35] Bosch, CAN Specification. Version 2.0, 1991.Robert Bosch GmbH
[36] 周立功.CAN-bus 规范 V2.0 版本. 广州周立功单片机发展有限公司 CAN-bus 实验室
[37] PHILIPS SJA1000 Stand-alone CAN controller product specification. 2000.Jan 04
[38] 周立功.CAN-bus 器件选型指南. 广州周立功单片机发展有限公司 CAN-bus 实验室
[39] 周立功.SJA1000 独立 CAN 控制器应用指南.广州周立功单片机发展有限公司 CAN-bus实验室
[40] 周立功.确定 SJAl000CAN 控制器的位定时参数
[41] 周立功.SJA1000 CAN 控制器 BasinCAN 模块
[42] 周立功.SJA1000 CAN 控制器 PeIiCAN 模块
[43] 周立功.SJA1000 独立 CAN 控制器数据手册.广州周立功单片机发展有限公司 CAN-bus实验室
[44] 邹继军,饶运涛.CAN 控制器 SJA1000 验收滤波器原理与应用
[45] 周立功. CAN-bus 应用方案. 广州周立功单片机发展有限公司 CAN-bus 实验室
[46] 邹继军,饶运涛.CAN 总线系统智能节点设计
[47] 马潮.高档 8 位单片机 ATmega128 原理与开发应用指南.北京航空航天大学出版社,2004
[48] Ateml Corporation AT90CAN128-DataSheet-Revg
[49] Philips Semicondutors.PCA82C250 CAN controller interface 2000.1
[50] 陈道炼.DC-AC 逆变技术及其应用.机械工业出版社,2003.11
[51] 成都国腾微电子有限公司 GM6639 固定 5v 或可调输出降压型 DC-DC 变换器数据手册 2006.3
[52] 马忠梅,籍顺心.单片机的 c 语言应用程序设计.北京航空航天大学出版社,1999
[53] Philips Semicondutors.SJA1000 Stand alone CAN controller 2000.1
[54] CANopen Application Layer and Communication Profile.CiA Draft Standard 301 V4.02,2002
[55] CANopen Framework for CANopen Managers and Programmable CANopen Devices.CiA Draft Standard Proposal 302 V3.2.1,2003
[56] CANopen Electronic data sheet specification for CANopen.CiA Draft Standard 306 V1.3,2005
[57] CANopen Layer Setting Services and Protocol.CiA Draft Standard 305 V1.1.1,2002
[58] CANopen Framework for Maritime Electronics.CiA Draft Standard 307 V1.0.1,2002
[59] CANopen Device Profile for Generic I/O Modules.CiA Draft Standard 401 V2.1,2002