基于FPGA的CAN总线与以太网的网关设计与实现
摘要
随着计算机技术和工业控制技术的发展,传统的工业控制系统中使用模拟信号来控制工业系统中的测点已经不能满足人们的需求。CAN总线比起其他现场总线具有控制简单且通信速率高、纠错能力强等优点,而以太网具有应用面广,传输速率快等优点。因此将CAN总线技术和以太网技术进行结合运用,是将以太网应用到工业控制系统的发展潮流。
本次课题在分析了CAN总线及以太网工作原理,互联网关的组成的基础上提出了一种新型的,性价比较高的互联网关实现方法。利用具有高度可编程,可重构性很强的FPGA作为本次网关设计的核心,通过对系统的硬件和软件进行详细的设计,实现了一个基于FPGA的CAN总线与以太网网关的方案。
本次系统的设计与实现主要进行了以下几个方面的工作：
(1)针对CAN总线与以太网两者之间的协议类型和数据通信方式的区别,提出一种基于FPGA的CAN总线与以太网的网关设计方案。此方案在实现两者通信的基础上,还具有可重构性和灵活性强的特点。
(2)根据系统功能需求及FPGA芯片的特点来设计的原理框图,包括：FPGA模块、CAN模块、以太网模块、存储器模块以及调试模块等。本次设计的核心芯片是xilinx的XC3S500E-4PQG208C,在此芯片的基础上根据系统功能需求来完成硬件平台的设计。
(3)进行软件设计。本系统采用了微处理器IP核MicroBlaze做为CPU,嵌入式操作系统Xilkernel作为应用软件平台,在此基础上对TCP/IP协议栈进行移植,对硬件的驱动程序、引导程序以及本系统中实现网关的主程序进行设计及实现。
(4)进行系统测试。主要是通过从CAN总线端和以太网端来进行发送、接收数据来判断本次设计是否达到预期效果,即CAN总线端和以太网端能可靠的交互数据,并测试出CAN总线接收的速率。
With the development of the computer technology and industrial control technology, the traditional industrial control systems that using analog signals to control the equipment in the industrial system can not meet people's needs. As the CAN buses' communication rate is very high, easy to implement, and cost-effective, and ethernet's applications are increasingly being used, so the integration of CAN buses and Ethernet-technology which applied to the Ethernet industrial control system is the technology's development tendency.
Based on the analysis of work way of the connection of CAN buses and the basic knowledge of Ethernet and the research of the gateway of them. The subject raise up a new, cost-effective method to achieve the connection of CAN buses and Ethernet. Use the highly programmable, highly reconfigurable FPGA design as the core of this gateway, through the detailed design of the system both on the hardware and software part, to achieve an FPGA-based CAN buses and Ethernet's gateway.
This research is mainly focus on the following aspects:
(1) For the differences of protocol type and data communication between the CAN buses and ethernet, i presents a program that realized the connection of CAN buses and Ethernet based on the FPGA. This program not only realization the bask connection of the two, but also have the reconfigurability and scalability characteristics.
(2) According to the characteristics of the chip designed block diagram, including:FPGA module, the CAN module, the Ethernet module, memory module and debug module. In this system this design is mainly bask on one type of the xilinx chip:XC3S500E-4PQG208C, based on it to design the left parts, and finally completed the design of the hardware platform.
(3) Software design. The system uses microprocessor IP core MicroBlaze as the CPU and embedded Xilkernel as the operating system. On this basis, to finish the implementation of the drivers, communication protocols, initialization, and system interconnect design.
(4) The testing of the system. To send, receive data from the CAN buses side and the Ethernet side to judge the design test whether the system achieve the desired target or not.Through this test we have the result that:through this system the CAN buses and the ethernet can translate the reliable data,besides test the speed of the CAN buses'receive ability.
本次课题在分析了CAN总线及以太网工作原理,互联网关的组成的基础上提出了一种新型的,性价比较高的互联网关实现方法。利用具有高度可编程,可重构性很强的FPGA作为本次网关设计的核心,通过对系统的硬件和软件进行详细的设计,实现了一个基于FPGA的CAN总线与以太网网关的方案。
本次系统的设计与实现主要进行了以下几个方面的工作：
(1)针对CAN总线与以太网两者之间的协议类型和数据通信方式的区别,提出一种基于FPGA的CAN总线与以太网的网关设计方案。此方案在实现两者通信的基础上,还具有可重构性和灵活性强的特点。
(2)根据系统功能需求及FPGA芯片的特点来设计的原理框图,包括：FPGA模块、CAN模块、以太网模块、存储器模块以及调试模块等。本次设计的核心芯片是xilinx的XC3S500E-4PQG208C,在此芯片的基础上根据系统功能需求来完成硬件平台的设计。
(3)进行软件设计。本系统采用了微处理器IP核MicroBlaze做为CPU,嵌入式操作系统Xilkernel作为应用软件平台,在此基础上对TCP/IP协议栈进行移植,对硬件的驱动程序、引导程序以及本系统中实现网关的主程序进行设计及实现。
(4)进行系统测试。主要是通过从CAN总线端和以太网端来进行发送、接收数据来判断本次设计是否达到预期效果,即CAN总线端和以太网端能可靠的交互数据,并测试出CAN总线接收的速率。
With the development of the computer technology and industrial control technology, the traditional industrial control systems that using analog signals to control the equipment in the industrial system can not meet people's needs. As the CAN buses' communication rate is very high, easy to implement, and cost-effective, and ethernet's applications are increasingly being used, so the integration of CAN buses and Ethernet-technology which applied to the Ethernet industrial control system is the technology's development tendency.
Based on the analysis of work way of the connection of CAN buses and the basic knowledge of Ethernet and the research of the gateway of them. The subject raise up a new, cost-effective method to achieve the connection of CAN buses and Ethernet. Use the highly programmable, highly reconfigurable FPGA design as the core of this gateway, through the detailed design of the system both on the hardware and software part, to achieve an FPGA-based CAN buses and Ethernet's gateway.
This research is mainly focus on the following aspects:
(1) For the differences of protocol type and data communication between the CAN buses and ethernet, i presents a program that realized the connection of CAN buses and Ethernet based on the FPGA. This program not only realization the bask connection of the two, but also have the reconfigurability and scalability characteristics.
(2) According to the characteristics of the chip designed block diagram, including:FPGA module, the CAN module, the Ethernet module, memory module and debug module. In this system this design is mainly bask on one type of the xilinx chip:XC3S500E-4PQG208C, based on it to design the left parts, and finally completed the design of the hardware platform.
(3) Software design. The system uses microprocessor IP core MicroBlaze as the CPU and embedded Xilkernel as the operating system. On this basis, to finish the implementation of the drivers, communication protocols, initialization, and system interconnect design.
(4) The testing of the system. To send, receive data from the CAN buses side and the Ethernet side to judge the design test whether the system achieve the desired target or not.Through this test we have the result that:through this system the CAN buses and the ethernet can translate the reliable data,besides test the speed of the CAN buses'receive ability.
引文
[1]罗安明,韩新民.现场总线技术的发展及趋势[J].机电产品开发与创新,2011,24卷(1)：9-12.
[2]广州周立功单片机发展有限公司CAN-bus规范V2.0版本[S].广州：广州周立功单片机发展有限公司.2009.
[3]唐兴刚,贺克军,王丽,李传南.一款CAN总线收发器芯片的电路设计[J].微电子学与计算机,2011,28卷(5)：125-130.
[4]赵吉志.10G以太网应用前景分析[J].科技浪潮,2009(2)：33-36.
[5]雷震洲.电信级以太网的发展现状与走向[J].中国新通信,2008(1)：5-11.
[6]李真花,崔健.CAN总线轻松入门与实践[M].北京航空航天大学出版社,2011：1-55.
[7]洪熙闻.嵌入式Linux平台下CAN总线与以太网互联技术的研究[D].广东：广东工业大学,2011.
[8]许明华.船舶自动化机舱CAN总线控制系统[D].福建：福建交通职业技术学院,2011.
[9]于国光.基于车载系统CAN总线技术的应用[D].上海：华东师范大学,2009.
[10]张友亮.万兆以太网MAC层控制器的FPGA设计与实现[D].山东：山东大学信息科学与工程学院,2011.
[11]刘广敏,成巍.基于PIC单片机的CAN总线扩展技术[J].现代电子技术,2009(11)：163-166.
[12]孙白.基于嵌入式的以太网与CAN总线的网关设计[D].大连：大连海事大学,2008.
[13]李加升.基于CAN总线与以太网的嵌入式网关设计[D].湖南：湖南大学,2009.
[14]Min Li.The CAN Bus Baud Rate Setting Method Based on AT90CAN128 [C].Proceedings of 2010 International Conference on Computer,echatronics,Control and Electronic Engineering (CMCE 2010) Volume 3,2010.08:289-296.
[15]weixin zhang,weiwu ren. The Implementation of CAN Ethernet Communication System on the Missile Simulation and Detection Platform [C].Proceedings of 2008 IEEE 9th International Conference on Computer-Aided Industrial Design & Conceptual Design Vol.1,2008:45-60.
[16]王长清,张素娟.基于以太网帧的嵌入式数据传输方案及实现[J].计算机工程与设计,2011(6)：1952-1957.
[17]罗旭鹏,党瑞荣.骨干网传输技术在石油行业数据核心网中的应用[J].石油仪器,2008(6)：73-76.
[18]于志宏,孟繁--.基于CS8900A的嵌入式网络传输问题研究[J].吉林大学学报(信息科学版),2008(11)：36-39.
[19]吕定坤,孙友伟.基于802.15.4无线网络与以太网帧结构转换[J].通信技术,2012(2)：12-14.
[20]吕宁,冯崇涛.嵌入式系统TCP/IP协议栈的定制研究[J].自动化技术与应用,2010(8)：35-37.
[21]Angelo Coiro,Alessandro Valenti.Network Evolution Toward a Carrier-Grade Ethernet Transport Network [C]. Fiber and Integrated Optics,2009.11:85-90.
[22]王鹏.基于FPGA的航空全双工以太网交换芯片[J].计算机工程.2008(23)：266-268.
[23]聂尔根.具有以太网接入功能的嵌入式系统的应用研究[D].浙江：江南大学,2007.
[24]罗旭鹏,党瑞荣.骨干网传输技术在石油行业数据核心网中的应用[J].石油仪器,2008(6)：73-76.
[25]孙占辉,张墙仁等.CAN总线在现场总线控制系统中的应用[J].微机算机信息,2002(7)：7-9.
[26]赵晓军,王天辉.一种基于嵌入式系统的精简TCP/IP栈设计[J].软件导刊,2008(11)：21-23.
[27]吕宁,冯崇涛.嵌入式系统TCP/IP协议栈的定制研究[J].自动化技术与应用,2010(8)：35-37.
[28]Clark Wang,Mischa Schwartz.Fault Detection with Multiple Observers[EB/MT].IEEE/ACM Trans.on Networking,Feb 2008.
[29]钟家民,王国才.基于CAN总线技术的嵌入式网关设计[J].微计算机信息,2009(8)：59-62.
[30]李峰.基于CAN总线和以太网的船舶机舱监控系统研究与设计[D].山东：山东大学,2009.
[31]康存锋EtherCAT协议芯片与单片机通信系统的研究[J].现代制造工程.2011(7)：113-118.
[32]魏庆福.现场总线技术的发展与工业以太网综述[J].工业控制计算机,2002(1)：3-8.
[33]于志宏,孟繁二.基于CS8900A的嵌入式网络传输问题研究[J].吉林大学学报(信息科学版),2008(11)：36-39.
[34]Hong,S-H.,Kim,W.-H. Bandwidth allocation scheme in CAN protocol[C].IEEE, Stevenage, United Kingdom.2008:37-44.
[35]Anon.Research and Realization of CAN-TCP/IP Embeded Gateway Based on uClinux [C]. 2010 International Conference on Computer and Communication Technologies in Agriculture Engineering (CCTAE 2010) (Volume 3).2010.06:63-78.
[36]Bin Xiao,Qingfeng,ZhuGe.Design of Long-distance and High-speed Data Transmission System Based on Long Range Ethernet Technique[C].Proceedings of 2010 Second IITA International Conference on Geoscience and Remote Sensing (IITA-GRS 2010) Volume 1.2010.08:489-503.
[37]APPIAH K,HUNTER A.A single-chip FPGA implementation of real-time adaptive background mode [C]. IEEE 2005 Conference On FPGA Field Programmable Technology. Piscataway,NJ:IEEE press,2005.
[38]Luis F. Caro,Dimitri Papadimitriou,Jose Luis Marzo. Ethernet label spaces dependency on network topology [J]. Europen transactions on telecommunications,2010.06:56-59.
[39]Siddhartha Baruah. Communicating Embedded Systems by Implementing Different Networking Options For Real Life Applications [C].Europen transactions on telecommunications,2010.06:78-93.
[40]Na Wang,Hui Zhang. The Network Monitoring System of Flexible Production Line Based on Bus Technology [C].Proceedings of 2010 International Conference on Computational Intelligence and Vehicular System (CIVS2010),2010.
[41]MA Xiang-ling. Design and Realization of Embedded Precision Testing System for Air-ship Missile Fire Control System [C]. Proceedings of the 8th International Symposium on Test and Measurement(Volume 3),2009.08:894-899.
[42]Stevens R.CAN buses Illustrated:The Protocols[J]. RFC 1058,Rutgers University,June 2008.
[43]John T.Moy.The CAN buses and related Protocols[M]. Addition-Wesley 2001:126-138.
[44]Qiang Ma,Jianguo Zhao,Bingxu Liu.Implementation of embedded Ethernet based on hardware protocol stack in substation automation system[D].Tianjin:Transactions of Tianjin University,2008.
[45]郭晓宇.基于IEEE802.3标准的以太网数据帧格式的封装实现[D].北京：北京交通大学,2008.
[46]鹿卉芬,刘洪模.基于DSP的CAN总线网络与Ethernet数据实时通信实现[J].计算机与现代化,2009(12)：130-134.
[2]广州周立功单片机发展有限公司CAN-bus规范V2.0版本[S].广州：广州周立功单片机发展有限公司.2009.
[3]唐兴刚,贺克军,王丽,李传南.一款CAN总线收发器芯片的电路设计[J].微电子学与计算机,2011,28卷(5)：125-130.
[4]赵吉志.10G以太网应用前景分析[J].科技浪潮,2009(2)：33-36.
[5]雷震洲.电信级以太网的发展现状与走向[J].中国新通信,2008(1)：5-11.
[6]李真花,崔健.CAN总线轻松入门与实践[M].北京航空航天大学出版社,2011：1-55.
[7]洪熙闻.嵌入式Linux平台下CAN总线与以太网互联技术的研究[D].广东：广东工业大学,2011.
[8]许明华.船舶自动化机舱CAN总线控制系统[D].福建：福建交通职业技术学院,2011.
[9]于国光.基于车载系统CAN总线技术的应用[D].上海：华东师范大学,2009.
[10]张友亮.万兆以太网MAC层控制器的FPGA设计与实现[D].山东：山东大学信息科学与工程学院,2011.
[11]刘广敏,成巍.基于PIC单片机的CAN总线扩展技术[J].现代电子技术,2009(11)：163-166.
[12]孙白.基于嵌入式的以太网与CAN总线的网关设计[D].大连：大连海事大学,2008.
[13]李加升.基于CAN总线与以太网的嵌入式网关设计[D].湖南：湖南大学,2009.
[14]Min Li.The CAN Bus Baud Rate Setting Method Based on AT90CAN128 [C].Proceedings of 2010 International Conference on Computer,echatronics,Control and Electronic Engineering (CMCE 2010) Volume 3,2010.08:289-296.
[15]weixin zhang,weiwu ren. The Implementation of CAN Ethernet Communication System on the Missile Simulation and Detection Platform [C].Proceedings of 2008 IEEE 9th International Conference on Computer-Aided Industrial Design & Conceptual Design Vol.1,2008:45-60.
[16]王长清,张素娟.基于以太网帧的嵌入式数据传输方案及实现[J].计算机工程与设计,2011(6)：1952-1957.
[17]罗旭鹏,党瑞荣.骨干网传输技术在石油行业数据核心网中的应用[J].石油仪器,2008(6)：73-76.
[18]于志宏,孟繁--.基于CS8900A的嵌入式网络传输问题研究[J].吉林大学学报(信息科学版),2008(11)：36-39.
[19]吕定坤,孙友伟.基于802.15.4无线网络与以太网帧结构转换[J].通信技术,2012(2)：12-14.
[20]吕宁,冯崇涛.嵌入式系统TCP/IP协议栈的定制研究[J].自动化技术与应用,2010(8)：35-37.
[21]Angelo Coiro,Alessandro Valenti.Network Evolution Toward a Carrier-Grade Ethernet Transport Network [C]. Fiber and Integrated Optics,2009.11:85-90.
[22]王鹏.基于FPGA的航空全双工以太网交换芯片[J].计算机工程.2008(23)：266-268.
[23]聂尔根.具有以太网接入功能的嵌入式系统的应用研究[D].浙江：江南大学,2007.
[24]罗旭鹏,党瑞荣.骨干网传输技术在石油行业数据核心网中的应用[J].石油仪器,2008(6)：73-76.
[25]孙占辉,张墙仁等.CAN总线在现场总线控制系统中的应用[J].微机算机信息,2002(7)：7-9.
[26]赵晓军,王天辉.一种基于嵌入式系统的精简TCP/IP栈设计[J].软件导刊,2008(11)：21-23.
[27]吕宁,冯崇涛.嵌入式系统TCP/IP协议栈的定制研究[J].自动化技术与应用,2010(8)：35-37.
[28]Clark Wang,Mischa Schwartz.Fault Detection with Multiple Observers[EB/MT].IEEE/ACM Trans.on Networking,Feb 2008.
[29]钟家民,王国才.基于CAN总线技术的嵌入式网关设计[J].微计算机信息,2009(8)：59-62.
[30]李峰.基于CAN总线和以太网的船舶机舱监控系统研究与设计[D].山东：山东大学,2009.
[31]康存锋EtherCAT协议芯片与单片机通信系统的研究[J].现代制造工程.2011(7)：113-118.
[32]魏庆福.现场总线技术的发展与工业以太网综述[J].工业控制计算机,2002(1)：3-8.
[33]于志宏,孟繁二.基于CS8900A的嵌入式网络传输问题研究[J].吉林大学学报(信息科学版),2008(11)：36-39.
[34]Hong,S-H.,Kim,W.-H. Bandwidth allocation scheme in CAN protocol[C].IEEE, Stevenage, United Kingdom.2008:37-44.
[35]Anon.Research and Realization of CAN-TCP/IP Embeded Gateway Based on uClinux [C]. 2010 International Conference on Computer and Communication Technologies in Agriculture Engineering (CCTAE 2010) (Volume 3).2010.06:63-78.
[36]Bin Xiao,Qingfeng,ZhuGe.Design of Long-distance and High-speed Data Transmission System Based on Long Range Ethernet Technique[C].Proceedings of 2010 Second IITA International Conference on Geoscience and Remote Sensing (IITA-GRS 2010) Volume 1.2010.08:489-503.
[37]APPIAH K,HUNTER A.A single-chip FPGA implementation of real-time adaptive background mode [C]. IEEE 2005 Conference On FPGA Field Programmable Technology. Piscataway,NJ:IEEE press,2005.
[38]Luis F. Caro,Dimitri Papadimitriou,Jose Luis Marzo. Ethernet label spaces dependency on network topology [J]. Europen transactions on telecommunications,2010.06:56-59.
[39]Siddhartha Baruah. Communicating Embedded Systems by Implementing Different Networking Options For Real Life Applications [C].Europen transactions on telecommunications,2010.06:78-93.
[40]Na Wang,Hui Zhang. The Network Monitoring System of Flexible Production Line Based on Bus Technology [C].Proceedings of 2010 International Conference on Computational Intelligence and Vehicular System (CIVS2010),2010.
[41]MA Xiang-ling. Design and Realization of Embedded Precision Testing System for Air-ship Missile Fire Control System [C]. Proceedings of the 8th International Symposium on Test and Measurement(Volume 3),2009.08:894-899.
[42]Stevens R.CAN buses Illustrated:The Protocols[J]. RFC 1058,Rutgers University,June 2008.
[43]John T.Moy.The CAN buses and related Protocols[M]. Addition-Wesley 2001:126-138.
[44]Qiang Ma,Jianguo Zhao,Bingxu Liu.Implementation of embedded Ethernet based on hardware protocol stack in substation automation system[D].Tianjin:Transactions of Tianjin University,2008.
[45]郭晓宇.基于IEEE802.3标准的以太网数据帧格式的封装实现[D].北京：北京交通大学,2008.
[46]鹿卉芬,刘洪模.基于DSP的CAN总线网络与Ethernet数据实时通信实现[J].计算机与现代化,2009(12)：130-134.