IPv6-CAN车载网关的设计与实现
摘要
近年伴随我国国内汽车行业飞速的发展,汽车电子产业已经成为朝阳产业,也在处于快速发展阶段。车载网络、总线技术的应用越来越广泛,但是每辆汽车的车载网络还是一个孤立的、移动的网络,好比一个信息孤岛。为了达到信息共享的目的,汽车网络、车载信息终端与互联网实现互联就成为当务之急。
本项目研发的“IPv6-CAN车载网关”就是实现上述目标的关键设备,它实现了车载控制器局域网络(CAN)与下一代互联网IPv6的协议转换与数据通信。选择IPv6互联网络的原因是:IPv6是国际公认、开放的标准。与IPv4相比,IPv6具有地址空间更大、网络整体吞吐量更高、服务质量和多播功能更好、安全性更强、即插即用和移动应用更易等诸多优点。
车载网关的硬件设备是基于ARM9的HHARM2410-4COM-CDMA开发板,开发板是在华恒公司定制,它集成了CAN模块、CDMA模块、串口、以太网接口和触摸屏等。使用的软件环境是嵌入式Linux,内核版本号为2.4.18。
一面是飞速发展的汽车电子领域,一面是正在技术革新的互联网领域,所以这两个领域的一个交点,也就是“IPv6-CAN车载网关”,必将填补我国国内技术领域的一块空白。
In recent years, as one of new rising internal industries, automobile electronics (AE) industry has great potential to develop. In dynamic points of view, with the increasing of the costs of electronic devices in the whole automobile, obviously, the output of automobile electronic products will be increased. Therefore, the development of new product and technical innovation has more and more closed relationships with the technical level of automobile electronics. The capabilities of automobile electronic productive investigations directly influence the design of new automobiles. With the development of internal AE, the more number of automobile electronic devices are, the more difficult fault diagnosis and maintenance of cars become. Because of the popularization of Vehicle Network and the rapid increasing quantities of network connection devices, it forms a large amount of network groups except the Internet. The applications of network and bus technology have become more and more widely. There are five kinds of influential Field Bus Technology: Foundation Field Bus, PROFBUS, HART and CAN. Because of its advantage, CAN Bus will become the most popular auto network solution. The purpose that Vehicle Network has been used in the auto is to reduce the number of wires and improve the transmitting rate that could enhance the all-around application of auto. At present, the network that universally applies in auto has: Local Interconnect Network (LIN) and Controller Area Network (CAN) and so on. LIN is low cost serial communication network used to implement the control of distributed electronic system. The aim of developing LIN is to provide assistant function for the existing Vehicle Network. CAN is a kind of serial Multi-Master controller area network and a kind of communication network supporting distributed or real-time control. Internal auto models are mainly from western countries which the CAN is the mainstream. Almost all the internal auto models uses CAN bus, so according to the realistic situation at home and aboard, the research should consider using CAN first. From the whole, the vehicle network in each automobile is an isolated and mobile network. In order to realize the share of information and the four modern auto market requirements: safe, comfort, green and service, the vehicle information system of automobile post-sale services can detect and find out hidden troubles as soon as possible. It also can prevent the stolen cases, make the driver safer, choose the reasonable vehicle routing, avoid traffic block, save energy and reduce emission, support information of traffic, gasoline, catering and maintenance. So it can provide more and more convenient and comfortable services for drivers. The automobile networking becomes necessary, so the urgent matter now is how to connect the isolated vehicle network with Internet and remote monitor. This research which called“IPv6-CAN Gateway”is to realize the aim. It makes the CAN and IPv6 communicate with each other (Next Generation Internet Protocol) and transforms protocols between CAN and IPv6.
The reason of choosing IPv6 is that IPv6 is the international acknowledged and open standard. IPv6 has more advantages, such as more space, better service quality and function of multicast, higher throughput of the whole network and stronger safety, than IPv4. Its strong point also contains Universal Plug and Play and mobile application. Core technology has been almost monopolized by American during the age of IPv4. Our country is restricted in many fields including the management of Internet, address distribution, technology research and the application of operation. At present every country’s research of IPv6 protocol standard is in the same level. The development of next generation of Internet will provide a chance to master the core technique for our research institutions and companies. In the near future, using IPv6, it could accurately verify the type and flow number of each electronic device in cars which have different models, so the information of diagnosis, update and maintenance can be acquired from Internet automatically. Even while the car is running, we could remote-control these tasks safely.
All in all, one is the rapid development field of automobile electronics; the other is the technical innovating field of Internet, so this is the intersection between the two fields, that is,“IPv6-CAN Gateway”, will fill up the blank of technical field of our country.
This project is running on the basis of the IPv6 network and Remote User Control Monitor (RUCM) communicates with the IPv6 node of auto using Application Server as the intermedium. This IPv6 network contains CERNET2 (China Education and Research Network 2) Wireless IPv6 Network Access. Vehicle Network of the car is Controller Area Network (CAN). CAN could control lamps, windows and locks of the car, also collect temperature and status of the car. Otherwise the car has GPS function and can acquire real-time position information.
The communication contains two aspects: First, RUCM sends controlling commands. The gateway receives and transforms them to CAN network. The corresponding CAN node executes these commands. Second, vehicle gateway receives correlative information collected by CAN network and GPS. The information is transformed to send to RUCM. Vehicle gateway is the hinge of communication and key device connecting vehicle network with Internet. It main charges the transformation between IPv6 and the vehicle gateway.
Vehicle CAN network consists of some CAN nodes, CAN accomplishes the share among the nodes and realizes the management of the nodes conveniently. Considering from the aspects of safeties and technologies, we only refit the lamps and locks of the car.
Through testing of this project, we achieve a satisfied result. CNGI provides a well and efficient information-transmitting platform. Every function has reached the goal including command transmitting, protocol transforming, veracity of executing command, validity of command transmitting and so on. But in the aspect of information transmitting time-lapse, it’s a little inferior to the original project.
The present problem is that CDMA wireless network cannot support IPv6 but IPv4, so we must use the CIPE tunnel technology in the CDMA and change IPv6 data into IPv4 data, so that the gateway could communicate by means of CDMA.
本项目研发的“IPv6-CAN车载网关”就是实现上述目标的关键设备,它实现了车载控制器局域网络(CAN)与下一代互联网IPv6的协议转换与数据通信。选择IPv6互联网络的原因是:IPv6是国际公认、开放的标准。与IPv4相比,IPv6具有地址空间更大、网络整体吞吐量更高、服务质量和多播功能更好、安全性更强、即插即用和移动应用更易等诸多优点。
车载网关的硬件设备是基于ARM9的HHARM2410-4COM-CDMA开发板,开发板是在华恒公司定制,它集成了CAN模块、CDMA模块、串口、以太网接口和触摸屏等。使用的软件环境是嵌入式Linux,内核版本号为2.4.18。
一面是飞速发展的汽车电子领域,一面是正在技术革新的互联网领域,所以这两个领域的一个交点,也就是“IPv6-CAN车载网关”,必将填补我国国内技术领域的一块空白。
In recent years, as one of new rising internal industries, automobile electronics (AE) industry has great potential to develop. In dynamic points of view, with the increasing of the costs of electronic devices in the whole automobile, obviously, the output of automobile electronic products will be increased. Therefore, the development of new product and technical innovation has more and more closed relationships with the technical level of automobile electronics. The capabilities of automobile electronic productive investigations directly influence the design of new automobiles. With the development of internal AE, the more number of automobile electronic devices are, the more difficult fault diagnosis and maintenance of cars become. Because of the popularization of Vehicle Network and the rapid increasing quantities of network connection devices, it forms a large amount of network groups except the Internet. The applications of network and bus technology have become more and more widely. There are five kinds of influential Field Bus Technology: Foundation Field Bus, PROFBUS, HART and CAN. Because of its advantage, CAN Bus will become the most popular auto network solution. The purpose that Vehicle Network has been used in the auto is to reduce the number of wires and improve the transmitting rate that could enhance the all-around application of auto. At present, the network that universally applies in auto has: Local Interconnect Network (LIN) and Controller Area Network (CAN) and so on. LIN is low cost serial communication network used to implement the control of distributed electronic system. The aim of developing LIN is to provide assistant function for the existing Vehicle Network. CAN is a kind of serial Multi-Master controller area network and a kind of communication network supporting distributed or real-time control. Internal auto models are mainly from western countries which the CAN is the mainstream. Almost all the internal auto models uses CAN bus, so according to the realistic situation at home and aboard, the research should consider using CAN first. From the whole, the vehicle network in each automobile is an isolated and mobile network. In order to realize the share of information and the four modern auto market requirements: safe, comfort, green and service, the vehicle information system of automobile post-sale services can detect and find out hidden troubles as soon as possible. It also can prevent the stolen cases, make the driver safer, choose the reasonable vehicle routing, avoid traffic block, save energy and reduce emission, support information of traffic, gasoline, catering and maintenance. So it can provide more and more convenient and comfortable services for drivers. The automobile networking becomes necessary, so the urgent matter now is how to connect the isolated vehicle network with Internet and remote monitor. This research which called“IPv6-CAN Gateway”is to realize the aim. It makes the CAN and IPv6 communicate with each other (Next Generation Internet Protocol) and transforms protocols between CAN and IPv6.
The reason of choosing IPv6 is that IPv6 is the international acknowledged and open standard. IPv6 has more advantages, such as more space, better service quality and function of multicast, higher throughput of the whole network and stronger safety, than IPv4. Its strong point also contains Universal Plug and Play and mobile application. Core technology has been almost monopolized by American during the age of IPv4. Our country is restricted in many fields including the management of Internet, address distribution, technology research and the application of operation. At present every country’s research of IPv6 protocol standard is in the same level. The development of next generation of Internet will provide a chance to master the core technique for our research institutions and companies. In the near future, using IPv6, it could accurately verify the type and flow number of each electronic device in cars which have different models, so the information of diagnosis, update and maintenance can be acquired from Internet automatically. Even while the car is running, we could remote-control these tasks safely.
All in all, one is the rapid development field of automobile electronics; the other is the technical innovating field of Internet, so this is the intersection between the two fields, that is,“IPv6-CAN Gateway”, will fill up the blank of technical field of our country.
This project is running on the basis of the IPv6 network and Remote User Control Monitor (RUCM) communicates with the IPv6 node of auto using Application Server as the intermedium. This IPv6 network contains CERNET2 (China Education and Research Network 2) Wireless IPv6 Network Access. Vehicle Network of the car is Controller Area Network (CAN). CAN could control lamps, windows and locks of the car, also collect temperature and status of the car. Otherwise the car has GPS function and can acquire real-time position information.
The communication contains two aspects: First, RUCM sends controlling commands. The gateway receives and transforms them to CAN network. The corresponding CAN node executes these commands. Second, vehicle gateway receives correlative information collected by CAN network and GPS. The information is transformed to send to RUCM. Vehicle gateway is the hinge of communication and key device connecting vehicle network with Internet. It main charges the transformation between IPv6 and the vehicle gateway.
Vehicle CAN network consists of some CAN nodes, CAN accomplishes the share among the nodes and realizes the management of the nodes conveniently. Considering from the aspects of safeties and technologies, we only refit the lamps and locks of the car.
Through testing of this project, we achieve a satisfied result. CNGI provides a well and efficient information-transmitting platform. Every function has reached the goal including command transmitting, protocol transforming, veracity of executing command, validity of command transmitting and so on. But in the aspect of information transmitting time-lapse, it’s a little inferior to the original project.
The present problem is that CDMA wireless network cannot support IPv6 but IPv4, so we must use the CIPE tunnel technology in the CDMA and change IPv6 data into IPv4 data, so that the gateway could communicate by means of CDMA.
引文
[1] [美] Silvia Hagen 著, 技桥 译, 《IPv6 精髓》(M), 清华大学出版社, 2004年 5 月: 9-120 页.
[2] [美] Joseph Davies 著, 张晓彤等 译, 《理解 IPv6》(M), 清华大学出版社, 2004 年 3 月: 1-110 页.
[3] 赵星, 《汽车电子中 CAN 总线应用》(J), 《南京工业职业技术学院学报》, 2006 年, 第 6 卷, 第 2 期: 1-3 页.
[4] 饶运涛, 邹继军, 郑勇芸 编著, 《现场总线 CAN 原理与应用》(M), 北京航空航天大学出版社, 2003 年 6 月: 20-85 页,137-153 页.
[5] 南金瑞, 刘波澜 编著, 《汽车单片机及车载总线技术》(M), 北京理工大学出版社, 2005 年 10 月: 59-183 页.
[6] [美] Loshin.p, 沙斐等 译, 《IPv6 详解》(M), 机械工业出版社, 2000 年 4月: 1 页-67 页.
[7] 李顶根, 陈军, 吴朝晖, 《基于 Arm-Linux 的车载信息平台的研制》(J), 《浙江大学学报(工学版)》, 2006 年, 第 40 卷, 第 9 期: 1-2 页.
[8] [美] Jan Axelson 著, 骆丽, 张岳强 译, 《嵌入式 Ethernet 和 Internet 通信设计技术》(M), 北京航空航天大学出版社, 2006 年 1 月: 1-58 页.
[9] 刘名博, 邓中亮, 《基于 ARM 的嵌入式 Linux 操作系统移植的研究》(J), 《计算机系统应用》, 2006 年, 第 11 期: 1-3 页.
[10] 白永强, 刘志勇, 孙常胜, 陈杰, 《基于 ARM 和 Linux 的嵌入式系统软件设计核心技术》(J), 《火炮发射与控制学报》, 2006 年, 第 1 期: 1 页.
[11] [美] Randal K. Michael 著, 詹文军, 邓波等 译, 《精通 UNIX Shell 脚本编程》(M), 电子工业出版社, 2005 年 1 月: 1-225 页.
[12] 谭浩强 著, 《C 程序设计(第二版)》(M), 清华大学出版社, 1999 年 12 月: 38-327 页.
[13] [美] W. Richard Stevens, Stephen A. Rago 著, 尤晋元, 张亚英, 戚正伟 译, 《UNIX 环境高级编程》(M), 2006 年 5 月: 1-16 页, 47-70 页, 147-188 页.
[14] [美] W.Richard Stevens 著, 陆雪莹等译《,TCP/IP 详解 卷 2:实现》(M), 机械工业出版社, 2000 年 7 月: 542 页-570 页.
[15] Jun-ichiro itojun Hagino, 《IPv6 Network Programming》, Elsevier Digital Press.
[16] [美] W.Richard Stevens 著, 杨继张译, 《UNIX 网络编程 第 2 卷 进程间通信》(M), 2000 年 3 月: 56-154 页.
[17] [美] W.Richard Stevens, 《TCP/IP 详解 卷 1:协议》(M), 机械工业出版社, 2000 年 4 月: 1-37 页, 50-70 页, 107-126 页, 170-268 页.
[18] [美] W. Richard Stevens, Bill Fenner, Andrew M. Rudoff 著, 杨继张译, 《UNIX 网络编程 第 1 卷 套接口 API》(M), 2006 年 1 月: 56-161 页, 398-401 页, 581-609 页, 751-766 页.
[19] 李燕宁, 鲍芳, 邱雪琼, 马青亮, 《CAN 现场总线的嵌入式网关设计》(J), 《仪表技术与传感器》, 2006 年 11 期: 2 页.
[20] 张睿, 赵艳华, 刘志刚 编著, 《精通 Protel DXP 2004 电路设计》(M), 2006年 8 月: 5-130 页.
[21] 王振营, 李满, 杨君等 编著,《 Protel DXP 2004 电路设计与制版实用教程》(M), 2006 年 5 月: 52-60 页.
[22] 索文义, 《基于 CAN 总线的汽车车身电器网络实验台的设计》(J), 《兰州石化职业技术学院学报》, 2006 年, 第 6 卷, 第 3 期: 1-2 页.
[23] 刘和平等 编著, 《PIC18Fxxx 单片机程序设计及应用》(M), 北京航空航天大学出版社, 2005 年 2 月: 1-50 页, 173-218 页.
[24] 周书平, 孙晓民, 《基于 CAN 的 OSEK COM 规范研究与实现》(J), 《计算机工程与设》, 第 27 卷, 第 8 期, 2006 年 4 月: 1-2 页.
[25] 唐维新, 唐楚峰, 钟新宝, 《汽车车载网络技术及其应用》(J), 《邵阳学院学报(自然科学版)》, 2006 年 3 月, 第 3 卷, 第 1 期: 1-2 页.
[26] 邵常勇, 陈涤, 董国锋, 《基于 ARM 的嵌入式系统设计方法研究》(J), 《信息技术与信息化》, 2006 年, 第 2 期: 1-2 页.
[2] [美] Joseph Davies 著, 张晓彤等 译, 《理解 IPv6》(M), 清华大学出版社, 2004 年 3 月: 1-110 页.
[3] 赵星, 《汽车电子中 CAN 总线应用》(J), 《南京工业职业技术学院学报》, 2006 年, 第 6 卷, 第 2 期: 1-3 页.
[4] 饶运涛, 邹继军, 郑勇芸 编著, 《现场总线 CAN 原理与应用》(M), 北京航空航天大学出版社, 2003 年 6 月: 20-85 页,137-153 页.
[5] 南金瑞, 刘波澜 编著, 《汽车单片机及车载总线技术》(M), 北京理工大学出版社, 2005 年 10 月: 59-183 页.
[6] [美] Loshin.p, 沙斐等 译, 《IPv6 详解》(M), 机械工业出版社, 2000 年 4月: 1 页-67 页.
[7] 李顶根, 陈军, 吴朝晖, 《基于 Arm-Linux 的车载信息平台的研制》(J), 《浙江大学学报(工学版)》, 2006 年, 第 40 卷, 第 9 期: 1-2 页.
[8] [美] Jan Axelson 著, 骆丽, 张岳强 译, 《嵌入式 Ethernet 和 Internet 通信设计技术》(M), 北京航空航天大学出版社, 2006 年 1 月: 1-58 页.
[9] 刘名博, 邓中亮, 《基于 ARM 的嵌入式 Linux 操作系统移植的研究》(J), 《计算机系统应用》, 2006 年, 第 11 期: 1-3 页.
[10] 白永强, 刘志勇, 孙常胜, 陈杰, 《基于 ARM 和 Linux 的嵌入式系统软件设计核心技术》(J), 《火炮发射与控制学报》, 2006 年, 第 1 期: 1 页.
[11] [美] Randal K. Michael 著, 詹文军, 邓波等 译, 《精通 UNIX Shell 脚本编程》(M), 电子工业出版社, 2005 年 1 月: 1-225 页.
[12] 谭浩强 著, 《C 程序设计(第二版)》(M), 清华大学出版社, 1999 年 12 月: 38-327 页.
[13] [美] W. Richard Stevens, Stephen A. Rago 著, 尤晋元, 张亚英, 戚正伟 译, 《UNIX 环境高级编程》(M), 2006 年 5 月: 1-16 页, 47-70 页, 147-188 页.
[14] [美] W.Richard Stevens 著, 陆雪莹等译《,TCP/IP 详解 卷 2:实现》(M), 机械工业出版社, 2000 年 7 月: 542 页-570 页.
[15] Jun-ichiro itojun Hagino, 《IPv6 Network Programming》, Elsevier Digital Press.
[16] [美] W.Richard Stevens 著, 杨继张译, 《UNIX 网络编程 第 2 卷 进程间通信》(M), 2000 年 3 月: 56-154 页.
[17] [美] W.Richard Stevens, 《TCP/IP 详解 卷 1:协议》(M), 机械工业出版社, 2000 年 4 月: 1-37 页, 50-70 页, 107-126 页, 170-268 页.
[18] [美] W. Richard Stevens, Bill Fenner, Andrew M. Rudoff 著, 杨继张译, 《UNIX 网络编程 第 1 卷 套接口 API》(M), 2006 年 1 月: 56-161 页, 398-401 页, 581-609 页, 751-766 页.
[19] 李燕宁, 鲍芳, 邱雪琼, 马青亮, 《CAN 现场总线的嵌入式网关设计》(J), 《仪表技术与传感器》, 2006 年 11 期: 2 页.
[20] 张睿, 赵艳华, 刘志刚 编著, 《精通 Protel DXP 2004 电路设计》(M), 2006年 8 月: 5-130 页.
[21] 王振营, 李满, 杨君等 编著,《 Protel DXP 2004 电路设计与制版实用教程》(M), 2006 年 5 月: 52-60 页.
[22] 索文义, 《基于 CAN 总线的汽车车身电器网络实验台的设计》(J), 《兰州石化职业技术学院学报》, 2006 年, 第 6 卷, 第 3 期: 1-2 页.
[23] 刘和平等 编著, 《PIC18Fxxx 单片机程序设计及应用》(M), 北京航空航天大学出版社, 2005 年 2 月: 1-50 页, 173-218 页.
[24] 周书平, 孙晓民, 《基于 CAN 的 OSEK COM 规范研究与实现》(J), 《计算机工程与设》, 第 27 卷, 第 8 期, 2006 年 4 月: 1-2 页.
[25] 唐维新, 唐楚峰, 钟新宝, 《汽车车载网络技术及其应用》(J), 《邵阳学院学报(自然科学版)》, 2006 年 3 月, 第 3 卷, 第 1 期: 1-2 页.
[26] 邵常勇, 陈涤, 董国锋, 《基于 ARM 的嵌入式系统设计方法研究》(J), 《信息技术与信息化》, 2006 年, 第 2 期: 1-2 页.