CN111030909A - Method for time synchronization among CAN bus multi-master device communication - Google Patents
Method for time synchronization among CAN bus multi-master device communication Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The invention discloses a method for time synchronization among CAN bus multi-master device communication, which does not need an additional time communication bus, unifies the transmission of time synchronization messages and the transmission of data messages on one physical bus, the bus is still a multi-master structure, and CAN dynamically calculate the transmission compensation time deviation according to the real-time performance of each transmission, compensate in real time, save the waste caused by an additional bus, effectively reduce the cost, remove the dependence on the communication speed, and have flexibility and real-time performance.
Description
The technical field is as follows:
the invention belongs to the field of communication equipment time synchronization, and relates to a method applied to time synchronization among communication of a plurality of main equipment of a CAN bus.
Background art:
in order to meet the requirements of industrial production, a general industrial production process control system, such as DCS, PLC, etc., is often composed of a series of modules with different functions, and these functional modules cooperate together to meet complex control logic. Since these functional modules are relatively independent, the overall control system time is chaotic if each module maintains its own time. Especially in some important industrial control fields such as power system control, the system includes an event sequence recording system function, and it is required that in the process of system joint debugging or production operation, once abnormal accidents such as shutdown and parking occur, the control system can timely record the abnormal inputs according to the time sequence, so that accident reasons can be searched in the following process, and thus the whole control system is required to be capable of ensuring strict time synchronization within a certain precision range.
Strict time synchronization requires that a functional module with a time source sends time synchronization messages to other functional modules periodically. In a bus architecture of multiple masters, a bus is specially used for a function module having a time source to periodically broadcast a time message on the basis of a data communication bus, other function modules are used as receiving nodes, only a synchronous master node periodically transmits the message on the time communication bus, and the other nodes are used as slaves to receive the message, so that the transmission time of the message on the bus can be calculated according to the communication rate and has certainty, and the time deviation from the moment when the master device transmits the message to the moment when the other slaves receive the message can be determined.
There are significant limitations to the above approach. Firstly, a system needs to use a special time communication bus for sending down a time message, namely an additional physical bus carrier is needed, and each functional module needs to specially prepare a corresponding MAC layer and link layer chip, so that waste is avoided; secondly, for different communication rates, the offset time needs to be recalculated, and the calculation of the offset time is only theoretical calculation and has certain errors.
For the above limitation 1, it is easy to conceive of unifying the transmission of the time packet to the bus of the data communication, but since the data communication bus has a multi-master structure, that is, any node on the bus can transmit data under the condition of obtaining the bus use right, it is very likely that when the time tick period of the synchronization master node comes, the time synchronization packet is assembled, and the bus is already occupied by other nodes when the time tick period is ready to be transmitted to the bus, the synchronization master node cannot transmit data, and at this time, it is uncertain when the bus is occupied and when the bus can be unoccupied, so it is impossible to calculate the deviation in advance and realize accurate compensation, thereby causing the deviation of the system time tick, and the limitation 2 exists at the same time.
The invention content is as follows:
the invention provides a method for time synchronization among CAN bus multi-master device communication, which does not need additional time communication bus, unifies the transmission of time synchronization message and the transmission of data message on one physical bus, the bus is still a multi-master structure, and CAN dynamically calculate the transmission compensation time deviation according to the real-time performance of each transmission, compensate in real time, save the waste caused by an additional bus, effectively reduce the cost, remove the dependence on the communication speed, and have flexibility and real-time performance.
The technical scheme adopted by the invention is as follows:
a method for time synchronization among CAN bus multi-master device communication includes
1) A plurality of node devices are arranged on one CAN bus, data communication is carried out among the node devices based on the CAN bus, and the node devices with the time synchronization message sending right are set as synchronous main nodes;
2) when the time tick period of the synchronization master node arrives, the synchronization master node firstly reads the time reference value T of the synchronization master node at the momentBThe synchronization master node starts a timing function of the synchronization master node, then the synchronization master node forms a time synchronization message with the time reference value, and finally the synchronization master node starts a CAN controller to broadcast and send the time synchronization message;
3) the synchronization main node enters the synchronization main node after completing the time synchronization message transmission and then completes the interruption of the transmission, and at the moment, the timing function of the synchronization main node reads the reference value T of the time from the synchronization main nodeBCalculating the dynamic time deviation delta t from the time to the time synchronization message sending completion time of the synchronization main node;
4) in the processing function of completing interruption of synchronous master node transmission, the synchronous master node starts the second transmission of the CAN controller, the message transmitted for the second time is a time compensation message, and the content of the time compensation message is the dynamic time deviation delta t calculated by the timing function of the synchronous master node;
5) after the synchronized node first receives the time synchronization message sent by the synchronization master node for the first time, the synchronized node sends a time reference value T to the synchronization master nodeBThe time difference delta t2 between the time when the synchronized node receives the time synchronization message sent by the synchronization master node for the first time and the time when the synchronized node receives the time compensation message sent by the synchronization master node for the second time is calculated by the timing function of the synchronized node;
6) in the timeout period of the synchronized node, if the synchronized node receives the time compensation message sent by the synchronization master node for the second time, the synchronized node stops the timing function of the synchronized node, and the new time value of the synchronized node set by the synchronized node is TB+ Δ t + Δ t 2; if the synchronized node does not receive the time compensation message sent by the synchronization main node for the second time, the synchronized node considers that the sending of the time compensation message of the synchronization main node for the second time is overtime, and the synchronized node does not execute the time synchronization of the synchronization main node.
Further, the time difference Δ t includes a total time deviation from the time when the synchronization master node reads to the time when the synchronization master node completes sending the time synchronization message and enters the synchronization master node to complete sending the interrupt.
Further, the CAN controller of the synchronization master node which completes the transmission of the interrupt equivalent synchronization master node CAN trigger the software processing logic of the synchronization master node to enter the transmission completion processing function of the synchronization master node immediately after the CAN controller of the synchronization master node which CAN really transmit a frame message is completed.
The invention has the following beneficial effects:
1) the method can be applied to communication of multiple main devices, a solution is provided from a software level, extra hardware support is not needed, and the method has better compatibility;
2) the time setting channel and the data channel are unified, the data communication and the synchronous master-slave nodes of the multi-master device are unified, the requirements of hardware interfaces and corresponding chips are reduced, and the economic cost is effectively saved;
3) the method can dynamically calculate and compensate each time of multi-master conflict competition and time deviation of time synchronization messages transmitted on the bus, and has better flexibility and time synchronization accuracy no matter whether the deviation is determined or uncertain.
Description of the drawings:
FIG. 1 is a schematic diagram of a CAN bus multi-master communication architecture according to the present invention;
FIG. 2 is a schematic diagram of the collision contention of multiple masters and the time deviation of the time synchronization message during bus transmission according to the present invention;
FIG. 3 is a timing processing flow chart of the synchronization master node in the present invention;
FIG. 4 is a flowchart of the synchronized node time tick processing of the present invention.
The specific implementation mode is as follows:
the invention will be further described with reference to the accompanying drawings.
The invention relates to a method for time synchronization among CAN bus multi-master device communication, as shown in figure 1, a CAN bus multi-master device communication architecture schematic diagram is that a plurality of node devices are arranged on a bus, each device CAN send data under the condition of obtaining the bus, namely, the bus is provided with the multi-master device, and a node 1 is set to have the right of sending time messages, namely, the node 1 is a synchronization master node.
As shown in fig. 2, when the time tick period of the node 1 arrives, the node 1 starts to read the time reference value to form a time synchronization packet, where the time reference value at the exact time is TBThe time when the time synchronization message of the node 1 is sent is TR,Δt = TR-TB。
As shown in fig. 3, it is first clear that sending the completion interrupt equivalent CAN controller CAN trigger the node software processing logic to enter the node sending completion processing function immediately after the sending of the frame message is completed from the actual sending of the frame message to the CAN controller; and the timing function is equivalent to a function capable of accurately recording the time lapse, and a specific implementation method is not limited.
Under normal conditions, data communication is carried out among node devices on the bus, when the time tick period of the node 1 arrives, the node 1 reads the time reference value T of the node at the momentBAnd starts the timing function, the node 1 will read the time reference value TBAnd forming a time synchronization message, finally starting a CAN controller to transmit, entering transmission completion interruption after the node 1 really completes transmission, and calculating the time deviation delta t from the reading time of the node 1 to the real transmission completion period of the node 1 by a timing function at the moment, wherein the time includes all time deviations from the reading time synchronization time of the node 1 to the time synchronization message received by the synchronized node except the time delay caused by the bus distance.
In the interruption processing function of the node 1 after the transmission, the node 1 starts the second transmission of the CAN controller, the time compensation message is transmitted at this time, the message content is the dynamic calculation deviation delta t calculated by the timing function, and the dynamic calculation deviation delta t mainly comprises the conflict competition time of the multi-master device and the time of the time synchronization message in bus transmission.
As shown in fig. 4, after the synchronized node first receives the time synchronization packet sent by the synchronization master node for the first time, the synchronized node sends the time T to the synchronization master nodeBThe time counting function of the synchronized node is started by the synchronized node to wait for the time compensation message sent by the synchronization main node for the second time, the synchronized node receives the time compensation message delta T within the timeout period of the synchronized node, the time counted by the timing function of the synchronized node is set to delta T2, and then the new time value set by the synchronized node is TB+ Δ t + Δ t2, if the synchronized node does not receive the message within the timeout period, it is considered that the synchronization master node time compensation is timeout, and the synchronized node does not execute the time synchronization.
The invention provides a solution for multi-master device communication on the bus from a software level, does not need additional hardware support, has better compatibility, unifies a time synchronization channel and a data channel, reduces the requirements of a hardware interface and a corresponding chip, effectively saves economic cost, can dynamically calculate and compensate the time deviation of multi-master device conflict competition time and time synchronous messages transmitted on the bus in real time each time, and has better flexibility and time synchronization accuracy no matter whether the deviation is determined or uncertain.
The physical carrier of the bus architecture shown in fig. 1 is a CAN bus as an example, and the number of nodes may meet the electrical specification of the CAN, which is not limited. The synchronous main node is not limited to the node 1, and other nodes or even multiple nodes can be selected according to the actual bus architecture requirement;
after the sending completion interrupt equivalent CAN controller CAN really send a frame of message and then CAN immediately trigger the node software processing logic to enter a sending completion processing function.
The timing function is equivalent to a function capable of accurately recording the time lapse, and the method capable of realizing the function is not limited to a specific implementation method, and belongs to the category of the timing function.
The method of the present invention is exemplified by the communication among the multi-master devices of the CAN bus, including but not limited to the CAN bus, which may be a CAN fd bus or other multi-master bus architecture, and if other multi-master architectures also use the method, it is also within the scope of the patent protection.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (3)
1. A method for time synchronization among CAN bus multi-master device communication is characterized in that: comprises that
1) A plurality of node devices are arranged on one CAN bus, data communication is carried out among the node devices based on the CAN bus, and the node devices with the time synchronization message sending right are set as synchronous main nodes;
2) when the time tick period of the synchronization master node arrives, the synchronization master node firstly reads the time reference value T of the synchronization master node at the momentBAnd the synchronization master node starts the synchronization masterThe synchronization master node starts a CAN controller to broadcast and send the time synchronization message;
3) the synchronization main node enters the synchronization main node after completing the time synchronization message transmission and then completes the interruption of the transmission, and at the moment, the timing function of the synchronization main node reads the reference value T of the time from the synchronization main nodeBCalculating the dynamic time deviation delta t from the time to the time synchronization message sending completion time of the synchronization main node;
4) in the processing function of completing interruption of synchronous master node transmission, the synchronous master node starts the second transmission of the CAN controller, the message transmitted for the second time is a time compensation message, and the content of the time compensation message is the dynamic time deviation delta t calculated by the timing function of the synchronous master node;
5) after the synchronized node first receives the time synchronization message sent by the synchronization master node for the first time, the synchronized node sends a time reference value T to the synchronization master nodeBThe time difference delta t2 between the time when the synchronized node receives the time synchronization message sent by the synchronization master node for the first time and the time when the synchronized node receives the time compensation message sent by the synchronization master node for the second time is calculated by the timing function of the synchronized node;
6) in the timeout period of the synchronized node, if the synchronized node receives the time compensation message sent by the synchronization master node for the second time, the synchronized node stops the timing function of the synchronized node, and the new time value of the synchronized node set by the synchronized node is TB+ Δ t + Δ t 2; if the synchronized node does not receive the time compensation message sent by the synchronization main node for the second time, the synchronized node considers that the sending of the time compensation message of the synchronization main node for the second time is overtime, and the synchronized node does not execute the time synchronization of the synchronization main node.
2. The method of claim 1 applied to time synchronization between CAN-bus multi-master devices communications, wherein: the time difference delta t comprises all time deviation from the time of reading by the synchronization main node to the time of completing the sending of the synchronization main node time synchronization message, entering the synchronization main node, and completing the sending and the interruption.
3. The method of claim 1 applied to time synchronization between CAN-bus multi-master devices communications, wherein: the CAN controller of the synchronization main node which finishes sending the interrupt equivalent synchronization main node CAN trigger the software processing logic of the synchronization main node to enter the sending finishing processing function of the synchronization main node immediately after the CAN controller of the synchronization main node CAN really send a frame message to the CAN controller of the synchronization main node and the frame message is sent.
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| CN202010137957.6A CN111030909B (en) | 2020-03-03 | 2020-03-03 | Method for time synchronization among CAN bus multi-master device communication |
| PCT/CN2020/112253 WO2021174784A1 (en) | 2020-03-03 | 2020-08-28 | Method for time synchronization between communications of multiple main devices in can bus |
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| CN202010137957.6A CN111030909B (en) | 2020-03-03 | 2020-03-03 | Method for time synchronization among CAN bus multi-master device communication |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113225151A (en) * | 2021-04-19 | 2021-08-06 | 杭州康吉森自动化科技有限公司 | Clock synchronization system, method and device based on CAN bus |
| WO2021174784A1 (en) * | 2020-03-03 | 2021-09-10 | 南京科远智慧科技集团股份有限公司 | Method for time synchronization between communications of multiple main devices in can bus |
| CN113867228A (en) * | 2021-10-19 | 2021-12-31 | 傲拓科技股份有限公司 | Real-time data synchronization method for PLC CANOPEN master station expansion module and CPU module |
| CN114826812A (en) * | 2022-02-18 | 2022-07-29 | 山东浪潮工业互联网产业股份有限公司 | Method and system for realizing RS485 communication multiple master stations |
| CN115751629A (en) * | 2022-12-01 | 2023-03-07 | 珠海格力电器股份有限公司 | Air conditioner communication method, device and system, air conditioning unit and storage medium |
| CN115981220A (en) * | 2023-03-21 | 2023-04-18 | 济南森峰激光科技股份有限公司 | Distributed multi-mode laser control system |
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| CN115766586B (en) * | 2022-11-16 | 2024-08-27 | 中国兵器装备集团自动化研究所有限公司 | Load balancing control system among CAN buses |
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| WO2021174784A1 (en) * | 2020-03-03 | 2021-09-10 | 南京科远智慧科技集团股份有限公司 | Method for time synchronization between communications of multiple main devices in can bus |
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| CN114826812A (en) * | 2022-02-18 | 2022-07-29 | 山东浪潮工业互联网产业股份有限公司 | Method and system for realizing RS485 communication multiple master stations |
| CN114826812B (en) * | 2022-02-18 | 2024-05-03 | 浪潮工业互联网股份有限公司 | Implementation method and system for RS485 communication multi-master station |
| CN115751629A (en) * | 2022-12-01 | 2023-03-07 | 珠海格力电器股份有限公司 | Air conditioner communication method, device and system, air conditioning unit and storage medium |
| CN115981220A (en) * | 2023-03-21 | 2023-04-18 | 济南森峰激光科技股份有限公司 | Distributed multi-mode laser control system |
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| WO2021174784A1 (en) | 2021-09-10 |
| CN111030909B (en) | 2021-03-26 |
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