TWI694741B - Multi protocol determining method based on can bus - Google Patents

Abstract

The present disclosure provides a multi protocol determining method based on a CAN bus, which includes steps of providing a mode setting procedure, providing a listening procedure and providing a confirming procedure. In the mode setting procedure, setting at least two modes in a controller of the CAN bus. In the listening procedure, the two modes are taken turns to read a packet. In the confirming procedure, the CAN bus is set to work in the corresponding mode when the packet is received successfully, and the controller sends at least one requesting packet, which has a communicating request based on a predetermined protocol, to the communicating node. If the controller receives a feedback packet successfully, the protocol of the communicating node is the predetermined protocol. Therefore, what protocol of the communicating node is can be determined.

Description

Multi-protocol confirmation method based on controller area network

The invention relates to a multi-protocol confirmation method, and in particular to a controller-area network-based multi-protocol confirmation method for confirming the communication protocol on which the communication node is based.

At present, there are many types of vehicles in commercial fleets, including large and small passenger cars, large and small trucks, and vans. These mainstream car types are produced in the United States, Japan, and Europe, and use the communication protocols defined by ISO or SAE. Specification.

However, in 2008, the United States regulated that its new domestically produced vehicles must use the CAN bus standard interface, provide on-board diagnostic system II (On Board Diagnostic II) standard diagnostic connectors, and regulate heavy duty (Heavy Duty) vehicles The communication protocol is SAE-J1939, and other vehicles are mainly ISO-15031. In 2012, the new WWH-OBDII specification appeared, and some new cars began to use the ISO-27145 communication protocol. Therefore, how to enable vehicles with different communication protocols to share information has always been a problem that manufacturers are eager to solve.

Some vendors provide a gateway that connects the gateway between two controller area networks with different communication protocols (such as the first controller area network and the second controller area network) Through the gateway, the message sent from the first controller area network will be received, and the message will be converted to meet another communication protocol, and then the converted message will be sent to the second controller area network. However, this method still needs to know the communication protocols used by the first controller local area network and the second controller local area network in advance to perform subsequent conversion, which is limited in use.

In view of this, how to confirm the communication protocol possessed by any communication node on the vehicle or the controller area network has become the goal of the efforts of relevant operators.

The present invention provides a multi-protocol confirmation method for a controller area network. By monitoring packets in different modes and transmitting requests in a corresponding mode, the communication protocol possessed by the communication node can be further confirmed.

According to one aspect of the present invention, a multi-protocol confirmation method based on a controller area network is provided, which is used to connect a communication node to determine at least one communication protocol based on the communication node and includes providing a mode setting procedure and providing a monitoring Procedure and provide a confirmation procedure. In the mode setting procedure, at least two modes can be set in a controller of a controller area network, each mode including a baud rate (baud rate) and an identification code length, wherein each mode has a different baud rate, or each The lengths of the identification codes of the modes are different; in the monitoring program, a packet sent by the communication node is monitored in two modes in turn; and in the confirmation process, if the packet is successfully received in one of the modes, a first judgment operation is performed, otherwise, If the packet is not successfully accepted by any mode, a second determination operation is performed. In the first determination operation, the controller local area network is set to work in the mode of successfully receiving the packet, and the controller sends at least one request packet to the communication node, wherein the request packet has a communication request according to a predetermined communication protocol, if After the controller successfully receives a reply packet from the communication node, it determines that a communication protocol of the communication node is a predetermined communication protocol; in addition, in the second determination operation, the controller local area network operates in two modes in turn and sends a request packet to For the communication node, if the controller successfully receives the reply packet from the communication node, it determines that a communication protocol of the communication node is a predetermined communication protocol.

In this way, through the above monitoring procedure and confirmation procedure, it is possible to confirm which communication protocols the communication node has, which is beneficial to subsequent data transmission and reception, component control, or fault diagnosis procedures.

According to the aforementioned multi-protocol confirmation method based on the controller area network, in the first determination operation of the confirmation procedure, it can be determined whether the length of the identification code of the mode of successfully receiving the packet is equal to 29 bits. Equal to 29 bits, it is determined that a communication protocol of the communication node is SAE-J1939. Or in the first determination operation and the second determination operation of the confirmation procedure, the number of request packets sent by the controller may be two, one of which requires a predetermined communication protocol based on ISO-27145, and the other requires a predetermined communication protocol based on the packet It is ISO-15031. Or in the monitoring program, when one of the modes continues to monitor for a waiting time without successfully receiving the packet, the other mode may be used to continuously monitor the aforementioned waiting time. Or in the mode setting procedure, the number of modes set in the controller can be four, and the baud rates of the four modes are respectively in order: 500 kbps, 250 kbps, 500 kbps, and 250 kbps, and the four-mode identification code lengths are 29 bits, 29 bits, 11 bits, and 11 bits, respectively.

According to another aspect of the present invention, a multi-protocol confirmation method based on a controller area network is provided, which is used to connect a communication node to determine at least one communication protocol on which the communication node is based and includes providing a mode setting procedure and providing a Monitor the program and provide a confirmation program. In the mode setting procedure, at least two modes can be set in a controller of a controller area network, and each mode includes a baud rate and an identification code length, wherein the baud rates of each mode are different, or the identification code of each mode Different lengths; in the monitoring program, in turn, monitor the packet sent by the communication node in two modes; and in the confirmation process, if the packet is successfully received in one of the modes, the controller area network is set to work to successfully receive the packet Mode, the controller sends at least one request packet to the communication node, where the request packet has a communication request according to a predetermined communication protocol, if the controller successfully receives a reply packet from the communication node, it determines a communication protocol of the communication node It is a predetermined communication agreement.

According to the aforementioned multi-protocol confirmation method based on the controller area network, in the confirmation procedure, it can be determined whether the identification code length of the successfully received packet mode is equal to 29 bits, and if the identification code length is equal to 29 bits, It is determined that a communication protocol of the communication node is SAE-J1939, and then the controller sends a request packet to confirm whether the communication node has another communication protocol equal to the predetermined communication protocol, and the predetermined communication protocol on which the request packet is based is different from SAE-J1939 . Or in the confirmation procedure, the number of request packets sent by the controller may be two, one of which requires the predetermined communication protocol based on ISO-27145, and the other requires the predetermined communication protocol based on the packet ISO-15031. Or in the monitoring program, when one of the modes continues to monitor for a waiting time without successfully receiving the packet, the other mode may be used to continuously monitor the aforementioned waiting time.

100‧‧‧Multi-protocol confirmation method based on controller area network

110, 120, 130‧‧‧ steps

FIG. 1 shows a flowchart of a method of a multi-protocol confirmation method based on a controller area network according to an embodiment of the invention; and FIGS. 2A to 2C show a controller area network based on FIG. 1 Block flow chart of the multi-protocol confirmation method.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. For clarity, many practical details will be explained in the following description. However, the reader should understand that these practical details should not be used to limit the present invention.

Please refer to FIG. 1, wherein FIG. 1 illustrates a flowchart of a method of a multi-protocol confirmation method 100 based on a controller area network according to an embodiment of the present invention. The multi-protocol confirmation method 100 based on a controller area network is used to connect a communication node (not shown) to determine at least one communication protocol based on the communication node and includes providing steps 110, 120, and 130.

Step 110 is to provide a mode setting procedure, which can set at least two modes in a controller of a controller area network, each mode including a baud rate and an identification code length, wherein the baud rate of each mode is different, or each mode The identification code length is different.

Step 120 is to provide a listener program to alternately listen to a packet sent by the communication node in two modes.

Step 130 is to provide a confirmation procedure. If the packet is successfully received in one of the modes, the controller LAN is set to work in the mode of successfully receiving the packet. The controller sends at least one request packet to the communication node, in which the request packet There is a communication request based on a predetermined communication protocol. If the controller successfully receives a reply packet from the communication node, it is determined that a communication protocol of the communication node is the predetermined communication protocol.

In this way, through the above monitoring procedure and confirmation procedure, it is possible to confirm which communication protocols the communication node has, which is beneficial to subsequent data transmission and reception, component control, or fault diagnosis procedures. The details of the multi-protocol confirmation method 100 based on the controller area network will be described in more detail later.

In step 110, multiple modes can be set according to the requirements of different communication protocols on the market. For example, SAE-J1939 has a baud rate of 500 kbps or 250 kbps, and its identification code length is 29 bits. In addition, ISO-27145, ISO- The identification code length of 15031 is divided into 29 bits or 11 bits. Therefore, multiple modes can be set in advance to receive the packets of the corresponding communication protocol.

In the monitoring procedure of step 120, the controller can be set to read only mode (listen only mode) so that it can only receive packets but not send messages or reply messages, and can only receive packets that match the specified mode. Therefore, when one of the modes continues to listen for a waiting time without successfully receiving the packet, it means that it may not meet the settings of the above mode. At this time, the other mode can be used to continuously monitor the aforementioned waiting time, which can be used It depends on the needs.

In step 130, it is mainly to confirm the communication protocol of the communication node. When any packet is successfully received in the monitoring mode, it means that the packet conforms to the setting of the corresponding mode. Therefore, the controller area network should be operated in the corresponding mode's baud rate and identification code length, and enter a first in this corresponding mode. A judgment operation, and can further confirm the communication protocol possessed by the communication node.

More specifically, in the first determination operation of the confirmation procedure, it can be first determined whether the identification code length of the successfully received packet mode is equal to 29 bits, and if the identification code length is equal to 29 bits, the communication node’s A communication protocol is SAE-J1939, and then the controller sends a request packet to confirm whether the communication node has another communication protocol equal to the predetermined communication protocol, and the predetermined communication protocol on which the request packet is based is different from SAE-J1939.

In other words, by identifying whether the length of the identification code is 29 bits, you can confirm whether the communication node has the SAE-J1939 communication protocol, and then send a different request packet to confirm whether the communication node has other communication protocols. . For example, in an embodiment, the number of request packets sent by the controller may be two, one of which requires a predetermined communication protocol based on ISO-27145, and the other requires a predetermined communication protocol based on ISO-15031, including the above Not limited to this.

Assuming that the request packet is not successfully received under the setting of the identification code length of 29 bits, the request packet is sent again with the setting of the identification code length of 11 bits. Because the two communication protocols ISO-27145 and ISO-15031 are divided into 29-bit or 11-bit, the same vehicle can have SAE-J1939 communication protocol with an identification code length of 29 bits and an identification code length of 11 bits The meta-ISO-27145 communication protocol is a variety of communication protocols that can be clearly confirmed on the same vehicle through the above-mentioned methods.

In addition, if the packet is not successfully accepted in any mode, a second determination operation is performed. In the second determination operation, the controller LAN is alternately operated in the two modes and a request packet is sent to the communication node. If the controller is successful Upon receiving the reply packet from the communication node, it is determined that a communication protocol of the communication node is a predetermined communication protocol.

In this case, because no packet is successfully received, it can be assumed that the communication node has a gateway and is protected by the gateway. Therefore, it can be assumed that a mode of direct transmission requires packets without fear of damage to the communication node. , And can drop request packets in different modes in turn until the reply packet is successfully received.

Please refer to FIG. 2A, FIG. 2B and FIG. 2C, wherein FIGS. 2A to 2C illustrate a block flow diagram of the method 100 for multi-protocol confirmation based on the controller area network according to FIG. In this embodiment, the number of modes set in the controller can be four. The four modes have a baud rate of 500 kbps, 250 kbps, 500 kbps, and 250 kbps, respectively, and the four modes have an identification code length of 29 bits and 29 bits, respectively. Yuan, 11 bits and 11 bits. That is, mode 1 has a baud rate of 500 kbps and an identification code length of 29 bits, mode 2 has a baud rate of 250 kbps and an identification code length of 29 bits, and mode 3 has a baud rate of 500 kbps and an identification code length of 11 bits The mode 4 has a baud rate of 250 kbps and an identification code length of 11 bits. The waiting time can be set to 500 ms, and the predetermined communication protocol can be set to ISO-27145 and ISO-15031.

It can be seen from Figure 2A that the first mode is to monitor first. When the waiting time is 500ms and no packet is successfully received, the mode 2 is used to monitor for 500ms, and so on. When a packet is successfully received, it is The corresponding mode enters the first judgment operation; on the contrary, when no one packet is successfully received after monitoring in monitoring mode 4 for 500 ms, the second judgment operation is entered.

As shown in Figure 2B, the identification code length can be determined first in the first determination operation. When the identification code length is equal to 29 bits, it means that the communication node has the SAE-J1939 communication protocol, and then the controller uses the identification code length as The 29-bit setting sends a request packet with a predetermined communication protocol of ISO-27145, requesting the PID of the communication node and starting communication. If a reply packet is received from the communication node, it can be determined that the communication node has 29-bit ISO-27145 communication Agreement; regardless of whether or not a reply packet is received, the request packet with the predetermined communication protocol of ISO-15031 will be sent again with the setting of the identification code length of 29 bits, the PID of the communication node is sought and the communication is initiated, if a communication node is received Response packet, it can be determined that the communication node has a 29-bit ISO-15031 communication protocol.

In addition, when the reply packet corresponding to the ISO-15031 request packet is not successfully received, the request packet of the ISO-27145 communication protocol and the ISO-15031 communication protocol will be sent again with the setting of the identification code length of 11 bits.

When the identification code length is 11 bits, it means that the communication node does not have the SAE-J1939 communication protocol, and the controller sends a request packet with a predetermined communication protocol of ISO-27145 with the identification code length of 11 bits. The PID of the communication node and start the communication. If there is a reply packet from the communication node, it can be determined that the communication node has the 11-bit ISO-27145 communication protocol; regardless of whether the reply packet is received, the identification code length will be The 11-bit configuration sends a request packet with a predetermined communication protocol of ISO-15031, asks the communication node's PID and initiates communication. If a response packet is received from the communication node, it can be determined that the communication node has 11-bit ISO-15031 communication agreement.

Therefore, it is assumed that a packet was successfully received in mode 1 (500 kbps, 29 bits), and a response packet with a predetermined communication protocol of ISO-27145 was sent but no reply packet was received, but a request packet with a predetermined communication protocol of ISO-15031 was sent. After receiving the reply packet, you can confirm that the communication node has SAE-J1939 and 29-bit ISO-15031 communication protocol; or assume that a packet was successfully received in mode 2 (250kbps, 29-bit), and the identification code 29-bit length setting sends out the predetermined communication protocol requirements of ISO-27145 and ISO-15031, but did not receive a reply packet, but changed the setting to 11-bit identifier code to send the predetermined communication protocol to ISO-27145 and The ISO-15031 requires that a reply packet is received after the packet, and it can be confirmed that this communication node has SAE-J1939 and 11-bit ISO-27145 and ISO-15031 communication protocols.

As shown in Figure 2C, because the packet was not successfully received in any mode in the above Figure 2A, in Figure 2C, the controller LAN can be operated in Mode 1 first, and then the reservation can be issued with the setting of Mode 1 The communication protocol is the request packet of ISO-27145, which requires the PID of the communication node and starts the communication. If a reply packet is received from the communication node, it can be determined that the communication node has the ISO-27145 protocol; whether or not the reply packet is received, The request packet with the predetermined communication protocol of ISO-15031 will be sent again to find the PID of the communication node and start the communication. If a reply packet of the communication node is received, it can be determined that the communication node has the ISO-15031 communication protocol; otherwise, if it is unsuccessful After receiving any reply packet, the controller area network is changed to Mode 2 and the communication protocol of the communication node is confirmed. By analogy, the set mode 1, mode 2, mode 3 and mode 4 can be confirmed in order.

It can be known from the above embodiment that the multi-protocol confirmation method 100 based on the controller area network can determine the communication protocol that the communication node has, which is beneficial to the subsequent transmission and reception of data and the integration of different devices, vehicles, and other systems.

Although the present invention has been disclosed as above in an embodiment, it is not intended to limit the present invention. Anyone who is familiar with this art can make various modifications and retouching without departing from the spirit and scope of the present invention, so the protection of the present invention The scope shall be as defined in the appended patent application scope.

100‧‧‧Multi-protocol confirmation method based on controller area network

110, 120, 130‧‧‧ steps

Claims (9)

A multi-protocol confirmation method based on a controller area network is used to connect a communication node to confirm at least one communication protocol based on the communication node. The multi-protocol confirmation method based on a controller area network includes: providing a mode setting Program, setting at least two modes in a controller of a controller area network, each of the modes including a baud rate (baud rate) and an identification code length, wherein the baud rate of each of the modes is different, or each of the modes The length of the identification code is different; provide a monitoring program that alternately monitors a packet sent by the communication node in two modes; and provide a confirmation program that performs a first determination if the packet is successfully received in one of the modes Operation, conversely, if the packet is not successfully accepted by any of the modes, a second determination operation is performed, wherein: in the first determination operation, the controller area network is set to work to successfully receive the packet In this mode, the controller sends at least one request packet to the communication node. The request packet has a communication request according to a predetermined communication protocol. If the controller successfully receives a reply packet from the communication node, the controller determines The communication protocol of the communication node is the predetermined communication protocol; and in the second determination operation, the controller area network is alternately operated in the two modes and the request packet is sent to the communication node if The controller successfully receives the reply packet of the communication node, and then determines that the communication protocol of the communication node is the predetermined communication protocol. The multi-protocol confirmation method based on the controller area network as described in item 1 of the patent scope, wherein in the first determination operation of the confirmation procedure, it is determined whether the length of the identification code of the mode of successfully receiving the packet is equal to 29 bits. If the length of the identification code is equal to 29 bits, the communication protocol of the communication node is determined to be SAE-J1939. The multi-protocol confirmation method based on the controller area network as described in item 1 of the scope of the patent application, wherein in the first determination operation and the second determination operation of the confirmation procedure, the number of the requested packets issued by the controller Two, one of the predetermined communication protocols on which the required packet is based is ISO-27145, and the other of the predetermined communication protocols on which the required packet is based is ISO-15031. The multi-protocol confirmation method based on the controller area network as described in item 1 of the scope of patent application, wherein in the monitoring procedure, when one of the modes continues to monitor for a waiting time without successfully receiving the packet, it is changed to The other mode continuously monitors the waiting time. The multi-protocol confirmation method based on the controller area network as described in item 1 of the patent scope, wherein in the mode setting procedure, the number of the modes set in the controller is four, and the baud rate of the mode is respectively It is 500 kbps, 250 kbps, 500 kbps, and 250 kbps in sequence, and the length of the identification code in this mode is 29 bits, 29 bits, 11 bits, and 11 bits, respectively. A multi-protocol confirmation method based on a controller area network is used to connect a communication node to confirm at least one communication protocol based on the communication node. The multi-protocol confirmation method based on a controller area network includes: providing a mode setting Program, setting at least two modes in a controller of a controller area network, each of the modes including a baud rate (baud rate) and an identification code length, wherein the baud rate of each of the modes is different, or each of the modes The length of the identification code is different; provide a monitoring program to alternately listen to a packet sent by the communication node in the two modes; and provide a confirmation program to enable the controller area if the packet is successfully received in one of the modes The network is set to work in the mode of successfully receiving the packet, and the controller sends at least one request packet to the communication node, wherein the request packet has a communication requirement according to a predetermined communication protocol If the controller successfully receives a reply packet from the communication node, it is determined that the communication protocol of the communication node is the predetermined communication protocol. The multi-protocol confirmation method based on the controller area network as described in item 6 of the patent scope is used to connect the communication node to confirm the plurality of communication protocols on which the communication node is based, wherein in the confirmation procedure, the determination is successful Whether the length of the identification code of the mode receiving the packet is equal to 29 bits, if the length of the identification code is equal to 29 bits, it is determined that the communication protocol of the communication node is SAE-J1939, and then the controller The request packet is sent to confirm whether the communication node has another communication protocol equal to the predetermined communication protocol, and the predetermined communication protocol on which the request packet is based is different from SAE-J1939. The multi-protocol confirmation method based on the controller area network as described in item 7 of the scope of the patent application, wherein in the confirmation procedure, the number of the required packets sent by the controller is two, one of which is based on the predetermined The communication protocol is ISO-27145, and another predetermined communication protocol on which the request packet is based is ISO-15031. The multi-protocol confirmation method based on the controller area network as described in item 6 of the scope of the patent application One of the modes continuously monitors the waiting time and fails to receive the packet, the other mode continuously monitors the waiting time.

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