A service-oriented CAN XL and Ethernet bridge chip

Abstract

The present invention relates to a service-oriented CAN XL and Ethernet bridge chip, comprising a receiving buffer, a receiving state machine, a sending buffer and a sending state machine, which is used in the field of autonomous driving to realize the support of domain controller data distribution service and vehicle service-oriented architecture at the chip level; the behavior of the receiving buffer is controlled by the receiving state machine, and the receiving buffer feeds back its own state to the receiving state machine, which is used to receive CAN XL messages from the CAN XL controller, complete the mapping of CAN XL messages to Ethernet data, generate Ethernet data packets and send them to the Ethernet controller; the behavior of the sending buffer is controlled by the sending state machine, and the sending buffer feeds back its own state to the sending state machine, which is used to receive Ethernet data packets from the Ethernet controller, complete the mapping of Ethernet data packets to CAN XL messages, generate CAN XL messages and send them to the CAN XL controller. The beneficial effect is to realize the service-oriented communication architecture based on the CAN XL and Ethernet bridge structure.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile electronics, and in particular to a service-oriented CAN XL and Ethernet bridge chip. Background Art

[0002] CAN: Controller Area Network. A serial communication protocol bus used for real-time applications. It is used for communication between various devices in automobiles and is widely used as the backbone of the current in-vehicle network.

[0003] CAN XL: CAN Extra Long, the third generation of CAN bus technology, achieving a maximum data frame of 2048 bytes and a maximum bit rate of 10+Mbit / s.

[0004] SOA: Service Oriented Architecture, service-oriented architecture, in the automotive field refers to a service-based communication architecture.

[0005] DDS: Data Distribution Service, data distribution service, adopts distributed subscription architecture to meet the needs of distributed real-time communication applications.

[0006] The state machine is composed of state registers and combinational logic circuits. It can transfer states according to pre-set states based on control signals. It is the control center that coordinates related signal actions and completes specific operations. Finite state machine is abbreviated as FSM (Finite State Machine). It is mainly divided into two categories: the first category, if the output is only related to the state but not the input, is called Moore state machine; the second category, if the output is not only related to the state but also to the input, is called Mealy state machine.

[0007] At present, the specific implementation of service-oriented in the whole vehicle architecture is at the whole vehicle level and the domain control level. Whether it is the whole vehicle SOA architecture or the DDS architecture in the domain control, data transmission is carried out through Ethernet. If data transmission based on Ethernet is supported to realize the whole vehicle SOA or DDS in the domain, it is bound to increase hardware and software costs.

[0008] With the introduction of the third-generation CAN bus technology CAN XL, it is possible to realize vehicle SOA and intra-domain DDS architecture based on CAN XL and Ethernet. However, in the current chip design, there is no bridging design between CAN XL and Ethernet to support service-oriented architecture design. Instead, data is exchanged with the controller through the bus, which will inevitably put pressure on the chip in terms of latency, bandwidth, and software scheduling, affecting the overall performance.

[0009] Aiming at the technical problems of delay, bandwidth and difficulty in software scheduling when CAN XL and Ethernet perform data interaction with a controller via a bus, the present invention makes technical improvements to a CAN XL and Ethernet bridge chip. Summary of the invention

[0010] The purpose of the present invention is to provide a chip for realizing a service-oriented communication architecture based on a CAN XL and Ethernet bridge structure.

[0011] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is a service-oriented CAN XL and Ethernet bridge chip, including a receiving buffer, a receiving state machine, a sending buffer and a sending state machine, which is used to realize the support of domain controller data distribution service and vehicle service-oriented architecture at the chip level in the field of autonomous driving; the behavior of the receiving buffer is controlled by the receiving state machine, and the receiving buffer feeds back its own state to the receiving state machine, and is used to receive CAN XL messages from the CANXL controller, complete the mapping of CAN XL messages to Ethernet data, and generate Ethernet data packets to send to the Ethernet controller; the behavior of the sending buffer is controlled by the sending state machine, and the sending buffer feeds back its own state to the sending state machine, and is used to receive Ethernet data packets from the Ethernet controller, complete the mapping of Ethernet data packets to CAN XL messages, and generate CAN XL messages to send to the CAN XL controller.

[0012] Preferably, the receiving buffer comprises a CAN XL receiving filter submodule, a receiving information mapping submodule, a receiving information buffer submodule, a data buffer submodule, and an Ethernet message sending submodule; the CAN XL receiving filter submodule is used to receive a CAN XL message with a specific frame identifier according to the configuration in the register; the receiving information mapping submodule is used to map the frame identifier and control frame information in the CAN XL message to an Ethernet data packet header according to the configuration in the register; the receiving information buffer submodule is used to buffer the Ethernet data packet header information mapped by the receiving information mapping submodule; the data buffer submodule is used to buffer the data frame information of the CAN XL message with a specific frame identifier; the Ethernet message sending submodule is used to obtain the Ethernet data packet header information from the receiving information buffer submodule and the data frame information of the CAN XL message with a specific frame identifier from the data buffer submodule as a load, generate an Ethernet data packet and send it to the Ethernet controller.

[0013] Preferably, the receiving state machine is used to drive the flow of information and data in the receiving information cache submodule and the data cache submodule, and includes a CAN XL message receiving state machine and an Ethernet data packet sending state machine; the CAN XL message receiving state machine includes a CAN XL frame identification receiving state, a CAN XL frame receiving filtering state, a CAN XL control frame receiving state, an Ethernet data packet header information mapping state, and an Ethernet data packet payload cache state; the Ethernet data packet sending state machine includes an Ethernet data packet sending preparation state, an Ethernet data packet header sending state, and an Ethernet data packet payload sending state.

[0014] Preferably, the received information mapping submodule includes a session mapping submodule and a length mapping submodule; the session mapping submodule is used to map the CAN XL message specific frame identification information and the virtual CAN identification and CAN XL address information in the CAN XL message control frame to the Ethernet data packet address information; the length mapping submodule is used to map the CAN XL message data length information to the Ethernet data packet length information.

[0015] Preferably, the Ethernet data packet address information refers to source address, source port, destination address, destination port, and communication protocol information.

[0016] Preferably, the sending buffer comprises a message filtering submodule, a sending information mapping submodule, a sending information buffering submodule, a load buffering submodule, and a CAN XL sending submodule; the message filtering submodule is used to receive a specific Ethernet data packet according to register configuration; the sending information mapping submodule is used to map the Ethernet data packet header to the CAN XL message frame identifier and control frame information according to the register configuration; the sending information buffering submodule is used to buffer the CAN XL message frame identifier and control frame information mapped by the sending information mapping submodule; the load buffering submodule is used to buffer specific Ethernet data packet load information; the CAN XL sending submodule is used to obtain the CAN XL message frame identifier and control frame information from the sending information buffering submodule, and obtain the specific Ethernet data packet load information from the load buffering submodule as data, generate a CAN XL message and send it to the CAN XL controller.

[0017] Preferably, the sending state machine module drives the flow of information and data in the sending information buffer submodule and the load buffer submodule, including an Ethernet data packet receiving state machine and a CAN XL message sending state machine; the Ethernet data packet receiving state machine includes receiving an Ethernet data packet header state, an Ethernet data packet receiving filtering state, a CAN XL message frame identifier and control frame information mapping state, and a CAN XL message load buffering state; the CAN XL message sending state machine includes a CAN XL message sending preparation state, a CAN XL arbitration frame sending state, a CAN XL message control frame sending state, a CAN XL message data frame sending state, and a CAN XL message frame tail sending state.

[0018] Preferably, the received information mapping submodule includes an Ethernet session mapping submodule and an Ethernet length mapping submodule; the Ethernet session mapping submodule is used to map the Ethernet data packet address information to the CAN XL message specific frame identification information and the virtual CAN identification and CAN XL address information in the CAN XL message control frame; the Ethernet length mapping submodule is used to map the Ethernet data packet length information to the CAN XL message data length information.

[0019] Preferably, the Ethernet data packet address information refers to source address, source port, destination address, destination port, and communication protocol information.

[0020] The service-oriented CAN XL and Ethernet bridge chip of the present invention has the following beneficial effects: 1. The mutual mapping of the frame identifier, virtual CAN identifier, address in the CAN XL and the source address, source port, destination address, destination port, and communication protocol five-tuple session information in the Ethernet message is realized at the chip level, so as to realize the communication between the CAN network layer and the Ethernet transport layer, and the communication support required for the whole vehicle SOA and the DDS in the domain can be completed without the participation of software; 2. The bridging design of the CAN XL and Ethernet inside the chip reduces the bandwidth pressure of the chip internal bus and memory controller, and ensures the overall performance of the chip; 3. It can achieve low latency and ensure the real-time nature of service-oriented communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a service-oriented CAN XL and Ethernet bridge chip structure diagram.

[0022] Figure 2 It is a service-oriented CAN XL and Ethernet bridge chip receiving buffer module structure diagram.

[0023] Figure 3 The invention is a service-oriented CAN XL and Ethernet bridge chip receiving state machine module receiving state transition diagram.

[0024] Figure 4 It is a service-oriented CAN XL and Ethernet bridge chip sending buffer module structure diagram.

[0025] Figure 5 The invention is a service-oriented CAN XL and Ethernet bridge chip sending state machine module sending state transition diagram. DETAILED DESCRIPTION

[0026] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present invention. But it is obvious to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is by no means limited to any specific configuration and algorithm proposed below, but covers any modification, replacement and improvement of elements, parts and algorithms without departing from the concept of the present invention. In the accompanying drawings and the following description, known structures and technologies are not shown to avoid unnecessary ambiguity to the present invention.

[0027] Example

[0028] This embodiment implements a service-oriented CAN XL and Ethernet bridge chip.

[0029] This embodiment designs a service-oriented CAN XL and Ethernet bridge chip architecture, including a receiving buffer module, a receiving state machine module, a sending buffer module, a sending state machine module, etc., to support domain controller data distribution services and vehicle service architecture at the chip level.

[0030] Description of the chip structure of this embodiment:

[0031] Figure 1 This is a service-oriented CAN XL and Ethernet bridge chip structure diagram. Figure 1 As shown, the CAN XL and Ethernet bridge of this embodiment is mainly divided into a receiving buffer module, a receiving state machine module, a sending buffer module, and a sending state machine module.

[0032] The receiving buffer module of this embodiment includes a CAN XL receiving filter submodule, a receiving information mapping submodule, a receiving information buffer submodule, a data buffer submodule, and an Ethernet message sending submodule.

[0033] Figure 2 This is a service-oriented CAN XL and Ethernet bridge chip receiving buffer module structure diagram. Figure 2 As shown, the receiving buffer module of this embodiment receives CAN XL messages from the CAN XL controller according to the configuration in the register, and stores them separately according to the type of the message; at the same time, the receiving buffer module completes the mapping of the frame identifier and the control frame information to the Ethernet data according to the configuration in the register. The behavior of the receiving buffer is controlled by the receiving state machine, and the receiving buffer feeds back its own state to the receiving state machine.

[0034] CAN XL receiving filter: Receives the corresponding CAN XL message according to the configuration in the register. When the CAN XL controller sends a message that matches the specific frame identifier in the configuration, the message filter module receives the subsequent message information; otherwise, it does not receive it.

[0035] Receive information mapping: This module maps the identifier and control frame information in the CAN XL message to the Ethernet header according to the configuration. The mapping relationship is specified by the software in the register, including session mapping, length mapping, etc. Session mapping is: the identifier information in the CAN XL message and the virtual CAN identifier and address information in the control frame are mapped to the address information in the Ethernet message, that is, the five-tuple information of source address, source port, destination address, destination port, communication protocol, etc. Length mapping is: the data length information in the CAN XL message is mapped to the length information in the Ethernet message.

[0036] Receive information cache: This module caches the mapped information, including session, length and other information.

[0037] Data Cache: This module caches the data frame information of CAN XL messages.

[0038] Ethernet message sending: This module obtains the header and payload from the information buffer and data buffer and sends them to the Ethernet controller.

[0039] Note: The frame identifier in the arbitration frame of the CAN XL message, the virtual CAN identifier in the control frame, and the address information are mapped to the address, port, protocol and other session information in Ethernet, which can realize service-oriented one-to-many communication support at both the domain control and vehicle levels.

[0040] The receiving state machine module of this embodiment:

[0041] Figure 3 This is a service-oriented CAN XL and Ethernet bridge chip receiving state machine module receiving state transition diagram. Figure 3 As shown in the figure, the receiving state machine module drives the flow of data in the receiving buffer, including the buffered information and data; at the same time, the data in the buffer is sent to the Ethernet controller. The state machine mainly includes two parts: receiving CAN XL messages and sending Ethernet messages. The receiving of CAN XL messages includes receiving frame identification, receiving filtering, receiving control frames, information mapping, caching and other states. The sending of Ethernet messages includes sending preparation, sending headers, sending load and other states.

[0042] The sending buffer module of this embodiment includes a message filtering submodule, a sending information mapping submodule, a sending information buffer submodule, a load buffer submodule, and a CAN XL sending submodule.

[0043] Figure 4 This is a service-oriented CAN XL and Ethernet bridge chip sending buffer module structure diagram. Figure 4 As shown, the sending buffer module of this embodiment receives messages from the Ethernet controller according to the configuration in the register, and completes the mapping of the Ethernet message to the CAN XL message. The behavior of the sending buffer is controlled by the sending state machine.

[0044] Message filtering: This module receives the corresponding Ethernet message according to the configuration in the register. When the Ethernet controller sends the session information that meets the configuration, the message filtering module receives the subsequent message information; otherwise, it does not receive it.

[0045] Send information mapping: According to the configuration, this module maps the source address, source port, destination address, destination port, protocol and other information in the Ethernet message to the frame identifier, virtual CAN identifier, address and other information in the CAN XL message; and maps the load length information in the Ethernet message to the length information in the CAN XL.

[0046] Send information cache: This module caches the mapped CAN XL message information, including frame identifier, virtual CAN identifier, address, length, etc.

[0047] Load Cache: This module caches the load information of Ethernet messages.

[0048] CAN XL Send: This module obtains the required information such as CAN XL arbitration frame, control frame, data frame, frame tail, etc. from the information buffer and load buffer, and sends it to the CAN XL controller.

[0049] Note: The session information such as address, port, protocol, etc. in Ethernet is mapped to the frame identifier, virtual CAN identifier, and address information in the CAN XL message to achieve service-oriented one-to-many communication support.

[0050] The sending state machine module of this embodiment:

[0051] Figure 5 It is a service-oriented CAN XL and Ethernet bridge chip sending state machine module sending state transition diagram. Figure 5 As shown, the sending state machine module of this embodiment drives the flow of data in the sending buffer, including the buffered information and data; and sends the data in the buffer to the CAN XL controller. The state machine mainly includes two parts: receiving Ethernet messages and sending CAN XL messages. The reception of Ethernet messages includes receiving headers, receiving filtering, information mapping, buffer load and other states. The sending of CAN XL messages includes sending preparation, sending arbitration frames, sending control frames, sending data frames, sending frame tail and other states.

[0052] The core features of this embodiment are:

[0053] 1) At the chip level, the frame identifier, virtual CAN identifier, and address in CAN XL are mapped to the source address, source port, destination address, destination port, and communication protocol five-tuple session information in the Ethernet message to realize the communication between the CAN network layer and the Ethernet transport layer, and the communication support required for the vehicle SOA and intra-domain DDS can be completed without the participation of software.

[0054] 2) Design and implement the bridging architecture between CAN XL and Ethernet at the chip level to reduce the bandwidth pressure of the chip's internal bus and memory controller and ensure the overall performance of the chip.

[0055] 3) Design a bridge architecture between CAN XL and Ethernet at the chip level to achieve low latency in communication and reduce software involvement, thereby ensuring the real-time communication of the vehicle's service-oriented architecture and domain control data distribution services.

[0056] A person of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, wherein the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0057] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the principle of the present invention. These improvements and supplements should also be regarded as the scope of protection of the present invention.

Claims

1. A service-oriented CAN XL and Ethernet bridge chip, characterized in that: It includes a receiving buffer, a receiving state machine, a sending buffer and a sending state machine, which are used in the field of autonomous driving to support domain controller data distribution services and vehicle service-oriented architecture at the chip level; The behavior of the receiving buffer is controlled by the receiving state machine, and the receiving buffer feeds back its own state to the receiving state machine, so as to receive CAN XL messages from the CAN XL controller, complete the mapping of CAN XL messages to Ethernet data, generate Ethernet data packets and send them to the Ethernet controller; the behavior of the sending buffer is controlled by the sending state machine, and the sending buffer feeds back its own state to the sending state machine, so as to receive Ethernet data packets from the Ethernet controller, complete the mapping of Ethernet data packets to CAN XL messages, generate CAN XL messages and send them to the CAN XL controller; The receiving buffer includes a CAN XL receiving filter submodule, a receiving information mapping submodule, a receiving information buffer submodule, a data buffer submodule, and an Ethernet message sending submodule; The CAN XL receiving filter submodule is used to receive a CAN XL message with a specific frame identifier according to the configuration in the register; The received information mapping submodule is used to map the frame identifier and control frame information in the CAN XL message to the Ethernet data packet header according to the register configuration; The received information buffer submodule is used to buffer the Ethernet data packet header information mapped by the received information mapping submodule; the data buffer submodule is used to buffer the specific frame identification CAN XL message data frame information; The Ethernet message sending submodule is used to obtain Ethernet data packet header information from the receiving information buffer submodule, obtain specific frame identification CAN XL message data frame information from the data buffer submodule as a load, generate an Ethernet data packet and send it to the Ethernet controller; The receiving state machine is used to drive the flow of information and data in the receiving information buffer submodule and the data buffer submodule, and includes a CAN XL message receiving state machine and an Ethernet data packet sending state machine; the CAN XL message receiving state machine includes a receiving CAN XL frame identification state, a CAN XL frame receiving filtering state, a receiving CAN XL control frame state, an Ethernet data packet header information mapping state, and an Ethernet data packet load buffer state; the Ethernet data packet sending state machine includes an Ethernet data packet sending preparation state, a sending Ethernet data packet header state, and a sending Ethernet data packet load state; The transmission buffer includes a message filtering submodule, a transmission information mapping submodule, a transmission information buffer submodule, a load buffer submodule, and a CAN XL transmission submodule; The message filtering submodule is used to receive a specific Ethernet data packet according to the register configuration; the sending information mapping submodule is used to map the Ethernet data packet header to the CAN XL message frame identifier and control frame information according to the register configuration; the sending information buffering submodule is used to buffer the CAN XL message frame identifier and control frame information mapped by the sending information mapping submodule; the load buffering submodule is used to buffer specific Ethernet data packet load information; the CAN XL sending submodule is used to obtain the CAN XL message frame identifier and control frame information from the sending information buffering submodule, and obtain the specific Ethernet data packet load information from the load buffering submodule as data, and generate a CAN XL message to send to the CAN XL controller; The sending state machine module drives the flow of information and data in the sending information buffer submodule and the load buffer submodule, including an Ethernet data packet receiving state machine and a CAN XL message sending state machine; the Ethernet data packet receiving state machine includes receiving an Ethernet data packet header state, an Ethernet data packet receiving filtering state, a CAN XL message frame identifier and control frame information mapping state, and a CAN XL message load buffering state; the CAN XL message sending state machine includes a CAN XL message sending preparation state, a CAN XL arbitration frame sending state, a CAN XL message control frame sending state, a CAN XL message data frame sending state, and a CAN XL message frame tail sending state.

2. The service-oriented CAN XL and Ethernet bridge chip according to claim 1, characterized in that: The received information mapping submodule includes a session mapping submodule and a length mapping submodule; the session mapping submodule is used to map the CAN XL message specific frame identification information and the virtual CAN identification and CAN XL address information in the CAN XL message control frame to the Ethernet data packet address information; the length mapping submodule is used to map the CAN XL message data length information to the Ethernet data packet length information.

3. The service-oriented CAN XL and Ethernet bridge chip according to claim 2, characterized in that: The Ethernet data packet address information refers to the source address, source port, destination address, destination port, and communication protocol information.

4. The service-oriented CAN XL and Ethernet bridge chip according to claim 1, characterized in that: The received information mapping submodule includes an Ethernet session mapping submodule and an Ethernet length mapping submodule; the Ethernet session mapping submodule is used to map the Ethernet data packet address information to the CAN XL message specific frame identification information and the virtual CAN identification and CAN XL address information in the CAN XL message control frame; the Ethernet length mapping submodule is used to map the Ethernet data packet length information to the CAN XL message data length information.

5. The service-oriented CAN XL and Ethernet bridge chip according to claim 4, characterized in that: The Ethernet data packet address information refers to the source address, source port, destination address, destination port, and communication protocol information.

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