A method, device, storage medium and terminal for dynamically configuring the ID of a satellite-borne CAN bus

Abstract

The present application relates to a method, device, storage medium and terminal for dynamic configuration of a satellite-borne CAN bus ID. The method comprises: collecting dynamic related configurations of the bus dynamic configuration; determining the dynamic configuration scheme, bus message format and bus filter configuration scheme of the bus dynamic configuration according to the dynamic related configuration; providing the message parsing scheme of the bus dynamic configuration according to the bus message format; providing the bus interruption processing scheme and exception processing scheme of the bus dynamic configuration according to the dynamic configuration scheme. The embodiment of the present application realizes the dynamic configuration of the arbitration domain ID and the high-reliability transmission of the data domain during the CAN bus communication process according to the different task requirements of the satellite computer and each electronic control unit, thereby improving the flexibility, scalability, security and reliability of the CAN bus communication and facilitating the satellite computer to perform unified dynamic management of multiple different electronic control units on the entire satellite.

Description

Technical Field

[0001] The present invention relates to the field of CAN bus technology, and more specifically, to a satellite-borne CAN bus ID dynamic configuration method, device, storage medium and terminal. Background Art

[0002] CAN bus was proposed as a field control bus. Due to its advantages of high reliability, fast transmission rate, multi-master competition, high bus utilization, strong fault tolerance and flexible configuration, after decades of development, CAN bus has been widely used in the automotive and industrial fields. As the application of CAN bus becomes more and more mature, the application of CAN bus in the aerospace field is also increasing.

[0003] The application of CAN bus in the aerospace field is still in its infancy. In recent years, the application of CAN bus in spacecraft has also tended to be large-scale, involving more and more aerospace models, and more and more aerospace electronic equipment integrated with CAN bus. However, most aerospace companies are still in the early stages of applying CAN bus, and have not fully utilized the scalability, flexibility and high reliability of CAN bus. They often only apply the reliability brought by the physical level such as CAN protocol chips and CAN bus cables, and have not conducted in-depth research from the software level, that is, the application layer protocol level, and have not been able to give full play to the many advantages of CAN bus itself. Summary of the invention

[0004] The embodiments of the present application provide a method, device, storage medium and terminal for dynamically configuring a satellite-borne CAN bus ID. In order to have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. This summary is not a general review, nor is it intended to identify key / important components or describe the scope of protection of these embodiments. Its only purpose is to present some concepts in a simple form as a preface to the detailed description that follows.

[0005] In a first aspect, the present application provides a method for dynamically configuring a satellite-borne CAN bus ID, the method comprising:

[0006] Dynamically related configuration of acquisition bus dynamic configuration;

[0007] Determine, according to the dynamic related configuration, a dynamic configuration scheme, a bus message format and a bus filter configuration scheme of the bus dynamic configuration;

[0008] According to the bus message format, a message parsing solution for the bus dynamic configuration is provided;

[0009] According to the dynamic configuration scheme, a bus interruption processing scheme and an exception processing scheme of the bus dynamic configuration are provided.

[0010] According to a preferred embodiment, the dynamic related configuration of the acquisition bus dynamic configuration includes:

[0011] Collect the unique device identification code, device identification broadcast frame, device identification application frame, device identification permission frame and header of the bus dynamic configuration;

[0012] The device unique identification code, the device identification broadcast frame, the device identification application frame, the device identification permission frame and the header are used as dynamic related configurations of the bus dynamic configuration.

[0013] According to a preferred embodiment, determining a dynamic configuration scheme of the bus dynamic configuration according to the dynamic related configuration includes:

[0014] A dynamic configuration scheme for the bus dynamic configuration is determined according to the dynamic related configuration, the mission requirements of the satellite computer and the mission requirements of the electronic control unit.

[0015] According to a preferred embodiment, determining the bus message format of the bus dynamic configuration according to the dynamic related configuration includes:

[0016] The bus message format of the bus dynamic configuration is determined according to the data format of the dynamic related configuration and the data content.

[0017] According to a preferred embodiment, determining a bus filter configuration scheme for the bus dynamic configuration according to the dynamic related configuration includes:

[0018] Determining a first-stage filter configuration and a second-stage filter configuration of the bus dynamic configuration according to the dynamic related configuration;

[0019] The first-stage filter configuration and the second-stage filter configuration are used as bus filter configuration schemes for dynamic configuration of the bus.

[0020] In a second aspect, the present application provides a satellite-borne CAN bus ID dynamic configuration device, the device comprising:

[0021] A collection module, used for collecting dynamic related configurations of bus dynamic configurations;

[0022] A configuration module, used to determine a dynamic configuration scheme, a bus message format and a bus filter configuration scheme of the bus dynamic configuration according to the dynamic related configuration;

[0023] A parsing module, used for providing a message parsing solution for the dynamic configuration of the bus according to the bus message format;

[0024] The processing module is used to provide a bus interruption processing scheme and an exception processing scheme for the dynamic configuration of the bus according to the dynamic configuration scheme.

[0025] According to a preferred embodiment, the acquisition module is used to acquire the device unique identification code, device identification broadcast frame, device identification application frame, device identification permission frame and header of the bus dynamic configuration, and use the device unique identification code, the device identification broadcast frame, the device identification application frame, the device identification permission frame and the header as the dynamic related configuration of the bus dynamic configuration.

[0026] According to a preferred embodiment, the configuration module includes:

[0027] A scheme configuration unit, used for determining a dynamic configuration scheme of the bus dynamic configuration according to the dynamic related configuration, the mission requirements of the satellite service computer and the mission requirements of the electronic control unit;

[0028] A message format configuration unit, used to determine the bus message format of the bus dynamic configuration according to the data format of the dynamic related configuration and data content;

[0029] A filter configuration unit is used to determine the first-stage filter configuration and the second-stage filter configuration of the bus dynamic configuration according to the dynamic related configuration, and use the first-stage filter configuration and the second-stage filter configuration as the bus filter configuration scheme of the bus dynamic configuration.

[0030] In a third aspect, the present application provides a computer storage medium, which stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above-mentioned method steps.

[0031] In a fourth aspect, the present application provides a terminal, which may include: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned method steps.

[0032] The technical solution provided by this application may have the following beneficial effects:

[0033] In the present application, the onboard CAN bus ID dynamic configuration method collects the dynamic related configuration of the bus dynamic configuration; according to the dynamic related configuration, determines the dynamic configuration scheme, bus message format and bus filter configuration scheme of the bus dynamic configuration; according to the bus message format, gives the message parsing scheme of the bus dynamic configuration; according to the dynamic configuration scheme, gives the bus interruption processing scheme and exception processing scheme of the bus dynamic configuration. The present application proposes a highly reliable onboard CAN bus ID dynamic configuration method. In view of the problem that the ID of each electronic control unit is pre-assigned to a specific value when communicating with the spacecraft currently using the CAN bus, and the ID of each electronic control unit is fixed during the communication process with the satellite computer, resulting in low flexibility and poor scalability of the CAN bus during the communication process, the present application introduces dynamic related configuration, which enables the satellite computer to dynamically adjust and configure the ID of the electronic control unit at any time according to the mission requirements, thereby improving the flexibility and scalability of communication. In response to the problem that when spacecraft currently use the CAN bus for communication, the data transmission message has less verification information, resulting in a single message parsing process and low reliability and security of bus communication, this application defines the bus message format as header + data content, adds header data to the CAN bus data transmission message, and specifies the meaning of each byte of the header data to increase the verification information of the message, thereby improving the reliability and security of the CAN bus communication process.

[0034] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0036] Figure 1 It is a flowchart of a method for dynamically configuring a satellite-borne CAN bus ID provided in an embodiment of the present application;

[0037] Figure 2 It is a schematic diagram of a CAN bus message structure of a method for dynamically configuring a satellite-borne CAN bus ID provided in an embodiment of the present application;

[0038] Figure 3 It is a CAN bus interrupt processing logic diagram of a satellite-borne CAN bus ID dynamic configuration method provided in an embodiment of the present application;

[0039] Figure 4 It is a schematic diagram of a device for dynamically configuring a satellite-borne CAN bus ID provided in an embodiment of the present application;

[0040] Figure 5This is a terminal schematic diagram provided in an embodiment of the present application.

[0041] Reference numerals:

[0042] 10. Collection module, 20. Configuration module, 30. Analysis module, 40. Processing module;

[0043] 1001. Processor, 1002. Communication bus, 1003. User interface, 1004. Network interface, 1005. Memory. DETAILED DESCRIPTION

[0044] The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them.

[0045] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are only examples of systems and methods consistent with some aspects of the present invention as detailed in the attached claims.

[0047] In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previously associated objects are in an "or" relationship.

[0048] The following will be combined with the attached Figure 1 -Attached Figure 3 , a satellite-borne CAN bus ID dynamic configuration method provided in an embodiment of the present application is introduced in detail.

[0049] See also Figure 1-3 , which is a flowchart of a method for dynamically configuring a satellite-borne CAN bus ID according to an embodiment of the present application. Figure 1-3 As shown, the method of the embodiment of the present application may include the following steps:

[0050] During the satellite CAN bus communication, after the satellite computer and the electronic control unit establish a communication connection, the satellite computer cannot modify or dynamically adjust the ID of the electronic control unit in the subsequent communication process. The communication control is relatively rigid, with poor flexibility and low scalability. During the satellite CAN bus communication, the maximum data volume of a single frame of data in the message is 8 bytes. During the communication process, the single frame of data contains less verification information, and the reliability and security of the data transmission process are low. The embodiment of the present application is based on the CAN bus 2.0B standard, analyzes the structure and characteristics of the extended frame arbitration domain and the data domain, explores the dynamic allocation of the extended frame arbitration domain ID and the design principle of the data domain, and proposes a satellite CAN bus ID dynamic configuration method, including: dynamic correlation configuration, dynamic configuration scheme, bus message format definition, bus filter configuration scheme, bus interrupt processing scheme, message parsing scheme and abnormal processing scheme for the bus not receiving correct data within the specified time. The method introduces the concepts of device unique identification code, device identification broadcast frame, device identification application frame, device identification permission frame and header, and realizes the dynamic configuration of arbitration domain ID and high-reliability transmission of data domain in the CAN bus communication process according to the different task requirements of the satellite computer and each electronic control unit, thereby improving the flexibility, scalability, security and reliability of CAN bus communication and facilitating the satellite computer to dynamically manage multiple different electronic control units on the entire satellite.

[0051] Figure 2 It is the message structure of CAN bus, including: SOF, arbitration field and control field. Among them, SOF indicates the start of frame. The arbitration field is also called arbitration domain. In the arbitration field: SRR indicates alternative remote request bit, IDE indicates extended identifier bit, RTR indicates remote transmission request bit; configuration area 1 has 11-bit identification code, configuration area 2 has 18-bit identification code; the length and data content of nID can be defined in configuration area 1 or configuration area 2 according to actual needs, nID indicates the nth ID, and n can be any one of 1-11, 12-29. The control field is also called control domain. There are 2 reserved bits and 4 data length codes in the control field. It can be combined with Figure 2 Perform the following onboard CAN bus ID dynamic configuration.

[0052] Step S100, collecting dynamic related configurations of bus dynamic configuration, including:

[0053] Collect the unique device identification code, device identification broadcast frame, device identification application frame, device identification permission frame and header of the bus dynamic configuration; use the unique device identification code, the device identification broadcast frame, the device identification application frame, the device identification permission frame and the header as the dynamic related configuration of the bus dynamic configuration.

[0054] In the embodiment of the present application, dynamic related configuration is involved, including: the unique device identification code is the unique device code of all electronic control units in the whole satellite, and the code value of each electronic control unit is unique and non-repeating; the device identification broadcast frame is a request frame for dynamic configuration of ID, which is sent by the satellite computer and received by all electronic control units; the device identification application frame is an application frame for dynamic configuration of ID, which is sent by the electronic control unit and received by the satellite computer, and the device identification application frame sent by each electronic control unit contains the unique device identification code of the electronic control unit; the device identification permission frame is an ID allocation frame, and the satellite computer parses the device identification application frame, reorganizes the unique device identification code and configuration ID of the electronic control unit in the device identification application frame and sends it down, which is sent by the satellite computer and received by the corresponding electronic control unit; the header is the first 8 bytes of data of the data transmission message, and the remote control and telemetry message data in the communication contain the header. The satellite computer is also called the satellite computer of the whole satellite; the electronic control unit is also called the electronic control unit of the whole satellite.

[0055] Step S200: Determine the dynamic configuration scheme, bus message format and bus filter configuration scheme of the bus dynamic configuration according to the dynamic related configuration.

[0056] Wherein, determining the dynamic configuration scheme of the bus dynamic configuration according to the dynamic related configuration includes:

[0057] A dynamic configuration scheme for the bus dynamic configuration is determined according to the dynamic related configuration, the mission requirements of the satellite computer and the mission requirements of the electronic control unit.

[0058] In the embodiment of the present application, the dynamic configuration scheme is a CAN bus ID dynamic configuration scheme designed based on the task requirements corresponding to the respective task scenarios of the satellite computer and each electronic control unit. The CAN bus ID dynamic configuration scheme includes two ID dynamic configuration methods: the satellite computer actively allocates the ID and the electronic control unit actively applies for the ID.

[0059] Specifically, the satellite computer actively allocates IDs: the satellite computer sends a device identification broadcast frame to each electronic control unit. After receiving the device identification broadcast frame, each electronic control unit sends a device identification application frame containing the unique identification code of the local device to the satellite computer at a certain frequency. After receiving the device identification application frame of each electronic control unit, the satellite computer parses out the device unique identification code in turn, and combines the device unique identification code and the dynamically variable nID to form a corresponding device identification permission frame, and sends it to the corresponding electronic control unit in turn, and assigns a corresponding nID to each electronic control unit. After each electronic control unit receives its own device identification permission frame, it parses the device identification permission frame, performs bus initialization according to the nID in the device identification permission frame, completes the bus filter configuration, and after the initialization is completed, the satellite computer establishes normal communication with the electronic control unit.

[0060] The electronic control unit actively applies for an ID: After each electronic control unit is turned on, it sends a device identification application frame containing the unique identification code of the local device to the satellite computer at a certain frequency. After receiving the device identification application frame of the electronic control unit, the satellite computer parses out the unique device identification code of the electronic control unit, and combines the unique device identification code and the dynamically variable nID into a corresponding device identification permission frame, and sends it to the corresponding electronic control unit to assign the corresponding nID to the electronic control unit. After receiving the device identification permission frame, the electronic control unit parses the device identification permission frame, performs bus initialization according to the nID in the device identification permission frame, and completes the bus filter configuration. The bus filter configuration process will be described later. After the initialization is completed, the satellite computer establishes normal communication with the electronic control unit. In this process, there may be a situation where multiple electronic control units apply for IDs at the same time. For specific processing methods, refer to the above-mentioned satellite computer actively assigning IDs.

[0061] Wherein, determining the bus message format of the bus dynamic configuration according to the dynamic related configuration includes:

[0062] The bus message format of the bus dynamic configuration is determined according to the data format of the dynamic related configuration and the data content.

[0063] In the embodiment of the present application, the bus message format is defined as: the CAN bus message format adopts the data format of header + data content, wherein the header length is 8 bytes, and each byte has a specific meaning.

[0064] In this application, data transmission messages all adopt the data format of header + data content. The header length is fixed at 8 bytes, and the header data definition includes information such as protocol version, packet length, transmission protocol, control field, source address, destination address, content identification code and header checksum. The specific header definition information is shown in Table 1 below.

[0065] ,

[0066] Wherein, determining the bus filter configuration scheme of the bus dynamic configuration according to the dynamic related configuration includes:

[0067] According to the dynamic related configuration, the first stage filter configuration and the second stage filter configuration of the bus dynamic configuration are determined; and the first stage filter configuration and the second stage filter configuration are used as the bus filter configuration scheme of the bus dynamic configuration.

[0068] In the embodiment of the present application, the bus filter configuration scheme is as follows: the CAN bus filter configuration is divided into two stages, namely, the first stage filter configuration of the bus filter configuration of each electronic control unit: only receiving device identification broadcast frame + device identification permission frame, the configuration time is when the electronic control unit is turned on and initialized, receives the device identification broadcast frame of the star service computer, or the electronic control unit and the star service computer do not establish communication, and fail to receive correct data within the first specified time; the second stage filter configuration of the bus filter configuration of each electronic control unit: receiving device identification broadcast frame + data transmission message, the configuration time is after the electronic control unit receives the device identification permission frame or the electronic control unit and the star service computer establish communication, fail to receive correct data within the second specified time. The specified time includes the first specified time and the second specified time, the first specified time and the second specified time can be configured according to the actual use situation, and are configured during software implementation; the common time of the first specified time is 60s, and the common time of the second specified time is 10s.

[0069] Step S300: According to the bus message format, a message parsing scheme for the bus dynamic configuration is provided. In the embodiment of the present application, the message parsing scheme is a scheme including specific parsing and processing logic for a data message whose bus message format is header + data content. The details are as follows:

[0070] In the embodiment of the present application, the transmission message of the star service computer and the electronic control unit is a multi-frame data, and the processing logic of the message is to first determine whether the received data frame is a header. If it is a header, the header data and the header data checksum are judged. If all the data are correct, the frame data is received and the header data reception flag is set to be valid, otherwise, the frame data is discarded and the header data reception flag is set to be invalid; if it is not a header, it is determined whether it is the second frame data. If it is the second frame data and the header data reception flag is valid, the data is received and the second frame data reception flag is set to be valid, otherwise, the frame data is discarded and the second frame data reception flag is set to be invalid, and other data frames are processed in this way until all the multiple frames of data are received.

[0071] Step S400: According to the dynamic configuration scheme, a bus interruption processing scheme and an exception processing scheme of the bus dynamic configuration are provided.

[0072] In the embodiment of the present application, the bus interruption processing scheme is a specific solution for receiving and processing device identification broadcast frames, device identification application frames, and device identification permission frames. The details are as follows:

[0073] The embodiment of the present application involves an electronic control unit whose bus communication processing method is interrupt processing, and its processing process is to read the interrupt register and determine the interrupt type. If the interrupt type is a receive interrupt, the data type is determined; otherwise, if the interrupt type is a send interrupt, the send data processing flow is executed. If the data type is a device identification broadcast frame, the electronic control unit sends a device identification request frame to the satellite computer via the CAN bus; if the data type is a device identification permission frame, the electronic control unit parses the data and configures the nID assigned by the satellite computer; if the data type is a data transmission message, the electronic control unit performs instruction parsing and processing of the data transmission message according to the communication protocol. The specific interrupt processing flow is as follows: Figure 3 shown.

[0074] In the embodiment of the present application, the exception handling scheme is to provide different exception handling methods according to the communication status between the satellite service computer and the electronic control unit when the bus fails to receive the correct data within the specified time. The details are as follows:

[0075] If the satellite computer fails to receive correct data beyond the first specified time during the communication process, the satellite computer must re-initialize the bus;

[0076] In the case that the electronic control unit fails to receive correct data beyond the second specified time during the communication process, the electronic control unit must re-initialize the bus. The focus of the bus initialization operation is the filter configuration. For specific configuration operations, see the above bus filter configuration scheme.

[0077] In the embodiment of the present application, the onboard CAN bus ID dynamic configuration method collects the dynamic related configuration of the bus dynamic configuration; according to the dynamic related configuration, the dynamic configuration scheme, bus message format and bus filter configuration scheme of the bus dynamic configuration are determined; according to the bus message format, the message parsing scheme of the bus dynamic configuration is given; according to the dynamic configuration scheme, the bus interruption processing scheme and the exception processing scheme of the bus dynamic configuration are given. The embodiment of the present application is based on the extended frame of the PeliCAN mode of the CAN bus, and introduces the concepts of device unique identification code, device identification broadcast frame, device identification application frame and device identification permission frame included in the dynamic related configuration. By analyzing the data definition of the CAN bus arbitration field, a dynamic configuration method of the ID in the communication process is proposed to realize the dynamic configuration of the ID in the CAN bus data transmission message; in the embodiment of the present application, the data format of the CAN bus data transmission message, that is, the bus message format, is defined as header + data content to improve the parsing complexity of the message during the CAN bus data transmission, and improve the reliability and security of the CAN bus data transmission message process. It can give full play to the extensibility, flexibility, reliability and security of the CAN bus in the field of spacecraft communication.

[0078] The following are embodiments of the apparatus of the present invention, which can be used to implement the embodiments of the method of the present invention. For details not disclosed in the embodiments of the apparatus of the present invention, please refer to the embodiments of the method of the present invention.

[0079] See also Figure 4 , which shows a schematic diagram of the structure of a satellite-borne CAN bus ID dynamic configuration device provided by an exemplary embodiment of the present invention. The device includes: a collection module 10, a configuration module 20, a parsing module 30 and a processing module 40.

[0080] The acquisition module 10 is used to acquire dynamic related configurations of the bus dynamic configuration;

[0081] A configuration module 20, configured to determine a dynamic configuration scheme, a bus message format and a bus filter configuration scheme of the bus dynamic configuration according to the dynamic related configuration;

[0082] The parsing module 30 is used to provide a message parsing solution for the bus dynamic configuration according to the bus message format;

[0083] The processing module 40 is used to provide a bus interruption processing scheme and an exception processing scheme for the dynamic configuration of the bus according to the dynamic configuration scheme.

[0084] According to a preferred embodiment, the acquisition module 10 is used to acquire the device unique identification code, device identification broadcast frame, device identification application frame, device identification permission frame and header of the bus dynamic configuration, and use the device unique identification code, the device identification broadcast frame, the device identification application frame, the device identification permission frame and the header as the dynamic related configuration of the bus dynamic configuration.

[0085] According to a preferred embodiment, the configuration module 20 includes:

[0086] A scheme configuration unit, used for determining a dynamic configuration scheme of the bus dynamic configuration according to the dynamic related configuration, the mission requirements of the satellite service computer and the mission requirements of the electronic control unit;

[0087] A message format configuration unit, used to determine the bus message format of the bus dynamic configuration according to the data format of the dynamic related configuration and the data content;

[0088] A filter configuration unit is used to determine the first-stage filter configuration and the second-stage filter configuration of the bus dynamic configuration according to the dynamic related configuration, and use the first-stage filter configuration and the second-stage filter configuration as the bus filter configuration scheme of the bus dynamic configuration.

[0089] It should be noted that the onboard CAN bus ID dynamic configuration device provided in the above embodiment only uses the division of the above functional modules as an example when executing the onboard CAN bus ID dynamic configuration method. In actual applications, the above functional allocation can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the onboard CAN bus ID dynamic configuration device provided in the above embodiment and the onboard CAN bus ID dynamic configuration method embodiment belong to the same concept, and the implementation process thereof is detailed in the method embodiment, which will not be repeated here.

[0090] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0091] The onboard CAN bus ID dynamic configuration device collects dynamic related configurations of the bus dynamic configuration; determines the dynamic configuration scheme, bus message format and bus filter configuration scheme of the bus dynamic configuration according to the dynamic related configuration; provides the message parsing scheme of the bus dynamic configuration according to the bus message format; provides the bus interruption processing scheme and exception processing scheme of the bus dynamic configuration according to the dynamic configuration scheme. The present application proposes a high-reliability onboard CAN bus ID dynamic configuration. In view of the problem that the ID of each electronic control unit is pre-assigned to a specific value during communication of spacecraft currently using the CAN bus, and the ID of each electronic control unit is fixed during the communication process with the satellite computer, resulting in low flexibility and poor scalability of the CAN bus during the communication process, the embodiment of the present application introduces dynamic related configuration, which enables the satellite computer to dynamically adjust and configure the ID of the electronic control unit at any time according to the mission requirements, thereby improving the flexibility and scalability of communication. In response to the problem that when spacecraft currently use the CAN bus for communication, the data transmission message has less verification information, resulting in a single message parsing process and low reliability and security of bus communication, the embodiment of the present application defines the bus message format as header + data content, adds header data to the CAN bus data transmission message, and specifies the meaning of each byte of the header data to increase the verification information of the message, thereby improving the reliability and security of the CAN bus communication process.

[0092] The present invention also provides a computer-readable medium on which program instructions are stored. When the program instructions are executed by a processor, the satellite-borne CAN bus ID dynamic configuration method provided by the above-mentioned various method embodiments is implemented.

[0093] The present invention also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the satellite-borne CAN bus ID dynamic configuration method of each of the above method embodiments.

[0094] See also Figure 5, which is a schematic diagram of the structure of a terminal provided in an embodiment of the present application. Figure 5 As shown, the terminal may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0095] The communication bus 1002 is used to realize the connection and communication between these components.

[0096] The user interface 1003 may include a display screen (Display) and a camera (Camera), and the optional user interface 1003 may also include a standard wired interface and a wireless interface.

[0097] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0098] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0099] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally be at least one storage device located away from the aforementioned processor 1001. As Figure 5 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a satellite-borne CAN bus ID dynamic configuration application.

[0100] exist Figure 5 In the terminal shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 1001 can be used to call the onboard CAN bus ID dynamic configuration application stored in the memory 1005, and specifically perform the following operations:

[0101] Dynamically related configuration of acquisition bus dynamic configuration;

[0102] Determine, according to the dynamic related configuration, a dynamic configuration scheme, a bus message format and a bus filter configuration scheme of the bus dynamic configuration;

[0103] According to the bus message format, a message parsing solution for the bus dynamic configuration is provided;

[0104] According to the dynamic configuration scheme, a bus interruption processing scheme and an exception processing scheme of the bus dynamic configuration are provided.

[0105] In one embodiment, when the processor 1001 executes the dynamic related configuration of the acquisition bus dynamic configuration, the processor 1001 specifically performs the following operations:

[0106] Collect the unique device identification code, device identification broadcast frame, device identification application frame, device identification permission frame and header of the bus dynamic configuration;

[0107] The device unique identification code, the device identification broadcast frame, the device identification application frame, the device identification permission frame and the header are used as dynamic related configurations of the bus dynamic configuration.

[0108] In one embodiment, when the processor 1001 determines the dynamic configuration scheme of the bus dynamic configuration according to the dynamic related configuration, the processor 1001 specifically performs the following operations:

[0109] A dynamic configuration scheme for the bus dynamic configuration is determined according to the dynamic related configuration, the mission requirements of the satellite computer and the mission requirements of the electronic control unit.

[0110] In one embodiment, when the processor 1001 determines the bus message format of the bus dynamic configuration according to the dynamic related configuration, the processor 1001 specifically performs the following operations:

[0111] The bus message format of the bus dynamic configuration is determined according to the data format of the dynamic related configuration and the data content.

[0112] In one embodiment, when the processor 1001 determines the bus filter configuration scheme of the bus dynamic configuration according to the dynamic related configuration, the processor 1001 specifically performs the following operations:

[0113] Determining a first-stage filter configuration and a second-stage filter configuration of the bus dynamic configuration according to the dynamic related configuration;

[0114] The first-stage filter configuration and the second-stage filter configuration are used as bus filter configuration schemes for dynamic configuration of the bus.

[0115] The onboard CAN bus ID dynamic configuration method collects dynamic related configurations of the bus dynamic configuration; according to the dynamic related configurations, determines the dynamic configuration scheme, bus message format and bus filter configuration scheme of the bus dynamic configuration; according to the bus message format, provides the message parsing scheme of the bus dynamic configuration; according to the dynamic configuration scheme, provides the bus interruption processing scheme and exception processing scheme of the bus dynamic configuration. The present application proposes a highly reliable onboard CAN bus ID dynamic configuration method. In view of the problem that when spacecraft currently using the CAN bus communicate, the ID of each electronic control unit is pre-assigned to a specific value, and the ID of each electronic control unit is fixed during the communication process with the satellite computer, resulting in low flexibility and poor scalability of the CAN bus during the communication process, the embodiment of the present application introduces dynamic related configuration, so that the satellite computer can dynamically adjust and configure the ID of the electronic control unit at any time according to the mission requirements, thereby improving the flexibility and scalability of communication. In response to the problem that when spacecraft currently use the CAN bus for communication, the data transmission message has less verification information, resulting in a single message parsing process and low reliability and security of bus communication, the embodiment of the present application defines the bus message format as header + data content, adds header data to the CAN bus data transmission message, and specifies the meaning of each byte of the header data to increase the verification information of the message, thereby improving the reliability and security of the CAN bus communication process.

[0116] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0117] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for dynamically configuring a satellite-borne CAN bus ID, characterized in that: The following steps are involved: Dynamically related configuration of acquisition bus dynamic configuration; The dynamic related configuration of the acquisition bus dynamic configuration includes: a unique device identification code, a device identification broadcast frame, a device identification application frame, a device identification permission frame and a header for the acquisition bus dynamic configuration; the unique device identification code is the unique device code of all electronic control units in the entire satellite, and the code value of the unique device identification code of each electronic control unit is unique and does not repeat; the device identification broadcast frame is a request frame for ID dynamic configuration, which is sent by the satellite computer and received by all electronic control units; the device identification application frame is an ID dynamic configuration application frame, which is sent by the electronic control unit and received by the satellite computer, and the device identification application frame sent by each electronic control unit contains the unique device identification code of the electronic control unit; the device identification permission frame is an ID allocation frame, and the satellite computer parses the device identification application frame, reorganizes the unique device identification code and configuration ID of the electronic control unit in the device identification application frame into a device identification permission frame and sends it down, and the satellite computer sends the device identification permission frame, and the corresponding electronic control unit receives the device identification permission frame; the header is the first 8 bytes of data of the data transmission message; the unique device identification code, the device identification broadcast frame, the device identification application frame, the device identification permission frame and the header are used as the dynamic related configuration of the bus dynamic configuration; According to the dynamic related configuration, the dynamic configuration scheme, bus message format and bus filter configuration scheme of the bus dynamic configuration are determined; wherein, according to the dynamic related configuration, the dynamic configuration scheme of the bus dynamic configuration is determined, including: according to the dynamic related configuration, the task requirements of the satellite computer and the task requirements of the electronic control unit, the dynamic configuration scheme is determined. The dynamic configuration scheme is a CAN bus ID dynamic configuration scheme designed according to the task requirements of the satellite computer corresponding to the task scenarios of the satellite computer and the task requirements of the electronic control units corresponding to the task scenarios of the electronic control units. The CAN bus ID dynamic configuration scheme includes two types of ID dynamic configurations: the satellite computer actively allocates the ID and the electronic control unit actively applies for the ID. Specifically, the satellite computer actively allocates the ID as follows: the satellite computer sends a device identification broadcast frame to each electronic control unit. After receiving the device identification broadcast frame, each electronic control unit sends a device identification application frame containing the unique identification code of the local device to the satellite computer at a certain frequency. After receiving the device identification application frame of each electronic control unit, the satellite computer parses the device unique identification code in turn, and converts the device unique identification code and the dynamically variable nID The corresponding device identification permission frame is formed and sent to the corresponding electronic control units in sequence, and the corresponding nID is assigned to each electronic control unit; after each electronic control unit receives its own device identification permission frame, it parses the device identification permission frame, performs bus initialization according to the nID in the device identification permission frame, completes the bus filter configuration, and after the initialization is completed, the star service computer and the electronic control unit establish normal communication; the electronic control unit actively applies for ID: after each electronic control unit is turned on, it sends a device identification application frame containing the unique identification code of the local device to the star service computer at a certain frequency. After the star service computer receives the device identification application frame of the electronic control unit, it parses the device unique identification code of the electronic control unit, and composes the corresponding device identification permission frame with the device unique identification code and the dynamically variable nID, and sends it to the corresponding electronic control unit, and assigns the corresponding nID to the electronic control unit; after the electronic control unit receives the device identification permission frame, it parses the device identification permission frame, performs bus initialization according to the nID in the device identification permission frame, and completes the bus filter configuration. The bus filter configuration process is described later. After the initialization is completed, the star service computer and the electronic control unit establish normal communication; Determining the bus message format of the bus dynamic configuration according to the dynamic related configuration includes: determining the bus message format of the bus dynamic configuration according to the data format of the dynamic related configuration and data content; According to the dynamic related configuration, a bus filter configuration scheme of the bus dynamic configuration is determined, including: according to the dynamic related configuration, a first-stage filter configuration and a second-stage filter configuration of the bus dynamic configuration are determined; the configuration timing of the first-stage filter configuration is when the electronic control unit is turned on and initialized, receives a device identification broadcast frame of the star service computer, or the electronic control unit and the star service computer do not establish communication, and the correct data is not received within the first specified time; the configuration timing of the second-stage filter configuration is when the electronic control unit receives a device identification permission frame or the electronic control unit and the star service computer establish communication, and the correct data is not received within the second specified time; the first specified time and the second specified time are configured according to actual usage and are configured during software implementation; the common time of the first specified time is 60s, and the common time of the second specified time is 10s; the first-stage filter configuration and the second-stage filter configuration are used as the bus filter configuration corresponding to the bus filter configuration of the bus dynamic configuration; According to the bus message format, a message parsing scheme for the bus dynamic configuration is provided. The message parsing scheme is a scheme containing specific parsing and processing logic for a data transmission message whose bus message format is a header and data content, specifically including: the data transmission message corresponding to the bus message format of the satellite service computer and the electronic control unit is a multi-frame data, and the processing logic for the data transmission message is to first determine whether the data frame to be received is a header, if it is a header, then determine the header data and the header data checksum, if all the data are correct, then receive the data frame and set the header data receiving flag as valid, otherwise, discard the data frame and set the header data receiving flag as invalid; if it is not a header, then determine whether the data frame to be received is a second frame of data, if it is a second frame of data and the header data receiving flag is valid, then receive the data frame and set the second frame of data receiving flag as valid, otherwise, discard the data frame and set the second frame of data receiving flag as invalid, and other data frames are processed in this way until all the multiple frames of data are received; According to the dynamic configuration scheme, a bus interruption processing scheme and an exception processing scheme for the dynamic configuration of the bus are given; specifically, the bus interruption processing scheme is a specific solution for the reception and processing of device identification broadcast frames, device identification application frames, and device identification permission frames; the exception processing scheme is different exception processing methods given when the bus fails to receive correct data within a specified time, based on the communication established between the satellite service computer and the electronic control unit; the specified time includes a first specified time and a second specified time.

2. A satellite CAN bus ID dynamic configuration device based on the satellite CAN bus ID dynamic configuration method according to claim 1, characterized in that: include: A collection module, used for collecting dynamic related configurations of bus dynamic configurations; The acquisition module is specifically used to acquire the unique device identification code, device identification broadcast frame, device identification application frame, device identification permission frame and header of the bus dynamic configuration; the unique device identification code is the unique device code of all electronic control units in the entire satellite, and the code value of the unique device identification code of each electronic control unit is unique and non-repeating; the device identification broadcast frame is a request frame for ID dynamic configuration, which is sent by the satellite computer and received by all electronic control units; the device identification application frame is an ID dynamic configuration application frame, which is sent by the electronic control unit and received by the satellite computer, and the device identification application frame sent by each electronic control unit contains the unique device identification code of the electronic control unit; the device identification permission frame is an ID allocation frame, and the satellite computer parses the device identification application frame, reorganizes the unique device identification code and configuration ID of the electronic control unit in the device identification application frame into a device identification permission frame and sends it down, and the device identification permission frame is sent by the satellite computer, and the corresponding electronic control unit receives the device identification permission frame; the header is the first 8 bytes of data of the data transmission message; the unique device identification code, the device identification broadcast frame, the device identification application frame, the device identification permission frame and the header are used as the dynamic related configuration of the bus dynamic configuration; A configuration module, used to determine the dynamic configuration scheme, bus message format and bus filter configuration scheme of the bus dynamic configuration according to the dynamic related configuration; wherein the configuration module includes: A scheme configuration unit is used to determine the dynamic configuration scheme of the bus dynamic configuration according to the dynamic related configuration, the task requirements of the satellite computer and the task requirements of the electronic control unit; the dynamic configuration scheme is a CAN bus ID dynamic configuration scheme designed according to the task requirements of the satellite computer corresponding to the task scenarios of the satellite computer and the task requirements of the electronic control units corresponding to the task scenarios of the electronic control units. The CAN bus ID dynamic configuration scheme includes two types of ID dynamic configurations: the satellite computer actively allocates the ID and the electronic control unit actively applies for the ID. Specifically, the satellite computer actively allocates the ID as follows: the satellite computer sends a device identification broadcast frame to each electronic control unit. After receiving the device identification broadcast frame, each electronic control unit sends a device identification application frame containing the unique identification code of the local device to the satellite computer at a certain frequency. After receiving the device identification application frame of each electronic control unit, the satellite computer parses the device unique identification code in turn, and composes the device unique identification code and the dynamically variable nID into a corresponding device identification permission frame, and sends it to the corresponding electronic control unit in turn, for each electronic control The corresponding nID is assigned to the unit; after each electronic control unit receives its own device identification permission frame, it parses the device identification permission frame, performs bus initialization according to the nID in the device identification permission frame, completes the bus filter configuration, and after the initialization is completed, the star service computer and the electronic control unit establish normal communication; the electronic control unit actively applies for ID: after each electronic control unit is turned on, it sends a device identification application frame containing the unique identification code of the local device to the star service computer at a certain frequency. After the star service computer receives the device identification application frame of the electronic control unit, it parses the device unique identification code of the electronic control unit, and forms a corresponding device identification permission frame with the device unique identification code and the dynamically variable nID, and sends it to the corresponding electronic control unit, and assigns the corresponding nID to the electronic control unit; after the electronic control unit receives the device identification permission frame, it parses the device identification permission frame, performs bus initialization according to the nID in the device identification permission frame, and completes the bus filter configuration. The bus filter configuration process will be described later. After the initialization is completed, the star service computer and the electronic control unit establish normal communication; A message format configuration unit, used to determine the bus message format of the bus dynamic configuration according to the data format of the dynamic related configuration and the data content; A filter configuration unit is used to determine the first-stage filter configuration and the second-stage filter configuration of the bus dynamic configuration according to the dynamic related configuration; the configuration timing of the first-stage filter configuration is when the electronic control unit is turned on and initialized, receives the device identification broadcast frame of the star service computer, or the electronic control unit and the star service computer do not establish communication, and the correct data is not received within the first specified time; the configuration timing of the second-stage filter configuration is when the electronic control unit receives the device identification permission frame or the electronic control unit and the star service computer establish communication, and the correct data is not received within the second specified time; the first specified time and the second specified time are configured according to actual usage and are configured during software implementation; the common time of the first specified time is 60s, and the common time of the second specified time is 10s; the first-stage filter configuration and the second-stage filter configuration are used as the bus filter configuration corresponding to the bus filter configuration of the bus dynamic configuration; a parsing module is used According to the bus message format, a message parsing scheme for the bus dynamic configuration is provided. The message parsing scheme is a scheme containing specific parsing and processing logic for a data transmission message whose bus message format is a header and data content, specifically including: the data transmission message corresponding to the bus message format of the satellite service computer and the electronic control unit is a multi-frame data, and the processing logic for the data transmission message is to first determine whether the data frame to be received is a header, if it is a header, then determine the header data and the header data checksum, if all the data are correct, then receive the data frame and set the header data receiving flag as valid, otherwise, discard the data frame and set the header data receiving flag as invalid; if it is not a header, then determine whether the data frame to be received is a second frame of data, if it is a second frame of data and the header data receiving flag is valid, then receive the data frame and set the second frame of data receiving flag as valid, otherwise, discard the data frame and set the second frame of data receiving flag as invalid, and other data frames are processed in this way until all the multiple frames of data are received; A processing module is used to provide a bus interruption processing scheme and an exception processing scheme for the dynamic configuration of the bus according to the dynamic configuration scheme; specifically, the bus interruption processing scheme is a specific solution for the reception and processing of device identification broadcast frames, device identification application frames, and device identification permission frames; the exception processing scheme is different exception processing methods provided when the bus fails to receive correct data within a specified time according to the communication established between the satellite service computer and the electronic control unit; the specified time includes a first specified time and a second specified time.

3. A computer storage medium, characterized in that: The computer storage medium stores a plurality of instructions, which are suitable for being loaded by a processor and executing the method steps of claim 1.

4. A terminal, characterized in that: include: A processor and a memory; wherein the memory stores a computer program, the computer program being suitable for being loaded by the processor and executing the method steps as claimed in claim 1.

Images