嵌入式实时系统CAN通信软件设计方案

The Design of the CAN Communication Software in the Embedded Real-Time System

分布式嵌入系统的广泛应用,对适用于实时通信的CAN网络应用层提出了规范化、模块化、可重用的要求,但目前国内大多数的应用系统仍然基于CAN2.0B规范开发。首先对已有的且具有影响力的CAN高层协议进行了分析比较,结果表明了CANopen具有明显技术优势;在分析CANopen协议的基础上,提出了一种CAN通信分层设计方案,即将CAN通信模块分两层,一层是CAN控制器驱动层,另一层是基于CANopen的CAN应用层。该方案在Proteus虚拟电子开发环境下仿真试验通过,并应用于电动机起动动控制器的研制。采用层次化、结构化、模块化、标准化设计方法增加了CAN通信规范性和代码可重用性,提高了CAN应用的开发效率,同时推动CAN设备的标准化工作。

The wide - scaled application of the distributed embedded system puts forward the requirements of standardization, modularization and reuse to the CAN network application layer applied to real - time communication, but the majority of the domestic application systems are still CAN specifications 2.0B based. So this paper first analyzes and compares the high protocol which exists now and affects much, the results indicate that CANopen has obvious advantages. And based on this, the paper puts forward a delaminated design project for the CAN communication; which means dividing the CAN communication module into two layers： one for the driving of the CAN controller, and the other for the CAN application layer based on the CANopen. The solution has been simulated successfully in the electronic design environment of the Proteus. This delaminated, modularized and standardized design program increases the reuse of codes, improves the efficiency CAN application, and at the same time promotes the standardization of the CAN devices.