基于can总线技术的汽车ecu设计.htm

基于CAN总线的汽车控制器ECU的设计开发实例

style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">　　控制器局域网（</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">Cont roller Area 
Network</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">，</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">）是</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">Bosch</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">公司于</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">1986</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">年在美国汽车工程师协会（</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">SAE</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">）大会上推出的一种新型串行总线，被广泛地用于汽车内部测量与执行部件之间的数据通信，其总线规范已被制订为国际标准，由于其高性能、高可靠性及独特的设计，</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术越来越受到人们的重视</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">[1,2]</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">。随着现代汽车技术的发展，电子设备在汽车中的比重越来越高，如电喷发动机、燃油高压共轨、制动防抱死系统（</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ABS</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">）、自动变速器系统、注油控制以及电动门窗等</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">[3]</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">，这些总成之间需要检测并交换大量数据，采用</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术不仅成本低，而且可靠性明显提高。从</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">1992</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">年起，</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">Mercedes-Benz</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">（奔驰）公司开始在高级客车中使用</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术，随后，</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">Volvo</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">、</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">Saab</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">、</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">Volkswagen</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">、</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">BMW</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">、</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">Renault</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">以及</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">Fiat</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">等汽车公司也分别在自己的汽车上使用</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">[4-6]</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">。国内针对汽车的</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术研究还处于起步阶段，北京航空航天大学、中国计算机学会单片机公共实验室、清华大学以及中国汽车技术研究中心等单位都开展了汽车</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术的研究</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">[7-9]</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">，但目前还不能构成系列产品，并没有真正组建汽车</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线网络。</SPAN><SPAN 
lang=EN-US><O:P></O:P></SPAN></FONT></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><SPAN lang=EN-US><O:P><FONT 
face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><FONT size=3><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">　　本文以某即将定型汽车为原型，设计基于</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术的汽车</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ECU</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">系统，对于已有</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">接口的总成，可以直接依据协议读取</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">接口的数据，对于没有</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">接口的总成，利用</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">AT90CAN128</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">单片机设计汽车</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ECU</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">，采集传感器信息，并通过</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">接口与其他总成交换数据，组建基于</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线的汽车网络，这样既有利于汽车本身的数据通信，又能方便配套的便携式诊断仪器读取汽车技术状态信息。</SPAN><SPAN 
lang=EN-US><O:P></O:P></SPAN></FONT></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><SPAN lang=EN-US><O:P><FONT 
face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><FONT size=3><SPAN 
lang=EN-US><FONT face="Times New Roman">2</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">、</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线网络的组建</SPAN><SPAN 
lang=EN-US><O:P></O:P></SPAN></FONT></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><SPAN lang=EN-US><O:P><FONT 
face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><FONT size=3><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">　　</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">是一种串行数据通信总线，其通信速率能达到</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">1Mbps</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">，并已经成为一项国际标准，其最大特点是，任一节点所传送的数据信息并不包含传送节点或接收节点的地址，信息内容通过一个标识符（</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ID</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">）作上标记，在整个网络中，该标识符是唯一的，网络上的其他节点接收到信息后，每一节点都对这一标识符进行测试，以判断信息内容是否与己有关，如果是相关信息，将其接收并进行处理，否则，即被忽略。这样，不同的节点可以接收到不同的数据，保证了通信的实时性。</SPAN><SPAN 
lang=EN-US><O:P></O:P></SPAN></FONT></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><SPAN lang=EN-US><O:P><FONT 
face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><FONT size=3><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">　　现代汽车广泛地采用了电子技术，而总控模块能随时接收到所需要的数据，实现汽车总成之间的数据交换使用</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线组成数据传输网络主要用途之一，如发动机系统、自动变速器系统、</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ABS</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">系统、自动差速锁系统、中央充放气系统、动力转向系统以及电动门窗系统等总成之间的数据交换。利用</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术组建汽车信息传输网络的基本结构如图</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">1</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">所示。</SPAN><SPAN 
lang=EN-US><O:P></O:P></SPAN></FONT></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt"><SPAN lang=EN-US><O:P><FONT 
face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt; TEXT-ALIGN: center"><SPAN 
lang=EN-US><O:P><FONT face="Times New Roman" size=3>&nbsp;<IMG height=294 alt="" 
src="基于CAN总线技术的汽车ECU设计.files/1(1).bmp" width=513></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt; TEXT-ALIGN: center"><SPAN 
lang=EN-US><O:P><FONT face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt; TEXT-ALIGN: center"><SPAN 
lang=EN-US><O:P><FONT face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt; TEXT-ALIGN: left"><FONT 
size=3><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">　　由于一些总成生产厂家在设计时已经考虑了信息交互的接口问题，在生产时已将</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线技术集成到总成上。对于这类总成（如高压共轨发动机、自动变速器以及</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ABS</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">等系统），只需通过</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ECU</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">读取其</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">总线协议即可完成数据信息交换。对于其他总成，通过设计汽车</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ECU</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">，采集相应传感器的信息，并利用</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">接口向总线广播式发送数据，可完成信息交换。</SPAN><SPAN 
lang=EN-US><O:P></O:P></SPAN></FONT></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt; TEXT-ALIGN: left"><SPAN 
lang=EN-US><O:P><FONT face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt; TEXT-ALIGN: left"><FONT 
size=3><SPAN lang=EN-US><FONT face="Times New Roman">3</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">、汽车</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ECU</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">的设计</SPAN><SPAN 
lang=EN-US><O:P></O:P></SPAN></FONT></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt; TEXT-ALIGN: left"><SPAN 
lang=EN-US><O:P><FONT face="Times New Roman" size=3></FONT></O:P></SPAN></P>
<P class=MsoNormal style="MARGIN: 0cm 0cm 0pt; TEXT-ALIGN: left"><FONT 
size=3><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">　　为了设计带有</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">接口的汽车</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">ECU</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">，较为常见的方法是用单片机与</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN </FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">控制器相结合，如使用</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">8051</FONT></SPAN><SPAN 
style="FONT-FAMILY: 宋体; mso-ascii-font-family: 'Times New Roman'; mso-hansi-font-family: 'Times New Roman'">单片机与</SPAN><SPAN 
lang=EN-US><FONT face="Times New Roman">CAN</FONT></SPAN><SPAN