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分析了CAN总线的特点和总线仲裁方式,对CAN总线的实时性进行了研究,指出了在本系统中存在的通信实时性问题,提出了基于动态优先级分配法的解决方法,并对动态优先级分配法进行了改进,用此方法解决了支架控制器与上位机之间的通信实时性问题,并分别为邻架操作CAN总线和上位机轮询CAN总线编写了应用层协议。
The characteristics of CAN bus and the mode of bus arbitration are analyzed. The real-time performance of CAN bus is studied. The problem of real-time communication in this system is pointed out. A solution based on dynamic priority allocation is proposed. Dynamic priority This method has been used to solve the problem of real-time communication between the stand controller and the host computer, and an application layer protocol has been written for polling the CAN bus of the adjacent frame and the upper computer respectively.