Method and device for checking the correct functioning of a serial data transmission

• US 10,146,725 B2
• Filed: 08/24/2012
• Issued: 12/04/2018
• Est. Priority Date: 08/29/2011
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hartwich, Florian, Bailer, Franz, Horst, Christian, Mutter, Arthur
• Primary Examiner(s): Misiura, Brian T
• Assistant Examiner(s): Iradukunda, Herve
• Application Number:
  US14/342,282
• Publication Number:
  US 20140337549A1
• Time in Patent Office: 2,293 Days
• CPC Class Codes: G06F 13/362 with centralised access control
• CPC Class Codes: G06F 13/4282 on a serial bus, e.g. I2C bus, SPI bus on daisy chain buses G06F13/4247
• CPC Class Codes: H04L 12/4013 Management of data rate on the bus systems modifying transmission characteristics according to link quality H04L1/0001
• CPC Class Codes: H04L 12/4135 using bit-wise arbitration
• CPC Class Codes: H04L 2012/40215 Controller Area Network CAN

Abstract

A method is described for checking the correct functioning of a serial data transmission in a bus system having at least two bus users. The bus users are connected to the bus via a bus connection unit and exchange messages via the bus. The sending access to the bus for each message is granted to a bus user via the arbitration process according to CAN standard ISO 11898-1, this bus user becoming the sender for this message. The messages have a logic structure according to the CAN standard, i.e., are composed of a start of frame bit, arbitration field, control field, data field, CRC field, acknowledge field, and end of frame field. The correct functioning of the data transmission is checked during the transmission by comparing a transmission signal, sent to the bus connection unit, to the reception signal (CAN_RX) received by the bus connection unit. The method is characterized in that a transmission signal (CAN_TX_DEL), which is delayed by a delay time (T_DELAY) compared to the transmission signal (CAN_TX), is held in the sender, and the undelayed transmission signal (CAN_TX) or the delayed transmission signal (CAN_TX_DEL) is used for checking the correct functioning of the data transmission, as a function of a switchover.

Claims

1. A method for checking a correct functioning of a serial data transmission in a bus system having at least two bus users, comprising:

connecting the bus users to a bus via a bus connection unit;

exchanging messages via the bus;

granting a sending access to the bus for each message to a bus user via an arbitration process according to CAN standard ISO 11898-1, the bus user becoming a sender for the message, each message having a logic structure according to the CAN standard, the logic structure including a start of frame bit, arbitration field, control field, data field, CRC field, acknowledge field, and end of frame field; and

checking, by the sender, a correct functioning of the data transmission during a transmission to send the message by comparing one of a transmission signal sent to the bus connection unit for transmission on the bus and a delayed transmission signal to a reception signal received by the bus connection unit from the bus, wherein the delayed transmission signal is delayed compared to the transmission signal by a delay time and held in the sender, the one of the transmission signal and the delayed transmission signal being used for checking the correct functioning of the data transmission as a function of a switchover between using the transmission signal and using the delayed transmission signal, the switchover occurring during the transmission to send the message.

2. The method as recited in claim 1, wherein the delay time (T_DELAY) is one of predefined and predefinable.

3. The method as recited in claim 1, wherein the delay time is a function of an ascertainment of one of a time delay and an averaged time delay.

4. The method as recited in claim 3, wherein the averaged time delay is ascertained from multiple messages sent in succession by mean value formation from multiple measured values, ascertained in succession, of the time delay.

5. The method as recited in claim 4, wherein the measured values which greatly deviate from the last determined mean value are sorted out during a formation of the mean value.

6. The method as recited in claim 5, wherein one of a threshold value for a difference and a limiting value for a ratio of an instantaneously present measured value and the last determined mean value above which the deviation from, or the ratio to, the mean value for which the absolute value has been classified as excessively large is settable.

7. The method as recited in claim 6, wherein the measured values of the time delay are managed in a list which is initialized by a suitable process upon system start-up, so that no invalid values are used in the formation of the mean value.

8. The method as recited in claim 7, wherein the ascertainment of the individual time delay takes place after the sending access has been granted to a bus user.

9. The method as recited in claim 8, wherein the ascertainment of the individual time delay includes a recognition in each case of one of at least one signal change and a signal edge in the transmission signal and in the reception signal.

10. The method as recited in claim 9, further comprising determining a comparison point in time for the checking of the correct functioning of the data transmission as a function of the ascertained time delay.

11. The method as recited in claim 10, wherein the comparison point in time for the checking of the correct functioning of the data transmission is determined as a sum of the ascertained time delay and one of a predefined and a predefinable percentage of a bit length.

12. The method as recited in claim 1, wherein the transmission signal is used for the checking during the arbitration process, and the delayed transmission signal is used for the checking for at least a portion of the transmission to send the message after the arbitration process.

13. The method as recited in claim 1, wherein a comparator carries out the comparing of the one of the transmission signal and the delayed transmission signal to the reception signal at a comparison point in time.

14. The method as recited in claim 1, further comprising, when an identifier is present in the message, performing a switchover to using a bit length for at least a portion of the message having a value that is shorter than a bit length used prior to the presence of the identifier.

15. A method for checking a correct functioning of a serial data transmission in a bus system having at least two bus users, comprising:

connecting the bus users to a bus via a bus connection unit;

exchanging messages via the bus;

granting a sending access to the bus for each message to a bus user via an arbitration process according to CAN standard ISO 11898-1, the bus user becoming a sender for the message, each message having a logic structure according to the CAN standard, the logic structure including a start of frame bit, arbitration field, control field, data field, CRC field, acknowledge field, and end of frame field; and

checking, by the sender, a correct functioning of the data transmission during a transmission to send the message by comparing one of a transmission signal sent to the bus connection unit for transmission on the bus and a delayed transmission signal to a reception signal received by the bus connection unit from the bus, wherein the delayed transmission signal is delayed compared to the transmission signal by a delay time and held in the sender, the one of the transmission signal and the delayed transmission signal being used for checking the correct functioning of the data transmission as a function of a switchover between using the transmission signal and using the delayed transmission signal, wherein the switchover takes place in response to reaching and evaluating one of a predefined and predefinable bit within the message.

16. The method as recited in claim 15, wherein the messages in which the switchover takes place are identified by a suitable identifier.

17. The method as recited in claim 16, wherein when a first identifier is present, the control field of the messages, in a deviation from the CAN standard, contains more than six bits.

18. The method as recited in claim 17, wherein the first identifier for messages having standard addressing takes place via a recessive second bit in the control field, and for messages having extended addressing, takes place via at least one of a recessive first bit and a second bit in the control field.

19. The method as recited in claim 18, wherein when the first identifier is present, a recessive bit of the first identifier is followed by at least one dominant bit in all data messages.

20. The method as recited in claim 19, wherein when the first identifier is present, an edge between the recessive bit of the first identifier and the at least one subsequent dominant bit is used for ascertaining the time delay between the transmission signal and the reception signal.

21. The method as recited in claim 20, wherein when the first identifier is present, the data field of the messages, in a departure from CAN standard ISO 11898-1, may contain more than eight bytes, for establishing the size of the data field, the values of the four bits of the data length code being interpreted differently from CAN standard ISO 11898-1, at least in part.

22. The method as recited in claim 21, wherein when a second identifier is present, a bit length for at least one of a predefined and a predefinable area within the message assumes a value that is shorter than a bit length used prior to a presence of the second identifier, an area beginning at the earliest with the second identifier, and ending at the latest with the CRC delimiter, the second identifier occurring only when the first identifier is present, and, in a deviation from CAN standard ISO 11898-1, occurring in a control field of the messages which contains more than six bits.

23. The method as recited in claim 22, wherein the second identifier is provided by a recessive bit in the control field which is transmitted chronologically after the bit of the first identifier.

24. The method as recited in claim 23, wherein when the second identifier is present, the recessive bit of the second identifier s separated from a recessive bit of the first identifier by at least one dominant bit.

25. The method as recited in claim 24, wherein when the second identifier is present, different values for bit timing parameters may be used in areas having a longer and a shorter bit length.

26. The method as recited in claim 25, wherein the different values of the bit length within the message are implemented by using different scaling factors (prescalers) for setting the bus time unit relative to one of a smallest time unit and an oscillator clock pulse during continuous operation.

27. The method as recited in claim 15, wherein the switchover takes place as a result of applying a signal to a switchover unit.

28. A device for checking a serial data transmission in a bus system having at least two bus users, the bus users being connected to a bus via a bus connection unit and exchanging messages via the bus, a sending access to the bus for each message being granted to a bus user via an arbitration process according to CAN standard ISO 11898-1, the bus user becoming the sender for the message, and each messages having a logic structure according to the CAN standard, the logic structure including a start of frame bit, arbitration field, control field, data field, CRC field, acknowledge field, and end of frame field, the device comprising:

an arrangement for checking a correct functioning of the data transmission during a transmission to send a message by comparing one of a transmission signal sent to the bus connection unit for transmission on the bus and a delayed transmission signal to a reception signal received by the bus connection unit from the bus, wherein the arrangement includes a comparator for carrying out the comparison of the delayed transmission signal with the reception signal at a comparison point in time;

a delay unit for providing the delayed transmission signal, which is delayed compared to the transmission signal by a delay time; and

a switchover unit to perform a switchover, between using the one of the transmission signal and the delayed transmission signal for checking the correct functioning of the data transmission, during the transmission to send the message.

29. The device as recited in claim 28, wherein the switchover unit is switchable at least one of as the result of one of reaching and evaluating one of a predefined and a predefinable bit within the message which has just been sent, and by applying a signal provided for this purpose.

30. The device as recited in claim 29, further comprising:

a delay counter for ascertaining a time delay between the transmission signal and the reception signal, and for providing a value for the time delay as a function of the result.

31. The device as recited in claim 30, further comprising:

a memory area for N entries of measured values of the time delay; and

a suitable controller for carrying out a mean value formation from entries of the memory area.

32. The device as recited in claim 31, further comprising:

an arrangement for connecting the bus users to a bus via the bus connection unit;

an arrangement for exchanging messages via the bus;

an arrangement for granting the sending access to the bus for each message to the bus user via the arbitration process according to CAN standard ISO 11898-1, the bus user becoming the sender for the message, each message having the logic structure according to the CAN standard, the logic structure including a start of frame bit, arbitration field, control field, data field, CRC field, acknowledge field, and end of frame field.

33. A method for checking a correct functioning of a serial data transmission in a bus system having at least two bus users, comprising:

connecting the bus users to a bus via a bus connection unit;

exchanging messages via the bus;

granting a sending access to the bus for each message to a bus user via an arbitration process according to CAN standard ISO 11898-1, the bus user becoming a sender for the message, each message having a logic structure according to the CAN standard, the logic structure including a start of frame bit, arbitration field, control field, data field, CRC field, acknowledge field, and end of frame field; and

checking, by the sender, a correct functioning of the data transmission during a transmission to send the message by comparing one of a transmission signal sent to the bus connection unit for transmission on the bus and a delayed transmission signal to a reception signal received by the bus connection unit from the bus, wherein the delayed transmission signal is delayed compared to the transmission signal by a delay time and held in the sender, the one of the transmission signal and the delayed transmission signal being used for checking the correct functioning of the data transmission as a function of a switchover between using the transmission signal and using the delayed transmission signal, the switchover occurring during the transmission to send the message, wherein the method is performed during normal operation of a motor vehicle for transmitting data between at least two control units of the motor vehicle which are connected via a suitable data bus.

34. The method as recited in claim 33, wherein the transmission signal is used for the checking during the arbitration process, and the delayed transmission signal is used for the checking for at least a portion of the transmission to send the message after the arbitration process.

35. A method for checking a correct functioning of a serial data transmission in a bus system having at least two bus users, comprising:

connecting the bus users to a bus via a bus connection unit;

exchanging messages via the bus;

granting a sending access to the bus for each message to a bus user via an arbitration process according to CAN standard ISO 11898-1, the bus user becoming a sender for the message, each message having a logic structure according to the CAN standard, the logic structure including a start of frame bit, arbitration field, control field, data field, CRC field, acknowledge field, and end of frame field; and

checking, by the sender, a correct functioning of the data transmission during a transmission to send the message by comparing one of a transmission signal sent to the bus connection unit for transmission on the bus and a delayed transmission signal to a reception signal received by the bus connection unit from the bus, wherein the delayed transmission signal is delayed compared to the transmission signal by a delay time and held in the sender, the one of the transmission signal and the delayed transmission signal being used for checking the correct functioning of the data transmission as a function of a switchover between using the transmission signal and using the delayed transmission signal, the switchover occurring during the transmission to send the message, wherein the method is used during operation of industrial control systems for transmitting data between at least two control units which are connected via a suitable data bus.

36. The method as recited in claim 35, wherein the transmission signal is used for the checking during the arbitration process, and the delayed transmission signal is used for the checking for at least a portion of the transmission to send the message after the arbitration process.

37. A method for checking a correct functioning of a serial data transmission in a bus system having at least two bus users, comprising:

connecting the bus users to a bus via a bus connection unit;

exchanging messages via the bus;

granting a sending access to the bus for each message to a bus user via an arbitration process according to CAN standard ISO 11898-1, the bus user becoming a sender for the message, each message having a logic structure according to the CAN standard, the logic structure including a start of frame bit, arbitration field, control field, data field, CRC field, acknowledge field, and end of frame field; and

checking, by the sender, a correct functioning of the data transmission during a transmission to send the message by comparing one of a transmission signal sent to the bus connection unit for transmission on the bus and a delayed transmission signal to a reception signal received by the bus connection unit from the bus, wherein the delayed transmission signal is delayed compared to the transmission signal by a delay time and held in the sender, the one of the transmission signal and the delayed transmission signal being used for checking the correct functioning of the data transmission as a function of a switchover between using the transmission signal and using the delayed transmission signal, the switchover occurring during the transmission to send the message, wherein the method is performed during one of a manufacture and a maintenance of a motor vehicle for transmitting data between a programming unit, which for purposes of programming is connected to a suitable data bus, and at least one control unit of the motor vehicle which is connected to the data bus.

38. The method as recited in claim 37, wherein the transmission signal is used for the checking during the arbitration process, and the delayed transmission signal is used for the checking for at least a portion of the transmission to send the message after the arbitration process.