Method for the cyclic transmission of data between at least two control devices with distributed operation

• US 5,748,923 A
• Filed: 09/25/1995
• Issued: 05/05/1998
• Est. Priority Date: 03/14/1994
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Eitrich, Frank-Thomas
• Primary Examiner(s): AUVE, GLENN ALLEN
• Application Number:
  US08/530,203
• Time in Patent Office: 953 Days
• Field of Search: 395/280, 395/287, 395/309, 395/290, 395/200.2, 395/285
• US Class Current: 710/305
• CPC Class Codes: G05B 19/0421 Multiprocessor system
• CPC Class Codes: G05B 2219/25032 CAN, canbus, controller area network bus
• CPC Class Codes: G05B 2219/25232 DCS, distributed control system, decentralised control unit
• CPC Class Codes: G05B 2219/25475 Sequence synchronized with machine axis, like knitting machine
• CPC Class Codes: G05B 2219/25479 Synchronize controllers using messages, add transmission time afterwards
• CPC Class Codes: G06F 13/4226 with asynchronous protocol
• CPC Class Codes: H04L 12/4135 using bit-wise arbitration
• CPC Class Codes: H04L 2012/40215 Controller Area Network CAN
• CPC Class Codes: H04L 2012/40273 the transportation system being a vehicle

Abstract

A method for periodic transmission of data between control devices (10, 11, 12) interconnected via a serial bus (20) is provided, particularly for the transmission of synchronization data. The control devices (10, 11, 12) each have a serial interface (17,17'"'"'17") and an arithmetic/control unit (15,18). Data are provided for transmission by the arithmetic/control unit (15, 18) of the control device transmitting the data and are included in a message sent over the serial bus (20). To this end, a transmission job for transmitting the message is provided to the serial interface (17) of control device (10) transmitting the message which controls the transmission. However, this occurs so that, when transmitting the message, use is not made of the data provided at the instant of providing the transmission job, but instead of updated data provided by the arithmetic/control unit in the interim since the instant of giving the transmission job. Moreover, advantageous bus subscriber stations for use in the method presented are also proposed.

Claims

1. A method for cyclic transmission of data between at least two control devices (10,11,12) with distributed operation, wherein the at least two control devices (10,11,12) are interconnected via a serial bus (20) and each include at least one serial interface and an arithmetic/control unit, and said data is provided cyclically by said arithmetic/control unit of one of the at least two control devices (10,11,12), said method including the steps of:

a) providing means for handling a transmission job for transmitting a message including said data in said serial interface of said one (10) of said at least two control devices (10,11,12) transmitting said data;

b) feeding the transmission job to said serial interface of said one (10) of said at least two control devices (10,11,12) transmitting said message at a predetermined instant by means of the arithmetic/control unit of said one of said at least two control devices transmitting the message;

c) after the feeding of step b), cyclically passing updated data to said one (10) of said at least two control devices (10,11,12) transmitting said message and replacing said data in said message with said updated data prior to transmission of said message via said serial bus; and

d) transmitting said message over said serial bus to another of said at least two control devices (10,11,12) by means of said serial interface of said one (10) of said at least two control devices (10,11,12) transmitting said message after step c).

2. The method as defined in claim 1, wherein said serial bus is a CAN bus and said data comprises synchronization data.

3. The method as claimed in claim 1, further comprising providing a counter (19,191,191) in each of said at least two control devices (10,11,12), counting each of said counters continuously and setting the counter (19'"'"',19") in the one (11,12) of said at least two control devices (10,11,12) receiving said message including the data to a defined value on the basis of the data received therein.

4. The method as defined in claim 3, wherein said counter is an angle counter.

5. The method as defined in claim 3, wherein said counter is a time counter.

6. The method as defined in claim 3, wherein said defined value is specified by said data received in said one of said at least two control devices receiving said message.

7. The method as claimed in claim 6, further comprising taking into account a data transmission time for said data included in said message over said serial bus by means of said one (10) of said at least two control devices (10,11,12) transmitting said message, so that said data included in said message transmitted over said serial bus (20) corresponds to a counter reading of said counter (19) in said one (10) of said at least two control devices (10,11,12) transmitting said message at the instant of complete transmission of said message over said serial bus (20).

8. The method as claimed in claim 7, further comprising adding counter increments or decrements of said counter (19) to a current counter reading of said counter (19) in said one (10) of said at least two control devices (10,11,12) transmitting said message during said data transmission in the event of a subsequent transmission of said data.

9. The method as claimed in claim 7, further comprising measuring said data transmission time in said one (10) of said at least two control devices (10,11,12) transmitting said message, cyclically producing a measurement window during said measuring of said data transmission time, counting counter increments or decrements of said counter (19) in said one (10) of said at least two control devices (10,11,12) during said measurement window to form a count, and adding a respectively most up-to-date value of said counts to a current counter reading of said counter (19) in the event of a subsequent transmission of said data.

10. The method as claimed in claim 3, further comprising taking into account a data transmission time of said data over said serial bus by means of another (11,12) of said at least two control devices (10,11,12) receiving said message including said data so that said data (11,12) received in said another of said at least two control devices are corrected after being received to produce a counter reading in said counter (19'"'"') of said another (11,12) of said at least two control devices (10,11,12) receiving said message the control device (11,12) corresponding to a counter reading of said one (10) of said at least two control devices (10,11,12) which has transmitted said data at the instant of complete reception of said message including said data.

11. The method as defined in claim 10, further comprising counting counter increments or decrements of said counter (19'"'"') during said data transmission in said another (11,12) of said at least two control devices receiving said message including said data to form a count and adding said count to a value in said counter (19'"'"') produced from said data received in said another (11,12) of said at least two control devices receiving said message to form a defined value to which said counter (19'"'"') in said another (11,12) of said at least two control devices receiving said message is set.

12. The method as defined in claim 10, further comprising correcting said data received in said another of said at least two control devices (10,11,12) by a second control unit (118) during a time interval between reception of said data and confirmation of transmission validity to form a corrected value, and setting said counter (19'"'"') of said another of said at least two control devices (10,11,12) to said corrected value as the defined value for said counter (19'"'"') upon confirmation of said transmission validity.

13. A bus subscriber station for use in a method for cyclic transmission of data over a serial bus between at least two control devices (10,11,12) connected to said serial bus, in which said data incorporated in a transmitted message passed between said at least two control devices over said serial bus is periodically updated in said one (10) of said at least two control devices (10,11,12) transmitting said message until the instant of said transmission, said bus subscriber station comprising

an arithmetic/control unit (15, 18) including means for periodically providing updated data for transmission via said serial bus (20),

a serial interface (17) to which said serial bus (20) is connected, wherein the serial interface h as a first shift register (30) in which said data to be transmitted are stored and a control circuit including means (36,31) for replacing at least so-me of said data stored previously in the first shift register (30) with updated data updated most recently in the interim by said arithmetic/control unit (15,18) after storing said data in the first shift register (30).

14. The bus subscriber station as defined in claim 13, wherein said means (36,31) for replacing at least some of said data stored previously by the updated data comprise a second shift register (36) in which the updated data are stored at a predetermined instant (t9) and a changeover switch (31) having a first switched state (A) and a second switched state (B) and connecting the serial bus (20) to an output of the first shift register (30) via the first switched stated (A) and to an output of the second shift register (36) via the second switched state (B).

15. The bus subscriber station as defined in claim 14, wherein the changeover switch (31) is a multiplexer.

16. The bus subscriber stat ion as defined in claim 13, wherein the serial interface (17) includes a bit counter (45) having means for concomitantly counting bits transmitted per each of said messages, and said bit counter (45) comprises means for determining an instant for storing said updated data in the second shift register (36) and for determining another instant for switching said changeover switch (31) between said switched states (A,B).

17. The bus subscriber station as defined in claim 13, further comprising means for controlling an internal combustion engine including a crankshaft and having an engine speed, means for measuring a rotary displacement of said crankshaft, and wherein said updated data indicate at least one of an instantaneous position of the crankshaft of the internal combustion engine and an instantaneous value of said engine speed.

18. The bus subscriber station as defined in claim 13, further comprising a continuously counting additional counter (50) including means for transmitting a signal to the serial interface (17) each time a predetermined counter interval has elapsed and said serial interface (17) includes means for setting a transmission request bit in a status register (41) of the serial interface (17) in response to said signal.

19. A bus subscriber station for use in a method for cyclic transmission of data over a serial bus between at least two control devices (10,11,12) connected to said serial bus, in which said data incorporated in a transmitted message passed between said at least two control devices over said serial bus is periodically updated in said one (10) of said at least two control devices (10,11,12) transmitting said message until the instant of said transmission, said bus subscriber station comprising

a first control unit (18'"'"') and a second control unit (118'"'"'),

a serial interface (17'"'"',17") to which said serial bus (20) is connected, wherein the serial interface has a shift register (30) into which said data received via said serial bus (20) are stored, and

a control circuit including means (38,46) for making at least some of said data received in said shift register available for processing in the second control unit (118) as early as during a validity check of said data.

20. The bus subscriber station as defined in claim 19, wherein said second control unit (118) includes means for calculating informational entities for processing in the first control unit (18'"'"') only when the serial interface (17) has checked the data received to determine whether said data received is free from errors.

21. A bus subscriber station for use in a method for cyclic transmission of data over a serial bus between at least two control devices (10,11,12) connected to said serial bus, in which said data incorporated in a transmitted message passed between said at least two control devices over said serial bus is periodically updated in said one (10) of said at least two control devices (10,11,12) transmitting said message until the instant of said transmission, said bus subscriber station comprising

a serial interface (17'"'"',17") to which said serial bus (20) is connected, wherein the serial interface has a first shift register (30) into which said data received via said serial bus (20) are stored, a second shift register (36) for parallel storage of said data received in said first shift register and means for storing said data received in said first shift register in said second shift register.

22. The bus subscriber station as defined in claim 21, further comprising means for checking said data received for errors and means for accepting said data stored in the second shift register (36) for processing only if said data received is determined to be free from errors during said checking.

23. The bus subscriber station as defined in claim 21, wherein the serial interface (17'"'"',17") has a bit counter (45) including means for concomitantly counting bits received per message containing said data, and means for determining an instant for beginning and another instant for ending of storing of said data in the second shift register (36).

24. The bus subscriber station as defined in claim 21, further comprising means for controlling an internal combustion engine including a crankshaft and means for periodically receiving via the serial bus (20) said data including at least one of an instantaneous position of said crankshaft and an instantaneous speed of the internal combustion engine.

25. The bus subscriber station as defined in claim 24, wherein said means for controlling an internal combustion engine includes an ignition control device.

26. The bus subscriber station as defined in claim 24, wherein said means for controlling an internal combustion engine includes an injection control device.