Research And Practice Of Body Control System Based On CANopen Protocol

CAN bus is widely used in current automotive electronic systems, it simplifies the design of vehicle wiring harness,more importantly, brought information and resource sharing between the electronic systems of the car.To break the technical barriers to foreign automotive manufacturer,creating or finding a suitably application layer protocol of CAN bus to China's automotive, to achieve domestic vehicle to facilitate the sharing of information and resources, is one of the problems need urgent solution ;At the same time, the face the challenges of rapid demand changes in automotive electronics product, the increasingly stringent quality requirements, the shortened product development cycle, to find a way to quickly develop automotive electronics embedded software, it is an active role and significance to China's automotive electronics industry for improving the core competitiveness with foreign auto electronics and reducing the skill level of the gap. In this paper, under the help of projects of the Ministry of Education and Guangdong Province, extensively collected the domestic and foreign research data and information, the main CAN application layer protocol, and model-based embedded software development methods was studied and analyzed.First, mainstream features of CAN application layer protocol and application was compared and analyzed, pointed out the superiority that the CANopen protocol used in the automotive CAN network. Then, the finite state machine theory, combined with StateFlow tools was used, a framework for model CANopen was established. The obtained model can be easily integrated with different underlying hardware driver software, and generated hardware-specific embedded software code, the generated code can be used for software in loop simulation, hardware in loop simulation, and even production code.In addition, the automotive CAN networks for data transmission capacity and the real-time requirements are relatively high, the earliest deadline first algorithm (EDF, Earliest Deadline First) was introduced to the automotive CAN networks, and its key issues—the relative deadline of coding, has been studied, proposed the method based on index coding,the simulation and verification was done. Finally, studed the implementation of the CANopen protocol in Body Control system, system structure and hardware solution was proposed, also studied the development method of logical rules judgement software based on truth table.