CN103544086A - Two-dimensional tracking rotary table electric control system data online debugging system and method - Google Patents
Two-dimensional tracking rotary table electric control system data online debugging system and method Download PDFInfo
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Abstract
The invention provides a two-dimensional tracking rotary table electric control system data online debugging system and method, which solve the problems that in the prior art, RS-232 or RS-422 speed transmission is slow, communication searching capability is limited, and hot plugging cannot be realized. The system comprises a microcontroller and a computer, wherein a third USB interface is embedded in the microcontroller, a digital or analog interface of the microcontroller is connected with the two-dimensional tracking turntable, the third USB interface of the microcontroller is connected with a first USB interface of the computer through a USB data line, and a JTAG interface of the microcontroller is connected with a second USB interface of the computer through a debugger. The microcontroller collects target state information generated by the two-dimensional tracking rotary table and transmits the target state information to the computer through a USB interface of the microcontroller; the invention is safe, portable and easy to be repeatedly used; high speed, flexible expansion and high design integration; hot plugging can be performed; the design difficulty is low; and debugging time is saved.
Description
Technical field
The invention belongs to control field, be specifically related to two-dimensional tracking turntable electric-control system online data debug system and method.
Background technology
Existing extraterrestrial target information acquisition module or various pick-up transducers based on single-chip microprocessor, adopts RS-232 or RS-422 to link development platform and develops, and in test and metrology applications, is quite general communications protocol.Although its cost is lower, the shortcoming of its maximum be speed transmission slowly, communication and search capacity is limited, do not support hot plug.The existing debug process based on microprocessor two-dimensional tracking turntable embedded type electric control system: under system open loop situations, generally take computer software aided design techniques to carry out Commissioning Analysis research, the successful program of debugging is downloaded in the program storage of microprocessor, remove after secondary computer, system is worked under closed loop state.For controlling sensitivity and the high two-dimensional tracking turntable electric-control system of accuracy requirement, if control object---load weight or attitude or motor coupling torque generation subtle change on two-dimensional tracking turntable, many covers of a plurality of tracing modes are controlled parameter and generally need to again be adjusted, repeat above-mentioned open loop debugging, the closed loop course of work.The shortcoming of this process is to realize the online portable debugging of system.Multi-purpose computer can directly be installed OS, and by instruments such as editing machine, compilers, completes the development of software.And the hardware of embedded system generally has significant limitation: processor frequencies is low, storage space is little or the equipment such as on-keyboard, hardware platform is not easy to the development task of system, Resources on Chip does not possess the ability of stand-alone development, need be by cross compile: typically refer to editor, compiled code on computers, then to Target Board downloading-running, proving program.Its form is " host (computing machine)+target machine (SCM) ", and connected mode has JTAG, serial ports and network etc. conventionally.
Summary of the invention
The invention provides a kind of two-dimensional tracking turntable electric-control system online data debug system and method, solved in prior art, take the transmission of RS-232 or RS-422 speed slowly, communication and search capacity is limited, can not hot plug and the inconvenient technical matters of the portable debugging of two-dimensional tracking turntable electric-control system online data.
Technical solution of the present invention is:
Two-dimensional tracking turntable electric-control system online data debug system, comprise microcontroller and computing machine, its special character is: described microcontroller is embedded with the 3rd USB interface, the numeral of microcontroller or analog interface are connected with two-dimensional tracking turntable, the 3rd USB interface of microcontroller is connected by usb data line with the first USB interface of computing machine, and the jtag interface of microcontroller is connected by debugger with the secondary USB interface of computing machine.
Above-mentioned microcontroller is the single-chip of SCM, or at least one combined chip in SCM and DSP, FPGA.
Above-mentioned SCM is single-chip microcomputer C8051F340.
The SCM that above-mentioned microcontroller comprises DSP and is embedded with the 3rd USB interface, the 3rd USB interface of SCM is connected with the first USB interface of computing machine, DSP is connected with two-dimensional tracking turntable, between SCM and DSP, by dual port RAM, be connected, the jtag interface of SCM is connected by debugger with the secondary USB interface of computing machine.
Above-mentioned SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module and frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected respectively with RS232 data transmit-receive module with synchronizing pulse generation module by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with the 3rd USB interface with RS232 data transmit-receive module, the 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
Above-mentioned debugger is programmable device or emulator or downloader.
Two-dimensional tracking turntable electric-control system online data adjustment method, its special character is: comprise the following steps:
1] two-dimensional tracking turntable is followed target rotation, and microcontroller gathers target status information that two-dimensional tracking turntable produces and the 3rd USB interface by microcontroller self reaches target status information the first USB interface of computing machine;
2] computing machine carries out analyzing and processing to data, completes control parameter tuning;
3] computing machine sends to control program the debugger of microcontroller by the secondary USB interface carrying;
4] after debugger debugging, microcontroller sends to steering order in the motor of two-dimensional tracking turntable, and it is controlled.
Above-mentioned microcontroller is SCM single-chip, or at least one combined chip in SCM and DSP, FPGA.
Above-mentioned microcontroller comprises SCM and DSP, and SCM is connected with computing machine, and DSP is connected with two-dimensional tracking turntable, and SCM is connected by dual port RAM with DSP.
Above-mentioned SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module, frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected respectively with RS232 data transmit-receive module with synchronizing pulse generation module by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with the 3rd USB interface with RS232 data transmit-receive module, the 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
Beneficial effect of the present invention:
(1) between microcontroller of the present invention and computing machine, adopt USB communication modes, make debugging work simple, convenient; The single-chip microcontroller of embedded the 3rd USB interface and adopt existing computing machine gui software technology, easily repeated using;
(2) microcontroller of the present invention can be the single-chip of SCM or DSP or ARM or FPGA, also can select the combined chip of SCM or DSP or ARM or FPGA, and expansion is flexible, design integration is high;
(3) if the present invention adopts the SCM of embedded USB2.0, sampling rate reaches 480bps, if adopt the SCM of embedded USB3.0, sampling rate can reach 960bps, and its high speed performance has been the top level in sata standard;
(4) the present invention can hot plug, has improved the portability of electric-control system debug data, has saved debug time; Developer has been familiar with structure and the instruction set of SCM, develop than being easier to, and the connection of the communication between computing machine is simple, and Silicon Labs company provides device driver, host interface function (host API) and equipment firmware interface function;
(5) deviser's Using API Function of the present invention, simplify USB device performance history, developer does not need to understand complicated USB underlying protocol, just can be easily with the USB communication that realizes SCM and Analytical Computer Program, and adopt dual port RAM to realize communication and coordination between double-core, reduced design difficulty;
(6) the present invention can add Ethernet wireless communication interface, realizes and being connected with PC main frame is wireless.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of two-dimensional tracking turntable electric-control system online data debug system of the present invention;
Fig. 2 is the schematic diagram of microcontroller of the present invention.
Wherein: the motor of 1-two-dimensional tracking turntable; 2-debugger; 3-microcontroller; 4-computing machine.
Embodiment
As Fig. 1, two-dimensional tracking turntable electric-control system online data debug system comprises microcontroller and computing machine, improvement of the present invention is: microcontroller is the microcontroller that is embedded with the 3rd USB interface, the numeral of microcontroller or analog interface are connected with two-dimensional tracking turntable, the 3rd USB interface of microcontroller is connected by usb data line with the first USB interface of computing machine, and the jtag interface of microcontroller is connected by debugger with the secondary USB interface of computing machine.
Microcontroller can be selected existing SCM single-chip, also can select the combined chip after SCM connects with at least one chip in DSP, FPGA, general according to the complexity of system, selects kind and the quantity of chip.Combined chip can improve the processing speed of signal, has advantages of design and proving period is short, steering logic is simple, favorable expandability, be easy to realization.
Preferably, microcontroller of the present invention comprises DSP and is embedded with the SCM of the 3rd USB interface, the 3rd embedded USB interface of SCM is connected with the first USB interface of computing machine, DSP is connected with two-dimensional tracking turntable, SCM is connected by dual port RAM with DSP, and the jtag interface of SCM is connected by debugger with the secondary USB interface of computing machine.
SCM selects the single-chip microcomputer C8051F340 of new generation of U.S. Silicon Laboratories company.Processing speed is that many 16 MCU of 100MIPS(do not reach), function is very powerful, meets development and Design's teacher requirement completely.Be mainly used in electric-control system debugging, assist host computer to complete online data debugging and analytic function.SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module and frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected respectively with RS232 data transmit-receive module with synchronizing pulse generation module by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with the 3rd USB interface with RS232 data transmit-receive module, the 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
In SCM, the function of modules is:
1) RS232 data transmit-receive module: RS-232 serial communication interface standard transmission distance is 20 meters of left and right, and transmission speed reaches as high as 38.4Kbps, and its interface connector is used the edge connector that model is DB-9.Generally its logic level is 3.3V.In design, adopt the universal serial port transceiving chip MAX3232CSE of Maxim company herein, and between computing machine, have being connected of two lines of receipts, the full duplex state that is operated in is set.RS232 serial ports main log-on message of being responsible for display system and carry out the Download Info of kernel when mutual, file system etc. with Windows between SCM and computing machine;
2) data communication module: be mainly used for being connected of address bus, data bus and control bus between SCM and DSP, under clock synchronous pulse action, carry out data communication;
3) synchronizing pulse generation module: after SCM electrification reset, inner crystal oscillator, under the effect of clock, counting produces pulse signal, through frequency division, being treated to frequency is that 100Hz dutycycle is 50% synchronization pulse, this synchronizing pulse by for synchronous SCM and the data communication of DSP, the data acquisition of the data acquisition of SCM and processing, RS232, in the data interaction of dual port RAM and DSP and SCM;
4) DSP reseting module: reset signal module is comprised of ADM708AR and SN74LV02AD chip, after powering on, ADM708AR produces a road reseting pulse signal RST, this signal is low level in initial state, duration is 150ms, it is high level later always, this signal is used for to DSP electrification reset, and the effect of SN74LV02AD is denoising;
Digital sampling and processing and frequency division module are known mature technology, do not narrate herein.
DSP selects chip model TSC21020-20MB, and aerospace Ji，Shi You atmel corp produces, and belongs to Rad.Hard32/40-bit IEEE Floating Point.Be mainly used in video image and follow the tracks of processing.
Debugger is programmable device or emulator or downloader.The ML-EC3 that preferably integrates emulator, programmable device and downloader.The C8051F complete series MCU latest generation simulating developer instrument that the research and development of Ta Shiyou U.S. Silabs company are produced, it can be realized single step, continuous single step, Hardware Breakpoint, stop/moving, supports the modification of reservoir and register and the functions such as reservoir, encryption of checking, download.Can under the μ of Keil Vsion2 or Silicon Laboratories IDE environment, carry out hardware debug.It adopts USB interface to carry out program download and simulation hardware debugging.It has jtag interface, can to C8051F340, carry out emulation online.
Dual port RAM, the IDT71V321 chip of employing IDT company.The intermediary that it is communicated by letter with SCM as DSP, realizes the two-way interactive of information.The test the speed status information etc. of information (output of A/D interface), order and guidance information, turntable of control variable, spacing (position that refers to the limit electric protection that turntable forwards to) information, the gyro that first buffer memory DSP collects, then confession SCM reads.Oppositely, PID controlled quentity controlled variable, order and the guidance information etc. of first buffer memory SCM, then read for DSP.
Two-dimensional tracking turntable electric-control system online data adjustment method, comprises the following steps:
1] two-dimensional tracking turntable is followed target rotation, and microcontroller gathers target status information that two-dimensional tracking turntable produces and the 3rd USB interface by microcontroller self reaches target status information the first USB interface of computing machine; Concrete, after microcontroller electrification reset, under the effect of synchronization pulse, microcontroller and PC carry out data communication.Microcontroller will gather target status information, and assistant adjustment by the first USB interface, adopts computing machine gui software technology, from the 3rd USB interface reading data of microcontroller with computing machine.
2] computing machine utilizes computing machine gui software to carry out predictive filtering picture analyzing and processing to the data of reading in, or data recording is utilized in file to the softwares such as the known Office Excel analyzing and processing of drawing in real time, debugged program, completes control parameter tuning;
3] computing machine is connected with the jtag interface of debugger (programmable device or emulator or downloader) by the secondary USB interface carrying, and the other end of debugger (programmable device or emulator or downloader) is connected with the jtag interface of microcontroller; Adopt jtag interface, can to microcontroller, carry out simulation hardware debugging online, finally the program of having debugged is downloaded in the program storage on SCM; After program has been downloaded, can remove at any time secondary computer;
4] microcontroller is carried out instruction according to program, by controlling voltage or current signal and send to the motor of two-dimensional tracking turntable, it is controlled.
Microcontroller of the present invention is comprised of the SCM dual processor of DSP, embedded USB2.0 communication interface, communicates by letter and coordinate to adopt dual port RAM between DSP and SCM.After SCM electrification reset, under the effect of clock, counting generation synchronizing pulse will be for synchronous data communication module and digital sampling and processing, after these data acquisition process complete, put into dual port RAM, then under synchronizing pulse effect, realize data interaction with DSP.Deviser calls and revises device driver, host interface function (host API) and the equipment firmware interface api function that developer provides, easily by the USB communication function that realizes SCM and computing machine.Appliance computer gui software technology, carry out drawing and analyzing in real time, adopt jtag interface, can to microcontroller, carry out simulation hardware debugging online, finally the program of having debugged is downloaded in the program storage on microcontroller, after program has been downloaded, can remove at any time secondary computer, realize easily two-dimensional tracking turntable electric-control system online data Commissioning Analysis.
Claims (10)
1. two-dimensional tracking turntable electric-control system online data debug system, comprise microcontroller and computing machine, it is characterized in that: described microcontroller is embedded with the 3rd USB interface, the numeral of microcontroller or analog interface are connected with two-dimensional tracking turntable, the 3rd USB interface of microcontroller is connected by usb data line with the first USB interface of computing machine, and the jtag interface of microcontroller is connected by debugger with the secondary USB interface of computing machine.
2. two-dimensional tracking turntable electric-control system online data debug system according to claim 1, is characterized in that: microcontroller is the single-chip of SCM, or at least one combined chip in SCM and DSP, FPGA.
3. two-dimensional tracking turntable electric-control system online data debug system according to claim 2, is characterized in that: SCM is single-chip microcomputer C8051F340.
4. two-dimensional tracking turntable electric-control system online data debug system according to claim 1, it is characterized in that: the SCM that microcontroller comprises DSP and is embedded with the 3rd USB interface, the 3rd USB interface of SCM is connected with the first USB interface of computing machine, DSP is connected with two-dimensional tracking turntable, between SCM and DSP, by dual port RAM, be connected, the jtag interface of SCM is connected by debugger with the secondary USB interface of computing machine.
5. two-dimensional tracking turntable electric-control system online data debug system according to claim 4, is characterized in that: SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module and frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected respectively with RS232 data transmit-receive module with synchronizing pulse generation module by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with the 3rd USB interface with RS232 data transmit-receive module, the 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
6. according to the arbitrary described two-dimensional tracking turntable electric-control system online data debug system of claim 1-5, it is characterized in that: debugger is programmable device or emulator or downloader.
7. two-dimensional tracking turntable electric-control system online data adjustment method, is characterized in that: comprise the following steps:
1] two-dimensional tracking turntable is followed target rotation, and microcontroller gathers target status information that two-dimensional tracking turntable produces and the 3rd USB interface by microcontroller self reaches target status information the first USB interface of computing machine;
2] computing machine carries out analyzing and processing to data, completes control parameter tuning;
3] computing machine sends to control program the debugger of microcontroller by the secondary USB interface carrying;
4] after debugger debugging, microcontroller sends to steering order in the motor of two-dimensional tracking turntable, and it is controlled.
8. two-dimensional tracking turntable electric-control system online data adjustment method according to claim 7, is characterized in that: microcontroller is SCM single-chip, or at least one combined chip in SCM and DSP, FPGA.
9. two-dimensional tracking turntable electric-control system online data adjustment method according to claim 7, is characterized in that: microcontroller comprises SCM and DSP, and SCM is connected with computing machine, and DSP is connected with two-dimensional tracking turntable, and SCM is connected by dual port RAM with DSP.
10. two-dimensional tracking turntable electric-control system online data adjustment method according to claim 9, it is characterized in that: SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module, frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected respectively with RS232 data transmit-receive module with synchronizing pulse generation module by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with the 3rd USB interface with RS232 data transmit-receive module, the 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109710452A (en) * | 2018-12-06 | 2019-05-03 | 天津津航计算技术研究所 | ECC storage control system with data debugging function |
| CN109977042A (en) * | 2019-02-28 | 2019-07-05 | 珠海海奇半导体有限公司 | A kind of USB on-line debugging system and method |
| CN117728899A (en) * | 2024-02-06 | 2024-03-19 | 北京东远润兴科技有限公司 | Equipment joint debugging method and device, terminal equipment and storage medium |
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| CN109710452A (en) * | 2018-12-06 | 2019-05-03 | 天津津航计算技术研究所 | ECC storage control system with data debugging function |
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| CN117728899A (en) * | 2024-02-06 | 2024-03-19 | 北京东远润兴科技有限公司 | Equipment joint debugging method and device, terminal equipment and storage medium |
| CN117728899B (en) * | 2024-02-06 | 2024-06-04 | 北京东远润兴科技有限公司 | Equipment joint debugging method and device, terminal equipment and storage medium |
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