CN107844316A - A kind of method and its device of the upgrading of rotating platform control system program - Google Patents
A kind of method and its device of the upgrading of rotating platform control system program Download PDFInfo
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- CN107844316A CN107844316A CN201711155260.6A CN201711155260A CN107844316A CN 107844316 A CN107844316 A CN 107844316A CN 201711155260 A CN201711155260 A CN 201711155260A CN 107844316 A CN107844316 A CN 107844316A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/14—Error detection or correction of the data by redundancy in operation
- G06F11/1402—Saving, restoring, recovering or retrying
- G06F11/1446—Point-in-time backing up or restoration of persistent data
- G06F11/1448—Management of the data involved in backup or backup restore
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Abstract
The present invention is a kind of rotating platform control system programme upgrade method and device, solves the problems, such as that during the upgrading of turning table control program stage body need to be taken apart.Methods described includes：Order of shaking hands repeatedly is sent, ROMPaq is determined the need for according to response situation；Host computer sends file size first, then sends HEX files and is deposited into RAM, and the Flash addresses and data finally obtained according to parsing HEX files carries out program burn writing；In communication process, the safe and reliable of programming content is ensured using fault detect and protection method；By the way of alternate program and configuration processor store simultaneously, ensure that turntable still is able to normal work when configuration processor is damaged.This method can directly enter line program upgrading by turntable external interface, and there is fault detect and program backup function, the harm that operation damage program can be avoided to be brought to turntable, has advantage that is easy to operate, safe and reliable, being easy to large-scale use in production.
Description
Technical field
The present invention is a kind of method and its device of the upgrading of rotating platform control system program, belongs to computer embedded system skill
Art field.
Background technology
Turntable, also referred to as inertial navigation testing experiment equipment, it can accurately simulate fortune when inertia device and system work
Rotating ring border, so as to provide accurate full and accurate data reference foundation for the development of inertia device and system, production and maintenance.As turn
The core component of platform, rotating platform control system are a kind of embedded systems.But compared with common embedded system, turntable control
Certain particularity be present in system processed：Rotating platform control system is positioned among stage body, and inner space is limited, and unloading process is more
It is complicated；Turntable use environment is more severe, a large amount of interference in program escalation process be present；Turntable belongs to non-standard equipment, outside
Communication interface wide variety；In turntable start-up course there is the maximum end time to require.
Current existing method for upgrading program of embedded system mainly upgrades including the use of fever writes and uses serial ports liter
Two classes of level.Carrying out upgrading to rotating platform control system program using fever writes needs to take out control system board from stage body, by
In the design feature of turntable, control system board takes out more difficult again after being put into.This method step in practical operation is answered
Miscellaneous, the upgrading to rotating platform control system program brings inconvenience.It is existing to carry out embedded system program liter using serial ports
The method of level may be caused general lack of enough fault detection method and safeguard procedures in program escalation process due to interference
Program burn writing mistake.If turntable is run in the control program of mistake, it will causes interruption of service.Simultaneously as turntable form
Various, external interface is likely to be not limited to serial ports.In view of the time requirement in turntable configuration processor start-up course, solidification
Turning table control program ROMPaq is required to accomplish to terminate at the appointed time.Therefore, when rotating platform control system program upgrades,
Need one kind and directly can be upgraded by external interface, it is abundant with complete fault detect and protection method, kind of interface and with
It is determined that the method and device of maximum end time.
The content of the invention
The present invention is exactly to design for deficiency of the prior art above and provide a kind of rotating platform control system program liter
The method and its device of level, the purpose is to provide one kind by external interface can directly to upgrade, have complete fault detect and prevent
The abundant method and device of shield mode, kind of interface, solve needs present in traditional rotating platform control system program escalation process
Take stage body apart, can not fully identify that the failure occurred in escalation process, external communication interface can not match, configuration processor starts
The problem of time can not constrain.
The purpose of the present invention is achieved through the following technical solutions：
It is as follows the step of this method the invention provides a kind of method of rotating platform control system program upgrading：
Step 1: receive the instruction of shaking hands that is repeatedly sent to host computer after rotating platform control system start, host computer is to turntable
Control system sends software and rises machine response, and rotating platform control system instructs according to host computer response determines that rotating platform control system program is
It is no to need to upgrade；
Step 2: if rotating platform control system needs to be upgraded, the communication that rotating platform control system establishes with host computer joins
Network, in communication process, ensure safe and reliable, the fault detect bag of rotating platform control system program upgrading using fault detect
Include：The response instruction of host computer, communication data check errors are not received in rotating platform control system program escalation process, receive data
Time-out, file size read error, file size is invalid, communication data transmission is invalid, file data number mistake, HEX files
Parsing mistake, Flash programming mistakes；
Step 3: send ROMPaq file size from host computer to rotating platform control system；
Step 4: sending ROMPaq from host computer to rotating platform control system, this document is deposited with HEX file formats
Storage, after rotating platform control system receives ROMPaq, is deposited into rotating platform control system board RAM；
Step 5: rotating platform control system parses to HEX files, rotating platform control system board storage ROMPaq is obtained
Flash addresses and the data of the address should be stored in；
Step 6: rotating platform control system is operated by program burn writing, ROMPaq is solidificated in into rotating platform control system performs
In program storage area, and after program burn writing success, ROMPaq is solidificated in stand-by program memory block, so as to ensure to hold
When line program damages, turntable still is able to rely on stand-by program normal work.
Step 7: rotating platform control system sends programming after the completion of programming, to host computer completes instruction, now close upper
Machine program, restarts rotating platform control system, you can the rotating platform control system program after automatic running upgrading.
The upgrading of rotating platform control system program is carried out by the program curing being stored in program curing memory block and host computer
Communication, so as to realize the storage by ROMPaq in configuration processor memory block and stand-by program memory block.
When occurring Flash programming mistakes in program escalation process, the program in former configuration processor region has been damaged, and redirects ground
Location elects the address where stand-by program as, so ensure turntable can normal work, only when Flash programmings success, just incite somebody to action this
The program deposit stand-by program region of secondary upgrading, and then ensure that stand-by program region stores complete and correct latest edition all the time
Rotating platform control system program.
Technical solution of the present invention additionally provides a kind of device of the method for the upgrading of above-mentioned rotating platform control system program, its
It is characterised by：The device includes turntable communication interface, external communication cable and host computer, the communication interface include RS232,
RS422, RS485 serial line interface, CAN interface and network interface interface, the external communication cable connect for connecting turntable communication
Mouth and host computer, the host computer is used to carry out program upgrade operations and result is shown.
Beneficial effects of the present invention are：
1. upgrading medium as control program using turntable external interface, can avoid needing to take stage body apart in escalation process
The inconvenience brought；
Host computer response instruction, communication data check errors are not received, receive data time-out, file size 2. providing and including
Read error, file size are invalid, communication data transmission is invalid, file data number mistake, HEX document analysis mistake, Flash
Fault detection capability including programming mistake, it is capable of detecting when that the factor such as interference is to journey in rotating platform control system program escalation process
Modification caused by sequence, meanwhile, stand-by program storage mode is employed, when occurring Flash programming mistakes in program escalation process,
The program in former configuration processor region has been damaged, and jump address elects the address where stand-by program as, and then ensures that turntable can be just
Often work, only when Flash programmings success, the program of this upgrading is just stored in stand-by program region, and then ensure backup journey
Sequence region stores complete and correct latest edition rotating platform control system program all the time；
3. the present invention has the startup maximum end time determined, before turntable each run configuration processor, can undergo and sentence
The disconnected process for whether entering line program upgrading, maximum end time when turntable starts every time are order transmission predetermined number of times of shaking hands
With the product for regulation stand-by period of shaking hands every time.
Brief description of the drawings
Fig. 1 is the structured flowchart of the device of the method for rotating platform control system program of the present invention upgrading.
Fig. 2 is host computer and work(inside rotating platform control system in the method that rotating platform control system program of the present invention upgrades
Can module diagram.
Fig. 3 is the program flow diagram using the rotating platform control system of technical solution of the present invention.
Fig. 4 is the program flow diagram using the host computer of technical solution of the present invention.
Embodiment
Technical solution of the present invention is further described below with reference to drawings and examples：
Referring to shown in accompanying drawing 1~2, include turning using the device of the method for rotating platform control system program of the present invention upgrading
Platform communication interface, external communication cable and host computer, the communication interface wrap in order to meet the needs of different model turntable
RS232, RS422, RS485 serial line interface, CAN interface and network interface interface are included, the external communication cable, which is used to connect, to be turned
Platform communication interface and host computer, the host computer is used to carry out program upgrade operations and result is shown.
As shown in Fig. 2 in the method for rotating platform control system program upgrading of the present invention, rotating platform control system mainly includes
Communication connection, document analysis and storage, the function of three aspects of fault detect.Wherein, the communication linkage function is used for turntable
Data transfer between control system and host computer is transmitted with order, including is sent instruction of shaking hands, sent working condition, send failure
Reason, receive file size, receive the functions such as HEX files.The document analysis and store function are used for the to be upgraded of transmission
Program is parsed and each section of content is stored in appropriate address, including storage file length, HEX files deposit RAM, parsing
The functions such as HEX files, program deposit Flash.The fault detection capability is used in rotating platform control system program escalation process
The failure of appearance is detected, and corresponding safeguard procedures are taken when failure occurs, including fault detect, program backup, is redirected
The functions such as address choice.The fault detection capability can not receive to what is occurred in rotating platform control system program escalation process
Position machine response instruction, communication data check errors, receive that data time-out, file size read error, file size are invalid, communicate
The failures such as transmission data invalid, file data number mistake, HEX document analysis mistake, Flash programming mistakes are detected.Institute
Program function before stating stand-by program and not upgraded is identical, but different from its storage address.Go out when in program escalation process
During existing Flash programming mistakes, the program of former upgrade area has been damaged, and jump address elects the address where stand-by program as.When and
Only when Flash programmings success, the program of this upgrading is just stored in program backup region, and then ensures that backup region is deposited all the time
Store up complete and correct latest edition rotating platform control system program.
Described host computer is connected by external communication cable with turntable external interface.As shown in Fig. 2 of the present invention turn
In the method for bench control system program upgrading, the host computer includes communication connection, presentation of information, using three kinds of operation and record
Function.Wherein, it is described communication linkage function include reception shake hands order, receive working condition, receive failure cause, transmission file
Length, send the functions such as HEX files.Described information display function includes malfunction coefficient, working condition is shown, file path shows
Show, send the functions such as byte number is shown, sends order display, reception order is shown.It is described to be included using operation and writing function
Interface parameters, selection is set to send file, be converted to the functions such as HEX files, operation log recording.
In the present invention, medium is upgraded as control program using turntable communication interface, can avoid needing in escalation process
Take the inconvenience that stage body is brought apart；
Referring to shown in accompanying drawing 3~4, the side of rotating platform control system program upgrading of the present invention is carried out using said apparatus
The step of method, is as follows：
Step 1: receive the instruction of shaking hands that is repeatedly sent to host computer after rotating platform control system start, host computer is to turntable
Control system sends software and rises machine response, and rotating platform control system instructs according to host computer response determines that rotating platform control system program is
It is no to need to upgrade；
During startup, program curing is initialized, and rotating platform control system sends the instruction of shaking hands of predetermined number of times to host computer.
If the response instruction of host computer reply can be received at the appointed time, stop sending instruction of shaking hands again, into program liter
Level process；If not receiving response instruction, continue instruction transmission of shaking hands, until reaching predetermined number of times.If in predetermined number of times
Do not receive response instruction yet inside, then send " shaking hands unsuccessfully " instruction to host computer, and jump to configuration processor address, operation performs
Program.Before turntable each run configuration processor, the process for judging whether to program upgrading can be all undergone, when turntable starts every time
The maximum end time be that order of shaking hands sends predetermined number of times and the product of regulation stand-by period of shaking hands every time, therefore, we
Method has the startup maximum end time determined.
Step 2: if rotating platform control system needs to be upgraded, the communication that rotating platform control system establishes with host computer joins
Network, in communication process, ensure safe and reliable, the fault detect bag of rotating platform control system program upgrading using fault detect
Include：The response instruction of host computer, communication data check errors are not received in rotating platform control system program escalation process, receive data
Time-out, file size read error, file size is invalid, communication data transmission is invalid, file data number mistake, HEX files
Parsing mistake, Flash programming mistakes.
Only after rotating platform control system is by all process fault detections, Flash programmings can be carried out.When shaking hands unsuccessfully
Or when there is the failure in addition to Flash programming failures, rotating platform control system can send failure cause to host computer, then certainly
It is dynamic to jump to configuration processor address, run configuration processor.Now, configuration processor in this escalation process without Flash journeys
Sequence programming, therefore the program in configuration processor memory block will not be damaged, turntable can directly use configuration processor normal operation.
To ensure the data reliability of communication process, rotating platform control system can be led to when receiving order every time
Data validity inspection is interrogated, particular exam content includes：Communication data verification checks, receives data time-out check, communication transfer
Data validity checks three kinds.
Meanwhile the reason for being broken down for the ease of detection, host computer has operation log recording function, is able to record and connects
The order transmitted during mouth communication and data.Chased after so as to carry out problem when the upgrading of rotating platform control system program goes wrong
Trace back.
Step 3: send ROMPaq file size from host computer to rotating platform control system；
After receiving response, in the ROMPaq file that upper computer selecting needs to send, then file length is sent in host computer
Degree, rotating platform control system, which receives after file size, just to be determined to carry out to the validity of file size and the file size read
Verification.After verification is correct, rotating platform control system notice host computer can proceed by file transmission.
Step 4: sending ROMPaq from host computer to rotating platform control system, this document is deposited with HEX file formats
Storage, after rotating platform control system receives ROMPaq, is deposited into rotating platform control system board RAM；
Host computer send HEX files after the file integrality of rotating platform control system, correctness and validity check,
It can be deposited into rotating platform control system board RAM.
Step 5: rotating platform control system parses to HEX files, rotating platform control system board storage ROMPaq is obtained
Flash addresses and the data of the address should be stored in；
Step 6: rotating platform control system is operated by program burn writing, ROMPaq is solidificated in into rotating platform control system performs
In program storage area, and after program burn writing success, ROMPaq is solidificated in stand-by program memory block, so as to ensure to hold
When line program damages, turntable still is able to rely on stand-by program normal work.
Situation about having been damaged in view of occurring memory block during Flash programmings in upgrading, is stored using program backup
Mode is handled ROMPaq.If having determined the Program damage of configuration processor memory block, operation backup can be directly redirected
Program.
Stand-by program memory block has the address offset of regular length with configuration processor memory block, therefore by HEX files
The Flash addresses of acquisition can be to obtain the programming address of stand-by program plus the address offset.If there is event in Flash programmings
Barrier, rotating platform control system can send failure cause to host computer, then automatic jump to alternate program address, run standby journey
Sequence.Now, configuration processor passes through Flash program programming in this escalation process, but programming process does not complete or programming process
In programming error in data be present, the program in configuration processor memory block has been damaged, and turntable can not directly run configuration processor.Institute
To avoid turntable from interruption of service occur using the method for operation stand-by program.
Step 7: rotating platform control system sends programming after the completion of programming, to host computer completes instruction, now close upper
Machine program, restarts rotating platform control system, therefore, can be after number of shaking hands reaches, i.e., due to will not now receive response instruction
Can automatic running upgrading after rotating platform control system program.
This method can directly enter line program upgrading by turntable external interface, and have fault detect and program backup work(
Can, the harm that is brought to turntable of operation damage program can be avoided, have it is easy to operate, safe and reliable, be easy to it is big in production
The advantage that scale uses.
Claims (4)
- A kind of 1. method of rotating platform control system program upgrading, it is characterised in that：The step of this method, is as follows：Step 1: receive the instruction of shaking hands that is repeatedly sent to host computer after rotating platform control system start, host computer is to turning table control System sends software and rises machine response, rotating platform control system instructed according to host computer response determine rotating platform control system program whether need Upgrade；Step 2: if rotating platform control system needs to be upgraded, rotating platform control system establishes the communication with host computer, leads to During news, the safe and reliable of rotating platform control system program upgrading is ensured using fault detect, the fault detect includes：Turn Do not received in bench control system program escalation process the response instruction of host computer, communication data check errors, receive data time-out, File size read error, file size are invalid, communication data transmission is invalid, file data number mistake, HEX document analysis are wrong By mistake, Flash programming mistakes；Step 3: send ROMPaq file size from host computer to rotating platform control system；Step 4: sending ROMPaq from host computer to rotating platform control system, this document is stored with HEX file formats, is turned After bench control system receives ROMPaq, it is deposited into rotating platform control system board RAM；Step 5: rotating platform control system parses to HEX files, rotating platform control system board storage ROMPaq is obtained Flash addresses and the data that the address should be stored in；Step 6: rotating platform control system is operated by program burn writing, ROMPaq is solidificated in rotating platform control system configuration processor In memory block, and after program burn writing success, ROMPaq is solidificated in stand-by program memory block, so as to ensure to perform journey When sequence is damaged, turntable still is able to rely on stand-by program normal work.Step 7: rotating platform control system sends programming after the completion of programming, to host computer completes instruction, host computer journey is now closed Sequence, restart rotating platform control system, you can the rotating platform control system program after automatic running upgrading.
- 2. the method for rotating platform control system program upgrading according to claim 1, it is characterised in that：Rotating platform control system journey Sequence upgrading is communicated by the program curing being stored in program curing memory block with host computer, so as to realize ROMPaq Storage in configuration processor memory block and stand-by program memory block.
- 3. the method for rotating platform control system program upgrading according to claim 1, it is characterised in that：When program escalation process In when there are Flash programming mistakes, the program in former configuration processor region has been damaged, and jump address elects the ground where stand-by program as Location, so ensure turntable can normal work, only when Flash programmings success when, just by this upgrading program be stored in backup journey Sequence region, and then ensure that stand-by program region stores complete and correct latest edition rotating platform control system program all the time.
- A kind of 4. device for being used for the method that rotating platform control system program described in claim 1 upgrades, it is characterised in that：The device Including turntable communication interface, external communication cable and host computer, the communication interface includes RS232, RS422, RS485 serial interface Mouthful, CAN interface and network interface interface, the external communication cable is used to connecting turntable communication interface and host computer, it is described on Position machine is used to carry out program upgrade operations and result is shown.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711155260.6A CN107844316A (en) | 2017-11-17 | 2017-11-17 | A kind of method and its device of the upgrading of rotating platform control system program |
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| CN201711155260.6A CN107844316A (en) | 2017-11-17 | 2017-11-17 | A kind of method and its device of the upgrading of rotating platform control system program |
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| CN109710291A (en) * | 2018-12-27 | 2019-05-03 | 中国科学院长春光学精密机械与物理研究所 | A kind of aviation O-E Payload software configuration item remote upgrade method |
| CN110703726A (en) * | 2019-09-26 | 2020-01-17 | 上海赫千电子科技有限公司 | Automatic upgrading test method applied to locomotive |
| CN111400080A (en) * | 2020-03-19 | 2020-07-10 | 歌尔股份有限公司 | Method and device for setting shipping mode of electronic product and electronic equipment |
| CN111857776A (en) * | 2020-07-09 | 2020-10-30 | 天津津航计算技术研究所 | Online upgrading method for application programs of DSP (digital Signal processor) board cards |
| CN112505607A (en) * | 2020-12-22 | 2021-03-16 | 昆明自动化成套集团股份有限公司 | Voltage monitoring device with positioning function and remote upgrading support function |
| CN113138779A (en) * | 2021-04-21 | 2021-07-20 | 中科亿海微电子科技（苏州）有限公司 | FPGA (field programmable Gate array) online program updating device and method based on multifunctional interface |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109710291A (en) * | 2018-12-27 | 2019-05-03 | 中国科学院长春光学精密机械与物理研究所 | A kind of aviation O-E Payload software configuration item remote upgrade method |
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| CN111400080A (en) * | 2020-03-19 | 2020-07-10 | 歌尔股份有限公司 | Method and device for setting shipping mode of electronic product and electronic equipment |
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| CN111857776A (en) * | 2020-07-09 | 2020-10-30 | 天津津航计算技术研究所 | Online upgrading method for application programs of DSP (digital Signal processor) board cards |
| CN111857776B (en) * | 2020-07-09 | 2023-07-28 | 天津津航计算技术研究所 | On-line upgrading method for application program of DSP board card |
| CN112505607A (en) * | 2020-12-22 | 2021-03-16 | 昆明自动化成套集团股份有限公司 | Voltage monitoring device with positioning function and remote upgrading support function |
| CN112505607B (en) * | 2020-12-22 | 2023-07-04 | 昆明自动化成套集团股份有限公司 | Voltage monitoring device with positioning function and supporting remote upgrading |
| CN113138779A (en) * | 2021-04-21 | 2021-07-20 | 中科亿海微电子科技（苏州）有限公司 | FPGA (field programmable Gate array) online program updating device and method based on multifunctional interface |
| CN113138779B (en) * | 2021-04-21 | 2024-03-15 | 中科亿海微电子科技（苏州）有限公司 | FPGA (field programmable Gate array) online program updating device and method based on multifunctional interface |
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