CN111694678A - Continuous periodic data sampling method and system based on linux platform - Google Patents
Continuous periodic data sampling method and system based on linux platform Download PDFInfo
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Abstract
The invention discloses a continuous periodic data sampling method and a system based on a linux platform, which belong to the technical field of data sampling and comprise the following steps: setting a sampling period by a user program; the daemon process reads the parameters from the redis database and forwards the parameters to the second PRU module; the second PRU module sends the period value to the first PRU module; the first PRU module adopts assembly writing to convert the period into an instruction consumption number, can accurately control the sampling period and sends the acquired data to the second PRU module; the second PRU module records a certain amount of data, numbers the data and sends the data to the linux layer; because linux is a non-real-time system, the sampling data period is determined, the frame period is determined, the daemon corrects the acquired system time stamp according to the data frame number, and the system time stamp is distributed to a redis database in cooperation with the data frame for a user to read. The method can solve the problem that the period for acquiring the sampling data under the linux platform is not fixed.
Description
Technical Field
The invention relates to the technical field of data sampling, in particular to a continuous periodic data sampling method and system based on a linux platform.
Background
The linux is a non-real-time operating system, supports an RT scheduling strategy, but is not a hard real-time system, performs data sampling under a linux platform, and in an application scene with a high continuous sampling requirement, once linux multitasks cause system load increase or blocking, fixed-period data sampling is difficult to guarantee.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and realize continuous periodic data sampling of a linux system.
In order to achieve the above object, the present invention adopts a continuous periodic data sampling method based on a linux platform, comprising:
the method for realizing continuous sampling of an ADC module by utilizing a first PRU module and a second PRU module arranged in a CPU comprises the following steps:
the second PRU module acquires a sampling period value from a linux layer and forwards the sampling period value to the first PRU module;
the first PRU module converts the sampling period value into an instruction consumption parameter, controls the ADC module to continuously sample data according to the instruction consumption parameter, and forwards the sampled data to the second PRU module;
and the second PRU module forwards the sampled data to a linux layer for a user to read.
Further, the second PRU module is specifically configured to:
a1) initializing an rpmsg channel between the CPU and the linux layer;
a2) enabling interrupts associated with the rpmsg channel and the first PRU module;
a3) waiting for a sampling period value from the linux layer transmission and forwarding the sampling period value to a first PRU module;
a4) determining whether an interrupt from the first PRU module is generated, if yes, performing step a5), and if no, performing step a 6);
a5) reading the sampling data forwarded by the first PRU module, recording the sampling number transmitted by a single frame, numbering the frame data, and sending the frame data to the linux layer;
a6) and judging whether rpmsg channel interruption sent by the linux layer is generated or not, if so, executing the step a3), and if not, executing the step a4).
Further, the first PRU module is specifically configured to:
b1) after the power-on starting, the first PRU module initializes the ADC module through an internal bus;
b2) after initialization is completed, enabling an instruction counter;
b3) reading the instruction counter value;
b4) reading a sampling period value sent by the second PRU module, and calculating the total consumption instruction number;
b5) the ADC module performs data sampling;
b6) generating an interrupt signal to notify the second PRU module to acquire sampling data;
b7) reading the instruction counter again, and calculating the number of executed single sampling and transmission consumption instructions;
b8) the total number of consumed instructions is compared with the number of single sample and issue consumed instructions, the remaining number of instructions is consumed, and step b3) is performed.
Further, after the linux layer obtains the sample data sent by the second PRU module, the method includes:
reading the timestamp of the previous frame, and adding the frame interval time as a modified timestamp of the current frame, wherein the frame interval time is calculated in the following way: the sample period is multiplied by the number of samples in a single frame. (ii) a
And integrating the corrected time stamp of the current frame and the data frame as subscription data for the user to read.
Further, a Redis database for storing sampling period values and subscription data is provided in the linux layer.
On the other hand, the continuous periodic data sampling system based on the linux platform comprises a linux layer and a CPU layer, wherein a first PRU module, a second PRU module and an ADC (analog-to-digital converter) module are arranged in the CPU layer, the output of the ADC module is connected with the first PRU module, the first PRU module is connected with the second PRU module, and the second PRU module is connected with the linux layer through a rpmsg bus;
the second PRU module is used for acquiring a sampling period value from a linux layer and forwarding the sampling period value to the first PRU module;
the first PRU module is used for converting the sampling period value into an instruction consumption parameter, accessing the ADC module through an internal bus, and controlling the ADC module to continuously sample data according to the instruction consumption parameter; the first PRU module forwards the sampling data of the ADC module to the second PRU module;
and the second PRU module immediately acquires the sampling data forwarded by the first PRU module through interruption and forwards the sampling data to the linux layer for a user to read.
Further, the first PRU module and the second PRU module are both provided with two buffers, one buffer is used for sending messages to the main chip, and the other buffer is used for receiving messages sent by the main chip.
Furthermore, a user program, a Redis database and a daemon process are arranged in the linux layer, the user program is connected with the Redis database, the Redis database is connected with the daemon process, and the daemon process is connected with the second PRU module through the rpmsg bus;
the Redis database stores the sampling period value set by the user program and subscription data issued by the daemon process;
the user program is used for setting the sampling period value to a Redis database and reading subscription data from the Redis database;
and the daemon process is used for reading the sampling period value from the Redis database, transmitting the sampling period value to the second PRU module through the rpmsg bus, and receiving sampling data transmitted by the second PRU module.
Further, the daemon process is further configured to modify a system timestamp according to a data frame number, and send the modified timestamp in cooperation with a data frame as the subscription data to the Redis database for reading by the user program, where the data frame number is determined by the sampling period value.
Compared with the prior art, the invention has the following technical effects: according to the invention, the CPU internal programmable execution unit PRU is used for realizing continuous real-time sampling of the ADC, the PRU module is used for sampling data according to a sampling period and sending the data to the linux platform, the linux platform is a non-real-time system, the frame period can be determined due to the determination of the period of the sampled data, the linux platform corrects the acquired system timestamp according to the number of the data frame, the corrected timestamp and the data frame are integrated for a user to read, and the problem that the period for acquiring the sampled data under the linux platform is not fixed can be solved.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a flow chart of a linux platform based continuous periodic data sampling method;
FIG. 2 is a flowchart of the operation of a second PRU module;
FIG. 3 is a flowchart of the operation of a first PRU module;
FIG. 4 is a workflow diagram of the linux layer;
FIG. 5 is a block diagram of a linux platform based continuous periodic data sampling system.
Detailed Description
To further illustrate the features of the present invention, refer to the following detailed description of the invention and the accompanying drawings. The drawings are for reference and illustration purposes only and are not intended to limit the scope of the present disclosure.
As shown in fig. 1, the present embodiment discloses a continuous periodic data sampling method based on a linux platform, which utilizes a first PRU module and a second PRU module arranged in a CPU to implement continuous sampling of an ADC module, and includes the following steps S1 to S3:
s1, the second PRU module acquires a sampling period value from the linux layer and forwards the sampling period value to the first PRU module;
s2, the first PRU module converts the sampling period value into an instruction consumption parameter, controls the ADC module to continuously sample data according to the instruction consumption parameter, and forwards the sampled data to the second PRU module;
and S3, the second PRU module forwards the sampled data to a linux layer for a user to read.
It should be noted that, in the embodiment, the problem that the sampling data period of the linux platform is not fixed can be solved by using the programmable implementation unit PRU inside the CPU without adding an additional chip.
Further, as shown in fig. 2, the second PRU module is specifically configured to:
a1) initializing an rpmsg channel between the CPU and the linux layer;
a2) enabling interrupts associated with the rpmsg channel and the first PRU module;
a3) waiting for a sampling period value from the linux layer transmission and forwarding the sampling period value to a first PRU module;
a4) determining whether an interrupt from the first PRU module is generated, if yes, performing step a5), and if no, performing step a 6);
a5) reading the sampling data forwarded by the first PRU module, recording the sampling number transmitted by a single frame, numbering the frame data, and sending the frame data to the linux layer;
a6) and judging whether rpmsg channel interruption sent by the linux layer is generated or not, if so, executing the step a3), and if not, executing the step a4).
Further, as shown in fig. 3, the first PRU module is specifically configured to:
b1) after the power-on starting, the first PRU module initializes the ADC module through an internal bus;
b2) after initialization is completed, enabling an instruction counter;
b3) reading the instruction counter value;
b4) reading a sampling period value sent by the second PRU module, and calculating the total consumption instruction number;
b5) the ADC module performs data sampling;
b6) generating an interrupt signal to notify the second PRU module to acquire sampling data;
b7) reading the instruction counter again, and calculating the number of executed single sampling and transmission consumption instructions;
b8) the total number of consumed instructions is compared with the number of single sample and issue consumed instructions, the remaining number of instructions is consumed, and step b3) is performed.
Further, in step S3, after the obtaining, by the linux layer, the sample data sent by the second PRU module, the method further includes: reading the timestamp of the previous frame, and adding the frame interval time as a modified timestamp of the current frame, wherein the frame interval time is calculated in the following way: and multiplying the sampling period by the sampling number of a single frame, and integrating the modified time stamp of the current frame and the data frame to be used as subscription data for the user to read.
Further, a Redis database for storing sampling period values and subscription data is provided in the linux layer.
As shown in fig. 4, the workflow of the linux layer is as follows:
c1) initializing a redis database;
c2) reading a sampling period parameter set by a user from a redis database;
c3) sending the sampling period parameter to a second PRU module;
c4) and acquiring sampling data reported by the second PRU module, and reading a system time stamp, wherein the time stamp is corrected by using a frame number because linux is a non-real-time system but the time period of a single frame is accurately controlled, and the corrected time stamp and a data frame are integrated to be used as subscription data and are published to a redis database for a user to subscribe.
As shown in fig. 5, the present embodiment discloses a continuous periodic data sampling system based on a linux platform, which includes a linux layer and a CPU layer, wherein a first PRU module, a second PRU module and an ADC module are disposed in the CPU layer, an output of the ADC module is connected to the first PRU module, the first PRU module is connected to the second PRU module, and the second PRU module is connected to the linux layer via an rpmsg bus;
the second PRU module is used for acquiring a sampling period value from a linux layer and forwarding the sampling period value to the first PRU module;
the first PRU module is used for converting the sampling period value into an instruction consumption parameter, accessing the ADC module through an internal bus, and controlling the ADC module to continuously sample data according to the instruction consumption parameter; the first PRU module forwards the sampling data of the ADC module to the second PRU module;
and the second PRU module immediately acquires the sampling data forwarded by the first PRU module through interruption and forwards the sampling data to the linux layer for a user to read.
The linux layer is internally provided with a user program, a Redis database and a daemon process, the user program is connected with the Redis database, the Redis database is connected with the daemon process, and the daemon process is connected with the second PRU module through the rpmsg bus;
the Redis database stores the sampling period value set by the user program and subscription data issued by the daemon process;
the user program is used for setting the sampling period value to a Redis database and reading subscription data from the Redis database;
and the daemon process is used for reading the sampling period value from the Redis database, transmitting the sampling period value to the second PRU module through the rpmsg bus, and receiving sampling data transmitted by the second PRU module.
Further, the daemon process is further configured to modify a system timestamp according to a data frame number, and send the modified timestamp in cooperation with a data frame as the subscription data to the Redis database for reading by the user program, where the data frame number is determined by the sampling period value.
It should be noted that, in this embodiment, the complete workflow of the continuous periodic data sampling method based on the linux platform is as follows:
1) after the system works, a user program sets a sampling period through a redis database.
2) The daemon reads the parameter value from the redis database and sends down to the PRU1 through the rpmsg message.
3) The second PRU module forwards the period value to the first PRU module, the first PRU module calculates the total consumed instruction number according to the period value, an instruction counter is used for counting ADC sampling once and sending the generated sampling result to the instruction number consumed by the second PRU module, and redundant instruction numbers are consumed, so that the sampling period is accurately controlled.
4) And the second PRU module acquires a sampling value, accumulates the sampling value to a single frame sending number (which can be set by a user), numbers the data frame, and reports the data frame number to the daemon process through the rpmsg message.
5) The daemon acquires data and reads the system time stamp, and since linux is a non-real-time system, but the single-frame time period is accurately controlled, the time stamp is trimmed by using a frame sequence number. When the system time stamp obtained this time is compared with the time stamp of the previous frame, if the difference is larger, the time error of the previous frame plus the time interval of two frames is used as the time stamp of the frame. And integrating and publishing the trimmed timestamp and the data frame to a redis database by the daemon process for subscribing by a user.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A continuous periodic data sampling method based on a linux platform is characterized in that continuous sampling of an ADC (analog-to-digital converter) module is realized by utilizing a first PRU (pulse repetition Unit) module and a second PRU module which are arranged in a CPU (Central processing Unit), and comprises the following steps:
the second PRU module acquires a sampling period value from a linux layer and forwards the sampling period value to the first PRU module;
the first PRU module converts the sampling period value into an instruction consumption parameter, controls the ADC module to continuously sample data according to the instruction consumption parameter, and forwards the sampled data to the second PRU module;
and the second PRU module forwards the sampled data to a linux layer for a user to read.
2. The linux platform-based continuous periodic data sampling method of claim 1, wherein the second PRU module is specifically configured to:
a1) initializing an rpmsg channel between the CPU and the linux layer;
a2) enabling interrupts associated with the rpmsg channel and the first PRU module;
a3) waiting for a sampling period value from the linux layer transmission and forwarding the sampling period value to a first PRU module;
a4) determining whether an interrupt from the first PRU module is generated, if yes, performing step a5), and if no, performing step a 6);
a5) reading the sampling data forwarded by the first PRU module, recording the sampling number transmitted by a single frame, numbering the frame data, and sending the frame data to the linux layer;
a6) and judging whether rpmsg channel interruption sent by the linux layer is generated or not, if so, executing the step a3), and if not, executing the step a4).
3. The linux platform-based continuous periodic data sampling method of claim 1, wherein the first PRU module is specifically configured to:
b1) after the power-on starting, the first PRU module initializes the ADC module through an internal bus;
b2) after initialization is completed, enabling an instruction counter;
b3) reading the instruction counter value;
b4) reading a sampling period value sent by the second PRU module, and calculating the total consumption instruction number;
b5) the ADC module performs data sampling;
b6) generating an interrupt signal to notify the second PRU module to acquire sampling data;
b7) reading the instruction counter again, and calculating the number of executed single sampling and transmission consumption instructions;
b8) the total number of consumed instructions is compared with the number of single sample and issue consumed instructions, the remaining number of instructions is consumed, and step b3) is performed.
4. The linux platform-based continuous periodic data sampling method of claim 1, wherein after the linux layer obtains the sampled data sent by the second PRU module, the method comprises:
reading the timestamp of the previous frame, and adding the frame interval time as a modified timestamp of the current frame, wherein the frame interval time is calculated in the following way: the sample period is multiplied by the number of samples in a single frame. (ii) a
And integrating the corrected time stamp of the current frame and the data frame as subscription data for the user to read.
5. The linux platform-based continuous periodic data sampling method according to claim 4, wherein a Redis database for storing sampling period values and subscription data is provided in the linux layer.
6. A continuous period data sampling system based on a linux platform is characterized by comprising a linux layer and a CPU layer, wherein a first PRU module, a second PRU module and an ADC (analog-to-digital converter) module are arranged in the CPU layer, the output of the ADC module is connected with the first PRU module, the first PRU module is connected with the second PRU module, and the second PRU module is connected with the linux layer through a rpmsg bus;
the second PRU module is used for acquiring a sampling period value from a linux layer and forwarding the sampling period value to the first PRU module;
the first PRU module is used for converting the sampling period value into an instruction consumption parameter, accessing the ADC module through an internal bus, and controlling the ADC module to continuously sample data according to the instruction consumption parameter; the first PRU module forwards the sampling data of the ADC module to the second PRU module;
and the second PRU module immediately acquires the sampling data forwarded by the first PRU module through interruption and forwards the sampling data to the linux layer for a user to read.
7. The linux platform-based continuous periodic data sampling system according to claim 6, wherein a user program, a Redis database and a daemon process are arranged in the linux layer, the user program is connected with the Redis database, the Redis database is connected with the daemon process, and the daemon process is connected with the second PRU module through the rpmsg bus;
the Redis database stores the sampling period value set by the user program and subscription data issued by the daemon process;
the user program is used for setting the sampling period value to a Redis database and reading subscription data from the Redis database;
and the daemon process is used for reading the sampling period value from the Redis database, transmitting the sampling period value to the second PRU module through the rpmsg bus, and receiving sampling data transmitted by the second PRU module.
8. The linux platform-based continuous periodic data sampling system of claim 7, wherein the daemon is further configured to modify a system timestamp according to a data frame number, and send the modified timestamp in cooperation with a data frame as the subscription data to the Redis database for reading by the user program, wherein the data frame number is determined by the sampling period value.
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