CN116820510A - Method and device for updating firmware of IMU control circuit of laser gyro - Google Patents
Method and device for updating firmware of IMU control circuit of laser gyro Download PDFInfo
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- CN116820510A CN116820510A CN202310685873.XA CN202310685873A CN116820510A CN 116820510 A CN116820510 A CN 116820510A CN 202310685873 A CN202310685873 A CN 202310685873A CN 116820510 A CN116820510 A CN 116820510A
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- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
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Abstract
The invention discloses a method and a device for updating the firmware of a laser gyro IMU control circuit, wherein the device comprises an upper computer, a circuit controller and a gyro control circuit controller; the upper computer is communicated with the computer circuit controller, and the computer circuit controller is communicated with the gyro control circuit controller to update the firmware of the gyro control circuit controller. The invention solves the firmware transmission updating problem of the gyro control circuit controller, saves a great deal of repairing and maintaining cost and improves the maintaining efficiency.
Description
Technical Field
The invention belongs to the technical field of inertial measurement of laser gyroscopes, and particularly relates to a method and a device for updating firmware of an IMU (inertial measurement unit) control circuit of a laser gyroscope.
Background
In the inertial sensor, the laser gyro has the characteristics of small random drift, wide dynamic range, high starting speed, high reliability and the like, is highly valued in the field of inertial navigation, and is widely applied to the field of inertial navigation by the excellent advantages of small volume, high precision, strong environmental adaptability, low cost and the like.
Generally, the laser gyro inertia measurement unit comprises a computer circuit and a gyro control circuit, firmware update is needed for all the various controllers, if all the controllers are provided with update interfaces, the design cost is increased, and if the uncapping update is carried out each time, the maintenance efficiency is reduced and the maintenance cost is increased.
Disclosure of Invention
The invention solves the technical problems that: the method and the device for updating the firmware of the IMU control circuit of the laser gyro solve the problem of updating the firmware of the IMU control circuit controller by transmission, save a great deal of repairing and maintaining cost and improve the maintaining efficiency.
The invention aims at realizing the following technical scheme: a method for updating firmware of a laser gyro IMU control circuit comprises the following steps: the upper computer sends a gyro control circuit firmware updating instruction and a firmware file to be updated to the computer circuit controller; after the verification of the firmware file to be updated is passed, the computer circuit controller stores the firmware file to be updated into a memory; the computer circuit controller sends a firmware update instruction to the gyro control circuit controller; after receiving the firmware updating instruction, the gyro control circuit controller changes the state of the variable stored in the third area of the memory from the normal working state to the firmware updating state, and executes the resetting instruction after the change; executing a first region starting code after the gyro control circuit controller is restarted, reading the state of the variable in the third region, and jumping to the second region to operate normally if the state is in a normal working state; if the firmware is in the firmware updating state, the second area is erased, and then updating readiness information is sent to the circuit controller of the computer; after receiving the update readiness information, the circuit controller of the circuit sends a firmware file to be updated and a check code to the gyro control circuit controller; after receiving the firmware file to be updated and passing the verification, the gyro control circuit controller writes the firmware file to be updated into the second area, changes the variable state in the third area into a normal state after writing is finished, and sends an update completion instruction to the computer circuit controller; and after receiving the update completion instruction sent by the gyro control circuit controller, the computer circuit controller sends the update completion instruction to the upper computer.
In the above method for updating the firmware of the IMU control circuit of the laser gyro, the upper computer is communicated with the circuit controller of the laser gyro.
In the above method for updating the firmware of the IMU control circuit of the laser gyro, the upper computer communicates with the circuit controller of the laser gyro through an external interface of the inertial measurement unit.
In the above method for updating firmware of the laser gyro IMU control circuit, the computer circuit controller communicates with the gyro control circuit controller.
In the above method for updating the firmware of the IMU control circuit of the laser gyro, the computer circuit controller communicates with the gyro control circuit controller through the internal interface.
An IMU control circuit firmware updating apparatus for a laser gyro, comprising: the upper computer, the circuit controller of the computer and the gyro control circuit controller; the upper computer is communicated with the computer circuit controller, and the computer circuit controller is communicated with the gyro control circuit controller to update the firmware of the gyro control circuit controller.
In the above-mentioned updating device for firmware of laser gyro IMU control circuit, updating firmware of gyro control circuit controller includes: the upper computer sends a gyro control circuit firmware updating instruction and a firmware file to be updated to the computer circuit controller; after the verification of the firmware file to be updated is passed, the computer circuit controller stores the firmware file to be updated into a memory; the computer circuit controller sends a firmware update instruction to the gyro control circuit controller; after receiving the firmware updating instruction, the gyro control circuit controller changes the state of the variable stored in the third area of the memory from the normal working state to the firmware updating state, and executes the resetting instruction after the change; executing a first region starting code after the gyro control circuit controller is restarted, reading the state of the variable in the third region, and jumping to the second region to operate normally if the state is in a normal working state; if the firmware is in the firmware updating state, the second area is erased, and then updating readiness information is sent to the circuit controller of the computer; after receiving the update readiness information, the circuit controller of the circuit sends a firmware file to be updated and a check code to the gyro control circuit controller; after receiving the firmware file to be updated and passing the verification, the gyro control circuit controller writes the firmware file to be updated into the second area, changes the variable state in the third area into a normal state after writing is finished, and sends an update completion instruction to the computer circuit controller; and after receiving the update completion instruction sent by the gyro control circuit controller, the computer circuit controller sends the update completion instruction to the upper computer.
In the laser gyro IMU control circuit firmware updating device, the upper computer is communicated with the circuit controller through an external interface of the inertial measurement unit.
In the laser gyro IMU control circuit firmware updating device, the computer circuit controller is communicated with the gyro control circuit controller through the internal interface.
An electronic device, comprising: a memory: for storing computer readable instructions; and a processor: and the computer readable instructions are used for running the computer readable instructions and executing a firmware updating method of the IMU control circuit of the laser gyro.
Compared with the prior art, the invention has the following beneficial effects:
the invention realizes the firmware transparent transmission updating of the gyro circuit controller, on one hand, the interface of the gyro circuit controller is not required to be led out externally, and on the other hand, the updating is not required to be carried out when the cover is opened each time, thereby improving the maintenance efficiency and reducing the design and maintenance cost.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a block diagram of a firmware update apparatus for a laser gyro IMU control circuit provided by an embodiment of the present invention;
fig. 2 is a flowchart of a firmware update method of a laser gyro IMU control circuit according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Fig. 1 is a block diagram of a firmware updating apparatus for an IMU control circuit of a laser gyro according to an embodiment of the present invention. As shown in fig. 1, the firmware updating apparatus for the IMU control circuit of the laser gyro includes: the upper computer, the circuit controller of the computer and the gyro control circuit controller; the upper computer is communicated with the circuit controller of the gyro control circuit through an external interface of the inertial measurement unit, and the circuit controller of the gyro control circuit is communicated with the circuit controller of the gyro control circuit through an internal interface to realize firmware update of the circuit controller of the gyro control circuit.
As shown in fig. 1, a laser gyro inertial measurement unit generally includes a computer circuit to control the entire system, calculate internal sensors, communicate externally, and one or more gyro control circuits to perform normal operation of the laser gyro. Both the computer circuitry and the gyro control circuitry have a controller and a memory. The upper computer CAN communicate with the computer circuit controller through interfaces (such as RS422, CAN, etc.).
The updating of the firmware of the gyro control circuit controller comprises the following steps:
the upper computer sends a gyro control circuit firmware updating instruction and a firmware file to be updated to the computer circuit controller; after the verification of the firmware file to be updated is passed, the computer circuit controller stores the firmware file to be updated into a memory;
the computer circuit controller sends a firmware update instruction to the gyro control circuit controller;
after receiving the firmware updating instruction, the gyro control circuit controller changes the state of the variable stored in the third area of the memory from the normal working state to the firmware updating state, and executes the resetting instruction after the change;
executing a first region starting code after the gyro control circuit controller is restarted, reading the state of the variable in the third region, and jumping to the second region to operate normally if the state is in a normal working state; if the firmware is in the firmware updating state, the second area is erased, and then updating readiness information is sent to the circuit controller of the computer;
after receiving the update readiness information, the circuit controller of the circuit sends a firmware file to be updated and a check code to the gyro control circuit controller;
after receiving the firmware file to be updated and passing the verification, the gyro control circuit controller writes the firmware file to be updated into the second area, changes the variable state in the third area into a normal state after writing is finished, and sends an update completion instruction to the computer circuit controller;
and after receiving the update completion instruction sent by the gyro control circuit controller, the computer circuit controller sends the update completion instruction to the upper computer.
Fig. 2 is a flowchart of a firmware update method of a laser gyro IMU control circuit according to an embodiment of the present invention. As shown in fig. 2, the method includes:
the upper computer sends a gyro control circuit firmware updating instruction and a firmware file to be updated to the computer circuit controller; after the verification of the firmware file to be updated is passed, the computer circuit controller stores the firmware file to be updated into a memory;
the computer circuit controller sends a firmware update instruction to the gyro control circuit controller;
after receiving the firmware updating instruction, the gyro control circuit controller changes the state of the variable stored in the third area of the memory from the normal working state to the firmware updating state, and executes the resetting instruction after the change;
executing a first region starting code after the gyro control circuit controller is restarted, reading the state of the variable in the third region, and jumping to the second region to operate normally if the state is in a normal working state; if the firmware is in the firmware updating state, the second area is erased, and then updating readiness information is sent to the circuit controller of the computer;
after receiving the update readiness information, the circuit controller of the circuit sends a firmware file to be updated and a check code to the gyro control circuit controller;
after receiving the firmware file to be updated and passing the verification, the gyro control circuit controller writes the firmware file to be updated into the second area, changes the variable state in the third area into a normal state after writing is finished, and sends an update completion instruction to the computer circuit controller;
and after receiving the update completion instruction sent by the gyro control circuit controller, the computer circuit controller sends the update completion instruction to the upper computer.
As shown in fig. 2, the upper computer communicates with the computer circuit controller through an external interface, and the computer circuit controller communicates with the gyro control circuit controller through an internal interface to realize firmware update of the gyro control circuit controller, and the update process comprises the following steps:
step 1: the upper computer communicates with the circuit controller through an external interface (such as RS422 and SPI) of the inertial measurement unit, sends a gyro control circuit firmware update instruction (0x55 0xAA0x03 0x130x5A0xA5) and a firmware file to be updated, and the circuit controller of the computer receives the firmware file to be updated and stores the firmware file into the memory after ensuring the correctness of the file by adopting a CRC (cyclic redundancy check) mode;
step 2: the computer circuit controller communicates with the gyro control circuit controller through an internal interface and sends a firmware update instruction (0x55 0xAA0x11 0x22 0x5A0xA5);
step 3: after receiving the firmware update instruction, the gyro control circuit controller changes the state of the variable stored in the memory area III from a normal working state (0 xA 512) to a firmware update state (0 x7B 98), and executes a restarting instruction after the change;
step 4: after the gyro control circuit controller is restarted, executing a code for starting the first 0x00000000-0x00004000, reading variable states in the third 0x00040000-0x0004001, if the state is a normal working state (0 xA 512), jumping to the second 0x00010000-0x00020000, if the state is a firmware updating state (0 x7B 98), completely erasing the second 0xFF, and then sending updating readiness information to the circuit controller;
step 5: after receiving the update readiness information, the circuit controller of the circuit sends a firmware file to be updated and a check code to the gyro control circuit controller;
step 6: after receiving the firmware file and passing the CRC, the gyro control circuit controller writes the firmware into the second area, changes the variable state in the third area into a normal state after writing is finished, and sends an update completion instruction to the computer circuit controller (0x55 0xAA0x56 0x73 0x5A0xA5);
step 7: after receiving the update completion instruction sent by the gyro control circuit controller, the computer circuit controller sends the update completion instruction to the upper computer (0x55 0xAA0x34 0x78 0x5A0xA5);
step 8: if the multi-path gyro control circuit controller is updated, the upper computer can repeat the steps 1 to 7 until the firmware of all gyro control circuit controllers is updated.
The embodiment also provides an electronic device, including: a memory: for storing computer readable instructions; and a processor: and the computer readable instructions are used for running the computer readable instructions and executing a firmware updating method of the IMU control circuit of the laser gyro.
The embodiment realizes the firmware transparent transmission updating of the gyro circuit controller, on one hand, an interface of the gyro circuit controller is not required to be led out externally, on the other hand, updating is not required to be carried out by uncovering each time, the maintenance efficiency is improved, and the design and maintenance cost is reduced.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (10)
1. The method for updating the firmware of the IMU control circuit of the laser gyro is characterized by comprising the following steps of:
the upper computer sends a gyro control circuit firmware updating instruction and a firmware file to be updated to the computer circuit controller; after the verification of the firmware file to be updated is passed, the computer circuit controller stores the firmware file to be updated into a memory;
the computer circuit controller sends a firmware update instruction to the gyro control circuit controller;
after receiving the firmware updating instruction, the gyro control circuit controller changes the state of the variable stored in the third area of the memory from the normal working state to the firmware updating state, and executes the resetting instruction after the change;
executing a first region starting code after the gyro control circuit controller is restarted, reading the state of the variable in the third region, and jumping to the second region to operate normally if the state is in a normal working state; if the firmware is in the firmware updating state, the second area is erased, and then updating readiness information is sent to the circuit controller of the computer;
after receiving the update readiness information, the circuit controller of the circuit sends a firmware file to be updated and a check code to the gyro control circuit controller;
after receiving the firmware file to be updated and passing the verification, the gyro control circuit controller writes the firmware file to be updated into the second area, changes the variable state in the third area into a normal state after writing is finished, and sends an update completion instruction to the computer circuit controller;
and after receiving the update completion instruction sent by the gyro control circuit controller, the computer circuit controller sends the update completion instruction to the upper computer.
2. The method for updating firmware of the laser gyro IMU control circuit according to claim 1, wherein: the upper computer communicates with the computer controller.
3. The method for updating the firmware of the IMU control circuit of the laser gyro according to claim 2, wherein the method comprises the following steps: the upper computer communicates with the circuit controller through an external interface of the inertial measurement unit.
4. The method for updating firmware of the laser gyro IMU control circuit according to claim 1, wherein: the computer circuit controller communicates with the gyro control circuit controller.
5. The method for updating the firmware of the IMU control circuit of the laser gyro according to claim 4, wherein the method comprises the following steps: the computer circuit controller communicates with the gyro control circuit controller through an internal interface.
6. The utility model provides a laser gyro IMU control circuit firmware updating means which characterized in that includes: the upper computer, the circuit controller of the computer and the gyro control circuit controller; wherein,,
the upper computer is communicated with the computer circuit controller, and the computer circuit controller is communicated with the gyro control circuit controller to update the firmware of the gyro control circuit controller.
7. The laser gyro IMU control circuit firmware update apparatus of claim 6, wherein: the updating of the firmware of the gyro control circuit controller comprises the following steps:
the upper computer sends a gyro control circuit firmware updating instruction and a firmware file to be updated to the computer circuit controller; after the verification of the firmware file to be updated is passed, the computer circuit controller stores the firmware file to be updated into a memory;
the computer circuit controller sends a firmware update instruction to the gyro control circuit controller;
after receiving the firmware updating instruction, the gyro control circuit controller changes the state of the variable stored in the third area of the memory from the normal working state to the firmware updating state, and executes the resetting instruction after the change;
executing a first region starting code after the gyro control circuit controller is restarted, reading the state of the variable in the third region, and jumping to the second region to operate normally if the state is in a normal working state; if the firmware is in the firmware updating state, the second area is erased, and then updating readiness information is sent to the circuit controller of the computer;
after receiving the update readiness information, the circuit controller of the circuit sends a firmware file to be updated and a check code to the gyro control circuit controller;
after receiving the firmware file to be updated and passing the verification, the gyro control circuit controller writes the firmware file to be updated into the second area, changes the variable state in the third area into a normal state after writing is finished, and sends an update completion instruction to the computer circuit controller;
and after receiving the update completion instruction sent by the gyro control circuit controller, the computer circuit controller sends the update completion instruction to the upper computer.
8. The laser gyro IMU control circuit firmware update apparatus of claim 6, wherein: the upper computer communicates with the circuit controller through an external interface of the inertial measurement unit.
9. The laser gyro IMU control circuit firmware update apparatus of claim 6, wherein: the computer circuit controller communicates with the gyro control circuit controller through an internal interface.
10. An electronic device, comprising:
a memory: for storing computer readable instructions; and
a processor: for executing said computer readable instructions, performing the method of any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310685873.XA CN116820510A (en) | 2023-06-09 | 2023-06-09 | Method and device for updating firmware of IMU control circuit of laser gyro |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310685873.XA CN116820510A (en) | 2023-06-09 | 2023-06-09 | Method and device for updating firmware of IMU control circuit of laser gyro |
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| Publication Number | Publication Date |
|---|---|
| CN116820510A true CN116820510A (en) | 2023-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310685873.XA Pending CN116820510A (en) | 2023-06-09 | 2023-06-09 | Method and device for updating firmware of IMU control circuit of laser gyro |
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| CN (1) | CN116820510A (en) |
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- 2023-06-09 CN CN202310685873.XA patent/CN116820510A/en active Pending
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