CN104764453A - Navigation and interface computer based on dual-DSP and CPLD - Google Patents
Navigation and interface computer based on dual-DSP and CPLD Download PDFInfo
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- CN104764453A CN104764453A CN201510136405.2A CN201510136405A CN104764453A CN 104764453 A CN104764453 A CN 104764453A CN 201510136405 A CN201510136405 A CN 201510136405A CN 104764453 A CN104764453 A CN 104764453A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention discloses a navigation and interface computer based on dual-DSP and CPLD. The navigation and interface computer is applied to a rotary inertial navigation system constructed by a gyroscope taking RS-422 as the output, an accelerometer and an angular measurement device taking quadrature coding pulse as the output as well as other inertial navigation systems. The navigation and interface computer mainly comprises a DSP1 module, a DSP2 module, a CPLD module, a dual-port RAM module, an Ethernet interface module, a MIL-STD-1553B interface module, an ARINC-429 interface module and an expanded RS-422 interface module. The DSP1 module is mainly used for synchronous acquisition of inertial sensors and synchronous reading of the signal of the angular measurement device; the DSP2 module is mainly used for coordinated communication of the external MIL-STD-1553B, ARINC-429 and expanded RS-422; and the CPLD module is mainly used for signal acquisition of the angular measurement device and assistance of the DSP2 module. The navigation and interface computer disclosed by the invention is compact in circuit structure and high in expandability and can be widely applied to various inertial navigation systems.
Description
Technical field
The present invention relates to a kind of based on double digital signal processor (Digital Signal Processing, and CPLD (Complex Programmable Logic Device DSP), CPLD) navigation and interface computer, belong to inertial navigation system navigational computer field, be applicable to using RS-422 as the gyro exported, the rotary-type inertial navigation system adding meter and build using quadrature coding pulse as the angle-measuring equipment exported and other inertial navigation systems, be specially adapted to the airborne equipment with standard aviation bus MIL-STD-1553B and ARINC-429 interface communication.
Background technology
Along with the requirement of carrier to navigational system precision improves constantly, the rotary-type inertial navigation system based on rotation modulation theory is developed rapidly.Rotary-type inertial navigation system utilizes the topworkies such as motor to do Periodic Rotating to IMU, makes to be modulated into perpendicular to the constant value on turning axle direction and the slow error that becomes the periodic error that average is zero, thus improve the precision of inertial navigation system.Because rotary-type inertial navigation system adds the auxiliary angle-measuring equipment rotated on original inertial navigation system, therefore new requirement is proposed to the navigational computer of this type of inertial navigation system.
Traditional navigational computer mostly is special industrial computer, the shortcomings such as volume is large, portable difference that it exists.Along with the development of digital signal processor (DSP) technology, also in succession occur with the navigational computer of DSP main control chip, such as DSP/CPLD, DSP/FPGA etc.But the data acquisition in this type of navigational computer, navigation calculation, data transmission are all completed by single DSP, be difficult to the reliable and stable complex calculation completing navigation (particularly integrated navigation), in addition the external interface of main control chip is limited, is difficult to meet in practical application and fusion between each system unit of carrier different data format simultaneously.
Summary of the invention
Problem to be solved by this invention: the deficiency overcoming existing inertial navigation computer, a kind of navigation based on two CSTR and CPLD and interface computer are proposed, the new requirement that rotary-type inertial navigation system proposes navigational computer can be met, and the data communication that can realize between the various kinds of equipment of standard aviation interface, have the advantages that integrated level is high, extensibility strong, portability is strong.
Technical solution of the present invention: a kind of navigation based on two CSTR and CPLD and interface computer, be applicable to using RS-422 as the gyro exported, add and using quadrature coding pulse as the rotary-type inertial navigation system of the angle-measuring equipment structure exported and other inertial navigation systems, comprise DSP1 module, DSP2 module, CPLD module, dual port RAM module, ethernet interface module, MIL-STD-1553B interface module, ARINC-429 interface module, expansion RS-422 interface module.
Described DSP1 module, by address bus 1 and data bus 1 and dual port RAM module interconnects, realizes the communication with DSP2 module; By RS-422 universal serial bus and gyro, add to count and be connected, latch by sending synchronizing pulse to it data that gyro adds meter, also latch the angle-measuring equipment data that DSP2 module reads simultaneously; Interconnected by the EMAC/MDIO module of its inside and ethernet interface module, realize the communication with Ethernet data interface.
Described DSP2 module, by address bus 2 and data bus 2 and dual port RAM module interconnects, realizes the communication with DSP1 module; By address bus 3 and data bus 3 successively with MIL-STD-1553B interface module, ARINC-429 interface module, expand RS-422 interface module and interconnect, realize the communication with 1553B data-interface, 429 data-interfaces, RS-422 data-interface respectively; By address bus 4 and data bus 4 and CPLD module interconnects, read by the angle-measuring equipment data of CPLD module acquires; By control bus and CPLD module interconnects, realize the operation of the control signal such as sheet choosing, read/write to MIL-STD-1553B interface module, ARINC-429 interface module, expansion RS-422 interface module.
The external angle-measuring equipment of described CPLD module, counts the quadrature coding pulse that angle-measuring equipment exports, and is converted into angle information for the reading of DSP2 module; With MIL-STD-1553B interface module, ARINC-429 interface module, expand RS-422 interface module and interconnect, realize the operation of the signal such as sheet choosing, read/write to each module.
Described dual port RAM module respectively at DSP1 module and DSP2 module interconnects, realizes the bus communication between DSP1 module and DSP2 module by address bus 1 and data bus 1 and address bus 2 and data bus 2.
The dedicated ethernet module interface EMAC/MDIO of described ethernet interface module and DSP1 module interconnects, and EMAC/MDIO module and ethernet interface module use external clock jointly, realize the data communication between DSP1 and Ethernet interface.
Described MIL-STD-1553B interface module, by data bus 3 and address bus 3 and DSP2 module interconnects, realizes the data communication between DSP2 module and 1553B interface.
Described ARINC-429 interface module, by data bus 3 and address bus 3 and DSP2 module interconnects, realizes the data communication between DSP2 module and 429 interfaces.
Described expansion RS-422 interface module, by data bus 3 and address bus 3 and DSP2 module interconnects, realizes the data communication between DSP2 module and 4 road RS-422 interfaces of expansion.
The present invention's advantage is compared with prior art:
(1), the present invention adopts the structure of two CSTR+CPLD, can realize navigational computer and interface computer, overcome the bulky shortcoming of traditional industrial computer on one piece of circuit board;
(2), the present invention adopt the mode of impulsive synchronization realize three gyros, three add meter and the synchronous data sampling of angle-measuring equipment and reading, can be applicable to rotary-type inertial navigation system and traditional inertial navigation system, reliability is high, portable strong;
(3), the present invention's communication of utilizing the EMAC/MDIO module in TMS320C6747 to realize between navigational computer and Ethernet, can realize the Ethernet downloading mode of Navigator, applicable situation is more extensive;
(4), the present invention's communication of adopting dual port RAM to realize between navigation DSP and interface DSP, navigate clearing and synchronously the carrying out of interface communication can be realized;
(5), the structure of the present invention DSP+CPLD realizes MIL-STD-1553B interface, ARINC-429 interface, expansion RS-422 interface time-sharing multiplex when same data bus and address bus, the fusion between each system unit that ensure that navigational system and carrier different data format.
Accompanying drawing explanation
Fig. 1 is electrical block diagram of the present invention;
Fig. 2 is navigation calculation of the present invention and communication flow figure;
Fig. 3 is the ethernet interface module of instantiation of the present invention;
Fig. 4 is the dual port RAM module of instantiation of the present invention;
Fig. 5 is the MIL-STD-1553B interface module of instantiation of the present invention;
Fig. 6 is the expansion RS-422 interface module of instantiation of the present invention;
Fig. 7 is the ARINC-429 interface module of instantiation of the present invention.
Embodiment
Below in conjunction with specific embodiment, introduce the inventive method in detail.
As shown in Figure 1, be circuit structure block diagram of the present invention.Circuit structure of the present invention mainly comprises DSP1 module, DSP2 module, CPLD module, dual port RAM module, ethernet interface module, MIL-STD-1553B interface module, ARINC-429 interface module, expansion RS-422 interface module.
Described DSP1 module (1) is interconnected with dual port RAM module (4) by address bus 1 and data bus 1, realizes the communication with DSP2 module (2); By RS-422 universal serial bus and gyro, add to count and be connected, by giving gyro, add meter and send synchronizing pulse and latch the data that gyro adds meter, also latch the angle-measuring equipment data that DSP2 module (2) reads simultaneously; The EMAC/MDIO module inner by DSP1 module (1) and ethernet interface module (5) interconnect, and realize the communication with Ethernet data interface;
Described DSP2 module (2) is interconnected with dual port RAM module (4) by address bus 2 and data bus 2, realizes the communication with DSP1 module (1); By address bus 3 and data bus 3 successively with MIL-STD-1553B interface module (6), ARINC-429 interface module (7), expand RS-422 interface module (8) and interconnect, realize the communication with 1553B data-interface, 429 data-interfaces, RS-422 data-interface respectively; Interconnected with CPLD module (3) by address bus 4 and data bus 4, read the angle-measuring equipment data gathered by CPLD module (3); Interconnected by control bus and CPLD module (3), realize the operation of the control signal such as sheet choosing, read/write to MIL-STD-1553B interface module (6), ARINC-429 interface module (7), expansion RS-422 interface module (8);
The external angle-measuring equipment of described CPLD module (3), counts the quadrature coding pulse that angle-measuring equipment exports, and is converted into angle information for DSP2 module (2) reading; With MIL-STD-1553B interface module (6), ARINC-429 interface module (7), expand RS-422 interface module (8) and interconnect, realize the operation of the signal such as sheet choosing, read/write to each module;
Described dual port RAM module (4) is interconnected with DSP1 module (1) and DSP2 module (2) respectively by address bus 1 and data bus 1 and address bus 2 and data bus 2, realizes the bus communication between DSP1 module (1) and DSP2 module (2);
Described ethernet interface module (5) interconnects with the dedicated ethernet module interface EMAC/MDIO of DSP1 module (1), and EMAC/MDIO module and ethernet interface module (5) use external clock jointly;
Described MIL-STD-1553B interface module (6) is interconnected with DSP2 module (2) by data bus 3 and address bus 3, realizes the data communication between DSP2 module (2) and 1553B interface;
Described ARINC-429 interface module (7) is interconnected with DSP2 module (2) by data bus 3 and address bus 3, realizes the data communication between DSP2 module (2) and 429 interfaces;
Described expansion RS-422 interface module (8) is interconnected with DSP2 module (2) by data bus 3 and address bus 3, realizes the data communication between DSP2 module (2) and the 4 road RS-422 interfaces expanded;
The chip that described DSP1 module (1) adopts is TMS320C6747.
The chip that described DSP2 module (2) adopts is TMS320F28335.
The chip that described CPLD module (3) adopts is EPM570.
The chip that described dual port RAM module (4) adopts is IDT70V24PF.
The chip that described ethernet interface module (5) adopts is KSZ8001.
The chip that MIL-STD-1553B interface module (6) adopts is BU-61580.
The chip that described ARINC-429 interface module (7) adopts is HS3282 and HS3182.
The chip that described expansion RS-422 interface module (8) adopts is SC16C554.
Described DSP1 module (1) produces synchronizing pulse and adds meter and DSP2 module (2) to No. 3 gyros and 3 tunnels respectively, latch No. 3 gyros simultaneously, 3 tunnels add the data of meter and angle-measuring equipment, DSP1 module (1) reads gyro by the RS-422 interface module of self, add and count, the angle-measuring equipment data that be there is dual port RAM module (4) assigned address by DSP2 module (2) are read by address bus 1 and data bus 1, carry out navigation calculation again, and can by the result of navigation calculation by particular address by address bus 1 and data bus 1 stored in dual port RAM module (4), read for DSP2 module (2).The navigation calculation result of reading, by CPLD module (3) codes selection external interface, is sent to selected external interface by address bus 3 and data bus 3 by DSP2 module (2).
Fig. 2 is navigation calculation of the present invention and communication flow figure.First carry out system initialization after powering on, then sent by DSP1 module that synchronizing pulse latches gyro simultaneously, adds meter, angle station data, the frequency of synchronizing pulse is 400HZ.Above-mentioned data acquisition is carried out datum error compensation to DSP1 module, comprise gyro, add the calibration factor temperature compensation of meter, the drift temperature term of gyro compensates, and the zero bias temperature item adding meter compensates, the compensation at the non-orthogonal angle of installation of IMU, the setting-up eccentricity compensation etc. of angle station.Result after recycling compensates carries out navigation calculation in DSP1 module.Then, by navigation calculation result according to fixed address write dual port RAM module, call for DSP2 module.DSP2 module passes through CPLD codes selection and enable pass communication interface, realizes the communication of DSP2 module and external interface.
Fig. 3 is ethernet interface module circuit diagram of the present invention.EMAC/MDIO is that the Ethernet of the chip used TMS320C6747 of DSP1 module extends out module, and KSZ8001 is the Physical layer ethernet transceiver of MICREL company.TMS320C6747 to be packed the function sending and unpack by the EMAC/MDIO peripheral hardware that carries to be connected data ethernet frame format with KSZ8001.This peripheral hardware is made up of EMAC control module, MDIO module and EMAC module 3 parts, and each module has control register corresponding with it and is mapped to storage space by register bus.MDIO bus is made up of MDIO_D and MDIO_CLK in Fig. 3, and MDIO_CLK is used for synchronous MDIO_D transmission frame lead code and to data access operation such as KSZ8001 and register address read-writes thereof.EMAC module in charge transmits and receive data bag, is connected with KSZ8001 by RMII STD bus.The transmission of RMII STD bus and the data content of reception are transmitted by RMII_TXD_0 and RMII_TXD_1 pin and RMII_RXD_0 and RMII_RXD_1 pin and are worked in the mode of 2 bit parallels respectively.Send data when RMII_TXEN end signal is high level effective, RMII_CRS_DV is high level and RMII_RXER, and to receive data when being low level effective.External clock reference provides the clock of 50MHZ to carry out the signal of synchronous RMII to TMS320C6747 and KSZ8001 simultaneously.ENT_TX+ with ENT_TX+ of KSZ8001 and ENT_RX+ with ENT_RX+ is connected the transmission of Ethernet crystal head respectively and receives pin, and ENT_LED0-4 connects the signal lamp of Ethernet crystal head.
Fig. 4 is dual port RAM module circuit diagram of the present invention.IDT70V24PF_1 and IDT70V24PF_2 represents two communication interfaces of dual port RAM module chip IDT70V24PF respectively.IDT70V24PF_1 and DSP1 model calling, DSP1_A0-11 is address bus, and DSP1_D0-15 is data bus, and DSP1_CS_RAM is the chip selection signal of DSP1 module to dual port RAM module, DSP1_R/W is read/write signal, and DSP1_OE is the enable signal of DSP1 module to dual port RAM module.DSP1_BUSY signal connects a GPIO mouth of DSP1 module, and be used for telling that DSP1 module dual port RAM is in BUSY state, DSP1_BUSY signal is effectively low.The interconnection of signals of IDT70V24PF_2 with DSP2 module is identical with the interconnection of signals of IDT70V24PF_1 with DSP1.
Fig. 5 is MIL-STD-1553B interface module circuit figure of the present invention.BU-61580 is the MIL-STD-1553B bus marco chip of DDC company designs, the BC/RT/MT pattern of its collection MIL-STD-1553B bus protocol and the whole body, have double transceiver module, protocol processor parts, memory management unit and the logic interfacing from different microprocessor.1553b_A0-15 is 16 bit address buses; DATA_0_15 is 16 bit data bus, is both connected with DSP2 module.SEL is the CE pin of BU-61580; STR is the data strobe pin of BU-61580; MEM/REG is RAM or the register strobe pin of BU-61580; For selecting the RAM or the register that operate chip; R/W is the read/write operation position of BU-61580; MST is the power-on reset signal of BU-61580, Low level effective, and normal work is high level later.Above signal is all connected with CPLD module, the signal decoding utilizing DSP2 module to provide by CPLD operated BU-61580 afterwards.In Fig. 5, S1 device is 5 road toggle switchs, is used for operating the pin level of RTADP and RTAD0-3, to arrange the RT address of BU-61580.B-3067 is the transmission transformer that BU-61580 is connected with external interface.
Fig. 6 is expansion RS-422 interface module circuit figure of the present invention.Serial port extended chip SC16C554 maximum easily extensible 4 road serial ports used in circuit, maximum support baud rate 5Mbps, supporting RS422 treatment circuit chip is MAX3490.554_D0-8 is 8 is data bus; 554_A0-2 is 3 road address buss, is all connected with DSP2 module.SC16C554 can operate separately each road serial ports, and 554_CSA-554_CSD is the chip selection signal of four road serial ports passages, is connected with CPLD module.554_IOR and 554_IOW is respectively the reading and writing signal of SC16C554, is also connected with CPLD module.
Fig. 7 is ARINC-429 interface module circuit figure of the present invention.The two-way reception that 429 transceiving chip HS3282 and HS3182 used can realize ARINC-429 send function with riches all the way.429_D0-15 is that 16 bit data bus are connected with DSP2 module.429_RDY1 and 429_RDY2 is respectively the reception REDAY signal of two-way receiving cable; 429_SEL is the gating signal of HS3282 chip; 429_EN1 and 429_EN2 is respectively the data enable signal of two-way receiving cable; The transceiving format of ARINC-429 data is 32,429_PL1 and 429_PL2 is low 16 and high 16 respectively and selects signal; 429_TX/R is transmission, the receiving flag position of HS3282 chip; 429_ENTX is the transmission enable bit of HS3282 chip.Above signal is all connected with CPLD module, the HS3282 of the operation afterwards chip of the signal decoding provided by being utilized DSP2 module by CPLD.
The not disclosed in detail part of the present invention belongs to the known technology of this area.
Although be described the illustrative embodiment of the present invention above; so that the technician of this technology neck understands the present invention; but should be clear; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various change to limit and in the spirit and scope of the present invention determined, these changes are apparent, and all innovation and creation utilizing the present invention to conceive are all at the row of protection in appended claim.
Claims (10)
1. the navigation based on two CSTR and CPLD and interface computer, the rotary-type inertial navigation system be applicable to using RS-422 as the gyro exported, adding and build as the angle-measuring equipment exported using quadrature coding pulse, comprise DSP1 module (1), DSP2 module (2), CPLD module (3), dual port RAM module (4), ethernet interface module (5), MIL-STD-1553B interface module (6), ARINC-429 interface module (7), expansion RS-422 interface module (8), it is characterized in that:
Described DSP1 module (1) is interconnected with dual port RAM module (4) by address bus 1 and data bus 1, realizes the communication with DSP2 module (2); By RS-422 universal serial bus and gyro, add to count and be connected, by giving gyro, add meter and send synchronizing pulse and latch the data that gyro adds meter, also latch the angle-measuring equipment data that DSP2 module (2) reads simultaneously; The EMAC/MDIO module inner by DSP1 module (1) and ethernet interface module (5) interconnect, and realize the communication with Ethernet data interface;
Described DSP2 module (2) is interconnected with dual port RAM module (4) by address bus 2 and data bus 2, realizes the communication with DSP1 module (1); By address bus 3 and data bus 3 successively with MIL-STD-1553B interface module (6), ARINC-429 interface module (7), expand RS-422 interface module (8) and interconnect, realize the communication with 1553B data-interface, 429 data-interfaces, RS-422 data-interface respectively; Interconnected with CPLD module (3) by address bus 4 and data bus 4, read the angle-measuring equipment data gathered by CPLD module (3); Interconnected by control bus and CPLD module (3), realize the operation of the control signal such as sheet choosing, read/write to MIL-STD-1553B interface module (6), ARINC-429 interface module (7), expansion RS-422 interface module (8);
The external angle-measuring equipment of described CPLD module (3), counts the quadrature coding pulse that angle-measuring equipment exports, and is converted into angle information for DSP2 module (2) reading; With MIL-STD-1553B interface module (6), ARINC-429 interface module (7), expand RS-422 interface module (8) and interconnect, realize the operation of the signal such as sheet choosing, read/write to each module;
Described dual port RAM module (4) is interconnected with DSP1 module (1) and DSP2 module (2) respectively by address bus 1 and data bus 1 and address bus 2 and data bus 2, realizes the bus communication between DSP1 module (1) and DSP2 module (2);
Described ethernet interface module (5) interconnects with the dedicated ethernet module interface EMAC/MDIO of DSP1 module (1), and EMAC/MDIO module and ethernet interface module (5) use external clock jointly;
Described MIL-STD-1553B interface module (6) is interconnected with DSP2 module (2) by data bus 3 and address bus 3, realizes the data communication between DSP2 module (2) and 1553B interface;
Described ARINC-429 interface module (7) is interconnected with DSP2 module (2) by data bus 3 and address bus 3, realizes the data communication between DSP2 module (2) and 429 interfaces;
Described expansion RS-422 interface module (8) is interconnected with DSP2 module (2) by data bus 3 and address bus 3, realizes the data communication between DSP2 module (2) and the 4 road RS-422 interfaces expanded.
2. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, is characterized in that: the chip that described DSP1 module (1) adopts is TMS320C6747.
3. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, is characterized in that: the chip that described DSP2 module (2) adopts is TMS320F28335.
4. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, is characterized in that: the chip that described CPLD module (3) adopts is EPM570.
5. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, is characterized in that: the chip that described dual port RAM module (4) adopts is IDT70V24PF.
6. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, is characterized in that: the chip that described ethernet interface module (5) adopts is KSZ8001.
7. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, is characterized in that: the chip that MIL-STD-1553B interface module (6) adopts is BU-61580.
8. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, is characterized in that: the chip that described ARINC-429 interface module (7) adopts is HS3282 and HS3182.
9. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, is characterized in that: the chip that described expansion RS-422 interface module (8) adopts is SC16C554.
10. a kind of navigation based on two CSTR and CPLD according to claim 1 and interface computer, it is characterized in that: described DSP1 module (1) produces synchronizing pulse and adds meter and DSP2 module (2) to No. 3 gyros and 3 tunnels respectively, latch No. 3 gyros simultaneously, 3 tunnels add the data of meter and angle-measuring equipment, DSP1 module (1) reads gyro by the RS-422 interface module of self, add and count, the angle-measuring equipment data that be there is dual port RAM module (4) assigned address by DSP2 module (2) are read by address bus 1 and data bus 1, carry out navigation calculation again, and can by the result of navigation calculation by particular address by address bus 1 and data bus 1 stored in dual port RAM module (4), read for DSP2 module (2), the navigation calculation result of reading, by CPLD module (3) codes selection external interface, is sent to selected external interface by address bus 3 and data bus 3 by DSP2 module (2).
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| CN109274276A (en) * | 2018-11-19 | 2019-01-25 | 陕西航空电气有限责任公司 | A kind of general code converter based on double PWM |
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