CN105974837B - Data based on the anti-read/write conflict of 1553B buses generate and transmission method - Google Patents
Data based on the anti-read/write conflict of 1553B buses generate and transmission method Download PDFInfo
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- CN105974837B CN105974837B CN201610285856.7A CN201610285856A CN105974837B CN 105974837 B CN105974837 B CN 105974837B CN 201610285856 A CN201610285856 A CN 201610285856A CN 105974837 B CN105974837 B CN 105974837B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25131—Collect several parameters and transmit in block to control microprocessor
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Abstract
The data based on the anti-read/write conflict of 1553B buses that the present invention relates to a kind of generate and transmission method, it devises transmission and searches list index and two buffer areas, the read-only evidence of buffer area pointed by pointer, the buffer area that pointer is not directed toward can only write data, and Double buffer function is sent to realize 1553B buses；Wherein, 2 bytes are the state value of gyro and accelerometer data before 1553B data packets, and 10ms updates are primary, to realize gyro and accelerometer data state real-time detection function.For the present invention in data acquisition, the moment judges whether the ends BC have aperiodic instruction, if any, then by current state value form 1553B data packets, while by pointer be directed toward the data packet deposit buffer area, obtain the state of gyro and accelerometer in real time convenient for the ends BC.
Description
Technical field
The present invention is for handling digital signal, calculating, completing 1553B communications.
Background technology
Multi-functional VDSP information processings self-test software (hereinafter referred to as " software ") is complete in the used group of certain model Laser strapdown
At the component of Digital Signal Processing.For running software in the DSP of used group control circuit, cooperation hardware completes gyroscope and acceleration
The contents such as the data acquisition of meter, data calculation, 1553B communications, status monitoring.The software belongs to embedded software, assembler language
Programming, implementation procedure are combined closely with hardware.In previous model, the acquisition of gyroscope and accelerometer signal is mostly used greatly
The method of analog circuit, the application of the dsp software and hardware have the characteristics that communicate high reliability, high speed, high-precision etc..
Invention content
The data based on the anti-read/write conflict of 1553B buses that it is an object of the present invention to provide a kind of generate and transmission method, solution
The used group software function of existing Laser strapdown of having determined is more, interface is more, communications protocol is complicated, the technological difficulties of complex time.
Technical solution of the invention is：
A kind of data generation and transmission method based on the anti-read/write conflict of 1553B buses, include the following steps：
1) two, the ends RT data buffer zone is initialized, will send and search one of list index direction subaddressing 8 buffering
Area；
2) acquisition of detection 0.5ms data is interrupted, if nothing, repeats step 2；If so, entering step 3；
3) read gyro, plus table counter output pulse value and state value, to output pulse value carry out incremental computations and
The processing of 16 rank FIR digital filterings；
4) the output pulse value of gyro plus table counter is read into data accumulation with the last time respectively, detected whether
10ms synchronizing signals are interrupted, if nothing, return to step 2；If so, entering step 5；
5) judge whether the ends BC have aperiodic instruction, if any current state value being formed 1553B data packets, then by the number
According to the data buffer area of packet deposit subaddressing 2, it will send and search list index direction subaddressing 2, the ends BC refer to according to look-up table is sent
Needle reads the ready data packet in the ends RT；Such as nothing, then 6 are entered step；
6) state value of last time and output pulse value cumulative data are formed into 1553B data packets, are written in subaddressing 8
The buffering area that pointer is not directed toward will send lookup list index and switch to the buffering area after the completion of pending data write-in；It is described
State value in 1553B data packets is preceding 2 bytes, and output pulse value cumulative data is rear 30 bytes；
7) the ready data in the ends RT are read in the ends BC according to lookup list index is sent；
8) return to step 2.
Advantages of the present invention：
1, the present invention acquires the output pulse value of a gyro plus table counter per 0.5ms, then revaluate is read with last
Data accumulation is taken, is sent per 10ms primary, it can be achieved that gyro and accelerometer data acquisition resolve；
2, the present invention devises transmission and searches list index and two buffer areas, and the buffer area pointed by pointer is read-only
According to the buffer area that pointer is not directed toward can only write data, send Double buffer function to realize 1553B buses, solve in number
The technical issues of according to used group data exception may occur under the conditions of read/write conflict.
3,2 bytes are the state value of gyro and accelerometer data, 10ms updates one before 1553B data packets of the present invention
It is secondary, to realize gyro and accelerometer data state real-time detection function.
4, the present invention is in data acquisition, and the moment judges whether the ends BC have aperiodic instruction, if any then by current shape
State value form 1553B data packets, while by pointer be directed toward the data packet deposit buffer area, convenient for the ends BC obtain in real time gyro with
The state of accelerometer.
5, the present invention carries out incremental computations by the output pulse value to gyro plus table counter, can calculate gyro
The apparent velocity increment of angular speed increment and accelerometer, while correcting the error that gyro adds table installation direction and coordinate system.
Description of the drawings
The system connection block diagram of software used in the present invention is described in Fig. 1.
The environment block diagram of software used in the present invention is described in Fig. 2.
Fig. 3 is double buffering flow chart of the present invention.
Fig. 4 is software and each module component relationship figure used in the present invention.
Fig. 5 is software general flow chart used in the present invention.
Fig. 6 is incremental calculation method flow chart of the present invention.
Specific implementation mode
The present invention is based on the generation of the data of the anti-read/write conflict of 1553B buses and transmission methods, include the following steps：
1) two, the ends RT data buffer zone is initialized, will send and search one of list index direction subaddressing 8 buffering
Area；
Look-up table (address 0x160 to 0x17F, totally 32 look-up tables) will be sent and be initialized as 0x400 to 0x720 successively,
Data block length is 32 words.It is devised for subaddressing 8 and sends double buffering function.The data of word address 8 in bus control unit
Block address is 0x500 (0x400+0x20*8), and the double-buffered data address of design is (1 ground of bus control unit data block 0x260
Location).
2) acquisition of detection 0.5ms data is interrupted, if nothing, executes major cycle code, while being waited in the acquisition of 0.5ms data
It is disconnected, step 2 is repeated,；If so, entering step 3；Flow chart is shown in Fig. 5.
3) the output pulse value and state value for reading the gyro latched in register plus table counter, to exporting pulse value
Carry out incremental computations and the processing of 16 rank FIR digital filterings；Incremental calculation method is shown in Fig. 6.
FIR filters (16 rank), and Filtering Formula and filter factor are shown in formula 1.
In formula：
D16-i--- data
hi--- filter factor, concrete numerical value such as table 1：
1 FIR filter factors of table
4) gyro plus the filtered data of table are added up with last filtered data respectively, has detected whether that 10ms is same
Walk signal interruption, if nothing, return to step 2；If so, entering step 5；
5) judge whether the ends BC have aperiodic instruction, if any current state value being formed 1553B data packets, then by the number
According to the data buffer area of packet deposit subaddressing 2, it will send and search list index direction subaddressing 2, the ends BC refer to according to look-up table is sent
Needle reads the ready data packet in the ends RT；Such as nothing, then 6 are entered step；
6) by after rear primary state value and filtering cumulative data form 1553B data packets, be written subaddressing 8 in pointer not
A buffering area being directed toward will send lookup list index and switch to the buffering area after the completion of pending data write-in；The 1553B data
State value in packet is preceding 2 bytes, and cumulative data is rear 30 bytes after filtering；Fig. 3 is shown in pointer switching.
7) the ready data in the ends RT are read in the ends BC according to lookup list index is sent；
8) return to step 2.
The present invention, which is applied, to be used in certain model Laser strapdown in group, and it is multiple to successfully complete flight test.The malfunction of software
Real-time detection function realizes that three provide technical foundation from technology for follow-up strapdown inertial measurement unit；The information-based writing function of software makes
With providing a great convenience in the process, the integrality of product information ensure that.
Claims (1)
1. a kind of data based on the anti-read/write conflict of 1553B buses generate and transmission method, it is characterised in that：Including following step
Suddenly：
1) two, the ends RT data buffer zone is initialized, will send and search one of list index direction subaddressing 8 buffering area；
2) acquisition of detection 0.5ms data is interrupted, if nothing, repeats step 2；If so, entering step 3；
3) the output pulse value and state value for reading gyro plus table counter carry out incremental computations and 16 ranks to output pulse value
The processing of FIR digital filterings；
4) the output pulse value of gyro plus table counter is read into data accumulation with the last time respectively, has detected whether that 10ms is same
Walk signal interruption, if nothing, return to step 2；If so, entering step 5；
5) judge whether the ends BC have aperiodic instruction, if any current state value being formed 1553B data packets, then by the data packet
It is stored in the data buffer area of subaddressing 2, will send and search list index direction subaddressing 2, the ends BC are searched list index according to transmission and read
Take the ready data packet in the ends RT；Such as nothing, then 6 are entered step；
6) state value of last time and output pulse value cumulative data are formed into 1553B data packets, pointer in subaddressing 8 is written
A buffering area not being directed toward will send lookup list index and switch to the buffering area after the completion of pending data write-in；The 1553B numbers
It is preceding 2 bytes according to the state value in packet, output pulse value cumulative data is rear 30 bytes；
7) the ready data in the ends RT are read in the ends BC according to lookup list index is sent；
8) return to step 2；
The step of incremental computations, is as follows：
3.1) last time counting and this counting are read, the polarity of gyro and accelerometer is read；
3.2) judge that this is counted and whether be more than or equal to last time counting, if so, 3.4 are thened follow the steps, if not, thening follow the steps
3.3；
3.3) judge that last time counts with whether the difference of this counting is less than or equal to 32768；If so, thening follow the steps 3.6, such as
It is no, then follow the steps 3.5；
3.4) judge that this counts whether the difference counted with last time is less than or equal to 32768；If so, thening follow the steps 3.8, such as
It is no, then follow the steps 3.7；
3.5) pulse increment is calculated as follows, then executes step 3.9；
Pulse increment=65536- last time counts+this counting；
3.6) pulse increment is calculated as follows, then executes step 3.9；
Pulse increment=this counting-last time counts；
3.7) pulse increment is calculated as follows, then executes step 3.9；
Pulse increment=65536- this counting+last time counts；
3.8) pulse increment is calculated as follows, then executes step 3.9；
Pulse increment=this counting-last time counts；
3.9) polarity is changed, this incremental computations is terminated.
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| CN201511025742 | 2015-12-31 | ||
| CN2015110257420 | 2015-12-31 |
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| CN109976675B (en) * | 2019-04-01 | 2023-02-03 | 广州市百果园信息技术有限公司 | Data updating and reading method, device, equipment and storage medium |
| CN114963890B (en) * | 2022-03-31 | 2023-07-18 | 西安航天精密机电研究所 | Data acquisition processing method and system for laser inertial measurement combination |
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| CN101707495B (en) * | 2009-11-12 | 2012-12-19 | 北京航空航天大学 | MIL-STD-1553B bus termination and redundancy backup method thereof |
| CN102831096B (en) * | 2012-08-17 | 2016-05-18 | 中国科学院空间科学与应用研究中心 | A kind of 1553B bus protocol IP kernel |
| CN102937941B (en) * | 2012-11-14 | 2015-03-25 | 南京航空航天大学 | Method and system for reversely determining 1553B bus data storage law |
| CN104317764B (en) * | 2014-10-10 | 2017-11-10 | 北京石竹科技股份有限公司 | A kind of real-time control method of 1553B buses asynchronous message |
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