CN114003046A - Positioning circuit supporting debugging, debugging control method, electronic device and vehicle - Google Patents
Positioning circuit supporting debugging, debugging control method, electronic device and vehicle Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The utility model relates to a support positioning circuit, debugging control's method, electron device and vehicle of debugging, can be applied to unmanned/automatic driving vehicle field, above-mentioned circuit includes: the main control unit is used for outputting positioning information according to the navigation signals received by the antenna; the first conversion interface is used for connecting the main control unit and the positioning information receiving equipment, and the second conversion interface is used for connecting the main control unit and the debugging and testing equipment; the switching selection unit is arranged on a signal transmission path between the main control unit and the first conversion interface and between the main control unit and the second conversion interface; the control end of the switching selection unit is used for receiving a switching control signal from the main control unit, and based on the switching control signal, the switching selection unit switches the input signal of the first conversion interface to be accessed to the main control unit and switches the input signal of the second conversion interface to be accessed to the main control unit. The circuit is convenient to adjust and test, simple and practical.
Description
Technical Field
The disclosure relates to the technical field of vehicle positioning and debugging, and in particular to a positioning circuit supporting debugging, a debugging control method, an electronic device and a vehicle.
Background
In the field of vehicles, particularly for unmanned/autonomous vehicles, it is important to achieve accurate positioning of vehicle position information.
At present, many high-precision positioning chips/systems are applied to the field of automatic driving, and a high-precision positioning mainboard chip receives a navigation signal of a Global Navigation Satellite System (GNSS), demodulates the navigation signal based on a built-in algorithm, and outputs positioning coordinates and time information through a Universal Asynchronous Receiver Transmitter (UART). Generally, the relative distance between the positioning information receiving device (such as a vehicle display screen) and the main board chip is relatively long, so that the serial port signal is converted into an RS232 level on the main board chip for transmission.
The high-precision positioning main board chip is debugged (debugged and measured by corresponding parameter feedback) in advance, which is the premise for ensuring that the positioning main board chip can work normally.
Disclosure of Invention
In order to solve at least the technical problems that a serial port receiving and sending circuit on a mainboard needs to be disconnected when the current positioning mainboard chip is debugged, and debugging is inconvenient due to the fact that a corresponding circuit is externally debugged, the embodiment of the disclosure provides a positioning circuit supporting debugging, a debugging control method, an electronic device and a vehicle.
In a first aspect, embodiments of the present disclosure provide a positioning circuit supporting commissioning. The positioning circuit includes: the main control unit is used for outputting positioning information according to the navigation signals received by the antenna; the first conversion interface is used for connecting the main control unit and positioning information receiving equipment, and the second conversion interface is used for connecting the main control unit and debugging equipment; and a switching selection unit disposed on a signal transmission path between the main control unit and the first and second conversion interfaces; the control end of the switching selection unit is configured to receive a switching control signal from the main control unit, and based on the switching control signal, the switching selection unit performs switching between the input signal of the first conversion interface being accessed to the main control unit and the input signal of the second conversion interface being accessed to the main control unit.
According to an embodiment of the present disclosure, the power source terminal of the second converting interface outputs a detection signal as the main control unit, and the main control unit outputs the switching control signal according to the detection signal. When the detection signal indicates that the second conversion interface is accessed to the debugging device, the switching control signal is used for controlling the input signal of the second conversion interface to be accessed to the main control unit. When the detection signal indicates that the second conversion interface is not connected to the debugging device, the switching control signal is used for controlling the input signal of the first conversion interface to be connected to the main control unit.
According to an embodiment of the disclosure, a power source terminal of the second converting interface is connected to ground via a pull-down resistor, an input terminal of the main control unit is connected between the power source terminal and the pull-down resistor, and a detection signal output by the power source terminal is input to the main control unit through the input terminal.
According to an embodiment of the present disclosure, when the second converting interface is not connected to the debugging device, the detection signal output by the power source terminal is at a low level; when the detection signal is at a low level, the switching control signal correspondingly output by the main control unit is at a low level, so that the input signal of the first switching interface is connected to the main control unit. When the second conversion interface is connected to the debugging equipment, the detection signal output by the power supply end is at a high level; when the detection signal is at a high level, the switching control signal correspondingly output by the main control unit is at a high level, so that the input signal of the second conversion interface is connected to the main control unit.
According to an embodiment of the present disclosure, the input ends of the first conversion interface and the second conversion interface are connected to a signal output serial port of the main control unit; the output ends of the first conversion interface and the second conversion interface are connected to the signal input serial port of the main control unit through the switching selection unit.
According to another embodiment of the present disclosure, the input ends of the first conversion interface and the second conversion interface are connected to the signal output serial port of the main control unit via the switching selection unit; the output ends of the first conversion interface and the second conversion interface are connected to the signal input serial port of the main control unit through the switching selection unit.
In the two embodiments, when the second conversion interface is connected to the debugging device, the positioning information output by the main control unit is respectively transmitted to the positioning information receiving device and the debugging device through the signal output serial port, the first conversion interface and the second conversion interface; the configuration information of the debugging equipment is used as an input signal of the second conversion interface and is input to the main control unit through the second conversion interface; when the second conversion interface is not connected with the adjusting device, the positioning information output by the main control unit is transmitted to the positioning information receiving device through the signal output serial port and the first conversion interface; the configuration information of the positioning information receiving device is used as an input signal of the first conversion interface and is input to the main control unit through the first conversion interface.
On the basis of the above embodiment, under the following implementation scenarios: the input ends of the first conversion interface and the second conversion interface are connected to the signal output serial port of the main control unit through the switching selection unit, and the output ends of the first conversion interface and the second conversion interface are connected to the signal input serial port of the main control unit through the switching selection unit; the switching control signal not only controls the switching selection unit to switch the input signal of the first conversion interface to the main control unit and the input signal of the second conversion interface to the main control unit, but also has the following control logic:
when the detection signal indicates that the second conversion interface is accessed to the debugging device, the switching control signal is further used for controlling positioning information output by the main control unit to be respectively transmitted to the positioning information receiving device and the debugging device through the first conversion interface and the second conversion interface; when the detection signal indicates that the second conversion interface is not connected to the debugging device, the switching control signal is further used for controlling the positioning information output by the main control unit to be transmitted to the positioning information receiving device through the first conversion interface.
In a second aspect, an embodiment of the present disclosure provides a method for performing debugging control based on the positioning circuit. The method comprises the following steps: connecting or disconnecting the target debugging equipment with a second conversion interface of the positioning circuit in a connected state; the main control unit generates a switching control signal according to the connection state of the second conversion interface and the target debugging equipment; based on the switching control signal, the main control unit controls the switching selection unit to switch the input signal access of the first conversion interface to the main control unit and the input signal access of the second conversion interface to the main control unit.
According to an embodiment of the present disclosure, when the target testing device and the second conversion interface are in a connection state, the main control unit controls the switching selection unit to conduct a signal input path between the second conversion interface and the main control unit, so that the configuration information of the target testing device is input to the main control unit through the second conversion interface. When the target adjusting device and the second conversion interface are in a disconnected state, the main control unit controls the switching selection unit to conduct a signal input path between the first conversion interface and the main control unit, so that the configuration information of the positioning information receiving device is input to the main control unit through the first conversion interface.
In a third aspect, embodiments of the present disclosure provide an electronic device. The electronic device comprises a positioning circuit as described above.
In a fourth aspect, embodiments of the present disclosure provide a vehicle. The vehicle comprises a positioning circuit as described above or an electronic device as described above.
The technical scheme provided by the embodiment of the disclosure at least has part or all of the following advantages:
by arranging the second conversion interface and the switching selection unit, the main control unit can realize the control of the switching selection unit based on a switching control signal, so that the switching selection unit can switch the input signal of the first conversion interface into the main control unit and the input signal of the second conversion interface into the main control unit, thereby realizing the access and the regulation of the regulation and measurement equipment under the condition that the circuit of the positioning circuit does not need to be changed, simultaneously not influencing the main control unit to continuously output the time-sequence positioning information to the positioning information receiving equipment through the first conversion interface, conveniently carrying out the circuit regulation and the fault diagnosis without disconnecting the serial port transceiving circuit on the mainboard or externally regulating and measuring the corresponding circuit (flying wire) under the condition that the normal work of the positioning circuit is not influenced, and the positioning circuit is simple and practical, the electronic device, the vehicle and the like which comprise the positioning circuit and are used for positioning and supporting convenient debugging have the advantages of convenient management and maintenance.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the related art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 schematically illustrates a structural schematic diagram of a positioning circuit supporting commissioning according to an embodiment of the present disclosure;
FIG. 2A schematically illustrates a state diagram of a positioning circuit in a normal operating mode, in accordance with an embodiment of the present disclosure;
FIG. 2B schematically illustrates a state diagram of a positioning circuit in a commissioning mode, in accordance with an embodiment of the present disclosure;
FIG. 3 schematically illustrates a structural schematic diagram of a positioning circuit supporting commissioning according to another embodiment of the present disclosure;
fig. 4 schematically shows a corresponding relationship between a detection signal and a switching control signal and a circuit configuration schematic thereof according to an embodiment of the present disclosure;
FIG. 5 schematically illustrates a flow chart of a method of commissioning control based on the positioning circuit described above, according to an embodiment of the present disclosure; and
fig. 6 schematically shows a control logic diagram in the debugging control according to an embodiment of the disclosure.
Detailed Description
It was found in the study that: the high-precision positioning main board chip is complicated to operate during the previous adjustment, generally speaking, the relative distance between the positioning information receiving equipment (such as a vehicle display screen) and the main board chip is relatively long, so that serial port signals are converted into RS232 levels on the main board chip for transmission; however, since the testing computer (a kind of testing device) does not have an RS232 interface, it is currently a USB interface; one feasible scheme is that a universal USB-to-serial port platelet is externally connected, when the debugging is needed, a serial port receiving and sending circuit on a mainboard is disconnected and is in flying connection with an external serial port platelet, but in the debugging operation, not only a circuit on a positioning mainboard chip needs to be disconnected, but also an external circuit needs to be additionally connected, the operation is complicated, the efficiency is low in the debugging scene of a large amount of equipment, and meanwhile, wiring errors are easy to generate.
In view of this, the embodiments of the present disclosure provide a positioning circuit supporting testing, a method for testing control, an electronic device, and a vehicle, which can conveniently perform circuit testing and troubleshooting without disconnecting a serial port transceiving line on a motherboard or externally connecting a line (flying line) corresponding to the testing, and the positioning circuit is simple and practical, and the electronic device, the vehicle, and the like including the positioning circuit and used for positioning and supporting convenient testing have the advantages of convenient management and maintenance.
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the same element.
In the embodiment of the disclosure, the main control unit is an integrated body having control, data processing and communication functions, and the debugging of the main control unit may be parameter debugging of a certain function or all functions of the main control unit and measurement of corresponding feedback results, so that the main control unit can normally work.
A first exemplary embodiment of the present disclosure provides a positioning circuit supporting commissioning.
Fig. 1 schematically shows a structural schematic diagram of a positioning circuit supporting commissioning according to an embodiment of the present disclosure.
Referring to fig. 1, a positioning circuit 100 supporting commissioning according to an embodiment of the present disclosure includes: a main control unit 110, a first conversion interface 121 and a second conversion interface 122 connected to the main control unit 110, and a switching selection unit 130.
The main control unit 110 is configured to output positioning information according to the navigation signal received by the antenna.
In an embodiment, the main control unit 110 may be fixedly connected with an antenna; in another embodiment, the main control unit 110 may be detachably connected with an antenna. The antenna is used as a communication medium of the main control unit, such as a GNSS antenna, for receiving a navigation signal (GNSS signal/information) from a global navigation satellite system; or the antenna can be used for receiving navigation signals of other single or multiple navigation systems (such as Beidou, GPS and the like).
The first conversion interface 121 is used to connect the main control unit 110 and the positioning information receiving device 210, and the second conversion interface 122 is used to connect the main control unit 110 and the debugging device 220.
The switching selection unit 130 is disposed on a signal transmission path between the main control unit 110 and the first and second conversion interfaces 121 and 122. Referring to fig. 1, the control terminal of the switching selection unit 130 is configured to receive a switching control signal from the main control unit 110, where the switching control signal output by the main control unit 110 is denoted as Kout(ii) a Based on switching control signal KoutThe switching selection unit 130 switches the input signal of the first conversion interface 121 to the master unit 110 and the input signal of the second conversion interface 122 to the master unit 110.
The positioning circuit of the embodiment can realize the control of the switching selection unit by arranging the second conversion interface and the switching selection unit, and the main control unit can realize the switching of the switching selection unit based on the switching control signal, so that the switching selection unit can switch the input signal of the first conversion interface into the main control unit and the input signal of the second conversion interface into the main control unit, thereby realizing the access and the debugging of the debugging and testing equipment under the condition that the circuit of the positioning circuit does not need to be changed, simultaneously not influencing the main control unit to continuously output the time-sequence positioning information to the positioning information receiving equipment through the first conversion interface, and conveniently carrying out the circuit debugging and the troubleshooting without disconnecting the serial port transceiving circuit on the mainboard or externally connecting a circuit (flying wire) corresponding to the debugging and testing under the condition that the normal work of the positioning circuit is not influenced, the positioning circuit is simple and practical, and electronic devices, vehicles and the like which comprise the positioning circuit and are used for positioning and supporting convenient adjustment and measurement have the advantages of convenient management and maintenance.
FIG. 2A schematically illustrates a state diagram of a positioning circuit in a normal operating mode, in accordance with an embodiment of the present disclosure; fig. 2B schematically illustrates a state diagram of a positioning circuit in a commissioning mode according to an embodiment of the present disclosure.
The following describes two states of the positioning circuit in the normal operation mode and in the debugging mode, respectively, with reference to fig. 2A and 2B.
According to an embodiment of the present disclosure, referring to fig. 2A and 2B, the power terminal Vcc of the second converting interface 122 is output as the detection signal of the main control unit 110, where the detection signal input to the main control unit 110 is denoted as Kin(ii) a The main control unit 110 detects the signal KinTo output the switching control signal Kout。
Referring to FIG. 2A, when the detection signal K is detectedinWhen the second conversion interface 122 is not connected to the testing device 220, a dotted line frame and an "x" in fig. 2A indicate a state where the testing device 220 is not connected, and in this state, the positioning circuit is in a normal operating mode, and the main control unit 110 outputs the switching control signal K correspondinglyoutAn input signal for controlling the first conversion interface 121 is connected to the main control unit 110.
Referring to FIG. 2B, when the above-mentioned detection signal K is detectedinWhen the second conversion interface 122 is connected to the testing device, the connected state of the testing device 220 is shown by a solid line frame and a "√" in fig. 2B, which corresponds to the positioning circuit being in the testing mode, and the switching control signal K correspondingly output by the main control unit 110outAn input signal for controlling the second converting interface 122 is connected to the main control unit 110.
The main control unit 110 has a signal serial port, and the signal serial port includes a signal output serial port and a signal input serial port. According to an embodiment of the present disclosure, referring to fig. 1, fig. 2A and fig. 2B, input ends of the first conversion interface 121 and the second conversion interface 122 are connected to a signal output serial port of the main control unit 110; the output terminals of the first conversion interface 121 and the second conversion interface 122 are connected to the signal input serial port of the main control unit 110 via the switching selection unit 130.
In this embodiment, referring to fig. 2A, when the second conversion interface 122 is not connected to the debugging device 220, the positioning circuit is in a normal operating mode, and the positioning information output by the main control unit 110 is transmitted to the positioning information receiving device 210 through the signal output serial port and the first conversion interface 121, as shown by a transmission path of the positioning information indicated by a single-dot chain line arrow in fig. 2A. The configuration information P of the positioning information receiving device 2101As an input signal of the first conversion interface 121, and is input to the main control unit 110 through the first conversion interface 121, refer to configuration information P indicated by a dotted arrow in fig. 2A1Is shown.
In this embodiment, as shown in fig. 2B, when the second conversion interface 122 is connected to the debugging device 220, the positioning circuit is in the debugging mode, and the positioning information output by the main control unit 110 is transmitted to the positioning information receiving device 210 and the debugging device 220 through the signal output serial port, the first conversion interface 121 and the second conversion interface 122, respectively, as shown in two parallel transmission paths of the positioning information, which are indicated by a single-dot chain line arrow and a double-dot chain line arrow in fig. 2B. The configuration information P of the debugging device 2202As an input signal of the second conversion interface 122, and is input to the main control unit 110 through the second conversion interface 122, refer to the configuration information P indicated by a dotted arrow in fig. 2B2Is shown.
The configuration information may include configuration parameters or differential correction parameters.
Fig. 3 schematically shows a structural schematic diagram of a positioning circuit supporting commissioning according to another embodiment of the present disclosure.
It should be noted that, in the foregoing embodiment, the switching selection unit 130 is only disposed in the signal input path (relative to the control unit) between the output ends of the first conversion interface 121 and the second conversion interface 122 and the signal input serial port of the main control unit 110 as an example, in this implementation scenario, the switching selection unit 130 may be an alternative switch. The implementation scene has relatively few changes to the circuit of the existing positioning chip comprising the main control CPU and the RS232 interface, and the implementation is relatively simple and efficient.
In other embodiments of the present disclosure, the switching selection unit 130 may be disposed in a signal output path between the input terminals of the first conversion interface 121 and the second conversion interface 122 and the signal output serial port of the main control unit 110, besides the signal input path.
According to another embodiment of the present disclosure, referring to fig. 3, the input ends of the first conversion interface 121 and the second conversion interface 122 are connected to the signal output serial port of the main control unit 110 through the switching selection unit 130; the output terminals of the first conversion interface 121 and the second conversion interface 122 are connected to the signal input serial port of the main control unit 110 via the switching selection unit 130.
In the present embodiment, the same input/output control result as that of the positioning circuit illustrated in fig. 1 is obtained, except that the switching selection unit has path switching control for both the input signal (with respect to the control unit) and the output signal (with respect to the control unit).
In this implementation scenario, the switch selection unit 130 may be two switches, where one switch (for example, described as a first switch) is used for performing path switching control of the input signal (with respect to the control unit), and the other switch (for example, described as a second switch) is used for performing path switching control of the output signal (with respect to the control unit), and the corresponding input and output control logic includes: when the above-mentioned detection signal KinWhen the second conversion interface 122 is not connected to the testing apparatus 220 (corresponding to the positioning circuit being in the normal operating mode in this state), the main control unit 110 outputs the switching control signal K correspondinglyoutThe signal input serial port is used for controlling the first switch to conduct the output end of the first conversion interface and the signal input serial port of the main control unit, and simultaneously controlling the second switch to conduct the input end of the first conversion interface and the signal output serial port of the main control unitThe input signal of the first conversion interface 121 is connected to the main control unit 110, and the positioning signal output by the main control unit 110 is connected to the positioning information receiving device 210.
The input and output control logic further comprises: when the above-mentioned detection signal KinWhen the second converting interface 122 is connected to the testing device 220 (in this state, corresponding to the positioning circuit being in the testing mode), the main control unit 110 outputs the switching control signal K correspondinglyoutThe first switch is used for controlling the first switch to conduct the output end of the second conversion interface and the signal input serial port of the main control unit, and is also used for controlling the second switch to simultaneously conduct the input ends of the first conversion interface and the second conversion interface and the signal output serial port of the main control unit, and the second switch is equivalent to a full-on structure under the condition and loses the function of one of two ways; the input signal of the second conversion interface 122 is connected to the main control unit 110, and the positioning signal output by the main control unit 110 is simultaneously connected to the positioning information receiving device 210 and the debugging device 220.
As can be seen from the above, the corresponding input/output results are the same whether the switching selection means is provided only on the signal input path or on both the signal input path and the signal output path. In the two embodiments, when the second conversion interface is connected to the debugging device, the positioning information output by the main control unit is respectively transmitted to the positioning information receiving device and the debugging device through the signal output serial port, the first conversion interface and the second conversion interface; the configuration information of the debugging equipment is used as an input signal of the second conversion interface and is input to the main control unit through the second conversion interface; when the second conversion interface is not connected with the adjusting device, the positioning information output by the main control unit is transmitted to the positioning information receiving device through the signal output serial port and the first conversion interface; the configuration information of the positioning information receiving device is used as an input signal of the first conversion interface and is input to the main control unit through the first conversion interface.
In the embodiment where the switch selection unit is disposed on both the signal input path and the signal output path, compared to the embodiment where the switch selection unit is disposed on only the signal input path, the switch control signal is used to control the switch selection unit to perform the switch between the input signal of the first switch interface and the input signal of the second switch interface to the main control unit (the specific control logic refers to the foregoing description: when the detection signal indicates that the second switch interface is connected to the debug device, the switch control signal is used to control the input signal of the second switch interface to be connected to the main control unit, and when the detection signal indicates that the second switch interface is not connected to the debug device, the switch control signal is used to control the input signal of the first switch interface to be connected to the main control unit), the following control logic is also provided:
when the detection signal indicates that the second conversion interface is accessed to the debugging device, the switching control signal is further used for controlling positioning information output by the main control unit to be respectively transmitted to the positioning information receiving device and the debugging device through the first conversion interface and the second conversion interface; when the detection signal indicates that the second conversion interface is not connected to the debugging device, the switching control signal is further used for controlling the positioning information output by the main control unit to be transmitted to the positioning information receiving device through the first conversion interface.
In a specific embodiment, the correspondence between the detection signal and the switching control signal and the circuit structure thereof may be specifically set.
Fig. 4 schematically shows a corresponding relationship between the detection signal and the switching control signal and a circuit configuration diagram thereof according to an embodiment of the present disclosure.
For example, taking the switching unit as an example only disposed in the signal input path, referring to fig. 4, the power terminal Vcc of the second converting interface is connected to the ground through a pull-down resistor R, the input terminal of the main control unit 110 is connected between the power terminal Vcc and the pull-down resistor R, and the detection signal output by the power terminal Vcc is input to the main control unit 110 through the input terminal. It is to be understood that, in the embodiment in which the switching selection unit is provided in both the signal input path and the signal output path, the correspondence relationship between the detection signal and the switching control signal and the circuit configuration thereof, which will be described later, may also be employed as well. The difference is that when the switching selection unit is provided to both the signal input path and the signal output path, the switching control signal controls the path switching of the output signal in addition to the path switching of the input signal.
Referring to the corresponding state of fig. 4, when the second converting interface 122 is not connected to the modulation device, the detection signal K output by the power source terminal Vcc isinLow level 0; when the detection signal is at low level 0, the main control unit 110 outputs a switching control signal K accordinglyoutThe level is low 0, so that the input signal of the first conversion interface 121 is connected to the main control unit 110, as shown by the chain line switch in the alternative switch in fig. 4.
Referring to the corresponding state of fig. 4, when the second converting interface 122 is connected to the debugging device, the detection signal K output by the power source terminalinIs at high level 1; when the detection signal is at a high level, the main control unit 110 outputs a switching control signal K accordinglyoutThe input signal of the second conversion interface 122 is switched to the main control unit 110 at a high level 1, as shown by the chain double-dashed line switch in the alternative switch in fig. 4.
In an embodiment, the first conversion interface includes: the RS232 signal interface or the RS485 signal interface, the second conversion interface is a USB-to-serial port, and the main control unit is, for example, a main control CPU. By default, configuration information provided by an external device (an example of a positioning information receiving device) through an RS232 signal interface is employed; the "external" of the external device herein is the entirety with respect to the positioning circuit, and for example, the positioning information receiving device may be a display screen of the vehicle or a vehicle driving/power/transmission part or the like. When a debugging computer (an example of debugging equipment) is plugged in, the debugging computer can also send configuration information through the USB port, and in this case, the main control CPU can control an alternative switch (an example of a switching selection unit) to preferentially select the configuration information sent by the USB port of the debugging computer and disconnect the information sent by the external equipment through the RS232 port.
A second exemplary embodiment of the present disclosure provides a method for performing commissioning control based on the above positioning circuit.
Fig. 5 schematically shows a flowchart of a method for performing commissioning control based on the positioning circuit according to an embodiment of the present disclosure.
Referring to fig. 5, a method for performing debugging control based on the positioning circuit according to an embodiment of the present disclosure includes the following steps: s510, S520, and S530.
In step S510, the target debugging device is connected to or disconnected from the second conversion interface of the positioning circuit.
In step S520, the main control unit generates a switching control signal according to the connection state between the second conversion interface and the target debug device.
In step S530, based on the switching control signal, the main control unit controls the switching selection unit to switch the input signal of the first conversion interface to the main control unit and the input signal of the second conversion interface to the main control unit.
According to an embodiment of the present disclosure, when the target testing device and the second conversion interface are in a connection state, the main control unit controls the switching selection unit to conduct a signal input path between the second conversion interface and the main control unit, so that the configuration information of the target testing device is input to the main control unit through the second conversion interface. When the target adjusting device and the second conversion interface are in a disconnected state, the main control unit controls the switching selection unit to conduct a signal input path between the first conversion interface and the main control unit, so that the configuration information of the positioning information receiving device is input to the main control unit through the first conversion interface.
According to an embodiment of the present disclosure, when the target adjusting apparatus and the second conversion interface are in a connected state, the positioning information output by the main control unit is respectively transmitted to the positioning information receiving apparatus and the adjusting and testing apparatus through the first conversion interface and the second conversion interface; when the target adjusting device and the second conversion interface are in a disconnected state, the positioning information output by the main control unit is transmitted to the positioning information receiving device through the first conversion interface.
Fig. 6 schematically shows a control logic diagram in the debugging control according to an embodiment of the disclosure.
For example, referring to fig. 6, when the target adjusting and testing device is an adjusting and testing computer, the adjusting and testing computer has a USB interface, the second conversion interface is a USB to serial interface, the whole positioning circuit may be a system including a software circuit and a hardware circuit, and after the system is powered on, the control program of the positioning circuit is in a running state. The insertion detection of the computer USB interface can be debugged by connecting a USB power supply USB _ VCC to a main control unit (such as a main control CPU); when the USB-to-serial port is not accessed by a USB interface, the USB _ VCC is pulled down and grounded through a resistor, so that the main control unit outputs a low level; when the external USB accesses, the USB _ VCC is pulled high, so that the main control unit outputs high level. The main control unit switches the control signal KoutThe switch selection unit (e.g., an alternative switch) is controlled to select which of the received signals is to be provided to the main control CPU, and the alternative switch is typically capable of selecting the TS5A9411DCKR chip of TI (Texas instruments), generally when the control signal K is switchedoutWhen the power supply is in low level, the information sent by the external equipment through the RS232 port is input to the main control unit, and when the switching control signal K is in low leveloutAnd when the voltage is high level, the configuration information sent by the debugging computer USB is input to the main control unit.
A third exemplary embodiment of the present disclosure provides an electronic device. The electronic device comprises a positioning circuit as described above. For example, the electronic device may be in the form of a positioning device (e.g., a high-precision positioning device), a positioning motherboard, a positioning chip, or the like.
A fourth exemplary embodiment of the present disclosure provides a vehicle. The vehicle comprises a positioning circuit as described above or an electronic device as described above.
The vehicle may be an unmanned/autonomous vehicle.
To sum up, the positioning circuit supporting debugging, the method of debugging and controlling, the electronic device and the vehicle provided by the embodiment of the disclosure, by providing the second conversion interface and the switching selection unit, the main control unit can control the switching selection unit based on the switching control signal, so that the switching selection unit switches the input signal of the first conversion interface to the main control unit and the input signal of the second conversion interface to the main control unit, thereby implementing the method of debugging and testing without changing the line of the positioning circuit, and simultaneously not affecting the main control unit to continuously output the time-ordered positioning information to the positioning information receiving device through the first conversion interface, and thus conveniently performing circuit debugging and troubleshooting without disconnecting the serial port transceiving line on the motherboard or externally connecting the line (flying line) corresponding to debugging and testing without affecting the normal operation of the positioning circuit The positioning circuit is simple and practical, and electronic devices, vehicles and the like which comprise the positioning circuit and are used for positioning and supporting convenient adjustment and measurement have the advantages of convenient management and maintenance.
At least one of the various modules mentioned in the embodiments of the present disclosure may be implemented at least partially as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware in any other reasonable manner of integrating or packaging a circuit, or in any one of three implementations of software, hardware, and firmware, or in any suitable combination of any of them. Alternatively, one or more of the above modules may be implemented at least partially as computer program modules, which, when executed, may perform the corresponding functions.
The above description is only for the purpose of illustrating specific embodiments of the present disclosure, and is intended to enable those skilled in the art to understand or implement the technical concepts of the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. A positioning circuit supporting commissioning, comprising:
the main control unit is used for outputting positioning information according to the navigation signals received by the antenna;
the first conversion interface is used for connecting the main control unit and positioning information receiving equipment, and the second conversion interface is used for connecting the main control unit and debugging and testing equipment; and
the switching selection unit is arranged on a signal transmission path between the main control unit and the first conversion interface and the second conversion interface;
the control end of the switching selection unit is used for receiving a switching control signal from the main control unit, and based on the switching control signal, the switching selection unit switches the input signal access of the first conversion interface to the main control unit and the input signal access of the second conversion interface to the main control unit.
2. The positioning circuit according to claim 1, wherein the power terminal of the second converting interface outputs a detection signal as the master control unit, and the master control unit outputs the switching control signal according to the detection signal;
when the detection signal indicates that the second conversion interface is accessed to the debugging equipment, the switching control signal is used for controlling the input signal of the second conversion interface to be accessed to the main control unit;
and when the detection signal indicates that the second conversion interface is not accessed to the debugging equipment, the switching control signal is used for controlling the input signal of the first conversion interface to be accessed to the main control unit.
3. The positioning circuit according to claim 2, wherein the power source terminal of the second converting interface is connected to ground via a pull-down resistor, the input terminal of the main control unit is connected between the power source terminal and the pull-down resistor, and the detection signal output by the power source terminal is input to the main control unit through the input terminal.
4. The positioning circuit of claim 3,
when the second conversion interface is not connected to the debugging equipment, the detection signal output by the power supply end is at a low level; when the detection signal is at a low level, the switching control signal correspondingly output by the main control unit is at a low level, so that the input signal of the first conversion interface is accessed to the main control unit;
when the second conversion interface is connected to the debugging equipment, the detection signal output by the power supply end is at a high level; when the detection signal is at a high level, the switching control signal correspondingly output by the main control unit is at a high level, so that the input signal of the second conversion interface is accessed to the main control unit.
5. The positioning circuit of claim 1,
the input ends of the first conversion interface and the second conversion interface are connected with the signal output serial port of the main control unit;
the output ends of the first conversion interface and the second conversion interface are connected to the signal input serial port of the main control unit through the switching selection unit.
6. The positioning circuit of claim 1,
the input ends of the first conversion interface and the second conversion interface are connected to a signal output serial port of the main control unit through the switching selection unit;
the output ends of the first conversion interface and the second conversion interface are connected to the signal input serial port of the main control unit through the switching selection unit.
7. The positioning circuit of claim 5 or 6,
when the second conversion interface is connected with the debugging device, the positioning information output by the main control unit is respectively transmitted to the positioning information receiving device and the debugging device through the signal output serial port, the first conversion interface and the second conversion interface; the configuration information of the debugging and testing equipment is used as an input signal of the second conversion interface and is input to the main control unit through the second conversion interface;
when the second conversion interface is not connected with the debugging equipment, the positioning information output by the main control unit is transmitted to the positioning information receiving equipment through the signal output serial port and the first conversion interface; and the configuration information of the positioning information receiving equipment is used as an input signal of the first conversion interface and is input to the main control unit through the first conversion interface.
8. The positioning circuit of claim 2,
the input ends of the first conversion interface and the second conversion interface are connected to a signal output serial port of the main control unit through the switching selection unit; the output ends of the first conversion interface and the second conversion interface are connected to a signal input serial port of the main control unit through the switching selection unit;
when the detection signal indicates that the second conversion interface is accessed to the debugging device, the switching control signal is further used for controlling the positioning information output by the main control unit to be respectively transmitted to the positioning information receiving device and the debugging device through the first conversion interface and the second conversion interface;
when the detection signal indicates that the second conversion interface is not connected to the debugging device, the switching control signal is further used for controlling the positioning information output by the main control unit to be transmitted to the positioning information receiving device through the first conversion interface.
9. A method for performing debugging control based on the positioning circuit according to any one of claims 1-8, comprising:
connecting or disconnecting the target debugging equipment with a second conversion interface of the positioning circuit in a connecting state;
the main control unit generates a switching control signal according to the connection state of the second conversion interface and the target debugging equipment;
based on the switching control signal, the main control unit controls the switching selection unit to switch the input signal access of the first conversion interface to the main control unit and the input signal access of the second conversion interface to the main control unit.
10. The method of claim 9,
when the target debugging equipment is connected with the second conversion interface, the main control unit controls the switching selection unit to conduct a signal input path between the second conversion interface and the main control unit, so that the configuration information of the target debugging equipment is input to the main control unit through the second conversion interface;
when the target debugging equipment and the second conversion interface are in a disconnected state, the main control unit controls the switching selection unit to conduct a signal input path between the first conversion interface and the main control unit, so that the configuration information of the positioning information receiving equipment is input to the main control unit through the first conversion interface.
11. An electronic device, characterized in that it comprises a positioning circuit according to any one of claims 1 to 8.
12. A vehicle comprising the positioning circuit of any one of claims 1-8 or the electronic device of claim 11.
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