JP2000322289A - Method and system for controller emulation and computer readable recording medium for storing program for implementation of controller emulation method by computer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform efficient debugging by emulating a controller without changing a program as the debugging object or an OS. SOLUTION: After initialization processing is executed by an initialization control part 3, an address conversion part 5 converts an address, which is stored in an I/O address storage part 1 where the address of a controller 93 is stored, to an address of an I/O memory 20 where data is read and written. Next, a main control part reads in the address converted from the address indicating the controller 93 to the address of the I/O memory 20 by the address conversion part 5 and controls the access to the address of the read-in I/O memory 20, thereby implementing the emulation of a controller which accesses the I/O memory 20 instead of the controller 93.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an input / output control device for controlling an externally connected input / output device. In particular, the present invention relates to an input / output control device for emulating an input / output device.

[0002]

2. Description of the Related Art FIG.
7 is a memory map of a program controller realizing the conventional controller emulation method shown in FIG. In the figure, a user task space is a portion where control software of the central processing unit is loaded. The virtual shared memory space is a space for exchanging with a peripheral control device in a real facility, and is located at the same address as the real facility in the present program control device. The actual equipment indicates a state where the control device is actually connected. I / O (Inp
Out / Output) memory is an I / O that exchanges information with peripheral controllers in an actual facility by I / O commands.
/ O space is virtually allocated on the memory,
When a user task (control software) is operated by the present program control device, I / O instructions are substituted for reading and writing to the I / O memory. What is a virtual action task space?
This is a space where there is a task for performing a virtual operation of the peripheral control device by software.

[0005] Next, a virtual operation task for performing a virtual operation of the peripheral control device on the program control device will be described. The virtual operation task starts the operation at the start of the system, initializes the internal memory and the operation state display screen, then performs a virtual operation of the peripheral control device at a certain time interval, and changes the operation state. Then, if there is an input from the keyboard, data is set in a specific memory or data is set in a specific virtual I / O according to the input.

[0004]

In the conventional control device emulation method, in order for the program control device to perform a virtual operation of a peripheral device, a part where a software developer issues an I / O instruction of control software is specified. There is a problem that it is necessary to change to reading and writing to the (virtual) memory space.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. Even when a control device is not provided, emulation by software of a control device can be performed without modifying control software or an OS to be debugged. It aims at realizing and enabling efficient debugging.

Further, according to the present invention, the contents written by the input / output control unit to the control device can be confirmed by referring to the I / O memory and the virtual shared memory area during the emulation operation. The purpose is to be able to check if is working.

Further, according to the present invention, even when there is no control device, a result simulating the operation of the control device can be given to the input / output control unit, and the input / output control unit can be modified without modifying the input / output control unit. The purpose is to be able to confirm various operations.

Further, the present invention provides a method for compiling and linking an input / output control unit even after compiling and linking the input / output control unit.
An object of the present invention is to emulate an input / output control unit using memory mapping information created at the time of linking.

Further, according to the present invention, after confirming that the input / output control unit operates correctly by emulation, the emulation operation is not performed even if the input / output control unit is not recompiled and linked, so that the actual The purpose of this is to control the device.

Further, according to the present invention, even if a failure occurs in the control device, the input / output control unit can be promptly shifted to the emulation operation, so that the efficiency of parallel development of hardware and software is improved. With the goal.

[0011]

According to a control device emulation method according to the present invention, a control device for controlling a device and an I / O (In) for storing an address of the control device are provided.
(Put / Output) address storage unit, I / O (Input / Output) memory for reading and writing data, and address conversion for converting an address stored in the I / O address storage unit to an address of the I / O memory. And the I / O converted by the address conversion unit
An input / output control unit for reading an address stored in the address storage unit and controlling access to the read address of the I / O memory.

The input / output control section includes an initialization control section for performing an initialization process, and a main control section for performing access to a control device. The address conversion section executes the initialization control section after executing the initialization control section. The address is converted before execution of the main control unit.

The control device emulation method is characterized in that the control device emulation method further includes a data reference unit for referring to the contents of data written in the I / O memory.

[0014] The control device emulation method is characterized in that the control device emulation method further includes a data update unit for updating the content of data written in the I / O memory.

The I / O address storage section is included in a program of the input / output control section, and an address on a memory is determined at the time of compiling and linking the program. A holding unit for holding memory mapping information created at the time of linking; the address conversion unit including an address detection unit for detecting an address for storing an I / O address storage unit using the memory mapping information; The address conversion unit is configured to detect the I / O detected by the address detection unit.
The I / O address storage unit is accessed by an address storing the address storage unit.

The address conversion unit includes a save address storage unit for saving an address stored in the I / O address storage unit, and the address conversion unit stores the address stored in the I / O address storage unit in the address. Before the conversion by the conversion unit, the address saving unit that saves the address stored in the I / O address storage unit to the saving address storage unit, and the address saved in the saving address storage unit to I
/ O address storage unit for returning to the address storage unit.

The address translation unit includes a failure detection unit that detects a failure of the control device. The address translation unit stores the I / O address when the failure detection unit detects a failure of the control device. Address to be stored in the virtual I /
It is characterized in that it is converted to an O memory address.

The address conversion unit includes an address conversion flag indicating whether an address of the I / O address storage unit is an address of a control device or an address of an I / O memory. It operates when the value indicates the address of the I / O memory.

The address conversion unit has an address conversion flag indicating whether the address of the I / O address storage unit is the address of the control device or the address of the I / O memory. It operates when the value indicates the address of the I / O memory.

The control device emulation method further includes an operation control flag that can be set from the outside, and the address conversion unit performs I / O based on the value of the operation control flag.
It is characterized in that it is determined whether or not to convert the address stored in the O address storage unit.

The I / O address storage section and the address conversion section are included in an input / output control section.

A control device emulation method according to the present invention is the control device emulation method for a system including a control device for controlling a device and an I / O (Input / Output) memory for reading and writing data. An address storage step of storing the address of the I / O memory; an address conversion step of converting the address stored in the address storage step into an address of the I / O memory; and an address read by the address conversion step. And an input / output control step of controlling access to an address of the / O memory.

A computer-readable recording medium storing a program for causing a computer to implement the control device emulation method according to the present invention includes a control device for controlling a device and an I / O (Input / Output) for reading and writing data.
/ Output) In a control device emulation method in a system including a memory, an address storage step of storing an address of the device, and an address conversion for converting the address stored in the address storage step to an address of the I / O memory A program for implementing a step and an input / output control step of reading an address converted in the address conversion step and controlling access to the read address of the I / O memory is stored.

[0024]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 shows an example of a control device emulation method and method according to a first embodiment of the present invention. In FIG. 1, 91
Is a memory space built in the computer,
(Operating System). Reference numeral 92 denotes an OS. Reference numeral 93 denotes a control device for controlling devices, which is provided outside the computer. The control device is connected to a computer by a control card as an example. Reference numeral 20 denotes an I / O (Input / Output) memory for reading and writing data, which is a virtual I / O space (virtual I / O memory) or a virtual shared memory space required for emulation. Hereinafter, the virtual I / O space (virtual I / O memory)
Alternatively, the virtual shared memory space is called “I / O memory”. Reference numeral 1 denotes an I / O address storage unit that stores an address of the control device. Specifically, the I / O space or the shared memory space of the control device (hereinafter collectively referred to as “I / O space”)
) Is stored. 5 is I /
The address stored in the O address storage unit 1 is stored in the I / O
An address conversion unit that converts the address into the address of the memory 20. Reference numeral 2 denotes an input / output control unit that accesses a control device with reference to an address stored in the I / O address storage unit 1. Further, it reads the address stored in the I / O address storage unit 1 converted by the address conversion unit 5, and controls access to the read address of the I / O memory.
The input / output control unit 2 includes an initialization control unit 3 for performing an initialization process and a main control unit 4 for accessing a control device. The two configurations use the same address space. Further, the address conversion unit 5 is set to a higher priority than the main control unit 4 and the input / output control unit 2
And operates in the same address space. Also, the priority is
This indicates the order in which the order of processing to be executed by the OS is determined. Higher priority ones will execute faster.

The I / O address storage unit 1 is implemented as a global variable, can be referred to by the input / output control unit 2 and the address conversion unit 5, and stores all of the I / O space of the control device necessary for control. The address is stored, or only the base address of the I / O space is stored. FIG.
1 shows an example of the I / O address storage unit 1. The initialization control unit 3 is executed only once before the main control unit 4 and the address conversion unit 5 are executed. Therefore, the initialization control unit 3 is set to have a higher priority than the main control unit 4 and the address conversion unit 5, or is set to be executed when the OS is initialized.

Next, the operation will be described. First, the operation procedure when there is an actual control device, that is, when the emulation of the control device is not performed will be described with reference to FIG. In this case, the tasks required for the operation are the initialization control unit 3,
Only the main control unit 4 is provided. Therefore, the address conversion unit 5
Does not compile and link. In S101,
The initialization control unit 3 is activated by the OS, and stores an address in the I / O space of the control device necessary for control in the I / O address storage unit 1
To be stored. For example, in FIG. 2, PORT1_ADDR
The output port of the control device with the I / O address of 0xFF001040 is assigned to the variable of PORT2_AD
The control of 0xFF001042 is set to the variable of DR, and 0xFF02000 is set to BASE_ADDR as the base address.
Is assigned. In S102, the main control unit 4 is activated by the OS, and acquires an address of the I / O space necessary for control from the I / O address storage unit 1. In S103, read / write access is performed to the obtained address. If the acquired address points to the base address (BASE_ADDR in FIG. 2), the control device is accessed by adding an offset value to the acquired address. When the main control unit 4 wants to output data to the control device, the following processing is performed. First, in process S102, I / O
The value of PORT1_ADDR is acquired with reference to the address storage unit 1. The value obtained here is 0xFF00104
0. Next, in step S103, data is written to the obtained address. That is, address 0x
Data will be written to FF001040. The processing of S102 to S103 is executed every time the control device is accessed. The main control unit 4 may be repeatedly executed by the OS.

Next, the operation procedure when there is no control device, that is, when emulating the control device will be described with reference to FIG. In this case, in addition to the initialization control unit 3 and the main control unit 4, it is necessary to compile and link the address conversion unit 5 as well. The priority of each task is, in descending order, the order of the initialization control unit 3, the address conversion unit 5, and the main control unit 4. Therefore, the address conversion unit 5 is set to have a higher priority than the main control unit 4, and thus is executed after the execution of the initialization control unit 3 and before the execution of the main control unit 4.

Next, the operation will be described. S101 is the same as above. In S111, the memory for reading and writing data is a virtual I / O space required for emulation or a virtual shared memory space (hereinafter, a virtual I / O space required for emulation is referred to as an “I / O memory”). ) To secure. Note that the I / O memory 2 is statically
If 0 is secured, the processing S111 is unnecessary. In S112, one address stored in the I / O address storage unit 1 is read. In S113, the read address value is stored in the corresponding I / O memory 2
Address conversion is performed by overwriting the address value of 0. Next, the operations of S112 to S113 are performed for all the addresses stored in the I / O address storage unit 1. As a result of the execution of the processing of S111 to S114 by the address conversion unit 5, the main control unit 4 to be debugged, when attempting to access the control device,
Access to memory.

The initialization control unit 3 and the address conversion unit 5
After the process of step (1) is executed once, the main control unit 4 can execute the process any number of times. In addition, the initialization control unit 3
After S is started, the address conversion unit 5 and the main control unit 4
Must be executed before executing. When it is desired to execute the emulation operation of the control device, the address conversion unit 5 must be executed after the initialization control unit 3 is executed. That is, the emulation operation of the control device is performed after the execution of the address conversion unit 5. Therefore, the address conversion unit 5 executes the process immediately before performing the emulation operation.

In FIG. 4, the main control unit 4 is shown to be executed once, but after the initialization control unit 3 is executed,
It can be executed any number of times as long as the OS is not shut down. The same applies to the following embodiments. Furthermore,
In this embodiment, the order of processing is controlled by using the priority, but the present invention is not limited to this. It is also possible to set the program I so that the tasks that are the execution units of the processing are sequentially activated. Further, an execution file for starting each task may be created.

As described above, since the input / output control unit 2 to be debugged accesses the I / O space of the control device via the I / O address storage unit 1, it has a high priority. Just by compiling and linking the address conversion unit 5 set each time, the address stored in the I / O address storage unit 1 is converted into an address of the I / O memory,
The emulation operation of the control device can be performed without changing the input / output control unit 2 or the OS at all. This allows
Regardless of the presence or absence of the control device, debugging can be performed efficiently, and the debugging period can be shortened.

As described above, the input / output control which operates on the operating system (OS) having the priority scheduling function and the multitask operation function and exchanges information with the control device by I / O and shared memory. When debugging the unit, (a) I
An I / O address storage unit that stores addresses in the / O space or the shared memory space; (b) an input / output control unit that accesses a control device by referring to an address stored in the I / O address storage unit; It operates at a higher priority than the input / output control unit, operates in the same address space as the input / output control unit, and stores the address stored in the I / O address storage unit as an I / O address.
The control device emulation method and method can be implemented by providing an O memory or an address conversion unit that converts the address into an address in the virtual shared memory space.

Embodiment 2 FIG. FIG. 5 shows an example of a control device emulation method and method according to a second embodiment of the present invention. In FIG. 5, reference numeral 6 denotes data written to the I / O memory by the main control unit 4. This is the data reference section to be executed. Note that the I / O address storage unit 1, the input / output control unit 2, the initialization control unit 3, the main control unit 4, and the address conversion unit 5 are the same as those described in the first embodiment. The data reference unit 6 operates in the same address space as the input / output control unit 2 and the address conversion unit 5, and is set to be executed after the process of the main control unit 4 is executed.

Next, the operation will be described. The data reference unit 6 is set to a lower priority than the main control unit 4 and compiled and linked so that the data reference unit 6 is executed after the process of the main control unit 4 is executed. An operation procedure when the data reference unit 6 is added to the first embodiment will be described with reference to FIG. S101, S111 to S114, S102
Since the processing of S103 is the same as that of the first embodiment,
Description is omitted. In S201, the data content of the I / O memory is read. In S202, the read result is notified to the user. To notify the user,
It is as follows. The first method is to display the read result on a screen and notify the user. The second method writes the read result to a file and notifies the user via the file. A third method predicts in advance what state the I / O space will be in when the main control unit 4 is executed, and compares the prediction result with the result of actually reading the I / O memory. Compare, and notify the user of the result of the comparison.

As described above, when the emulation operation is performed, the contents written by the input / output control unit 2 to the control device can be confirmed only by adding the data reference unit 6 together with the address conversion unit 5. In addition, since it is possible to check whether the input / output control unit is operating correctly, debugging can be efficiently performed without using a tool such as a debugger.

The data reference unit 6 is set to have a lower priority than the main control unit 4 so that it is started from the OS after the execution of the main control unit 4. However, the following two methods are used. The same effect can be obtained. The first method is to be called periodically from the OS regardless of the operation of the main control unit 4. The second method is that the main control unit 4
Is executed periodically, the setting is made so as to have the same period and a higher priority than the main task, so that the OS is called from before the execution of the main control unit 4. That is, this is equivalent to being called from the OS after execution of the main control unit 4 except for the first time.

As described above, after the execution of the input / output control unit, the data input / output control unit 2 has a data reference unit for referring to the data content of the I / O memory 20 to which the data has been written.

Embodiment 3 FIG. 7 shows an example of a control device emulation method and method according to a third embodiment of the present invention. In FIG. This is a data update unit that writes data to the memory. Note that the I / O address storage unit 1, the input / output control unit 2, the initialization control unit 3, the main control unit 4, and the address conversion unit 5 are the same as those described in the first embodiment. The data update unit 7 operates in the same address space as the input / output control unit 2 and the address conversion unit 5, and executes processing of the main control unit 4 by setting the priority to a higher priority than the main control unit 4. Before executing, set it to be executed.

Next, the operation will be described. The data update unit 7 is set to a higher priority than the main control unit 4 and compiled and linked so that the data update unit 7 is executed before executing the process of the main control unit 4. FIG. 8 shows an operation procedure when the data update unit 7 is added to the first embodiment.
This will be described with reference to FIG. S101, S111 to S114, S
The processing in steps S102 to S103 is the same as in the first embodiment, and a description thereof will not be repeated. In S301, data to be written to the I / O memory is created in a pseudo manner. In S302, the created data is written to the I / O memory.
The method of creating data in a pseudo manner is a known technique,
Not mentioned here.

As described above, a data update unit which operates at a higher priority than the input / output control unit and writes data simulated before execution of the input / output control unit into the I / O memory is provided. .

As described above, even if there is no control device,
The result of simulating the operation of the control device can be given to the input / output control unit 2 only by adding the data update unit 7 together with the address conversion unit 5. Therefore, various operations of the input / output control unit can be confirmed without modifying the input / output control unit.

Embodiment 4 FIG. 9 shows an example of a control device emulation method and method according to the fourth embodiment of the present invention. In FIG. 9, reference numeral 8 denotes memory mapping information created at the time of compiling and linking the input / output control unit 2. , I / O address storage unit 1 are shown. Reference numeral 9 denotes an address detection unit that detects an address stored in the I / O address storage unit 1 with reference to the memory mapping information 8. The I / O address storage unit 1, the initialization control unit 3, and the main control unit 4 are the same as those described in the first embodiment. Address converter 5d
Except that the address detection unit 9 is further added.
This is the same as that shown in the first embodiment. In this embodiment, the input / output control unit 2 includes an initialization control unit 3 and a main control unit 4.

FIG. 10 shows an example of the memory mapping information 8. The memory mapping information includes information on where the input / output control unit 2 (initialization control unit 3 and main control unit 4) is located in the memory space when the input / output control unit 2 is compiled and linked. Variable (I / O) used by the control unit 2
Where the address storage unit 1 is located in the memory space is described as shown in FIG. The memory mapping information 8 is normally generated by a linker when linking.

Next, the operation will be described. The address detection unit 9 is mounted in the address conversion unit. Embodiment 1
The operation procedure when the memory mapping information 8 and the address detection unit 9 are added to the configuration will be described with reference to FIG. S1
01, S111 to S114, and S102 to S103 are the same as those in the first embodiment, and a description thereof will not be repeated.
In S401, the I / O
The O address storage unit 1 acquires the stored address.
Specifically, the I / O address detection unit 9 refers to the memory mapping information 8 and searches for an address where the I / O address storage unit 1 is stored. In the example shown in FIG.
The variable name of the / O address storage unit 1 is io_address
s_table. The I / O address detection unit 9 reads the memory mapping information 8 shown in FIG. 10 line by line, and detects that the address where the io_address_table is stored is 0x0008018. In this processing, since the storage position of the I / O address storage unit 1 is known, the subsequent processing of S112 to S113 can be performed. Thus, the address detection unit 9
Is for detecting a desired address from the memory mapping information 8. Therefore, if the address is stored in the memory mapping information 8, an address other than the I / O address storage unit 1 can be detected.

Thus, the input / output control unit is compiled,
An I / O address detection unit is provided for acquiring an address at which an I / O address storage unit is arranged, using memory mapping information created at the time of linking.

As described above, even after compiling and linking the input / output control unit, it is possible to recompile and link the input / output control unit by using the memory mapping information created at the time of compiling and linking the input / output control unit. In addition, an emulation operation can be performed by adding and operating an address conversion unit using a dynamic task addition unit provided by the OS.

Embodiment 5 FIG. 12 shows an example of a control device emulation method and method according to a fifth embodiment of the present invention. In FIG.
A save address storage unit for saving the contents of the O address storage unit 1, an address save unit 11 for saving the I / O address, and an address return unit 12 for restoring the saved address. The I / O address storage unit 1, input / output control unit 2, initialization control unit 3, main control unit 4, memory mapping information 8, and address detection unit 9 are the same as those described in the fourth embodiment. . The evacuation address storage unit 10 is made readable and writable from the address conversion unit 5e. The address conversion unit 5e differs from the fourth embodiment in that the address conversion unit 5e includes an address detection unit 9, an address saving unit 11, and an address restoration unit 12.

Next, the operation will be described. The address saving unit 11 is mounted in the address conversion unit 5e, and the address restoration unit 12 is called immediately before the end of the debugging work. An operation procedure in a case where a save address storage unit 10, an address save unit 11, and an address return unit 12 are added to the fourth embodiment will be described with reference to FIG. S101, S401, S111 to S114, S1
Since the processing of 02 to S103 is the same as that of the fourth embodiment, the description is omitted. In S501, before converting an address in the I / O space to an address in the I / O memory,
The address values of all I / O spaces stored in the I / O address storage unit 1 are copied to the evacuation address storage unit 10. In S511, this is called at the end of the debugging work, and the evacuation address storage unit 10 is copied to the I / O address storage unit 1 to return to the evacuation address before conversion. In S512, S11
The I / O memory secured in step 1 is released. When the I / O memory is statically secured, the process S5
12 is unnecessary.

As described above, the evacuation address storage unit for saving the contents of the I / O address storage unit and the I / O address storage unit
An address saving unit for saving the address storage unit, and an address return unit for returning the I / O address storage unit saved by the address saving unit to the original state are provided.

By returning the address of the I / O memory to the address of the control device at the end of the debugging operation, the device can be actually controlled without stopping the input / output control unit 2 after the debugging operation.

Embodiment 6 FIG. FIG. 14 shows an example of a control device emulation method and method according to a sixth embodiment of the present invention. In FIG. 14, reference numeral 13 denotes a failure detection unit that detects a failure of the control device. In addition, I / O
Address storage unit 1, input / output control unit 2, initialization control unit 3,
The main control unit 4 is the same as that shown in the first embodiment. The address conversion unit 5f differs from the first embodiment in that it includes a failure detection unit 13. The save address storage unit 10 and the address save unit 11 are the same as those described in the fifth embodiment. The failure detection unit 13 is mounted in the address conversion unit.

Next, the operation will be described. In Embodiment 1, the evacuation address storage unit 10, the address evacuation unit 11,
An operation procedure when the failure detection unit 13 is added will be described with reference to FIG. S101, S111 to S114, S1
Since the processing of 02 to S103 is the same as that of the first embodiment, the description is omitted. In S601, it is checked whether or not the control device has failed.
The operation is shifted to the main control unit without performing the conversion of the / O address storage unit 1. If a failure is detected, conversion processing S111 to S114 of the I / O address storage unit 1 is performed. Furthermore, when the main control unit 4 repeatedly performs the operation, the main control unit 4 promptly shifts to the emulation operation when the failure of the control device is detected by repeatedly operating the address conversion unit 5 together with the main control unit 4. be able to.

As described above, the present invention is characterized by including the failure detection unit 13 for detecting a failure of the control device.

As described above, even if a failure occurs in the control device, the address conversion unit 5f can be operated to quickly shift the main control unit 4 to the emulation operation.

Embodiment 7 FIG. FIG. 16 shows an example of a control device emulation method and method according to a seventh embodiment of the present invention. In FIG. 16, reference numeral 14 denotes an address conversion flag indicating whether or not address conversion has been performed by the address conversion unit 5g. It is. Note that the I / O address storage unit 1, the input / output control unit 2, the initialization control unit 3, and the main control unit 4 are the same as those described in the first embodiment.
The address conversion unit 5g differs from that shown in the first embodiment in that it includes a failure detection unit 13. The data reference unit 6 is the same as that described in the second embodiment, and the data updating unit 7 is the same as that described in the third embodiment. Further, the failure detection unit 13 is the same as that shown in the sixth embodiment.
The address conversion flag 14 is implemented in the address conversion unit. However, this is not a limitation. The address conversion flag 14 indicates a binary value of ON / OFF.

Next, the operation will be described. An operation procedure in the case where the failure detection unit 13, the data reference unit 6, the data update unit 7, and the address conversion flag 14 are added to the first embodiment will be described with reference to FIGS. S101, S
601, S111 to S114, S301 to S302, S
The processes of 102 to S103 and S201 to S202 are performed in the first, second, third, and sixth embodiments.
The description is omitted because it is the same as that shown in FIG. S7
01, when the control device fails and performs the conversion processes S111 to S114 of the I / O address storage unit 1,
The address conversion flag 14 is turned on. In step S711, it is checked whether the address conversion flag 14 is already ON. If the flag is not ON, that is, if the flag is OFF, the processing of the data updating unit 7 ends. If the flag is ON, the process proceeds to the next processing S301. In S721, it is checked whether or not the address conversion flag 14 is already ON. If the flag is OFF, the processing of the data reference unit 6 is ended. If the flag is ON, the next processing S20
Move to 1. The same effect can be obtained by using a semaphore instead of a flag. Further, another method may be used.

In the sixth embodiment, when the data reference unit 6 and the data update unit 7 are to be executed, even when the address conversion from the I / O space to the I / O memory 20 is not performed, the data reference unit 6 And the data updating unit 7 is executed, and a meaningless I / O memory is read and written. In the present embodiment, the address conversion flag 1
By adding 4, the above problem can be solved.

Embodiment 8 FIG. FIG. 19 shows an example of a control device emulation method and method according to the seventh embodiment of the present invention. In FIG. 19, reference numeral 15 denotes an operation control flag for controlling the operation of the address conversion unit. The operation control flag 15 indicates a binary value of ON / OFF. Note that the I / O address storage unit 1, the input / output control unit 2, the initialization control unit 3, the main control unit 4, and the address conversion unit 5 are the same as those described in the first embodiment. The evacuation address storage unit 10 and the address evacuation unit 11
Is shown in the fifth embodiment. The operation control flag 15 can be referred to from the address conversion unit, and the state of the flag can be changed by an external interrupt routine or task processing.

Next, the operation will be described. In Embodiment 1, the evacuation address storage unit 10, the address evacuation unit 11,
FIG. 2 shows an operation procedure when the operation control flag 15 is added.
Explanation will be made using 0. S101, S501, S111-
The processes in S114, S511 to S512, and S102 to S103 are the same as those in the first and fifth embodiments, and a description thereof will not be repeated. In S801, it is checked whether the operation control flag 15 is equal to the value checked last time. If they are the same, the address conversion unit 5 ends without performing any processing. If not, it is checked whether the operation control flag 15 is ON. When the flag is ON, the processes of S501 and S111 to S114 are performed to perform the address conversion. If the flag is OFF,
The processing of S511 to S512 is performed, and the address return processing is performed.

As described above, the provision of the operation control flag 15 makes it possible to externally control whether or not to perform the emulation operation, thereby improving the convenience in debugging.

Embodiment 9 FIG. In the above embodiment, I /
Although the case where the O address storage unit 1 is set in the input / output control unit 2 has been described, the I / O address storage unit 1
The file may be set on the O memory in a file format. FIG. 21 shows an example of a control device emulation method or method. Also in the above case, the address conversion unit 5 converts the address stored in the I / O address storage unit 1 so as to access the I / O memory 20 without directly accessing the control device to debug. The work becomes possible, and the debug work can be easily performed by using the data reference unit 6 and the data update unit 7 as described in the above embodiment.
Also, the address translation unit 5 is compiled with an input / output control unit.
Since the operation is performed even when it is not included when linking, the control device can be easily emulated.

[0062]

According to the control device emulation method and method according to the present invention, even if there is no control device, without modifying the software or OS to be debugged,
Emulation by software of the control device can be realized, and efficient debugging can be performed.

According to the control device emulation method and method according to the present invention, even when there is no control device, it is easy to refer to the data written by the emulation operation, and it is possible to confirm whether the control program is operating correctly. it can.

According to the control device emulation method and method according to the present invention, even when there is no control device, it is easy to update the data to be controlled by the emulation operation, and without modifying the control program,
Various operations of the control program can be confirmed.

According to the control device emulation method and method according to the present invention, even after compiling and linking a program to be debugged, the program is emulated using the memory mapping information created at the time of compiling and linking the program. Can be.

According to the control device emulation method and method according to the present invention, the operation can be continued without stopping the program after the debugging is completed.

According to the control device emulation method and method according to the present invention, even if a failure occurs in the control device,
Since the program to be debugged can be promptly shifted to the emulation operation, the efficiency in parallel development of hardware and software can be improved.

According to the control device emulation method and method according to the present invention, it is possible to determine whether or not the control device is performing the emulation operation, so that data reference and data update can be executed when necessary.

According to the control device emulation method and method according to the present invention, after confirming that the control program operates correctly by emulation, the emulation operation is not performed without recompiling and linking the control program. Thus, the actual device can be quickly controlled.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an example of an input / output device emulation method and method according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating an example of an I / O address storage unit 1.

FIG. 3 is a diagram illustrating an operation procedure when emulation of the control device according to the first embodiment of the present invention is not performed.

FIG. 4 is a diagram illustrating an operation procedure when emulating the control device according to the first embodiment of the present invention;

FIG. 5 is a diagram illustrating an example of an input / output device emulation method and method according to a second embodiment of the present invention.

FIG. 6 is a diagram illustrating an operation procedure when emulating the control device according to the second embodiment of the present invention;

FIG. 7 is a diagram illustrating an example of an input / output device emulation method and method according to a third embodiment of the present invention.

FIG. 8 is a diagram showing an operation procedure when emulating the control device according to the third embodiment of the present invention.

FIG. 9 is a diagram showing an example of an input / output device emulation method and method according to Embodiment 4 of the present invention.

FIG. 10 is a diagram illustrating an example of memory mapping control.

FIG. 11 is a diagram illustrating an operation procedure when emulating the control device according to the fourth embodiment of the present invention;

FIG. 12 is a diagram illustrating an example of an input / output device emulation method and method according to a fifth embodiment of the present invention.

FIG. 13 is a diagram showing an operation procedure when emulating the control device according to the fifth embodiment of the present invention.

FIG. 14 is a diagram illustrating an example of an input / output device emulation method and method according to a sixth embodiment of the present invention.

FIG. 15 is a diagram showing an operation procedure when emulating the control device according to the sixth embodiment of the present invention.

FIG. 16 is a diagram illustrating an example of an input / output device emulation method and method according to a seventh embodiment of the present invention.

FIG. 17 is a diagram showing an operation procedure when emulating the control device according to the seventh embodiment of the present invention.

FIG. 18 is a diagram illustrating an operation procedure when emulating the control device according to the seventh embodiment of the present invention.

FIG. 19 is a diagram illustrating an example of an input / output device emulation method and method according to an eighth embodiment of the present invention.

FIG. 20 is a diagram showing an operation procedure when emulating the control device according to the eighth embodiment of the present invention.

FIG. 21 is a diagram illustrating an example of an input / output device emulation method and method according to a ninth embodiment of the present invention.

FIG. 22 is a diagram illustrating a conventional control emulation method.

[Explanation of symbols]

1 I / O address storage unit, 2 input / output control unit, 3 initialization control unit, 4 main control unit, 5, 5d, 5e, 5
f, 5g, 5h address conversion unit, 6 data reference unit,
7 data update unit, 8 memory mapping information, 9 address detection unit, 10 evacuation address storage unit, 11 address evacuation unit, 12 address return unit, 13 failure detection unit, 14 address conversion flag, 15 operation control flag, 20 I / O memory, 91 single address space, 9
2 OS (Operating System), 93
Control device.

Claims (13)

[Claims] A control device for controlling a device, and an I / O (Input) for storing an address of the control device.
/ Output) address storage unit and I / O (Input / Output) for reading and writing data
out) a memory; an address conversion unit for converting an address stored in the I / O address storage unit to an address in the I / O memory; and storing in the I / O address storage unit converted by the address conversion unit A read-out address, and an input / output control unit for controlling access to the read-out I / O memory address. 2. The input / output control unit includes: an initialization control unit that performs an initialization process; and a main control unit that performs an access to a control device. 2. The control device emulation method according to claim 1, wherein an address is converted after execution and before execution of the main control unit. 3. The control device emulation method according to claim 1,
2. The control device emulation method according to claim 1, further comprising a data reference unit for referring to the contents of the data written to the I / O memory. 4. The control device emulation method according to claim 1,
2. The control device emulation method according to claim 1, further comprising a data updating unit for updating the content of the data written to the I / O memory. 5. The I / O address storage section is included in a program of an input / output control section, and an address on a memory is determined when compiling and linking the program. The memory mapping information created at the time of compiling and linking the memory. The address conversion unit includes an address detection unit that detects an address for storing an I / O address storage unit using the memory mapping information. The address conversion unit performs I / O according to an address stored in the I / O address storage unit detected by the address detection unit.
2. An O-address storage unit is accessed.
Control device emulation method as described. 6. The address conversion section includes a save address storage section for saving an address stored in an I / O address storage section, and the address conversion section stores an address stored in the I / O address storage section. Before the conversion by the address conversion unit, the address saving unit for saving the address stored in the I / O address storage unit to the saving address storage unit; and the I / O saving the address saved in the saving address storage unit.
The control device emulation method according to claim 1, further comprising: an address return unit that returns to the address storage unit. 7. The address conversion unit includes a failure detection unit that detects a failure of a control device. The address conversion unit, when the failure detection unit detects a failure of the control device, the I / O 3. The control device emulation method according to claim 2, wherein an address stored in the address storage unit is converted into an address of a virtual I / O memory. 8. The address conversion unit includes an address conversion flag indicating whether an address of an I / O address storage unit is an address of a control device or an address of an I / O memory. If the value of the flag is I
4. The control device emulation method according to claim 3, wherein the operation is performed when an address of the / O memory is indicated. 9. The address conversion unit includes an address conversion flag indicating whether an address of an I / O address storage unit is an address of a control device or an address of an I / O memory. If the value of the flag is I
5. The control device emulation method according to claim 4, wherein the operation is performed when an address of the / O memory is indicated. 10. The control device emulation system further includes an operation control flag that can be set from the outside, and the address conversion unit stores an address stored in an I / O address storage unit based on a value of the operation control flag. 2. The control device emulation method according to claim 1, wherein it is determined whether or not to convert. 11. The control device emulation method according to claim 2, wherein the I / O address storage unit and the address conversion unit are included in an input / output control unit. 12. A control device for controlling a device, and an I / O (Input / Output) for reading and writing data.
t) in a control device emulation method in a system including a memory, an address storage step of storing an address of the device, and an address stored in the address storage step,
An address conversion step of converting the address into the address of the O memory; and an input / output control step of reading the address converted in the address conversion step and controlling access to the read address of the I / O memory. Control device emulation method. 13. A control device for controlling devices and an I / O (Input / Output) for reading and writing data.
t) in a control device emulation method in a system including a memory, an address storage step of storing an address of the device, and an address stored in the address storage step,
A control device emulation method comprising: an address conversion step of converting an address of an O memory; and an input / output control step of reading an address converted by the address conversion step and controlling access to the read I / O memory address. A computer-readable recording medium storing a program to be realized by a computer.