CN102426528A - Online updating method for kernel program of navigation positioning receiver - Google Patents
Online updating method for kernel program of navigation positioning receiver Download PDFInfo
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- CN102426528A CN102426528A CN2011102725219A CN201110272521A CN102426528A CN 102426528 A CN102426528 A CN 102426528A CN 2011102725219 A CN2011102725219 A CN 2011102725219A CN 201110272521 A CN201110272521 A CN 201110272521A CN 102426528 A CN102426528 A CN 102426528A
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Abstract
The invention relates to an online updating method for a kernel program of a navigation positioning receiver, which comprises the following steps that: (1) a control computer is started to read compiled binary files of source programs of a digital signal processor (DSP) and a field programmable gate array (FPGA); (2) the control computer sends a command for starting program updating; (3) a DSP program updating module executes an operation for testing flash; (4) the DSP program updating module executes an operating for erasing the flash; (5) the DSP program updating module sends a data request command; (6) the control computer assembles the binary files into data frames and sends the data frames to the DSP program updating module; (7) the DSP program updating module executes an operation for writing in the flash; (8) the step (5), the step (6) and the (7) are executed in a cycle until all of the binary files are finished writing in; and (9) the FPGA is configured according to a program service (PS) manner by taking the DSP as main equipment. According to the online updating method, the kernel programs of the DSP and the FPGA are updated by using a data serial port of the navigation positioning receiver, and the FPGA is configured by using the DSP, so that the problem of updating the kernel program of the navigation positioning receiver after the navigation positioning receiver is integrated encapsulated is solved, the working efficiency of a system is increased, and the flexibility and the software compatibility of the navigation positioning receiver are enhanced.
Description
Technical field
The invention belongs to the navigation positioning receiver field, especially a kind of navigation positioning receiver kernel program online updating method.
Background technology
Navigation positioning receiver is a kind of radio navigation aids such as satellite navigation commonly used.After the baseband signal total digitalization design of navigation positioning receiver, its core component comprises DSP module and FPGA module.Navigation positioning receiver needs with emulator before integrated encapsulation and downloads line and upgrade its kernel program, and after the integrated encapsulation of navigation positioning receiver, emulator interface also is closed simultaneously, can't re-use emulator and download its kernel program of line renewal.At this moment, if will upgrade kernel program again, can only its physics be disassembled; Again integrated again encapsulation after modification is accomplished; The difficulty that this has increased systems programming and maintenance has greatly limited the flexible configuration of system kernel software, has brought certain limitation for the use of system.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art, provide a kind of data serial ports of shared navigation positioning receiver to upgrade DSP and FPGA program, and utilize DSP to dispose the online updating method of the navigation positioning receiver kernel program of FPGA.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of navigation positioning receiver kernel program online updating method may further comprise the steps:
(1) the renewal Control Software in the start-up control computing machine reads the DSP of needs renewal and the binary file after the compiling of FPGA source program;
(2) control computer is sent the start-up routine update command, and DSP program updates module receives after the startup command, carries out shielding interval, clear flag bit manipulation;
(3) DSP program updates module is carried out test FLASH operation, and test is notified control computer with test result after accomplishing;
(4) DSP program updates module is carried out and to be wiped the FLASH operation, will wipe the result notification control computer after wiping completion;
(5) DSP program updates module is sent data request command to control computer after successfully testing, wiping FLASH;
(6) after control computer receives data request command, the binary file after DSP and the compiling of FPGA source program is assembled into Frame sends to DSP program updates module, wait for the new data request of DSP program updates module then;
(7) after DSP program updates module is received frame data, carry out error checking and correction; If data are correct, then from Frame, take out data, and execution writes the FLASH operation; If error in data then abandons this frame and resends this frame data request to control computer;
(8) DSP program updates module frame data write finish after, send the next frame request of data to control computer;
(9) control computer receives after the next frame request of data; Carry out and piece together the frame transmit operation; After DSP program updates module is received new Frame; Execution error verification and write FLASH operation, DSP program updates module and control computer cooperatively interact like this, and the binary file after DSP program updates module compiles DSP and FPGA respectively all writes FLASH.
And; After the DSP program code upgrades end, also comprise the step that FPGA is configured, be to be to the method that FPGA is configured: navigation positioning receiver is when each start; The DSP program is read the routine data of FPGA from FLASH; As main equipment, DSP accomplishes data through serial ports and downloads, and by the PS mode FPGA is configured with DSP.
And described step (3) comprises that also control computer upgrades the information that shows test results on the operation interface of Control Software at DSP; Described step (4) comprises also that control computer is upgraded at DSP and shows on the operation interface of Control Software and wipe object information.
And it is the character that adopts order intercepting agreement number from binary file that described program code is assembled into Frame, and adds frame head and check bit is assembled into a Frame.
Advantage of the present invention and good effect are:
The present invention is reasonable in design; The data serial ports of employing navigation positioning receiver upgrades the program of DSP and FPGA, disposes FPGA with the DSP program simultaneously, thereby has reduced by a configuring chip; Not only dwindled the volume of navigation positioning receiver; And can solve the kernel program replacement problem of DSP and FPGA after the integrated encapsulation, and improved the work efficiency of system, strengthened its dirigibility and the software compatibility.
Description of drawings
Fig. 1 is a software upgrading processing flow chart of the present invention;
Fig. 2 is the processing synoptic diagram of configuration FPGA of the present invention.
Embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is done further detailed description:
A kind of navigation positioning receiver kernel program online updating method is to utilize the serial ports of navigation positioning receiver and a control computer to carry out the data communication realization, links together through serial port data line between navigation positioning receiver and the control computer.Control computer is one the computing machine that the navigation positioning receiver kernel program upgrades Control Software is installed; This renewal Control Software is accomplished more reading and the progress and the result of transmission task and attention program renewal work of fresh code of DSP and FPGA; In the DSP of navigation positioning receiver program, increase a DSP program updates module and FPGA configuration module; Wherein the operation that fresh code more writes FLASH is accomplished in reception and the verification and final that be used for fresh code more of DSP program updates module, and the FPGA configuration module is used for reading the FPGA routine data in the FLASH and FPGA being configured in the back DSP program that powers on.
As shown in Figure 1, the online updating method of navigation positioning receiver kernel program may further comprise the steps:
1, the renewal Control Software in the start-up control computing machine reads the DSP of needs renewal and the binary file after the compiling of FPGA source program;
2, control computer is sent the start-up routine update command, and DSP program updates module receives after the startup command, carries out shielding interval, clear flag bit manipulation;
3, DSP program updates module is carried out test FLASH operation, and test is notified control computer with test result after accomplishing;
4, DSP program updates module is carried out and to be wiped the FLASH operation, will wipe the result notification control computer after wiping completion;
5, DSP program updates module is sent data request command to control computer after successfully testing, wiping FLASH;
6, after control computer receives data request command, program code is assembled into Frame sends to DSP program updates module, wait for the new data request of DSP program updates module then;
Program code is assembled into the character that Frame adopts order intercepting agreement number from binary file, and adds frame head and check bit is assembled into a Frame, sends to DSP program updates module through serial ports;
7, after DSP program updates module is received frame data, carry out error checking and correction,, then from Frame, take out data, and execution writes the FLASH operation if data are correct; If error in data then abandons this frame and resends this frame data request to control computer.
8, DSP program updates module frame data write finish after, send new request of data to control computer;
9, control computer receives after the new request of data; Carry out and piece together the frame transmit operation; After DSP program updates module is received new packet; Execution error verification and write FLASH operation, DSP program updates module and control computer cooperatively interact like this, and the binary file after DSP program updates module compiles the source program of DSP and FPGA all writes FLASH;
Can accomplish the online updating of DSP and FPGA kernel program through above-mentioned steps.
To the method that the FPGA program is configured, as shown in Figure 2, navigation positioning receiver is when each start, and the DSP program is at first read the routine data of FPGA from FLASH, through the FPGA configuration module FPGA is configured.DSP is as main equipment with DSP to the process of FPGA configuration; By the PS mode FPGA is configured; Adopt serial mode to carry out data communication between DSP and the FPGA, DSP accomplishes data through serial ports and downloads, thereby accomplishes the online updating configuration task of FPGA program.Configuration finishes back DSP program and begins operate as normal.
Online updating method of the present invention comprises the online updating of DSP program, the online updating of FPGA, perhaps the two is carried out online updating simultaneously.
In the present invention, the agreement agree as follows of program updates:
1, program updates startup command (the shared character length in position in the bracket, unit: byte)
| Frame head (1) | Command word (4) | Frame length (2) | Frame data (1) | End mark (1) |
| ?$ | ?SXQD | 00?09 | ?01 | ?00 |
2, FLASH test result
3, FLASH wipes the result
4, data request command
| Frame head (1) | Command word (4) | Frame length (2) | Frame data (1) | End mark (1) |
| ?$ | ?SJQQ | 00?09 | ?01 | ?00 |
5, control computer transferring data frames
| Frame head (1) | Command word (4) | Frame length (2) | Frame data (10) | Check bit (1) | End mark (1) |
| ?$ | ?CXSJ | 00?13 | Routine data | ?CRC | ?00 |
In order to guarantee the reliability of program updates; After the program updates control computer has been sent frame data; Surpass and still do not receive new request of data 5 seconds, then be defaulted as error code takes place in the data transmission procedure, will resend these frame data; In order to guarantee the complete transmission of binary file, will increase by 10 " 0 " characters simultaneously at the end of file.
It is emphasized that; Embodiment of the present invention is illustrative; Rather than it is determinate; Therefore the present invention is not limited to the embodiment described in the embodiment, and every other embodiments that drawn by those skilled in the art's technical scheme according to the present invention belong to the scope that the present invention protects equally.
Claims (4)
1. navigation positioning receiver kernel program online updating method is characterized in that: may further comprise the steps:
(1) the renewal Control Software in the start-up control computing machine reads the DSP of needs renewal and the binary file after the compiling of FPGA source program;
(2) control computer is sent the start-up routine update command, and DSP program updates module receives after the startup command, carries out shielding interval, clear flag bit manipulation;
(3) DSP program updates module is carried out test FLASH operation, and test is notified control computer with test result after accomplishing;
(4) DSP program updates module is carried out and to be wiped the FLASH operation, will wipe the result notification control computer after wiping completion;
(5) DSP program updates module is sent data request command to control computer after successfully testing, wiping FLASH;
(6) after control computer receives data request command, the binary file after DSP and the compiling of FPGA source program is assembled into Frame sends to DSP program updates module, wait for the new data request of DSP program updates module then;
(7) after DSP program updates module is received frame data, carry out error checking and correction; If data are correct, then from Frame, take out data, and execution writes the FLASH operation; If error in data then abandons this frame and resends this frame data request to control computer;
(8) DSP program updates module frame data write finish after, send the next frame request of data to control computer;
(9) control computer receives after the next frame request of data; Carry out and piece together the frame transmit operation; After DSP program updates module is received new Frame; Execution error verification and write FLASH operation, DSP program updates module and control computer cooperatively interact like this, and the binary file after DSP program updates module compiles DSP and FPGA respectively all writes FLASH.
2. a kind of navigation positioning receiver kernel program online updating method according to claim 1; It is characterized in that: after the DSP program code upgrades end, also comprising the step that FPGA is configured, is to be to the method that FPGA is configured: navigation positioning receiver is when each start; The DSP program is read the routine data of FPGA from FLASH; As main equipment, DSP accomplishes data through serial ports and downloads, and by the PS mode FPGA is configured with DSP.
3. a kind of navigation positioning receiver kernel program online updating method according to claim 1 is characterized in that: described step (3) comprises that also control computer upgrades the information that shows test results on the operation interface of Control Software at DSP; Described step (4) comprises also that control computer is upgraded at DSP and shows on the operation interface of Control Software and wipe object information.
4. a kind of navigation positioning receiver kernel program online updating method according to claim 1; It is characterized in that: it is the character that adopts order intercepting agreement number from binary file that described program code is assembled into Frame, and adds frame head and check bit is assembled into a Frame.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105373407A (en) * | 2015-12-07 | 2016-03-02 | 中国船舶重工集团公司第七〇五研究所 | DSP and FPGA online upgrading method for embedded system |
| CN105718274A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Online software updating method of intelligent nodes in AUV |
| CN106874056A (en) * | 2017-03-14 | 2017-06-20 | 成都天奥电子股份有限公司 | TI C2000 DSP serial ports online upgrading methods based on Ymodem |
| CN109388413A (en) * | 2017-08-03 | 2019-02-26 | 中车株洲电力机车研究所有限公司 | A kind of FPGA method for updating program and system |
| CN109710296A (en) * | 2018-12-14 | 2019-05-03 | 上海航天控制技术研究所 | A kind of sky and space plane inertial navigation embedded software on-line updating method |
| CN110955447A (en) * | 2019-11-14 | 2020-04-03 | 北京航天时代激光导航技术有限责任公司 | Multi-sector programming and checking method for laser inertial measurement unit coefficient based on programming module |
| CN111240711A (en) * | 2019-12-28 | 2020-06-05 | 中国船舶重工集团公司第七一七研究所 | DSP software updating method for photoelectric equipment integrated control circuit |
| CN111506333A (en) * | 2020-04-27 | 2020-08-07 | 湖北三江航天红峰控制有限公司 | double-DSP program online upgrading method and system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105718274A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Online software updating method of intelligent nodes in AUV |
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| CN106874056A (en) * | 2017-03-14 | 2017-06-20 | 成都天奥电子股份有限公司 | TI C2000 DSP serial ports online upgrading methods based on Ymodem |
| CN109388413A (en) * | 2017-08-03 | 2019-02-26 | 中车株洲电力机车研究所有限公司 | A kind of FPGA method for updating program and system |
| CN109710296A (en) * | 2018-12-14 | 2019-05-03 | 上海航天控制技术研究所 | A kind of sky and space plane inertial navigation embedded software on-line updating method |
| CN110955447A (en) * | 2019-11-14 | 2020-04-03 | 北京航天时代激光导航技术有限责任公司 | Multi-sector programming and checking method for laser inertial measurement unit coefficient based on programming module |
| CN111240711A (en) * | 2019-12-28 | 2020-06-05 | 中国船舶重工集团公司第七一七研究所 | DSP software updating method for photoelectric equipment integrated control circuit |
| CN111240711B (en) * | 2019-12-28 | 2021-08-13 | 中国船舶重工集团公司第七一七研究所 | DSP software updating method for photoelectric equipment integrated control circuit |
| CN111506333A (en) * | 2020-04-27 | 2020-08-07 | 湖北三江航天红峰控制有限公司 | double-DSP program online upgrading method and system |
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Application publication date: 20120425 |