CN102799472A - Real-time information processing and data transmission method for underwater active detection systems - Google Patents

Abstract

The invention relates to a real-time information processing and data transmission method of an underwater active detection system, which uses a unified format to perform command and data communication between execution devices, which can improve the real-time communication efficiency of the underwater active detection system and reduce CPU overhead. overhead. This method is based on the tailorable real-time operating system kernel SYSBIOS, and each task process is queued for execution according to the priority of tasks and interrupts under the scheduling of the application program, and effectively reduces the waiting time for executing tasks and improves the data throughput of the system . The invention can flexibly communicate with various execution devices, and can be conveniently transplanted into underwater active detection systems with different application functions such as sonar, torpedo self-guidance, and mine.

Description

Real-time information processing and data transmission method of underwater active detection system

technical field

The invention relates to a real-time information processing and data transmission method of an underwater active detection system.

Background technique

The underwater active detection system has broad application prospects in underwater target detection and recognition, marine environment detection and so on. The current widely used underwater detection system uses a large number of embedded processors as the control components of the system, and the signal processing capability has been significantly improved. However, since the hardware structure and software system of the traditional underwater active detection system are relatively fixed and closed, it is an independent device with a single machine and single control. Each underwater active detection system corresponds to different equipment and different purposes. Insufficient versatility and expansion ability limit the expansion and compatibility of the underwater active detection system, and bring difficulties to the maintenance and upgrade of the system.

At the same time, in the case of limited storage space and processor processing speed, how to make full use of hardware and software resources to upload a large amount of collected data to the host computer in a timely manner, so as to realize real-time processing, diagnosis and display functions, is also a key issue for the entire water system. The key to the next active detection system.

Contents of the invention

technical problem to be solved

In order to avoid the deficiencies of the prior art, the present invention proposes a real-time information processing and data transmission method of an underwater active detection system.

Technical solutions

A method for real-time information processing and data transmission of an underwater active detection system, characterized in that the steps are as follows:

Step 1: After the real-time information processing and data transmission system of the underwater active detection system are reset and initialized, the task thread TSK_Process starts to run, and the system is in the state of waiting for the host computer to issue instructions;

Step 2: The upper computer sends instructions and parameter data to the system, triggers the task thread TSK_TCP, and the task thread TSK_Process is preempted. The format of the instruction and parameter data is Table 1 and Table 2:

Table 1 Ethernet communication command format

command header command type board number length 8bit 5bit 3bit 16bit

Among them, the instruction header indicates the start of the instruction, occupying 1 byte and 8 bits; the instruction type is the instruction code issued by the host computer, occupying 5 bits; the board number indicates the execution device corresponding to the instruction, occupying 3 bits, of which: 0x0~0x6 are allocated to underwater Actively detect each execution device in the system, 0x7 means broadcast, that is, the instruction that all devices need to receive; the length indicates the number of parameter data following the instruction, which occupies 2 bytes of 16bit, 0x0000 indicates that the instruction has no parameter data, one The length of the instruction is 4 bytes;

Table 2 Ethernet communication parameter data format

header Parameter 1 … parameter n 8bit 16bit … 16bit

Among them, the data header indicates the beginning of the data, occupying 1 byte 8bit; followed by the parameter data that needs to be transmitted in the instruction issued this time, occupying n×16bit, that is, each parameter data occupies 2 bytes 16bit; the host computer The issued instructions are different, and the number of parameter data followed by them is also different;

Step 3: After the task thread TSK_TCP receives the command and parameter data sent by the host computer, it checks the command header and data header to determine whether the received command and parameter data are valid, and whether the number of received parameter data is the same as that of the command The number of data represented by the "length" part in the middle is the same, if yes, then execute step 4, if not, then discard the instruction and parameter data, the task thread TSK_TCP ends, and wait for the host computer to issue instructions again;

Step 4: The task thread TSK_TCP is suspended, and the right to use the CPU is returned to the task thread TSK_Process; the task thread TSK_Process analyzes the instructions issued by the host computer, and judges the corresponding execution device of the instruction through the "board number" part of the instruction ;

Step 5: The task thread TSK_Process sends the command and parameter data to the corresponding execution device; before sending the command and parameter data, the system needs to adjust the format of the command and parameter data. The format of the adjusted command and parameter data is shown in Table 3 and Table 4:

Table 3 Command format between execution devices

command flag command header command type board number 16bit 8bit 5bit 3bit

The adjustment method of the command is to remove the "length" part of the lower 16 bits in the Ethernet communication command format, which indicates the number of parameter data, and add a 16-bit 0x0000 "command flag" before the command header to indicate the command, and the command is still 4 words Festival;

Table 4 Execution device parameter data format

data flag parameters 16bit 16bit

The adjustment method of the parameter data is to remove the 8-bit "data header" in the Ethernet communication parameter data format, and add 16-bit 0xFFFF before each 16-bit data to represent the data, that is, each parameter data changes from the original 16-bit to 32-bit ;

Step 6: After the task thread TSK_Process transmits the command and parameter data to the command execution device, it sends a 32-bit 0x0000FFFF "end" flag, indicating the end of the transmission; it is not necessary to transmit the "end" flag when only transmitting the command. The system is in a waiting state, waiting for the instruction execution device to upload the instruction execution result;

Step 7: After the corresponding instruction execution device finishes executing the instruction, upload the instruction execution result to the system. The format of the instruction execution result is shown in Table 5:

Table 5 Instruction execution result format

command header command type board number result 8bit 5bit 3bit 16bit

Among them, the instruction header indicates the start of the instruction, occupying 1 byte and 8 bits; the instruction type is the instruction code, occupying 5 bits; the board number indicates the execution device corresponding to the instruction, occupying 3 bits, of which: 0x0~0x6 are allocated to each active underwater detection system. Execution device, 0x7 means broadcast, that is, the instruction that all devices need to receive; the result indicates the instruction execution result of this instruction, which occupies 2 bytes of 16 bits, 0x0000 indicates that the instruction is executed successfully, and 0x00FF indicates that the instruction fails to be executed;

Step 8: The task thread TSK_Process is suspended, and the right to use the CPU is returned to the task thread TSK_TCP. The task thread TSK_TCP directly uploads the execution result of the instruction uploaded by the instruction execution device to the host computer without any adjustment. After the task thread TSK_TCP ends, the task thread TSK_Process continues to run. If there is underwater acoustic signal data written into the system, execute step 9, otherwise The system will enter the waiting state, waiting for the host computer to issue commands again;

Step 9: The task thread TSK_UDP is triggered, and the task thread TSK_Process is preempted; the task thread TSK_UDP packs the underwater acoustic signal data and uploads it to the host computer using the UDP protocol. After the host computer issues an instruction to stop uploading data, the task thread TSK_UDP ends , the task thread TSK_Process continues to run, waiting for the host computer to issue instructions again.

Beneficial effect

The real-time information processing and data transmission method of an underwater active detection system proposed by the present invention uses a unified format to perform command and data communication between execution devices, which can improve the real-time communication efficiency of the underwater active detection system and reduce the CPU time. s expenses. This method is based on the tailorable real-time operating system kernel SYSBIOS, and each task process is queued for execution according to the priority of tasks and interrupts under the scheduling of the application program, and effectively reduces the waiting time for executing tasks and improves the data throughput of the system .

The invention can flexibly communicate with various execution devices, and can be conveniently transplanted into underwater active detection systems with different application functions such as sonar, torpedo self-guidance, and mine.

The present invention adopts a unified instruction and data format to receive instructions and parameter data from the upper computer, and sends the instruction and parameter data to the corresponding execution equipment after partial adjustment, which can improve the real-time communication efficiency of the underwater active detection system, Ensure the correctness of data communication between various execution devices, and reduce the operating overhead of each execution device.

The invention adopts SYSBIOS, can intelligently schedule various threads, simplifies program design, and solves the key problem of the real-time system of data migration and real-time processing, and the software has scalability, reusability and portability.

Description of drawings

Fig. 1 is a schematic diagram of the location of the real-time information processing and data transmission method of the underwater active detection system in the underwater active detection system of the present invention;

Fig. 2 is the working flow diagram of the real-time information processing and data transmission method of the underwater active detection system of the present invention;

Figure 3 is a schematic diagram of command transmission after receiving the "transmitter self-diagnosis" command;

Figure 4 is a schematic diagram of instruction and parameter data transmission after receiving the "data export" instruction;

Fig. 5 is a schematic diagram of task scheduling after receiving the "start detecting" instruction.

Detailed ways

Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

In this embodiment, the DSP chip is used as the operating platform to realize the system control function in the underwater active detection system. The software program design adopts SYSBIOS, and uses a unified communication format to perform command and data communication between execution devices.

The software program design of the real-time information processing and data transmission method of the underwater active detection system adopts SYSBIOS. According to the functional requirements of the underwater active detection system, three task threads are created: TSK_Process, TSK_TCP and TSK_UDP. Among them, TSK_TCP is a TCP communication task, responsible for command reception and response communication with the host computer, with the highest priority; TSK_UDP is a UDP communication task, responsible for transmitting the underwater acoustic signal data collected by the underwater active detection system to the The upper computer has the second priority; TSK_Process is an information processing thread, which is responsible for the entire information processing and logic control. It can be preempted by other two task threads, and it always runs without interruption when no other task thread is executing, so it has the lowest priority.

As shown in Figure 1, the real-time information processing and data transmission method of the underwater active detection system is in the key position of the entire underwater active detection system, and mainly completes communication with the host computer, information processing, system and logic control, and the entire underwater active detection System synchronization and other functions.

The working process of the real-time information processing and data transmission method of the underwater active detection system is shown in Figure 2: After the system is reset, the initialization is completed, including the initialization of the SYSBIOS system kernel, the initialization of the interrupt service, the setting of IP and MAC addresses, and the starting of TCP and UDP server, initialization of detection parameters, and initialization of each standard peripheral interface; then self-inspection, including the self-inspection of each execution device (such as transmitter, receiver, external storage device, etc.), and the self-inspection results through the Ethernet Then the system enters the waiting state, waiting for the command issued by the host computer; when the system receives the command issued by the host computer, it first analyzes the command and judges the type of command (such as self-diagnosis command, parameter configuration command, data export command or start/stop detection command); if the command is "self-diagnosis" or "parameter configuration", the system parses out the execution device number (that is, the board number) of the command from the command, and sends the command to the corresponding execution device, and after the execution device completes the instruction, it receives the instruction execution result from the instruction execution device and uploads it to the host computer, and the system is in a waiting state again; if the instruction is "data export", the system sends the instruction to the external storage device, start to read data from the external storage device, and upload the read data to the upper computer at the same time, the system is in a waiting state again; if the command is "start detection", the system first notifies the transmitter to start sending detection signals, waiting After the signal is transmitted, the receiver is notified to start receiving data, and the received data is packaged and uploaded to the host computer; when the system receives the "stop detection" command from the host computer, the whole system is in a waiting state again.

Taking receiving the "transmitter self-diagnosis" command as an example, the schematic diagram of command transmission in the real-time information processing and data transmission method of the underwater active detection system is shown in Figure 3: In this example, the command header is defined as 0x7E, and the self-diagnosis command The command code is 0x02, the board number of the transmitter is 0x1, and the self-diagnosis command does not need parameter data, so the binary form of the "transmitter self-diagnosis" command can be expressed as 01111110 00010 001 00000000 00000000, converted to hexadecimal form is 0x7E110000 , as shown in Table 6.

Table 6 "Transmitter self-diagnosis" command issued by the host computer

The upper computer sends the "transmitter self-diagnosis" command 0x7E110000 to the system, and after the system analyzes the command, it is determined that the command needs to be sent to the transmitter; after the system partially adjusts the command, it sends the adjusted command 0x00007E11 to the Transmitter, as shown in Table 7;

Table 7 "Transmitter self-diagnosis" command issued by the system to the transmitter

After the transmitter executes the "transmitter self-diagnosis" command, it uploads the diagnosis result "normal" 0x7E110000 or "abnormal" 0x7E1100FF to the system, as shown in Table 8;

Table 8 Execution results of the "transmitter self-diagnosis" command uploaded to the system by the transmitter

The system does not perform any processing on the execution result of the command, and directly uploads it to the host computer through Ethernet.

Taking receiving the "data export" command as an example, the schematic diagram of command and parameter data transmission in the real-time information processing and data transmission method of the underwater active detection system is shown in Figure 4: In this example, the command header is defined as 0x7E, and the data export command The command code is 0x1B, the card number of the device storing the data is 0x4, the "data export" command needs 2 parameter data, the data start position and the data end position, so the binary form of the "data export" command can be expressed as 01111110 11011 100 00000000 00000010, converted to hexadecimal form is 0x7EDC0002, as shown in Table 9;

Table 9 "Data export" command issued by the host computer

The data header is defined as 0x8C, and the start and end positions of the data are represented by time. The start time is 8:50 (00 10000101 0000 00 or 0x2140), and the end time is 20:23 (10 0000 0010 0011 00 or 0x808C, as shown in Table 10 shown).

Table 10 Relevant parameter data of the "data export" command issued by the host computer

header Parameter 1 Parameter 2 10001100 00 1000 0101 0000 00 10 0000 0010 0011 00 0x8C 0x2140 0x808C

The upper computer sends the "data export" command 0x7EDC0002 and parameter data 0x8C2140808C to the system, and after the system analyzes the command, it is determined that the command needs to be sent to the device with the board number 0x4 (that is, the external storage device); After the parameter data is partially adjusted, send the adjusted command 0x00007EDC and the adjusted parameter data 0xFFFF2140FFFF808C to the execution device, and send 0x0000FFFF after the parameter data is sent to indicate that the data is sent, as shown in Table 11 and Table 12;

Table 11 "Data export" command issued by the system to the external storage device

Table 12 Relevant parameter data of the "data export" command issued by the system to the external storage device

After the corresponding execution device executes the "data export" command, it uploads the command execution result "normal" 0x7EDC0000 or "abnormal" 0x7EDC00FF to the system, as shown in Table 13;

Table 13 Execution results of the "data export" command uploaded to the system from the external storage device

The system does not perform any processing on the execution result of the command, and directly uploads it to the host computer through Ethernet.

Taking receiving the "start detection" command as an example, the task scheduling of the real-time information processing and data transmission method of the underwater active detection system is shown in Figure 5. After the system is reset and initialized, the task thread TSK_Process starts to run; when the host computer issues the "Start Detection" command, it will trigger the task thread TSK_TCP to start running, the task thread TSK_Process is preempted, and the system receives the command and analyzes the command; After the system completes the command analysis and sends the command execution results, the task thread TSK_TCP ends and returns the CPU usage right to the task thread TSK_Process; the task thread TSK_Process sends the "start detection" command to the transmitter, and when the transmitter finishes transmitting After detecting the signal, send an instruction to the receiver to notify the receiver to start receiving data; when there is underwater acoustic signal data written into the system, the task thread TSK_UDP is triggered, takes out and packs the data and sends it to the host computer; during the running process of the task thread TSK_UDP In the process, if the upper computer issues a "stop detection" command, the task thread TSK_TCP is triggered, and the task thread TSK_UDP is preempted. After the system receives and analyzes the instruction, the system sends the instruction execution result to the upper computer, the task thread TSK_TCP ends, and the CPU The right to use is returned to the task thread TSK_UDP; when all the collected underwater acoustic signal data is sent to the host computer, the task thread TSK_UDP ends, and the task thread TSK_Process continues to run, waiting for the host computer to issue instructions again.

Claims (1)

1. the real-time information processing and the data transmission method of active detection system under water is characterized in that step is following:

Step 1: after processing of active detection system real-time information under water and data transmission system resetted and finish and accomplish initialization, mission thread TSK_Process brought into operation, and system is in the state that sends instructions under the host computer of waiting for;

Step 2: host computer sends instructions and supplemental characteristic under system, triggers mission thread TSK_TCP, and mission thread TSK_Process is seized, and the form of instruction and supplemental characteristic is table 1 and table 2:

Table 1 ethernet communication order format

The instruction head Instruction type The plate card number Length 8bit 5bit 3bit 16bit

Wherein, an instruction presentation directives begins, and accounts for 1 byte 8bit; Instruction type is the instruction code that host computer issues, and accounts for 5bit; The actuating equipment that plate card number presentation directives is corresponding accounts for 3bit, and wherein: 0x0～0x6 distributes under water each actuating equipment in the active detection system, and 0x7 representes broadcasting, i.e. all devices instruction that all need receive; Length represent this instruction heel with the supplemental characteristic number, account for 2 byte 16bit, 0x0000 representes this instruction printenv data, the length of an instruction is 4 bytes;

Table 2 ethernet communication supplemental characteristic form

Data head Parameter 1 … Parameter n 8bit 16bit … 16bit

Wherein, data head representes that data begin, and accounts for 1 byte 8bit; Thereafter need the transmission parameters data immediately following this instruction that issues, account for n * 16bit, promptly each supplemental characteristic accounts for 2 byte 16bit; The instruction that host computer issues is different, and the supplemental characteristic number of being followed thereafter is also different;

Step 3: after instruction that mission thread TSK_TCP issues host computer and supplemental characteristic receive and finish, judge through inspection instruction head and data head whether the instruction and the supplemental characteristic that receive effective, and the supplemental characteristic number that receives whether in the and instruction the represented data number of " length " part consistent; If; Then execution in step 4, if not, then abandon this instruction and supplemental characteristic; Mission thread TSK_TCP finishes, and waits for that host computer sends instructions down once more;

Step 4: mission thread TSK_TCP hangs up, and the right to use of CPU is returned to mission thread TSK_Process; Parsing is instructed in the instruction that mission thread TSK_Process issues host computer, and judging through " plate card number " part of instruction should the corresponding actuating equipment of instruction;

Step 5: mission thread TSK_Process will instruct and supplemental characteristic is handed down to corresponding actuating equipment; Under send instructions and supplemental characteristic before, system needs to adjust the form of instruction and supplemental characteristic, form such as the table 3 and the table 4 of instruction of adjustment back and supplemental characteristic:

Order format between table 3 actuating equipment

Instruction flag The instruction head Instruction type The plate card number 16bit 8bit 5bit 3bit

The adjustment mode of said instruction is to remove " length " part of the expression supplemental characteristic number of low 16bit in the ethernet communication order format, before the instruction head, adds the 0x0000 " instruction flag " of 16bit, presentation directives, and instruction still is 4 bytes;

Supplemental characteristic form between table 4 actuating equipment

Data Labels Parameter 16bit 16bit

The adjustment mode of said supplemental characteristic is to remove 8bit in the ethernet communication supplemental characteristic form " data head ", before the data of each 16bit, adds the 0xFFFF of 16bit, the expression data, and promptly each supplemental characteristic becomes 32bit by original 16bit;

Step 6: mission thread TSK_Process is behind end of transmission instruction of instruction actuating equipment and supplemental characteristic, and the 0x0000FFFF of the 32bit that redispatches " end " sign is represented end of transmission (EOT); When transfer instruction, need not transmission " ends " indicates.System is in waiting status, waits for and instructs actuating equipment to upload instruction execution result;

Step 7: the command adapted thereto actuating equipment is uploaded instruction execution result to system, the form such as the table 5 of instruction execution result after the instruction that is finished:

Table 5 instruction execution result form

The instruction head Instruction type The plate card number The result 8bit 5bit 3bit 16bit

Wherein, an instruction presentation directives begins, and accounts for 1 byte 8bit; Instruction type is an instruction code, accounts for 5bit; The actuating equipment that plate card number presentation directives is corresponding accounts for 3bit, and wherein: 0x0～0x6 distributes under water each actuating equipment in the active detection system, and 0x7 representes broadcasting, i.e. all devices instruction that all need receive; The result representes the instruction execution result of this instruction, accounts for 2 byte 16bit, and 0x0000 presentation directives runs succeeded, and 0x00FF presentation directives carries out failure;

Step 8: mission thread TSK_Process hangs up, and the right to use of CPU is returned to mission thread TSK_TCP.The instruction execution result that mission thread TSK_TCP will instruct actuating equipment to upload is not done any adjustment; Directly be uploaded to host computer, mission thread TSK_TCP finishes, and mission thread TSK_Process continues operation; If underwater sound signal data writing system is arranged; Then execution in step 9, otherwise system will get into waiting status, wait for that host computer sends instructions down once more;

Step 9: mission thread TSK_UDP is triggered, and mission thread TSK_Process is seized; Mission thread TSK_UDP is with the underwater sound signal packing data and adopt udp protocol to be uploaded to host computer; Up to host computer issue the expression stop to upload the instruction of data after; Mission thread TSK_UDP finishes, and mission thread TSK_Process continues operation, waits for that host computer sends instructions down once more.

Images