CN102799502B - A kind of spaceborne embedded software maintaining method in-orbit - Google Patents
A kind of spaceborne embedded software maintaining method in-orbit Download PDFInfo
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Abstract
A kind of spaceborne embedded software maintaining method in-orbit, for implementing to safeguard in-orbit to the embedded software employing increment on spacecraft notes mode.(1) increment notes data genaration: after determining to need to safeguard in-orbit On-board software, spaceborne embedded software after upgrading is carried out compiling, linking, generate binary file, binary file after upgrading and binary file corresponding to program are in orbit compared, generation delta file; (2) increment is noted data uplink to inject: delta file subpackage is injected into memory block on star by ground, receive a bag package, just the valid data in package extracted and write the memory block of delta file of presetting, until all packages harvest; (3) increment is noted data recombination to run: the delta file of upper note and the binary file existed in program storage are originally made comparisons and reconfigured, after generating new program, new procedures is loaded into internal memory, and perform new program, complete the maintenance in-orbit to embedded software.
Description
Technical field
The present invention relates to a kind of spaceborne embedded software maintaining method in-orbit, for implementing to safeguard in-orbit to the embedded software on spacecraft.
Background technology
When spaceborne embedded software goes wrong in flight course or need to increase new function, need to carry out fault restoration or function upgrading to this software.At present, to the maintenance in-orbit of On-board software, domestic main method is directly injected in embedded system by ground by amended software, then start amended embedded software by maintenance program in-orbit, this method needs the file that injects comparatively large, and the transmission time is long, larger internal memory is needed to store explanatory notes part, and there is greater risk, once upper note process breaks down, whole system may be caused to run actual effect.And current great majority maintaining method in-orbit, all can only safeguard in-orbit the local function of software.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, there is provided a kind of can effectively and all sidedly to the method that spaceborne embedded software is safeguarded in-orbit, the method resource cost is few, algorithm is simple, comparison algorithm is applicable to any chip type, portable good, effectively raise the reliability of software, security and maintainability.
Technical solution of the present invention: spaceborne embedded software maintaining method in-orbit, is characterized in that being realized by following steps:
(1) increment notes data genaration: after determining to need to safeguard in-orbit On-board software, spaceborne embedded software after upgrading is carried out compiling, linking, generate binary file, binary file after upgrading and binary file corresponding to program are in orbit compared, generation delta file;
(2) increment is noted data uplink to inject: delta file subpackage is injected into memory block on star by ground, receive a bag package, just the valid data in package extracted and write the memory block of delta file of presetting, until all packages harvest;
(3) increment is noted data recombination to run: the delta file of upper note and the binary file existed in program storage are originally made comparisons and reconfigured, after generating new program, new procedures is loaded into internal memory, and perform new program, complete the maintenance in-orbit to embedded software.
The step generating delta file in described step (1) is as follows:
(1.1) judge whether the binary file after upgrading runs through, and is jump to step (1.6), otherwise enter next step;
(1.2) from the binary file after upgrading and program is corresponding in orbit binary file, a byte is read successively; Judge that whether two bytes read are identical, identical, return step (1.1), difference enters next step;
(1.3) judge whether the binary file that program is corresponding in orbit runs through, represent that the binary file after renewal adds one piece of data, the data increased are all the elements that the current reading address of binary file after upgrading starts the binary file tail after renewal, form the change program block that a pattern is " increase ", and get back to step (1.1), otherwise enter next step;
(1.4) according to upgrade after binary file in from read current byte one piece of data search for binary file corresponding to program in orbit, see and whether delete one piece of data, form the change program block that a pattern is " deletion ", and get back to step (1.1), otherwise enter next step;
(1.5) according to the binary file in the binary file that program is corresponding in orbit from the current byte read after one piece of data search renewal, see and whether add one piece of data, form the change program block that a pattern is " increase ", and get back to step (1.1); Otherwise form the change program block that a pattern is " replacement ", and get back to step (1.1);
(1.6) judge whether the binary file that program is corresponding in orbit runs through, terminate to compare, otherwise represent and delete one piece of data, the content of deleting is all the elements that program is corresponding in orbit binary file current reading address starts to binary file tail corresponding to program in orbit, form the change program block that a pattern is " deletion ", terminate to compare;
The forming process of the change program block of above-mentioned " increase " is: by the current reading address write delta file of binary file corresponding for program in orbit, and in delta file, adopt fixing label to describe programing change pattern, and the data length increased and content are write delta file;
The forming process of the change program block of above-mentioned " deletion " is: by the current reading address write delta file of binary file corresponding for program in orbit, and adopt fixing label to describe programing change pattern in delta file, and the data length write delta file that will delete;
The forming process of the change program block of above-mentioned " replacement " is as follows: by the current reading address write delta file of binary file corresponding for program in orbit, and adopt fixing label to describe programing change pattern in delta file, and the current byte write delta file will read in the length of replacement byte and the binary file after upgrading.
On star in described step (2), memory block adopts nonvolatile memory FLASH or EEPROM.
The present invention's beneficial effect is compared with prior art:
(1). the present invention adopts note mode on increment: this method does not need the whole uplink of software object file that will upgrade after upgrading, only the some uplink of change be need will there is in embedded system, part or the complete upgrading of embedded software supported;
(2). adopt on increment and note data general-purpose robotization generative approach: increment is noted data and automatically generated by delta file generation technique, the file that delta file generation technique compares is the binary file of final write-in program storer, comparison algorithm and file layout have nothing to do, and are applicable to any embedded chip;
(3). adopt power-off protection design: increment is noted the nonvolatile memories such as data acquisition FLASH, EEPOM and store, even if software running platform power-off, after again powering up, the delta file of upper note is still effective;
(4). adopt breakpoint transmission design: note on increment data by remote-control romote-sensing interface by terrestrial transmission in the process of aircraft, packet sequence number is noted by arranging in point packet procedures, repeatedly can pass by and resume by supported data, do not require continuous injection, be not subject to the restriction of transit time and remote control segmental arc.
(5). adopt safety startup of system design: increment is noted data and be stored in the nonvolatile memories such as FLASH, EEPOM, directly be loaded into internal memory and run after recombinating with the original program file of embedded system, do not revise the routine data in original program storage.Inject break down if increment is noted data, equipment adds after power-off or software reset restart again, still runs original program, even if ensure that increment noting data injects and break down, and also can not cause embedded system thoroughly to lose efficacy.
(6). support to note design repeatedly: not by the restriction of the upper note of software, operationally note in the process of program, again can carry out upper note and upgrade, supreme note number of times restriction.
(7). adopt the design of general recombinant technique portability: devise reassembly algorithm for DSP and ARM two class main flow embedded chip at present, can be transplanted to easily on the chip of any model of DSP and ARM.
Accompanying drawing explanation
Fig. 1 is present system block diagram;
Fig. 2 be ancient deed of the present invention relative to new file erase one piece of data schematic diagram;
Fig. 3 is that the new file of the present invention adds one piece of data schematic diagram relative to ancient deed;
Fig. 4 is the embedded program restructuring schematic diagram that the present invention is based on ARM;
Fig. 5 is the embedded program restructuring process flow diagram that the present invention is based on ARM;
Fig. 6 is the embedded program restructuring schematic diagram that the present invention is based on DSP;
Fig. 7 is the embedded program address remapped process flow diagram that the present invention is based on DSP;
Fig. 8 is the embedded program restructuring process flow diagram that the present invention is based on DSP.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.Maintaining method mainly comprises delta file generation technique and embedded software recombinant technique two parts in-orbit.Delta file generation technique is for generating delta file; Embedded software recombinant technique is used for program restructuring and loads.
As shown in Figure 1, step of the present invention is as follows:
(1) increment notes data genaration: after determining to need to safeguard in-orbit On-board software, spaceborne embedded software after upgrading is carried out compiling, linking, generate binary file, binary file after upgrading and binary file corresponding to program are in orbit compared, generation delta file;
The alignment algorithm that what the generation of delta file utilized is based on file.For the binary file that the file of comparison is after compiling, alignment algorithm, based on file, has nothing to do with file layout.
The basic thought of Documents Comparison for: the binary file that the program first thinking in orbit generates is ancient deed, and the binary file after being upgraded by ground is new file.Then from two file headers, read a byte successively compare.If two bytes are identical, be then left intact, then read next byte.If two bytes are not identical, then need the reason judging that byte is not identical.
Byte is not identical 3 kinds of situations.
A kind of situation be ancient deed relative to new file erase one piece of data, so the byte of current comparison is not identical.As shown in Figure 2, the byte of the current reading of ancient deed is a, and the byte of the current reading of new file is b.If pass through search file, find that ancient deed is identical to the content of address m2 from address n2 with new file to the content of address m1 from address k, then think ancient deed relative to new file erase one piece of data, the content of deletion is the data of address n1 to address k-1.The length of n2 to m2 can be arranged as the case may be.Rule of thumb, 32 or 64 bytes can be set to.
The second situation is that new file adds one piece of data relative to ancient deed, so the byte of current comparison is not identical.As shown in Figure 3, the byte of the current reading of ancient deed is a, and the byte of the current reading of new file is b.If pass through search file, find that ancient deed is identical to the content of address m2 from address k with new file to the content of address m1 from address n1, then think that new file adds one piece of data relative to ancient deed, the content of increase is the data of address n2 to address k-1.
The third situation exactly when byte is not identical neither because deleting is not again because when increasing, just think byte in ancient deed replace by the byte in new file.
What delta file comprised is exactly the information that above three kinds of situations reflect.Change program block in delta file divides according to " increase ", " deletion " and " replacement " three kinds of situations.
In file comparison process, when finding that new file adds one piece of data than ancient deed, first current for the ancient deed shown in Fig. 3 reading address n1 is write delta file, then 0xaa is write delta file, represent that change pattern is " increase ", finally the data length (k-n2) increased and content (content of new file address n2 to address k-1) are write delta file, which forms the change program block that a pattern is " increase ";
In file comparison process, when finding ancient deed than new file erase during one piece of data, first current for the ancient deed shown in Fig. 2 reading address n1 is write delta file, then 0xbb is write delta file, represent that change pattern is " deletion ", finally the data length (k-n1) deleted is write delta file, which forms the change program block that a pattern is " deletion ";
In file comparison process, when finding that the byte of ancient deed is replaced by the byte of new file, if the address of the address of current replacement byte and previous replacement byte is continuous, then the direct byte of replacing that will need writes in the change program block at previous replacement byte place, and re-writes delta file after the length of change program block is added 1; If the address of the address of current replacement byte and previous replacement byte is discontinuous, then again form one and change program block, first the start address write delta file of byte will be replaced in ancient deed, then 0xcc is write delta file, represent that change pattern is " replacement ", then by 1 write delta file, represent that replacing length is 1, finally by the replacement byte write delta file in new file, which forms the change program block that a pattern is " replacement ".One is changed program block and comprises one section of continuous print replacement byte, therefore, if the address of the address of current replacement byte and previous replacement byte is continuous, then current replacement byte and previous replacement byte is merged into one and changes in program block; If the address of the address of current replacement byte and previous replacement byte is discontinuous, then regenerates one and change program block.
Comparison step is as follows:
(1.1) judge whether the binary file after upgrading runs through, and is jump to step (1.6), otherwise enter next step;
(1.2) from the binary file after upgrading and program is corresponding in orbit binary file, a byte is read successively; Judge that whether two bytes read are identical, identical, return step (1.1), difference enters next step;
(1.3) judge whether the binary file that program is corresponding in orbit runs through, represent that the binary file after renewal adds one piece of data, the data increased are all the elements that the current reading address of binary file after upgrading starts the binary file tail after renewal, form the change program block that a pattern is " increase ", and get back to step (1.1), otherwise enter next step;
(1.4) according to the binary file after renewal, one piece of data (such as 32 bytes from the current byte read, when specific implementation, this value can adjust according to actual conditions) search for binary file corresponding to program in orbit, whether corresponding with program in orbit the one piece of data in binary file after current sense byte identical, judge whether to delete one piece of data, delete and then form the change program block that a pattern is " deletion ", and get back to step (1.1), otherwise enter next step;
(1.5) according to the binary file in the binary file that program is corresponding in orbit from the current byte read after one piece of data search renewal, see and whether add one piece of data, form the change program block that a pattern is " increase ", and get back to step (1.1); Otherwise form the change program block that a pattern is " replacement ", and get back to step (1.1);
(1.6) judge whether the binary file that program is corresponding in orbit runs through, terminate to compare, otherwise represent and delete one piece of data, the content of deleting is all the elements that program is corresponding in orbit binary file current reading address starts to binary file tail corresponding to program in orbit, form the change program block that a pattern is " deletion ", terminate to compare.
Delta file form is as shown in table 1:
Table 1 delta file form
(2) increment is noted data uplink to inject: delta file subpackage is injected into memory block on star by ground, after harvesting all packages, the valid data in package are extracted and write the memory block of default delta file;
Delta file is in land station's subpackage, and then package according to upper note data transmission format, the size of each packet is not limit, and depends on remote measuring and controlling Interface design, and upper note data transmission format is as shown in the table:
Data transmission format noted by table 2
| Byte sequence number | Definition | Remarks |
| 1-4 | Upper note data packet head | FE6B2840H |
| 5 | Upper note packet classification | For distinguishing the package of different software |
| 6 | Upper note packet sequence number | Upper note packet sequence number |
| 7 | Upper note data length | Effectively upper note data length N (N≤M-8) in bag |
| 8-M-1 | Upper note data | Data length is N (N≤M-8), and slack byte fills out 0xAA |
| M | School Affairs | 1 byte total check and (not containing data head and check bit) |
Upper note packet to be injected on star in memory block by ground, after star receiving note packet, (whether head and verification as judged packet be correct to judge data validity, whether bag sequence number is continuous), after judgement effectively, the valid data in upper note packet extracted and write the memory block of delta file.Upper note packet is all gone up after note completes, and in write memory block is a complete delta file as shown in table 1.Delta file adopts 3 back-up storage in storer, and during reading, the strategy of 2 is got in employing 3, and can carry out correctness detection to delta file data head and check sum before restructuring, guarantees the reliability that delta file uses and correctness.
(3) increment is noted data recombination to run: the delta file of upper note and the binary file existed in program storage are originally made comparisons and reconfigured, after generating new program, new procedures is loaded into internal memory, and perform new program, complete the maintenance in-orbit to embedded software.
Embedded system is after the upper note enabled instruction receiving ground transmission, delta file and the binary file existed in program storage are originally made comparisons by embedded software recombination module, and utilize reassembly algorithm to be recombinated by the file before delta file and amendment, generate amended file, and be loaded into internal memory, then program pointer is jumped to amended program entry address, perform amended program.
For ARM chip, the binary file in program storage is pure binary file (PlainBinary).The program start-up course of ARM chip is: be first loaded in internal memory by whole for the binary file in program storage, the operation then remapped by the start-up code executive address in program.Therefore, the embedded program based on ARM is recombinated, and only need the file after restructuring is whole be loaded in internal memory, need not carry out the operation of address remapped.Based on ARM embedded software regrouping process as shown in Figure 4,5, specific as follows:
1. judged whether change program block, be, jumped to the 2nd step, otherwise exit restructuring program;
2. whether the content in determining program storer runs through, otherwise jumps to step 3, is jump to step 8;
3. judging whether delta file runs through, otherwise jump to step 4, is jump to step 9;
4. the content changed before program block first address is loaded into internal memory, jumps to step 5;
5. judge whether change pattern is " increase ", is, the content increased is loaded into internal memory, and returns step 2, otherwise jump to step 6 in delta file;
6. judge whether change pattern is " deletion ", is, skips the content will deleted in program storage, and returns step 2, otherwise jump to step 7;
7. judge whether change pattern is " replacement ", is, the content of replacing in delta file is loaded into internal memory, and returns step 2, otherwise think pattern incorrect and the software that resets;
8. judge whether delta file runs through, be the program after then directly starting restructuring, otherwise the content increased in delta file is loaded into internal memory, and start the program after restructuring;
9. content remaining in program storage is loaded into internal memory, and returns step 2.
For dsp chip, the binary file in program storage is ASCII-hex form, contains address and the length of program segment in data layout.Therefore, section, in start-up course, is loaded in internal memory according to sector address by the program of dsp chip, just completes the operation of address remapped in the process loaded.Therefore, the embedded program based on DSP is recombinated, and needs the file after by restructuring to be loaded in internal memory by section.For embedded software, after program compilation, generally divide into a lot of sections, so-called section, the panel region that the program that just refers to is deposited continuously in internal memory.Such as, the size of a program is 1000 bytes, is divided into two sections, and one is loaded into the place of internal memory from address 0 to 500, and another is loaded into the place of internal memory from address 1000 to 1500.Because program has been divided into two sections, so start address and the length of two sections will be recorded in binary file respectively.A program is divided into several sections, can arbitrarily arrange, and it doesn't matter with upper note for this.
Start based on note on the embedded software of DSP, include program restructuring and address remapped two steps, therefore, algorithmically also divide into two parts.An algorithm is for address remapped, and another algorithm is recombinated for program.Wherein, the result that program reassembly algorithm returns is employed in address remapped algorithm.Program reassembly algorithm is a restructuring byte at every turn, often reads a byte, all can call a secondary program reassembly algorithm in address remapped algorithm.
Embedded software address remapped process based on DSP is:
1. judge whether to exist effectively to change program block, be, jump to the 2nd step, otherwise exit restructuring program;
2. read the segment length in the rear binary file of restructuring, judge whether segment length is 0, is, starts the program after restructuring, otherwise jumps to step 3;
3. read the sector address in binary file after restructuring, judging that whether sector address is maintenance program section itself in-orbit, is skip this section, return step 2, otherwise jump to step 4;
4. judge whether present segment is first section, be then using present segment address as program entry dot address, jump to step 5, otherwise leap to step 5;
5. read the content of present segment in the rear binary file of restructuring, and the content of present segment is loaded into internal memory, return step 2.
Embedded software program regrouping process based on DSP is:
1., according to change block address and length, obtain the alteration of current byte in program storage;
2. if alteration is not for changing, then from program storage, reads a byte, and return this byte, exit the restructuring of this secondary program, otherwise jump to step 3;
3. if alteration is for increasing, then from delta file, reads a byte, and return this byte, exit the restructuring of this secondary program, otherwise jump to step 4;
4. if alteration is for deleting, then skipping the current byte in program storage, exiting the restructuring of this secondary program, otherwise jumping to step 5;
5. if alteration is for replacing, then skipping the current byte in program storage, from delta file, reading a byte, and return this byte, exit the restructuring of this secondary program, otherwise think pattern incorrect and the software that resets.
Embedded program based on DSP recombinates schematic diagram as shown in Figure 6, and as shown in Figure 7, program restructuring process flow diagram as shown in Figure 8 for address remapped process flow diagram.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (2)
1. spaceborne embedded software maintaining method in-orbit, is characterized in that being realized by following steps:
(1) increment notes data genaration: after determining to need to safeguard in-orbit On-board software, spaceborne embedded software after upgrading is carried out compiling, linking, generate binary file, binary file after upgrading and binary file corresponding to program are in orbit compared, generation delta file; The step of described generation delta file is as follows:
(1.1) judge whether the binary file after upgrading runs through, and is jump to step (1.6), otherwise enter next step;
(1.2) from the binary file after upgrading and program is corresponding in orbit binary file, a byte is read successively; Judge that whether two bytes read are identical, identical, return step (1.1), difference enters next step;
(1.3) judge whether the binary file that program is corresponding in orbit runs through, represent that the binary file after renewal adds one piece of data, the data increased are all the elements that the current reading address of binary file after upgrading starts the binary file tail after renewal, form the change program block that a pattern is " increase ", and get back to step (1.1), otherwise enter next step;
(1.4) according to upgrade after binary file in from read current byte one piece of data search for binary file corresponding to program in orbit, see and whether delete one piece of data, form the change program block that a pattern is " deletion ", and get back to step (1.1), otherwise enter next step;
(1.5) according to the binary file in the binary file that program is corresponding in orbit from the current byte read after one piece of data search renewal, see and whether add one piece of data, form the change program block that a pattern is " increase ", and get back to step (1.1); Otherwise form the change program block that a pattern is " replacement ", and get back to step (1.1);
(1.6) judge whether the binary file that program is corresponding in orbit runs through, terminate to compare, otherwise represent and delete one piece of data, the content of deleting is all the elements that program is corresponding in orbit binary file current reading address starts to binary file tail corresponding to program in orbit, form the change program block that a pattern is " deletion ", terminate to compare;
The forming process of the change program block of above-mentioned " increase " is: by the current reading address write delta file of binary file corresponding for program in orbit, and in delta file, adopt fixing label to describe programing change pattern, and the data length increased and content are write delta file;
The forming process of the change program block of above-mentioned " deletion " is: by the current reading address write delta file of binary file corresponding for program in orbit, and adopt fixing label to describe programing change pattern in delta file, and the data length write delta file that will delete;
The forming process of the change program block of above-mentioned " replacement " is as follows: by the current reading address write delta file of binary file corresponding for program in orbit, and adopt fixing label to describe programing change pattern in delta file, and the current byte write delta file will read in the length of replacement byte and the binary file after upgrading;
(2) increment is noted data uplink to inject: delta file subpackage is injected into memory block on star by ground, receive a bag package, just the valid data in package extracted and write the memory block of delta file of presetting, until all packages harvest;
(3) increment is noted data recombination to run: the delta file of upper note and the binary file existed in program storage are originally made comparisons and reconfigured, after generating new program, new procedures is loaded into internal memory, and perform new program, complete the maintenance in-orbit to embedded software.
2. spaceborne embedded software according to claim 1 maintaining method in-orbit, is characterized in that: on the star in described step (2), memory block adopts nonvolatile memory FLASH or EEPROM.
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