CN103294511A - Bootloader software updating method based on CAN (controller area network) bus - Google Patents
Bootloader software updating method based on CAN (controller area network) bus Download PDFInfo
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Abstract
The invention discloses a bootloader software updating method based on a CAN (controller area network) bus, relates to a bootloader software updating method, and aims to solve the problem that online updating fails due to the fact that existing vehicle-mounted ECUs (electronic control units) are not easy to demount. The bootloader software updating method is based on a storage device in an ECU. The method specifically includes that connecting electricity to start a bootloader; reading an application program starting address from a fixed address; judging whether the application program starting address is zero or not, if not, executing step 3, and if yes, executing step 5; reading M bytes at a fixed skewing position of the application program starting address; judging whether the M bytes are same as content of application program information or bot, if not , executing the step 5, and if yes, executing an application program; starting the bootloader, and performing online updating according to an ISO 15765 (international standardization organization 15765) protocol; entering a pre-programming stage, a programming stage and a programming end phase; writing a new starting address into the fixed address; resetting the ECU. The bootloader software updating method is applied to online updating of vehicle-mounted ECUs.
Description
Technical field
The present invention relates to a kind of upgrade method of the bootloader software based on the CAN bus.
Background technology
Bootloader, in embedded OS, bootloader is operation before the operating system nucleus operation.Can initiating hardware equipment, set up the memory headroom mapping graph, thereby take the hardware environment of system to a proper states, in order to be ready to correct environment for final call operation system kernel.In embedded system, the common not firmware program as BIOS (annotate, the embedded type CPU that has also can embedded one section short and small start-up routine), so the loading initiating task of total system is just finished by BootLoader fully.In an embedded system based on ARM7TDMI core, system all begins to carry out from address 0x00000000 when powering on or reset usually, and what arrange at this place, address is exactly the BootLoader program of system usually.
In embedded system, usually with the difference of software according to function, be stored in different ROM spaces, the division of software function makes whole software can separate on physical store, thereby has realized the function of upgrading part software.On the ECU of automobile, the difference that generally has more function can be divided into 3 parts, as shown in Figure 1.The software memory partitioning is 3 parts among Fig. 1: Bootloader memory block, application storage district and special-purpose receipt memory block.The function of various piece is as follows:
What the Bootloader district stored is Bootloader software, and bootloader software is the guiding of whole software, and major function is guiding and upgrading.After system started, by bootloader guiding operation, relevant devices such as initialization CPU, internal memory, serial ports, external memory storage loaded application program of user then, carry out concrete function treatment by user program; In the time of the needs upgrade applications, the software of holding with PC connects, and wipes original application program, and the application program of the redaction on the PC is downloaded to application area, can finish the upgrading of application program after restarting.
The application storage district is used for storing user program.
Special-purpose receipt memory block is used for recording some crucial parameters, comprises the configuration parameter of some equipment.
Generally the meeting programming is in the ROM of main control chip inside when equipment dispatches from the factory for system software, because professional expansion or the needs that defective is revised, application program then needs to carry out the upgrading of version.The upgrading of application program only need replace new version original version on the storage medium, restarts the upgrading that can finish application program.And if bootloader is upgraded, then need among the bootloader programming of the redaction ROM in the sheet, if it is unusual to occur outage etc. in this process, can make the upgrading failure, need return former factory and recover this moment, so for security and reliability, general software upgrading all refers to upgrade applications.
In upgrade applications, generally all to communicate by serial ports and PC, need reserve serial ports at ECU, in case and ECU is loaded on the car, except returning factory's maintenance, can't dismantle, so this moment, ECU need carry out communication by other means of communications and PC, only low profile interface of needs just can the down load application program.
In multiple automobile-used bus, most widely used bus protocol is the CAN bus protocol.Along with the widespread use of vehicle-mounted CAN bus, it is particularly important that the diagnostic techniques of vehicle-mounted CAN network also seems.Because diagnostic system is independent of the vehicle-mounted CAN network, make the cost of development of system increase thus, it is complicated that internal network becomes.For addressing the above problem, European car manufacturer releases a kind of diagnostic system communication standard IS015765 based on the CAN bus.
On-vehicle network diagnosis system based on IS015765 not only can carry out inline diagnosis, and the read failure sign indicating number can also be realized the online upgrading function of In-vehicle networking ECU (Electronic Control Unit).By the online upgrading function, can under the situation of not pulling down ECU, carry out upgrade maintenance to ECU, saved cost, avoid dismantling the loss that may bring.ISO15765 is as a kind of automobile failure diagnosis standard based on the CAN bus, it has stipulated command format, but service content is not described, this just makes under the IOS1576 protocol frame, the user can increase the dirigibility of exploitation according to needs and the requirement design related service of own actual items.
Summary of the invention
The present invention seeks in order to solve existing vehicle-mounted ECU not quick detachable, thereby cause can not online upgrading problem, a kind of upgrade method of the bootloader software based on the CAN bus is provided.
The upgrade method of the bootloader software based on the CAN bus of the present invention, this method is based on the memory device among the ECU, and the memory device among the ECU is divided into bootloader, application program and three parts of special data area; The detailed process of this method is:
Step 1, electrifying startup bootloader read the application program first address to fixed address;
Step 2, judge that whether the application program first address is zero, if otherwise execution in step three, if execution in step five then;
Step 3, read M the byte at application program first address constant offset place, wherein, M is positive integer;
Whether the byte content that step 4, determining step three obtain is identical with the content of application information, if otherwise execution in step five, if executive utility then;
Step 5, bootloader start, and begin to carry out online upgrading according to the ISO15765 agreement;
Step 6, online upgrading enter the pre-programmed stage;
Step 7, online upgrading enter programming phases;
Step 8, online upgrading enter the programming ending phase;
Step 9, the new first address of application program is write fixed address;
Step 10, ECU reset, and restart the address, and that returns step 1 then reads the application program first address to fixed address;
The detailed process in described pre-programmed stage of step 6 is:
Step 6-one, pre-programmed begin, and send extensive diagnostic session request;
Step 6-two, reception response message;
Step 6-three, judge whether affirmative acknowledgement of response message, if execution in step six-four then, if otherwise judge respond style, corresponding warning provided then;
Step 6-four, transmission diagnostic equipment online service diagnosis message;
Step 6-five, judge whether to reach timing, if otherwise execution in step six-six if then overtime, is returned default mode;
Step 6-six, termination DTC arrange, and stop non-deagnostic communication, and pre-programmed finishes;
The detailed process of the described programming phases of step 7 is:
Step 7-one, programming beginning send diagnostic session control request;
Step 7-two, carry out authentication, judge whether secret key mates, if otherwise jump out programming phases, if execution in step seven-three then;
Step 7-three, download configuration information are wiped storer, the down load application program;
Whether the transmission of step 7-four, judgment data is finished, if otherwise repeated execution of steps seven-four, if execution in step seven-five then;
Step 7-five, withdraw from transmission request, configuration starts;
Step 7-six, programming phases finish.
Advantage of the present invention: the invention solves the existing not easily detachable problem of vehicle-mounted ECU, provided a kind of online upgrading realization based on the ISO15765 agreement of CAN bus, and under the abnormal conditions at the outage that in escalation process, may occur or power supply shakiness, may make application program updating fail, take the stability of the method raising application program updating of zone bit.
Description of drawings
Fig. 1 is the structural representation of ECU of the present invention;
Fig. 2 is the FB(flow block) of the upgrade method of the bootloader software based on the CAN bus of the present invention;
Fig. 3 is the pre-programmed stage FB(flow block) of the upgrade method of the bootloader software based on the CAN bus of the present invention;
Fig. 4 is the programming phases FB(flow block) of the upgrade method of the bootloader software based on the CAN bus of the present invention.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 2, upgrade method based on the bootloader software of CAN bus, this method is based on the memory device among the ECU, and the memory device among the ECU is divided into bootloader, application program and three parts of special data area; The detailed process of this method is:
Step 1, electrifying startup bootloader read the application program first address to fixed address;
Step 2, judge that whether the application program first address is zero, if otherwise execution in step three, if execution in step five then;
Step 3, read M the byte at application program first address constant offset place, wherein, M is positive integer;
Whether the byte content that step 4, determining step three obtain is identical with the content of application information, if otherwise execution in step five, if executive utility then;
Step 5, bootloader start, and begin to carry out online upgrading according to the ISO15765 agreement;
Step 6, online upgrading enter the pre-programmed stage;
Step 7, online upgrading enter programming phases;
Step 8, online upgrading enter the programming ending phase;
Step 9, the new first address of application program is write fixed address;
Step 10, ECU reset, and restart the address, and that returns step 1 then reads the application program first address to fixed address.
In the present embodiment, the described pre-programmed stage of step 6 is used to ECU programming to prepare, and will enter the extensive diagnostic conversation modes in the pre-programmed stage, stops detection to diagnostic trouble code with this, stop the communication of normal message simultaneously, can normally carry out to guarantee the program downloads stage.The described programming phases of step 7 at first will make ECU enter under the programming conversation modes, just can carry out subsequent download work to the ECU release then, mainly is the down load application program.To carry out verification to the transmission data behind the end of transmission, will reset to ECU at last.The described programming ending phase of step 8 is after having downloaded all application programs and verification correctly, and the message that resets that sends single frames is restarted ECU.It is to go to read after making things convenient for bootloader to start that the described new first address with application program of step 9 is write fixed address.
Among the present invention, application program can wait for that also PC sends the indication that enters the online upgrading flow process, after receiving the upgrading indication, at first wipes the application program first address at fixed address place, enters into step 5 then to the online upgrading flow process of step 8.
Embodiment two: present embodiment is described further embodiment one, code and data that three parts that the memory device among the described ECU is divided are respectively applied to store difference in functionality.
Embodiment three: present embodiment is described further embodiment one, and the described executive utility of step 4 comprises according to the demand of application program and carries out corresponding initialization, comprises the initialization of cpu frequency, PWM and CAN controller.
Embodiment four: below in conjunction with Fig. 3 present embodiment is described, present embodiment is described further embodiment one, and the detailed process in described pre-programmed stage of step 6 is:
Step 6-one, pre-programmed begin, and send extensive diagnostic session request;
Step 6-two, reception response message;
Step 6-three, judge whether affirmative acknowledgement of response message, if execution in step six-four then, if otherwise judge respond style, corresponding warning provided then;
Step 6-four, transmission diagnostic equipment online service diagnosis message;
Step 6-five, judge whether to reach timing, if otherwise execution in step six-six if then overtime, is returned default mode;
Step 6-six, termination DTC arrange, and stop non-deagnostic communication, and pre-programmed finishes.
Embodiment five: present embodiment is described further embodiment four, and the described timing of step 6-five is 3s.
Embodiment six: below in conjunction with Fig. 4 present embodiment is described, present embodiment is described further embodiment one, and the detailed process of the described programming phases of step 7 is:
Step 7-one, programming beginning send diagnostic session control request;
Step 7-two, carry out authentication, judge whether secret key mates, if otherwise jump out programming phases, if execution in step seven-three then;
Step 7-three, download configuration information are wiped storer, the down load application program;
Whether the transmission of step 7-four, judgment data is finished, if otherwise repeated execution of steps seven-four, if execution in step seven-five then;
Step 7-five, withdraw from transmission request, configuration starts;
Step 7-six, programming phases finish.
In the present embodiment, step 7-two is described, and to carry out authentication be to carry out secure access service.Secure access service is mainly carried out secure access by the secure access algorithm, has only by authentication, just can carry out next step operation.
The structure of system of the upgrade method of the bootloader software based on the CAN bus of the present invention is described below in conjunction with Fig. 1: system connects pc client and ECU server end by the upright rich L of kvaser, carries out communication by the CAN bus protocol between the two.The software of PC end mainly is responsible for the BIN file that compiling is come out is resolved, and is packaged into the message of CAN then, and the three phases of flow process is downloaded in strict realization: pre-programmed stage, programming phases, programming ending phase.Upper machine is except document analysis with three stages, also have some to config option, wherein hardware configuration mainly is that the upright rich L connector of kvaser is configured, and comprises channel number, the data transmission between the upright rich L connector of PC and kvaser then is responsible in settings such as baud rate, communication module.
Specify the startup flow process below in conjunction with Fig. 2: behind system's electrifying startup, at first starting from bootloader, all is to start from bootloader in any case, and after namely powering on or resetting, the first statement that system carries out is constant.
In case bootloader at first goes to the first address that fixed address goes to read application program after starting, when first address was zero, showing did not also have application program, and start from bootloader this moment, carries out the download of application program.
When the application program first address of reading was non-vanishing, showing had application program to exist, and then begins to judge the validity of application program.Read 16 bytes that application program first opens beginning constant offset place, address, when the information of the content of these 16 bytes and regulation is identical, the beginning executive utility, otherwise start from bootloader, this step mainly is to prevent that the application program of downloading from not meeting standard, thereby causes some unpredictable mistakes.
After starting from bootloader, can carry out some necessary initialization to system, as flash, CAN, PWM etc. can communicate by the CAN bus with host computer then, and carry out online upgrading according to the flow process of ISO15765 agreement regulation;
When there being application program, and application program by Information Authentication after, can begin to carry out from jumping to application program.
Mainly be divided into pre-programmed stage, programming phases and programming for the online upgrading process and finish 3 stages, below in conjunction with Fig. 3 be described the pre-programmed stage.
The pre-programmed stage mainly is for the ECU programming phases does homework, and will enter the extensive diagnostic conversation modes in the pre-programmed stage, stops detection to diagnostic trouble code with this, stops the communication of normal message etc. simultaneously, can normally carry out to guarantee the program downloads stage.
I. send extensive diagnostic session request (0x10), send mode is functional addressing, and ECU is entered under the mode of extension.Because it is to enter under the pattern of acquiescence that ECU one powers on, so need this moment ECU is carried out the pattern redirect, jump under the mode of extension, thus diagnosis such as executive termination DTC service.
Ii. diagnostic equipment online service (0x3E), this design is adopted every 3s and is sent once to guarantee that ECU is in non-default mode, keeps normal diagnostic session, if ECU does not receive the diagnosis message in the 5s, ECU is with automatic rebound default mode.
Iii. send termination DTC service (0x85) is set, send mode is functional addressing still, makes ECU stop diagnostic trouble code and detects, and the generation of prevention improper diagnostic trouble code under the deagnostic communication mode is because proper communication this moment is terminated.
Iv. communicate control services request (0x28), be used for stopping proper communication, guarantee that the transfer rate of data when downloading is to avoid disturbed.
Be elaborated in conjunction with the programming phases of Fig. 4.
Programming phases at first will make ECU enter under the programming conversation modes, just can carry out subsequent download work to the ECU release then, mainly is the down load application program.To carry out verification to the transmission data behind the end of transmission, will reset to ECU at last.
The diagnosis service execution flow process of programming phases as shown in Figure 4, step following (bracket in for service number):
I. programming mode session request (0x10) enters under the programming mode ECU, can carry out the program download service.Still send the diagnostic equipment online service to keep the diagnostic session pattern every 3s under this pattern.If do not have not response of ECU in the time at 3s, then can withdraw from the diagnostic session pattern.
Ii. secure access service is carried out (0x27), and ECU is under the safeguard protection state, need unlock the same just to carry out writing and downloading of data.Secure access service is mainly carried out secure access by the secure access algorithm, has only by authentication, just can carry out next step operation.
Iii. (0x34) downloaded in request, and client informs that ECU will send the start address and the byte-sized that sends data of data.This moment, host computer will extract the start address of required transmission data from the MHX file, and calculated the data total amount that will send.
Iv. transmit data (0x36),, the application layer data that will send in the MHX file should be added the transport layer protocol control information this moment and transmit in order to packing the data transmission of packing according to host-host protocol.
V. (0x37) withdrawed from request transmission, transmit data transmission intact after, send the request transmission and withdraw from service and withdraw from transmission.
Vi. Starting mode being configured, is directly to enter application program or enter the download flow process.
Wherein secure access service is executed, and needs ECU is carried out release, and its access method is the request kind sub-services that host computer is at first selected a safe class, and ECU returns a random seed after receiving the seed request.Host computer will obtain key according to gained random seed and security algorithm again and send to ECU, ECU also calculates according to identical security algorithm and judges whether the key of host computer is correct again, send the negative response sign indicating number if be out of one's reckoning to ECU, ECU still is in the lock state, if the positive provisioning response of correct transmission is to the ECU release.Can write data and download it after the ECU release.
The programming ending phase is after having downloaded all application programs and verification correctly, and the message that resets that sends single frames is restarted ECU; Before restarting ECU, the first address of application program is write a fixing address, go to read after making things convenient for bootloader to start, write the address after, ECU resets.
The renewal that the present invention can both carry out application program by application program address, authorization information, ISO15765 agreement and bootloader and application program has guaranteed the stability of vehicle-mounted ECU program upgrade.
Claims (4)
1. based on the upgrade method of the bootloader software of CAN bus, it is characterized in that this method is based on the memory device among the ECU, the memory device among the ECU is divided into bootloader, application program and three parts of special data area; The detailed process of this method is:
Step 1, electrifying startup bootloader read the application program first address to fixed address;
Step 2, judge that whether the application program first address is zero, if otherwise execution in step three, if execution in step five then;
Step 3, read M the byte at application program first address constant offset place, wherein, M is positive integer;
Whether the byte content that step 4, determining step three obtain is identical with the content of application information, if otherwise execution in step five, if executive utility then;
Step 5, bootloader start, and begin to carry out online upgrading according to the ISO15765 agreement;
Step 6, online upgrading enter the pre-programmed stage;
Step 7, online upgrading enter programming phases;
Step 8, online upgrading enter the programming ending phase;
Step 9, the new first address of application program is write fixed address;
Step 10, ECU reset, and restart the address, and that returns step 1 then reads the application program first address to fixed address;
The detailed process in described pre-programmed stage of step 6 is:
Step 6-one, pre-programmed begin, and send extensive diagnostic session request;
Step 6-two, reception response message;
Step 6-three, judge whether affirmative acknowledgement of response message, if execution in step six-four then, if otherwise judge respond style, corresponding warning provided then;
Step 6-four, transmission diagnostic equipment online service diagnosis message;
Step 6-five, judge whether to reach timing, if otherwise execution in step six-six if then overtime, is returned default mode;
Step 6-six, termination DTC arrange, and stop non-deagnostic communication, and pre-programmed finishes;
The detailed process of the described programming phases of step 7 is:
Step 7-one, programming beginning send diagnostic session control request;
Step 7-two, carry out authentication, judge whether secret key mates, if otherwise jump out programming phases, if execution in step seven-three then;
Step 7-three, download configuration information are wiped storer, the down load application program;
Whether the transmission of step 7-four, judgment data is finished, if otherwise repeated execution of steps seven-four, if execution in step seven-five then;
Step 7-five, withdraw from transmission request, configuration starts;
Step 7-six, programming phases finish.
2. the upgrade method of the bootloader software based on the CAN bus according to claim 1 is characterized in that, code and data that three parts that the memory device among the described ECU is divided are respectively applied to store difference in functionality.
3. the upgrade method of the bootloader software based on the CAN bus according to claim 1, it is characterized in that, the described executive utility of step 4 comprises according to the demand of application program and carries out corresponding initialization, comprises the initialization of cpu frequency, PWM and CAN controller.
4. the upgrade method of the bootloader software based on the CAN bus according to claim 1 is characterized in that the described timing of step 6-five is 3s.
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