CN103440184B - The method of one seed coat satellite carried computer state backrush warm spare - Google Patents
The method of one seed coat satellite carried computer state backrush warm spare Download PDFInfo
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- CN103440184B CN103440184B CN201310364866.6A CN201310364866A CN103440184B CN 103440184 B CN103440184 B CN 103440184B CN 201310364866 A CN201310364866 A CN 201310364866A CN 103440184 B CN103440184 B CN 103440184B
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Abstract
The method that the invention discloses a seed coat satellite carried computer state backrush warm spare, be implemented on include being sequentially connected with bimodulus isomorphism microprocessor module, FPGA and FLASH system in, described bimodulus isomorphism microprocessor module is made up of two isomorphisms DSP；Critical data during being calculated by FLASH storage DSP forms critical data queue, chooses correct critical data by the method for comparison and recover DSP Previous work in handoff procedure from data queue.The method is mainly used in the skin satellite carried computer system that volume is little, low in energy consumption, takes into account real-time and reliability requirement, has certain versatility.
Description
Technical field
The present invention relates to the implementation method of the state backrush warm spare of satellite, particularly relate to a seed coat satellite carried computer
The method of state backrush warm spare.
Background technology
Skin satellite refers to the ultra micro moonlet that weight is feather weight, and it is typically with microelectronics, MEMS(Micro
Electronic Mechanical System, Micro Electro Mechanical System), the microminaturization technology such as multi-chip package assembling be base
Plinth, has that Autonomous Control degree is high, lightweight, the lead time is short, mobility strong, cost and a feature such as launch cost is low.
Skin satellite as a complete orbiter, is respectively disliked by experience with during bearing powered phase and orbital flight
Bad environmental condition.This requires that the spaceborne computer management system of skin satellite has the highest reliability.In traditional design of satellites
In, generally use the multiple method such as backup of high-grade device, a large amount of discrete component and subsystem rank and the comprehensive of measure
Should be used for ensureing reliability.This method for designing, conflicts mutually with the own characteristic of skin satellite.The especially skin based on Chinese Universities '
During satellite is developed, lacking high-grade device, to obtain channel, research fund limited, and the limitation of the method becomes apparent from.
In order to improve the reliability of skin satellite system, core calculations unit is generally used bimodulus backup, triplication redundancy etc.
Measure.Wherein bimodulus backs up relative triplication redundancy, is a kind of reliability guarantee method relatively low to power consumption and volume requirement, application
Scope is relatively broad.
Bimodulus backup is generally by cold standby, Hot Spare, three kinds of methods of warm spare.Wherein, cold standby is for device, relatively
SEU event (Single Event Upset, single-particle inversion) is the safest, but the real-time of cold standby is poor, active and standby
Take long enough during switching to wait that backup units enters normal operating conditions；Hot Spare real-time is best, but its to SEU can
There is no the lifting of essence by property, have identical probability to be affected by SEU with main frame；Warm spare falls between, Ke Yi
Reduce the impact of SEU event to a certain extent, the requirement of real-time of General System can be met again.
At present, domestic and international warm spare scheme deficiency is: only the critical data in running is used single backup, lacks
There is the situation of mistake in the backed up key message of weary consideration itself, seriality and the correctness of system after backup switching will be made by this
Become impact.
Summary of the invention
The method that the invention provides a seed coat satellite carried computer state backrush warm spare, the method mainly applies to
The board computer system of skin satellite, has taken into account real-time and the reliability requirement of skin satellite system, has had certain versatility,
Extend in other satellite systems.
The method of one seed coat satellite carried computer state backrush warm spare, is implemented on the bimodulus isomorphism including being sequentially connected with
Microprocessor module, FPGA and FLASH system in, described bimodulus isomorphism microprocessor module is made up of two isomorphisms DSP；
Described method comprises the following steps:
(1) load two isomorphisms DSP successively, and two DSP export loading success flag to FPGA, FPGA according to institute simultaneously
The loading success flag stated wakes up arbitrary DSP up as main DSP, and another DSP is as backup DSP；
(2) key message produced in calculating process is preserved to the key message queue of FLASH by main DSP, leads simultaneously
DSP timing sends heartbeat signal to described FPGA；
(3) FPGA judges the running status of main DSP according to the monitoring situation of heartbeat signal；
If a) main DSP is working properly, then circulate operating procedure (2)；
If b) main DSP occurs abnormal, FPGA sends switching action instruction and enables backup DSP；
(4) the last correct key message is extracted in backup DSP backrush from described key message queue, and by standby
Part DSP, as new main DSP, is the processor active task that recovery point continues previous main DSP with described correct key message.
FPGA includes data interaction module, bus selection module and the heartbeat monitor module being sequentially connected with, and two isomorphisms
DSP is all connected with described data interaction module, bus selection module and heartbeat monitor module；FLASH is provided with and described data
The data management module that interactive module connects.
Described bimodulus isomorphism microprocessor module by 2 isomorphism low-power consumption DSP(Digital Signal Processor,
Digital signal processor) composition active/standby mode, groundwork is divided into Star Service to calculate, extracts key point, loads key point three
Part.Realize the function such as the management of skin satellite Star Service, instruction transmitting-receiving, data acquisition, computing and process when working properly；To with fixed
Time or event be trigger key point information Sampling hold to message queue；When switch action time, by comparison mechanism from
Described data management module obtains correct key point information, it is ensured that the seriality of Star Service calculating and correctness.
Heartbeat monitor module is realized by FPGA, mainly completes to realize bimodulus isomorphism microprocessor work status monitoring.Institute
Stating heart beating and monitor the monitoring pattern employing house dog mechanism of module, i.e. periodic receipt is from the heartbeat signal of current main DSP, if
The most do not listen to current main DSP heartbeat signal and then judge current main DSP failure, otherwise judge current main DSP
Normally, and by this court verdict described bus selection module is informed.
Bus selection module is realized by FPGA, according to described heartbeat monitor module feedback according to dsp bus switchover policy, sentences
The certainly standby machine state of bimodulus isomorphism DSP.Described dsp bus switchover policy, i.e. receives described heartbeat monitor module heart beating and monitors
Feedback, if current main DSP heart beating stops, by bus switch to backing up DSP.
Data interaction module is realized by FPGA, it is provided that the program of bimodulus isomorphism microprocessor loads passage and bimodulus isomorphism
The key point information queue memory channel that microprocessor produces during calculating.
Data management module provides storage and the micro-place of bimodulus isomorphism of bimodulus isomorphism microprocessor loading procedure in FLASH
Reason device calculates the storage of the key point information queue produced.Further, for the key point information queue of data management module,
As required key point information queue can be set, but typically be not less than 8；Setting to key point status information, logical
System time, sustainable amount, the important input parameter etc. of calculating function is often selected to have the parameter of before and after's dependence to arrange.When entering
During row system recovery, use backrush mode, from key message queue, extract up-to-date key point successively carry out recovering comparison.
After described backup DSP enables, send corresponding signal the most described FPGA, the FPGA reception condition according to signal
Judge the opening of backup DSP, if signal receives normal, then carry out next step operation, if signal reception failure, then send report
Alert signal.
Described key message includes data source and the result corresponding with data source, the pass that backrush is extracted by backup DSP
Key information is verified successively, and the condition that described correct key message should meet is: DSP is according to the number in key message in backup
Being calculated the result corresponding with data source according to source, this result is equal with the result in former key message.
The backup DSP process of verifying the key message that backrush is extracted is: be initial with the last time key message,
Successively each key message forward of each time is verified, until extracting correct key message.
When verifying, the key message Bi, i to be verified for any one represent sequence number；
If a) key message Bi meets the condition of correct key message, then using key message Bi as correct crucial letter
Breath；
If b) key message Bi is unsatisfactory for the condition of correct key message, delete key message Bi, enter and close next time
Key information B(i-1) checking.
After key message all of in key message queue all extracts one time, do not search out correct key message,
Then send alarm signal.
Compared with prior art, the present invention has a following useful technique effect:
1) present invention have employed the storage mode of key message queue for important parameter, and the most single key point is deposited mutually
Storage mode, has reliability high, can the strong feature of recovery capability.
2) present invention relies on Programmadle logic gate array FPGA, and system operations speed is fast, efficient solution can soften part, improve soft
Part work efficiency.
3) present invention is carried and microsatellite, and Primary Component all uses low-power chip, overcomes conventional bimodulus warm spare
The weakness that system power dissipation is bigger.
Accompanying drawing explanation
Fig. 1 is skin satellite carried computer state backrush warm spare hardware connection diagram.
Fig. 2 is state backrush warm spare DSP main program flow chart.
Fig. 3 is state backrush warm spare DSP handover scheme program flow diagram.
Fig. 4 is state backrush warm spare FLASH key message queue storage and theory diagram is called in backrush.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further details.
The device of one seed coat satellite carried computer state backrush warm spare, including: bimodulus isomorphism microprocessor module, the heart
Jump monitoring module, bus selection module, data interaction module, data management module.Be illustrated in figure 1 between modules is hard
Part annexation schematic diagram.Described bimodulus isomorphism microprocessor module and described bus selection module, heartbeat monitor module, data
Interactive module is connected；Described bus selection module is connected with described heartbeat monitor module, data interaction module；Described data management
Module is connected with data interaction module.
Bimodulus isomorphism microprocessor module is made up of two isomorphism low-power consumption DSP, and outside exented memory 2 capacity of selection are
The SDRAM of 256Mb, input clock is provided by 24Mhz crystal oscillator, and all designs include that its supply module all keeps height on hardware
Unanimously.Bimodulus isomorphism microprocessor module to FPGA, receives FPGA from respectively by the transmission instruction of EMA interface, operation result simultaneously
The data that subsystem gathers；Design interrupt priority level management module, responds each road external interrupt by GPIO interface;Choose DSP
After loading mode, it is used for loading dsp software program by general SPI interface；Additionally, GPIO interface timing output synchronizes square wave letter
Number for the high accuracy alignment of clock synchronization module.As the master devices of state backrush warm spare, this module is mainly used in reality
The function such as existing skin satellite Star Service management, instruction transmitting-receiving, data acquisition, computing, process.
Bimodulus isomorphism microprocessor module main program flow chart is as shown in Figure 2.DSP normally starts the implementation method of work such as
Under:
(1) two panels isomorphism DSP loads successively；
(2) EMA, GPIO are configured；
(3) output loading success flag is to FPGA, and configures wake-up interrupts；
(4) enter Idle pattern and wait external interrupt wakeup；
(5) from key message queue, read key message and recover correct duty；
(6) heartbeat signal is sent to FPGA；
(7) poll performs the task such as Star Service management, instruction transmitting-receiving, data acquisition, computing, process；
(8) key message in task is preserved in the key message queue to FLASH.
When heartbeat monitor module listens to current main DSP Lungs from Non-Heart-Beating signal, the instruction of backrush warm spare switching action will be sent,
Being illustrated in figure 3 state backrush warm spare DSP handover scheme program flow diagram, its implementation is as follows:
(1) main DSP normally works, and the key message produced in calculating process is preserved the key message queue to FLASH
In；
(2) when heart beating monitoring module listens to current main DSP Lungs from Non-Heart-Beating signal, switching command is sent；
(3) up-to-date key point is read in backup DSP backrush from FLASH key message queue, and calculates；
(4) correct if calculating key point data, recover previous operation using this key point as recovery point, otherwise continue
Read time new key point from FLASH key message queue backrush, circulate with this；
(5) completing recovery operation, previous backup DSP becomes current main DSP, previous main DSP and becomes current backup DSP, and
Re-start key message to preserve；
In this state backrush warm spare implementation method, FLASH data management module is former to key message queue management
Reason is as shown in Figure 4.
First, when main DSP normally works, it will constantly produce critical data, data management module is by this critical data
Preserve with the form of queue.
Receiving, when main DSP failure generation warm spare handoff procedure, backup DSP will be from the crucial letter of data management module
In breath queue, the last key message is read in backrush, and the key message read is carried out positive erroneous judgement, if being judged as mistake,
Then the key message of this mistake is deleted from queue, and again extract current the last key message and judge.
Finally, when backing up DSP and searching out correct key message, showing backrush success, previous backup DSP will become
Current main DSP, and continue previous task, the critical data in work is preserved the pass bond number to data management module simultaneously
According in queue.
Claims (5)
1. the method for a seed coat satellite carried computer state backrush warm spare, it is characterised in that be implemented on and include being sequentially connected with
Bimodulus isomorphism microprocessor module, FPGA and FLASH system in, described bimodulus isomorphism microprocessor module by two with
Structure DSP forms；Described method comprises the following steps:
(1) load two isomorphisms DSP successively, and two DSP export loading success flag to FPGA, FPGA according to described simultaneously
Loading success flag and wake up arbitrary DSP up as main DSP, another DSP is as backup DSP；
(2) key message produced in calculating process is preserved to the key message queue of FLASH by main DSP, and the most main DSP is fixed
Time send heartbeat signal to described FPGA；
(3) FPGA judges the running status of main DSP according to the monitoring situation of heartbeat signal；
If a) main DSP is working properly, then circulate operating procedure (2)；
If b) main DSP occurs abnormal, FPGA sends switching action instruction and enables backup DSP；
(4) the last correct key message is extracted in backup DSP backrush from described key message queue, and will backup
DSP, as new main DSP, continues the processor active task of previous main DSP with described correct key message for recovery point；
Described key message includes the crucial letter that backrush is extracted by data source and the result corresponding with data source, backup DSP
Breath is verified successively, and the condition that described correct key message should meet is: DSP is according to the data source in key message in backup
Being calculated the result corresponding with data source, this result is equal with the result in former key message.
2. the method for skin satellite carried computer state backrush warm spare as claimed in claim 1, it is characterised in that in step
(3), in, after described backup DSP enables, send corresponding signal and sentence according to the reception condition of signal to described FPGA, FPGA
The opening of disconnected backup DSP, if signal receives normal, then carries out next step operation, if signal reception failure, then sends warning
Signal.
3. the method for skin satellite carried computer state backrush warm spare as claimed in claim 1, it is characterised in that backup
The process that the key message that backrush is extracted is verified by DSP is: be initial with the last key message, successively to each time
Each key message forward is verified, until extracting correct key message.
4. the method for skin satellite carried computer state backrush warm spare as claimed in claim 3, it is characterised in that test
During card, the key message Bi, i to be verified for any one represent sequence number；
If a) key message Bi meets the condition of correct key message, then using key message Bi as correct key message；
If b) key message Bi is unsatisfactory for the condition of correct key message, delete key message Bi, enter crucial letter next time
The checking of breath B (i-1).
5. the method for skin satellite carried computer state backrush warm spare as claimed in claim 4, it is characterised in that work as key
After all of key message all extracts one time in message queue, do not search out correct key message, then send alarm
Signal.
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| CN104216846A (en) * | 2014-08-12 | 2014-12-17 | 西北工业大学 | Pico-satellite computer system based on quad-core microprocessor of android mobile phone |
| CN105320805B (en) * | 2015-08-21 | 2018-06-19 | 浙江大学 | A kind of skin satellite multi-source reliability information fusion method |
| CN111736453B (en) * | 2020-06-18 | 2023-06-06 | 西安微电子技术研究所 | Method and circuit structure for controlling abnormal instruction output |
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