CN103544086B - Two-dimensional tracking turntable electric-control system online data debug system and method - Google Patents
Two-dimensional tracking turntable electric-control system online data debug system and method Download PDFInfo
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- CN103544086B CN103544086B CN201310479223.6A CN201310479223A CN103544086B CN 103544086 B CN103544086 B CN 103544086B CN 201310479223 A CN201310479223 A CN 201310479223A CN 103544086 B CN103544086 B CN 103544086B
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Abstract
The invention provides a kind of two-dimensional tracking turntable electric-control system online data debug system and method, solve prior art take that RS-232 or RS-422 speed is transmitted slowly, communication search capacity is limited, can not the problem of hot plug.This system comprises the microcontroller and computing machine that are embedded with the 3rd USB interface, the numeral of microcontroller or analog interface are connected with two-dimensional tracking turntable, 3rd USB interface of microcontroller is connected by USB data line with the first USB interface of computing machine, and the jtag interface of microcontroller is connected by debugger with the secondary USB interface of computing machine.Microcontroller gathers the target status information of two-dimensional tracking turntable generation and reaches on computing machine by the USB interface of self by target status information; The present invention is safe, portable, easily repeat to adopt; At a high speed, expansion is flexible, design integration is high; Hot-swappable; Design difficulty is low; Save debug time.
Description
Technical field
The invention belongs to control field, be specifically related to two-dimensional tracking turntable electric-control system online data debug system and method.
Background technology
The existing extraterrestrial target information acquisition module based on one-chip microcomputer or various pick-up transducers, adopting RS-232 or RS-422 to link development platform and develop, in test with metrology applications, is quite general communications protocol.Although its cost is lower, its maximum shortcoming be speed transmission slowly, communication and search capacity limited, do not support hot plug.The existing debug process based on microprocessor two-dimensional tracking turntable embedded type electric control system: under system open loop state, computer software aided design techniques is generally taked to carry out Commissioning Analysis research, by the successful download program of debugging in the program storage of microprocessor, after removing secondary computer, system works under closed loop states.For controlling sensitivity and the high two-dimensional tracking turntable electric-control system of accuracy requirement, if control object---the load weight on two-dimensional tracking turntable or attitude or motor coupling torque generation subtle change, many covers controling parameters of multiple tracing mode generally needs again to adjust, repeat above-mentioned open loop debugging, Closed loop operation process.The shortcoming of this process to realize the online portable debugging of system.Multi-purpose computer directly can install OS, and completes the development of software by the instrument such as editing machine, compiler.And the hardware of embedded system generally has significant limitation: processor frequencies is low, storage space is little or the equipment such as on-keyboard, hardware platform is not easy to the development task of system, Resources on Chip does not possess the ability of stand-alone development, need by cross compile: typically refer to edit on computers, compiled code, then to Target Board downloading-running, proving program.Its form is " host (computing machine)+target machine (SCM) ", and connected mode has JTAG, serial ports and network etc. usually.
Summary of the invention
The invention provides a kind of two-dimensional tracking turntable electric-control system online data debug system and method, solve in prior art and take that RS-232 or RS-422 speed is transmitted slowly, communication and search capacity is limited, can not the technical matters of hot plug and the portable debugging inconvenience of two-dimensional tracking turntable electric-control system online data.
Technical solution of the present invention is:
Two-dimensional tracking turntable electric-control system online data debug system, comprise microcontroller and computing machine, its special character is: described microcontroller is embedded with the 3rd USB interface, the numeral of microcontroller or analog interface are connected with two-dimensional tracking turntable, 3rd USB interface of microcontroller is connected by USB data line with the first USB interface of computing machine, and the jtag interface of microcontroller is connected by debugger with the secondary USB interface of computing machine.
Above-mentioned microcontroller is the single-chip of SCM, or the combined chip of at least one in SCM and DSP, FPGA.
Above-mentioned SCM is single-chip microcomputer C8051F340.
Above-mentioned microcontroller comprises DSP and is embedded with the SCM of the 3rd USB interface, 3rd USB interface of SCM is connected with the first USB interface of computing machine, DSP is connected with two-dimensional tracking turntable, connected by dual port RAM between SCM and DSP, the jtag interface of SCM is connected by debugger with the secondary USB interface of computing machine.
Above-mentioned SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module and frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected with synchronizing pulse generation module and RS232 data transmit-receive module respectively by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with RS232 data transmit-receive module and the 3rd USB interface, 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
Above-mentioned debugger is programmable device or emulator or downloader.
Two-dimensional tracking turntable electric-control system online data adjustment method, its special character is: comprise the following steps:
1] two-dimensional tracking turntable is followed target and is rotated, and microcontroller is gathered target status information that two-dimensional tracking turntable produces and by the 3rd USB interface of microcontroller self, target status information reached the first USB interface of computing machine;
2] computing machine carries out analyzing and processing to data, completes controling parameters and adjusts;
3] control program is sent to the debugger of microcontroller by computing machine by the secondary USB interface that carries;
4], after debugger debugging, steering order is sent to the motor of two-dimensional tracking turntable by microcontroller, controls it.
Above-mentioned microcontroller is SCM single-chip, or the combined chip of at least one in SCM and DSP, FPGA.
Above-mentioned microcontroller comprises SCM and DSP, and SCM is connected with computing machine, and DSP is connected with two-dimensional tracking turntable, SCM with DSP is connected by dual port RAM.
Above-mentioned SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module, frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected with synchronizing pulse generation module and RS232 data transmit-receive module respectively by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with RS232 data transmit-receive module and the 3rd USB interface, 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
Beneficial effect of the present invention:
(1) adopt USB communication modes between microcontroller of the present invention and computing machine, make debugging efforts simple, convenient; The single-chip microcontroller of embedded 3rd USB interface and adopt existing computing machine gui software technology, easily repeats to adopt;
(2) microcontroller of the present invention can be the single-chip of SCM or DSP or ARM or FPGA, also can select the combined chip of SCM or DSP or ARM or FPGA, and expansion is flexible, design integration is high;
(3) if the present invention adopts the SCM of embedded USB2.0, sampling rate reaches 480bps, if adopt the SCM of embedded USB3.0, sampling rate can reach 960bps, and its high speed performance has been the top level in sata standard;
(4) the present invention can hot plug, improves the portability of electric-control system debug data, saves debug time; Developer has been familiar with structure and the instruction set of SCM, develops than being easier to, and the communication between computing machine connects simple, and SiliconLabs company provides device driver, host interface function (hostAPI) and equipment firmware interface function;
(5) deviser's Using API Function of the present invention, simplify USB device performance history, developer does not need to understand complicated USB underlying protocol, just can easily with the USB communication realizing SCM and Analytical Computer Program, and adopt dual port RAM to realize communication and coordination between double-core, reduce design difficulty;
(6) the present invention can add Ethernet wireless communication interface, realizes being connected with PC main frame is wireless.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of two-dimensional tracking turntable electric-control system online data debug system of the present invention;
Fig. 2 is the schematic diagram of microcontroller of the present invention.
Wherein: the motor of 1-two-dimensional tracking turntable; 2-debugger; 3-microcontroller; 4-computing machine.
Embodiment
As Fig. 1, two-dimensional tracking turntable electric-control system online data debug system comprises microcontroller and computing machine, improvement of the present invention is: microcontroller is the microcontroller being embedded with the 3rd USB interface, the numeral of microcontroller or analog interface are connected with two-dimensional tracking turntable, 3rd USB interface of microcontroller is connected by USB data line with the first USB interface of computing machine, and the jtag interface of microcontroller is connected by debugger with the secondary USB interface of computing machine.
Microcontroller can select existing SCM single-chip, also can select the combined chip in SCM and DSP, FPGA after at least one chip-in series, generally according to the complexity of system, selects kind and the quantity of chip.Combined chip can improve the processing speed of signal, has design and proving period is short, steering logic is simple, favorable expandability, be easy to the advantage of realization.
Preferably, microcontroller of the present invention comprises DSP and is embedded with the SCM of the 3rd USB interface, embedded the 3rd USB interface of SCM is connected with the first USB interface of computing machine, DSP is connected with two-dimensional tracking turntable, SCM with DSP is connected by dual port RAM, and the jtag interface of SCM is connected by debugger with the secondary USB interface of computing machine.
SCM selects the single-chip microcomputer C8051F340 of new generation of SiliconLaboratories company of the U.S..Processing speed is that many 16 MCU of 100MIPS(do not reach), function is very powerful, meets the requirement of development and Design teacher completely.Be mainly used in electric-control system debugging, assist host computer to complete online data debugging and analytic function.SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module and frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected with synchronizing pulse generation module and RS232 data transmit-receive module respectively by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with RS232 data transmit-receive module and the 3rd USB interface, 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
In SCM, the function of modules is:
1) RS232 data transmit-receive module: RS-232 serial communication interface standard transmission distance is at about 20 meters, and transmission speed reaches as high as 38.4Kbps, its interface connector uses the edge connector that model is DB-9.Its logic level is 3.3V under normal circumstances.Adopt the universal serial port transceiving chip MAX3232CSE of Maxim company herein in design, and between computing machine, have the connection of receipts two lines, arrange and be operated in full duplex state.The log-on message of RS232 serial ports primary responsibility display system between SCM and computing machine and the Download Info of kernel, file system etc. when carrying out mutual with Windows;
2) data communication module: the connection being mainly used for address bus between SCM and DSP, data bus and control bus, under clock sync pulse effect, carries out data communication;
3) synchronizing pulse generation module: when after SCM electrification reset, inner crystal oscillator, under the effect of clock, counting produces pulse signal, through scaling down processing be frequency to be 100Hz dutycycle be 50% synchronization pulse, this synchronizing pulse will be used for the data communication of synchronous SCM and DSP, the data acquisition and procession of SCM, the data acquisition of RS232, in the data interaction of dual port RAM and DSP and SCM;
4) DSP reseting module: reset signal module is made up of ADM708AR and SN74LV02AD chip, a road reseting pulse signal RST is produced after ADM708AR powers on, this signal is low level in initial state, duration is 150ms, be high level later always, this signal is used for DSP electrification reset, and the effect of SN74LV02AD is denoising;
Digital sampling and processing and frequency division module are known mature technology, do not describe herein.
DSP selects chip model TSC21020-20MB, and aerospace level, is produced by atmel corp, belongs to Rad.Hard32/40-bitIEEEFloatingPoint.Be mainly used in video image and follow the tracks of process.
Debugger is programmable device or emulator or downloader.Preferably integrate the ML-EC3 of emulator, programmable device and downloader.It is by the C8051F complete series MCU latest generation simulating developer instrument of Silabs company of U.S. development & production, and it can realize single step, continuously single step, Hardware Breakpoint, stopping/operations, support the amendment of reservoir and register and check, download the function such as reservoir, encryption.Hardware debug can be carried out under the μ Vsion2 of Keil or SiliconLaboratoriesIDE environment.It adopts USB interface to carry out download program and simulation hardware debugging.It has jtag interface, can emulate C8051F340 online.
Dual port RAM, adopts the IDT71V321 chip of Integrated Device Technology, Inc..The intermediary that it communicates as DSP and SCM, realizes the two-way interactive of information.The control variable that first buffer memory DSP collects, spacing (referring to the position of the limit electric protection that turntable forwards to) information, gyro test the speed the status information etc. of information (outputs of A/D interface), order and guidance information, turntable, then for SCM reading.Oppositely, the PID controlled quentity controlled variable of first buffer memory SCM, order and guidance information etc., then read for DSP.
Two-dimensional tracking turntable electric-control system online data adjustment method, comprises the following steps:
1] two-dimensional tracking turntable is followed target and is rotated, and microcontroller is gathered target status information that two-dimensional tracking turntable produces and by the 3rd USB interface of microcontroller self, target status information reached the first USB interface of computing machine; Concrete, after microcontroller electrification reset, under the effect of synchronization pulse, microcontroller and PC carry out data communication.Microcontroller will gather target status information, and assistant adjustment by the first USB interface with computing machine, adopts computing machine gui software technology, reads in data from the 3rd USB interface of microcontroller.
2] computing machine utilizes computing machine gui software to carry out predictive filtering picture analyzing and processing to the data of reading in, or data is recorded in file and utilizes the softwares such as known OfficeExcel to draw in real time analyzing and processing, and debugged program, completes controling parameters and adjust;
3] computing machine is connected by the jtag interface of the secondary USB interface that carries and debugger (programmable device or emulator or downloader), and the other end of debugger (programmable device or emulator or downloader) is connected with the jtag interface of microcontroller; Adopt jtag interface, simulation hardware debugging can be carried out to microcontroller online, finally by the download program debugged in the program storage on SCM; After download program completes, secondary computer can be removed at any time;
4] microcontroller performs instruction according to program, control voltage or current signal is sent to the motor of two-dimensional tracking turntable, controls it.
Microcontroller of the present invention is made up of the SCM dual processor of DSP, embedded USB2.0 communication interface, and between DSP and SCM, communication adopts dual port RAM with coordination.After SCM electrification reset, under the effect of clock, counting generation synchronizing pulse will be used for synchronous data communication module and digital sampling and processing, put into dual port RAM after these data acquisition process complete, then under synchronizing pulse effect, realize data interaction with DSP.Deviser calls and revises device driver, host interface function (hostAPI) and the equipment firmware interface api function that developer provides, easily by the USB communication function realizing SCM and computing machine.Appliance computer gui software technology, to draw in real time analysis, adopt jtag interface, simulation hardware debugging can be carried out online to microcontroller, finally by the download program debugged in the program storage on microcontroller, after download program completes, secondary computer can be removed at any time, realize two-dimensional tracking turntable electric-control system online data Commissioning Analysis easily.
Claims (9)
1. two-dimensional tracking turntable electric-control system online data debug system, comprise microcontroller and computing machine, it is characterized in that: described microcontroller is embedded with the 3rd USB interface, the numeral of microcontroller or analog interface are connected with two-dimensional tracking turntable, 3rd USB interface of microcontroller is connected by USB data line with the first USB interface of computing machine, and the jtag interface of microcontroller is connected by debugger with the secondary USB interface of computing machine; Microcontroller comprises DSP and is embedded with the SCM of the 3rd USB interface, 3rd USB interface of SCM is connected with the first USB interface of computing machine, DSP is connected with two-dimensional tracking turntable, connected by dual port RAM between SCM and DSP, the jtag interface of SCM is connected by debugger with the secondary USB interface of computing machine.
2. two-dimensional tracking turntable electric-control system online data debug system according to claim 1, is characterized in that: microcontroller is the single-chip of SCM, or the combined chip of at least one in SCM and DSP, FPGA.
3. two-dimensional tracking turntable electric-control system online data debug system according to claim 2, is characterized in that: SCM is single-chip microcomputer C8051F340.
4. two-dimensional tracking turntable electric-control system online data debug system according to claim 3, is characterized in that: SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module and frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected with synchronizing pulse generation module and RS232 data transmit-receive module respectively by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with RS232 data transmit-receive module and the 3rd USB interface, 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
5. according to the arbitrary described two-dimensional tracking turntable electric-control system online data debug system of claim 1-4, it is characterized in that: debugger is programmable device or emulator or downloader.
6. two-dimensional tracking turntable electric-control system online data adjustment method, is characterized in that: comprise the following steps:
1] two-dimensional tracking turntable is followed target and is rotated, and microcontroller is gathered target status information that two-dimensional tracking turntable produces and by the 3rd USB interface of microcontroller self, target status information reached the first USB interface of computing machine;
2] computing machine carries out analyzing and processing to data, completes controling parameters and adjusts;
3] control program is sent to the debugger of microcontroller by computing machine by the secondary USB interface that carries;
4], after debugger debugging, steering order is sent to the motor of two-dimensional tracking turntable by microcontroller, controls it.
7. two-dimensional tracking turntable electric-control system online data adjustment method according to claim 6, is characterized in that: microcontroller is SCM single-chip, or the combined chip of at least one in SCM and DSP, FPGA.
8. two-dimensional tracking turntable electric-control system online data adjustment method according to claim 7, it is characterized in that: microcontroller comprises SCM and DSP, SCM is connected with computing machine, and DSP is connected with two-dimensional tracking turntable, SCM with DSP is connected by dual port RAM.
9. two-dimensional tracking turntable electric-control system online data adjustment method according to claim 8, it is characterized in that: SCM comprises data communication module, digital sampling and processing, the 3rd USB interface, DSP reseting module, synchronizing pulse generation module, RS232 data transmit-receive module, frequency division module, DSP is connected with data communication module, data communication module is connected with digital sampling and processing by dual port RAM, DSP reseting module is connected with DSP, crystal oscillator is connected with synchronizing pulse generation module and RS232 data transmit-receive module respectively by frequency division module, synchronizing pulse generation module and RS232 data transmit-receive module, digital sampling and processing is connected respectively with data communication module, dual port RAM is connected respectively with RS232 data transmit-receive module and the 3rd USB interface, 3rd USB interface is connected with the first USB interface of computing machine, RS232 data transmit-receive module is connected with the RS232 data collector of computing machine.
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| CN109710452A (en) * | 2018-12-06 | 2019-05-03 | 天津津航计算技术研究所 | ECC storage control system with data debugging function |
| CN109977042A (en) * | 2019-02-28 | 2019-07-05 | 珠海海奇半导体有限公司 | A kind of USB on-line debugging system and method |
| CN117728899A (en) * | 2024-02-06 | 2024-03-19 | 北京东远润兴科技有限公司 | Equipment joint debugging method and device, terminal equipment and storage medium |
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| CN201327233Y (en) * | 2008-12-17 | 2009-10-14 | 江阴博润新能源科技有限公司 | Rotary worktable |
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| CN203502952U (en) * | 2013-10-14 | 2014-03-26 | 中国科学院西安光学精密机械研究所 | On-line debugging system of two-dimensional tracking rotary table electric control system data |
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