CN103970027B - Telemetry processing unit simulation method in integrated electronic simulation software environment - Google Patents
Telemetry processing unit simulation method in integrated electronic simulation software environment Download PDFInfo
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Abstract
The invention relates to a telemetry processing unit simulation method in the integrated electronic simulation software environment. The method is implemented through a telemetry data interactive simulation system, telemetry processing unit state changes and data interacting process in an integrated electronic unit are simulated at the first time by matching the FPGA technology and telemetry simulation computer software, implementing method is facilitated, responding speed is high, telemetry processing unit state parameters and simulation quantity in the telemetry process can be modified in real time, and the telemetry processing unit failure simulation requirements and the testing requirements of a thermal control subsystem and power subsystem can be met accordingly; meanwhile, by adopting the interrupt design and changing the telemetry processing unit state, in-time response of irregularly-periodical telemetry data is implemented, the simulation problems of large-amount data millisecond-level receiving of the telemetry processing unit of the integrated electronic unit and rapid telemetry processing unit state changes are solved effectively, and developing efficiency is improved significantly.
Description
Technical field
The invention belongs to lunar surface rover integrated electronics simulation technical field, relate to the remote measurement processing unit analogy method in a kind of integrated electronics software emulation environment, the analogue simulation for remote measurement processing unit in lunar surface rover integrated electronics unit can be applied to.
Background technology
Because lunar surface rover has the requirements such as miniaturization, quality be light, its integrated electronics unit is integrated with rover Most electronic circuit.The mode of the data transmission that taken remote measurement by data bus that rover model different from the past is commonly used, but adopt independently remote measurement processing unit to complete with the data double-way of central computer mutual.
In the simulation process to remote measurement processing unit, usually adopted fixed cycle inquiry mode to read the instruction and data that central computer mails to remote measurement processing unit, there is following drawback in these class methods in the past:
(1) because the transmission of rover integrated electronics unit and remote measurement processing unit has 7 kinds of passages, its down-transmitting data has cycle uncertain feature, and the fastest transmission cycle is Millisecond.Therefore, the response of fixed cycle inquiry mode can cause data-bag lost not in time.
(2) central computer sends the cycle of telemetry by remote measurement processing unit Determines, and remote measurement task is higher at integrated electronics software medium priority, and task scheduling sequential affects very large by remote measurement processing unit.Inquiry mode cannot reflect the real-time change of remote measurement processing unit state in time, therefore cannot the logic of Simulation Center computing machine and the data interaction of remote measurement processing unit and sequential.
Summary of the invention
The object of the present invention is to provide the remote measurement processing unit analogy method in a kind of integrated electronics software emulation environment, remote measurement processing unit function on the method simulation star, set up the simulation hardware environment of integrated electronics software, solve conventional telemetry processing unit analogy method loss of data and logical sequence in integrated electronics simulated environment and emulate incomplete defect, significantly improve development efficiency.
Above-mentioned purpose of the present invention is mainly achieved by following technical solution:
Remote measurement processing unit analogy method in a kind of integrated electronics software emulation environment, realized by telemetry interactive simulation system, described telemetry interactive simulation system comprises the remote measurement processing unit of On board computer and ground simulation, described remote measurement processing unit is made up of telemetry simulation computing machine and FPGA module, and concrete methods of realizing is as follows:
Steering order is sent to FPGA module by step (), On board computer, and described steering order comprises the instruction inquiring about described remote measurement processing unit duty, the instruction obtaining analog quantity sampled value and passage steering order;
Step (two), FPGA module are carried out verification to the steering order received and are judged, if described steering order is by verification, then described steering order is stored, duty are set to " unripe ", and triggered interrupts, enter step (three); If described instruction and telemetry by verification, then do not abandon by described steering order;
Step (three), telemetry simulation computing machine are had no progeny in receiving, first from FPGA module, read the steering order by verification and classify, wherein according to the instruction of the described remote measurement processing unit duty of inquiry, described remote measurement processing unit current operating state data are sent to FPGA module, enters step (four); The analog quantity sampled value required, according to the instruction obtaining analog quantity sampled value, is sent to FPGA module, enters step (five) by telemetry simulation computing machine; Telemetry simulation computing machine, according to passage steering order, sets the channel number of remote measurement processing unit, and the channel number information of setting is sent to FPGA module, enter step (six);
Step (four), FPGA module receive described remote measurement processing unit current operating state data, if current operating state is " being ready to " state, then On board computer sends telemetry to FPGA module, after FPGA module receives described telemetry, verification is carried out to described telemetry and judges, if telemetry is by verification, then telemetry is stored, duty is set to " unripe ", and triggered interrupts, enter step (seven); If described telemetry by verification, does not then abandon by described telemetry;
Step (five), FPGA module store after receiving described analog quantity sampled value, read for On board computer;
Step (six), FPGA module store after receiving described channel number information, read for On board computer;
Step (seven), telemetry simulation computing machine are had no progeny in receiving, and carry out showing and storing after FPGA module reads telemetry.
In remote measurement processing unit analogy method in above-mentioned integrated electronics software emulation environment, after in step (three), telemetry simulation computing machine receives passage steering order, stand-by period (analog telemetering processing unit receives the processing time after a frame telemetry) is set, after stand-by period reaches, described remote measurement processing unit current operating state is set to " being ready to " state.
In remote measurement processing unit analogy method in above-mentioned integrated electronics software emulation environment, the stand-by period that in remote measurement processing unit, different passage (different transmission rates) is corresponding is different.
In remote measurement processing unit analogy method in above-mentioned integrated electronics software emulation environment, the analog quantity sampled value required in step (three) comes from thermal control subsystem and power subsystem.
In remote measurement processing unit analogy method in above-mentioned integrated electronics software emulation environment, On board computer sends to the telemetry of FPGA module to be the telemetry of non-fixed cycle in step (), and described non-fixed cycle comprises the non-fixed cycle in non-fixed cycle between inhomogeneity telemetry and same class telemetry between different frame telemetry.
In remote measurement processing unit analogy method in above-mentioned integrated electronics software emulation environment, the minimum interval in same class telemetry between different frame telemetry is 1 ~ 2ms.
The present invention compared with prior art has following beneficial effect:
(1), the present invention is in view of the defect of conventional telemetry processing unit analogy method and integrated electronics are to the particular/special requirement of telemetry, devise the remote measurement processing unit analogy method in a kind of brand-new integrated electronics software emulation environment, the method is realized by telemetry interactive simulation system, adopt FPGA technology to coordinate with telemetry simulation computer software to simulate remote measurement processing unit state in lunar surface rover integrated electronics unit first and change and data exchange process, implementation method is easy, fast response time, and be conducive to carrying out real time modifying to remote measurement processing unit state parameter and analog quantity in test process, require and thermal control subsystem with the remote measurement processing unit fault simulation met under different condition, the test request of power subsystem,
(2) the remote measurement processing unit analogy method, in integrated electronics software emulation environment of the present invention is by adopting design of interruption and changing remote measurement processing unit state, achieve the real-time response of the telemetry of non-fixed cycle, and to efficiently solve in integrated electronics unit remote measurement processing unit big data quantity Millisecond to receive and to the fast-changing problem of modelling of remote measurement processing unit state, avoid the hardware board data receiver district obstructing problem receiving many instructions at short notice continuously and cause computing machine to respond in time interrupting causing simultaneously;
(3), remote measurement processing unit analogy method of the present invention is applicable to the real-time response of the real-time response of the telemetry of fixed cycle and the telemetry of non-fixed cycle simultaneously, meet different telemetry types and the requirement of transmission mode, improve data response speed, effectively prevent loss of data, there is the wider scope of application and stronger practicality;
(4), the real time data reciprocal process of the inventive method dynamic similation On board computer and remote measurement processing unit, effectively the change of remote measurement processing unit state is emulated, greatly reduce the dependence to remote measurement processing unit on star in integrated electronics application software development process, be conducive to finding procedural problem relevant to remote measurement processing unit in integrated electronics software as early as possible, and the test as critical functions such as thermal controls must undertaken by remote measurement processing unit;
(5), the inventive method analog telemetering processing unit function, set up the simulation hardware environment of integrated electronics software, significantly improve development efficiency, by carrying out closed loop joint-trial with On board computer, function and the performance requirement of the debugging of integrated electronics application software and exact p-value can be met, completed Multi simulation running experiment and some version exact p-value.
Accompanying drawing explanation
Fig. 1 is the telemetry interactive simulation system structural representation that the present invention adopts;
Fig. 2 is telemetry simulation computer operation process flow diagram of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
Remote measurement processing unit analogy method in integrated electronics software emulation environment of the present invention adopts telemetry interactive simulation system to realize, be illustrated in figure 1 the telemetry interactive simulation system structural representation that the present invention adopts, telemetry interactive simulation system comprises the remote measurement processing unit of On board computer and ground simulation as seen from the figure, remote measurement processing unit is made up of telemetry simulation computing machine and FPGA module, replaces true remote measurement processing unit board on star.
The specific implementation process of the remote measurement processing unit analogy method in integrated electronics software emulation environment of the present invention is as follows:
Steering order is sent to FPGA module by step (), On board computer, wherein steering order comprises the instruction inquiring about described remote measurement processing unit duty, the instruction obtaining analog quantity sampled value and passage steering order, the cycle of the instruction of analog quantity sampled value in the present embodiment is 512ms, namely sends once command every 512ms.In the present embodiment, dissimilar telemetry uses 7 different passages.
Step (two), FPGA module are carried out verification to the steering order received and are judged, if steering order is by verification, then this steering order is stored, duty is set to " unripe ", and triggered interrupts (uses hardware interrupts, precision improvement, meet Millisecond data receiver processing requirements), after On board computer reads this mark, do not carry out data transmission, avoidance breakout is interrupted thus, enters step (three).If this instruction and telemetry by verification, then do not abandon by instruction.
Step (three), telemetry simulation computing machine are had no progeny in receiving, first from FPGA module, read the steering order by verification and classify, wherein according to the instruction of inquiry remote measurement processing unit duty, remote measurement processing unit current operating state data are sent to FPGA module, enters step (four); The analog quantity sampled value required, according to the instruction obtaining analog quantity sampled value, is sent to FPGA module, enters step (five) by telemetry simulation computing machine; The analog quantity sampled value wherein required comes from thermal control subsystem and power subsystem.Telemetry simulation computing machine, according to passage steering order, sets the channel number of remote measurement processing unit, and the channel number information of setting is sent to FPGA module, enter step (six).
Step (four), FPGA module receive the remote measurement processing unit current operating state data in above-mentioned steps (three), if current operating state is " being ready to " state, then On board computer sends telemetry to FPGA module, after FPGA module receives this telemetry, verification is carried out to this telemetry and judges, if telemetry is by verification, then telemetry is stored, duty is set to " unripe ", and triggered interrupts, enter step (seven); If telemetry by verification, does not then abandon by telemetry;
After in above-mentioned steps (three), telemetry simulation computing machine receives passage steering order, stand-by period (namely analog telemetering processing unit receives the processing time after a frame telemetry) is set, after stand-by period reaches, remote measurement processing unit current operating state is set to " being ready to " state.The stand-by period that in remote measurement processing unit, different passage (different transmission rates) is corresponding is different.
On board computer sends to the telemetry of FPGA module to be the telemetry of non-fixed cycle, non-fixed cycle refers to that telemetry due in has uncertainty, comprises the non-fixed cycle between different frame telemetry in non-fixed cycle between inhomogeneity telemetry and same class telemetry.For the non-fixed cycle in same class telemetry between different frame telemetry, namely the due in interval of Frame is not identical, such as the first frame data t0 moment arrives, second frame data t0+1 moment arrived, 3rd frame data t0+1+0.8 moment arrived, and the 4th frame data t0+1+0.8+0.9 moment arrived ...Minimum interval in the present invention in same class telemetry between different frame telemetry is 1 ~ 2ms.
For the non-fixed cycle between inhomogeneity telemetry, namely the due in interval of inhomogeneity telemetry is not identical, the time interval such as, arrived between Frame in first kind telemetry is identical is T0, the time interval arrived between Frame in Equations of The Second Kind telemetry is identical is T1, T0 ≠ T1.
Store after analog quantity sampled value in step (five), FPGA module receiving step (three), read for On board computer.
Store after channel number information in step (six), FPGA module receiving step (three), read for On board computer.
Step (seven), telemetry simulation computing machine are had no progeny in receiving, telemetry is read from FPGA module, first telemetry simulation computing machine resolves telemetry, the telemetry true form being about to receive is resolved according to the definition of telemetry form and telemetry protocol, obtain the data mode required, afterwards data shown and store.
In above-mentioned telemetry reciprocal process, if remote measurement processing unit does not receive data (namely not reading remote measurement processing unit duty for " being ready to ") more than 300s, then remote measurement processing unit state is set to " carrying out automatic telemetering " by telemetry simulation computing machine.Be illustrated in figure 2 telemetry simulation computer operation process flow diagram of the present invention.
The present invention by abstract to the simulation realizing method of remote measurement processing unit be two parts, be first hardware interface simulation and FPGA multitask automatically process, use fpga chip realize, Reality simulation remote measurement board completes the reception of data and the process of instruction; Next is the dynamic simulation for the change of ground telemetering processing unit state and data transmit-receive, mainly completes in telemetry simulation computing machine, receives the steering order from FPGA module and telemetry in the interruption that FPGA triggers.The present invention makes full use of the accuracy of hardware time order and the dirigibility of software design patterns, the process of remote measurement processing unit and central computer data interaction and sequential are emulated, can true reappearance remote measurement processing unit state change, various sequential under abnormal conditions can be simulated again, can also meet gather analog quantity by remote measurement processing unit requirement is set.
Remote measurement processing unit analogy method in integrated electronics software emulation environment of the present invention is by adopting design of interruption and changing remote measurement processing unit state, achieve the real-time response of the telemetry of non-fixed cycle, and to efficiently solve in integrated electronics unit remote measurement processing unit big data quantity Millisecond to receive and to the fast-changing problem of modelling of remote measurement processing unit state, avoid the hardware board data receiver district obstructing problem receiving many instructions at short notice continuously and cause computing machine to respond in time interrupting causing simultaneously; Remote measurement processing unit analogy method of the present invention is applicable to the real-time response of the real-time response of the telemetry of fixed cycle and the telemetry of non-fixed cycle simultaneously, meet different telemetry types and the requirement of transmission mode, improve data response speed, effectively prevent loss of data.
The above; be only the embodiment of the best of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
The content be not described in detail in instructions of the present invention belongs to the known technology of professional and technical personnel in the field.
Claims (6)
1. the remote measurement processing unit analogy method in an integrated electronics software emulation environment, it is characterized in that: realized by telemetry interactive simulation system, described telemetry interactive simulation system comprises the remote measurement processing unit of On board computer and ground simulation, described remote measurement processing unit is made up of telemetry simulation computing machine and FPGA module, and concrete methods of realizing is as follows:
Steering order is sent to FPGA module by step (), On board computer, and described steering order comprises the instruction inquiring about described remote measurement processing unit duty, the instruction obtaining analog quantity sampled value and passage steering order;
Step (two), FPGA module are carried out verification to the steering order received and are judged, if described steering order by verification, then stores, duty is set to " unripe " by described steering order, and triggered interrupts, enter step (three); If described steering order by verification, does not then abandon by described steering order;
Step (three), telemetry simulation computing machine are had no progeny in receiving, first from FPGA module, read the steering order by verification and classify, wherein according to the instruction of the described remote measurement processing unit duty of inquiry, described remote measurement processing unit current operating state data are sent to FPGA module, enters step (four); The analog quantity sampled value required, according to the instruction obtaining analog quantity sampled value, is sent to FPGA module, enters step (five) by telemetry simulation computing machine; Telemetry simulation computing machine, according to passage steering order, sets the channel number of remote measurement processing unit, and the channel number information of setting is sent to FPGA module, enter step (six);
Step (four), FPGA module receive described remote measurement processing unit current operating state data, if current operating state is " being ready to " state, then On board computer sends telemetry to FPGA module, after FPGA module receives described telemetry, verification is carried out to described telemetry and judges, if telemetry is by verification, then telemetry is stored, duty is set to " unripe ", and triggered interrupts, enter step (seven); If described telemetry by verification, does not then abandon by described telemetry;
Step (five), FPGA module store after receiving described analog quantity sampled value, read for On board computer;
Step (six), FPGA module store after receiving described channel number information, read for On board computer;
Step (seven), telemetry simulation computing machine are had no progeny in receiving, telemetry is read from FPGA module, first telemetry simulation computing machine resolves telemetry, the telemetry true form being about to receive is resolved according to the definition of telemetry form and telemetry protocol, obtain the data mode required, afterwards data shown and store.
2. the remote measurement processing unit analogy method in a kind of integrated electronics software emulation environment according to claim 1, it is characterized in that: after in described step (three), telemetry simulation computing machine receives passage steering order, stand-by period is set, after stand-by period reaches, described remote measurement processing unit current operating state is set to " being ready to " state.
3. the remote measurement processing unit analogy method in a kind of integrated electronics software emulation environment according to claim 2, is characterized in that: the stand-by period that in described remote measurement processing unit, different passage is corresponding is different.
4. the remote measurement processing unit analogy method in a kind of integrated electronics software emulation environment according to claim 1, the analog quantity sampled value required in described step (three) comes from thermal control subsystem and power subsystem.
5. the remote measurement processing unit analogy method in a kind of integrated electronics software emulation environment according to claim 1, it is characterized in that: On board computer sends to the telemetry of FPGA module to be the telemetry of non-fixed cycle in described step (), described non-fixed cycle comprises the non-fixed cycle in non-fixed cycle between inhomogeneity telemetry and same class telemetry between different frame telemetry.
6. the remote measurement processing unit analogy method in a kind of integrated electronics software emulation environment according to claim 5, is characterized in that: the minimum interval in described same class telemetry between different frame telemetry is 1 ~ 2ms.
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