CN104199746A - Multitask software watchdog acquiring method - Google Patents
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- CN104199746A CN104199746A CN201410440660.1A CN201410440660A CN104199746A CN 104199746 A CN104199746 A CN 104199746A CN 201410440660 A CN201410440660 A CN 201410440660A CN 104199746 A CN104199746 A CN 104199746A
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Abstract
The invention particularly discloses a multitask software watchdog acquiring method. A multitask software watchdog is composed of software watchdog subprograms of tasks and a dog feeding subprogram of the multitask software watchdog. The software watchdog subprogram of each task is mainly in charge of initialization of a software watchdog of the task and used for updating a counter of the software watchdog of the task in a major cycle. The dog feeding subprogram of the multitask software watchdog is used for checking whether the software watchdog of each task is over time or not in a system clock period, and a system is reset through a hardware watchdog if only the software watchdog of a certain task is over time. According to the method, the multitask software watchdog is acquired and it is guaranteed that the system can not come to a halt caused by strong external interference.
Description
Technical field
The present invention relates to wireless communication technology field, specifically disclose the implementation method of a kind of multi-tasks Software house dog.
Background technology
In severe industrial applications such as photovoltaic plant, wind energy turbine set, in order to guarantee the reliability service of field apparatus, need to carry out remote monitoring to these equipment.GPRS is one of most important data transfer mode in Internet of Things application, has now been widely used in the industry fields such as industrial automation, intelligent grid, intelligent transportation, Smart Home, logistics, the hydrology, meteorology.Adopt GPRS technology can build easily field apparatus Intelligent remote monitoring system, for meeting user's demand.On the one hand, device fabrication producer can realize long term monitoring and the remote upgrade of equipment running status easily by this supervisory system, thereby realizes the remote maintenance of equipment, constantly improves the reliability of product, saves a large amount of trip expenses and human cost; On the other hand, the user of field apparatus also can check the running status of equipment easily by this long distance control system, configuration device parameter, thereby the maintenance cost of reduction equipment operation, and obtain better user's experience.
But, in actual industrial applications as industry spot such as photovoltaic plant, wind energy turbine set, severe physical environment and various electromagnetic interference (EMI) may cause being arranged in the GPRS monitor terminal cisco unity malfunction of industry spot, and industry spot has very high requirement to the reliability of GPRS monitor terminal.
Summary of the invention
Technical matters to be solved by this invention is to provide the implementation method of a kind of multi-tasks Software house dog, by giving each task of software systems, distribute a software watchdog, and be combined with hardware watchdog, realized multi-tasks Software house dog, the system that guaranteed can not cause system in case of system halt because of outside strong jamming.
For solving the problems of the technologies described above, the present invention has adopted following counting scheme:
An implementation method for multi-tasks Software house dog, described multi-tasks Software house dog is by the software watchdog subroutine of each task, and multi-tasks Software house dog feeds dog subroutine formation;
The software watchdog subroutine of each task is mainly responsible for the initialization of this task software watchdog, and in major cycle, upgrades the counter of this task software watchdog; Multi-tasks Software house dog feeds dog subroutine and in each system clock cycle, checks that whether the software watchdog of each task is overtime, as long as the software watchdog of certain task is overtime, just by hardware watchdog, completes the reset to system.
Further, the software watchdog subroutine of each task mainly comprises the assignment of initial value and the renewal of counter of timer, concrete: the software watchdog that needs this task of initialization at each task section start, comprise that by the initial value assignment of software watchdog timer be the timeout value of this task, and open the software watchdog of this task; In addition in the major cycle of each task, to upgrade the counter of this task software watchdog.
Further, multi-tasks Software house dog feeds dog subroutine and is positioned at system clock beat Hook Function, in each system clock cycle, is called once;
Multi-tasks Software house dog hello dog subroutine flow process is as follows:
Enter multi-tasks Software house dog and feed after dog subroutine, first check that whether " stopping feeding hardware watchdog zone bit " is true, true if, directly finishes multi-tasks Software house dog and feeds dog subroutine; If be not true, successively the software watchdog state of each task is checked, step is as follows: check whether this task software watchdog counter upgrades, if upgrade, the value of this task software watchdog timer reset is the timeout value of this task, and proceeds the software watchdog status checking of next task; If do not upgrade, first the value of this task software watchdog timer is subtracted to 1, whether the value that then judges this task software watchdog timer is zero, be that zero this task software watchdog timer of explanation is overtime, it is true that set " stops feeding hardware watchdog zone bit ", directly finish multi-tasks Software house dog and feed dog subroutine, the non-vanishing software watchdog status checking of proceeding next task.According to above-mentioned steps, complete successively the status checking to each task software watchdog, then carry out the step of feeding hardware watchdog, finally finish multi-tasks Software house dog and feed dog subroutine.
The present invention's beneficial effect is compared with prior art:
By distributing a software watchdog to each task of software systems, and be combined with hardware watchdog, realized multi-tasks Software house dog, the system that guaranteed can not cause system in case of system halt because of outside strong jamming.
Accompanying drawing explanation
Fig. 1 is the hardware system structure of a kind of high reliability GPRS monitor terminal that the present invention relates to.
Fig. 2 is GPRS power management module circuit of the present invention.
The mutual schematic diagram of multitask of Fig. 3 multitask application program of the present invention.
Fig. 4 is GPRS link establishment of the present invention and hold mode machine process flow diagram.
Fig. 5 is GPRS Modem initialize routine process flow diagram of the present invention.
Fig. 6 is that multi-tasks Software house dog of the present invention feeds dog process flow diagram.
Fig. 7 is shell structure of the present invention.
Wherein, Reference numeral is: 1 is upper shell, and 2 is lower house, and 3 is connector installation site, and 4 is upper shell groove (sealing strip installation site).
Embodiment
Below in conjunction with accompanying drawing, a kind of high reliability GPRS monitor terminal of the present invention is described further.
As shown in Figure 1, a kind of high reliability GPRS monitor terminal that this example relates to, its hardware circuit comprises embedded microcontroller, GPRS wireless communication module, power module, GPRS power management module, memory module, input/output module, hardware watchdog and pilot lamp; Wherein, GPRS wireless communication module is connected with embedded microcontroller by serial ports, GPRS power management module is connected with embedded microcontroller by universal I/O port, power module is connected with embedded microcontroller, GPRS power management module respectively, embedded microcontroller is also connected with memory module, input/output module, hardware watchdog and pilot lamp, and embedded microcontroller is by controlling the unlatching of GPRS power management module or stopping the power supply to GPRS wireless communication module.
As shown in Figure 2, the input end of GPRS power management module circuit is GPRS_PWR_DOWNn, is connected with the universal I/O port of embedded microcontroller, and output terminal is VCC_GPRS, is connected with the power input of GPRS wireless communication module.Embedded microcontroller is controlled the output level of the universal I/O port of embedded microcontroller according to the steering order of software systems, and then controls the level of the input end of GPRS power management module circuit.When GPRS power management module circuit input end is low level, GPRS power management module circuit output end VCC_GPRS voltage is zero, now cuts off the power supply supply to GPRS wireless communication module; When GPRS power management module circuit input end is high level, GPRS power management module circuit output end VCC_GPRS voltage is 3.8V, now GPRS wireless communication module is provided the power supply supply of 3.8V.By above-mentioned controlling mechanism, realized software instruction and controlled the operation that GPRS wireless communication module heavily powers on, thereby guaranteed that GPRS monitor terminal can return to normal operating conditions after suspension, is reliably connected to network.
As shown in Figure 3, after GPRS monitor terminal powers on, software systems automatically start and enter Main function, in Main function, first the peripheral hardware such as initialization serial ports, pilot lamp, memory module, then controls GPRS power management module to power on to GPRS wireless communication module, then initialization embedded OS, and create beginning task, finally start multi-task scheduling.
In beginning task, first start GPRS wireless communication module, then detect the local configuration of embedded microcontroller serial ports and whether receive the instruction that enters configuration status, if this instruction do not detected in setting-up time, enter the normal starting state of system, otherwise enter systematic parameter configuration status.Under systematic parameter configuration status, user can send configuration-direct to system by configuration serial ports, and system, after receiving configuration-direct, is carried out instruction parsing and parameter modification, storage.User also can check up-to-date system parameter values by instruction.Complete after instruction receiving the configuration that user sends, system enters normal starting state.In software systems, enter after normal starting state, first initialization multi-tasks Software house dog, then create relevant semaphore, message mailbox and message queue, then create that Modem serial ports receives task, GPRS scheduler task, Data Analysis convert task, GPRS link establishment and maintenance task, system monitoring alarming assignment, task is uploaded in device data acquisition storage, finally start task self is hung up.Afterwards, operating system just starts to carry out Modem serial ports and receives the scheduling that task is uploaded in task, GPRS scheduler task, Data Analysis convert task, GPRS link establishment and maintenance task, system monitoring alarming assignment, device data acquisition storage.
Modem serial ports receives task and is mainly responsible for the data that whether have GPRS wireless communication module to send in the serial ports buffer zone of the embedded microcontroller that regularly inquiry is connected with GPRS wireless communication module, if have, take out and send into Modem and receive data-message queue.
GPRS scheduler task completes the reception of GPRS radio communication mold blocks of data, short message, and the transmission of GPRS data, short message.GPRS scheduler task is regularly inquired about Modem and is received in data-message queue whether have message, if have, take out this message and resolve, if message content is TCP/UDP data or short message, carrying out corresponding data extracts and the corresponding zone bit of set, if message content is AT repeat-back data, by message mailbox, these data are passed to GPRS link establishment and maintenance task is processed.GPRS scheduler task is also regularly inquired about Modem and is sent in data-message queue whether have message, if having, takes out this message, and whether detect GPRS link unimpeded, if unimpeded, carry out the wireless transmission of data, otherwise accumulative total sending times time delay are waited for, are retransmitted.If sending times surpasses 3 times, abandon the wireless transmission of these data.In addition, GPRS scheduler task is regularly inquired about short message and is sent zone bit, if this zone bit is true, carries out the transmission of short message.
Data Analysis convert task is regularly carried out the inquiry of following zone bit successively, and carries out corresponding action:
(1) if there are new TCP/UDP data, resolve accordingly.If these TCP/UDP data are server operated from a distance order (as remote inquiry, order etc. is set), according to predefine stipulations, build corresponding acknowledgement frame, and adding Modem to send data-message queue this acknowledgement frame, wait GPRS scheduler task is carried out wireless transmission; If these TCP/UDP data are server acknowledge frame (as login acknowledgement frame, heartbeat packet acknowledgement frame etc.), the corresponding zone bit of set.
(2) if there is new operated from a distance short message, resolve, and build and reply short message set short message transmission zone bit according to predefine stipulations, wait for that GPRS scheduler task is inquired about and the wireless transmission of short message.
(3) at network, connect when normal, carry out the detection that login data, heartbeat data packets, equipment real time data bag, ALM packet, equipment alarm packet etc. send zone bit, if certain Packet Generation zone bit is true, according to predefine stipulations, build this packet, and sent into message queue to be sent, wait GPRS scheduler task is carried out wireless transmission.
System monitoring alarming assignment completes the exception monitoring to system state and the equipment real time data that collects, by the running status of timing detection system, thereby find in time system exception, and when anomalous event being detected the corresponding alarm zone bit of set, and the zone bit of set transmitting system abnormality alarming packet, so that Data Analysis convert task is inquired about, is built and transmission system alarm packet to GPRS scheduler task is carried out wireless transmission.In addition, system monitoring alarming assignment is when new equipment real time data being detected, it is carried out to abnormality detection, similar with the processing of system exception, the corresponding alarm zone bit of set when equipment real time data anomalous event being detected, and the zone bit of set transmitting apparatus abnormality alarming packet, so that Data Analysis convert task is inquired about, is built and transmission equipment alarm packet to GPRS scheduler task is carried out wireless transmission.
Task is uploaded in device data acquisition storage: device data acquisition storage is uploaded task and regularly completed the collection of equipment real time data, stores and upload.
GPRS link establishment and maintenance task: GPRS link establishment and maintenance task complete the foundation of GPRS communication link and maintain, this task has adopted state machine realization, this state machine is by " GPRS Modem initialization " state, " setting up GPRS PPP connects " state, " setting up GPRS TCP/UDP connects " state, " login remote server " state, " detection GPRS PPP connection status " state, " detection GPRS TCP/UDP connection status " state, " GPRS Modem hardware reset " state, " GPRS Modem heavily powers on " state and " software systems warm reset " state form.
As shown in Figure 4, the state of the state machine of described GPRS link establishment and maintenance task is changed the mechanism as follows:
A, enter " GPRS Modem initialization " state, under this state, carry out GPRS Modem initialization, when the AT of initialized each Modem command operating, all adopted " deterministic Modem AT command operating mechanism "; If Modem initialization success enters " setting up GPRS PPP connects " state, if initialization failure enters " GPRS Modem hardware reset " state;
B, under " set up GPRS PPP connect " state, by attempting setting up PPP to GPRS Modem transmission AT instruction, connect, if connect successfully, enter " setting up GPRS TCP/UDP connects " state, if PPP connection failure is set up in continuous 3 trials, enter " GPRS Modem hardware reset " state;
C, under " set up GPRS TCP/UDP connect " state, according to the configuration of systematic parameter, select to attempt to set up with the Service-Port of appointment that TCP is connected or UDP connection, if connect successfully, enter " login remote server " state, if TCP/UDP connection failure is set up in continuous 3 trials, enter " GPRS Modem hardware reset " state;
D, under " login remote server " state, adopt " reliably logining GPRS network mechanism " to carry out the Telnet operation of server; Set sends the zone bit of login data to server, wait for that Data Analysis convert task detects and builds, transmits login data to GPRS scheduler task and carries out wireless transmission, and the login data of waiting for server feedback, if receive the login data feedback of server within the stand-by period of appointment, logon server success is described, enter " detecting GPRS PPP connection status " state, otherwise logon server failure is described, if continuous 3 logon servers failure, enters " GPRS Modem hardware reset " state;
E, under " detect GPRS PPP connection status " state, realized " terminal real-time online testing mechanism ".By regularly sending to GPRS Modem the state that AT command detection GPRS PPP connects, if GPRS PPP connects normal, enter " detecting GPRS TCP/UDP connection status " state, if GPRS PPP continuous, detected for 3 times and connect disconnection, enter " setting up GPRS PPP connects " state, re-establish GPRS PPP and connect; Why need regularly to detect GPRS PPP connection status, that network condition due to GPRS network itself can cause GPRS wireless monitor node to go offline, in order to guarantee the proper communication of GPRS wireless monitor node and server, GPRS wireless monitor node must know when from GPRS network, go offline, thereby re-establish in time, PPP connects and TCP/UDP connects.
F, under " detect GPRS TCP/UDP connection status " state, the connection status that adopts " heartbeat mechanism " to realize TCP/UDP link detects.By regularly sending heartbeat data packets to server, detect the state that GPRS TCP/UDP connects, if GPRS TCP/UDP connects normal, enter " detecting GPRS PPP connection status " state, if GPRS TCP/UDP continuous, detected for 3 times and connect disconnection, enter " setting up GPRS TCP/UDP connects " state, re-establish GPRS TCP/UDP and connect.Wherein, the implementation that sends heartbeat data packets to server is similar with transmission login data, by set, to server, send the zone bit of heartbeat data packets, wait for that Data Analysis convert task detects and builds, transmits heartbeat data packets to GPRS scheduler task and carries out wireless transmission, and the heartbeat data packets of waiting for server feedback, if receive the heartbeat data packets feedback of server within the stand-by period of appointment, illustrate that TCP/UDP connects normal, otherwise think that TCP/UDP connects disconnection.
G, under " GPRS Modem hardware reset " state, carry out the action of GPRS Modem hardware reset, and the number of times of accumulative total GPRS Modem hardware reset, if the number of times of GPRS Modem hardware reset is over 3 times, enter " GPRS Modem heavily powers on " state, otherwise enter " GPRS Modem initialization " state;
H, under " GPRS Modem heavily powers on " state, carry out successively GPRS Modem shutdown, power-off, operation powers on, starts shooting, and the number of times that totally GPRS Modem heavily powers on, if the number of times that GPRS Modem heavily powers on is over 3 times, enter " software systems warm reset " state, otherwise enter " GPRS Modem initialization " state;
I, under " software systems warm reset " state, executive software system warm reset action, restarts software systems, and then after setting up GPRS link establishment and maintenance task, enters " GPRS Modem initialization " state.
Described Modem AT command operating mechanism is inconsistent to the response time of different AT instructions for GPRS wireless communication module, adopt timeout mechanism, according to the different response time of each AT order, be set the different stand-by period, if obtaining rreturn value in the fixed time finishes to wait for, overtime automatically end waited for, guarantees the reliability of Modem AT command operating.
Described reliable login GPRS network mechanism adopts timeout mechanism to login, i.e., during monitor node login, if wait for, login feedback is overtime, thinks login failure, and repeatedly, after login failure, GPRS wireless communication module again resets.
Described heartbeat mechanism is that GPRS monitor terminal regularly sends heartbeat packet to background server, if do not receive heartbeat packet feedback in the keep-alive time, thinks that link disconnects, automatically disconnects existing connection and re-establishes link; Although GPRS has always online feature, but when GPRS is during for a long time online without data transmission, data service rank can be lowered automatically, adopt heartbeat mechanism when system does not have valid data transmission for a long time, monitor node sends a frame invalid data according to certain time interval to server, thereby keep data transmission service in higher priority level, maintain GPRS data link.
Whether described terminal real-time online testing mechanism is to detect GPRS PPP connection status by periodicity, node can be detected in time and from GPRS network, go offline, and carries out and attempts the operation of dial-up connection again, thereby guarantee monitor node real-time online if go offline; Because the instability of GPRS network itself may cause GPRS wireless monitor node to go offline, in order to guarantee the proper communication of monitor node and server, monitor node must know when from GPRS network, go offline, and then re-establishes PPP connection and TCP/UDP connection.
Described " GPRS Modem hardware reset ", " GPRS Modem heavily powers on ", " software systems warm reset " three kinds of states have formed GPRS link establishment and kept task triplely restarts mechanism; Guarantee that monitor node can recover and being connected of background server after going offline, thereby realize the reliable networking of GPRS wireless monitor node.
As shown in Figure 5, GPRS Modem initialization flow process is as follows:
(1) first GPRS Modem is carried out to AT instruction testing, if test, successfully close the AT instruction echo function of Modem, then carry out SIM card test; If continuous 3 test crashs finish GPRS Modem initialization, and return to initialization failure information.
(2) if testing, SIM card successfully carries out GPRS signal quality testing; If continuous 3 SIM card test crashs, finish GPRS Modem initialization, and return to initialization failure information.
(3) if GPRS signal quality well carries out GPRS Modem network registry; If GPRS signal is unavailable, finishes GPRS Modem initialization, and return to initialization failure information.
(4) if the initialization of short message (SMS) correlation parameter is carried out in the success of GPRS Modem network registry; If continuous 3 GPRS Modem network registries failure, finishes GPRS Modem initialization, and returns to initialization failure information.
(5) if GPRS Modem information is read in short message (SMS) correlation parameter initialization success, finish GPRS Modem initialization, and return to initialization success information; If short message (SMS) correlation parameter initialization failure, finishes GPRS Modem initialization, and returns to initialization failure information.
Various tests in above initialization procedure or the number of times of operation are not limited to 3 times, can adjust according to actual application scenario.
As shown in Figure 6, described multitask application program has realized multi-tasks Software house dog, and this multi-tasks Software house dog is by the software watchdog subroutine of each task, and multi-tasks Software house dog feeds dog subroutine formation; The software watchdog subroutine of each task is mainly responsible for the initialization of this task software watchdog, and in major cycle, upgrades the counter of this task software watchdog; Multi-tasks Software house dog feeds dog subroutine and in each system clock cycle, checks that whether the software watchdog of each task is overtime, as long as the software watchdog of certain task is overtime, just by hardware watchdog, completes the reset to system.
Wherein, the software watchdog subroutine of each task mainly comprises the assignment of initial value and the renewal of counter of timer, particularly: the software watchdog that needs this task of initialization at each task section start, comprise that by the initial value assignment of software watchdog timer be the timeout value of this task, and open the software watchdog of this task.In addition in the major cycle of each task, to upgrade the counter of this task software watchdog.
Multi-tasks Software house dog feeds dog subroutine and is positioned at system clock beat Hook Function, in each system clock cycle, is called once.It is as follows that multi-tasks Software house dog feeds dog subroutine process description:
Enter multi-tasks Software house dog and feed after dog subroutine, first check that whether " stopping feeding hardware watchdog zone bit " is true, true if, directly finishes multi-tasks Software house dog and feeds dog subroutine; If be not true, successively the software watchdog state of each task is checked, step is as follows: check whether this task software watchdog counter upgrades, if upgrade, the value of this task software watchdog timer reset is the timeout value of this task, and proceeds the software watchdog status checking of next task; If do not upgrade, first the value of this task software watchdog timer is subtracted to 1, whether the value that then judges this task software watchdog timer is zero, be that zero this task software watchdog timer of explanation is overtime, it is true that set " stops feeding hardware watchdog zone bit ", directly finish multi-tasks Software house dog and feed dog subroutine, the non-vanishing software watchdog status checking of proceeding next task.According to above-mentioned steps, complete successively the status checking to each task software watchdog, then carry out the step of feeding hardware watchdog, finally finish multi-tasks Software house dog and feed dog subroutine.
As shown in Figure 7, upper outside lower shell structure in housing adopts, material is aluminium alloy; Between upper-lower casing, adopt sealing strip to seal, sealing strip is silastic material, is installed in the groove in upper shell; Upper-lower casing adopts screw thread connect and compress the sealing strip between upper-lower casing, reaches the effect of sealing; Connector is selected PG7 Waterproof connector of cable, and installation site is all arranged in housing both sides; Hardware circuit board is threaded connection and is fixed in lower house.
Description for the understanding of embodiment is only to understand the present invention for helping, rather than is used for limiting of the present invention.Those skilled in the art all can utilize thought of the present invention to carry out some changes and variation, as long as its technological means does not depart from thought of the present invention and main points, still within protection scope of the present invention.
Claims (3)
1. an implementation method for multi-tasks Software house dog, is characterized in that: described multi-tasks Software house dog is by the software watchdog subroutine of each task, and multi-tasks Software house dog feeds dog subroutine formation;
The software watchdog subroutine of each task is mainly responsible for the initialization of this task software watchdog, and in major cycle, upgrades the counter of this task software watchdog; Multi-tasks Software house dog feeds dog subroutine and in each system clock cycle, checks that whether the software watchdog of each task is overtime, as long as the software watchdog of certain task is overtime, just by hardware watchdog, completes the reset to system.
2. the implementation method of a kind of multi-tasks Software house dog according to claim 1, it is characterized in that: the software watchdog subroutine of each task mainly comprises the assignment of initial value and the renewal of counter of timer, concrete: the software watchdog that needs this task of initialization at each task section start, comprise that by the initial value assignment of software watchdog timer be the timeout value of this task, and open the software watchdog of this task; In addition in the major cycle of each task, to upgrade the counter of this task software watchdog.
3. the implementation method of a kind of multi-tasks Software house dog according to claim 1, is characterized in that:
Multi-tasks Software house dog feeds dog subroutine and is positioned at system clock beat Hook Function, in each system clock cycle, is called once;
Multi-tasks Software house dog hello dog subroutine flow process is as follows:
Enter multi-tasks Software house dog and feed after dog subroutine, first check that whether " stopping feeding hardware watchdog zone bit " is true, true if, directly finishes multi-tasks Software house dog and feeds dog subroutine; If be not true, successively the software watchdog state of each task is checked, step is as follows: check whether this task software watchdog counter upgrades, if upgrade, the value of this task software watchdog timer reset is the timeout value of this task, and proceeds the software watchdog status checking of next task; If do not upgrade, first the value of this task software watchdog timer is subtracted to 1, whether the value that then judges this task software watchdog timer is zero, be that zero this task software watchdog timer of explanation is overtime, it is true that set " stops feeding hardware watchdog zone bit ", directly finish multi-tasks Software house dog and feed dog subroutine, the non-vanishing software watchdog status checking of proceeding next task;
According to above-mentioned steps, complete successively the status checking to each task software watchdog, then carry out the step of feeding hardware watchdog, finally finish multi-tasks Software house dog and feed dog subroutine.
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| CN104636212A (en) * | 2014-12-29 | 2015-05-20 | 漳州科能电器有限公司 | Embedded operating system watchdog realizing method |
| CN104899110A (en) * | 2015-06-05 | 2015-09-09 | 宁波三星智能电气有限公司 | Setting and feeding method for watchdog |
| CN105630621A (en) * | 2015-12-30 | 2016-06-01 | 宁波三星医疗电气股份有限公司 | Watchdog feeding method |
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| CN108491311A (en) * | 2018-04-02 | 2018-09-04 | 深圳还是威健康科技有限公司 | A kind of the house dog monitoring method and terminal of real time operating system |
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| CN111367702A (en) * | 2020-03-06 | 2020-07-03 | 北京龙鼎源科技股份有限公司 | Multitask software watchdog processing method and device |
| CN113806132A (en) * | 2021-09-22 | 2021-12-17 | 京东方科技集团股份有限公司 | Exception reset processing method and device |
| CN116382977A (en) * | 2023-03-31 | 2023-07-04 | 上海玫克生储能科技有限公司 | Reset detection method and system applied to data communication and electronic equipment |
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| DE102018210733A1 (en) | 2018-06-29 | 2020-01-02 | Robert Bosch Gmbh | Method for monitoring at least one computing unit |
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| CN111367702A (en) * | 2020-03-06 | 2020-07-03 | 北京龙鼎源科技股份有限公司 | Multitask software watchdog processing method and device |
| CN111367702B (en) * | 2020-03-06 | 2024-03-08 | 北京龙鼎源科技股份有限公司 | Multitasking software watchdog processing method and device |
| CN113806132A (en) * | 2021-09-22 | 2021-12-17 | 京东方科技集团股份有限公司 | Exception reset processing method and device |
| CN113806132B (en) * | 2021-09-22 | 2023-12-26 | 京东方科技集团股份有限公司 | Processing method and device for abnormal reset |
| CN116382977A (en) * | 2023-03-31 | 2023-07-04 | 上海玫克生储能科技有限公司 | Reset detection method and system applied to data communication and electronic equipment |
| CN116382977B (en) * | 2023-03-31 | 2023-12-01 | 上海玫克生储能科技有限公司 | Reset detection method and system applied to data communication and electronic equipment |
| CN117666452A (en) * | 2024-02-01 | 2024-03-08 | 季华实验室 | Multiple safety control method and device for robot, electronic equipment and storage medium |
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