CN106411675B - A kind of centralized bus timing control method based on timeslice planning - Google Patents
A kind of centralized bus timing control method based on timeslice planning Download PDFInfo
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- CN106411675B CN106411675B CN201610833842.4A CN201610833842A CN106411675B CN 106411675 B CN106411675 B CN 106411675B CN 201610833842 A CN201610833842 A CN 201610833842A CN 106411675 B CN106411675 B CN 106411675B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/4028—Bus for use in transportation systems the transportation system being an aircraft
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Abstract
The invention discloses a kind of centralized bus timing control methods based on timeslice planning, send fast frame message step including the ADU on satellite Integrated Electronic System；The 1.6ms that is delayed reads the closed loop feedback data step of ADU loopback from BC message stack；A class message frame or B class message frame step are sent according to 64ms cycle count CNT1,448ms cycle count CNT2；Next control period reads the telemetry step of RT loopback from BC message stack；Every control period CMU software carries out bus failure judgement, the step of the bus communication state of BC and RT is judged according to RT message status word, switches to B bus from A bus.Bus operation is strict controlled in a control period by the present invention, is avoided provisional message frame transmitting-receiving caused by emergency event, is improved system communication real-time, reduce bus load, ensure that system running state predictability.
Description
Technical field
The present invention relates to a kind of centralized bus timing control methods based on timeslice planning, belong to embedded software neck
Domain, the communication construction suitable for the spaceborne application software of Integrated Electronic System design.
Background technique
In spacecraft (satellite or airship) 1553B bus network, center-controlling computer is as bus control unit (BC)
Data communication is initiated, other single machines are instructed as remote terminal (RT) response data and response.Traditional spacecraft bus communication
In design, main to use the bus message frame sending method based on event, there are two types of limitations for this method: 1) real-time is not
By force.BC is that triggering initiates message frame to RT with event, and creation, the transmitting-receiving of data have apparent aperiodicity, not for length
One message, because delivery time bring difference will lead to system real time decline.2) system action is unpredictable.Center control
It calculates and reads input, output control instruction is realized by 1553B bus message, if message communicating is not in accordance with fixation
The mode at time point creates, receives and dispatches, and will lead in program operation process uncertain from the execution moment for being input to output, is
System operating status also can become unpredictable because of " chain reaction ".
Summary of the invention
Technical problem solved by the present invention is overcoming the shortage of prior art, a kind of concentration based on timeslice planning is proposed
Formula bus timing design method, the real time communication of BC and RT in Integrated Electronic System is realized in bus management task, is based on
Timeslice plans that unified timing Design strategy realizes that bus data sends and receives and bus failure processing, bus timing are set
The case where meter is rationally efficient, and system action can be predicted, burst is avoided to initiate communication, in addition it can reduce bus load, avoids
Bus data frame collides.
The technology of the present invention solution is: a kind of centralized bus timing control method based on timeslice planning, step
It is as follows:
1) ADU on Xiang Weixing Integrated Electronic System sends fast frame message, including control instruction message and closed loop feedback number
According to message；The satellite Integrated Electronic System includes central manage-ment unit CMU, platform service unit PFISU, load business unit
PLISU and executing agency driving unit ADU, each single machine pass through 1553B bus communication；Wherein CMU is the core of Integrated Electronic System
The heart initiates data communication as bus control unit BC, and other single machines are instructed as remote terminal RT response data and response；
2) it is delayed after 1.6ms, the closed loop feedback data of ADU loopback is read from BC message stack；
3) it is handled as follows according to 64ms cycle count CNT1 value:
As CNT1=0, the A class message frame of BC and ADU is created and initiated；
As CNT1=1, the A class message frame of BC and PFISU is created and initiated；
As CNT1=2, the A class message frame of BC and PLISU is created and initiated；
It is without any processing as CNT1=3；
As CNT1=4, counting CNT2 is rotated according to the 448ms period and is handled as follows:
As CNT2=0, CMU completes significant data packing processing；
As CNT2=1, the B class message frame of BC and ADU is created and initiated；
As CNT2=2, the B class message frame of BC and PFISU is created and initiated；
As CNT2=3, the B class message frame of BC and PLISU is created and initiated；
It is without any processing as CNT2=4~141；
It is without any processing as CNT1=5,6；
CNT2 is incremented by 1；
The 64ms period rotates counter cnt 1, initially sets 0, and every control period is incremented by 1, in 0~6 rotation, period meter
When 7 × 64ms=448ms；
The 448ms period, which rotates, counts CNT2 device, initially sets 0, and every 448ms is incremented by 1, in 0~141 rotation, period meter
When 142 × 448ms=63.616s；
The A class message frame includes telecommand message, telemetry message and telemetering duties instruction message；
The B class message frame includes significant data message and significant data duties instruction message；
4) next control period enters subtask 4 --- and after 1553B bus management task, CMU reads RT from BC message stack
The telemetry of loopback；
As CNT1=0, the telemetry of ADU is fetched；
As CNT1=1, the telemetry of PFISU is fetched；
As CNT1=2, the telemetry of PLISU is fetched；
CNT1 is incremented by 1；
5) every control period CMU carries out bus failure judgement, and the bus communication of BC and RT are judged according to RT message status word
The bus run of BC and RT is switched to B bus by A bus if sentencing bus communication mistake out by state.
The invention has the following advantages over the prior art:
1) real-time is stronger, and bus operation was strict controlled in a control period, avoids facing caused by emergency event
The transmitting-receiving of when property message frame；
2) system action is predictable, and the establishment of bus communication data, to send and receive triggered in set time point, from
Input, the running state of programs handled to output can be predicted.
3) system communication real-time can be improved in the above advantage of the present invention, reduces bus load, meets satellite data very well
The mission requirements that interactive quantity is big, real-time is high, bus management becomes increasingly complex.
Detailed description of the invention
Fig. 1 is eastern three B platform Integrated Electronic System 1553B bus topolopies；
Fig. 2 is the distribution of control period subtask time；
Fig. 3 is 1553B bus management task communication timing；
Fig. 4 is to realize that the data of BC and RT send and receive according to control cycle count rotation；
Fig. 5 is that significant data is packaged and significant data sends processing strategie.
Specific embodiment
Certain satellite Integrated Electronic System is by central manage-ment unit CMU, platform service unit (PFISU), load business unit
(PLISU) and executing agency's driving unit (ADU) composition, each single machine pass through 1553B bus communication, and wherein CMU is integrated electronics
The core of system initiates data communication as bus control unit (BC), and other single machines refer to as remote terminal (RT) response data
Order and response.The spaceborne application software of Integrated Electronic System realizes bus control unit function, periodically communicates with each end RT, to complete
The data management of Integrated Electronic System, network topology structure is as shown in Figure 1, specific requirements are as follows:
1, the CMU application software control period is 64ms, i.e., every 64ms carries out a data management, and communication cycle must be with control
Period processed is that timeslice is divided.One control period includes 4 subtasks, and the son that all bus operations are limited in 12ms is appointed
Business 4 --- it is completed in 1553B bus management task, as shown in Figure 2.
2, the present invention mainly uses following 3 kinds of 1553B message formats:
1) BC-RT:BC sends a reception command word to RT, is followed by the data word of specific length.RT is being received
After command word and data word, a status word is sent to BC after carrying out message legitimate verification；
2) RT-BC:BC sends a transmission command word to RT first, and RT is receiving command word and carrying out legitimate verification
A status word is sent afterwards and gives the end BC, is followed by the data word of specific length；
3) the BC-RT mode order with one data word: BC sends a reception command word to RT, behind one, band
16 data words；
3, CMU application software every control period and ADU carry out fast frame traffic, including control instruction message and closed loop feedback number
According to acquisition message, message format is respectively single message of BC-RT and single message of RT-BC；
4, CMU application software every 7 control periods, i.e. 448ms complete slow frame traffic with ADU, PFISU, PLISU respectively,
Including control instruction message, Telemetry Data Acquisition message is respectively with the duties instruction message synchronous for data, message format
Single message of BC-RT, single message of RT-BC and the BC-RT mode order with one data word.
5, CMU application software saves significant data to the end RT with fixed time period, which is no more than 64S, number
It is 2K byte according to scale, it is desirable that the data of transmission are identical, are sent to ADU, PFISU, PLISU respectively in triplicate.Message lattice
Formula is the cyclic buffer message and the BC-RT mode command messages with one data word of BC-RT.
6, CMU application software each control period carries out bus abnormality processing, switches to B bus from A bus.
According to the communication requirement of Integrated Electronic System, the present invention uses the centralized bus timing control planned based on timeslice
Method processed, design principle are as follows:
1) bus load is reduced using periodic timing design method according to the real-time demand of BC and RT.
2) data frame is created by target of RT, is avoided as far as possible comprising the message for being sent to multiple RT in a frame, handled so just
Whole frame can be abandoned in bus failure processing when finding error message occur in a frame, not influence the logical of BC and other RT
Letter；
3) BC does not use chip-scale message to retry strategy, transfers to application layer process completely, avoids the occurrence of 1,2 time and beats after retrying
Disorderly original timing；
4) BC does not use frame abort sending strategy, according to message status word comprehensive descision after unconditional transmission message frame
Bus failure；
5) BC completes data transmit-receive using inquiry mode, conflicts so as to avoid bring timing is interrupted with data access.
It further illustrates with reference to the accompanying drawing:
The bus communication demand described according to front completes all bus data transmitting-receivings in a control period domestic demand, no
Only include the fast frame traffic using 64ms as the BC in period and ADU, further includes using 448ms as period BC and ADU, PFISU, PLISU
Slow frame traffic, additionally include be no more than 64S fixed time period significant data save task.The present invention devises base
In the bus timing control method of timeslice, initiate two message frames within a 64ms control period: a frame is according to 64ms
Period rotation counts the BC initiated and communicates fast frame with ADU, and another frame is to rotate to count under the BC initiated and certain according to the 448ms period
The slow frame of communication or significant data of position machine save frame.All bus operations concentrate in the bus management task of 12ms, timing
Design is as shown in Figure 3.
Wherein, it is related to counter to be defined as follows:
● the 64ms period rotates counter cnt 1, initially sets 0, and every control period is incremented by 1, in 0~6 rotation, period timing
For 7 × 64ms=448ms.
● the 448ms period rotates counter cnt 2, initially sets 0, and every 448ms is incremented by 1, in 0~141 rotation, period timing
For 142 × 448ms=63.616s.
It is related to message frame is defined as:
● A class message frame is made of telecommand message, telemetry message and telemetering duties instruction message；
● B class message frame is made of significant data message and significant data duties instruction message.
Fig. 3 is flow chart of the present invention, and step is described as follows:
1. step sends fast frame message, including control instruction message and closed loop feedback data-message to ADU；
2. step is delayed after 1.6ms, the closed loop feedback data of ADU loopback are read from BC message stack；
3. step is handled as follows according to 64ms cycle count CNT1 value, process is as shown in Figure 4:
As CNT1=0, the A class message frame of BC and ADU is created and initiated；
As CNT1=1, the A class message frame of BC and PFISU is created and initiated；
As CNT1=2, the A class message frame of BC and PLISU is created and initiated；
It is without any processing as CNT1=3；
As CNT1=4, counting CNT2 value is rotated according to the 448ms period and is handled as follows, process is as shown in Figure 5:
As CNT2=0, CMU software is completed a significant data and is packaged；
As CNT2=1, the B class message frame of BC and ADU is created and initiated；
As CNT2=2, the B class message frame of BC and PFISU is created and initiated；
As CNT2=3, the B class message frame of BC and PLISU is created and initiated；
CNT2 is incremented by 1；Note: for CNT2 from increasing 1, i.e., every 448ms increases 1 certainly when each CNT1=4
It is without any processing as CNT2=4~141.
It is without any processing as CNT1=5,6.
4. next control period enters subtask 4 to step --- and after 1553B bus management task, CMU software is from BC message
The telemetry of stack reading RT loopback；
As CNT1=0, the telemetry of ADU loopback is fetched；
As CNT1=1, the telemetry of PFISU loopback is fetched；
As CNT1=2, the telemetry of PLISU loopback is fetched.
CNT1 increases 1 certainly；Note: changing control cycle count, and preparation is communicated with next RT
5. every control period carries out bus failure judgement to step, and the bus communication of BC and RT are judged according to RT message status word
The bus run of BC and RT is switched to B bus by A bus if sentencing bus failure out by state.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (1)
1. a kind of centralized bus timing control method based on timeslice planning, it is characterised in that steps are as follows:
1) the executing agency driving unit ADU on Xiang Weixing Integrated Electronic System sends fast frame message, including control instruction message
With closed loop feedback data-message；The satellite Integrated Electronic System include central manage-ment unit CMU, platform service unit PFISU,
Load business unit PLISU and executing agency driving unit ADU, the central manage-ment unit CMU, platform service unit PFISU,
Load business unit PLISU and executing agency driving unit ADU pass through 1553B bus communication；Wherein CMU is integrated electronics system
The core of system is initiated data communication as bus control unit BC, platform service unit PFISU, load business unit PLISU and is held
Row mechanism driving unit ADU is instructed as remote terminal RT response data and response；
2) it is delayed after 1.6ms, the closed loop feedback data of ADU loopback is read from BC message stack；
3) it is handled as follows according to 64ms cycle count CNT1 value:
As CNT1=0, the A class message frame of BC and ADU is created and initiated；
As CNT1=1, the A class message frame of BC and PFISU is created and initiated；
As CNT1=2, the A class message frame of BC and PLISU is created and initiated；
It is without any processing as CNT1=3；
As CNT1=4, counting CNT2 is rotated according to the 448ms period and is handled as follows:
As CNT2=0, CMU completes significant data packing processing；
As CNT2=1, the B class message frame of BC and ADU is created and initiated；
As CNT2=2, the B class message frame of BC and PFISU is created and initiated；
As CNT2=3, the B class message frame of BC and PLISU is created and initiated；
It is without any processing as CNT2=4~141；
It is without any processing as CNT1=5,6；
CNT2 is incremented by 1；
The 64ms period rotates counter cnt 1, initially sets 0, and every control period is incremented by 1, rotates 0~6, and period timing 7 ×
64ms=448ms；
The 448ms period, which rotates, counts CNT2 device, initially sets 0, and every 448ms is incremented by 1, in 0~141 rotation, period timing 142
× 448ms=63.616s；
The A class message frame includes telecommand message, telemetry message and telemetering duties instruction message；
The B class message frame includes significant data message and significant data duties instruction message；
4) next control period enters subtask 4 --- and after 1553B bus management task, CMU reads RT loopback from BC message stack
Telemetry；
As CNT1=0, the telemetry of ADU is fetched；
As CNT1=1, the telemetry of PFISU is fetched；
As CNT1=2, the telemetry of PLISU is fetched；
CNT1 is incremented by 1；
5) every control period CMU carries out bus failure judgement, and the bus communication state of BC and RT is judged according to RT message status word,
If sentencing bus communication mistake out, the bus run of BC and RT is switched into B bus by A bus.
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| CN112415885B (en) * | 2020-11-30 | 2022-07-05 | 北京控制工程研究所 | Universal bus management method suitable for multi-machine multi-bus redundancy fault-tolerant system |
| CN116074156B (en) * | 2022-12-29 | 2024-08-02 | 北京机电工程研究所 | 1553B protocol design method for avoiding data conflict through time sequence design |
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