CN107015542B - Bus steering engine and control device, control system and control method thereof - Google Patents
Bus steering engine and control device, control system and control method thereof Download PDFInfo
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- CN107015542B CN107015542B CN201710283564.4A CN201710283564A CN107015542B CN 107015542 B CN107015542 B CN 107015542B CN 201710283564 A CN201710283564 A CN 201710283564A CN 107015542 B CN107015542 B CN 107015542B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4188—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by CIM planning or realisation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a bus steering engine, a control device, a control system and a control method thereof. The control device is arranged in each steering engine in the bus steering engines and comprises a position information determining module, wherein the position information determining module is used for determining the position information of the instruction data to be read according to the self-configured identification number ID; the reading module is used for reading the instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information when receiving the instruction data sent by the control end; and the control module is used for executing corresponding actions according to the instruction data read by the reading module. According to the invention, the instruction data does not need to include the identification number ID of each steering engine, the length of the instruction data is greatly reduced, and the time consumed by sending the instruction data is reduced, so that each steering engine can execute corresponding actions in time, the movement effect is ensured, and the user experience is further enhanced.
Description
Technical Field
The invention relates to the technical field of steering engines, in particular to a bus steering engine and a control device, a control system and a control method thereof.
Background
The serial bus steering engine has the advantages of simple wiring, feedback and the like, and is widely applied to a plurality of products, such as robot products. At present, the control mode of the bus steering engine is as follows: and sending an instruction to the bus by using a serial port, wherein the instruction comprises an identification number ID of each steering engine and corresponding instruction information. For example, if a certain instruction is specifically steering engine ID0, turn 20 degrees; steering engine ID1 turns 30 degrees, steering engine ID2 takes a rest … …, and converts the instruction into the simplest data transmission format: 0020 0130 02xx … (spaces are for convenience of reading only, spaces are not included in the actual instructions). Each steering engine in the bus steering engine can complete corresponding actions according to the instruction. However, the communication rate of one serial port is limited, and for the situation that the number of steering engines in the bus steering engine is large, the length of the sent instruction data is long, the consumed time is long, the execution of the instruction is delayed, the motion effect is affected, and then the user experience is affected.
Disclosure of Invention
In view of the problem that the long time consumed for sending command data in the prior art can cause lag of command execution, influence motion effect and further influence user experience, the invention provides a bus steering engine, a control device, a control system and a control method thereof, so as to solve or at least partially solve the problem.
According to one aspect of the invention, a control device of a bus steering engine is provided, a control end configures an identification number ID for each steering engine in the bus steering engine, and sends instruction data to the bus steering engine by using a serial port, wherein the instruction data comprises all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine; the control device is arranged in each steering engine of the bus steering engines, and comprises:
the position information determining module is used for determining the position information of the steering engine, which needs to read the instruction data, according to the self-configured identification number ID;
the reading module is used for reading instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information when receiving the instruction data sent by the control end;
and the control module is used for executing corresponding actions according to the instruction data read by the reading module.
According to another aspect of the invention there is provided a bus steering engine comprising one or more steering engines, each steering engine comprising the control device as described above.
According to yet another aspect of the present invention, there is provided a control system of a bus steering engine, the control system including a bus steering engine and a control terminal; the bus steering engine comprises one or more steering engines;
the control end is used for configuring an identification number ID for each steering engine in the bus steering engines; the serial port is used for sending instruction data to the bus steering engine, wherein the instruction data comprises all instruction data corresponding to identification numbers ID of all steering engines in the bus steering engine;
each steering engine in the bus steering engines is used for determining the position information of the received instruction data to be read according to the identification number ID configured by the steering engines; when receiving one piece of instruction data sent by the control end, reading instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information, and executing corresponding actions according to the read instruction data.
According to still another aspect of the present invention, there is provided a control method of a bus steering engine, wherein a control terminal configures an identification number ID for each steering engine in the bus steering engine, and sends instruction data to the bus steering engine using a serial port, the instruction data including all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine; the method comprises the following steps:
for each steering engine in the bus steering engines, determining the position information of the received instruction data to be read according to the identification number ID configured by the steering engine;
when receiving one piece of instruction data sent by the control end, reading instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information;
and executing corresponding actions according to the read instruction data.
In summary, in the technical scheme of the invention, the control end configures an identification number ID for each steering engine in the bus steering engine, and sends instruction data to the bus steering engine by using the serial port, wherein the instruction data only comprises all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine; each steering engine can determine the position information of the instruction data to be read according to the self-configured identification number ID; when receiving instruction data sent by a control end, reading instruction data corresponding to an identification number ID configured by the control end from a corresponding position of the instruction data according to the determined position information; and then executing corresponding actions according to the read instruction data. Because the instruction data only need include all instruction data corresponding to the identification number ID of all steering engines in the bus steering engine, do not need to include the identification number ID of each steering engine any more, compared with the prior art, the length of the instruction data is greatly reduced, the time consumed by the sending of the instruction data is reduced, the communication efficiency is improved, each steering engine can execute corresponding actions in time, the movement effect is guaranteed, and the user experience is further enhanced.
Drawings
Fig. 1 is a schematic structural diagram of a control device for a bus steering engine according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a bus steering engine according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system of a bus steering engine according to a third embodiment of the present invention;
fig. 4 is a flow chart of a control method of a bus steering engine according to a fourth embodiment of the present invention;
fig. 5 is a schematic control flow diagram of a bus steering engine according to a fifth embodiment of the present invention.
Detailed Description
The design idea of the invention is as follows: in order to reduce the length of instruction data, a control end configures an identification number ID for each steering engine in the bus steering engines, and sends the instruction data to the bus steering engines by using a serial port; each steering engine can determine the position information of the instruction data to be read according to the identification number ID configured by the steering engine; then only the instruction data corresponding to the self-configured identification number ID is read from the corresponding position of the instruction data according to the determined position information; and then executing corresponding actions according to the read instruction data. Because the instruction data only need to include all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine, the identification numbers ID of each steering engine are not needed, and the length of the instruction data is greatly reduced. For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
Example 1
The control end configures an identification number ID for each steering engine in the bus steering engines, and sends instruction data to the bus steering engines by using the serial port, wherein the instruction data comprises all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engines.
For example, the bus steering engine includes 5 steering engines, and identification numbers ID of the 5 steering engines are ID00, ID01, ID02, ID03 and ID04 respectively. The instruction data includes instruction data corresponding to ID00, ID01, ID02, ID03, and ID04, respectively.
Fig. 1 is a schematic structural diagram of a control device for a bus steering engine according to a first embodiment of the present invention, where the control device for a bus steering engine is disposed in each steering engine of the bus steering engines. As shown in fig. 1, the control device 100 of the bus steering engine includes:
the location information determining module 110 is configured to determine, according to the identification number ID configured by itself, location information of the received instruction data, which needs to be read.
And the reading module 120 is configured to, when receiving an instruction data sent by the control end, read instruction data corresponding to the self-configured identification number ID from a corresponding position of the instruction data according to the position information.
The control module 130 is configured to perform a corresponding action according to the instruction data read by the reading module 120.
Since each steering engine reads the instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information, the instruction data only needs to include all the instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine, and the identification number ID of each steering engine is not required to be included any more, for example, the data format of the instruction data may be "1020304050" instead of "00100120023003400450". Compared with the prior art, the length of the instruction data is greatly reduced, the time consumed by sending the instruction data is reduced, the communication efficiency is improved, each rudder can execute corresponding actions in time, the movement effect is ensured, and the user experience is further enhanced.
The following describes in detail how to determine the location information of the steering engine from which the instruction data needs to be read.
If the control end sets the instruction data to be arranged according to the sequence from small to large of the corresponding identification numbers ID of each steering engine, for example, the bus steering engine comprises 5 steering engines, and the identification numbers ID of the 5 steering engines are respectively ID00, ID02, ID03, ID05 and ID06. The instruction data sent by the control end are arranged according to the size sequence of the steering engine IDs, and each steering engine can determine the corresponding instruction data in the instruction data according to the ID.
The location information determining module 110 is specifically configured to determine the number of bytes occupied by the instruction data of each steering engine; the position information of the instruction data to be read is determined according to the identification number ID and the byte number: an nth field of byte in the instruction data; each byte section contains a plurality of bytes, and N represents the size of an identification number ID of the steering engine, and N bits are arranged in the arrangement from small to large of the identification numbers of all the steering engines in the bus steering engine.
In the above example, the identification numbers ID of the 5 steering engines are ID00, ID02, ID03, ID05, and ID06, respectively. And determining that the number of bytes occupied by the instruction data of each steering engine is 3, wherein the format of the instruction data is as follows: aaabbbcccdddeee (the letters herein have no specific meaning or may represent instruction data corresponding to each steering engine), which may be divided into 5 byte segments, aaa, bbb, ccc, ddd, eee, according to the number of bytes 3 occupied by the instruction data of each steering engine. If the position information of the instruction data to be read by the ID03 steering engine is determined, and the 3 rd bit is arranged in the arrangement from small to large in all the steering engines, the position information of the instruction data to be read by the steering engine is determined to be the 3 rd byte segment in the instruction data. And when receiving one instruction data sent by the control end, the ID03 steering engine only needs to read the 3 rd byte section.
Further, if the control end sets the initial bit of the instruction data to 0, sequentially configuring the identification numbers ID of the steering engines in the bus steering engines from 0 in order from small to large; for example, the bus steering engine includes 5 steering engines, and identification numbers ID of the 5 steering engines are ID00, ID01, ID02, ID03 and ID04 respectively.
The location information determining module 110 is specifically configured to determine, according to the identification number ID and the number of bytes, that the location information of the instruction data needs to be read is: bytes of (ID number of bytes) to (ID number of bytes+number of bytes-1) bits in the instruction data.
In general, the instruction data of the steering engine is angle data, and the number of bytes occupied is 2 bytes, so a specific example of this embodiment is: the position information of the steering engine, which needs to read the instruction data, is determined according to the identification number ID and the byte number: bytes of (ID 2) th bit and bytes of (ID 2+1) th bit in instruction data.
For example, the location of the steering engine read instruction data of ID03 is: bits 6 and 7 of instruction data. After receiving the command data 1020304050' sent by the control end, the ID03 steering engine only needs to read the data of the byte 40 in the 6 th bit and the 7 th bit of the command data, and then rotates by 40 degrees according to the command of 40.
Example two
Fig. 2 is a schematic structural diagram of a bus steering engine according to a second embodiment of the present invention. As shown in fig. 2, the bus steering engine comprises a steering engine 210, a steering engine 220, a steering engine 230, a steering engine 240 and a steering engine 250, which are respectively connected with the serial port bus. Each steering engine comprises a control device 100 as shown in fig. 1.
The number of the steering engines in the bus steering engines is not limited to 5, and may be set as required.
Example III
Fig. 3 is a schematic structural diagram of a control system for a bus steering engine according to a third embodiment of the present invention. As shown in fig. 3, the control system of the bus steering engine comprises a bus steering engine 310 and a control end 320; bus steering engine 310 includes one or more steering engines.
The control end 320 is configured to configure an identification number ID for each steering engine of the bus steering engines; and sending instruction data to the bus steering engine by using the serial port, wherein the instruction data comprises all instruction data corresponding to identification numbers ID of all steering engines in the bus steering engine. For example, the bus steering engine includes 5 steering engines, and identification numbers ID of the 5 steering engines are ID00, ID01, ID02, ID03 and ID04 respectively. The instruction data includes instruction data corresponding to ID00, ID01, ID02, ID03, and ID04, respectively.
Each steering engine in the bus steering engine 310 is configured to determine, according to the identifier ID configured by itself, position information of the instruction data to be read; when receiving an instruction data sent by the control end, reading the instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information, and executing corresponding actions according to the read instruction data.
Since each steering engine reads the instruction data corresponding to the identification number ID of the steering engine from the corresponding position of the instruction data according to the position information, the instruction data only needs to include all the instruction data corresponding to the identification number IDs of all the steering engines in the bus steering engine, and the identification number ID of each steering engine is not required to be included any more, for example, the data format of the instruction data may be "1020304050" instead of "00100120023003400450". Compared with the prior art, the length of the instruction data is greatly reduced, the time consumed by sending the instruction data is reduced, the communication efficiency is improved, each rudder can execute corresponding actions in time, the movement effect is ensured, and the user experience is further enhanced.
Specifically, the control end 320 is further configured to set the instruction data to be arranged in order from small to large according to the identification number ID of each corresponding steering engine, for example, the bus steering engine includes 5 steering engines, and the identification numbers ID of the 5 steering engines are ID00, ID02, ID03, ID05, and ID06, respectively. The instruction data sent by the control end are arranged according to the size sequence of the steering engine IDs, and each steering engine can determine the corresponding instruction data in the instruction data according to the ID.
Each steering engine in the bus steering engine 310 is specifically configured to determine the number of bytes occupied by instruction data of the steering engine itself; the position information of the instruction data to be read is determined according to the self-configured identification number ID and byte number: an nth field of byte in the instruction data; each byte section contains a plurality of bytes, and N represents the size of the self-configured identification number ID, and the N-th bit is arranged in the arrangement from small to large of the identification numbers ID of all steering engines in the bus steering engine.
In the above example, the identification numbers ID of the 5 steering engines are ID00, ID02, ID03, ID05, and ID06, respectively. And determining that the number of bytes occupied by the instruction data of each steering engine is 3, wherein the format of the instruction data is as follows: aaabbbcccdddeee (the letters herein have no specific meaning or may represent instruction data corresponding to each steering engine), which may be divided into 5 byte segments, aaa, bbb, ccc, ddd, eee, according to the number of bytes 3 occupied by the instruction data of each steering engine. If the position information of the instruction data to be read by the ID03 steering engine is determined, and the 3 rd bit is arranged in the arrangement from small to large in all the steering engines, the position information of the instruction data to be read by the steering engine is determined to be the 3 rd byte segment in the instruction data. And when receiving one instruction data sent by the control end, the ID03 steering engine only needs to read the 3 rd byte section.
Further, the control end 320 is further configured to set an initial bit of the instruction data to 0; and sequentially configuring the identification numbers ID of the steering engines in the bus steering engines from 0 in order from small to large; for example, the bus steering engine includes 5 steering engines, and identification numbers ID of the 5 steering engines are ID00, ID01, ID02, ID03 and ID04 respectively.
Each steering engine in the bus steering engine 310 is specifically configured to determine, according to the identification number ID and the byte number, that the position information of the instruction data needs to be read is: bytes of (ID number of bytes) to (ID number of bytes+number of bytes-1) bits in the instruction data.
In general, the instruction data of the steering engine is angle data, and the number of bytes occupied is 2 bytes, so a specific example of this embodiment is: the position information of the steering engine, which needs to read the instruction data, is determined according to the identification number ID and the byte number: bytes of (ID 2) th bit and bytes of (ID 2+1) th bit in instruction data.
For example, the location of the steering engine read instruction data of ID03 is: bits 6 and 7 of instruction data. When receiving an instruction data 1020304050' sent by the control end, the ID03 steering engine only needs to read the data of the 6 th bit and the 7 th bit of the instruction data which are the bytes 40, and then rotates 40 degrees according to the instruction of 40.
Example IV
Fig. 4 is a flow chart of a control method of a bus steering engine according to a fourth embodiment of the present invention. The control end configures an identification number ID for each steering engine in the bus steering engines, and sends instruction data to the bus steering engines by using the serial port, wherein the instruction data comprises all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engines; as shown in fig. 4, the method includes:
step S110, for each steering engine in the bus steering engines, determining the position information of the instruction data to be read according to the self-configured identification number ID.
Step S120, when receiving an instruction data sent by the control end, reading the instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information.
Step S130, corresponding actions are executed according to the read instruction data.
Specifically, the control end sets instruction data to be arranged in the sequence from small to large of the corresponding identification number ID of each steering engine.
Determining the location information of the received instruction data, which requires reading the instruction data, according to the self-configured identification number ID in step S110 includes: determining the byte number occupied by the instruction data of each steering engine; the position information of the instruction data to be read is determined according to the identification number ID and the byte number: an nth field of byte in the instruction data; each byte section contains a plurality of bytes, and N represents the size of an identification number ID of the steering engine, and N bits are arranged in the arrangement from small to large of the identification numbers of all the steering engines in the bus steering engine.
Further, the control end sets the initial bit of the instruction data to 0, and sequentially configures the identification numbers ID of the steering engines in the bus steering engines from 0 in order from small to large;
the location information of the instruction data to be read according to the identification number ID and the number of bytes in step S110 is specifically: bytes of (ID number of bytes) to (ID number of bytes+number of bytes-1) bits in the instruction data.
It should be noted that, the embodiments of the method shown in fig. 4 correspond to the embodiments of the apparatus shown in fig. 1, and the detailed description is given above, which is not repeated here.
Example five
Fig. 5 is a schematic workflow diagram of a bus steering engine according to a fifth embodiment of the present invention. Taking a robot as an example, the robot has 18 joint degrees of freedom to calculate, and the bus steering engine can comprise 18 steering engines, namely ID00, ID01, ID02, … and ID17. The command data to be transmitted by the line is to enable the steering engine ID00 to be turned by 20 degrees; the steering engine ID01 turns 30 degrees, the steering engine ID02 takes a rest … …, the steering engine ID17 turns 60 degrees, the format of instruction data is 2030xx … …, and the baud rate of the serial port is 9600. As shown in fig. 5, the working flow of the bus steering engine is as follows:
the control end configures an identification number ID for each steering engine. The steering engine ID00 determines that the position information of the read instruction data is the 0 th bit and the 1 st bit when the steering engine ID01 determines that the position information of the read instruction data is the 2 nd bit and the 3 rd bit when the steering engine ID01 determines that the position information of the read instruction data is the 4 th bit and the 5 th bit when the steering engine ID02 determines that the position information of the read instruction data is the … th bit when the steering engine ID17 determines that the position information of the read instruction data is the 34 th bit and the 35 th bit when the steering engine ID receives the data. After receiving instruction data 2030xx … … 60, the steering engine ID00 reads the instruction data 20 and turns 20 degrees; the steering engine ID01 reads instruction data of 30 and turns 30 degrees; the steering engine ID02 reads instruction data xx and takes a rest; …; the steering engine ID17 reads the command data "60" and turns 60 degrees, and the communication time is 288ms. Compared with 576ms consumed by sending command data of '0020012002 xx … 1760', time 288ms is saved, communication efficiency is improved, each rudder can execute corresponding actions in time, motion effect is guaranteed, and user experience is further enhanced.
In summary, in the technical scheme of the invention, the control end configures an identification number ID for each steering engine in the bus steering engine, and sends instruction data to the bus steering engine by using the serial port, wherein the instruction data only comprises all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine; each steering engine can determine the position information of the instruction data to be read according to the self-configured identification number ID; when receiving instruction data sent by a control end, reading instruction data corresponding to an identification number ID configured by the control end from a corresponding position of the instruction data according to the determined position information; and then executing corresponding actions according to the read instruction data. Because each steering engine can read instruction data corresponding to the identification number ID of the steering engine from the corresponding position of the instruction data according to the position information, the instruction data only need to include all instruction data corresponding to the identification number ID of all steering engines in the bus steering engine, and the identification number ID of each steering engine is not needed.
The foregoing is merely a specific embodiment of the invention and other modifications and variations can be made by those skilled in the art in light of the above teachings. It is to be understood by persons skilled in the art that the foregoing detailed description is provided for the purpose of illustrating the invention more fully, and that the scope of the invention is defined by the appended claims.
Claims (10)
1. The control device of the bus steering engine is characterized in that a control end configures an identification number ID for each steering engine in the bus steering engine, and sends instruction data to the bus steering engine by using a serial port, wherein the instruction data comprises all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine and does not comprise the identification number ID of each steering engine; the control device is arranged in each steering engine of the bus steering engines, and comprises:
the position information determining module is used for determining the position information of the received instruction data, which needs to be read, according to the self-configured identification number ID;
the reading module is used for reading instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information when receiving the instruction data sent by the control end;
and the control module is used for executing corresponding actions according to the instruction data read by the reading module.
2. The control device according to claim 1, wherein the control terminal sets the instruction data to be arranged in the order of the identification number ID of each corresponding steering engine from small to large;
the position information determining module is specifically used for determining the byte number occupied by the instruction data of each steering engine; the position information of the instruction data to be read is determined according to the identification number ID and the byte number as follows: an nth field of the instruction data; each byte section contains a plurality of bytes, and N represents the size of the identification number ID of the steering engine, and the N-th bit is arranged in the arrangement from small to large of the identification numbers of all steering engines in the bus steering engine.
3. The control device according to claim 2, wherein the control terminal sets an initial bit of the instruction data to 0, and sequentially configures identification numbers ID of the steering engines in the bus steering engines in order from 0 to 0;
the location information determining module is specifically configured to determine, according to the identification number ID and the byte number, location information that needs to read the instruction data, as follows: bytes of (ID number of bytes) to (ID number of bytes+number of bytes-1) bits in the instruction data.
4. A bus steering engine comprising one or more steering engines, wherein each steering engine comprises a control device according to any one of claims 1-3.
5. The control system of the bus steering engine is characterized by comprising the bus steering engine and a control end; the bus steering engine comprises one or more steering engines;
the control end is used for configuring an identification number ID for each steering engine in the bus steering engines; the serial port is used for sending instruction data to the bus steering engine, wherein the instruction data comprises all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine and does not comprise the identification number ID of each steering engine;
each steering engine in the bus steering engines is used for determining the position information of the received instruction data to be read according to the identification number ID configured by the steering engines; when receiving one piece of instruction data sent by the control end, reading instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information, and executing corresponding actions according to the read instruction data.
6. The control system of claim 5, wherein,
the control end is also used for setting the instruction data to be arranged according to the sequence from small to large of the corresponding identification numbers ID of each steering engine;
each steering engine of the bus steering engines is specifically used for determining the byte number occupied by instruction data of the steering engines; the position information of the instruction data to be read is determined according to the identification number ID configured by the user and the byte number, and the position information is as follows: an nth field of the instruction data; each byte section contains a plurality of bytes, and N represents the size of the identification number ID configured by the N, and the N-th bit is arranged in the arrangement from small to large of the identification numbers ID of all steering engines in the bus steering engine.
7. The control system of claim 6, wherein,
the control end is also used for setting the initial bit of the instruction data to 0; and sequentially configuring the identification numbers ID of the steering engines in the bus steering engines from 0 in order from small to large;
each steering engine in the bus steering engine is specifically configured to determine, according to the identification number ID and the byte number, that the position information of the instruction data needs to be read is: bytes of (ID number of bytes) to (ID number of bytes+number of bytes-1) bits in the instruction data.
8. The control method of the bus steering engine is characterized in that a control end configures an identification number ID for each steering engine in the bus steering engine, and sends instruction data to the bus steering engine by using a serial port, wherein the instruction data comprises all instruction data corresponding to the identification numbers ID of all steering engines in the bus steering engine and does not comprise the identification numbers ID of each steering engine; the method comprises the following steps:
for each steering engine in the bus steering engines, determining the position information of the received instruction data to be read according to the identification number ID configured by the steering engine;
when receiving one piece of instruction data sent by the control end, reading instruction data corresponding to the self-configured identification number ID from the corresponding position of the instruction data according to the position information;
and executing corresponding actions according to the read instruction data.
9. The method of claim 8, wherein the control terminal sets the instruction data to be arranged in a sequence from small to large of the identification number ID of each corresponding steering engine;
the step of determining the position information of the received instruction data, which needs to be read, according to the identification number ID configured by the user comprises the following steps:
determining the byte number occupied by the instruction data of each steering engine;
the position information of the instruction data to be read is determined according to the identification number ID and the byte number as follows: an nth field of the instruction data; each byte section contains a plurality of bytes, and N represents the size of the identification number ID of the steering engine, and the N-th bit is arranged in the arrangement from small to large of the identification numbers of all steering engines in the bus steering engine.
10. The method of claim 8, wherein the control end sets an initial bit of the instruction data to 0, and sequentially configures identification numbers ID of the steering engines in the bus steering engines from 0 in order of decreasing size to increasing size;
the determining the position information of the instruction data to be read according to the identification number ID and the byte number specifically includes: bytes of (ID number of bytes) to (ID number of bytes+number of bytes-1) bits in the instruction data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108021076A (en) * | 2018-01-24 | 2018-05-11 | 华馨晶贸易（深圳）有限公司 | A kind of serial distributed module communication and control system and method |
| CN111858442B (en) * | 2020-06-24 | 2022-05-06 | 深圳市优必选科技股份有限公司 | Processing method and processing system based on multi-output-shaft steering engine |
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| CN106292369A (en) * | 2016-09-09 | 2017-01-04 | 南京玛锶腾智能科技有限公司 | The dcs of steering wheel and method |
| CN206848799U (en) * | 2017-04-26 | 2018-01-05 | 歌尔科技有限公司 | A kind of bus steering wheel and its control device, control system |
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| CN106292369A (en) * | 2016-09-09 | 2017-01-04 | 南京玛锶腾智能科技有限公司 | The dcs of steering wheel and method |
| CN206848799U (en) * | 2017-04-26 | 2018-01-05 | 歌尔科技有限公司 | A kind of bus steering wheel and its control device, control system |
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