CN108333566B - ZYNQ-based portable radar test system and test method - Google Patents
ZYNQ-based portable radar test system and test method Download PDFInfo
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- CN108333566B CN108333566B CN201810124036.9A CN201810124036A CN108333566B CN 108333566 B CN108333566 B CN 108333566B CN 201810124036 A CN201810124036 A CN 201810124036A CN 108333566 B CN108333566 B CN 108333566B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
A portable radar test system and a test method based on ZYNQ relate to the field of radar test. The invention aims to solve the problems of poor compatibility and poor real-time performance of communication processing of the conventional radar test system. The serial communication module is used for receiving GPS data sent by GPS equipment and inertial navigation data sent by inertial navigation equipment, transmitting the data to the main control module, transmitting data A sent by the main control module to a radar to be tested, receiving data B returned by the radar to be tested, and transmitting the data to the main control module; the system is also used for receiving the periodic pulse generated by the main control module, sending the periodic pulse to the radar to be detected and receiving the telemetering data returned by the radar to be detected; the main control module is used for receiving the GPS data and the inertial navigation data, resolving the GPS data and the inertial navigation data into A frame data or analog A frame data respectively, sending the A frame data after a set periodic pulse arrives, generating the periodic pulse, and receiving B frame data and telemetering data. It is used for radar testing.
Description
Technical Field
The invention relates to a portable radar test system and a test method based on ZYNQ. Belongs to the field of radar test.
Background
The content and the range of radar test are very wide, the development process of a radar test system is in the stage from manual test and automatic test to the current universal test so far, and the design mode of a universal module gradually becomes mainstream.
The radar real-time communication processing is one of important means for realizing radar testing, runs through the whole process from development to delivery and use to final decommissioning of the radar, is an important means for ensuring that design indexes meet requirements in the design stage and monitoring the working state in the use process of the radar, and has important significance for ensuring the reasonability of radar design and ensuring the function realization of the radar and a system where the radar is located.
In order to meet the requirements of serial communication, data calculation and data storage in the radar test process, a design scheme of a PXI embedded controller and an FPGA board card is mostly adopted in a radar test system, as shown in fig. 1.
In fig. 1, the FGPA board is used to receive the serial data of inertial navigation and GPS and the serial data sent by the radar device, and the embedded controller realizes communication interaction with the FPGA through the PXI bus, and performs resolving and storing processing on the data. The large size of the PXI chassis brings inconvenience to the test, and the real-time performance of the communication processing is limited by the characteristics of the Windows operating system and is difficult to further improve.
Disclosure of Invention
The invention aims to solve the problems of poor compatibility and poor real-time performance of communication processing of the conventional radar test system. A portable radar testing system and a testing method based on ZYNQ are provided.
A portable radar test system based on ZYNQ comprises a main control module and a serial communication module,
the main control module is realized by adopting a ZYNQ processing chip,
the serial communication module is used for receiving GPS data sent by GPS equipment and inertial navigation data sent by inertial navigation equipment, transmitting the data to the main control module, transmitting data A sent by the main control module to a radar to be tested, receiving data B returned by the radar to be tested, and transmitting the data B to the main control module; the system is also used for receiving periodic pulses generated by the main control module, sending the pulses to the radar to be detected, receiving telemetering data returned by the radar to be detected, and receiving parameter initialization signals to carry out parameter initialization on GPS equipment and inertial navigation equipment;
the main control module is used for receiving the GPS data and the inertial navigation data, resolving the received GPS data and the inertial navigation data respectively to form A frame data or analog A frame data, sending the A frame data out after a set period pulse arrives, generating the period pulse, receiving B frame data and telemetering data sent by the serial communication module, realizing the test of the tested radar and sending a parameter initialization signal to the serial communication module.
A portable radar testing method based on ZYNQ is applied to a laboratory mode, and the method is realized according to a portable radar testing system based on ZYNQ and comprises the following steps:
setting a secondary thread and a main thread in a processing unit, wherein the secondary thread adopts a real-time scheduling strategy, the main thread adopts a non-real-time scheduling strategy, firstly, judging whether to establish communication connection between a programmable logic unit and the processing unit, if so, executing a second step, and if not, executing a fourth step;
step two, starting the processing unit by the PXI embedded controller, clearing the FIFO of the programmable logic unit, and executing step three;
step three, judging whether the communication connection between the programmable logic unit and the processing unit is manually stopped, if so, executing step four, and if not, executing step five;
step four, closing the communication between the programmable logic unit and the processing unit, and cancelling the periodic pulse triggering;
step five, the processing unit sets a periodic pulse and analog A frame data, judges whether the A frame data is sent or not when the periodic pulse arrives, if so, executes step six, and if not, executes step seven;
step six, transmitting A frame data to the programmable logic unit, sending the A frame data to a detected radar through a synchronous RS485 communication module, transmitting the A frame data to a PXI embedded controller through a PCI bridge circuit, displaying and storing the A frame data in real time, finishing the data transmission and storage process in a secondary thread of a processor at the moment, finishing the secondary thread to be in a dormant state, finishing the interface parameter refreshing display by using a main thread to occupy a processing unit time slice, and executing step seven;
step seven, judging whether the programmable logic unit receives B frame data output by the radar to be tested, if so, executing step eight, and if not, executing step nine;
step eight, the programmable logic unit receives the B frame data, the data is transmitted to the PXI embedded controller through the PCI bridge circuit, relevant data content is displayed and stored, at the moment, the transmission and storage processes of the B frame data are completed in a secondary thread of the processor, the secondary thread is in a dormant state after the transmission and storage processes are completed, the main thread occupies a processing unit time slice to complete interface parameter refreshing display, and step nine is executed;
and step nine, judging whether the processing unit receives all data, if so, executing step four, and if not, executing step three.
A portable radar testing method based on ZYNQ is applied to an outfield mode and is realized according to a portable radar testing system based on ZYNQ, and the method comprises the following steps:
step 1, setting a secondary thread and a main thread in a processing unit, wherein the secondary thread adopts a real-time scheduling strategy, the main thread adopts a non-real-time scheduling strategy, firstly, judging whether to establish communication connection between a programmable logic unit and the processing unit, if so, executing step 2, and if not, executing step 4;
step 2, starting the processing unit, clearing the FIFO of the programmable logic unit, and executing step 3;
step 3, judging whether to manually stop the communication connection between the programmable logic unit and the processing unit, if so, executing step 4, and if not, executing step 5;
step 4, closing the communication between the programmable logic unit and the processing unit;
step 5, judging whether the programmable logic unit receives inertial navigation data sent by the inertial navigation equipment, if so, executing step 6, and if not, executing step 7;
step 6, the programmable logic unit receives inertial navigation data and transmits the inertial navigation data to the processing unit, the processing unit completes resolving and updates related global variable parameters, the global variable result is called to generate A frame data, data storage is carried out, the data transmission, resolving and storage processes are completed in a secondary thread of the processor, a primary thread occupies a processing unit time slice to complete interface parameter refreshing and displaying, and step 8 is executed;
step 7, the secondary thread is dormant, and step 10 is executed;
step 8, judging whether the programmable logic unit receives GPS data sent by GPS equipment, if so, executing step 9, and if not, executing step 10;
9, the programmable logic unit receives GPS data sent by GPS equipment, completes resolving, updates related global variable parameters and stores the data, the data transmission, resolving and storing processes are completed in a secondary thread of the processor, the secondary thread is in a dormant state after the data transmission, resolving and storing processes are completed, the primary thread occupies a processing unit time slice to complete interface parameter refreshing and displaying, and the step 10 is executed;
step 10, judging whether the programmable logic unit receives B frame data output by the radar to be detected, if so, executing step 11, and if not, executing step 12;
step 11, the programmable logic unit receives the B frame data, transmits the data to a secondary thread of the processing unit and stores the data, the secondary thread is in a dormant state after the data is completed, and the primary thread occupies a time slice of the processing unit to complete interface parameter refreshing display;
and step 12, judging whether the processing unit receives all data, if so, executing step 4, and if not, executing step 3.
The invention has the beneficial effects that:
the portable radar test system based on the ZYNQ fully exerts the architectural advantages of the ZYNQ chip, realizes serial communication logic, PXI bus communication logic and HDMI video signal output logic in a programmable logic unit of the ZYNQ, the processing unit is used for mounting external interfaces such as a Micro USB, an SD card, a UART and an Ethernet port and transplanting an embedded Linux operating system, and realizes command control by running application software developed based on Qt, and the programmable logic unit and the processing unit carry out communication transmission of data and state quantity through an AXI DMA IP core and a self-defined AXI4 bus peripheral.
The embedded controller has two working modes, can completely separate from a case, can independently work by the embedded controller, and well considers portability and real-time performance; the PCI bridge chip can be used as a PXI board card, is matched with a PXI case and an embedded controller to work, has two working modes, and greatly improves the switching capacity of the system in two environments of a laboratory and an external field mode.
This application adopts the three-layer modular design that piles up, and the improvement can all be changed alone according to the design demand to the three-layer integrated circuit board, can deal with the different test requirements of different radar models, easily later stage upgrading, function extension.
The testing system software of the application uses a multithreading real-time scheduling strategy at the same time, deep customization optimization is carried out on the EXT4 file system of the embedded Linux, the reading and writing efficiency of file I/O is greatly improved, the system of the application can realize receiving, sending, resolving, storing and displaying of multi-channel serial data within a period of 10ms, and the running speed is high;
according to the method and the device, the file sharing of the embedded Linux and the PC is realized by using the network port, the software codes and the application programs can be quickly updated in an iterative manner under the condition that the embedded system is not powered off, and the embedded software development efficiency is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a prior art radar testing system;
FIG. 2 is a schematic diagram of a portable ZYNQ-based radar testing system according to a first embodiment;
FIG. 3 is a schematic structural diagram of three boards;
FIG. 4 is a flow chart of real-time communication in laboratory mode;
FIG. 5 is a flow chart of real-time communication in outfield mode;
FIG. 6 is a block diagram of the partitioning of the application software modules of a portable radar testing system based on ZYNQ;
fig. 7 is a schematic diagram of network port communication based on Samba service.
Detailed Description
The first embodiment is as follows: referring to fig. 2, the embodiment is specifically described, and the portable radar testing system based on ZYNQ in the embodiment includes a main control module and a serial communication module,
the main control module is realized by adopting a ZYNQ processing chip,
the serial communication module is used for receiving GPS data sent by GPS equipment and inertial navigation data sent by inertial navigation equipment, transmitting the data to the main control module, transmitting data A sent by the main control module to a radar to be tested, receiving data B returned by the radar to be tested, and transmitting the data B to the main control module; the system is also used for receiving periodic pulses generated by the main control module, sending the pulses to the radar to be detected, receiving telemetering data returned by the radar to be detected, and receiving parameter initialization signals to carry out parameter initialization on GPS equipment and inertial navigation equipment;
the main control module is used for receiving the GPS data and the inertial navigation data, resolving the received GPS data and the inertial navigation data respectively to form A frame data or analog A frame data, sending the A frame data out after a set period pulse arrives, generating the period pulse, receiving B frame data and telemetering data sent by the serial communication module, realizing the test of the tested radar and sending a parameter initialization signal to the serial communication module.
In the embodiment, a PCI bridge circuit is arranged in the serial communication module, and the PCI bridge circuit is used for connecting a PXI chassis and simulating a laboratory test debugging environment; when the PXI case is not connected, the method is applied to an external field test debugging environment.
The main control module comprises a programmable logic unit and a processing unit, wherein the programmable logic unit realizes serial communication logic, PXI bus communication logic and HDMI peripheral control logic, the processing unit is provided with peripheral interfaces such as a Micro USB, an SD card, a UART (universal asynchronous receiver/transmitter), an Ethernet port and the like in a hanging mode, application software under embedded Linux is operated, independent work can be realized, and the programmable logic unit and the processing unit perform communication transmission of data and state quantity through an AXI DMA (advanced peripheral interface) IP (Internet protocol) core and a self-defined AXI4 bus peripheral so as to realize command control of data receiving, sending, resolving, storing and displaying; the serial communication module realizes serial communication interfaces with inertial navigation, GPS and radar equipment on one hand, achieves full coverage of hardware interface types and communication protocols, and can control switching according to actual conditions of debugging work, and on the other hand, the serial communication module is provided with a PCI bridge chip, so that the test system can also be used as a PXI board card to work in cooperation with a PXI case and an embedded controller, and thus the test system has two working modes; the functional interface module mainly comprises functions and configuration interfaces such as Micro USB, Ethernet, UART, HDMI and the like, and provides necessary interfaces for peripheral equipment such as a keyboard, a mouse and the like and testing and debugging of a system.
The application software is developed and designed based on Qt, the main control module is divided into a driving layer, a functional layer and an application layer from low to high in hierarchy, each layer comprises a plurality of modules, and the division of the modules in the design of the test system software in the application layer is mainly based on the functions of the test system, as shown in fig. 6.
(1) Driver layer software design
In this application, the driver layer software mainly consists of an AXI _ DMA IP core driver, an AXI4 bus custom peripheral driver, and the like, and the basic workflow is as follows: opening the device file, reading and writing the device file, and closing the device file.
(2) Functional layer software design
The functional layer software is a bridge connecting the drive layer and the application layer, and the layer software packages the drive layer software according to the functions realized by the test software and internally divides modules according to the function types. Due to the existence of the functional layer, when the bottom hardware equipment needs to be replaced, only the drive layer needs to be replaced in the aspect of software, and the top application layer software does not need to be modified, so that the universality of system software is improved.
In the application, the functional layer software consists of a programmable logic unit register read-write unit, a synchronous RS485 communication unit, a remote sensing RS422 communication unit, an asynchronous RS422 communication unit and an asynchronous RS232 unit. The functional units are explained as follows:
1) programmable logic unit register read-write unit
The module mainly completes reading and writing of the programmable logic unit register, and realizes functions of monitoring communication states, setting communication parameters, switching communication protocols and the like.
2) Synchronous RS485 communication unit
The module communicates with a radar to be detected through a synchronous RS485 communication module according to an RS485 communication protocol, performs frame dismantling analysis on received data, and frames the configured data to a programmable logic unit.
3) Telemetering RS422 communication unit
The module realizes the control of periodic transmission pulse, and receives and analyzes telemetering graph data.
4) Asynchronous RS422 communication unit
The module communicates with the inertial navigation equipment through the asynchronous RS422 communication module according to an asynchronous RS422 communication protocol, frames of the received inertial navigation data are removed, and the data are used for resolving.
5) Asynchronous RS232 communication unit
The module communicates with GPS equipment through an asynchronous RS232 communication module according to an asynchronous RS232 communication protocol, frames of received GPS data are disassembled and analyzed, and the data are used for resolving.
(3) Application layer software design
In the application, the application layer software is divided into an authority management module, a system parameter configuration module, a test module, an instrument and device selection module and a file management module. The authority management module is divided into a login password management module and a personnel and equipment management module, and management of a login password, system operation personnel and equipment information is respectively realized; the system parameter configuration module mainly realizes the configuration of communication parameters, the setting of storage paths and the like; the test module is divided into a test parameter configuration module, a real-time communication processing module and a telemetering communication module, wherein the test parameter configuration management module mainly realizes parameter setting of a synchronous RS485 protocol A frame, and the real-time communication processing module realizes communication with the serial communication module and the functional interface module according to a command instruction; the telemetering communication module is used for sending periodic pulses to the radar to be detected and receiving telemetering image data returned by the radar to be detected, and the instrument equipment selection module mainly aims at different GPS inertial navigation equipment to realize switching of a serial communication protocol; the file management module is divided into a data playback module and a data drawing module, the data playback module can call and play back stored data, and the data drawing module is responsible for converting telemetering image data into telemetering image information and outputting the telemetering image information.
The second embodiment is as follows: referring to fig. 2 to explain this embodiment in detail, this embodiment is a further description of a portable radar testing system based on ZYNQ described in the first embodiment, in this embodiment, the main control module includes a programmable logic unit and a processing unit, the serial communication module includes an asynchronous RS422 communication module, an asynchronous RS232 communication module, a synchronous RS485 communication module and an asynchronous telemetry RS422 communication module,
the programmable logic unit communicates with the processing unit over an AXI4 bus,
the programmable logic unit initializes the inertial navigation equipment through the asynchronous RS422 communication module, initializes the GPS equipment through the asynchronous RS232 communication module,
the programmable logic unit is used for receiving inertial navigation data sent by the inertial navigation equipment through the asynchronous RS422 communication module, receiving GPS data sent by the GPS equipment through the asynchronous RS232 communication module, sending the inertial navigation data and the GPS data to the processing unit, sending A frame data and receiving B frame data to the tested radar through the synchronous RS485 communication module, sending the B frame data to the processing unit, generating periodic timing pulse, sending the periodic pulse to the tested radar through the asynchronous telemetering RS422 communication module, and receiving telemetering data returned by the tested radar, so that the tested radar is tested;
and the processing unit is used for respectively resolving the received inertial navigation data and the GPS data to form A frame data, transmitting the A frame data to the programmable logic unit after a set period pulse arrives, and controlling the programmable logic unit to generate a period timing pulse.
The third concrete implementation mode: referring to fig. 2, this embodiment is further described with respect to a portable radar testing system based on ZYNQ described in the second embodiment, and in this embodiment, the system further includes a functional interface module, where the functional interface module includes an HDMI interface, an SD card slot, a USB interface, a UART interface, and an ethernet interface,
the programmable logic unit communicates with the display through an HDMI interface,
the processing unit is respectively connected with the SD card, the mouse, the keyboard and the network interface through the SD card slot, the USB interface, the UART interface and the Ethernet interface, the mouse and the keyboard are used for software interface instruction control, the SD card is used for data storage, and the network interface is used for data transmission.
The fourth concrete implementation mode: referring to fig. 2, this embodiment is further described with respect to a portable radar testing system based on ZYNQ in the first embodiment, in this embodiment, the serial communication module includes a PCI bridge circuit and a synchronous RS485 communication module, the main control module is connected to the PXI chassis through the PCI bridge circuit,
the main control module comprises a programmable logic unit and a processing unit,
the processing unit is used for respectively resolving the data of the received inertial navigation equipment and the data of the GPS equipment to form A frame data or analog A frame data, sending the A frame data to the programmable logic unit and controlling the programmable logic unit to generate periodic timing pulses;
the programmable logic unit is used for receiving the frame data A, sending the frame data A to a tested radar through the synchronous RS485 communication module after the frame data A reaches a set periodic pulse, returning the frame data B through the synchronous RS485 communication module by the tested radar, generating a periodic pulse, sending the periodic pulse to the tested radar through the asynchronous telemetering RS422 communication module, and receiving telemetering data returned by the tested radar, so that the tested radar is tested;
the programmable logic unit is connected with the PXI case through the PCI bridge circuit, a PXI embedded controller is arranged in the PXI case, and the PCI bridge circuit is connected with the PXI case and used for data storage and interface display.
The fifth concrete implementation mode: referring to fig. 7, this embodiment is described in detail, and is further described with respect to a portable radar test system based on ZYNQ in the third embodiment, in this embodiment, a Samba server is built in a processing unit, a shared folder is created on the Samba server, and a computer terminal accesses the shared folder on the Samba server through a network interface to realize update iteration of codes and application programs.
In this embodiment, the storage medium of the embedded system is usually single, and stores all necessary files for Linux boot in addition to the executable file of the application program, so that when updating the code and the application program, the system must be powered off to execute the update of the code. The test system realizes communication between the PC and the embedded system through the Ethernet port, uses the Samba service to construct the file sharing service, builds the Samba server on the embedded platform to create the sharing folder, can access the appointed folder through the specific IP at the PC end, can realize quick update iteration of codes and application programs under the condition that the embedded system is not powered off, and greatly improves the efficiency of embedded development. A schematic diagram of the internet access communication based on the Samba service is shown in fig. 7.
The sixth specific implementation mode: referring to fig. 3 to explain this embodiment in detail, this embodiment is further described for a portable radar testing system based on ZYNQ described in the third embodiment, and in this embodiment, the system further includes a core main control board, a function interface board, and a serial communication board, where the core main control board, the function interface board, and the serial communication board are stacked together through an inter-board connector, every two adjacent boards are fixed by bolts, the main control module is disposed on the core main control board, the function is disposed on the interface module function interface board, and the serial communication module is disposed on the serial communication board.
In this embodiment, the radar test system adopts a hardware structure in which a ZYNQ core main control board, a function interface board and a serial communication board are stacked in three layers to realize the overall design of a system board, and a schematic structural diagram is shown in fig. 3. Because the mechanical strength of the connectors between boards is limited, in order to ensure the reliability of connection between boards, the boards which are installed adjacently are fixed pairwise through bolts. Three integrated circuit boards all can change the improvement alone according to the constantly changing of follow-up demand, can deal with the different test requirements of different radar models, have improved test system's compatibility and commonality.
The seventh embodiment: specifically describing this embodiment with reference to fig. 4, the portable radar testing method based on ZYNQ according to this embodiment is applied to a laboratory mode, and is implemented by connecting a PCI bridge circuit to a PXI chassis, implementing a function of upper computer software by a PXI embedded controller, and implementing control of a user on a transceiving flow, and the method is implemented by a portable radar testing system based on ZYNQ according to the fourth embodiment, and is characterized by including the following steps:
setting a secondary thread and a main thread in a processing unit, wherein the secondary thread adopts a real-time scheduling strategy, the main thread adopts a non-real-time scheduling strategy, firstly, judging whether to establish communication connection between a programmable logic unit and the processing unit, if so, executing a second step, and if not, executing a fourth step;
step two, starting the processing unit by the PXI embedded controller, clearing the FIFO of the programmable logic unit, and executing step three;
step three, judging whether the communication connection between the programmable logic unit and the processing unit is manually stopped, if so, executing step four, and if not, executing step five;
step four, closing the communication between the programmable logic unit and the processing unit, and cancelling the periodic pulse triggering;
step five, the processing unit sets a periodic pulse and analog A frame data, judges whether the A frame data is sent or not when the periodic pulse arrives, if so, executes step six, and if not, executes step seven;
step six, transmitting A frame data to the programmable logic unit, sending the A frame data to a detected radar through a synchronous RS485 communication module, transmitting the A frame data to a PXI embedded controller through a PCI bridge circuit, displaying and storing the A frame data in real time, finishing the data transmission and storage process in a secondary thread of a processor at the moment, finishing the secondary thread to be in a dormant state, finishing the interface parameter refreshing display by using a main thread to occupy a processing unit time slice, and executing step seven;
step seven, judging whether the programmable logic unit receives B frame data output by the radar to be tested, if so, executing step eight, and if not, executing step nine;
step eight, the programmable logic unit receives the B frame data, the data is transmitted to the PXI embedded controller through the PCI bridge circuit, relevant data content is displayed and stored, at the moment, the transmission and storage processes of the B frame data are completed in a secondary thread of the processor, the secondary thread is in a dormant state after the transmission and storage processes are completed, the main thread occupies a processing unit time slice to complete interface parameter refreshing display, and step nine is executed;
and step nine, judging whether the processing unit receives all data, if so, executing step four, and if not, executing step three.
The specific implementation mode is eight: specifically describing the present embodiment with reference to fig. 5, the portable radar testing method based on ZYNQ according to the present embodiment is implemented by a portable radar testing system based on ZYNQ, and is implemented by a processing unit running application software under embedded Linux in an external field mode to realize control of a user on a transceiving process, and the method includes the following steps:
step 1, setting a secondary thread and a main thread in a processing unit, wherein the secondary thread adopts a real-time scheduling strategy, the main thread adopts a non-real-time scheduling strategy, firstly, judging whether to establish communication connection between a programmable logic unit and the processing unit, if so, executing step 2, and if not, executing step 4;
step 2, starting the processing unit, clearing the FIFO of the programmable logic unit, and executing step 3;
step 3, judging whether to manually stop the communication connection between the programmable logic unit and the processing unit, if so, executing step 4, and if not, executing step 5;
step 4, closing the communication between the programmable logic unit and the processing unit;
step 5, judging whether the programmable logic unit receives inertial navigation data sent by the inertial navigation equipment, if so, executing step 6, and if not, executing step 7;
step 6, the programmable logic unit receives inertial navigation data and transmits the inertial navigation data to the processing unit, the processing unit completes resolving and updates related global variable parameters, the global variable result is called to generate A frame data, data storage is carried out, the data transmission, resolving and storage processes are completed in a secondary thread of the processor, a primary thread occupies a processing unit time slice to complete interface parameter refreshing and displaying, and step 8 is executed;
step 7, the secondary thread is dormant, and step 10 is executed; step 8, judging whether the programmable logic unit receives GPS data sent by GPS equipment, if so, executing step 9, and if not, executing step 10;
9, the programmable logic unit receives GPS data sent by GPS equipment, completes resolving, updates related global variable parameters and stores the data, the data transmission, resolving and storing processes are completed in a secondary thread of the processor, the secondary thread is in a dormant state after the data transmission, resolving and storing processes are completed, the primary thread occupies a processing unit time slice to complete interface parameter refreshing and displaying, and the step 10 is executed;
step 10, judging whether the programmable logic unit receives B frame data output by the radar to be detected, if so, executing step 11, and if not, executing step 12;
step 11, the programmable logic unit receives the B frame data, transmits the data to a secondary thread of the processing unit and stores the data, the secondary thread is in a dormant state after the data is completed, and the primary thread occupies a time slice of the processing unit to complete interface parameter refreshing display;
and step 12, judging whether the processing unit receives all data, if so, executing step 4, and if not, executing step 3.
In the embodiment, in the real-time communication processing function and the telemetering communication function, the software adopts a multithreading real-time scheduling strategy technology and is deeply customized and optimized for the EXT4 file system, so that the technical index requirements of real-time communication, resolving, storing and displaying within a 10ms communication period under a Linux time-sharing operating system are met, and the system has extremely high soft real-time performance.
1) Multithreading: when the two functions are executed, the software starts multithreading, display refreshing and operation response of an interface are operated in a main thread, time-consuming processing such as data receiving, sending, resolving and storing is executed in a secondary thread, so that the normal response of an application program cannot be influenced by the long-time-consuming processing, and a dual-core ARM processor in the ZYNQ can obtain a greater utilization rate.
2) And (3) real-time scheduling strategy: there are three thread scheduling strategies for Linux: SCHED _ OTHER, SCHED _ FIFO, SCHED _ RR. SCHED _ OTHER is a thread default and non-real-time scheduling strategy, when a thread of a real-time scheduling strategy exists in a system, a CPU time slice is immediately occupied by a real-time thread, and a non-real-time thread is executed only when all real-time threads are executed completely or the time slice is abandoned actively. SCHED _ FIFO and SCHED _ RR are real-time scheduling strategies, and can immediately preempt CPU time slices of time-sharing threads when starting execution. The main thread is configured into a default non-real-time scheduling strategy, and the secondary thread adopts a real-time scheduling strategy, so that the secondary thread can be ensured to obtain a real-time priority processing right, and a real-time communication requirement is met; the secondary thread is dormant under a certain condition, the occupation of the CPU is actively abandoned, the main thread can occupy the CPU under the condition that the secondary thread does not perform real-time processing, and the display and the response of an interface are also ensured.
3) And (3) deep customization and optimization of a file system: the performance of disk I/O and the configuration of related parameters of the file system are often bottlenecks that limit the operating speed of the system. In the test system, stored data is placed in an SD card, the SD card is an UHS-II speed grade SD card of TOSHIBA company, the theoretical read-write speed of the SD card can reach 260/240MB per second, and therefore the performance bottleneck embodied on a storage medium is almost nonexistent. The file system is another bottleneck limiting the real-time read-write speed of the file, the default parameter configuration of the EXT4 file system ensures universal applicability, when executing a write-in file operation command, the file system does not write data into the storage medium immediately, but writes the data in time according to a cache policy, so that a situation that a large amount of data is written into the SD card at a certain moment can be caused, the system is delayed for more than 10ms, and the real-time performance of communication processing is affected. Aiming at the requirement of real-time storage, the invention deeply optimizes the file system, changes parameters such as file caching strategy and the like, and cancels the log writing function so as to further improve the I/O performance. Through actual function test, the real-time storage of data in the transceiving process can be completed within a communication period of 10ms, and data redundancy caused by untimely writing is avoided.
Fig. 4 and fig. 5 show the real-time communication processing flow in two application scenarios, i.e., a laboratory and an external field, respectively. In a laboratory mode, a portable universal measurement and control system realizes periodic timing transmission of an A frame by polling a 10ms periodic timing pulse of a PL terminal; in the external field mode, the communication period with the equipment to be tested is based on the communication period of inertial navigation, when inertial navigation data comes, the inertial navigation data is received and resolved, and then frame A frame data is sent in a framing mode. In the two modes, after the secondary thread transmits the related data to the main thread, the thread dormancy of 500-. After the transceiving process is finished, data is forcibly synchronized to the storage device from the buffer, otherwise, the data part can be lost due to unexpected power failure. The telemetering communication function is similar to the real-time communication processing function in the laboratory mode in the process, and the pulse is sent to the tested equipment at regular time through PL and the returned telemetering data is received.
Claims (8)
1. A portable radar test system based on ZYNQ is characterized in that the system comprises a main control module and a serial communication module,
the main control module is realized by adopting a ZYNQ processing chip,
the serial communication module is used for receiving GPS data sent by GPS equipment and inertial navigation data sent by inertial navigation equipment, transmitting the data to the main control module, transmitting data A sent by the main control module to a radar to be tested, receiving data B returned by the radar to be tested, and transmitting the data B to the main control module; the system is also used for receiving periodic pulses generated by the main control module, sending the pulses to the radar to be detected, receiving telemetering data returned by the radar to be detected, and receiving parameter initialization signals to carry out parameter initialization on GPS equipment and inertial navigation equipment;
the main control module is used for receiving the GPS data and the inertial navigation data, resolving the received GPS data and the inertial navigation data respectively to form A frame data or analog A frame data, sending the A frame data out after a set period pulse arrives, generating the period pulse, receiving B frame data and telemetering data sent by the serial communication module, realizing the test of the tested radar and sending a parameter initialization signal to the serial communication module.
2. The portable ZYNQ-based radar testing system of claim 1,
the main control module comprises a programmable logic unit and a processing unit, the serial communication module comprises an asynchronous RS422 communication module, an asynchronous RS232 communication module, a synchronous RS485 communication module and an asynchronous telemetering RS422 communication module,
the programmable logic unit communicates with the processing unit over an AXI4 bus,
the programmable logic unit initializes the inertial navigation equipment through the asynchronous RS422 communication module, initializes the GPS equipment through the asynchronous RS232 communication module,
the programmable logic unit is used for receiving inertial navigation data sent by the inertial navigation equipment through the asynchronous RS422 communication module, receiving GPS data sent by the GPS equipment through the asynchronous RS232 communication module, sending the inertial navigation data and the GPS data to the processing unit, sending A frame data and receiving B frame data to the tested radar through the synchronous RS485 communication module, sending the B frame data to the processing unit, generating periodic timing pulse, sending the periodic pulse to the tested radar through the asynchronous telemetering RS422 communication module, and receiving telemetering data returned by the tested radar, so that the tested radar is tested;
and the processing unit is used for respectively resolving the received inertial navigation data and the GPS data to form A frame data, transmitting the A frame data to the programmable logic unit after a set period pulse arrives, and controlling the programmable logic unit to generate a period timing pulse.
3. The portable ZYNQ-based radar test system as recited in claim 2, further comprising a functional interface module, wherein the functional interface module comprises an HDMI interface, an SD card slot, a USB interface, a UART interface and an Ethernet interface,
the programmable logic unit communicates with the display through an HDMI interface,
the processing unit is respectively connected with the SD card, the mouse, the keyboard and the network interface through the SD card slot, the USB interface, the UART interface and the Ethernet interface, the mouse and the keyboard are used for software interface instruction control, the SD card is used for data storage, and the network interface is used for data transmission.
4. The portable ZYNQ-based radar test system as in claim 1, wherein the serial communication module comprises a PCI bridge circuit and a synchronous RS485 communication module, the main control module is connected with the PXI case through the PCI bridge circuit,
the main control module comprises a programmable logic unit and a processing unit,
the processing unit is used for respectively resolving the data of the received inertial navigation equipment and the data of the GPS equipment to form A frame data or analog A frame data, sending the A frame data to the programmable logic unit and controlling the programmable logic unit to generate periodic timing pulses;
the programmable logic unit is used for receiving the frame data A, sending the frame data A to a tested radar through the synchronous RS485 communication module after the frame data A reaches a set periodic pulse, returning the frame data B through the synchronous RS485 communication module by the tested radar, generating a periodic pulse, sending the periodic pulse to the tested radar through the asynchronous telemetering RS422 communication module, and receiving telemetering data returned by the tested radar, so that the tested radar is tested;
the programmable logic unit is connected with the PXI case through the PCI bridge circuit, a PXI embedded controller is arranged in the PXI case, and the PCI bridge circuit is connected with the PXI case and used for data storage and interface display.
5. The portable ZYNQ-based radar test system as claimed in claim 3, wherein a Samba server is built in the processing unit, a shared folder is created on the Samba server, and the computer terminal accesses the shared folder on the Samba server through the internet access to realize update iteration of codes and application programs.
6. The portable ZYNQ-based radar testing system as in claim 3, further comprising a core main control board, a function interface board and a serial communication board, wherein the core main control board, the function interface board and the serial communication board are stacked together by the inter-board connector, every two adjacent boards are fixed by bolts, the main control module is disposed on the core main control board, the functions are disposed on the interface module function interface board, and the serial communication module is disposed on the serial communication board.
7. A portable ZYNQ-based radar testing method applied in a laboratory mode, which is realized according to the portable ZYNQ-based radar testing system of claim 4, characterized in that the method comprises the following steps:
setting a secondary thread and a main thread in a processing unit, wherein the secondary thread adopts a real-time scheduling strategy, the main thread adopts a non-real-time scheduling strategy, firstly, judging whether to establish communication connection between a programmable logic unit and the processing unit, if so, executing a second step, and if not, executing a fourth step;
step two, starting the processing unit by the PXI embedded controller, clearing the FIFO of the programmable logic unit, and executing step three;
step three, judging whether the communication connection between the programmable logic unit and the processing unit is manually stopped, if so, executing step four, and if not, executing step five;
step four, closing the communication between the programmable logic unit and the processing unit, and cancelling the periodic pulse triggering;
step five, the processing unit sets a periodic pulse and analog A frame data, judges whether the A frame data is sent or not when the periodic pulse arrives, if so, executes step six, and if not, executes step seven;
step six, transmitting A frame data to the programmable logic unit, sending the A frame data to a detected radar through a synchronous RS485 communication module, transmitting the A frame data to a PXI embedded controller through a PCI bridge circuit, displaying and storing the A frame data in real time, finishing the data transmission and storage process in a secondary thread of a processor at the moment, finishing the secondary thread to be in a dormant state, finishing the interface parameter refreshing display by using a main thread to occupy a processing unit time slice, and executing step seven;
step seven, judging whether the programmable logic unit receives B frame data output by the radar to be tested, if so, executing step eight, and if not, executing step nine;
step eight, the programmable logic unit receives the B frame data, the data is transmitted to the PXI embedded controller through the PCI bridge circuit, relevant data content is displayed and stored, at the moment, the transmission and storage processes of the B frame data are completed in a secondary thread of the processor, the secondary thread is in a dormant state after the transmission and storage processes are completed, the main thread occupies a processing unit time slice to complete interface parameter refreshing display, and step nine is executed;
and step nine, judging whether the processing unit receives all data, if so, executing step four, and if not, executing step three.
8. A portable ZYNQ-based radar testing method applied to an outfield mode, the method being implemented by the portable ZYNQ-based radar testing system of claim 2, the method comprising the steps of:
step 1, setting a secondary thread and a main thread in a processing unit, wherein the secondary thread adopts a real-time scheduling strategy, the main thread adopts a non-real-time scheduling strategy, firstly, judging whether to establish communication connection between a programmable logic unit and the processing unit, if so, executing step 2, and if not, executing step 4;
step 2, starting the processing unit, clearing the FIFO of the programmable logic unit, and executing step 3;
step 3, judging whether to manually stop the communication connection between the programmable logic unit and the processing unit, if so, executing step 4, and if not, executing step 5;
step 4, closing the communication between the programmable logic unit and the processing unit;
step 5, judging whether the programmable logic unit receives inertial navigation data sent by the inertial navigation equipment, if so, executing step 6, and if not, executing step 7;
step 6, the programmable logic unit receives inertial navigation data and transmits the inertial navigation data to the processing unit, the processing unit completes resolving and updates related global variable parameters, the global variable result is called to generate A frame data, data storage is carried out, the data transmission, resolving and storage processes are completed in a secondary thread of the processor, a primary thread occupies a processing unit time slice to complete interface parameter refreshing and displaying, and step 8 is executed;
step 7, the secondary thread is dormant, and step 10 is executed;
step 8, judging whether the programmable logic unit receives GPS data sent by GPS equipment, if so, executing step 9, and if not, executing step 10;
9, the programmable logic unit receives GPS data sent by GPS equipment, completes resolving, updates related global variable parameters and stores the data, the data transmission, resolving and storing processes are completed in a secondary thread of the processor, the secondary thread is in a dormant state after the data transmission, resolving and storing processes are completed, the primary thread occupies a processing unit time slice to complete interface parameter refreshing and displaying, and the step 10 is executed;
step 10, judging whether the programmable logic unit receives B frame data output by the radar to be detected, if so, executing step 11, and if not, executing step 12;
step 11, the programmable logic unit receives the B frame data, transmits the data to a secondary thread of the processing unit and stores the data, the secondary thread is in a dormant state after the data is completed, and the primary thread occupies a time slice of the processing unit to complete interface parameter refreshing display;
and step 12, judging whether the processing unit receives all data, if so, executing step 4, and if not, executing step 3.
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| CN111562552A (en) * | 2020-04-30 | 2020-08-21 | 北京无线电测量研究所 | Ground radar synchronous network master control device and control method |
| CN112305511A (en) * | 2020-09-27 | 2021-02-02 | 北京无线电测量研究所 | Radar receiver digital baseband signal recording and analyzing system and method |
| CN113281733A (en) * | 2021-05-19 | 2021-08-20 | 天津大学 | ZYNQ-based radar speed and distance measuring system and method |
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