CN108845965A - A kind of CPS based on UM-BUS bus is from node dynamic identifying method - Google Patents

Abstract

A kind of CPS based on UM-BUS bus is from node dynamic identifying method, it is characterised in that：CPS is from node S0 after the deadline synchronizes, all CPS host nodes in bus are requested to send identification request by global interrupt, CPS host node is by reading configuration information of the CPS from node S0, CPS is identified from node S0, and functional parameter read and write access mapping table and method mapping table are established for it, later, CPS is accessed and is called with method from the data of node S0 by the mapping table established.CPS of the invention provides a kind of CPS node Dynamic Recognition and cut-in method, supports the plug and play of CPS node device and the dynamic access of free drive, the heterogeneous access ability and access criteria of CPS node can be improved from node dynamic identifying method.

Description

A kind of CPS based on UM-BUS bus is from node dynamic identifying method

Technical field

The present invention relates to a kind of functional module method for organizing of information physical system (CPS) more particularly to a kind of CPS nodes Dynamic access and recognition methods.

Background technique

Information physical system (Cyber-Physical Systems, hereinafter referred to as CPS) is by calculating, communicating and control Information processing and phy-aware are executed depth integration by the combination of technology processed, realize that computing resource and physical resource are coordinated The New Generation of Intelligent system of work.CPS by series of computation unit and physical object in a network environment it is highly integrated with Interaction, to improve ability of system in terms of information processing, real time communication, accurate remote control and component, It is that space-time multidimensional isomery mixes autonomous system, has the characteristics that real-time, safe and reliable, high-performance.CPS is advanced by integrating Information technologies and the automatic control technology such as perception, calculating, communication, control, construct physical space with it is a variety of in information space Element mutually maps, interaction in due course, the complication system efficiently cooperateed with, the on-demand of resource distribution and operation in realization system, Iteratively faster, dynamic optimization.

CPS emphasizes to calculate and physics is combined closely, while also emphasizing networking, and core is still information processing.Data Perception is then the basis that CPS realizes analysis, science decision in real time, is the starting point of CPS data closed-loop flow.By instructing control to hold Row unit acts on physical world, and making it, desirably state develops, then is a free-revving engine of CPS.In order to adapt to The demand that sensor ubiquitous access, multi-source perception are merged, CPS should have the ability of well adapting to for Heterogeneous Information, simultaneously Section components are dynamically exited and are accessed in permission system.

A main path of CPS perception data is to carry out data acquisition by wireless sensor network at present.However, The fields such as a large amount of industrial site, embedded Control, due to the system by factors such as noise, signal decaying, message collisions About, wireless sensor network real-time, accuracy, in terms of be difficult to meet application requirement.It is traditional based on bus The embedded distribution processing system of network connection, due in sides such as Bus Speed, fault-tolerant ability, synchronous, the isomery extensions of node Face lacks enough supports, it is also difficult to meet CPS heterogeneous access, Dynamic link library, reliability, in terms of development need It asks.Meanwhile various wireless networks and high-speed bus, the interruption for lacking equipment room mostly are supported, it is difficult to equipment room in CPS application The quick real-time response of event provides good support.

Dynamic reconfigurable high-speed serial bus (UM-BUS) is proposed for system compact and embedded integrated design One kind redundancy fault-tolerant and high-speed communication organic unity can be had the high-speed serial bus of Remote Expansion ability.Such as Fig. 1 institute Show, it is using based on M-LVDS (Multipoint Low Voltage Differential Signaling, multiple spot low voltage difference Sub-signal) technology bus type topological structure, support multinode direct interconnection, 32 channel concurrent transmissions at most can be used, lead to Believe rate up to 6.4Gbps.In communication process, if certain channels are broken down, bus control unit can detect in real time Come, data are dynamically assigning on remaining effectively channel and are transmitted, dynamic restructuring are realized, to carry out dynamic to communication failure It is fault-tolerant.

UM-BUS bus uses the communication pattern of principal and subordinate's command response, and information exchange is carried out by way of data packet.Even The communication node connect in bus can be divided into master node, slave node and monitoring node by function difference, and bus communication process is always It is initiated by host node, is completed from node response.UM-BUS bus has the function of time synchronization, it is ensured that each node of bus Between time system precise synchronization.UM-BUS bus supports single main (Single Master) communication and more main (Multi Master two kinds of communication patterns) are communicated.Under more holotypes, may exist multiple host nodes in bus, needed between multiple host nodes It will be by the arbitration mode that variable slot rotates come the competition bus right to use.

UM-BUS bus communication process can only be initiated by host node, and host node can press other intra-node functional units Address read and write access can support three kinds of I/O space, memory space and attribute space address spaces, wherein attribute space size 1KB, I/O space size 64KB, memory space 256TB.It can be the plug and play of sensor and execution unit, data method attribute in CPS It encapsulates, be reliably connected at a high speed, isomery accesses in real time etc. provides technical support.

The processing of UM-BUS bus supports both interrupt, any node in bus can be by common interrupt signal wires to any One or more bus nodes carry out interrupt requests.

For the application demand of CPS, the characteristics of being based on UM-BUS bus, the present invention proposes that a kind of CPS knows from node dynamic Not with management method for organizing, for meet CPS heterogeneous access, dynamic organization, standardization in terms of growth requirement.

Summary of the invention

It is an object of the invention to design a kind of CPS based on UM-BUS bus from node dynamic identifying method, saved for CPS Point plug and play, heterogeneous access, differential shading, standardization extension, the dynamic application of free drive provide support.

To achieve the above object, the technical scheme adopted by the invention is as follows：

A kind of CPS based on UM-BUS bus is from node dynamic identifying method, it is characterised in that：CPS system uses UM- Node division in CPS system is CPS host node and CPS from node as communication bus by BUS bus, and a CPS is from node For S0 in being added to system or after resetting, CPS host node carries out dynamic knowledge from node S0 to CPS using following methods and step Not：

(1) CPS sends the global interrupt request of a request identification from node S0 in UM-BUS bus, requests UM-BUS All CPS host nodes connected in bus identify it；

(2) a CPS host node Mx in UM-BUS bus receive CPS from node S0 request identification global interrupt ask After asking, handled as follows：

1. reading attribute space of the CPS from node S0, essential attribute information of the CPS from node S0 is obtained；According to CPS from section The essential attribute information of point S0 is judged, if CPS had been identified from node S0, is gone to step 4.；Otherwise, it goes to step 2. It continues to execute；

2. being in memory CPS from node S0 method for building up loading zone, CPS is read from the overall situation side of node S0 attribute space The configuration information in method area and functional attributes method area is all interruption processing methods, global approach and function of the CPS from node S0 Method method for building up mapping table, and CPS is moved from the method code on node S0 into the memory of CPS host node Mx, turn step Suddenly 3.；

It is in memory CPS 3. reading immediate data attribute and indirect data attribute definition area information of the CPS from node S0 Establish functional parameter read and write access mapping table from node S0, for each data establish one comprising node serial number, space identification, 4. the address of cache of storage address three parts information, goes to step；

After 4., when CPS host node Mx accesses to CPS from the data of node S0, pass through functional parameter read and write access Mapping table accesses data of the CPS from node S0；When being called to CPS from the method for node S0, by CPS host node Mx Method mapping table in depositing executes corresponding method code.

The CPS that the present invention realizes can by UM-BUS bus global interrupt and attribute space from node dynamic identifying method To realize to its automatic identification and driven management after CPS accesses bus from node, and data and method mapping are carried out for it. This enables the indifference tissue fusion that different type CPS node is supported based on CPS system of the invention, exempts CPS node The preparatory installation requirements of driver solve the problems, such as the fusion of CPS node isomery and dynamic access, the isomery of CPS node can be improved Access capability and access criteria, are conducive to the standardization upgrade maintenance of CPS system.

Detailed description of the invention

Fig. 1 is the topology diagram of UM-BUS bus；

Fig. 2 is UM-BUS bus protocol hierarchical model figure；

Fig. 3 is UM-BUS bus data transfer process and data path schematic diagram；

Fig. 4 is UM-BUS bus interrupt signal line connection schematic diagram；

Fig. 5 is CPS host node method map section structure chart；

Fig. 6 is the integral layout and storage organization schematic diagram in CPS nodal method area；

Fig. 7 is CPS host node data mapping tables structure chart；

Fig. 8 is CPS from node Dynamic Recognition procedure chart；

Fig. 9 is CPS host node Dynamic Recognition procedure chart.

Specific embodiment

As shown in Figure 1, UM-BUS bus uses the multi-channel intelligent dynamic redundancy based on M-LVDS (TIA/EIA-899) Bus type topological structure could support up 30 communication node direct interconnections, not need routing or trunking；Use 2~32 Channel concurrently-transmitted data, maximum communication rate is up to 6.4Gbps；Channel can pass through channel dynamic redundancy if there is failure And failure reconfiguration technology automatic shield faulty channel, continue to communicate on remaining healthy channel；Using the logical of principal and subordinate's command response Letter mode can provide Remote metering system and non intelligent extended capability for system.

Node in UM-BUS bus can be divided into master node, slave node and monitoring node by function difference, primary to communicate Process can only be initiated by host node, and by from node or the response of other host nodes, monitoring node is used to monitor logical in bus Letter process.Between node by way of data packet interactive information.UM-BUS bus host node can be to other intra-node functions Unit presses address read and write access, and three kinds of I/O space, memory space and attribute space address spaces, I/O space and attribute can be supported empty Between access can only be written and read by word, and can not buffer, memory space can only be then written and read access by page, and be needed in local It is buffered.

The protocol layers model of UM-BUS bus as shown in Fig. 2, be followed successively by process layer, data link from top to bottom Layer, physical layer, wherein process layer is responsible for the management of entire bus, protocol encapsulation and conversion to upper layer application interface.Data Link layer is divided into transmission sublayer and media access control sublayer two parts again, and transmission sublayer is grouped data according to existing active line And dynamic restructuring；Media access control sublayer is responsible for communication line detection, provides channel health status to transmission sublayer, completes to channel transfer Information carries out secondary packing and unpacking, realizes the time synchronization of bus node.Physical layer is the bottom of agreement, it is logical for data Letter provides transmission media and interconnection equipment, realizes the physical connection of network, complete serioparallel exchange, 8b/10b encoding and decoding, when Clock such as synchronizes at the functions, provides reliable communication infrastructure for bus.

Bus node is using the form of data packet to carry out data transmission between different agreement layers in communication process, data Transmission process is as shown in Figure 3.When data communication, in transmitting terminal, process layer obtains data from high-level interface and stores slow to data Area is rushed, data packet dynamic equalization is assigned to effective channel in the active line information that transmission sublayer is provided according to media access control sublayer On, after physical layer packs packet data, bit stream is encoded into through 8b/10b and is sent to chain road.In receiving end, physical layer After the data received are carried out synchronous clock, 8b/10b decoding, serioparallel exchange, channel data is unpacked, then in transmission sublayer Data are carried out dynamic organization and are stored in data buffer zone by the active line information provided according to media access control sublayer, finally by handling Layer gives application layer process.

Under multi-host communication mode, host node must could be sent after obtaining the bus right to use from physical layer to bus Data start a bus communication process.UM-BUS bus has the function of time synchronization, when work, in bus at all nodes In time synchronization state.

Between all nodes, special shared interrupt signal line is arranged in UM-BUS bus.As shown in figure 4, bus is all Node can be by OC (open collector) or equivalent way, using serial code mode, into the transmission of shared interrupt signal line Disconnected request signal, lifts interrupt requests to bus host node；Meanwhile all nodes can also receive letter from shared interrupt line Number, obtain the information transmitted on interrupt line.

Based on above-mentioned UM-BUS bus working principle, a kind of specific reality of CPS host node dynamic identifying method of the invention It is as follows to apply mode：

For sake of convenience, it is assumed that CPS system as communication bus, shares 6 host nodes in bus using UM-BUS bus With 10 from node, the CPS host node and CPS that are respectively equivalent in the CPS system are from node, the node number of each CPS host node It is defined as 1~6, each CPS is defined as 11~20 from the node number of node.

In order to realize the standardized operation to UM-BUS bus node equipment in CPS system, meeting isomery fusion and move The demand of state access, a kind of virtual equipment of software definition is realized using the attribute space of UM-BUS bus, passes through attribute sky Between the standard interface that defines, method realize to the unification operation of heterogeneous device.

One, UM-BUS bus node attribute space is arranged

The 1KB attribute space of node each in UM-BUS bus is divided into node and describes area (32 words, 128B), reserved area Three parts in (32 words, 128 bytes) and functional attributes definition (maximum 192 words, 768 bytes), as shown in table 1.Node description Area is used to that the essential characteristic of UM-BUS bus node is described and is defined, and reserved area will be extended for future, and functional attributes are fixed Adopted area can be 0-4 as needed, at most may be implemented to be specifically defined 4 concrete functions.One UM-BUS bus Node can at most support four kinds of function combinations, can be that a functional attributes definition is arranged in each function by attribute space Area carries out software definition to function.

1, node describes area

Node describes area's totally 32 words (128 byte), occupies attribute space address 0-124, to node number, interrupts control, empty Between demand, function classification, global approach, nodename etc. be defined.

(1) node number and essential attribute

0th word is node number and essential attribute, is divided into 4 bytes, and lowest byte is node serial number, and position 4-0 is UM-BUS Bus node number, virtual value 1-30；Secondary low byte is node type attribute, and position 7 (highest order) is that 1 expression node has main section Point ability, position 6 are that 1 expression node has from node capacity, and position 5 indicates that node has time host node ability for 1, and position 4 is 1 table Show that node has interrupt requests ability, position 3 is that 1 expression node has interrupt handling capacity；Secondary high byte is nodal function attribute, Position 2-0 is 0 expression node without concrete function area, indicates that node has 1-4 kind combination function for 1-4, uses 1-4 functional attributes The specific object and method of each function of area definition；Highest byte retains, and extends for future.

(2) control is interrupted

Control totally 5 words are interrupted, and address 4 is forced resetting register, node can be set to register write-in 0x1005 It is standby to reset；Address 8 is interrupt mask register, and position 15-0 corresponds to interrupt requests 15-0, shields corresponding interrupt requests when being 1, Only allow No. 0 interruption after reset；Address 12 is to interrupt identification register, and position 15-0 respectively corresponds interrupt requests 15-0, is indicated for 1 Corresponding interrupt requests high level is effective, and otherwise rising edge is effective；Address 16 is to interrupt forced register, and position 15-0 is respectively corresponded Interrupt requests 15-0, write-in 1 indicate to force to generate corresponding interrupt requests；Address 20 retains, and extends for future.

The definition of 1 attribute space of table

(3) space reflection demand

Address 24 is I/O space address need register, and position 15-0 is to carry out unified address of cache in the master node from node When, the I/O space size needed, unit is byte, and one can only at most map the I/O space of 64KB from node.Address 28 is to deposit Space address demand register is stored up, when position 15-0 indicates to carry out unified address of cache in the master node from node, the storage that needs The block number in space, each piece is 64KB.Therefore, a memory space that can only at most map 4GB from node.Memory space access When, if necessary to can individually specify high 16 bit address by position 31-16 by the way of piecemeal mapping more than 4GB range.

(4) function defines

Address 32 is function coding register, is divided into 4 bytes, and lowest byte is function classification, and secondary low byte is function Subclass coding, highest byte and time high byte retain, and extend for future.

The word of address 36,40 two retains, and extends for future.

Node global approach area index is in address 44,48, initial address and size including method area.Initial address is 48 Position specifies global approach in the initial address of this node storage space.Address 44 is low 32 of initial address, address 48 it is low 16 are the 16 high of initial address.High 16 of address 48 are the size in global approach area, and the size in global approach area is with 256 The block number of byte indicates that is, global approach area is up to 16MB.

Address 52 is functional attributes area definition register, is divided into 4 bytes, by lowest byte (position 7-0), secondary low byte (position 15-8), secondary high byte (position 23-16), highest byte (position 31-24) sequence, respectively indicate 1,2,3,4 four function of function Attribute definition area number of words.Minimum 10 words in one functional attributes definition, are up to 140 words, therefore each byte value range For 10-140.If functional attributes definition is not present, i.e., no corresponding function, then corresponding byte should be 0.

The word of address 56,60 two retains, and extends for future.

(5) name definition

Tetra- words of address 64-76, totally 16 byte is encoded, every two word for the title of node to be arranged using Unicode Section indicates a character, can indicate 8 characters altogether.Tetra- words of address 80-92, totally 16 byte, for node manufacturer to be arranged Title, encoded using Unicode, one character of every two byte representation can indicate 8 characters altogether.Address 96-124 totally 8 Word retains, and extends for future.

2, functional attributes definition

UM-BUS bus node could support up four kinds of function combinations, and a functional attributes are arranged for each function and define Area carries out abstract definition to its attribute configuration, I/O operation, processing method, to support the normalizing operation of heterogeneous device.One UM-BUS bus node contains at least one functional attributes definition, at most may include four functional attributes definitions.Function Processing method that attribute definition area code requirement structure is related to a functional module, operation address are defined, so as to Unified standard operation is carried out to isomery version on software.

Functional attributes definition includes primary attribute definition and can two part of operational attribute definition.Primary attribute definition is solid It is set to 10 words, if a functional attributes definition exists, it is necessary to have primary attribute definition.Operational attribute then basis Functional requirement selection is realized.

(1) primary attribute defines

Primary attribute definition includes that function code, title and operational attribute configure, totally 10 40 bytes of word.

Function code occupies first character, is divided into 4 bytes, and lowest byte is function classification, and secondary low byte is function Class coding, highest byte and time high byte retain, and extend for future.

2-5 word is function title, and totally 16 byte, is encoded using Unicode, one character of every two byte representation, altogether It can indicate 8 characters.

6th word is operational attribute configuration words, is divided into 4 bytes.Highest byte retains；Secondary high byte position 0 is that 1 expression exists Otherwise functional method memory block does not have functional method memory block；Secondary low byte is direct access attribute area size, value 0-64,0 Indicate no direct access attribute area, 1-64 indicates the number of words in direct access attribute area；Lowest byte is I/O space attribute mapping Area (dereference attribute area) size, value 0-64,0 indicates no I/O space attribute mapping area, and 1-64 indicates I/O space mapping The number of words of attribute area.In the present embodiment, the operational attribute configuration words of four functional attributes definitions be respectively 0x00011020, 0x00010C00,0x00000800,0x00010040 are indicated：Function 1,2,4 has functional method memory block, and function 3 does not have function It can method memory block；The direct access attribute area number of words of function 1,2,3 is respectively 16,12,8, and function 4 is without direct access attribute Area；The I/O space attribute mapping area number of words of function 1,4 is respectively 32,64, and function 2,3 does not have I/O space attribute mapping area.

Totally 4 words retain 7-10, extend for future.

(2) operational attribute defines

The operational attribute of UM-BUS bus node function is divided into four kinds：

1) functional method attribute, in operational attribute definition, using 2 words, totally 8 bytes provide functional method code and are saving The storage initial address and size of point memory space.Initial address is 48, and first character is low 32 of initial address, second Low 16 of a word are the 16 high of initial address.High 16 of second word are the size in functional method area, functional method area Size indicate that therefore functional method area is up to 16MB with the block number of 256 bytes.

2) data are directly accessed, 64 direct references can be at most defined in operational attribute area, by straight to these The address read-write of data is asked in receiving, can be done directly the read and write access to performance data.

3) dereference data can at most define 64 I/O space mapping address in operational attribute area, they are deposited respectively A node I/O space address is stored up, by the read and write access of these I/O space addresses, completes the read and write access to performance data.

4) proprietary data, this performance data is related to node specific implementation, can be in I/O space, can also be empty in storage Between.

The mark that operational attribute definition supports functional method attribute, directly accesses data attribute and dereference data attribute Standardization definition is realized the isomery of same function, as long as system software can use identical using identical attribute definition Software is uniformly processed.

Table 1 gives the functional attributes definition example that one includes the bus node of four kinds of functions combination.

Two, method area storage format

UM-BUS bus node may include two methods of global approach and functional attributes method, and global approach is used to support The system initialization of node device, public operation, interrupt processing function, functional attributes method are used to the data of concrete function Reason, attribute setting and drive control are specifically handled.Global approach and functional attributes method all use identical storage organization It is solidificated in the memory space of node, after system reset, is dynamically loaded into being locally stored for processor as needed by host node It is run in device.Area and functional attributes definition is described in node to provide global approach and functional attributes method respectively and store in node The storage initial address and range in space.Method area maximum is occupied 16MB and is stored using 256B memory block as base growth unit Beginning address is necessary for 256B boundary alignment, and storage format is as shown in figure 5, include that method describes area, method map section and method reality Body area three parts.Fig. 6 gives the integral layout and storage organization structure in CPS nodal method area.

1, method describes area

Method describes area's 64 byte of totally 16 word, and the lowest byte of the 1st word is used to indicate the method sum in method area, value model 0-128 is enclosed, other three bytes retain.Therefore, each method area at least includes 0 method, contains up to 128 methods.When When the method sum in method area is 0, without method map section and method entity area.Method describes remaining 15 word in area totally 60 word Section, is briefly described method using ASCII character, may include the information such as copyright, title, version.

2, method map section

Method map section is used to provide index for each specific method, establishes an index entry for each method.One rope Draw item and occupy 8 words (32 byte), including the offset of method name, method, method parameter and reserved field.Method name occupies 16 words Section, using ASCII character representation method.Method offset occupies 4 bytes, provides method code entrance in the inclined of method area initial address It moves；Method parameter totally 4 byte, supports 4 parameter definitions, is not present for 0 expression parameter, indicates numerical parameter for 1, indicates for 2 Pointer parameter.Reserved field totally 8 byte will be extended for future.

3, method entity area

Method entity area is used to store the entity code and data of support method operation, not only includes the execution of method itself Code further includes that method code executes the support code needed and data, also may include other user-defined data and generation Code.

Three, the access method of functional parameter

Based on above-mentioned UM-BUS attribute bus definition space, in CPS system, to the specific access side of nodal function parameter Method is as follows：

(1) straight by the attribute space data access mode of UM-BUS bus for the attribute-defining data of attribute space Tap into row read and write access；

(2) for node proprietary data, access is written and read by attribution method, can also according to the address IO of agreement or Storage address is written and read access；

(3) for the direct access data and dereference data that are defined in attribute space, by the following method with step into Row read and write access：

1) as shown in fig. 6, in CPS host node, one is established by node number, space from each data of node for CPS The address of cache of the address of cache of mark, storage address three parts composition, all data of each function constitutes an independence Attribute data address mapping table.Wherein, node number is node number of the CPS from node；Space identification indicates that data are in IO sky Between or in attribute space, can also include other attributes such as read-write, the size of data；Storage address be then data CPS from Node corresponds to the storage location in space.

2) when to CPS from node initializing, CPS host node obtains direct one by one from each of which functional attributes definition The storage address of access data and dereference data, the storage that acquired storage address is mapped as data address Location, and be data address mapping settings space identification and node number.

3) when CPS host node is written and read access to performance data, from the corresponding attribute data address mapping table of function Corresponding address of cache is obtained, according to the node number, space identification and storage address of address of cache, passes through UM-BUS bus pair CPS is written and read from the corresponding address of the additional space of node.

Four, the dynamic loading method of function processing method

In CPS system, CPS host node needs to load the functional method of other nodes, during dynamically load, to appoint One CPS host node, other CPS nodes are used as CPS from node, its functional method are loaded into the host node.

Global approach and function processing method dynamically load and calling when node initializing and system are applied.To one When CPS is initialized from node, dynamically load is carried out using following steps and method and is called：

(1) CPS host node reads attribute space of the CPS from node first, obtains CPS from the global approach area of node and function The configuration information in energy processing method area；

(2) CPS host node according to CPS from the global approach area of node and the memory space requirements in function processing method area, In CPS host node memory, it is CPS from node method for building up loading zone, includes interruption processing method area, global approach area and function It can method area；

(3) by UM-BUS bus, CPS is copied into CPS host node method loading zone from all method codes of node Corresponding region；

(4) the method for building up mapping table in CPS host node is CPS from each method of node indicates shared memory Beginning address and size, each method in mapping table, ASCII character sequence by name is arranged, convenient for retrieval；

(5) when the application call CPS in CPS host node is from the functional method of node, first by method name and Parameter carries out lookup matching in method mapping table, is then transferred to corresponding mapping address, and specific method code is called to carry out Processing.

Five, the dynamic identifying method of functional module

1, from the dynamic identifying method of node

Based on UM-BUS bus, CPS host node carries out Dynamic Recognition from node to CPS using following methods and step, such as Shown in Fig. 8.For sake of convenience, without loss of generality, it is assumed that CPS from node S0 be it is to be identified from node, by any in CPS system CPS host node Mx identification.

(1) CPS from node S0 in being added to system or reset after, first, in accordance with UM-BUS bus specification complete when Between it is synchronous, the global interrupt request of a request identification is then sent in UM-BUS bus, requests to connect in UM-BUS bus All CPS host nodes it is identified；

(2) a CPS host node Mx in UM-BUS bus receive CPS from node S0 request identification global interrupt ask After asking, handled as follows：

1. reading attribute space of the CPS from node S0, essential attribute information of the CPS from node S0 is obtained；According to CPS from section The essential attribute information of point S0 is judged, if CPS had been identified from node S0, is gone to step 4.；Otherwise, it goes to step 2. It continues to execute；

2. being in memory CPS from node S0 method for building up loading zone, CPS is read from the overall situation side of node S0 attribute space The configuration information in method area and functional attributes method area is all interruption processing methods, global approach and function of the CPS from node S0 Method method for building up mapping table, and CPS is moved from the method code on node S0 into the memory of CPS host node Mx, turn step Suddenly 3.；

It is in memory CPS 3. reading immediate data attribute and indirect data attribute definition area information of the CPS from node S0 Establish functional parameter read and write access mapping table from node S0, for each data establish one comprising node serial number, space identification, 4. the address of cache of storage address three parts information, goes to step；CPS host node Mx is establishing functional parameter from node S0 for CPS When read and write access mapping table, by CPS from the address of cache of all properties data of node S0 each function, an independence is constituted Functional parameter read and write access mapping table；

After 4., when CPS host node Mx accesses to CPS from the data of node S0, pass through functional parameter read and write access Mapping table accesses data of the CPS from node S0；When being called to CPS from the method for node S0, by CPS host node Mx Method mapping table in depositing executes corresponding method code.

(3) during carrying out from the Dynamic Recognition of node, each CPS host node in UM-BUS bus is receiving CPS After the global interrupt request of the request identification sent from node S0, according to the how main referee method of bus, successively to CPS from node The bus access that S0 is needed.

2, the dynamic identifying method of host node

Based on UM-BUS bus, CPS host node carries out dynamic from node to the CPS in bus using following methods and step Identification, and by other host node Dynamic Recognitions in bus, as shown in figure 9, UM-BUS address space and host memory are empty in figure Between internal structure be laid out same Fig. 8.For sake of convenience, without loss of generality, it is assumed that CPS host node M0 is host node to be identified.

(1) CPS host node M0 is same first, in accordance with the UM-BUS specification deadline in being added to system or after resetting Then step sends the global interrupt request of a request identification in UM-BUS bus, requests its connected in UM-BUS bus He identifies it all CPS host nodes, and requests to identify other CPS nodes；

(2) all CPS connected in UM-BUS bus are from node in the complete of the request identification for receiving CPS host node M0 transmission After office's interrupt requests, the interrupt requests of a request identification can be sent to CPS host node M0 by UM-BUS bus, request CPS Host node M0 carries out identification load from node to the CPS；

(3) other CPS host nodes connected in UM-BUS bus are complete the request identification for receiving CPS host node M0 transmission Office interrupt requests after, first by UM-BUS bus read CPS host node M0 attribute space configuration information, in memory for CPS host node M0 establishes functional parameter read and write access mapping table and method mapping table, completes to know the dynamic of CPS host node M0 Not；Then, the interrupt requests that a request identification is sent to CPS host node M0, request CPS host node M0 to the CPS host node Carry out identification load；Each CPS host node in UM-BUS bus is total according to UM-BUS to the bus access of CPS host node M0 The how main referee method of line, successively carries out.

(4) it after the interrupt requests that the request that CPS host node M0 receives the transmission of other CPS nodes identifies, reads and sends request Identify interrupt CPS node attribute space, be in the memory of CPS host node M0 according to the configuration information of its attribute space It sends the CPS node that request identification is interrupted and establishes functional parameter read and write access mapping table and method mapping table, and requested sending It identifies that the method code of the CPS node interrupted is loaded into the memory of CPS host node M0, completes to request identification to be interrupted transmission The Dynamic Recognition of CPS node.

The CPS that the present invention realizes is based on UM-BUS bus from node dynamic identifying method, provides a kind of CPS from node By the method for CPS host node Dynamic Recognition and management in bus, CPS can be exempted from node driver on CPS host node The demand disposed in advance realizes the dynamic application of free drive, can be improved the fusion faculty of isomery CPS node, be conducive to the mark of CPS system Standardization upgrade maintenance.

Without departing from the spirit of the scope of the invention, the present invention can have various deformation, such as：Use the total of other forms Line or network etc. can change in different implementation.These deformations are also contained within scope of the present invention.

Claims (4)

1. a kind of CPS based on UM-BUS bus is from node dynamic identifying method, it is characterised in that：CPS system uses UM-BUS Node division in CPS system is CPS host node and CPS from node as communication bus by bus, and a CPS is from node S0 In being added to system or after resetting, CPS host node carries out Dynamic Recognition from node S0 to CPS using following methods and step：

(1) CPS sends the global interrupt request of a request identification from node S0 in UM-BUS bus, requests UM-BUS bus All CPS host nodes of upper connection identify it；

(2) a CPS host node Mx in UM-BUS bus is receiving the global interrupt request of CPS from node S0 request identification Afterwards, it is handled as follows：

1. reading attribute space of the CPS from node S0, essential attribute information of the CPS from node S0 is obtained；According to CPS from node S0 Essential attribute information judged, if CPS had been identified from node S0, go to step 4.；Otherwise, it goes to step and 2. continues It executes；

2. being in memory CPS from node S0 method for building up loading zone, CPS is read from the global approach area of node S0 attribute space It is all interruption processing methods, global approach and functional method of the CPS from node S0 with the configuration information in functional attributes method area Method for building up mapping table, and CPS is moved from the method code on node S0 into the memory of CPS host node Mx, it goes to step 3.；

It is in memory CPS from section 3. reading CPS from the immediate data attribute of node S0 and indirect data attribute definition area information Point S0 establishes functional parameter read and write access mapping table, establishes one for each data and includes node serial number, space identification, storage 4. the address of cache of address three parts information, goes to step；

After 4., when CPS host node Mx accesses to CPS from the data of node S0, mapped by functional parameter read and write access Table accesses data of the CPS from node S0；When being called to CPS from the method for node S0, by CPS host node Mx memory Method mapping table execute corresponding method code.

2. CPS according to claim 1 is from node dynamic identifying method, it is characterised in that：CPS is being added to from node S0 In system or after resetting, completion UM-BUS bus time first is synchronous, and request identification is then just sent in UM-BUS bus Global interrupt request.

3. CPS according to claim 1 is from node dynamic identifying method, it is characterised in that：It is each in UM-BUS bus CPS host node is after the global interrupt request for receiving the request identification that CPS is sent from node S0, according to the mostly main of UM-BUS bus Referee method, the bus access that successively CPS is needed from node S0.

4. CPS according to claim 1 is from node dynamic identifying method, it is characterised in that：CPS host node Mx is for CPS When establishing functional parameter read and write access mapping table from node S0, by CPS from all properties data of node S0 each function Address of cache constitutes an independent functional parameter read and write access mapping table.