CN108919698B - Monitoring system and method for controlling CPU in real time and mobile robot - Google Patents
Monitoring system and method for controlling CPU in real time and mobile robot Download PDFInfo
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- CN108919698B CN108919698B CN201810581200.9A CN201810581200A CN108919698B CN 108919698 B CN108919698 B CN 108919698B CN 201810581200 A CN201810581200 A CN 201810581200A CN 108919698 B CN108919698 B CN 108919698B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The invention discloses a monitoring system and a monitoring method for a real-time control CPU (central processing unit) and a mobile robot, wherein the monitoring system comprises N internal watchdog modules arranged in the real-time control CPU, and the N internal watchdog modules are used for monitoring whether target sections in an operation program of the real-time control CPU, which correspond to the internal watchdog modules one by one, clear watchdog flag bits according to a first preset period or not, and controlling the reset of the real-time control CPU if the target sections do not correspond to the internal watchdog modules; and the M external watchdog modules are connected with the reset pin of the real-time control CPU and used for monitoring whether target sections in the running program, which correspond to the external watchdog modules one to one, clear the watchdog flag bit according to a second preset period or not, and if not, sending a reset signal to the reset pin so as to control the reset of the real-time control CPU. According to the invention, the watchdog modules are respectively arranged inside and outside the real-time control CPU to monitor different sections of the whole operation program, so that the real-time control CPU can be reset in time, and the functional disorder of the real-time control CPU is avoided.
Description
Technical Field
The invention relates to the field of CPUs (central processing units), in particular to a monitoring system and method for controlling the CPUs in real time and a mobile robot.
Background
Generally, the real-time control CPU may run a foreground and background system or a real-time operating system. When the real-time control CPU runs the two systems, the running program can be divided into a plurality of sections, for example, when a foreground and background system is run, the whole running program can be divided into a main cycle program section and a plurality of interrupt service program sections; when the real-time operating system is operated, the whole operation program can be divided into a plurality of task program segments. If a certain program segment in operation falls into a dead loop and the like, the overall function disorder of the real-time control CPU can be caused.
At present, in the prior art, a real-time control CPU is monitored and reset by using an external watchdog chip, but if only one external watchdog chip is used, after a section in an operating program feeds a dog (i.e., a watchdog flag bit is cleared according to a preset time), if the next section falls into a dead cycle, the external watchdog chip cannot monitor the dead cycle, and thus the real-time control CPU cannot be reset in time, and the whole function of the real-time control CPU is still disordered.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a monitoring system and a monitoring method for controlling a CPU in real time and a mobile robot.
In order to solve the above technical problem, the present invention provides a monitoring system for controlling a CPU in real time, comprising:
the system comprises N internal watchdog modules arranged in a real-time control CPU, a Central Processing Unit (CPU) and a control unit, wherein the N internal watchdog modules are used for monitoring whether target sections in an operation program of the real-time control CPU, which correspond to the internal watchdog modules one by one, clear watchdog flag bits according to a first preset period or not, if not, the real-time control CPU is controlled to reset, and N is a positive integer;
and the M external watchdog modules are connected with a reset pin of the real-time control CPU and used for monitoring whether target sections in the running program, which correspond to the external watchdog modules one to one, clear the watchdog flag bit according to a second preset period or not, and if not, sending a reset signal to the reset pin to control the real-time control CPU to reset, wherein M is a positive integer.
Preferably, when the real-time control CPU runs a foreground and background system, the target segments corresponding to the internal watchdog modules one to one are main loop program segments, and the target segments corresponding to the external watchdog modules one to one are interrupt service program segments.
Preferably, when the real-time control CPU runs a real-time operating system, the target segments corresponding to the internal watchdog modules one to one are background task program segments, and the target segments corresponding to the external watchdog modules one to one are periodic task program segments.
Preferably, the first preset period is the same as the second preset period.
Preferably, the external watchdog module comprises a watchdog chip of model SP 706.
Preferably, the real-time control CPU is a CPU of STM32 series.
In order to solve the above technical problem, the present invention further provides a monitoring method for controlling a CPU in real time, which is applied to the monitoring system described in any one of the above, and includes:
n internal watchdog modules arranged in a real-time control CPU monitor whether target sections in an operation program of the real-time control CPU, which correspond to the internal watchdog modules one by one, clear watchdog flag bits according to a first preset period or not, if not, the real-time control CPU is controlled to reset, and N is a positive integer;
and M external watchdog modules connected with a reset pin of the real-time control CPU monitor whether a target section in the running program, which corresponds to each external watchdog module one by one, clears the watchdog flag bit according to a second preset period, if not, a reset signal is sent to the reset pin to control the real-time control CPU to reset, and M is a positive integer.
Preferably, when the real-time control CPU runs a foreground and background system, the target segments corresponding to the internal watchdog modules one to one are main loop program segments, and the target segments corresponding to the external watchdog modules one to one are interrupt service program segments.
Preferably, when the real-time control CPU runs a real-time operating system, the target segments corresponding to the internal watchdog modules one to one are background task program segments, and the target segments corresponding to the external watchdog modules one to one are periodic task program segments.
In order to solve the technical problem, the invention further provides a mobile robot, which comprises the monitoring system for controlling the CPU in real time.
The invention provides a monitoring system for controlling a CPU in real time, which comprises N internal watchdog modules arranged in the CPU in real time, wherein the N internal watchdog modules are used for monitoring whether target sections in an operation program of the CPU in real time, which correspond to the internal watchdog modules one by one, clear watchdog flag bits according to a first preset period or not, if not, the CPU in real time is controlled to reset, and N is a positive integer; and the M external watchdog modules are connected with the reset pin of the real-time control CPU and used for monitoring whether target sections in the running program, which correspond to the external watchdog modules one to one, clear the watchdog flag bit according to a second preset period or not, and if not, sending a reset signal to the reset pin to control the real-time control CPU to reset, wherein M is a positive integer.
Therefore, in practical application, by adopting the scheme of the invention, the watchdog modules are respectively arranged inside and outside the real-time control CPU to monitor different sections of the whole running program, and the real-time control CPU can be timely reset as long as one section in the program runs abnormally, so that the reliability of the real-time control CPU is improved.
The invention also provides a monitoring method for controlling the CPU in real time and a mobile robot, and the monitoring method and the mobile robot have the same beneficial effects as the monitoring system.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a monitoring system for controlling a CPU in real time according to the present invention;
FIG. 2 is a schematic structural diagram of another monitoring system for controlling a CPU in real time according to the present invention;
fig. 3 is a flowchart illustrating steps of a monitoring method for controlling a CPU in real time according to the present invention.
Detailed Description
The core of the invention is to provide a monitoring system and a method for controlling a CPU in real time and a mobile robot, wherein watchdog modules are respectively arranged inside and outside the real-time control CPU to monitor different sections of the whole running program, so that the real-time control CPU can be reset in time, and the functional disorder of the real-time control CPU is avoided.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a monitoring system for controlling a CPU in real time according to the present invention, including:
the system comprises N internal watchdog modules 1 arranged inside a real-time control CPU, a first monitoring module and a second monitoring module, wherein the N internal watchdog modules 1 are used for monitoring whether target sections in an operation program of the real-time control CPU, which correspond to the internal watchdog modules 1 one by one, clear watchdog flag bits according to a first preset period or not, if not, the real-time control CPU is controlled to reset, and N is a positive integer;
as a preferred embodiment, the real-time control CPU is a CPU of the STM32 family.
Specifically, the number of the internal watchdog modules 1 integrated inside the real-time control CPU may be one or multiple, each internal watchdog module 1 monitors a target section in the running program of the real-time control CPU, and the target sections monitored by each internal watchdog module 1 are all different. Specifically, the internal watchdog module 1 is configured to monitor whether a watchdog flag is cleared according to a first preset period by a target segment corresponding to the internal watchdog module 1, if so, it indicates that the target segment operates normally, and if not, it indicates that the target segment operates abnormally, and at this time, the internal watchdog module 1 that monitors the target segment directly controls the real-time control CPU to reset, so as to achieve the purpose of avoiding integral functional disorder of the real-time control CPU.
Specifically, when the real-time control CPU is started, each internal watchdog module 1 starts to operate. For different target paragraphs, the first preset periods for clearing the watchdog flag bits corresponding to the target paragraphs may also be different, for example, the target paragraphs monitored by the internal watchdog module 1a are to clear the watchdog flag bits once every 10s, and the target paragraphs monitored by the internal watchdog module 1b are to clear the watchdog flag bits once every 20s, it can be understood that each target paragraph is to start timing from the internal watchdog start time corresponding to each target paragraph, and the watchdog flag bits are cleared according to the first preset period, which is set according to the field needs, and the present invention is not limited herein.
Accordingly, the technology for manufacturing a real-time control CPU integrated with the internal watchdog module 1 is now well established, and in particular, a CPU of the STM32 family may be selected. The invention selects the real-time control CPU integrated with the internal watchdog module 1, so that the volume of the monitoring system can be reduced, and the cost is saved.
And the M external watchdog modules 2 are connected with a reset pin of the real-time control CPU and used for monitoring whether target sections in the running program, which correspond to the external watchdog modules 2 one by one, clear watchdog flag bits according to a second preset period or not, and if not, sending a reset signal to the reset pin to control the real-time control CPU to reset, wherein M is a positive integer.
Specifically, the number of the external watchdog modules 2 connected to the reset pin of the real-time control CPU may be one or multiple, each external watchdog module 2 monitors a target section in the running program of the real-time control CPU, the target sections monitored by each external watchdog module 2 are different, and the target sections monitored by any one internal watchdog module 1 are also different. Specifically, the external watchdog module 2 is configured to monitor whether a watchdog flag bit is cleared according to a second preset period in a target section corresponding to the external watchdog module, if yes, it indicates that a program of the target section is operating normally, and if not, it indicates that the program of the target section is operating abnormally, and at this time, the external watchdog module 2 that monitors the target section sends a reset signal to a reset pin of the real-time control CPU to reset the real-time control CPU, so as to avoid causing an overall functional disorder of the real-time control CPU, where the reset signal may be a pulse signal.
Specifically, when the real-time control CPU is started, the external watchdog module 2 starts to operate. For different target segments, the second preset periods for clearing the watchdog flag bits corresponding to the target segments may also be different, for example, the target segments monitored by the external watchdog module 2a are cleared of the watchdog flag bits once every 10s, and the target segments monitored by the external watchdog module 2b are cleared of the watchdog flag bits once every 20s, it can be understood that each target segment is timed from the external watchdog start time corresponding to each target segment, the watchdog flag bits are cleared according to the second preset period, and the second preset period is also set according to the field needs, which is not limited herein.
In conclusion, by adopting the scheme of the invention, the real-time control CPU is automatically monitored and timely reset by the multiple watchdog, the reliability is higher, even if a certain program segment in the running program falls into the dead loop due to some reasons and the watchdog flag bit of the program segment falling into the dead loop is just cleared according to the preset period, the abnormity of the running program can be monitored by other watchdog modules, and the real-time control CPU is timely reset, thereby avoiding the occurrence of the integral functional disorder of the real-time control CPU.
The invention provides a monitoring system for controlling a CPU in real time, which comprises N internal watchdog modules arranged in the CPU in real time, wherein the N internal watchdog modules are used for monitoring whether target sections in an operation program of the CPU in real time, which correspond to the internal watchdog modules one by one, clear watchdog flag bits according to a first preset period or not, if not, the CPU in real time is controlled to reset, and N is a positive integer; and the M external watchdog modules are connected with the reset pin of the real-time control CPU and used for monitoring whether target sections in the running program, which correspond to the external watchdog modules one to one, clear the watchdog flag bit according to a second preset period or not, and if not, sending a reset signal to the reset pin to control the real-time control CPU to reset, wherein M is a positive integer.
Therefore, in practical application, by adopting the scheme of the invention, the watchdog modules are respectively arranged inside and outside the real-time control CPU to monitor different sections of the whole running program, and the real-time control CPU can be timely reset as long as one section in the program runs abnormally, so that the reliability of the real-time control CPU is improved.
On the basis of the above-described embodiment:
as a preferred embodiment, when the CPU is controlled to run the foreground and background systems in real time, the target section corresponding to the internal watchdog module 1 one to one is a main loop program section, and the target section corresponding to the external watchdog module 2 one to one is an interrupt service program section.
Specifically, when the real-time control CPU runs the foreground and background system, the running program includes a main loop program segment and a plurality of interrupt service program segments, and it is assumed that only one internal watchdog module 1 and one external watchdog module 2 are provided in order to save the cost of the monitoring system, and in order to make the monitoring more comprehensive and reliable, one watchdog module may monitor the main loop program segment, and the other watchdog module monitors any one interrupt service program segment.
Of course, the internal watchdog 1 and the external watchdog module 2 may monitor other program segments besides the main loop program segment and the interrupt service program segment, respectively, and the present invention is not limited herein.
As a preferred embodiment, when the real-time control CPU runs the real-time operating system, the target segments corresponding to the internal watchdog modules 1 one to one are background task segments, and the target segments corresponding to the external watchdog modules 2 one to one are periodic task segments.
Specifically, when the real-time control CPU runs the real-time operating system, the running program may be divided into a plurality of task program segments according to the task it completes, and it is assumed that only one internal watchdog module 1 and one external watchdog module 2 are provided in order to save the cost of the monitoring system, and in order to make the monitoring more comprehensive and reliable, one of the watchdog modules may monitor the background task program segment, and the other watchdog module monitors the periodic task program segment.
Of course, the internal watchdog 1 and the external watchdog module 2 may monitor other program segments besides the background task program segment and the periodic task program segment, respectively, and the present invention is not limited herein.
As a preferred embodiment, the first preset period and the second preset period are the same.
Specifically, the first preset period and the second preset period are the same, which means that periods for clearing the watchdog identification bits of each target segment in the whole running program are the same, and if the watchdog module monitors that a certain program segment runs abnormally, the watchdog module can reset the real-time control CPU in time. It can be understood that, assuming that the first object paragraph 10s clears the watchdog flag bit once, and the second object paragraph 20s clears the watchdog flag bit once, if the running program falls into the dead loop due to some reasons after the watchdog flag bit is cleared by the first object paragraph, the watchdog module corresponding to the second object paragraph delays 10s to monitor the running program to be abnormal, so that the preset periods for clearing the watchdog flag bit by each object paragraph are set to be the same, and the occurrence of the condition of the functional disorder of the real-time control CPU due to the running program falling into the dead loop can be further avoided.
As a preferred embodiment, the external watchdog module 2 comprises a watchdog chip of model SP 706.
Specifically, the SP706 watchdog chip is an MCU reset monitoring chip with low power consumption, high reliability and low price, which is introduced by Exar company, and includes only one internal watchdog module 1 and one external watchdog module 2, for example, the external watchdog module includes the SP706 watchdog chip, and the working principle thereof is shown in fig. 2, the RST pin of the SP706 watchdog chip is connected with the reset pin of the non-real-time control CPU, and the I/O port of the non-real-time control CPU is connected with the WDI pin of the SP706 watchdog chip. The invention adopts the SP706 watchdog chip, reduces the power consumption of the monitoring system to a certain extent, and saves the cost.
Referring to fig. 3, fig. 3 is a flowchart illustrating steps of a monitoring method for controlling a CPU in real time according to the present invention, which is applied to any one of the monitoring systems described above, and includes:
step S11: n internal watchdog modules arranged in a real-time control CPU monitor whether target sections in an operation program of the real-time control CPU, which correspond to the internal watchdog modules one by one, clear watchdog flag bits according to a first preset period, if not, the real-time control CPU is controlled to reset, and N is a positive integer;
step S12: and the M external watchdog modules connected with the reset pin of the real-time control CPU monitor whether a target section in the running program, which corresponds to each external watchdog module one by one, clears the watchdog flag bit according to a second preset period, if not, a reset signal is sent to the reset pin to control the real-time control CPU to reset, and M is a positive integer.
As a preferred embodiment, when the CPU is controlled to run the foreground and background systems in real time, the target section corresponding to the internal watchdog module in a one-to-one manner is a main loop program section, and the target section corresponding to the external watchdog module in a one-to-one manner is an interrupt service program section.
As a preferred embodiment, when the real-time control CPU runs the real-time operating system, the target segments corresponding to the internal watchdog modules one to one are background task segments, and the target segments corresponding to the external watchdog modules one to one are periodic task segments.
Correspondingly, the invention also provides a mobile robot, which comprises the monitoring system for controlling the CPU in real time.
For the description of the monitoring method for controlling the CPU in real time and the mobile robot provided by the present invention, please refer to the above embodiments, which are not repeated herein.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A monitoring system for controlling a CPU in real time, comprising:
the system comprises N internal watchdog modules arranged in a real-time control CPU, a Central Processing Unit (CPU) and a control unit, wherein the N internal watchdog modules are used for monitoring whether target sections in an operation program of the real-time control CPU, which correspond to the internal watchdog modules one by one, clear watchdog flag bits according to a first preset period or not, if not, the real-time control CPU is controlled to reset, and N is a positive integer;
the M external watchdog modules are connected with a reset pin of the real-time control CPU and used for monitoring whether target sections in the running program, which correspond to the external watchdog modules one by one, clear watchdog flag bits according to a second preset period or not, if not, sending a reset signal to the reset pin to control the real-time control CPU to reset, and M is a positive integer;
when the real-time control CPU runs a foreground and background system, the target sections corresponding to the internal watchdog modules one by one are main cycle program sections, and the target sections corresponding to the external watchdog modules one by one are interrupt service program sections; when the real-time control CPU runs a real-time operating system, the target sections corresponding to the internal watchdog modules one to one are background task program sections, and the target sections corresponding to the external watchdog modules one to one are periodic task program sections.
2. The monitoring system for controlling a CPU in real time according to claim 1, wherein the first preset period and the second preset period are the same.
3. The monitoring system of real-time control CPU according to claim 1, wherein the external watchdog module comprises a watchdog chip of model SP 706.
4. The monitoring system of the real-time control CPU according to claim 1, wherein the real-time control CPU is a CPU of STM32 series.
5. A monitoring method for controlling a CPU in real time, applied to the monitoring system according to any one of claims 1 to 4, comprising:
n internal watchdog modules arranged in a real-time control CPU monitor whether target sections in an operation program of the real-time control CPU, which correspond to the internal watchdog modules one by one, clear watchdog flag bits according to a first preset period or not, if not, the real-time control CPU is controlled to reset, and N is a positive integer;
m external watchdog modules connected with a reset pin of the real-time control CPU monitor whether a target section in the running program, which corresponds to each external watchdog module one by one, clears a watchdog flag bit according to a second preset period, if not, a reset signal is sent to the reset pin to control the real-time control CPU to reset, and M is a positive integer;
when the real-time control CPU runs a foreground and background system, the target sections corresponding to the internal watchdog modules one by one are main cycle program sections, and the target sections corresponding to the external watchdog modules one by one are interrupt service program sections; when the real-time control CPU runs a real-time operating system, the target sections corresponding to the internal watchdog modules one to one are background task program sections, and the target sections corresponding to the external watchdog modules one to one are periodic task program sections.
6. A mobile robot comprising a monitoring system for controlling a CPU in real time according to any one of claims 1 to 4.
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