CN109343893A - A kind of air remote sensing device parameter binding system and method for stitching - Google Patents
A kind of air remote sensing device parameter binding system and method for stitching Download PDFInfo
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- CN109343893A CN109343893A CN201811056123.1A CN201811056123A CN109343893A CN 109343893 A CN109343893 A CN 109343893A CN 201811056123 A CN201811056123 A CN 201811056123A CN 109343893 A CN109343893 A CN 109343893A
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06F8/00—Arrangements for software engineering
- G06F8/70—Software maintenance or management
- G06F8/71—Version control; Configuration management
Abstract
The invention discloses a kind of air remote sensing device parameter binding system and method for stitching, the system comprises host computer, system circuit board and emulator；The host computer generates bookbinding parameter array, and the emulator is connect with the system circuit board, and " write parameters " and " reading parameter " program can be run in the system circuit board；The system circuit board receives bookbinding parameter array, and runs " write parameters " program in the memory block RAM by emulator and execute " erasing " and " writing " operation to the data storage area, and the bookbinding parameter array is written；The system circuit board can be run " reading parameter " program in described program memory block by the emulator and incite somebody to action " reading parameter " code programming into described program memory block.Software code changes caused by air remote sensing device parameter binding system and method for stitching disclosed by the invention can avoid because of parameter difference, and can avoid the change of hardware circuit.
Description
Technical field
The present invention relates to electronics technology, in particular to a kind of air remote sensing device parameter binding system and bookbinding
Method.
Background technique
Inevitably there is error in processing, adjustment, assembling process in air remote sensing equipment, to reduce error, mention
High system performance needs to demarcate the parameters such as transducer zeroing position, inner orientation and the elements of exterior orientation of every equipment, this
Outside, the data such as single device each nominal time, version revision information can also be used as information based data, convenient for the letter of equipment
Breath inquiry, meets the needs of intelligent equipment.For these reasons, every air remote sensing equipment all has specific one group of bookbinding
Parameter, these parameters needs are stored with equipment.
But because bookbinding parameter difference causes individual device software code inconsistent, and the boat for development is completed
If desired empty remote sensing equipment carries out parameter bookbinding, may cause the design alteration of hardware.
Summary of the invention
The present invention is directed to overcome defect of the existing technology, the invention adopts the following technical scheme:
On the one hand, the embodiment of the invention provides a kind of air remote sensing device parameter binding system, the air remote sensing is set
Standby parameter binding system includes: host computer, system circuit board and emulator.
The host computer generates bookbinding parameter array, and the bookbinding parameter array is sent to the system circuit board；
The emulator is connect with the system circuit board, and the emulator works in simulation model, and can be in the system
" write parameters " and " reading parameter " program is run in system circuit board；
The system circuit board includes:
Interface circuit and microprocessor chip, the host computer and the emulator by the interface circuit with it is described
System circuit board is connected；
The microprocessor chip includes the memory block FLASH and RAM；
The FLASH includes: data storage area and program storage area；
The system circuit board receives the bookbinding parameter array, and through the emulator in the memory block RAM
Operation " write parameters " program executes " erasing " and " writing " operation to the data storage area, and the bookbinding parameter array is written；
The system circuit board is deposited by the emulator in described program after " write parameters " program stopped operation
Operation " reading parameter " program is by " reading parameter " code programming into described program memory block in storage area.
Preferably, the microprocessor chip is the DSP family chip with online programming function.
Further, the host computer includes: that bookbinding parameter generates software and capture card.
The bookbinding parameter generates software, for generating bookbinding parameter array；The capture card, for joining the bookbinding
Number generates bookbinding parameter array and is sent to the system circuit board.
Further, the interface circuit includes: to receive circuit and emulation and download interface；
The reception circuit is connect by bus with the host computer；
The emulation and download interface, one end are interacted with the emulator, and the other end is connected to microprocessor chip,
The memory block RAM and program storage area are accessed respectively.
Further, described " write parameters " program and " reading parameter " application programming interfaces of program based on the FLASH
It writes in library.
Further, the microprocessor chip further includes chip interface, and the chip interface and the reception circuit connect
It connects.
Preferably, the emulation and download interface are jtag interface.
Preferably, the capture card is RS422 capture card.
On the other hand, the embodiment of the invention also provides a kind of method for stitching of air remote sensing device parameter binding system.
The method for stitching comprising steps of
S1 generates bookbinding parameter array；
S2 runs " write parameters " program in the memory block RAM；
S3, starting bookbinding parameter array is sent, and after bookbinding parameter array is sent to system circuit board, system circuit board is logical
It crosses " write parameters " the program data memory area and executes " erasing " and " writing " operation, bookbinding parameter array is written；
S4, the operation of " write parameters " program described in stopping, the program burn writing that " will read parameter " is into program storage area.
Further, the method for stitching further comprises the steps of:
After being re-powered to the system circuit board, " reading " operation is executed to the data storage area and is joined with reading the bookbinding
Number array.
Technical effect of the invention: air remote sensing device parameter binding system and method for stitching disclosed by the invention utilize
The memory space of FLASH in microprocessor chip needs the data storage area of bookbinding parameter array as equipment, can avoid because of ginseng
Software code caused by number is different changes, and to guarantee the software code consistency of the air remote sensing equipment of batch production, and is not required to
Individually to extend out FLASH, can avoid hardware circuit change, can save hardware change cost and because change caused by test at
This, and shorten the design alteration period.Air remote sensing device parameter binding system and method for stitching disclosed by the invention " will write ginseng
Number " and " reading parameter " operation separately carry out, the equipment for having produced in batches, due to not needing the above-mentioned bookbinding parameter of frequent progress
Change operation, reliability when system worked well also can be improved.
Detailed description of the invention
Fig. 1 is a kind of functional block diagram of air remote sensing device parameter binding system according to an embodiment of the invention；
Fig. 2 is a kind of stream of the method for stitching of air remote sensing device parameter binding system according to an embodiment of the invention
Cheng Tu.
1, host computer 2, system circuit board 3, emulator 4, capture card
5, bookbinding parameter generates software 6, emulation and download interface 7, receives circuit
8, microprocessor chip
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, but not to limit the present invention.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Term explains part:
DSP:Digital Signal Processing, Digital Signal Processing；
FLASH: flash memory；
API:Application Programming Interface, application programming interface；
JTAG:Joint Test Action Group, joint test working group；
RAM:Random Access Memory, random access memory.
It is reported that arrive the relevant technologies the case where, every air remote sensing equipment all has specific one group of bookbinding parameter, this
A little parameter needs are stored with equipment.The storage of bookbinding parameter, but this kind of side are generally carried out by way of software macrodefinition
Method will lead to the software code between individual device and have differences, and be unfavorable for software solidification, influence the implementation of soft project.Or
Person, by increasing external FLASH storage chip in hardware circuit board, above-mentioned parameter, which is stored to method therein, to be solved
The problem of parameter is bound.But for newly grinding equipment, extends out chip and increase hardware cost, also reduce the reliability of hardware；
And for the equipment of delivered, this mode for increasing chip needs to modify the hardware circuit board of corresponding system, hardware tune
Examination and the subsequent all kinds of tests that need to be supplemented are also by increase personnel and equipment cost.Therefore, before increasing chip without hardware
Putting and can be realized the bookbinding of parameter is optimal design method.
Fig. 1 is a kind of schematic illustration of air remote sensing device parameter binding system provided by the invention.
The embodiment of the invention provides a kind of air remote sensing device parameter binding system, the air remote sensing device parameter dress
The system of ordering includes: host computer 1, system circuit board 2 and emulator 3.
The host computer 1 generates bookbinding parameter array, and the bookbinding parameter array is sent to the system circuit board
2；
The emulator 3 is connect with the system circuit board 2, and the emulator 3 works in simulation model, and can be described
" write parameters " and " reading parameter " program is run in system circuit board 2；
The system circuit board 2 includes:
Interface circuit and microprocessor chip 8, the host computer 1 and the emulator 3 by the interface circuit with
The system circuit board 2 is connected；
The microprocessor chip 8 includes the memory block FLASH and RAM；
The FLASH includes: data storage area and program storage area；
The system circuit board 2 receives the bookbinding parameter array, and by the emulator 3 in the memory block RAM
Middle operation " write parameters " program executes " erasing " and " writing " operation to the data storage area, and the bookbinding parameter array is written；
The system circuit board 2 is after " write parameters " program stopped operation, by the emulator 3 in described program
Operation " reading parameter " program is by " reading parameter " code programming into described program memory block in memory block.
Emulator 3 can substitute the processor in goal systems in the process of running, emulate its operation.Emulator 3 is run
Get up as actual target processor, and can be observed in processor by desktop computer or other Debugging interfaces
Program and data.
In some embodiments, the microprocessor chip 8 is the DSP family chip with online programming function.DSP system
Column chip refers to realize the chip of Digital Signal Processing.The inside of the dsp chip Harvard separated using program and data
Structure has special hardware multiplier, pile line operation is widely used, and provides special DSP instruction, can be used to quick
Realize various digital signal processing algorithms.
The host computer 1 includes: that bookbinding parameter generates software 5 and capture card 4.
The bookbinding parameter generates software 5, for generating bookbinding parameter array；The capture card 4 is used for the bookbinding
Parameter generates the generation of software 5 volume bookbinding parameter array and is sent to the system circuit board 2.
The interface circuit includes: to receive circuit 7 and emulation and download interface 6；
The reception circuit 7 is connect by bus with the host computer 1；
The emulation and download interface 6, one end are interacted with the emulator 3, and the other end is connected to microprocessor core
Piece can access the memory block RAM and program storage area respectively.The memory block RAM can be read and write at any time, and speed is quickly.
Facilitate the read-write of program.
" write parameters " program and " reading parameter " program and the application programming interfaces library of the FLASH match.FLASH
It is a kind of Nonvolatile memory, also can muchly keeps data under conditions of the supply of no electric current.
The microprocessor chip 8 further includes chip interface, and the chip interface is connect with the reception circuit 7.
The emulation and download interface 6 are jtag interface.Jtag interface is a kind of international standard test protocol interface, mainly
It is tested for chip interior.
The capture card 4 is RS422 capture card 4.RS422 is differential mode transmission, strong antijamming capability.
As shown in Fig. 2, the embodiment of the invention provides a kind of method for stitching of air remote sensing device parameter binding system, institute
State method for stitching comprising steps of
S1 generates bookbinding parameter array；
S2 runs " write parameters " program in the memory block RAM；
S3 starts bookbinding parameter array and sends, after bookbinding parameter array is sent to system circuit board 2, system circuit board 2
" erasing " and " writing " operation is executed by " write parameters " the program data memory area, bookbinding parameter array is written；
S4, the operation of " write parameters " program described in stopping, the program burn writing that " will read parameter " is into program storage area.
The method for stitching further comprises the steps of:
After being re-powered to the system circuit board, " reading " operation is executed to the data storage area and is joined with reading the bookbinding
Number array.
Below with reference to specific embodiment to air remote sensing device parameter binding system provided by the invention and air remote sensing
The method for stitching of device parameter binding system is described in detail.
Embodiment 1:
It referring to fig. 1 and fig. 2, is the specific embodiment of air remote sensing device parameter binding system provided by the invention.
In an embodiment of the invention, the air remote sensing device parameter binding system includes: host computer 1, is in sheets
The system circuit board 2 and emulator 3 of parameter, wherein host computer 1 includes that capture card 4 and bookbinding parameter generate software 5；System electricity
Road plate 2 includes emulation and download interface 6, receives circuit 7 and microprocessor chip 8.The capture card 4 is RS422 capture card, institute
Stating microprocessor chip 8 is DSP family chip.
Following steps are used when implementing parameter bookbinding:
The in-chip FLASH storing data type for setting microprocessor chip 8, is respectively set as data storage area and journey
Sequence memory block；
The numerical value of every bookbinding parameter is written by the human-computer interaction interface that the bookbinding parameter in host computer 1 generates software 5,
And generate bookbinding parameter array；
Emulator 3 is connected to emulation and download interface 6 in the system circuit board 2 for parameter of being in sheets, emulator 3 works
In simulation model, " write parameters " program is run in the memory block RAM of microprocessor chip 8；
Start bookbinding parameter to send, after bookbinding parameter array is sent to system circuit board 2 by capture card 4 by host computer 1,
System circuit board 2 executes " erasing " and " writing " operation to the data storage area in the FLASH of setting by " write parameters " program, writes
Enter bookbinding parameter array；
The operation for stopping " write parameters " code divides " reading parameter " code programming of system circuit board 2 into dsp chip 8
In the FLASH program storage area matched, emulator 3 is disconnected, system circuit board 2 executes the data storage area FLASH after re-powering
Bookbinding parameter array can be read in " reading " operation, uses when executing task function for system.
In the present embodiment, there are two types of modes for simulation apparatus, that is, simulation model and programming mode.When emulator work exists
When simulation model, the variable generated in code operational process can be observed, is used to be written parameter in the present embodiment with on-line operation
In FLASH, " write parameters " program itself simultaneously enters in FLASH without programming.
When emulator work is in programming mode, be unable to observation variable, " read parameter " program burn writing into program storage area,
Powering on every time can run, and power down is not lost.
In above-mentioned technical proposal, the microprocessor chip is the DSP family chip that TI company has online programming function.
In above-mentioned technical proposal, " write parameters " code and " reading parameter " code are the FLASH provided based on TI company
Application programming interfaces library write.
Above-mentioned air remote sensing device parameter binding system, when implementing parameter bookbinding, process is specific as follows:
1, set microprocessor chip 8 in-chip FLASH storing data type, be respectively set as data storage area and
Program storage area；
2, the number of every bookbinding parameter is written by the human-computer interaction interface that the bookbinding parameter in host computer 1 generates software 5
Value, and generate bookbinding parameter array；
3, emulator 3 is connected to emulation and download interface 6 in the system circuit board 2 for parameter of being in sheets, 3 work of emulator
Make in simulation model, " write parameters " program is run in the memory block RAM of microprocessor chip 8；
4, starting bookbinding parameter array is sent, and bookbinding parameter array is sent to by host computer 1 by RS422 capture card 4 is
It unites after circuit board 2, system circuit board 2 executes " erasing " to data storage area in the FLASH piece of setting by " write parameters " program
" writing " operation, is written bookbinding parameter array；
5, the operation for stopping " write parameters " code, by " reading parameter " the code programming of system circuit board 2 to microprocessor core
In the FLASH program storage area distributed in piece 8, emulator 3 is disconnected, system circuit board 2 stores FLASH data after re-powering
Area, which executes " reading " operation, can be read bookbinding parameter, use when executing task function for system.
The embodiment of the present invention needs to fill using the data space of FLASH in microprocessor chip as air remote sensing equipment
The data storage area of parameter is ordered, software code changes caused by can avoid because of parameter difference, and the aviation to guarantee batch production is distant
Feel the software code consistency of equipment.
The embodiment of the present invention does not need individually to extend out FLASH memory chip, can avoid the change of hardware circuit, can save
Hardware change cost and because of the experimentation cost caused by change, and shortens change cycle.
The embodiment of the present invention separately carries out " write parameters " and " reading parameter " operation, for the air remote sensing produced in batches
Equipment, due to not needing the change operation of the above-mentioned bookbinding parameter of frequent progress, this to operate separately both avoidable pair of mode
External interface protocol is adjusted, and reliability when system worked well also can be improved；
Using the method for stitching of the embodiment of the present invention, parameter generating process is inputted by man-machine interaction mode, is not needed
H coding can be directly stored in in-chip FLASH memory block after generation, using more convenient, can also shorten the bookbinding time.
Embodiment 2:
Illustrate below by specific Application Example air remote sensing device parameter binding system provided by the invention and
The concrete application situation of method for stitching.
1, the system circuit board 2 for parameter of being in sheets is the master control system circuit board 2 of certain air remote sensing equipment, emulation and downloading
Interface 6 is jtag interface, and RS422 receives the AM26LV32 that circuit 7 selects TI company, and microprocessor chip 8 selects TI company
DSP series TMS320F28335 chip；Emulator 3 selects Seed-XDS560Plus；
2, the parameter to be installed ordered in master control system includes the air remote sensing equipment date of production, device numbering, software version
Number, inner orientation and elements of exterior orientation calibration coefficient etc..
3, the storing data type of the in-chip FLASH of microprocessor chip 8TMS320F28335 is set, the area H of FLASH is set
It is set to data storage area, for storing bookbinding parameter, the area A~G of FLASH is set as program storage area, for storing master control system
The program code of system, including read FLASH the area H in bookbinding parameter code；
4, the numerical value of bookbinding parameter is written by the human-computer interaction interface that bookbinding parameter generates software 5, and generates bookbinding ginseng
Number array InfoData [32]=[0x7E, 0x7E, 0x90,0x01,0x54,0x43,0x51,0x34,0x4B, 0x33,0x34,
0x43,0x2D,0x32,0x31,0x44,0x41,0x34,0x31,0x36,0x44,0x41,0x30,0x32,0x30,0x32,
0x20,0x31,0x36,0x30,0x32,0xD4], containing frame head (the 1st~2 byte) and verification and the (the 32nd in above-mentioned bookbinding parameter
Byte)；
5, emulator 3 is connected to the jtag interface on main control board 2, emulator 3 works in simulation model；
6, starting bookbinding parameter is sent, and bookbinding parameter array InfoData [32] is sent to by RS422 capture card 4
It in RS422 bus, is transmitted to through AM26LV32 chip in the microprocessor chip of master control system circuit board 2, " write parameters " code
By calling FLASH_Erase the and FLASH_Program function in FLASH API library that parameter is written in TMS320F28335
In the area H of FLASH；
7, in the area A~G of the FLASH by the program code programming of master control system circuit board 2 into TMS320F28335, on
" reading parameter " code is executed after electricity, by calling the FLASH_Verify function in FLASH API library to read from the area H of FLASH
Bookbinding parameter is taken, in case master control system executes other functional parameters and uses, or is read as information based data by upper level equipment.
Those skilled in the art should further appreciate that, describe in conjunction with the embodiments described herein
Each exemplary unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clear
Illustrate to Chu the interchangeability of hardware and software, generally describes each exemplary group according to function in the above description
At and step.These functions are implemented in hardware or software actually, the specific application and design depending on technical solution
Constraint condition.Professional technician can use different methods to achieve the described function each specific application, but
It is that such implementation should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications made by technical concept of the invention should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of air remote sensing device parameter binding system characterized by comprising host computer, system circuit board and emulation
Device；
The host computer generates bookbinding parameter array, and the bookbinding parameter array is sent to the system circuit board；
The emulator is connect with the system circuit board, and the emulator works in simulation model, and can be in the system electricity
" write parameters " and " reading parameter " program is run in the plate of road；
The system circuit board includes: interface circuit and microprocessor chip, and the host computer and the emulator pass through institute
Interface circuit is stated to be connected with the system circuit board；The microprocessor chip includes the memory block FLASH and RAM；It is described
FLASH includes: data storage area and program storage area；
The system circuit board receives the bookbinding parameter array, and is run in the memory block RAM by the emulator
" write parameters " program executes " erasing " and " writing " operation to the data storage area, and the bookbinding parameter array is written；The system
Circuit board unite after " write parameters " program stopped operation, is run and " is read in described program memory block by the emulator
Code programming that parameter " program " will read parameter " is into described program memory block.
2. air remote sensing device parameter binding system according to claim 1, which is characterized in that the microprocessor chip
For the DSP family chip with online programming function.
3. air remote sensing device parameter binding system according to claim 1, which is characterized in that the host computer includes:
Bookbinding parameter generates software, for generating bookbinding parameter array；
Capture card, for bookbinding parameter generation bookbinding parameter array to be sent to the system circuit board.
4. air remote sensing device parameter binding system according to claim 1, which is characterized in that the interface circuit packet
It includes:
Circuit is received, is connect by bus with the host computer；
Emulation and download interface, one end are interacted with the emulator, and the other end is connect with microprocessor chip, can be visited respectively
Ask the memory block RAM and program storage area.
5. air remote sensing device parameter binding system according to claim 1, which is characterized in that " write parameters " program
" reading parameter " program is write based on the application programming interfaces library of the FLASH.
6. air remote sensing device parameter binding system according to claim 4, which is characterized in that the microprocessor chip
It further include chip interface, the chip interface and the reception circuit connection.
7. air remote sensing device parameter binding system according to claim 4, which is characterized in that the emulation and downloading connect
Mouth is jtag interface.
8. air remote sensing device parameter binding system according to claim 3, which is characterized in that the capture card is
RS422 capture card.
9. a kind of method for stitching of air remote sensing device parameter binding system, the air remote sensing device parameter binding system is root
According to the described in any item air remote sensing device parameter binding systems of claim 1-8, which is characterized in that the method for stitching includes
Step:
S1: bookbinding parameter array is generated；
S2: " write parameters " program is run in the memory block RAM；
S3: starting bookbinding parameter array is sent, and after bookbinding parameter array is sent to system circuit board, system circuit board passes through institute
It states " write parameters " program data memory area and executes " erasing " and " writing " operation, bookbinding parameter array is written；
S4: the operation of " write parameters " program described in stopping, by " reading parameter " program burn writing into program storage area.
10. method for stitching according to claim 9, which is characterized in that further comprise the steps of:
After re-powering to the system circuit board, " reading " operation is executed to read the bookbinding parameter number to the data storage area
Group.
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| CN110689710A (en) * | 2019-08-30 | 2020-01-14 | 江西洪都航空工业集团有限责任公司 | Wireless security control parameter binding and storing device and method |
| CN110689710B (en) * | 2019-08-30 | 2021-01-05 | 江西洪都航空工业集团有限责任公司 | Wireless security control parameter binding and storing device and method |
| CN111831324A (en) * | 2020-05-31 | 2020-10-27 | 中车永济电机有限公司 | Rail transit control device parameter configuration method based on functional safety |
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