CN109407573A - A kind of CAN bus based moonlet Integrated Electronic System and method for allocating tasks - Google Patents
A kind of CAN bus based moonlet Integrated Electronic System and method for allocating tasks Download PDFInfo
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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
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Abstract
The invention discloses one kind to be based on CAN bus moonlet Integrated Electronic System, which is based on hardware CAN bus technology, using distributed multi-processor co-ordination mode；System hardware includes power management subsystem, Memory Management Subsystem, thermal control subsystem, mission payload subsystem, flies control subsystem and data sharing I/O subsystem；There is each subsystem the CPU for handling respective task not interfere with each other, and realize the reconstruct supported in software architecture on hardware structure, have very strong quick characteristic.The sensor input port of system, executing agency's delivery outlet are managed concentratedly using data sharing formula, and the function of management is undertaken using high reliability FPGA；The present invention can be used in moonlet Integrated Electronic System software development, can be realized small satellite system software task function, supports in-orbit software upgrading；Under the conditions of hardware subsystem failure, the hardware CPU of software task operation, systems support software reconstruct are redistributed.
Description
Technical field
The present invention relates to satellite electron management system, specially a kind of CAN bus based moonlet Integrated Electronic System
And method for allocating tasks.
Background technique
As the development of space technology and the mankind explore, space is movable increasingly frequently, and the number of satellite in space is in geometry
Series increases, and the function of satellite is also required to be upgraded.Especially in the software aspects of its electronic system, the demand of upgrading is very
It is high.Integral design thought is used in traditional design of satellites, electronic system only considers disposable, software upgrading
Also the upgrading only carried out under hardware fault-free conditions.
With the electronic technology high speed development for being applied to space industry, it is desirable that On-board software has very strong quick characteristic,
Especially satellite Integrated Electronic System designs, should be more reasonable in system hardware and software task distribution, system design
Performance is strictly controlled with cost.Moonlet is quickly grown at present, small in size, limited mass, electronic system hardware,
It must be highly integrated on software.In the case where meeting system hardware demand condition, software systems more have quick characteristic, and system is hard
Should be more reasonable in part and software task distribution, under the conditions of realizing limited hardware resource, system resource utilization
It maximizes.
Therefore, it is necessary to develop a kind of different from conventional satellite electronic system software architecture, the comprehensive electricity of the following moonlet of adaptation
Subsystem software framework.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of CAN bus based moonlet integrated electronics system
System, can be realized input pickup data sharing, and the processing of task distribution formula supports software in-orbit heavy under the conditions of hardware reconstruction
Structure, in-orbit upgrading, and the system real time be strong, high reliablity, stability are strong.
The present invention is to be achieved through the following technical solutions:
A kind of CAN bus based moonlet Integrated Electronic System, including data sharing I/O subsystem, data sharing I/O
Subsystem passes through CAN bus and power management subsystem, Memory Management Subsystem, thermal control subsystem, troubleshooting subsystem, load
Lotus task subsystem and winged control task subsystem interact, and each subsystem all has independent CPU processor；
Data sharing I/O subsystem is for output after handling the data of received input unit to corresponding subsystem
System, and the output order of subsystem is sent to output unit, and share to the data sended and received；Data sharing
I/O subsystem is also used to be allocated the task of the subsystem of failure, and distribution is not broken down to any one
On the CUP of subsystem；
The power supply that power management subsystem shares the output of I/O subsystem for receiving data controls data, and according to the number
It is managed according to the power supply to moonlet Integrated Electronic System；
Memory read-write of the Memory Management Subsystem for moonlet Integrated Electronic System operates；
Thermal control subsystem shares the temperature data of I/O subsystem output for receiving data, and according to the temperature data pair
Whole star temperature control；
Troubleshooting subsystem shares the fault data of I/O subsystem output for receiving data, and according to fault data
Whole star failure is detected, fault diagnosis and fault restoration；
Load task subsystem is used for the processing of moonlet aerial mission load；
Fly three shaft angle acceleration of moonlet, three axis that control task subsystem shares the output of I/O subsystem for receiving data
Acceleration and navigation data, and attitude and orbit control of the data to moonlet based on the received.
Optionally, the output unit includes heater, thruster, telemetering package, fault diagnosis component and fault restoration
Component；
Heater carries out temperature control to moonlet according to the output order of thermal control subsystem；
Thruster controls the posture and track of whole star according to the output order for flying control task subsystem；
Telemetering package is used to measurement data on satellite being sent to earth station；
Fault diagnosis component diagnoses the data of fault detection according to the output order of troubleshooting subsystem；
Fault restoration component repairs failure according to the output order of troubleshooting subsystem.
Optionally, the input unit includes Inertial Measurement Unit, GPS, thermistor, star sensor, fault detection group
Part and remote control module；
Inertial Measurement Unit is inertia measurement sensor, and the three shaft angle acceleration and three axis for measuring moonlet accelerate
Degree；GPS is for measuring moonlet navigation data；Thermistor is used to measure the temperature data of moonlet；Star sensor is for electricity
The control of source system and state output；Fault detection component is used to detect the fault data of moonlet；Remote control module is for receiving
Control instruction from ground.
Optionally, the processing unit of the data sharing I/O subsystem is fpga chip.
The present invention also provides a kind of method for allocating tasks of CAN bus based moonlet Integrated Electronic System, work as electricity
Source control subsystem, thermal control subsystem, load task subsystem, flies at control task subsystem and failure at Memory Management Subsystem
The one or more subsystems managed in subsystem break down, times of the data sharing I/O subsystem to the subsystem of failure
Business is allocated, and is distributed to the CUP for not having any one faulty subsystem.
Optionally, the distribution principle is to be randomly assigned or distribute according to the priority height of CPU.
Compared with prior art, the invention has the following beneficial technical effects:
Should be based on CAN bus moonlet Integrated Electronic System, the system architecture be based on hardware CAN bus technology, using point
Cloth multiprocessor co-ordination mode；System hardware includes power management subsystem, Memory Management Subsystem, troubleshooting
System, mission payload subsystem, flies control subsystem and data sharing I/O subsystem at thermal control subsystem；Each subsystem has
The CPU for handling respective task is not interfere with each other, and realizes the reconstruct supported well in software architecture on hardware structure, is had very strong
Quick characteristic.Data sharing I/O subsystem is managed concentratedly using data sharing formula, and the function of management uses high reliability FPGA
It undertakes；The present invention is based on CAN bus technologies, distributed treatment, have very strong quick characteristic.Subsystem software task specific aim
By force, the development cycle is short, easily upgrades.Under the conditions of subsystem fault, data sharing I/O subsystem being capable of appointing malfunctioning sub-system
Business, which reassigns on the CUP that any one does not have faulty subsystem, to be run.
The input equipment of Integrated Electronic System has inertia measurement sensor, GPS, thermistor, star sensor, output equipment
There are thermal control heater, thruster, load executing agency.
Detailed description of the invention
Fig. 1 is moonlet Integrated Electronic System software architecture component view.
Fig. 2 is the distribution of moonlet Integrated Electronic System software task and data interaction view.
Fig. 3 is software task sequence view under moonlet Integrated Electronic System normal mode of operation.
Fig. 4 is that there are task distribution and data interaction views under mode for moonlet Integrated Electronic System failure.
Fig. 5 is that there are software task sequence views under mode for moonlet Integrated Electronic System failure.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, described to be explanation of the invention rather than limit
It is fixed.
As shown in Figure 1, a kind of CAN bus based moonlet Integrated Electronic System, including data sharing I/O subsystem,
And connect with data sharing I/O subsystem power management subsystem, Memory Management Subsystem, troubleshooting subsystem, heat
It controls subsystem, load task subsystem and flies control task subsystem.
Under FPGA centralized processing, the data for completing whole star are output and input data sharing I/O subsystem.Shared I/O
Subsystem includes data input cell, data read/write unit and data outputting unit；
Data input cell includes Inertial Measurement Unit, GPS, thermistor, star sensor, fault detection component and remote control
Component.
Wherein, Inertial Measurement Unit is inertia measurement sensor, and for measuring three shaft angle acceleration of moonlet, three axis accelerate
Degree evidence；GPS measures moonlet navigation data.Thermosensitive resistance measurement temperature data.The function of star sensor measurement is that realization is whole
The control of a power-supply system and state output.Fault detection component measures fault data.Received remote control module is from ground
Control instruction data.
Data read/write unit be memory subassembly, for read-write be Star Service management data, data include sensor input
Data, executing agency's output data and memory read/write data.
Data outputting unit includes heater, task execution mechanism, thruster, telemetering package, fault diagnosis component and event
Hinder rebuilt component.
Heater is executing agency when carrying out thermal control；Load is the executing agency of mission payload；Thruster is whole star appearance
The executing agency of state control and orbits controlling；Telemetering package is used to measurement data on satellite being sent to earth station；Fault diagnosis
Assembly function is to diagnose the data of fault detection；Fault restoration component is repaired to the failure occurred, is repaired
Strategy have autonomous repair and the reparation from ground.
Power management subsystem completes the power management of moonlet Integrated Electronic System under power management CPU processing.
Memory Management Subsystem is under memory processor CPU processing, and the memory for completing moonlet Integrated Electronic System is read
Write operation.
Troubleshooting subsystem be troubleshooting CPU processing under, completion whole star failure is detected, fault diagnosis and therefore
Barrier is repaired.
Thermal control subsystem is to complete under thermal control CPU processing to whole star thermal control.
Load task subsystem is to undertake the processing of moonlet aerial mission load under load task CPU processing.
Flying control subsystem is to undertake moonlet Flight Control Software task, including posture in the case where flying control subsystem CPU processing
Control and orbits controlling.
The CAN bus based moonlet Integrated Electronic System is how main work using industrial mature CAN bus technology
Industry fieldbus, any a processor in bus all have permission as master cpu；CPU in bus, failure
In the case of, bus will be automatically exited from, other CPU in bus will not be run and generate any influence.CAN bus is multiprocessing
Device coordinates distributed treatment, data sharing provides necessary bus mechanism, and data interaction is high-efficient.
As shown in Fig. 2, being the distribution of moonlet Integrated Electronic System task and data interaction view.
Power management subsystem: input data is power supply control instruction POWER:data_in, and output data is power supply status
POWER:data_out。
Memory Management Subsystem: input data is input control instruction management:data_in, and output data is interior
Deposit management instruction management:data_out.
Fly control subsystem: input data is input control instruction and inertial navigation component, GPS data FC:data_in, exports number
According to being thruster control instruction FC:data_out.
Thermal control subsystem: input data is the temperature number number TCS:data_in read, and output data is temperature control instruction
TCS:data_out。
Load task subsystem: input data is load input control instruction payload:data_in, and output data is to carry
Lotus exports control instruction payload:data_out.
Troubleshooting subsystem: input data is fault-detection data, fault remediation instructions FDIR:data_in, exports number
According to being fault diagnosis data, fault remediation instructions FDIR:data_out.
These data are provided by data sharing I/O subsystem, necessary input are provided for other subsystems, in each subsystem
Control instruction and state output after the completion of system processing is to shared data I/O subsystem.From the point of view of on hardware level, these data
Transmission be all to be transmitted by CAN bus, in subsystems, according to the mechanism of CAN bus, under subsystems
It carries out corresponding transmission data and carries out data ID coding and data ID filtering, so that it may realize real-time, reliable data sharing machine
System.
As shown in figure 3, for task sequence view under moonlet Integrated Electronic System normal mode of operation.Entire integrated electronics
System task is divided into following task: memory management tasks: management, power management task: POWER, thermal control task: TCS,
Fly control: FC, load task: payload, fault detection task: FDIR；
The input data of these tasks is all derived from shared data I/O system, is completed at the same time the distribution of data ID.Data
Assignment problem is determined by the task priority in system.In the software architecture, single subsystem only runs a subtask.
After the processing of memory management tasks input data management:data_in running memory management role, output data
Management:data_out is to shared data I/O subsystem；
After the processing of power management task input data POWER:data_in running memory management role, output data
POWER:data_out is to shared data I/O subsystem；Thermal control task input data TC:data_in, operation thermal control task processing
Afterwards, output data TC:data_in is to shared data I/0 subsystem；Fly control task input data FC:data_in, runs and fly control
After task processing, output data FC:data_out to shared data I/0 subsystem；Load task input data payload:
Data_in, after the processing of performance load task, output data payload:data_out to shared data I/0 subsystem；Failure inspection
Survey task input data FDIR:data_in, operation troubles Detection task processing after, output data FDIR:data_out to share
Data I/0 subsystem；Data sharing I/O subsystem can coordinate the input of each software task, the ID of output data is compiled
Code.Data ID can be worked out according to system requirements, and by the operation of ground staff.
In entire small satellite system, failure appears in power management subsystem, thermal control subsystem, load task subsystem
System, fly control subsystem, Memory Management Subsystem, one in troubleshooting subsystem or it is multiple on.
For example, power management subsystem breaks down, power management subsystem CPU will automatically exit from system bus, no
Influence the normal work of other subsystems.At this time troubleshooting subsystem by fault detection, diagnosis, provide diagnostic message to
Data sharing I/O subsystem, data sharing I/O subsystem redistribute the task of power management subsystem, data sharing I/O
System is in a random basis or in a manner of priority height, and decision goes out to run the CPU of power management subsystem task, which is
Any one of other CPU without failure subsystem in moonlet Integrated Electronic System, and then complete power management task.
Data sharing I/O subsystem handles fault message, and establishes corresponding Mechanism of Task Allocation, CPU selection
Mechanism, the selection of the CPU of being run required for completing for task.The CPU selected will also establish the processing task after redistributing,
And are output to by data sharing I/O subsystem and shares data for treated status data or control instruction, continue
At onboard system task.
It during processing, is no longer that the sensor of traditional subsystem CPU and system and executing agency interact place
Reason is still able to if the CPU of subsystem internal breaks down, and in the case where sensor or executing agency and fault-free
Allow the sensing data of the malfunctioning sub-system to be exported to be used by the CPU of other subsystems without reason.Other fault-frees
The CPU of subsystem can send control instruction to the executing agency of malfunctioning sub-system, realize the rational configuration of hardware resource.
As shown in figure 4, for moonlet Integrated Electronic System failure, there are task distribution and data interaction views under mode.With
Under be illustrated in the case of failure occurs, the distribution of the task of system and data interaction software mechanism.Such as power subsystem,
There are failures for thermal control subsystem, can not complete power management task, the thermal control task of system distribution.It is failure in dotted line frame
Subsystem.The system of failure will no longer be able to receive the data from shared I/0, can not carry out data processing and appoint
Business.
Due to mechanism of the CAN bus on hardware, the subsystem of failure will automatically exit from bus without influence system
Other parts normal work.After power management subsystem breaks down, input data POWER:data_in will enter into interior
Management subsystem is deposited, and establishes power management task in memory management tasks system, management role output data POWER:
data_out；After thermal control subsystem breaks down, input data TCS:data_in will enter into Memory Management Subsystem, and
Thermal control task is established in memory management tasks system, thermal control task output data is TCS:data_out；This completes systems
Under fault condition, process that system task is redistributed.In this process, Memory Management Subsystem itself is only completed single
Memory read-write task, but after establishing new task, it is necessary to run three tasks.Multiple tasks operation, in order to guarantee to be
The real-time of system task run, needs data sharing I/O subsystem to carry out stringent timing control.Meanwhile working as in this process
In, dynamic reasonable distribution data input, output ID.Any change will not occur for the subsystem not broken down, according to
Scheduled working mechanism works normally.
As shown in figure 5, for moonlet Integrated Electronic System failure, there are software task sequence views under mode.Power management
Be identified on subsystem, thermal control subsystem task lifeline ×, identify power management subsystem, thermal control subsystem fault；Power supply
Operation task identification in management subsystem, thermal control subsystem lifeline has ×, indicate that the task of operation is not activated；Input number
Be identified with according to POWRE:data_in, TCS:data_in ×, indicate that the sequence will not can be carried out data interaction；Output data
POWRE:data_out, TCS:data_out be identified with ×, indicate that the sequence will not can be carried out data interaction；Be not identified with ×
Sequence will be normally carried out data interaction.
After power management subsystem breaks down, input POWER:data_in flows to Memory Management Subsystem, and establishes and appoint
Be engaged in Task1:POWER, exports POWER:data_out after task processing；After thermal control subsystem breaks down, TCS:data_ is inputted
In flows to Memory Management Subsystem, and establishes task task 1:POWER, exports TCS:data_out after task processing；Memory pipe
Managing the owned task of subsystem is Task0:management；It establishes in Memory Management Subsystem there are three task, to protect
Demonstrate,prove the requirement of real-time, it is thus necessary to determine that the information of the priority and task switching that run task sends mechanism.For fault-free system
Memory Management Subsystem after system is redistributed with task still maintains independent parallel on software and hardware, is independent of each other.
Should be based on CAN bus moonlet Integrated Electronic System, the system architecture be based on hardware CAN bus technology, using point
Cloth multiprocessor co-ordination mode；System hardware includes power management subsystem, Memory Management Subsystem, troubleshooting
System, mission payload subsystem, flies control subsystem and data sharing I/O subsystem at thermal control subsystem；Integrated Electronic System it is defeated
Entering equipment has inertia measurement sensor, GPS, thermistor, star sensor, and output equipment has thermal control heater, thruster, load
Executing agency.There is each subsystem the CPU for handling respective task not interfere with each other, and realization is supported well on hardware structure
Reconstruct in software architecture has very strong quick characteristic.The main sensors input port of system, main executing agency's delivery outlet
It is managed concentratedly using data sharing formula, the function of management is undertaken using high reliability FPGA；The present invention is based on CAN bus technology,
Distributed treatment has very strong quick characteristic.Subsystem software task is with strong points, and the development cycle is short, easily upgrades.The present invention
Can be used in moonlet Integrated Electronic System software development, can be realized small satellite system software task function, support it is in-orbit
Software upgrading；Under the conditions of hardware subsystem failure, the hardware CPU of software task operation, systems support software weight are redistributed
Structure.
Compared with prior art, the beneficial effects of the present invention are:
The input of shared system, output interface, between different processor, data sharing.Existing spaceborne subsystem CPU with from
The task I/O of body is closely linked, and the path of input, output data without any interaction between different subsystems.Such as
Some subsystem CPU breaks down, but in the trouble-free situation of the sensor being connected with it or executing agency, and sensor is read
The data taken cannot be applied, and executing agency cannot also execute control instruction.Data sharing I/O subsystem very good solution this
The good effective use for realizing hardware resource is also improved system survivability and stabilization by data sharing by a problem
Property.
Using CAN bus, more primal coordination software tasks are distributed, and Integrated Electronic System is total using the stable CAN of industrial circle
Line can be arranged on demand as system bus, communication speed, and two signal wires is only needed to achieve that connection.This is just hard
The data sharing of software, multiprocessor co-ordination is made to provide reliable bus mechanism on part；This programme is by system task
Classifying rationally is carried out into multiple subtasks, each subtask is separately operable again on different processors, to each other mutual not shadow
It rings.But work meets the critical timing requirements of system, data input/output is using shared under unified management again simultaneously
Formulas I/O centralized management.Single processor has specific operation task, and the division of labor is clear, and writing software according to the framework can be more
It realizes well and combination of hardware.
It supports under fault condition, software task Autonomous Reconfiguration.Satellite Integrated Electronic System field occur failure because
Usually from two aspects of hardware and software.For hardware fault, this framework scheme is that execution is a certain in view of worst situation
The situation of the processor damage of subtask is redistributed the software task of system, is allowed by way of software task Autonomous Reconfiguration
One trouble-free CPU executes the software task that should belong to failure CPU execution；For software fault, this framework scheme
Support fault detection, diagnosis, reparation, the mechanism handled in this way software fault, such processing includes autonomous reparation
The mode redistributed with ground staff's intervention reparation and software task.Traditional satellite electron system resists failure generation
Mode be all by the way of redundancy backup, such mode will be expended compared with the mode of this framework scheme more volumes with
Quality and then next cost problem.It can upgrade for angle from software, be distributed by software task again hardware, it will
Largely the hardware service life of extension satellite electron system and in-orbit flight time.
System real time, stability, reliability, safety significantly improve.This framework using multiprocessor distributed treatment,
Real-time high-efficiency system CAN bus, the centralized management of shared I/O system；No longer it is between processor and external input, output equipment
One-to-one relationship, but the relationship of multi-to-multi；In the case where facing failure, the software task of proposition redistributes mode；
In view of the above feature it is found that the framework compares traditional satellite Integrated Electronic System in real-time, stability, reliability, safety
Performance in terms of property increases significantly.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (6)
1. a kind of CAN bus based moonlet Integrated Electronic System, which is characterized in that including data sharing I/O subsystem, number
Pass through CAN bus and power management subsystem, Memory Management Subsystem, thermal control subsystem, troubleshooting according to shared I/O subsystem
Subsystem, load task subsystem and winged control task subsystem interact, and each subsystem all has independent CPU processor；
Data sharing I/O subsystem exports after being used to handle the data of received input unit to corresponding subsystem,
And the output order of subsystem is sent to output unit, and share to the data sended and received；Data sharing I/O
Subsystem is also used to be allocated the task of the subsystem of failure, the subsystem that distribution is not broken down to any one
On the CUP of system；
The power supply that power management subsystem shares the output of I/O subsystem for receiving data controls data, and according to the data pair
The power supply of moonlet Integrated Electronic System is managed；
Memory read-write of the Memory Management Subsystem for moonlet Integrated Electronic System operates；
Thermal control subsystem shares the temperature data of I/O subsystem output for receiving data, and according to the temperature data to whole star
Temperature control；
Troubleshooting subsystem shares the fault data of I/O subsystem output for receiving data, and according to fault data to whole
Star failure detected, fault diagnosis and fault restoration；
Load task subsystem is used for the processing of moonlet aerial mission load；
Fly control task subsystem and shares the three shaft angle acceleration of moonlet of I/O subsystem output, the acceleration of three axis for receiving data
Degree and navigation data, and attitude and orbit control of the data to moonlet based on the received.
2. CAN bus based moonlet Integrated Electronic System according to claim 1, which is characterized in that the output is single
Member includes heater, thruster, telemetering package, fault diagnosis component and fault restoration component；
Heater carries out temperature control to moonlet according to the output order of thermal control subsystem；
Thruster controls the posture and track of whole star according to the output order for flying control task subsystem；
Telemetering package is used to measurement data on satellite being sent to earth station；
Fault diagnosis component diagnoses the data of fault detection according to the output order of troubleshooting subsystem；
Fault restoration component repairs failure according to the output order of troubleshooting subsystem.
3. CAN bus based moonlet Integrated Electronic System according to claim 1, which is characterized in that the input is single
Member includes Inertial Measurement Unit, GPS, thermistor, star sensor, fault detection component and remote control module；
Inertial Measurement Unit is inertia measurement sensor, for measuring the three shaft angle acceleration and 3-axis acceleration of moonlet；GPS
For measuring moonlet navigation data；Thermistor is used to measure the temperature data of moonlet；Star sensor is used for power-supply system
Control and state output；Fault detection component is used to detect the fault data of moonlet；Remote control module is for receiving from ground
The control instruction in face.
4. CAN bus based moonlet Integrated Electronic System according to claim 1, which is characterized in that the data are total
The processing unit for enjoying I/O subsystem is fpga chip.
5. a kind of task distribution side of any one of Claims 1-4 CAN bus based moonlet Integrated Electronic System
Method, which is characterized in that when power management subsystem, Memory Management Subsystem, thermal control subsystem, load task subsystem, fly control
One or more subsystems in task subsystem and troubleshooting subsystem break down, and data sharing I/O subsystem is to out
The task of the subsystem of existing failure is allocated, and to any one, there is no on the CUP of the subsystem of failure for distribution.
6. the method for allocating tasks of CAN bus based moonlet Integrated Electronic System, feature exist according to claim 5
In the distribution principle is to be randomly assigned or distribute according to the priority height of CPU.
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| CN111176616A (en) * | 2019-12-06 | 2020-05-19 | 中国人民解放军军事科学院国防科技创新研究院 | Satellite integrated electronic system architecture based on universal satellite application subsystem |
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