CN109491298B - Logistics vehicle-mounted remote control terminal - Google Patents

Logistics vehicle-mounted remote control terminal Download PDF

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CN109491298B
CN109491298B CN201811545045.1A CN201811545045A CN109491298B CN 109491298 B CN109491298 B CN 109491298B CN 201811545045 A CN201811545045 A CN 201811545045A CN 109491298 B CN109491298 B CN 109491298B
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data
state
vehicle
gprs
transmission module
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CN109491298A (en
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李敬斌
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Anhui Jianghuai Automobile Group Corp
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Anhui Jianghuai Automobile Group Corp
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05B19/0428—Safety, monitoring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • 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
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24215—Scada supervisory control and data acquisition
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles
    • Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
    • Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
    • Y04S30/12—Remote or cooperative charging

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

A logistics vehicular remote control terminal, comprising: microprocessor MCU, microprocessor MCU integration has CAN bus interface, wherein: the microprocessor MCU further has: the system comprises a satellite positioning module and a data transmission module GPRS; the CAN bus interface is in full access communication connection with the vehicle-mounted CAN bus; the satellite positioning module acquires positioning and states in real time, the data transmission module GPRS is in communication connection with the mobile internet to exchange data with a target remote server, the remote control requirement of the electric logistics vehicle is effectively met, meanwhile, the challenge brought by the application environment of the electric vehicle is overcome, and the electromagnetic interference of a vehicle-mounted circuit is effectively protected on hardware.

Description

Logistics vehicle-mounted remote control terminal
Technical Field
The invention relates to a vehicle-mounted remote control terminal of a logistics vehicle.
Background
With the increasing importance of environmental protection, the regulations and the prohibition of fuel logistics vehicles in the region are released in various cities and regions, and electric logistics vehicles are becoming the favored objects of transportation industry. At present, the first-line cities such as beijing, shanghai, guangzhou and the like have introduced relevant management policies for the logistics vehicles in cities, and although the specific implementation forms are different, no exception is made to the requirements of the electric logistics vehicles operated in cities: the remote control capability is provided. This requires that the electric logistics vehicles must be equipped with onboard remote control terminals and be compatible with local control servers. Compared with the traditional fuel oil automobile, the electric automobile has great difference in application environment, particularly electromagnetic environment and in-automobile electronic control network environment, and has to realize remote control on power battery data related to operation safety, which is obtained by a CAN bus at present, so that the data volume is large. However, the conventional remote control terminal cannot be effectively applied to the electric automobile.
Compared with the traditional fuel automobile, the CAN bus network of the pure electric automobile is additionally provided with a plurality of electric system components, such as a Battery Management System (BMS), a DCDC (direct current), a vehicle-mounted charger and the like. The mechanical parts of the traditional fuel automobile are relatively independent, the damage of a single part can not cause the damage of other vehicle-mounted equipment, and the electric automobile often has the condition of 'all damage' on an electric system. Therefore, the working states of all devices (especially the power battery pack) in the electric system of the electric automobile must be controlled in detail, and faults must be found, processed and recorded in time. For a vehicle-mounted remote control terminal, the difference of the in-vehicle electronic control network environment between an electric vehicle and a traditional fuel vehicle is mainly expressed in the difference of control objects, and the terminal applied to the electric vehicle must have the access capability to a plurality of CAN networks of an electric system, particularly the state data of a power battery pack must be accurate to a single battery. This is a functional requirement.
The electromagnetic interference of the traditional fuel automobile mainly comes from pulse radiation when a spark plug of a gasoline internal combustion engine is ignited, the energy of the electromagnetic interference is concentrated in high frequency, and the intensity is low; the electromagnetic interference of the electric automobile mainly comes from line conduction and space induction when a high-power motor operates, the electromagnetic interference is mainly concentrated on low frequency, and the interference intensity is far stronger than that of the traditional fuel automobile. High-intensity interference from a motor and a motor controller can generate large influence on a vehicle-mounted communication line and a power line, such as signal line common mode interference, power line surge and the like. The electromagnetic induction interference of the CAN bus CAN directly cause the loss, distortion and error of the bus frame, and the failure rate is greatly improved; and the high-power surge generated by the conducted interference of the power line can directly damage the vehicle-mounted equipment. The vehicle-mounted remote control terminal must adapt to the severe electromagnetic environment of the electric automobile, and a strong terminal external electrical interface protection circuit is designed necessarily. This is a performance requirement.
Disclosure of Invention
The purpose of the invention is: aiming at the application environment of the electric logistics vehicle, the problems in the prior art are solved, the remote control terminal is designed, the scheme can effectively meet the remote control requirement of the electric logistics vehicle, meanwhile, the challenges brought by the application environment of the electric vehicle are overcome, the electromagnetic interference of a vehicle-mounted circuit is effectively prevented on hardware, and the parallel processing capability and the high real-time compatibility of data receiving and sending are realized on software.
In order to achieve the above technical object, the present invention provides a vehicle-mounted remote control terminal for a logistics vehicle, comprising: microprocessor MCU, microprocessor MCU integration has CAN bus interface, wherein: the microprocessor MCU further has: the system comprises a satellite positioning module and a data transmission module GPRS; the CAN bus interface is in full access communication connection with the vehicle-mounted CAN bus; the satellite positioning module acquires positioning and state in real time, and the data transmission module GPRS is in communication connection with the mobile internet so as to exchange data with the target remote server.
The vehicle-mounted remote control terminal for the logistics vehicle can effectively meet the remote control requirement of the electric logistics vehicle, overcomes the challenges brought by the application environment of the electric vehicle, and effectively protects the electromagnetic interference of a vehicle-mounted circuit on hardware.
As a further improvement, the CAN bus interface has three paths and is in communication connection with a vehicle controller CAN network, a battery CAN network and a charging CAN network in an electric vehicle application environment, and the microprocessor MCU is in communication connection with a vehicle controller VCU, a battery management system BMS, an electric drive controller PCU, an instrument combination ICM, an ac charging slow charging and a dc charging fast charging.
As a further improvement, the microprocessor MCU further has: clock signals, a BDM interface and a power-down memory EEPROM; the clock signal times the communication and control of the microprocessor MCU; the BDM interface realizes the functions of reading and writing a memory, reading and writing a register, downloading a program and debugging the MCU; the power-down memory EEPROM realizes power-down storage of local data.
As a further improvement, the microprocessor MCU integrates a 4-channel CAN bus controller, a 2-channel serial communication interface SCI and a multi-channel analog input port; and the CAN bus interface consists of a CAN transceiver ISO1050 and a plurality of filtering protection elements.
As a further improvement, the plurality of filter protection elements include: the electrostatic protection TVS, the common mode filter, the filter capacitor and the 120 omega end resistor are connected in series; the satellite positioning module supports Beidou and GPS dual-mode satellite positioning; the data transmission module GPRS supports 850MHz, 900HMz, 1800MHz and 1900MHz four frequencies under GPRS and GSM in industrial grade.
As a further improvement, the software architecture thereof adopts a state machine, the execution code of the main loop is simplified to the utmost extent, all information sending, processing and receiving under the normal working state are realized by an interrupt mechanism, and the state machine is divided into five independent states: power-down starting, no connection, no registration, waiting and normal work.
As a further improvement, in the power-down start state: executing a power-on restart sub-function of the GPRS, confirming that the GPRS is successfully started, sending a character string instruction through a first path of serial communication interface SCI0, configuring the satellite positioning module, selecting a satellite positioning mode and a statement output mode, and then jumping to the unconnected state; in the unconnected state: the data transmission module GPRS is configured through a second path of serial communication interface SCI1 to receive and send character instructions, and the configuration content comprises client parameters, server side parameters, a server side address and GPRS signal quality detection; after the configuration is confirmed to be successful, establishing TCP/IP connection with the target remote server, starting a transparent transmission mode, shielding other irrelevant functions of the GPRS of the data transmission module, and then jumping to the unregistered state; in the unregistered state: compiling a registration data packet according to a data exchange protocol of the vehicle-mounted remote control terminal and the target remote server, sending the registration data packet to the data transmission module GPRS byte by byte through a second path serial communication interface SCI1, and sending the registration data packet to the target remote server by the data transmission module GPRS according to periodic packaging under the transparent transmission mode; after the transmission of the registration data is finished, the state jumps to the waiting state; in the wait state: interrupting the PIT for timing through a timer, if the registration response time exceeds 30s or a return frame representing registration failure is received, closing the transparent transmission mode, jumping to the unconnected mode in a state, reconfiguring and starting data connection; if a return frame representing successful registration is received, the state jumps to the normal working state; in the normal operating state: and continuously inquiring a Flag variable by the main loop, judging whether a data packet is prepared completely, if so, starting a data sending process, and sending the data packet to the target remote server by the second path serial communication interface SCI1 and the data transmission module GPRS in the transparent transmission mode.
As a further improvement, in the transparent transmission mode, the GPRS module will continuously detect whether the data link is abnormal, and will actively close the TCP/IP connection with the target remote server when the data link is abnormal, and report back an error string through the second path serial communication interface SCI 1; at this point the state jumps to the unconnected state, attempting to reconfigure and establish the data connection.
As a further improvement, the main data transceiving and processing of the vehicle-mounted remote control terminal are realized by a plurality of interrupt functions: firstly, defining a structural body in a memory RAM, and establishing and maintaining a dynamic database containing all vehicle and positioning data required by remote control; and updating and processing the structural body through the plurality of interrupt functions, and realizing parallel data receiving and sending of different functional modules by combining corresponding state variable groups to avoid waiting.
As a further refinement, the plurality of interrupt functions includes: the timer interrupts PIT, integrated circuit IIC bus interrupts, CAN bus interrupts, and serial communication interface SCI interrupts; the timer interrupts the PIT to realize that the vehicle-mounted remote control terminal sends and stores data at regular time; the integrated circuit IIC bus interrupt realizes the control of local long-term storage of data and reconnection and retransmission after disconnection; the CAN bus is interrupted to realize the acquisition of the information of the whole vehicle and the updating of a database; the serial communication interface SCI interruption realizes the automatic and wait-free data receiving and transmitting of the acquisition of positioning data from the satellite positioning module, the transmission of configuration instructions, and the exchange and analysis of GPRS instructions and data of the data transmission module.
The software architecture of the vehicle-mounted remote control terminal realizes the parallel processing capability of data receiving and transmitting and high real-time compatibility.
Drawings
FIG. 1 is a schematic diagram of a vehicle-mounted remote control terminal;
FIG. 2 is a software architecture diagram.
Reference numerals: 1. the system comprises a microprocessor MCU, 2 CAN bus interfaces, 3 satellite positioning modules, 4 data transmission modules GPRS, 5 clock signals, 6 BDM interfaces and 7 power-down memories EEPROM.
Detailed Description
As shown in fig. 1 and 2, the present invention provides a logistics vehicular remote control terminal, comprising: microprocessor MCU (1), microprocessor MCU (1) integration has CAN bus interface (2), wherein: the microprocessor MCU further has: the satellite positioning module (3) and the data transmission module GPRS (4); the CAN bus interface (2) is in full access communication connection with a vehicle-mounted CAN bus; the satellite positioning module (3) acquires positioning and states in real time, and the data transmission module GPRS (4) is in communication connection with the mobile internet so as to exchange data with the target remote server.
The vehicle-mounted remote control terminal for the logistics vehicle can effectively meet the remote control requirement of the electric logistics vehicle, overcomes the challenges brought by the application environment of the electric vehicle, and effectively protects the electromagnetic interference of a vehicle-mounted circuit on hardware.
As a further improvement, the CAN bus interface (2) is provided with three paths and is in communication connection with a whole vehicle CAN network, a battery CAN network and a charging CAN network under the application environment of the electric vehicle, and the microprocessor MCU (1) is in communication connection with a whole vehicle controller VCU, a battery management system BMS, an electric drive controller PCU, a combination meter ICM, an alternating current charging slow charging and a direct current charging fast charging.
As a further improvement, the microprocessor MCU further has: the device comprises a clock signal (5), a BDM interface (6) and a power-down memory EEPROM (7); the clock signal (5) is used for timing the communication and control of the microprocessor MCU; the BDM interface (6) realizes the functions of reading and writing a memory, reading and writing a register, downloading a program and debugging the MCU; the power-down memory EEPROM (7) realizes power-down storage of local data.
As a further improvement, the microprocessor MCU integrates a 4-channel CAN bus controller, a 2-channel serial communication interface SCI and a multi-channel analog input port; and the CAN bus interface (2) consists of a CAN transceiver ISO1050 and a plurality of filtering protection elements.
As a further improvement, the plurality of filter protection elements include: the electrostatic protection TVS, the common mode filter, the filter capacitor and the 120 omega end resistor are connected in series; the satellite positioning module (3) supports Beidou and GPS dual-mode satellite positioning; the data transmission module GPRS (4) supports 850MHz, 900HMz, 1800MHz and 1900MHz four frequencies under GPRS and GSM in industrial grade.
As a further improvement, the software architecture thereof adopts a state machine, the execution code of the main loop is simplified to the utmost extent, all information sending, processing and receiving under the normal working state are realized by an interrupt mechanism, and the state machine is divided into five independent states: power-down starting, no connection, no registration, waiting and normal work.
As a further improvement, in the power-down start state: executing a power-on restart subfunction of the data transmission module GPRS (4), confirming that the data transmission module GPRS (4) is successfully started, sending a character string instruction through a first path serial communication interface SCI0, configuring the satellite positioning module (3), selecting a satellite positioning mode and a statement output mode, and then jumping to the unconnected state; in the unconnected state: the data transmission module GPRS (4) is configured through a second path of serial communication interface SCI1 to receive and send character instructions, and the configuration content comprises client parameters, server parameters, a server address and GPRS signal quality detection; after the configuration is confirmed to be successful, establishing TCP/IP connection with the target remote server, starting a transparent transmission mode, shielding other irrelevant functions of the data transmission module GPRS (4), and then jumping to the unregistered state; in the unregistered state: according to a data exchange protocol of the vehicle-mounted remote control terminal and the target remote server, a registration data packet is compiled and sent to the data transmission module GPRS (4) byte by byte through a second path serial communication interface SCI1, and the data transmission module GPRS (4) is further sent to the target remote server in a periodical packaging mode in the transparent transmission mode; after the transmission of the registration data is finished, the state jumps to the waiting state; in the wait state: interrupting the PIT for timing through a timer, if the registration response time exceeds 30s or a return frame representing registration failure is received, closing the transparent transmission mode, jumping to the unconnected mode in a state, reconfiguring and starting data connection; if a return frame representing successful registration is received, the state jumps to the normal working state; in the normal operating state: and continuously inquiring a Flag variable by the main loop, judging whether a data packet is prepared completely, if so, starting a data sending process, and sending the data packet to the target remote server through a second path serial communication interface SCI1 and the data transmission module GPRS (4) in the transparent transmission mode.
As a further improvement, in the transparent transmission mode, the data transmission module GPRS (4) will continuously detect whether the data link is abnormal, and will actively close the TCP/IP connection with the target remote server when the data link is abnormal, and report back an error string through the second path serial communication interface SCI 1; at this point the state jumps to the unconnected state, attempting to reconfigure and establish the data connection.
As a further improvement, the main data transceiving and processing of the vehicle-mounted remote control terminal are realized by a plurality of interrupt functions: firstly, defining a structural body in a memory RAM, and establishing and maintaining a dynamic database containing all vehicle and positioning data required by remote control; and updating and processing the structural body through the plurality of interrupt functions, and realizing parallel data receiving and sending of different functional modules by combining corresponding state variable groups to avoid waiting.
As a further refinement, the plurality of interrupt functions includes: the timer interrupts PIT, integrated circuit IIC bus interrupts, CAN bus interrupts, and serial communication interface SCI interrupts; the timer interrupts the PIT to realize that the vehicle-mounted remote control terminal sends and stores data at regular time; the integrated circuit IIC bus interrupt realizes the control of local long-term storage of data and reconnection and retransmission after disconnection; the CAN bus is interrupted to realize the acquisition of the information of the whole vehicle and the updating of a database; the serial communication interface SCI interruption realizes the automatic and wait-free data receiving and transmitting of the acquisition of positioning data from the satellite positioning module (3), the transmission of configuration instructions, and the exchange and analysis of the data with the data transmission module GPRS (4).
The software architecture of the vehicle-mounted remote control terminal realizes the parallel processing capability of data receiving and transmitting and high real-time compatibility.
In a preferred embodiment, the vehicle-mounted remote control terminal uses an MC9S12XEQ512MaAA microprocessor of Freescale; the HX6412 Beidou/GPS dual-mode satellite positioning module for aerospace China news acquires positioning and states in real time; the WYSIWYG MG323-B industrial GPRS data transmission module realizes the access to the mobile internet and exchanges data with a target remote server; the AT24C512 memory (EEpRom) of Atmel is adopted to realize the power-down storage of local data; and a 3-path CAN bus interface ISO1050 is integrated, so that full access of a vehicle-mounted CAN network of the electric automobile is realized, and the integrity of control data is guaranteed. And debugging functions of reading and writing a memory, reading and writing a register, downloading a program and the like of the system are realized through the BDM interface.
The MCU core controller MC9S12XEQ512 has the highest main frequency of 64MHz, integrates a 4-channel CAN bus controller, a 2-channel serial communication interface, a multi-channel analog input port and an automobile-level microcontroller with high reliability, high performance and high temperature adaptability, and meets the application requirements of a vehicle-mounted remote control terminal.
The terminal is designed to realize a 3-path CAN bus interface, and the full access of a vehicle-mounted CAN bus under the application environment of the electric automobile, namely a finished automobile CAN network, a battery CAN network and a charging CAN network, is realized. The CAN bus interface consists of a CAN transceiver ISO1050 and a plurality of filtering protection elements (an electrostatic protection TVS, a common mode filter, a filter capacitor and a 120 omega terminal resistor). ISO1050 is a capacitive isolation type CAN transceiver produced by TI company, and CAN isolate conduction, common mode and differential mode interference on an in-vehicle CAN bus network while realizing CAN communication, and protect the hardware safety and signal integrity of an MCU.
HX6412 is a Beidou/GPS dual-mode satellite positioning module independently developed in China, the highest data acquisition frequency is 1Hz, the highest data acquisition frequency is connected with the MCU through a Uart interface, and data output conforms to a format specified by NEMA-0183.
The MG323-B is a widely used industrial grade transmission module, has higher reliability, wider circulation sale channel and lower price, and meets the design target of 'adapting to mass production' of the terminal. The GPRS/GSM850MHz/900HMz/1800MHz/1900/MHz quad-band is supported, and the MG323-B communicates with the MCU through a uart interface.
The software architecture of the vehicle-mounted remote control terminal adopts a state machine, execution codes of a main loop are simplified to the utmost extent, and all information sending, processing and receiving under a normal working state are divided into five independent states by an interrupt mechanism: power-down starting, no connection, no registration, waiting and normal work. The main state transition relationship is shown in fig. 2.
In the power-down start state: executing a power-on restart subfunction of the data transmission module GPRS (4), confirming that the data transmission module GPRS (4) is successfully started, sending a character string instruction through a first path serial communication interface SCI0, configuring the satellite positioning module (3), selecting a satellite positioning mode and a statement output mode, and then jumping to the unconnected state;
in the unconnected state: the data transmission module GPRS (4) is configured through a second path of serial communication interface SCI1 to receive and send character instructions, and the configuration content comprises client parameters, server parameters, a server address and GPRS signal quality detection; after the configuration is confirmed to be successful, establishing TCP/IP connection with the target remote server, starting a transparent transmission mode, shielding other irrelevant functions of the data transmission module GPRS (4), and then jumping to the unregistered state;
in the unregistered state: according to a data exchange protocol of the vehicle-mounted remote control terminal and the target remote server, a registration data packet is compiled and sent to the data transmission module GPRS (4) byte by byte through a second path serial communication interface SCI1, and the data transmission module GPRS (4) is further sent to the target remote server in a periodical packaging mode in the transparent transmission mode; after the transmission of the registration data is finished, the state jumps to the waiting state;
in the wait state: interrupting the PIT for timing through a timer, if the registration response time exceeds 30s or a return frame representing registration failure is received, closing the transparent transmission mode, jumping to the unconnected mode in a state, reconfiguring and starting data connection; if a return frame representing successful registration is received, the state jumps to the normal working state;
in the normal operating state: and continuously inquiring a Flag variable by the main loop, judging whether a data packet is prepared completely, if so, starting a data sending process, and sending the data packet to the target remote server through a second path serial communication interface SCI1 and the data transmission module GPRS (4) in the transparent transmission mode.
The main data receiving, transmitting and processing functions of the terminal are realized by an interrupt function. Defining structural bodies in the RAM, establishing and maintaining a dynamic database (containing all whole vehicles and positioning data required by remote control), updating and processing the structural bodies through a plurality of interrupt functions, and realizing parallel transceiving of data of different functional modules by combining corresponding state variable groups without waiting. The mechanism consists essentially of the following interrupts:
timer interrupt (PIT): the timer interruption realizes the timing transmission and data storage of the terminal. The interrupt is triggered and counted every 0.5s, as required by the application, for a count period of 20, i.e. a maximum timer period of 10 s. In each period (10s), the interruption carries out database snapshot once, a complete data packet is compiled according to a data exchange protocol of the terminal and the remote server, the data packet is pushed to an IIC sending cache array, and then a storage process is started to store the data packet into local EEpRom of the terminal; the interrupt performs 4 queries of the local storage status, queries the current module operating status if a newly stored packet is found that is not sent to the remote server, and pushes the packet to SCI1 sending cache array in sequence (one packet at a time) if the module is in a normal operating status, starts the SCI1 sending process (i.e., sends to the remote server) and marks the packet as "sent" in the local storage. By the above mechanism, the interrupt function implements three functions:
① providing a timer for heartbeat packet detection at 10s cycle;
② store control data every 10 s;
③ sends control data four times every 10s (max);
IIC bus interrupt: IIC bus interruption realizes local long-term storage of control data and reconnection and reissuing after disconnection. The interrupt function and a group of global variables (character and array combination, realizing automatic and wait-free data transceiving, namely any sub-function only needs to configure the global variables according to needs, write data into the IIC transmission buffer array and actively transmit the first character, and the interrupt function can realize the transmission, transmission and reception conversion of the remaining character strings and end the IIC operation process.
CAN bus interrupt: the CAN bus is interrupted to realize the acquisition of the information of the whole vehicle and the updating of a database; and analyzing the content of the CAN frame in the interruption, extracting specific data, storing the specific data into a database structure body, and dynamically updating the database. This interrupt is triggered regardless of the state in which the module is operating.
SCI interrupt: the SCI interface is the only mode of communication between the MCU and the satellite positioning module and the GPRS data transmission module, and as with the interruption, the interruption function is combined with a group of global variables (characters and arrays) to realize automatic and wait-free data receiving and transmitting. Wherein SCI0 interrupts the acquisition of positioning data from the satellite positioning module and the transmission of configuration instructions; SCI1 interrupts to realize the exchange and analysis of the instruction and data with GPRS data transmission module.
The interrupt processing mechanism formed by the interrupt function and the state machine form the main part of the terminal software. The software architecture has the following characteristics:
① when working normally, the main cycle time is very short, when in failure, the state machine can be switched quickly;
② MCU data transceiving realizes parallelism.
In summary, the software architecture has better compatibility with real-time applications, and besides the functions required by the remote control terminal, functional applications with high real-time requirements can be added or transplanted to some high real-time application modules in the future to realize functional integration.
It is to be understood that the scope of the present invention is not to be limited to the non-limiting embodiments, which are illustrated as examples only. The essential protection sought herein is further defined in the scope provided by the independent claims, as well as in the claims dependent thereon.

Claims (4)

1. A logistics vehicular remote control terminal, comprising: microprocessor MCU (1), microprocessor MCU (1) integration has CAN bus interface (2), its characterized in that:
the microprocessor MCU further has: the satellite positioning module (3) and the data transmission module GPRS (4);
the CAN bus interface (2) is in full access communication connection with a vehicle-mounted CAN bus;
the satellite positioning module (3) acquires positioning and state in real time, and the data transmission module GPRS (4) is in communication connection with the mobile internet so as to exchange data with a target remote server;
the CAN bus interface (2) is provided with three paths and is in communication connection with a finished automobile CAN network, a battery CAN network and a charging CAN network in an electric automobile application environment, and the microprocessor MCU (1) is in communication connection with a finished automobile controller VCU, a battery management system BMS, an electric drive controller PCU, an integrated instrument ICM, an alternating current charging slow charging and a direct current charging fast charging;
the microprocessor MCU further has: the device comprises a clock signal (5), a BDM interface (6) and a power-down memory EEPROM (7);
the clock signal (5) is used for timing the communication and control of the microprocessor MCU;
the BDM interface (6) realizes the functions of reading and writing a memory, reading and writing a register, downloading a program and debugging the MCU;
the power-down memory EEPROM (7) realizes power-down storage of local data;
the microprocessor MCU integrates a 4-channel CAN bus controller, a 2-channel serial communication interface SCI and a plurality of analog input ports; the CAN bus interface (2) consists of a CAN transceiver ISO1050 and a plurality of filtering protection elements;
the number of filter protection elements includes: the electrostatic protection TVS, the common mode filter, the filter capacitor and the 120 omega end resistor are connected in series;
the satellite positioning module (3) supports Beidou and GPS dual-mode satellite positioning;
the data transmission module GPRS (4) supports 850MHz, 900HMz, 1800MHz and 1900MHz four frequencies under GPRS and GSM in industrial grade;
the software architecture adopts a state machine, simplifies the execution code of a main loop to the utmost extent, all information sending, processing and receiving are realized by an interrupt mechanism under the normal working state, and the state machine is divided into five independent states: starting in a power failure mode, disconnecting, unregistering, waiting and normally working;
in the power-down start state: executing a power-on restart subfunction of the data transmission module GPRS (4), confirming that the data transmission module GPRS (4) is successfully started, sending a character string instruction through a first path serial communication interface SCI0, configuring the satellite positioning module (3), selecting a satellite positioning mode and a statement output mode, and then jumping to the unconnected state;
in the unconnected state: the data transmission module GPRS (4) is configured through a second path of serial communication interface SCI1 to receive and send character instructions, and the configuration content comprises client parameters, server parameters, a server address and GPRS signal quality detection; after the configuration is confirmed to be successful, establishing TCP/IP connection with the target remote server, starting a transparent transmission mode, shielding other irrelevant functions of the data transmission module GPRS (4), and then jumping to the unregistered state;
in the unregistered state: according to a data exchange protocol of the vehicle-mounted remote control terminal and the target remote server, a registration data packet is compiled and sent to the data transmission module GPRS (4) byte by byte through a second path serial communication interface SCI1, and the data transmission module GPRS (4) is further sent to the target remote server in a periodical packaging mode in the transparent transmission mode; after the transmission of the registration data is finished, the state jumps to the waiting state;
in the wait state: interrupting the PIT for timing through a timer, if the registration response time exceeds 30s or a return frame representing registration failure is received, closing the transparent transmission mode, jumping to the unconnected mode in a state, reconfiguring and starting data connection; if a return frame representing successful registration is received, the state jumps to the normal working state;
in the normal operating state: and continuously inquiring a Flag variable by the main loop, judging whether a data packet is prepared completely, if so, starting a data sending process, and sending the data packet to the target remote server through a second path serial communication interface SCI1 and the data transmission module GPRS (4) in the transparent transmission mode.
2. The logistics vehicular remote control terminal of claim 1, wherein: in the transparent transmission mode, the data transmission module GPRS (4) continuously detects whether a data link is abnormal or not, actively closes the TCP/IP connection with the target remote server when the data link is abnormal, and returns an error character string through a second path serial communication interface SCI 1; at this point the state jumps to the unconnected state, attempting to reconfigure and establish the data connection.
3. The logistics vehicular remote control terminal of claim 2, wherein:
the main data receiving, sending and processing of the vehicle-mounted remote control terminal are realized through a plurality of interrupt functions: firstly, defining a structural body in a memory RAM, and establishing and maintaining a dynamic database containing all vehicle and positioning data required by remote control; and updating and processing the structural body through the plurality of interrupt functions, and realizing parallel data receiving and sending of different functional modules by combining corresponding state variable groups to avoid waiting.
4. The logistics vehicular remote control terminal of claim 3, wherein:
the plurality of interrupt functions includes: the timer interrupts PIT, integrated circuit IIC bus interrupts, CAN bus interrupts, and serial communication interface SCI interrupts;
the timer interrupts the PIT to realize that the vehicle-mounted remote control terminal sends and stores data at regular time;
the integrated circuit IIC bus interrupt realizes the control of local long-term storage of data and reconnection and retransmission after disconnection;
the CAN bus is interrupted to realize the acquisition of the information of the whole vehicle and the updating of a database;
the serial communication interface SCI interruption realizes the automatic and wait-free data receiving and transmitting of the acquisition of positioning data from the satellite positioning module (3), the transmission of configuration instructions, and the exchange and analysis of the data with the data transmission module GPRS (4).
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