CN110001553B - Automobile four-direction adjustable steering control device and controller downloading method - Google Patents
Automobile four-direction adjustable steering control device and controller downloading method Download PDFInfo
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- CN110001553B CN110001553B CN201910136337.8A CN201910136337A CN110001553B CN 110001553 B CN110001553 B CN 110001553B CN 201910136337 A CN201910136337 A CN 201910136337A CN 110001553 B CN110001553 B CN 110001553B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/027—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems between relatively movable parts of the vehicle, e.g. between steering wheel and column
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Abstract
The invention discloses a four-direction adjustable steering control device of an automobile, a controller downloading system and a method, wherein the controller downloading system comprises the following components: the input end of the USB-CAN communication card is connected with a USB interface of the upper computer through a USB signal and receives the data stream, and the output end of the USB-CAN communication card is connected with a CAN interface of the lower computer of the four-direction adjustable steering control device controller through a CAN high signal and a CAN low signal. The invention is beneficial to reducing the updating cost of the controller of the four-direction adjustable steering control device, improving the updating efficiency, prolonging the development period and obtaining better user experience.
Description
Technical Field
The invention belongs to the technical field of automobile steering system control, and particularly relates to an automobile four-direction adjustable steering control device, a controller downloading system and a method.
Background
The intellectualization is the development trend of the automobile steering system, and the core of the intellectualization of the steering system lies in the intellectualization of a steering system controller. With the rapid development of computer electronic control technology, the vehicle-mounted controller is updated frequently, and the application program in the steering system controller needs to be updated and replaced. For automobiles provided with four-direction adjustable steering control devices, at present, most hardware units of a controller are integrally mechanically disassembled from an installation position, a shell of the controller is opened, and a BDM tool is used for introducing new application program codes into the controller in an off-line programming mode, so that the programs are very complicated, the efficiency is low, and the controller is easy to damage.
With the increasingly complex functions of automobile controller integration, in order to meet the requirements of application program on-line function upgrade and bug repair, embedded systems are applied, some controllers on automobiles currently adopt bootloaders (loading boot programs) and download controller programs to specific memory areas through a CAN bus, and the bootloaders are separated from application programs actually executing control, and the bootloaders are operated before the application programs, so that the application programs CAN be updated on line without disassembling the hardware of the controllers. Since the four-way adjustable technology of the automobile steering system is a leading technology, the core controller of the automobile steering system still needs to be upgraded according to the actual use condition of the vehicle and a driver. Therefore, the downloading system and method for the controller of the automobile four-direction adjustable steering control device are developed, the updating cost of the controller of the four-direction adjustable steering control device is reduced, the updating efficiency is improved, the development period is prolonged, and better user experience is obtained.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, an object of the present invention is to provide a four-way adjustable steering control device, a controller downloading system and a method thereof for an automobile, so as to solve the problem that it is difficult to update the controller program of the four-way adjustable steering control device on line in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a controller downloading system of an automobile four-direction adjustable steering control device, which comprises: the system comprises an upper computer, a USB-CAN communication card and a lower computer of a four-direction adjustable steering control device controller;
the upper computer comprises a command analysis unit, an upper computer flash unit and a USB interface; the command analysis unit is used for analyzing the binary file to be programmed into a data stream; the upper computer flash unit is used for integrating the data streams into an application program for storage, setting a version number and updating information for the application program, and outputting the data streams through a USB interface;
the input end of the USB-CAN communication card is connected with a USB interface of an upper computer through a USB signal and receives the data stream, and the output end of the USB-CAN communication card is connected with a CAN interface of a lower computer of a four-way adjustable steering control device controller through a CAN high signal and a CAN low signal;
the lower controller computer of the four-direction adjustable steering control device comprises: the system comprises a watchdog unit, a timer interrupt unit, a Bootloader storage unit, an application program version storage unit, a CAN interface, a diagnosis unit, a Flash storage unit and an RAM storage unit; the Bootloader storage unit is used for initializing lower computer hardware, receiving data transmitted by the CAN interface and analyzing the data into executable binary codes; the Flash storage unit is used for storing the application program after flashing and the BootLoader program, and the RAM storage unit is used for storing temporary variables of the application program and the BootLoader program; the diagnosis unit executes the operation of reading and writing the diagnosis information according to the diagnosis message on the CAN bus; the watchdog unit is used for resetting when the program is abnormal; the timer interruption unit is used for generating 1ms-100ms arrival signals; the application program version storage unit is used for storing the version number and the updating information of the application program.
A four-direction adjustable steering control device of an automobile comprises the controller downloading system.
Further, the automobile four-direction adjustable steering control device further comprises: the system comprises an optical coupler IO unit, a PWM unit, a motor driving unit, a key IO unit, an ADC sampling unit, a manual regulation driving unit, an automatic regulation driving unit, an inclined motor and a telescopic motor;
the optical coupler IO unit is used for controlling the power supply switch of the telescopic motor and the tilting motor; the PWM unit adjusts the voltage at two ends of the telescopic motor and the tilting motor through the driving chip; the motor driving unit controls the telescopic motor and the tilting motor through the PWM unit to enable the four-direction adjustable steering control device to move towards four directions; the key IO unit obtains a key state by measuring the voltage of a key pin; the ADC sampling unit is used for obtaining power supply voltage, inclined motor voltage, telescopic motor voltage, inclined motor current and telescopic motor current data; the manual adjusting driving unit drives the four-direction adjustable steering control device to act through a key; the automatic adjusting driving unit judges the automatic adjusting time according to the state signal of the CAN bus, and automatically drives the motor to adjust the four-direction adjustable steering control device.
The invention discloses a controller downloading method of an automobile four-direction adjustable steering control device, which is based on the system and comprises the following steps:
step 1: connecting an OBD diagnosis interface of the whole vehicle;
step 2: the whole vehicle is powered ON, enters an ON gear, starts an upper computer flash unit and selects an application program to be downloaded;
and step 3: the upper computer downloads an application program to the lower computer of the four-direction adjustable steering control device controller through the USB-CAN communication card, and records a data file of a CAN bus in the flashing process;
and 4, step 4: completing application program flashing, and powering off the whole vehicle;
and 5: and electrifying the whole vehicle again, entering an ON gear again, and checking whether the function meets the requirement.
Preferably, the step 3 specifically includes:
step 3.1: electrifying, initializing a system, starting to operate from the address 0x000000 of the BootLoader storage unit, and sequentially initializing the watchdog and the CAN drive function library;
step 3.2: copying a Bootloader program to a RAM storage unit, and executing a Bootloader program main function;
step 3.3: the timer interrupt unit generates time delay, if the CAN bus detects a data frame sent by the upper computer within the time delay of 100ms, a response signal is sent out, the information of the Flash storage unit is erased, and the step 3.4 is carried out; if no data frame is detected within the 100ms delay, then step 3.8 is entered;
step 3.4: entering a BootLoader program, and executing CRC (cyclic redundancy check) initialization and diagnosis unit initialization;
step 3.5: the Bootloader storage unit executes data verification, if the data verification is correct, the step 3.6 is carried out, otherwise, the step 3.3 is returned;
step 3.6: calling a Flash programming function to decompose the driving address into 4 address bytes, writing the address bytes into a Flash storage unit, and sending application layer data;
step 3.7: the application layer receives the data buffer, if the data reception is finished, the application program version storage unit records the version number and the updating information, and the step 3.8 is carried out, otherwise, the step 3.6 is carried out;
step 3.8: and jumping to the main function of the application program and entering the application program.
The invention has the beneficial effects that:
the controller downloading system of the four-direction adjustable steering control device is simple in structure, the controller does not need to be detached from the whole vehicle for upgrading, program updating can be realized only by connecting a PC (personal computer), and program runaway is avoided.
The controller downloading method is simple and convenient to operate, can realize one-key automatic downloading, is beneficial to reducing the updating cost of the controller of the four-direction adjustable steering control device, improves the updating efficiency, prolongs the development period and obtains better user experience.
Drawings
FIG. 1 is a functional block diagram of a controller download system of the present invention;
FIG. 2 is a schematic block diagram of the apparatus of the present invention;
FIG. 3 is a flow chart of a method for downloading the inventive controller;
FIG. 4 is a flow chart of the application program flashing method of the present invention.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1, the present invention provides a controller download system for a four-direction adjustable steering control device of a vehicle, comprising: the system comprises an upper computer, a USB-CAN communication card and a lower computer of a four-direction adjustable steering control device controller;
the upper computer comprises a command analysis unit, an upper computer flash unit and a USB interface; the command analysis unit is used for analyzing the binary file to be programmed into a data stream; the upper computer flash unit is used for integrating the data streams into an application program for storage, and setting a version number and updating information for the application program; when the flash is executed, the upper computer flash unit calls the USB interface to output a data stream; (ii) a
The USB-CAN communication card adopts Kvaser USBcan, stores a CAN driving function library inside, and is provided with a standard USB connector and two high-speed CAN channels, and the channel interfaces connect two high-speed CAN buses with the USB interface and carry out signal conversion; the input end of the controller is connected with a USB interface of an upper computer through a USB signal and receives the data stream, and the output end of the controller is connected with a CAN interface of a lower computer of a four-way adjustable steering control device controller through a CAN high signal and a CAN low signal;
the lower controller computer of the four-direction adjustable steering control device comprises: the system comprises a watchdog unit, a timer interrupt unit, a Bootloader storage unit, an application program version storage unit, a CAN interface, a diagnosis unit, a Flash storage unit and an RAM storage unit; the Bootloader storage unit is used for initializing lower computer hardware, receiving data transmitted by the CAN interface, analyzing the data into executable binary codes, and loading the codes into a system RAM for operation; the Flash storage unit is used for storing the application program after flashing and the BootLoader program, and the RAM storage unit is used for storing temporary variables of the application program and the BootLoader program; the diagnosis unit executes operations such as diagnosis information reading, writing and the like according to the diagnosis message on the CAN bus; the watchdog unit is used for resetting when the program is abnormal; the timer interruption unit is used for generating 1ms-100ms arrival signals; the application program version storage unit is used for storing the version number and the updating information of the application program.
A four-direction adjustable steering control device of an automobile comprises the controller downloading system.
Referring to fig. 2, the four-direction adjustable steering control device of the automobile further comprises: the system comprises an optical coupler IO unit, a PWM unit, a motor driving unit, a key IO unit, an ADC sampling unit, a manual regulation driving unit, an automatic regulation driving unit, an inclined motor and a telescopic motor;
the optical coupler IO unit is used for controlling the power supply switch of the telescopic motor and the tilting motor; the PWM unit adjusts the voltage at two ends of the telescopic motor and the tilting motor through the driving chip; after the optocoupler IO unit is started and the driving chip is enabled, the motor driving unit controls the telescopic motor and the tilting motor through the PWM unit to enable the four-direction adjustable steering control device to move towards four directions; the key IO unit obtains a key state by measuring the voltage of a key pin; the ADC sampling unit is used for obtaining parameters such as power supply voltage, inclined motor voltage, telescopic motor voltage, inclined motor current and telescopic motor current; the manual adjusting driving unit drives the four-direction adjustable steering control device to act through a key; the automatic adjusting driving unit judges the automatic calling time of the telescopic motor and the tilting motor according to the state signal of the CAN bus, and automatically drives the telescopic motor and the tilting motor to work, so as to complete the position adjustment of the four-direction adjustable steering control device.
Referring to fig. 3, the controller downloading method for the four-direction adjustable steering control device of the automobile according to the present invention, based on the above system, includes the following steps:
step 1: connecting an OBD diagnosis interface of the whole vehicle;
step 2: the whole vehicle is powered ON, enters an ON gear, starts an upper computer flash unit and selects an application program to be downloaded;
and step 3: the upper computer downloads an application program to the lower computer of the four-direction adjustable steering control device controller through the USB-CAN communication card, and records a data file of a CAN bus in the flashing process;
and 4, step 4: completing application program flashing, and powering off the whole vehicle;
and 5: and electrifying the whole vehicle again, entering an ON gear again, and checking whether the function meets the requirement.
Referring to fig. 4, step 3 specifically includes:
step 3.1: electrifying, initializing a system, starting to operate from the address 0x000000 of the BootLoader storage unit, and sequentially initializing the watchdog and the CAN drive function library;
step 3.2: copying a Bootloader program to a RAM storage unit, and executing a Bootloader program main function;
step 3.3: the timer interrupt unit generates time delay, if the CAN bus detects a data frame sent by the upper computer within the time delay of 100ms, a response signal is sent out, the information of the Flash storage unit is erased, and the step 3.4 is carried out; if no data frame is detected within the 100ms delay, then step 3.8 is entered;
step 3.4: entering a BootLoader program, and executing CRC (cyclic redundancy check) initialization and diagnosis unit initialization;
step 3.5: the Bootloader storage unit executes data verification, if the data verification is correct, the step 3.6 is carried out, otherwise, the step 3.3 is returned;
step 3.6: calling a Flash programming function to decompose the driving address into 4 address bytes, writing the address bytes into a Flash storage unit, and sending application layer data;
step 3.7: the application layer receives the data buffer, if the data reception is finished, the application program version storage unit records the version number and the updating information, and the step 3.8 is carried out, otherwise, the step 3.6 is carried out;
step 3.8: and jumping to the main function of the application program and entering the application program.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (1)
1. A controller downloading method of a four-direction adjustable steering control device of an automobile is based on a controller downloading system, and the system comprises the following steps: the system comprises an upper computer, a USB-CAN communication card and a lower computer of a four-direction adjustable steering control device controller;
the upper computer comprises a command analysis unit, an upper computer flash unit and a USB interface; the command analysis unit is used for analyzing the binary file to be programmed into a data stream; the upper computer flash unit is used for integrating the data streams into an application program for storage, setting a version number and updating information for the application program, and outputting the data streams through a USB interface;
the input end of the USB-CAN communication card is connected with a USB interface of an upper computer through a USB signal and receives the data stream, and the output end of the USB-CAN communication card is connected with a CAN interface of a lower computer of a four-way adjustable steering control device controller through a CAN high signal and a CAN low signal;
the lower controller computer of the four-direction adjustable steering control device comprises: the system comprises a watchdog unit, a timer interrupt unit, a Bootloader storage unit, an application program version storage unit, a CAN interface, a diagnosis unit, a Flash storage unit and an RAM storage unit; the Bootloader storage unit is used for initializing lower computer hardware, receiving data transmitted by the CAN interface and analyzing the data into executable binary codes; the Flash storage unit is used for storing the application program after flashing and the BootLoader program, and the RAM storage unit is used for storing temporary variables of the application program and the BootLoader program; the diagnosis unit executes the operation of reading and writing the diagnosis information according to the diagnosis message on the CAN bus; the watchdog unit is used for resetting when the program is abnormal; the timer interruption unit is used for generating 1ms-100ms arrival signals; the application program version storage unit is used for storing the version number and the updating information of the application program;
the method is characterized by comprising the following steps:
step 1: connecting an OBD diagnosis interface of the whole vehicle;
step 2: the whole vehicle is powered ON, enters an ON gear, starts an upper computer flash unit and selects an application program to be downloaded;
and step 3: the upper computer downloads an application program to the lower computer of the four-direction adjustable steering control device controller through the USB-CAN communication card, and records a data file of a CAN bus in the flashing process;
and 4, step 4: completing application program flashing, and powering off the whole vehicle;
and 5: powering up the whole vehicle again, entering an ON gear again, and checking whether the function meets the requirement;
the step 3 specifically includes:
step 3.1: electrifying, initializing a system, starting to operate from the address 0x000000 of the BootLoader storage unit, and sequentially initializing the watchdog and the CAN drive function library;
step 3.2: copying a Bootloader program to a RAM storage unit, and executing a Bootloader program main function;
step 3.3: the timer interrupt unit generates time delay, if the CAN bus detects a data frame sent by the upper computer within the time delay of 100ms, a response signal is sent out, the information of the Flash storage unit is erased, and the step 3.4 is carried out; if no data frame is detected within the 100ms delay, then step 3.8 is entered;
step 3.4: entering a BootLoader program, and executing CRC (cyclic redundancy check) initialization and diagnosis unit initialization;
step 3.5: the Bootloader storage unit executes data verification, if the data verification is correct, the step 3.6 is carried out, otherwise, the step 3.3 is returned;
step 3.6: calling a Flash programming function to decompose the driving address into 4 address bytes, writing the address bytes into a Flash storage unit, and sending application layer data;
step 3.7: the application layer receives the data buffer, if the data reception is finished, the application program version storage unit records the version number and the updating information, and the step 3.8 is carried out, otherwise, the step 3.6 is carried out;
step 3.8: and jumping to the main function of the application program and entering the application program.
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| CN201910136337.8A CN110001553B (en) | 2019-02-25 | 2019-02-25 | Automobile four-direction adjustable steering control device and controller downloading method |
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Cited By (1)
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| US20220269787A1 (en) * | 2019-06-24 | 2022-08-25 | Michael Ratiner | A system and method for securing electronic devices |
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