CN111884890A - Time-triggered bus planning and scheduling method - Google Patents

Time-triggered bus planning and scheduling method Download PDF

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Publication number
CN111884890A
CN111884890A CN202010523667.5A CN202010523667A CN111884890A CN 111884890 A CN111884890 A CN 111884890A CN 202010523667 A CN202010523667 A CN 202010523667A CN 111884890 A CN111884890 A CN 111884890A
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message
time
bus
period
planning
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CN111884890B (en
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于峰
刘智武
陈长胜
周耿
王晨博
张旭
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Xian Aeronautics Computing Technique Research Institute of AVIC
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/16—Time-division multiplex systems in which the time allocation to individual channels within a transmission cycle is variable, e.g. to accommodate varying complexity of signals, to vary number of channels transmitted
    • H04J3/1694—Allocation of channels in TDM/TDMA networks, e.g. distributed multiplexers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H04L12/40013—Details regarding a bus controller

Abstract

The invention provides a time-triggered bus planning and scheduling method, which solves the problem that the traditional event-triggered communication bus or network planning and scheduling method does not consider the transmission characteristic of communication messages in a time domain and cannot be suitable for a bus system adopting a time-triggered communication mechanism. The time trigger bus planning and scheduling method comprises the steps of firstly carrying out time trigger protocol bus topology configuration and setting TTP bus global parameters; secondly, configuring parameters of each node of the bus; planning and distributing the corresponding relation between the nodes and the time slots, the nodes, the messages, the time slots and the TDMA cycles, and sequentially finishing the planning and the arrangement of the messages on each node in different TDMA cycles in the bus cluster cycle and the planning and the arrangement of the time slots of the messages in the TDMA cycles; and carrying out parameter verification and schedulability analysis on the planning and scheduling scheme, verifying the reasonability of bus parameter setting and the correctness of a scheduling table, obtaining configuration information of each node under the operation scheme after verification is passed, and graphically displaying and outputting the configuration information in a file form.

Description

Time-triggered bus planning and scheduling method
Technical Field
The invention belongs to the technical field of computer application, and particularly relates to a time-triggered bus planning and scheduling method.
Background
The TTP bus adopts a time division multiplexing mechanism to realize message transmission scheduling, and is triggered by a global clock, so that the behavior of the whole system is determined not only in function, but also in time sequence. Scheduled transmission of TTP bus data is triggered by time advance, with the sequence of time slots for different nodes constituting one TDMA cycle and one or more TDMA cycles constituting a cluster cycle. The scheduling mechanism of the TTP bus requires that each node in the system be assigned a fixed periodic time slot at the time of system design.
The stably synchronized TTP nodes are allowed to transmit TTP frames on two channels within a periodic fixed time range to realize the transmission capability of the bus. The periodic node time slot sequence is referred to as a TDMA cycle. The time slot duration and the order between time slots of each node is fixed in all TDMA periods and in all cluster modes, and the possible difference in the two TDMA cycles is the amount of data transmitted on the channel. The periodic repeating TDMA cycle is called a cluster cycle (cluster cycle).
As shown in fig. 1, TTP bus communication is organized by TDMA, and the TTP bus controller schedules transmissions and accesses to the bus links according to a pre-scheduled TDMA cycle and time slot configuration. And each communication node on the TTP bus sends information in a Slot designated on a time axis, namely data transmission in a time division multiplexing mode is driven by adopting a pre-designed static global message schedule (MEDL) based on the fault-tolerant global clock synchronization service and is not related to an external event. This transmission mode enables the TTP bus to provide data transmission services between nodes with minimal jitter and deterministic latency, and avoids bus collisions. However, the conventional event-triggered communication bus or network planning and scheduling method does not consider the transmission characteristics of the communication message in the time domain, and cannot be applied to a bus system adopting a time-triggered communication mechanism.
Disclosure of Invention
The invention aims to solve the problem that the traditional event-triggered communication bus or network planning and scheduling method does not consider the transmission characteristics of communication messages in a time domain and cannot be suitable for a bus system adopting a time-triggered communication mechanism.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a method of time triggered bus planning and scheduling, comprising the steps of:
step one, constructing a bus system;
adding nodes and buses in the framework view, and connecting the nodes and the buses to complete the construction of a bus system;
secondly, configuring bus parameters of a bus system;
2.1) carrying out time trigger protocol bus topology configuration;
2.2) configuring global parameters, wherein the global parameters comprise communication rate, node number, redundancy setting, TDMA (time division multiple access) periods, cluster periods and the number of the TDMA periods contained in the cluster periods;
step three, configuring node parameters of the bus system;
3.1) determining the name and the ID of each node, whether the node is assigned as a cold start node or not and the maximum cold start attempt times;
3.2) assigning messages for each node and setting message attributes;
planning and arranging the messages;
4.1) configuring time slot parameters;
planning and scheduling communication time slots of each node in the bus system in different TDMA cycles according to the parameter configuration in the second step and the third step, and completing time slot allocation of the bus TDMA cycles; each TDMA cycle comprises communication time slots with different time lengths of each node in the bus system;
4.2) bus message global planning configuration;
4.21) all messages are respectively periodically transmittedSorting according to message update period PiSequencing in ascending order from small to large, if in the same period, according to the message length LiSorting in descending order from big to small; if the messages have the same period and the same length, arranging the messages according to the sequence of the messages in a message list;
4.22) planning the transmission of all periodic messages according to the sequencing order, and judging the periodic messages MiScheduling feasibility of MiWith PiIs a minimum period in cluster period CiInner loop scheduling Ci/PiSecondly;
4.23) if the interval found in the message description list is PiC of (A)i/PiPlanning the message into a message description list and updating the remaining distributable message length of each related time slot at the same time, wherein the remaining fillable message length in the time slot is larger than the current message length;
if the remaining fillable message length in the time slot is smaller than the current message length, but the remaining allocable message length of all time slots in the corresponding TDMA cycle is larger than the current message, uniformly dividing the rest time slot idle time into target time slots and filling the message into a table, and simultaneously updating the remaining allocable message length of the relevant time slot and then starting the arrangement of the subsequent messages;
if the message cannot be arranged in the message description list, changing the message attribute of the message in the third step, or resetting the cluster period and the TDMA period in the second step, and repeating the process until all the messages are arranged in the message description list;
step five, checking schedulability;
5.1) checking the global parameter constraint, the time slot and message length constraint and the message parameter planning rationality;
5.11) check the global parameter constraint:
a1, the redundancy in the bus configuration is not more than 3;
a2, the maximum node number of the bus configuration is not more than 64;
a3, whether the TDMA period can divide the cluster period completely;
a4, whether the cluster period TDMA number meets the longest period message;
a5, whether the maximum number of allowed time slots in each TDMA cycle is consistent with the number of nodes in the bus system;
5.12) check slot and message length constraints:
b1, minimum length of time slot: can accommodate the transmission of the longest message of the assigned node;
b2, maximum slot length: the maximum time slot length is less than the storage depth of the controller;
b3, the time length of a time slot on one TDMA cycle satisfies the following equation:
Figure BDA0002532949290000031
wherein, the Slotlength_iThe length of a time slot occupied by a node i;
b4, the transmission time of all messages in the cluster period is not more than the sum of each TDMA period in the cluster period;
5.13) checking the rationality of the message parameter planning;
c1, checking that the scheduling planning period of the message in each node is not greater than the period attribute of the corresponding message;
c2, checking whether the messages are overlapped;
the start time and the end time of any message form an independent time interval in a cluster period, namely:
Figure BDA0002532949290000041
c3, checking whether the messages are repeatedly allocated in the same TDMA cycle;
c4, checking whether the bus utilization rate meets the set requirement;
the bus occupancy rate is a ratio of transmission time lengths of all allocation messages in one cluster period to the cluster period, i.e. the bus utilization rate is calculated as follows:
Figure BDA0002532949290000042
for messages that are repeatedly allocated in different TDMA cycles, the allocated message transmission duration contains the original message and the reallocated message:
Figure BDA0002532949290000043
c5, checking the correctness of the cluster period duration, wherein the cluster period duration is determined by two parameters of the TDMA period and the TDMA number, and the cluster period duration is determined according to the following formula:
Clusterlength＝TDMAlength×TDMAnum
5.2) after the message planning arrangement is checked, carrying out homogenization treatment on the residual unplanned time in each time slot;
step six, graphical display and output;
and (5) outputting the information planning arrangement passing the verification in the step five in a file form in a graphical display mode.
Further, in step 2.2), the TDMA cycle specifically includes: the TDMA period is bounded by the shortest period message and is set to a value that satisfies the power of 2 of the ratio of the period of any message to the TDMA period.
Further, in step 2.2), the cluster period specifically includes: the cluster period represents the minimum interval of repeated scheduling of all nodes in the bus according to a certain rule, is equal to the task period of the bus system, and comprises a plurality of TDMA periods with the same time length.
Further, in step 2.2), the communication rate specifically is: the communication rate is configured to be 1Mbps, 2Mbps, 4Mbps or 5Mbps according to the requirements of the bus system.
Further, in step 2.2), the redundancy setting specifically includes: the redundancy is set to be single redundancy, dual redundancy or triple redundancy according to the requirements of the bus system.
Further, in step 3.2), the message attribute includes a sending period and the number of bytes.
Compared with the prior art, the technical scheme of the invention has the following advantages:
compared with the traditional event-triggered communication bus or network, the method and the system consider the time characteristic of bus message transmission, ensure reasonable arrangement of messages in a time domain through a planning and scheduling method, check the result of planning configuration, communication efficiency, expansibility and the like and support optimization iteration, improve the planning efficiency of a time-triggered communication bus system and facilitate the use of users.
Drawings
FIG. 1 is a schematic diagram of a conventional TDMA access scheme for a TTP bus;
FIG. 2 is a schematic flow chart of a method for planning and scheduling a time-triggered bus according to the present invention;
FIG. 3 is a schematic diagram of a time triggered bus schedule generation according to the present invention;
FIG. 4 is a diagram illustrating the distribution of node messages in different TDMA cycles according to the present invention;
FIG. 5 is a schematic diagram illustrating the operation of the time-triggered bus scheduler tool according to the present invention;
FIG. 6 is a data flow diagram of the time-triggered bus scheduler tool according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The invention provides a time-triggered bus planning and scheduling method, which is a method for generating a static global message scheduling table of a time-triggered bus. The method plans and allocates transmission time slots for messages of different periods and different sizes of each node on a time trigger bus, sequentially finishes the planning and the arrangement of the messages on each node in different TDMA periods (TDMA Round) in a bus Cluster period (Cluster Cycle), and the planning and the arrangement of the messages in the TDMA periods, designs a message planning rationality and schedulability checking method, can continuously iterate and optimize a planning scheme, and can graphically display and output message planning and scheduling results in a configuration file form.
The time trigger bus planning and scheduling method firstly carries out time trigger protocol bus topology configuration (bus/star/hybrid), sets TTP bus global parameters, and preliminarily sets the TDMA period and the number of TDMA contained in one cluster period; secondly, configuring parameters of each node of the bus, and performing parameter setting on operations executed by each node of the bus in a topological view, wherein cold starting times are set when the nodes are configured as cold starting nodes; then planning and distributing the corresponding relation between the nodes and the time slots, the nodes, the messages, the time slots and the TDMA cycles, and sequentially finishing the planning and the arrangement of the messages on each node in different TDMA cycles (TDMA Round) in a bus cluster cycle (Clustercycle) and the planning and the arrangement of the messages in the time slots in the TDMA cycles; and carrying out parameter verification and schedulability analysis on the planning and scheduling scheme, verifying the reasonability of bus parameter setting and the correctness of a scheduling table, obtaining configuration information of each node under the operation scheme after verification is passed, and graphically displaying and outputting the configuration information in a file form.
As shown in fig. 2, the time-triggered bus planning and scheduling method provided by the present invention specifically includes the following steps:
step one, constructing a bus system;
adding nodes and buses in the framework view, and connecting the nodes and the buses to complete the construction of a bus system;
secondly, configuring bus parameters of a bus system;
in a time-triggered communication protocol network architecture view, a bus system is divided into two bus channels and a plurality of nodes, the plurality of nodes are connected with the two channels, in the attribute configuration of each bus channel, the names of the bus channels are different from each other so as to distinguish different bus channels, in addition, the setting attributes of the bus channels are the same and are all bus conventional attributes, the configuration can be manually carried out, and the process specifically comprises the following steps:
2.1) carrying out time trigger protocol bus topology configuration;
2.2) configuring global parameters, wherein the global parameters comprise communication rate, node number, redundancy setting, TDMA (time division multiple access) periods, cluster periods and the number of the TDMA periods contained in the cluster periods;
determining the number of the TDMA contained in an initial TDMA period and a cluster period according to the total information such as a system task period to be served by a time trigger bus, a message period to be transmitted and the like;
the TDMA period specifically is: the TDMA cycle of the TTP bus is usually limited to the shortest cycle message as an upper limit, and the set value is such that the ratio of the period of any message to the TDMA cycle must be a power of 2;
the cluster period specifically is: the cluster period represents the minimum interval of repeated scheduling of all nodes in the bus according to a certain rule, and is equal to the task period of a system served by the bus, and the cluster period can contain a plurality of TDMA periods with the same time length;
the communication rate is specifically: the transmission rate of the bus can be selected and configured to be 1Mbps, 2Mbps, 4Mbps or 5Mbps according to the requirements of a bus system;
the number of nodes is specifically: whether the maximum number of connected nodes supported by the bus is less than 64;
the redundancy setting is specifically as follows: the redundancy can be selected and set as single redundancy, double redundancy or triple redundancy according to the requirement of a bus system;
step three, configuring node parameters of the bus system;
3.1) carrying out attribute configuration on each node of a time-triggered protocol bus, and determining the name and the ID of each node, whether the node is designated as a cold start node or not and the maximum cold start attempt times;
each node has its own unique name and ID to distinguish them from each other, and the default node general attributes include:
and (3) terminal name: the name of the node;
and (4) terminal ID: the ID number of the node;
the number of messages: the number of messages to be sent by the nodes can be configured for the nodes only when the nodes are connected to the bus;
3.2) assigning messages for each node and setting message attributes, wherein the message attributes comprise sending periods and byte numbers;
each node has a series of tasks to be executed { j1, j2, j3. }, the execution time of each task being strictly controlled by the time allocation on the MEDL table. Each task has a dedicated time slot, and the time slots of the tasks are independent, do not overlap and do not conflict with each other; the task model is corresponding to a message model based on the communication scheduling triggered by time, and the execution task is corresponding to the transmission of the message on a bus, so that the message to be sent is respectively distributed to each node, and then each node carries out the planning work of the message in respective time slot;
when a new message is needed to be added, the message is only needed to be added into a message list, and the message displayed by the list is a message which is not distributed to a node; when some messages are distributed to the node, the messages can be selected from a message list to be distributed, the distributed and configured messages in the node are stored in the message list in the node, and relevant attributes are displayed;
the message already allocated to the node is a message task to be planned by the node in a cluster period, and in the cluster period, the node message is allocated in different TDMA periods, as shown in fig. 4;
the method comprises the following steps that the message configuration of a node is carried out, an 'ES message attribute' interface in 'ES attributes' needs to be entered, and the configuration interface is mainly divided into two parts: adding configuration of the overall message and message configuration of the nodes;
the adding configuration of the overall message is mainly to set the global message, and can add, modify and delete the global message, when adding the message, the following information of the message needs to be configured:
and (3) message name: the message name can not have a duplicate name;
message ID: indicating a different message;
message size: the Byte length of the transmission message in bytes (Byte);
message type: the type of message sent;
step four, planning and arranging the messages;
the message planning and arrangement is divided into two parts of time slot arrangement, time slot node planning and configuration and message global planning and configuration, and the configuration of the messages is carried out in sequence according to the steps: firstly, carrying out time slot setting and time slot node planning configuration, and then carrying out message global planning configuration, wherein the requirement of the time slot length is a precondition for designing and scheduling, and the length of each time slot must be planned before designing and scheduling the message;
4.1) configuring time slot parameters;
planning and scheduling communication time slots of each node in the bus system in different TDMA cycles according to the parameter configuration in the second step and the third step, and completing time slot allocation of the bus TDMA cycles; each TDMA cycle comprises communication time slots with different time lengths of each node in the bus system;
in a time-triggered communication bus protocol, data transmission operation is realized based on a strict time division multiplexing mode, each node needs to be configured with time slot information of the node in advance before data is required to be sent and received, namely each node obtains a section of time slot, namely a slot time slot, communication among the nodes is based on a global clock management mechanism, data receiving and sending are completed in the time slot after time period application is completed, and the communication among the nodes is ensured not to have time or data transmission conflict;
before configuring time slot information for each node, attribute of an added time slot needs to be configured, in the 'time slot setting and time slot node planning configuration', attribute configuration of the time slot is performed through an adding button, and the attribute configuration of the time slot mainly comprises the following steps:
slot sequence ID: indicating the position of the time slot in the TDMA cycle, and changing the time slot sequence ID from low to high along the time axis direction;
time slot length: the configured time slot time length is us, and the sum of all the time slot time lengths cannot be greater than the TDMA period;
planning the message to corresponding nodes, and configuring time slots by each node according to the distributed message, so that the time offset ranges of the message in different TDMA periods are determined; planning and allocating corresponding TDMA rounds and slots thereof for each node message to ensure that the message can be sent in a time Slot, and simultaneously, data transmission among nodes on a bus does not have time conflict, wherein the user configuration of the time Slot length of the nodes in each TDMA is an optional function which can specify the time Slot lengths of the nodes in different TDMAROUNDs; if the user does not specify the time slot length, the subsequent bus message global planning configuration step allocates the time slot length of the node in each TDMA period according to the ratio of the node message bandwidth requirement to the total bandwidth of all messages;
4.2) bus message global planning configuration;
the data transmission of the TTP bus is uniquely determined by a global static message scheduling table, each row of the table defines the time slot allocation condition of each node in a TDMA cycle, the table has n rows, namely, the table represents that a cluster cycle comprises n TDMA cycles, the time of each TDMA cycle is equal, the time slot lengths allocated to each node in different TDMA cycles can be different, and bus message planning and scheduling is a process of reasonably arranging messages on different time slots in different TDMA cycles in the cluster cycle, so that all periodic messages can be placed in the two-dimensional global static message description list, and the specific process is as follows:
4.21) sorting all messages according to the period respectively, and updating the period P according to the messagesiSequencing in ascending order from small to large, if in the same period, according to the message length LiSorting in descending order from big to small; if the messages have the same period and the same length, arranging the messages according to the sequence of the messages in a message list;
4.22) planning the transmission of all periodic messages according to the sequencing order, and judging the periodic messages MiScheduling feasibility of MiWith PiIs a minimum period in cluster period CiInner-need round robin scheduling Ci/PiSecondly;
4.23) if the interval P can be found in the message description listiC of (A)i/PiPlanning the message into a message description list and updating the remaining distributable message length of each related time slot at the same time, wherein the remaining fillable message length in the time slot is larger than the current message length;
if the remaining fillable message length in the time slot is smaller than the current message length, but the remaining allocable message length of all time slots in the corresponding TDMA cycle is larger than the current message, uniformly dividing the rest time slot idle time into target time slots and filling the message into a table, and simultaneously updating the remaining allocable message length of the relevant time slot and then starting the arrangement of the subsequent messages;
if the message cannot be arranged in the message description list, changing the message attribute of the message in the third step, or resetting the cluster period and the TDMA period in the second step, and repeating the process until all the messages are arranged in the message description list;
the total transmission time length allocated to each message is not only restricted on the cluster period, but also restricted in each TDMA period, the message time length on one TDMA period must be smaller than the time slot length, otherwise, the message collision will occur, and the transmission of the message on each time slot in each TDMA period in the cluster period should satisfy the following conditions:
Figure BDA0002532949290000101
assuming that the TDMA includes n time slots, the time duration of PSP, PRP and Idle stages in the Slot should also be considered when calculating the message transmission time, and if the above equation is not satisfied when a message is added to the time Slot in a TDMA cycle, the corresponding adjustment should be made:
stopping adding the message;
if the message is added to the time Slot, the message is allocated again in the TDMA cycle, and a part of the message which is allocated to the Slot in the TDMA is taken out to other TDMA cycles until the constraint condition is met, and the time Slot length can be planned again or a longer TDMA cycle can be set;
step five, checking schedulability;
5.1) checking the global parameter constraint, the time slot and message length constraint and the message parameter planning rationality;
5.11) check the global parameter constraint:
a1, the redundancy in the bus configuration is not more than 3;
a2, the maximum node number of the bus configuration is not more than 64;
a3, whether the TDMA period can completely divide the cluster period (the default value is 5ms and can be set by a user);
a4, whether the cluster period TDMA number meets the longest period message (user can set, default value is 4);
a5, whether the maximum number of allowed time slots in each TDMA cycle is consistent with the number of nodes in the bus system;
5.12) check slot and message length constraints:
b1, minimum length of time slot: at least the transmission of the longest message of the assigned node can be accommodated;
b2, maximum slot length: the maximum length of the time slot is smaller than the storage depth of the controller, and the information of all the time slots can be at least contained in one cluster period;
b3, the time length of a time slot on one TDMA cycle satisfies the following equation:
Figure BDA0002532949290000111
wherein, the Slotlength_iThe length of a time slot occupied by a node i;
b4, the transmission time of all messages in the cluster period is not more than the sum of each TDMA period in the cluster period;
5.13) checking the rationality of the message parameter planning;
c1, checking that the scheduling planning period of the message in each node is not greater than the period attribute of the corresponding message;
c2, checking whether the messages are overlapped;
the start time and the end time of any message should form an independent time interval in a cluster period, namely:
Figure BDA0002532949290000121
c3, checking whether the messages are repeatedly allocated in the same TDMA cycle;
c4, checking whether the bus utilization rate meets the set requirement;
the bus occupancy rate is a ratio of transmission time lengths of all allocation messages in one cluster period to the cluster period, i.e. the bus utilization rate is calculated as follows:
Figure BDA0002532949290000122
in a cluster period comprising n TDMA periods, for messages repeatedly allocated in different TDMA periods, the allocated message transmission duration should be calculated to comprise the original message and the reallocated message:
Figure BDA0002532949290000123
c5, checking the correctness of the cluster period duration, wherein the cluster period duration is determined by two parameters of the TDMA period and the TDMA number, and the cluster period duration is determined according to the following formula:
Clusterlength＝TDMAlength×TDMAnum
evaluating the rationality of planning in a cluster period time period, wherein the cluster period is restricted by two parameters, namely a TDMA (time division multiple access) period and a TDMA number, and iterative optimization can be performed on the two parameters when necessary;
5.2) after the message planning arrangement is checked, the rest unplanned time in each time slot can be selected to be homogenized, so that the subsequent message increment addition based on the scheme is facilitated;
step six, graphical display and output;
after the verification is passed, the configuration information of each node under the operation scheme is obtained, the time-triggered bus message planning and scheduling results can be graphically displayed, a user can continuously iterate and optimize the planning and scheduling results according to needs, and after the planning and scheduling scheme meeting the requirements is obtained, the planning and scheduling scheme can be output in the form of configuration files of each node of the bus.
In summary, the invention provides a TTP bus planning and scheduling method, which sequentially completes the planning and scheduling of different messages of each node in different TDMA cycles in a cluster cycle and the planning and scheduling of time slots of the messages in the TDMA cycles by corresponding the time slots planned in each TDMA cycle in the cluster cycle to each node of a bus communication system, and provides a message planning rationality and schedulability checking method, sustainable iteration and optimization, and graphical display and output in a file form.
Based on the time-triggered bus planning and scheduling method, the invention provides a time-triggered bus planning and scheduling tool, which is an easy-to-operate human-machine interface program and supports manual editing and modification of model data, including topology editing and communication task configuration, and display of message lists and time schedules. The overall flow design of the time-triggered bus planning and scheduling tool is as follows: the overall network topology configuration of the time-triggered protocol bus is firstly carried out, and the connection mode of each node on the time-triggered protocol bus, namely bus type or star type connection, is configured. And secondly, configuring parameters for the bus and the nodes, and respectively configuring the parameters for the bus and the node objects to execute corresponding operations in the topology view. And then the relationship between the nodes and the time slots, the relationship between the nodes and the messages and the TMDA period are distributed to obtain a preliminary planning scheme. And carrying out configuration verification on the scheme to verify the reasonability and the correctness of the scheme. And finally, obtaining the result of the scheme and outputting the result in a graphical and file form.
The design of the time-triggered bus planning and scheduling tool can refer to a hierarchical design method, and mainly comprises functional modules such as bus and node configuration, generation of a scheduling list, configuration verification of bus planning and scheduling and the like, wherein the configuration file and the generation file are in BIN (building information network), XML (extensive Makeup language) and word formats, and the formats have good readability.
1) Import and export design of configuration files
In the time triggered protocol planning method tool, the data file comprises: the TTP engineering files store information in the engineering design process in a serialized manner, specifically store information such as buses, nodes, connecting lines, time slots, messages, constraint conditions and MEDL configuration. The TTP configuration file defines communication message configuration information in the TTP network, and the communication message configuration information comprises information such as a bus, a time slot, a node and a message of a network cluster; the MEDL configuration file adopts a third party customized format and comprises specific configuration information of nodes and buses;
2) graphical display design for message schedule configuration
In the time-triggered communication protocol planning tool, a visualization view for displaying a schedule of messages is designed. By clicking on the "schedule" button on the top left of the software interface, a "schedule display" view appears on the right side of the interface. In the view, the messages are sequentially placed in the respective time slots in time sequence, and the messages are respectively displayed in the two channels according to the respective scheduling conditions.
3) Template design for generating configuration analysis report
After the planning and verification analysis of the cluster network message is completed, an analysis report of a planning result can be generated, various parameters of the planning result, including a bus, a time slot, a node, the message and the like, are specified in detail in the report, and meanwhile, the relevant time characteristic of the message planning result is also specified.
4) Implementation of monolithic design
The TTP bus planning and scheduling method and tool can be divided into an engineering framework module, a TTP network framework editing module, a time slot configuration module, a message configuration and planning module, a message rationality checking module, a message configuration verification module, a message configuration analysis module, a message list, a graphical display module and the like, and in the modules, the modules can be further refined.
The overall operation flow of the time-triggered bus planning and scheduling tool of the present invention is shown in fig. 5, and the main operation flow is as follows:
starting software: loading a software toolbar- > loading a software start page- > displaying a start interface;
newly building a project: loading a topological structure editing view;
editing the network configuration: displaying a topological structure edit view- > editing a TTP network configuration- > editing a bus attribute- > editing a node attribute;
and (3) configuring a communication task: opening a node configuration view- > editing message attribute configuration- > editing message node corresponding relation;
time slot allocation configuration: opening a time slot message setting view- > editing time slot attribute- > editing time slot node corresponding relation;
configuration verification: opening configuration verification interface- > verifying reasonability of relevant relations of bus, time slot, node, message and the like
The time schedule table displays: opening a graphical display interface- > displaying a message scheduling result of the scheduling table;
and saving the project file and outputting an MEDL configuration table.

Claims (6)

1. A time triggered bus planning and scheduling method, comprising the steps of:
step one, constructing a bus system;
adding nodes and buses in the framework view, and connecting the nodes and the buses to complete the construction of a bus system;
secondly, configuring bus parameters of a bus system;
2.1) carrying out time trigger protocol bus topology configuration;
2.2) configuring global parameters, wherein the global parameters comprise communication rate, node number, redundancy setting, TDMA (time division multiple access) periods, cluster periods and the number of the TDMA periods contained in the cluster periods;
step three, configuring node parameters of the bus system;
3.1) determining the name and the ID of each node, whether the node is assigned as a cold start node or not and the maximum cold start attempt times;
3.2) assigning messages for each node and setting message attributes;
planning and arranging the messages;
4.1) configuring time slot parameters;
planning and scheduling communication time slots of each node in the bus system in different TDMA cycles according to the parameter configuration in the second step and the third step, and completing time slot allocation of the bus TDMA cycles; each TDMA cycle comprises communication time slots with different time lengths of each node in the bus system;
4.2) bus message global planning configuration;
4.21) arranging all messages according to period respectivelyIn sequence, according to the message update period PiSequencing in ascending order from small to large, if in the same period, according to the message length LiSorting in descending order from big to small; if the messages have the same period and the same length, arranging the messages according to the sequence of the messages in a message list;
4.22) planning the transmission of all periodic messages according to the sequencing order, and judging the periodic messages MiScheduling feasibility of MiWith PiIs a minimum period in cluster period CiInner loop scheduling Ci/PiSecondly;
4.23) if the interval found in the message description list is PiC of (A)i/PiPlanning the message into a message description list and updating the remaining distributable message length of each related time slot at the same time, wherein the remaining fillable message length in the time slot is larger than the current message length;
if the remaining fillable message length in the time slot is smaller than the current message length, but the remaining allocable message length of all time slots in the corresponding TDMA cycle is larger than the current message, uniformly dividing the rest time slot idle time into target time slots and filling the message into a table, and simultaneously updating the remaining allocable message length of the relevant time slot and then starting the arrangement of the subsequent messages;
if the message cannot be arranged in the message description list, changing the message attribute of the message in the third step, or resetting the cluster period and the TDMA period in the second step, and repeating the process until all the messages are arranged in the message description list;
step five, checking schedulability;
5.1) checking the global parameter constraint, the time slot and message length constraint and the message parameter planning rationality;
5.11) check the global parameter constraint:
a1, the redundancy in the bus configuration is not more than 3;
a2, the maximum node number of the bus configuration is not more than 64;
a3, whether the TDMA period can divide the cluster period completely;
a4, whether the cluster period TDMA number meets the longest period message;
a5, whether the maximum number of allowed time slots in each TDMA cycle is consistent with the number of nodes in the bus system;
5.12) check slot and message length constraints:
b1, minimum length of time slot: can accommodate the transmission of the longest message of the assigned node;
b2, maximum slot length: the maximum time slot length is less than the storage depth of the controller;
b3, the time length of a time slot on one TDMA cycle satisfies the following equation:
Figure FDA0002532949280000021
wherein, the Slotlength_iThe length of a time slot occupied by a node i;
b4, the transmission time of all messages in the cluster period is not more than the sum of each TDMA period in the cluster period;
5.13) checking the rationality of the message parameter planning;
c1, checking that the scheduling planning period of the message in each node is not greater than the period attribute of the corresponding message;
c2, checking whether the messages are overlapped;
the start time and the end time of any message form an independent time interval in a cluster period, namely:
Figure FDA0002532949280000031
c3, checking whether the messages are repeatedly allocated in the same TDMA cycle;
c4, checking whether the bus utilization rate meets the set requirement;
the bus occupancy rate is a ratio of transmission time lengths of all allocation messages in one cluster period to the cluster period, i.e. the bus utilization rate is calculated as follows:
Figure FDA0002532949280000032
for messages that are repeatedly allocated in different TDMA cycles, the allocated message transmission duration contains the original message and the reallocated message:
Figure FDA0002532949280000033
c5, checking the correctness of the cluster period duration, wherein the cluster period duration is determined by two parameters of the TDMA period and the TDMA number, and the cluster period duration is determined according to the following formula:
Clusterlength＝TDMAlength×TDMAnum
5.2) after the message planning arrangement is checked, carrying out homogenization treatment on the residual unplanned time in each time slot;
step six, graphical display and output;
and (5) outputting the information planning arrangement passing the verification in the step five in a file form in a graphical display mode.
2. The time-triggered bus planning and scheduling method of claim 1, wherein: in step 2.2), the TDMA cycle specifically includes: the TDMA period is bounded by the shortest period message and is set to a value that satisfies the power of 2 of the ratio of the period of any message to the TDMA period.
3. The time-triggered bus planning and scheduling method of claim 2, wherein: in step 2.2), the cluster cycle specifically comprises: the cluster period represents the minimum interval of repeated scheduling of all nodes in the bus according to a certain rule, is equal to the task period of the bus system, and comprises a plurality of TDMA periods with the same time length.
4. A time triggered bus planning and scheduling method according to claim 1, 2 or 3, characterized in that: in step 2.2), the communication rate is specifically: the communication rate is configured to be 1Mbps, 2Mbps, 4Mbps or 5Mbps according to the requirements of the bus system.
5. The time-triggered bus planning and scheduling method of claim 4, wherein: in step 2.2), the redundancy setting specifically comprises: the redundancy is set to be single redundancy, dual redundancy or triple redundancy according to the requirements of the bus system.
6. The time-triggered bus planning and scheduling method of claim 5, wherein: in step 3.2), the message attribute includes the sending period and the number of bytes.
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