CN112099810A - CAN network sub-node remote firmware upgrading method between motion control systems - Google Patents
CAN network sub-node remote firmware upgrading method between motion control systems Download PDFInfo
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- CN112099810A CN112099810A CN202010939189.6A CN202010939189A CN112099810A CN 112099810 A CN112099810 A CN 112099810A CN 202010939189 A CN202010939189 A CN 202010939189A CN 112099810 A CN112099810 A CN 112099810A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 5
- 238000012795 verification Methods 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 3
- 238000013524 data verification Methods 0.000 claims description 3
- 230000009191 jumping Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/08—Error detection or correction by redundancy in data representation, e.g. by using checking codes
- G06F11/10—Adding special bits or symbols to the coded information, e.g. parity check, casting out 9's or 11's
- G06F11/1004—Adding special bits or symbols to the coded information, e.g. parity check, casting out 9's or 11's to protect a block of data words, e.g. CRC or checksum
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/61—Installation
- G06F8/63—Image based installation; Cloning; Build to order
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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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The invention discloses a remote firmware upgrading method for a CAN network sub-node between motion control systems, which comprises an upper computer and the motion control systems, wherein the motion control systems are connected with the upper computer through Ethernet communication interfaces, the sub-nodes are connected with a CAN bus of the motion control systems on the same bus, the upper computer packs and sends firmware stored in a console to the motion control systems, the motion control systems send the firmware to the sub-nodes through CAN block transmission sub-packets, and the sub-nodes receive and process data, re-analyze the data into firmware and store the firmware, thereby realizing firmware upgrading operation. According to the invention, the CT sub-node firmware is remotely upgraded through the intermediate control system, the on-site shell removal and burning are not needed, the operation is convenient, and the time and labor cost are saved.
Description
Technical Field
The invention relates to the technical field of CT equipment, in particular to a method for upgrading remote firmware of a CAN network sub-node between motion control systems.
Background
In recent years, with the rapid development of electronic technology and network technology, firmware upgrade schemes for electronic devices are widely used. The firmware is the hardware of the electronic device with the software function, after the electronic product leaves the factory, along with the use of the user and the difference of the actual application scene, more and more problems are gradually exposed, and at this time, the firmware of the system needs to be upgraded so as to repair bugs or meet various actual requirements of the user. Because of the product dispersibility, when the CT equipment which does not support the network interface needs firmware upgrading, since the keypad, the pod and the audio module have no communication interface with the upper computer, the firmware upgrading can not be directly realized remotely through the upper computer, and usually after-sales personnel need to perform firmware upgrading on the site, and the firmware upgrading needs to be realized by removing the shell and burning on the site, so that the operation is complex and time-consuming, and the upgrading is troublesome.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the remote firmware upgrading method for the CAN network sub-node between the motion control system, the firmware CAN be upgraded on a console without detaching a cover, the burning is convenient, and the time cost and the labor cost are saved.
In order to achieve the purpose, the invention provides the following technical scheme: a remote firmware upgrading method for a CAN network sub-node between motion control systems comprises an upper computer and the motion control systems, wherein the motion control systems are connected with the upper computer through Ethernet communication interfaces, the sub-nodes are connected with a CAN bus of the motion control systems on the same bus, the upper computer packs firmware stored in a console and sends the firmware to the motion control systems, the motion control systems send the firmware to the sub-nodes through block transmission sub-packets of the CAN, and the sub-nodes receive and process data, re-analyze the data into firmware and store the firmware, so that firmware upgrading operation is achieved.
Further, the firmware transmission of the motion control system comprises CAN data block receiving and processing, the firmware is transmitted according to the blocks, after each block is received, the firmware is sent out through a CAN bus, a receiving end carries out verification, and if the verification fails, a retransmission mechanism is started.
Furthermore, the child node comprises a firmware skipping part, a firmware burning part and a firmware checking part after receiving the data
Further, the firmware jumping part comprises two parts, and an application program jumps to an IAP program; the IAP program jumps to the application.
Further, the firmware burning means that after the data reception is completed and the verification is successful, the data is burned into the program space of the FLASH from the designated position.
Further, the firmware verification comprises two parts, and received data verification is used for verifying whether data errors exist in the Ethernet and CAN data transmission process; and after the FLASH is burnt, the firmware is verified, the burnt firmware is read again for verification, and whether data errors occur in the data storage process is verified.
In conclusion, the invention realizes the remote upgrade of the CT sub-node firmware through the intermediate control system, does not need to disassemble the shell and burn on site, is convenient to operate and saves time and labor cost.
Drawings
FIG. 1 is a diagram of a system transport architecture of the present invention;
FIG. 2 is a control flow chart of the present invention;
fig. 3 and 4 are schematic views illustrating the operation of the embodiment of the present invention.
Detailed Description
A further description of an embodiment of a method for upgrading remote firmware of a CAN network sub-node in a motion control system according to the present invention is provided with reference to fig. 1 to 4.
A remote firmware upgrading method for a CAN network sub-node between motion control systems comprises an upper computer and the motion control systems, wherein the motion control systems are connected with the upper computer through Ethernet communication interfaces, the sub-nodes are connected with a CAN bus of the motion control systems on the same bus, the upper computer packs firmware stored in a console and sends the firmware to the motion control systems, the motion control systems send the firmware to the sub-nodes through block transmission sub-packets of the CAN, and the sub-nodes receive and process data, re-analyze the data into firmware and store the firmware, so that firmware upgrading operation is achieved. The CT child node comprises a KEYPAD, a POD and an audio module which are hung on the CAN bus.
Preferably, in this embodiment, the firmware transmission of the motion control system includes receiving and processing a CAN data block, the firmware is transmitted according to the block, after receiving one block, the firmware is sent out through a CAN bus, the receiving end performs verification, and if the verification fails, the retransmission mechanism is started.
Preferably, in this embodiment, the child node includes a part for firmware skipping, firmware burning and firmware verification after receiving the data
Preferably, the firmware jumping part includes two parts, and an application program (APP program) jumps to an IAP program; the IAP program jumps to an application program (APP program).
Preferably, in this embodiment, the firmware burning is to burn the data from the specified position into the program space of the FLASH after the data is received and verified successfully.
Preferably, in this embodiment, the firmware verification includes two parts, and the received data verification is used to verify whether there is a data error in the ethernet and CAN data transmission process; and after the FLASH is burnt, the firmware is verified, the burnt firmware is read again for verification, and whether data errors occur in the data storage process is verified.
As shown in fig. 2, the step of firmware upgrade includes the following steps:
(1) initializing a system;
(2) building an HTTP server;
(3) waiting for the connection of the client;
(4) judging whether the client is connected or not;
(5) if the connection is made, the HTTP data is received, and if not, the step (2) is returned;
(6) analyzing and checking the data;
(7) judging whether the file verification is successful;
(8) if the data is successful, the Ethernet data is subjected to sub-packaging processing, and if the data is failed, the data is returned to the step (5) for re-acceptance;
(9) sending an IAP (inter access Point) adjusting instruction by the child node;
(10) judging whether the CAN child node completes IAP adjustment;
(11) if the CAN block transmission is successful, starting CAN block transmission, and if the CAN block transmission is failed, returning to the step (8);
(12) sequentially judging whether the block transmission is finished and the verification is successful, whether all the block transmission is finished and whether the child node file verification is successful;
(13) if the CAN block transmission fails, the firmware is stored, and if the CAN block transmission fails, the CAN block transmission is returned (11) to be restarted;
(14) reading and checking the firmware by the child node;
(15) judging whether the firmware verification of the child node is successful;
(16) and if the CAN block transmission is successful, the child node jumps to the APP, the upgrading is completed, and if the APP fails, the child node returns to (11) to restart the CAN block transmission.
The operation example: the motion control system is a motion control panel, as shown in fig. 3 and 4, an IE browser is opened, an IP address of the motion control panel is input, and a web server connected to the motion control panel; selecting a CAN node to be upgraded, and upgrading the firmware; select the corresponding firmware and click "upgrade".
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (6)
1. A method for upgrading remote firmware of a CAN network sub-node between motion control systems is characterized in that: the motion control system is connected with the upper computer through an Ethernet communication interface, the sub-nodes are connected with a CAN bus of the motion control system on the same bus, the upper computer packs and sends firmware stored in a console to the motion control system, the motion control system sends the firmware to the sub-nodes through a block transmission sub-packet of the CAN, and the sub-nodes receive and process the data, resolve the data into firmware again and store the firmware, so that firmware upgrading operation is achieved.
2. The method of claim 1 for remote firmware upgrade between CAN network sub-nodes of a motion control system, wherein: the firmware transmission of the motion control system comprises CAN data block receiving and processing, the firmware is transmitted according to blocks, after each block is received, the firmware is sent out through a CAN bus, a receiving end carries out verification, and if the verification fails, a retransmission mechanism is started.
3. The method of claim 1 for remote firmware upgrade between CAN network sub-nodes of a motion control system, wherein: and the child nodes receive the data and then comprise a firmware skipping part, a firmware burning part and a firmware verifying part.
4. The method of claim 3 for remote firmware upgrade between CAN network sub-nodes of a motion control system, wherein: the firmware jumping part comprises two parts, and an application program jumps to an IAP program; the IAP program jumps to the application.
5. The method of claim 3 for remote firmware upgrade between CAN network sub-nodes of a motion control system, wherein: the firmware burning is to burn the data from the appointed position into the program space of the FLASH after the data is received and verified successfully.
6. The method of claim 3 for remote firmware upgrade between CAN network sub-nodes of a motion control system, wherein: the firmware verification comprises two parts, namely received data verification for verifying whether data errors exist in the Ethernet and CAN data transmission process; and after the FLASH is burnt, the firmware is verified, the burnt firmware is read again for verification, and whether data errors occur in the data storage process is verified.
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| CN202010939189.6A CN112099810A (en) | 2020-09-09 | 2020-09-09 | CAN network sub-node remote firmware upgrading method between motion control systems |
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| CN202010939189.6A CN112099810A (en) | 2020-09-09 | 2020-09-09 | CAN network sub-node remote firmware upgrading method between motion control systems |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104503796A (en) * | 2014-12-25 | 2015-04-08 | 浙江中控研究院有限公司 | IAP (Internet Access Provider) based configurable full-network remote node firmware upgrading method |
| CN105718274A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Online software updating method of intelligent nodes in AUV |
| CN110764804A (en) * | 2019-10-23 | 2020-02-07 | 东风电子科技股份有限公司 | System and method for realizing software upgrading control aiming at multiple electronic control units of automobile |
| CN111343064A (en) * | 2020-02-29 | 2020-06-26 | 东风汽车集团有限公司 | System and method for upgrading software of automobile control system |
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2020
- 2020-09-09 CN CN202010939189.6A patent/CN112099810A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105718274A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Online software updating method of intelligent nodes in AUV |
| CN104503796A (en) * | 2014-12-25 | 2015-04-08 | 浙江中控研究院有限公司 | IAP (Internet Access Provider) based configurable full-network remote node firmware upgrading method |
| CN110764804A (en) * | 2019-10-23 | 2020-02-07 | 东风电子科技股份有限公司 | System and method for realizing software upgrading control aiming at multiple electronic control units of automobile |
| CN111343064A (en) * | 2020-02-29 | 2020-06-26 | 东风汽车集团有限公司 | System and method for upgrading software of automobile control system |
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Application publication date: 20201218 |
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