CN112540780A - System and method for realizing batch firmware upgrade of formation unmanned aerial vehicles - Google Patents
System and method for realizing batch firmware upgrade of formation unmanned aerial vehicles Download PDFInfo
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Abstract
The invention belongs to the technical field of information processing, and discloses a method for realizing batch firmware upgrade of formation unmanned aerial vehicles, which can be used for formation unmanned aerial vehicles and other electronic equipment capable of controlling and executing batch firmware upgrade in a cluster manner. When the equipment is normally started, firstly, a Bootloader program is entered to judge a firmware upgrading mark, and an Application program is jumped to; when the equipment needs firmware upgrading, a WiFi or 4G/5G link triggers a firmware upgrading logic through a firmware upgrading module in an Application program to finish firmware downloading and rewrite a firmware upgrading logic mark, the equipment is restarted, a Bootloader program is entered to judge a firmware upgrading mark bit, and a Recovery program is skipped to finish firmware upgrading of the Application program. The method and the device solve the defects that the traditional Bootloader program cannot be upgraded, the upgrading function of Application firmware is invalid, and the equipment is damaged due to firmware upgrading, and have good stability and exception handling capability.
Description
Technical Field
The invention belongs to the technical field of information processing, and particularly relates to a system and a method for realizing batch firmware upgrade of formation unmanned aerial vehicles.
Background
With the development of scientific technology, more and more devices have firmware upgrading capability, and after the devices leave a factory, a user can upgrade the firmware of the devices in a certain mode, so that the software defects of the existing devices can be repaired, or new characteristics and new functions are added to improve the user experience. For example, devices such as mobile phones, electronic computers, embedded terminals and the like are all used for continuously improving the security and the user experience of the operating system.
The mobile phone and the electronic computer in the above example are very mature devices, and have a relatively stable and fixed firmware upgrading system, but are too complex and large to be copied and implemented in a team unmanned aerial vehicle system. And the traditional firmware upgrading method only supports single system upgrading, and can not meet the requirement of batch firmware upgrading of similar formation unmanned aerial vehicles. Currently, most upgradable devices still adopt simpler firmware upgrade logic, that is, a program combination of "Bootloader + Application", where the Bootloader program is responsible for program booting and firmware upgrade execution, and the Application program is responsible for executing a designed Application and simultaneously starts firmware upgrade as an entry of firmware upgrade, and a schematic diagram is shown in fig. 1.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the Bootloader program itself is not upgradeable. The Bootloader program is a program executed first after the device is started, and has the following functions: the firmware upgrading method comprises a first guiding and jumping function for guiding and jumping a program to an Application program under default conditions, and a second firmware upgrading function for executing the firmware upgrading function to write new Application firmware into a firmware storage area when the Application program needs upgrading. In the prior art, on one hand, an Application program does not have a firmware upgrading function for a Bootloader program, and on the other hand, upgrading the Bootloader program has a great risk, and once the firmware of the Bootloader program is damaged in the upgrading process, the device cannot be started, so that the Bootloader program in the prior art is not firmware upgradable.
(2) The firmware upgrade function of the Bootloader program is strongly coupled with the Application program, and Application defects have the possibility of possibly causing permanent failure of the firmware upgrade function. Because the firmware upgrading module of the prior art is integrated in the Bootloader program, and the logic triggering firmware upgrading is in the Application program, it is required that the interfaces, protocols and firmware upgrading logics of the two programs must be completely matched, and if the firmware upgrading logic updated by the Application program is not compatible with the Bootloader program, the device is used for being unable to execute firmware upgrading.
(3) The device system may be damaged permanently by accident during the firmware upgrade process. The principle of the problem is similar to that in (2), when the Application firmware is updated, the Bootloader program in the prior art firstly erases the original Application program and then writes the original Application program into new firmware, if an unexpected situation such as power failure or program termination occurs at the moment, the Application program is permanently damaged, even if the device is restarted and guided to the Application program, the device cannot normally work due to damaged firmware data, which is also the reason that most devices in the market require the residual electric quantity to be larger than a certain value when updating the firmware.
The difficulty in solving the above problems and defects is:
for formal products, regardless of updating Bootloader programs or solving failures of Application programs, the device shell is usually required to be detached to directly burn firmware into the storage medium, and the burning of the firmware into the storage medium is easy, but the factory state of the product is damaged, which is unacceptable by users. More seriously, for mass-produced and sold products, such as airplane formation, it is not practical to complete firmware upgrade of large-scale equipment through one-to-one product firmware upgrade, and once the equipment fails, the possibility of non-destructive problem solving is zero.
The significance of solving the problems and the defects is as follows:
with the increasing maturity of product manufacturing and processing technologies, the iteration and new development speed of products is faster and faster, which results in that the development of device firmware needs to be completed in a short time, which also means that some bugs exist in the stability and security of the firmware, and the firmware needs to be continuously updated to repair known problems, which is usually the practice of some device manufacturers, and an available version is issued first, and then the product is completed by system upgrade. The method solves the problems that Bootloader needs to be updated and the equipment is possibly damaged due to improper operation or other unexpected reasons, realizes complete firmware upgrading logic, can ensure that the equipment is always in an upgradable state, helps equipment manufacturers to quickly update the firmware, and achieves the purposes of repairing bugs, optimizing firmware functions, improving user experience and the like.
Another important meaning of the method is that the method is a set of universal and safe firmware upgrading method, can be adapted to almost all electronic products, and by transplanting the existing method, newly developed equipment can also have a firmware upgrading function quickly, so that the investment cost required for developing the function is greatly reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a formation unmanned aerial vehicle batch firmware upgrade implementation system and method and other electronic equipment capable of performing batch firmware upgrade in a cluster control mode.
The invention is realized in such a way, and discloses a method for realizing the batch firmware upgrade of formation unmanned aerial vehicles, which comprises the following steps:
executing a Bootloader program, judging a firmware upgrading mark by the Bootloader program, executing boot jump, and jumping to an Application program;
when the Application program needs firmware upgrading, a WiFi or 4G/5G link triggers a firmware upgrading logic through a firmware upgrading module in the Application program to finish firmware downloading and rewrite a firmware upgrading logic mark, at the moment, a read-write mark is executed, then equipment is restarted, a Bootloader program is executed to judge a firmware upgrading mark bit, and firmware upgrading of the Application program is finished;
when the Recovery program needs firmware upgrading, downloading the firmware through an upgrading inlet of the Application program, and finishing the firmware upgrading of the Recovery program through firmware upgrading;
when any program in the Application or Recovery is abnormal, the Bootloader program automatically guides the system to a normal program in the Application or Recovery, and a user recovers the program in the Application or Recovery with the abnormality through a firmware upgrading function;
and when the power supply is recovered, the system automatically recovers the unfinished firmware upgrade so as to restore the normal usable state of the equipment.
Furthermore, when the Application program needs firmware upgrading, for the Application program needing upgrading, a boot jump is executed, and the jump is made to a Recovery program; and when the Recovery program also needs to update the Application program, downloading the firmware through the update inlet, and finishing the firmware update of the Application program through the firmware update.
Another object of the present invention is to provide a firmware upgrade implementing system, including:
the firmware separation system is used for separating the firmware upgrading function in the Bootloader program;
the firmware optimization system optimizes and designs the firmware upgrading logic to ensure that the firmware upgrading function forms a complete closed loop;
remote batch firmware upgrade system based on 4G/5G or WiFi link.
Further, the firmware separation system comprises a Bootloader program guide module, and the boot of the Recovery program or the Application program is realized.
Further, the Recovery program comprises a firmware upgrading module for upgrading the Application program.
Further, the Application program comprises a device function program module and a firmware upgrading module for upgrading the Recovery program.
Another object of the present invention is to provide an electronic device with a firmware upgrade function, the device including a memory and a processor, the memory storing an executable program, the executable program, when executed by the processor, causing the processor to perform the steps of:
executing a Bootloader program, judging a firmware upgrading mark by the Bootloader program, executing boot jump, and jumping to an Application program;
when the Application program needs firmware upgrading, a WiFi or 4G/5G link triggers a firmware upgrading logic through a firmware upgrading module in the Application program to complete firmware downloading and rewrite a firmware upgrading logic mark, then equipment is restarted, a Bootloader program is entered to judge a firmware upgrading mark bit, and firmware upgrading of the Application program is completed;
when the Recovery program needs firmware upgrading, the firmware upgrading of the Recovery program is completed through a firmware upgrading module of the Application program;
when any program in the Application or Recovery is abnormal, the Bootloader program automatically guides the system to a normal program in the Application or Recovery, and a user recovers the program in the Application or Recovery with the abnormality through a firmware upgrading function;
when the power supply is recovered, the system automatically recovers the unfinished firmware upgrade for recovering the normal usable state of the equipment.
Another object of the present invention is to provide a readable storage medium, which stores an executable program, and when the executable program is executed by a processor, the processor executes the firmware upgrade implementation method.
Another object of the present invention is to provide an information data processing terminal, which is used for implementing the firmware upgrade implementing method.
By combining all the technical schemes, the invention has the advantages and positive effects that:
firstly, entering a Bootloader program to judge a firmware upgrading mark, executing boot skip, and skipping to an Application program; when the equipment needs firmware upgrading, a WiFi or 4G/5G link triggers a firmware upgrading logic through a firmware upgrading module in an Application program to complete firmware downloading and rewrite a firmware upgrading logic mark, then the equipment is restarted, a Bootloader program is entered to judge a firmware upgrading mark bit, a boot jump is executed, a Recovery program is jumped to, a module for firmware upgrading is also arranged in the Recovery program to complete firmware upgrading of the Application program, and similarly, firmware upgrading of the Recovery program can also be completed through the Application program upgrading module. In addition, when any program of the Application program and the Recovery program fails, the firmware of the failed program can be upgraded by the other program, so that the program failure is solved. The firmware upgrading method provided by the invention overcomes the defects that the Bootloader program in the traditional firmware upgrading method cannot be upgraded, the upgrading function of the Application firmware is possibly invalid, and the equipment is possibly damaged due to the upgrading of the firmware, and has wide applicability, good stability and good abnormal coping capability.
The comparison is as follows:
drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic diagram of firmware upgrade provided by the prior art according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a firmware upgrading method according to an embodiment of the present invention.
Fig. 3 is a flowchart of the Bootloader program according to the embodiment of the present invention.
FIG. 4 is a flowchart of an Application and Recovery program according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a formation unmanned aerial vehicle batch firmware upgrade implementation system and method and other electronic equipment capable of performing batch firmware upgrade in a cluster control manner, and the invention is described in detail below with reference to the accompanying drawings.
Because the Bootloader program can not be upgraded, the firmware upgrading method simplifies the function of the Bootloader program, separates the firmware upgrading function in the traditional Bootloader program, and ensures that the Bootloader program only has a single function, thereby avoiding the requirement of firmware upgrading and solving the technical problem that the Bootloader program can not be upgraded.
The method ensures that the firmware upgrading function forms a complete closed loop by optimally designing the firmware upgrading logic, not only ensures the firmware upgrading function under the normal condition, but also ensures the firmware recovery mechanism under the abnormal condition, and can not cause the firmware upgrading function loss of equipment and the equipment damage (the Application program can not be recovered) due to software defects or abnormal operation.
The method adopts the program combination of Bootloader, Recovery and Application to realize a complete firmware upgrading scheme. The Bootloader program only has a boot function, and compared with the traditional scheme, the firmware upgrading function is cancelled, but the boot function is more flexible, namely the Bootloader program can be booted to a Recovery program and an Application program. The Recovery program integrates the firmware upgrading function of the Bootloader program in the traditional scheme and the firmware upgrading entry function in the Application program. The Application program includes a part of functions similar to the Recovery program in addition to the device functions, and the schematic diagram is shown in fig. 2.
The core principle of the method is that mutual firmware upgrading is realized through two sets of programs with firmware upgrading, and the specific service logic is described as follows:
1. when the equipment is normally started, executing a Bootloader program, judging a firmware upgrading mark by the Bootloader program, and executing a 'boot jump' to jump to an Application program;
2. when the equipment Application program needs firmware upgrading, a WiFi or 4G/5G link triggers a firmware upgrading logic through a firmware upgrading module in the Application program to finish firmware downloading and rewrite a firmware upgrading logic mark, at the moment, a read-write mark I is executed, then the equipment is restarted, a Bootloader program is executed to judge a firmware upgrading mark bit, as the Application program needs to be upgraded, a boot jump II is executed to jump to a Recovery program, the Recovery program also finds that the Application program needs to be upgraded, therefore, the firmware is downloaded through an upgrading entry, and the firmware upgrading of the Application program is finished through the firmware upgrading I;
3. when the equipment Recovery program needs firmware upgrading, downloading the firmware through an upgrading inlet of the Application program, and finishing the firmware upgrading of the Recovery program through 'firmware upgrading',;
4. when any program of Application or Recovery is abnormal, the Bootloader program can automatically guide the system to another normal program, and a user can recover the abnormal program through the firmware upgrading function;
5. when any program of Application or Recovery is in an unexpected situation, such as power failure, in the process of executing firmware upgrade, the system can automatically recover the firmware upgrade which is not completed before when power supply is recovered, and the equipment can be ensured to recover the normally usable state.
In the throttle flow chart, corresponding programs are abbreviated, wherein Boooloader is abbreviated as BOOT, Application is abbreviated as APP, and Recovery program is abbreviated as RCVR.
A flowchart of the Bootloader program is shown in fig. 3.
FIG. 4 shows a flowchart of the Application and Recovery programs, and FIG. 4 shows a complete flowchart of the firmware execution process because the Application and Recovery programs have the same firmware upgrade logic.
Formation unmanned aerial vehicle system, usually by the quantity several hundreds to thousands of unmanned aerial vehicle units constitute, in order to adapt to the requirement of technical development and the demand of market, the unmanned aerial vehicle firmware needs frequent batch firmware upgrade, there is the upgrading into low power to use traditional firmware upgrade method to have, and lead to the problem that the aircraft firmware damages because of improper operation or other abnormal conditions easily, this kind of equipment system damages usual solution in the past is that the firmware is burnt again to the machine tearing down (other equipment that use traditional firmware upgrade scheme are also true), increased the risk of damaging equipment and extra cost of maintenance.
After the method is applied to the formation unmanned aerial vehicle system, the success rate of firmware upgrading is effectively improved, and the firmware is not damaged due to the firmware upgrading of the airplane; in the continuous updating and iteration process of the firmware, the Bootloader program of the airplane does not need to be upgraded, and the Application program and the Recovery program can be upgraded at will according to requirements, so that the flexibility is greatly improved.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A method for realizing batch firmware upgrade of formation unmanned aerial vehicles is characterized by comprising the following steps:
the equipment is started to enter a Bootloader program, the Bootloader program judges a firmware upgrading mark, and performs boot skip, and the boot skip can be carried out to an Application program or a Recovery program;
when the Application program needs firmware upgrading, a WiFi or 4G/5G link triggers a firmware upgrading logic through a firmware upgrading module in the Application program to finish firmware downloading and rewrite a firmware upgrading logic mark, then equipment is restarted, a Bootloader program is entered to judge a firmware upgrading mark bit, and the Bootloader program is guided to jump to a Recovery program to finish firmware upgrading of the Application program;
when the Recovery program needs firmware upgrading, the firmware upgrading of the Recovery program is completed through a firmware upgrading module of the Application program;
when any program in the Application or Recovery is abnormal, the Bootloader program automatically guides the system to a normal program in the Application or Recovery, and a user recovers the program in the Application or Recovery with the abnormality through a firmware upgrading function;
when the power supply is recovered, the system automatically recovers the unfinished firmware upgrade for recovering the normal usable state of the equipment.
2. The firmware upgrade implementation method of claim 1, wherein when the Application program needs firmware upgrade, the device is restarted and enters a Bootloader program to perform boot jump, and the device jumps to a Recovery program to complete firmware upgrade of the Application program through a firmware upgrade module; when the Recovery program also needs to update the firmware, the firmware updating module in the Application program completes the firmware updating of the Recovery program.
3. A firmware upgrade implementation system, comprising:
the firmware separation system is used for separating the firmware upgrading function in the Bootloader program;
and the firmware optimization system optimizes and designs the firmware upgrading logic to enable the firmware upgrading function to form a complete closed loop.
4. A firmware upgrade implementation system according to claim 3, wherein the firmware separation system includes a Bootloader program boot module to enable booting of a Recovery program or an Application program.
5. The firmware upgrade implementation system of claim 4, wherein the Recovery program includes a firmware upgrade module for Application program upgrade.
6. The firmware upgrade implementation system according to claim 4, wherein the Application program includes a device function program module, and a firmware upgrade module for a Recovery program upgrade.
7. An electronic device with firmware upgrade functionality, the device comprising a memory and a processor, the memory storing an executable program that, when executed by the processor, causes the processor to perform the steps of:
executing a Bootloader program, judging a firmware upgrading mark by the Bootloader program, executing boot jump, and jumping to an Application program;
when the Application program needs firmware upgrading, a WiFi or 4G/5G link triggers a firmware upgrading logic through a firmware upgrading module in the Application program to complete firmware downloading and rewrite a firmware upgrading logic mark, then equipment is restarted, a Bootloader program is entered to judge a firmware upgrading mark bit, and firmware upgrading of the Application program is completed;
when the Recovery program needs firmware upgrading, the firmware upgrading of the Recovery program is completed through a firmware upgrading module of the Application program;
when any program in the Application or Recovery is abnormal, the Bootloader program automatically guides the system to a normal program in the Application or Recovery, and a user recovers the program in the Application or Recovery with the abnormality through a firmware upgrading function;
when the power supply is recovered, the system automatically recovers the unfinished firmware upgrade for recovering the normal usable state of the equipment.
8. A readable storage medium storing an executable program which, when executed by a processor, causes the processor to execute the firmware upgrade implementation method.
9. An information data processing terminal, characterized in that, the information data processing terminal is used for realizing the firmware upgrade realizing method of any one of claims 1-2.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113805922A (en) * | 2021-09-27 | 2021-12-17 | 一飞智控(天津)科技有限公司 | Method, system, terminal and application for upgrading and switching embedded linux dual-backup partition |
| CN113805923A (en) * | 2021-09-27 | 2021-12-17 | 一飞智控(天津)科技有限公司 | Method, system and medium for upgrading control components of formation aircrafts, formation aircrafts and application |
| CN113848853A (en) * | 2021-09-27 | 2021-12-28 | 一飞智控(天津)科技有限公司 | Flight controller upgrading flow processing method, system, terminal, medium and application |
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2020
- 2020-12-11 CN CN202011458452.6A patent/CN112540780A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113805922A (en) * | 2021-09-27 | 2021-12-17 | 一飞智控(天津)科技有限公司 | Method, system, terminal and application for upgrading and switching embedded linux dual-backup partition |
| CN113805923A (en) * | 2021-09-27 | 2021-12-17 | 一飞智控(天津)科技有限公司 | Method, system and medium for upgrading control components of formation aircrafts, formation aircrafts and application |
| CN113848853A (en) * | 2021-09-27 | 2021-12-28 | 一飞智控(天津)科技有限公司 | Flight controller upgrading flow processing method, system, terminal, medium and application |
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