CN112559198A - Method for storing bus data in memory, storage device and storage medium - Google Patents

Method for storing bus data in memory, storage device and storage medium Download PDF

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Publication number
CN112559198A
CN112559198A CN201910853740.2A CN201910853740A CN112559198A CN 112559198 A CN112559198 A CN 112559198A CN 201910853740 A CN201910853740 A CN 201910853740A CN 112559198 A CN112559198 A CN 112559198A
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message queue
frame
frames
storing
memory
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陈洁琴
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Beijing Coretek Systems Technology Co ltd
Kyland Technology Co Ltd
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Beijing Coretek Systems Technology Co ltd
Kyland Technology Co Ltd
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Priority to CN201910853740.2A priority Critical patent/CN112559198A/en
Priority to PCT/CN2019/108653 priority patent/WO2021046936A1/en
Publication of CN112559198A publication Critical patent/CN112559198A/en
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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for program control, e.g. control units
    • G06F9/06Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46Multiprogramming arrangements
    • G06F9/54Interprogram communication
    • G06F9/546Message passing systems or structures, e.g. queues
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G05B19/4185Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for program control, e.g. control units
    • G06F9/06Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46Multiprogramming arrangements
    • G06F9/54Interprogram communication
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Automation & Control Theory (AREA)
  • Information Transfer Systems (AREA)

Abstract

The invention provides a method for storing bus data into a memory, which is provided with a message queue and comprises the following steps: the collection process comprises the following steps: each CAN frame collected by the CAN interrupt service program from the CAN buffer area is stored in the message queue; the regular storage process is as follows: and regularly reading the CAN frames from the message queue, recombining the CAN frames, storing the recombined CAN frames in a memory, and deleting the CAN frames read from the message queue. The invention uses the message queue, the CAN interrupt service program stores each CAN frame collected from the CAN buffer area into the message queue, and takes out the CAN frame in the message queue in the following storage task and stores the CAN frame into the memory.

Description

Method for storing bus data in memory, storage device and storage medium
Technical Field
The present invention relates to the field of data storage, and in particular, to a method for storing bus data in a memory, a storage device, and a storage medium.
Background
CAN is a short term for Controller Area Network (CAN), developed by BOSCH corporation of germany, which is known to develop and produce automotive electronics, and finally becomes an international standard (ISO 11898), which is one of the most widely used field buses internationally. The CAN bus protocol has become a standard bus for automotive computer control systems and embedded industrial control local area networks.
With the development of equipment system intellectualization and informatization, the bus data interaction rate and data interaction quantity among all devices are greatly increased, but the existing CAN bus data storage method usually adopts a mode of storing one-way CAN data on an SD card, has slow storage speed and is difficult to reliably and completely record all CAN bus data. The other processing mode is that the collected CAN data is directly sent to an upper computer or an application layer to be processed without being stored in a memory, and the CAN data CAN be lost when power failure and other accidents happen. Therefore, the multi-channel CAN data acquisition is carried out at the same time, and is stored on an SD card or other storage equipment in real time, and meanwhile, no frame loss is ensured, which is very important in bus data storage.
Disclosure of Invention
In view of the above, the main objective of the present invention is to provide a method, a storage device and a storage medium for storing bus data in a memory, wherein each CAN frame collected from a CAN buffer by a CAN interrupt service program is stored in a message queue by using the message queue, and the CAN frame in the message queue is taken out and stored in the memory in a subsequent storage task.
The invention adopts the technical scheme that a method for storing bus data in a memory is provided with a message queue, and the method comprises the following steps:
the collection process comprises the following steps: each CAN frame collected by the CAN interrupt service program from the CAN buffer area is stored in the message queue;
the regular storage process is as follows: and regularly reading each CAN frame from the message queue, recombining the CAN frames and storing the recombined CAN frames in a memory, and deleting the CAN frames read from the message queue.
By the method, the CAN interrupt service program collects and stores CAN frames of the CAN buffer area into the message queue by setting the message queue, reads out all CAN frame data from the message queue periodically according to the set frequency, recombines all the CAN frame data and stores the recombined CAN frame data into the memory.
In a further improvement, the acquisition process further comprises:
and configuring the capacity of the message queue capable of storing the CAN frames according to the rate of the CAN frames sent by the CAN equipment and the storage rate of the memory.
Therefore, before the acquisition process of the method starts, a message queue needs to be initialized and configured in advance, the number of CAN frames which CAN be accommodated by the message queue is reasonably configured according to the rate of CAN frames sent by CAN equipment and the storage rate of a memory, and because a storage time is needed when the CAN frames of the message queue are stored in the memory, a CAN bus still continues to send the CAN frames to the message queue within the storage time, the capacity of the message queue capable of storing the CAN frames needs to be configured in consideration of the storage time and the rate of the CAN frames sent by the CAN equipment, so that the CAN frames of the message queue cannot overflow.
In a further improvement, the message queue adopts a FIFO mechanism for storage and reading.
Therefore, the FIFO is a first-in first-out buffer mechanism, and the buffer mechanism of the message queue adopts the FIFO, so that the CAN frames stored in the message queue are sequentially added to the tail of the queue, and read from the head of the queue when reading from the message queue.
In a further refinement, the acquisition process comprises:
when CAN interruption is detected, the CAN interruption service program collects CAN frame data from a CAN buffer area;
necessary data is extracted from the CAN frame data, stored in a frame structure body to form a CAN frame which CAN be stored in a message queue, and stored in the message queue.
Therefore, in the CAN interrupt service program, CAN frame data of the buffer area is collected, required data is extracted, the data is stored in a corresponding frame structure body to form a CAN frame which CAN be stored in a message queue, and the CAN frame is sent to the tail of the message queue.
Further improvement, the acquisition comprises simultaneous acquisition of multiple CAN channels:
and the multi-path CAN interrupt service program stores each CAN frame collected from the multi-path CAN buffer area into the message queue.
Therefore, because the CAN bus usually has a plurality of CAN channels, the method supports simultaneous data acquisition operation of the plurality of CAN channels, the data acquisition operation is completed in a CAN interrupt service program, and CAN frames stored in a plurality of CAN buffer areas CAN be taken out and simultaneously sent to a message queue to be sequentially stored at the tail of the queue in the CAN interrupt service program.
In a further refinement, the storing process comprises:
creating a storage task, and creating and opening a file of a memory;
reading each CAN frame from the message queue, recombining each frame data and writing the data into a cache sector corresponding to the file;
when the cache sector is full, the frame data in the cache sector is flushed to the file in the memory.
Therefore, because the CAN frames stored in the message queue are not in the original sequence of the data, the data of each frame needs to be reconstructed after the CAN frame data are read, and then the reconstructed data are stored in a file of a memory, wherein the file adopts a cache mechanism, and when a sector is full, a flush operation is triggered to flush the data in the sector into the file.
In a further improvement, the CAN frames in the message queue are processed in a non-blocking manner when the CAN frames are read from the message queue.
Therefore, the mode of processing the CAN frame in the message queue is performed in a non-blocking mode, namely, if the CAN frame exists in the message queue, the message queue CAN be read only when the storage task is activated, and the CAN frame is deleted after the reading is completed, so that the message queue is always in an active state, and the CAN frame cannot overflow to cause frame loss.
Further improvement, still include: and when the message queue is empty, delaying for a period of time, and then detecting whether the message queue is empty again.
Therefore, as the message queue is read in a non-blocking manner, the CAN frame in the message queue is read and deleted only if the message queue is not empty, and when the message queue is empty, a time delay CAN be performed according to system requirements, for example, 10 milliseconds, that is, the processing right of the CPU is actively abandoned for 10 milliseconds, so that other tasks are scheduled, and then whether the message queue is empty is detected again.
Further improvement, still include: and the size of the file exceeds a set value, or the file is closed when the power supply is judged to be abnormal.
Therefore, the storage efficiency is reduced due to frequent switching of the file, so that the file CAN be opened in advance before each storage task is started, the opened state is kept, the file is closed before the size of the file exceeds the set size or abnormal power failure, and the content in the CAN buffer area is brushed into the file, so that the efficiency is ensured, and frame loss is prevented.
The invention also provides a storage device adopting the storage method, which comprises the following steps:
the acquisition module is used for storing each CAN frame acquired from the CAN buffer area in the CAN interrupt service into a message queue;
and the storage module is used for regularly reading each CAN frame from the message queue, recombining the CAN frames, storing the CAN frames, and deleting the CAN frames read from the message queue.
The invention also provides a storage medium on which a computer program is stored which, when executed by a processor, implements a method of storing bus data on a memory as described above.
Drawings
FIG. 1 is a flow chart of a method of storing bus data in a memory according to the present invention;
FIG. 2 is a schematic diagram of the storage of bus data to memory in accordance with the present invention;
FIG. 3 is a flow chart of frame processing for a CAN interrupt service routine of the present invention;
FIG. 4 is a flow chart of the present invention for storing CAN frame data in a non-blocking manner;
FIG. 5 is a schematic diagram of a memory device according to the present invention.
Detailed Description
The following describes in detail specific embodiments of a method for storing bus data in a memory, a storage device, and a storage medium according to the present invention with reference to fig. 1 to 5, and the following examples are all described by taking the application to a CAN bus as an example.
Referring to fig. 1-2, there are shown a flow chart and a schematic diagram of a method for storing bus data in a memory according to the present invention, and the steps are detailed as follows:
s100: setting a message queue and carrying out initialization configuration;
the message queue adopts an FIFO (first in first out) mechanism for storage and reading, the FIFO is a first in first out buffer mechanism, and the buffer mechanism of the message queue adopts the FIFO, so that CAN (controller area network) frames stored in the message queue are sequentially added into the tail part of the queue, and are sequentially read from the head of the queue when being read from the message queue;
before the acquisition and storage of the subsequent steps, the message queue needs to be initialized and configured with the number of elements (that is, the number of the storable CAN frames), the number of elements configured in the message queue is N, and the size of N is determined by the rate of sending the CAN frames by the CAN device and the storage rate of the memory;
for example, the CAN bus in this embodiment has two paths in total, each CAN channel sends 500 frames every 1 second, that is, there is 1 frame every 2 milliseconds, and the two CAN channels have 1 frame every millisecond in total. In the storage process of the subsequent step, when the cache sector is full, the data of the cache sector is stored in the file of the memory, when the size of the file exceeds the preset size of a single file, the file needs to be closed, a new file needs to be created and opened again, the process is slowest, the time is about 10-20 milliseconds, and the number of elements stored in the message queue can reach 10-20 within the time period, so that when the number of the elements of the message queue is configured, the storage rate needs to be considered, the frame loss is not considered, the number of the elements in the message queue is usually expanded to be 2 times of that in the slowest case, namely, the N is set to be about 20-40, which is reasonable, and the overflow of the message queue is ensured not to be caused.
S200: the CAN interrupt service program stores each CAN frame collected from the CAN buffer area into the message queue;
the step is a CAN frame acquisition process, namely, in a CAN interrupt service program, CAN frames of a CAN buffer area are acquired and stored in a message queue set in the step S100, wherein the acquisition process supports simultaneous acquisition of data of multiple CAN channels, all CAN frames in the CAN buffer areas of the multiple CAN channels are acquired and then sent to the message queue, and are sequentially stored at the tail of the queue according to a FIFO mechanism of the message queue;
as shown in fig. 3, this step specifically includes the following sub-steps:
s210: detecting whether CAN interruption exists or not, if so, performing the next step of acquisition, and if not, returning to the step to continue detection;
s220: when CAN interruption is detected, the CAN interruption service program collects CAN frame data from a CAN buffer area;
S230-S240: extracting the required data in the CAN frame data, storing the data in a frame structure body to form a CAN frame which CAN be stored in a message queue, and sending the CAN frame to the tail of the message queue;
s250: clear CAN interrupt and return to step S210.
S300: and according to the set reading frequency, regularly reading a plurality of CAN frames from the message queue, recombining the data of each frame and storing the data of each frame into a memory.
As shown in fig. 4, the reading and storing sub-steps in this step are specifically as follows:
s310: creating a storage task;
s320: creating and opening a file of a memory, and returning a handle;
it is worth mentioning that, because frequent switching of files reduces the storage efficiency, when a storage task starts, the files need to be opened and kept open until the size of the files exceeds a set size, or the files need to be closed when power supply abnormality (before abnormal power failure is realized) is judged, and data in a cache sector is flushed into the files;
S330-S350: acquiring the CAN frames at the head of the queue without blocking from the message queue, if the CAN frames exist, deleting the corresponding CAN frames in the message queue after the acquisition is finished, and if the CAN frames do not exist, returning to the step S330; the method for processing the CAN frame in the message queue in the non-blocking mode comprises the following steps: under the condition that the storage task is activated or scheduled, the message queue is not empty, namely, the message queue CAN be read and deleted in sequence as long as a CAN frame exists;
s360: reading each frame data from the collected CAN frame, recombining each frame data according to a specified format, and writing the data into a file of a memory, wherein the file writing adopts a cache mechanism, and when a cache sector is full, a flush operation is triggered to flush the data in the cache sector into the file of the memory;
s370: after the collection and storage of all the CAN frames in the message queue are completed, the message queue is judged to be empty at this time, namely no CAN frame exists, the time delay is 10 milliseconds, namely the processing power of the CPU is actively abandoned for 10 milliseconds, other tasks in the CPU are scheduled, and then the process returns to S330.
In the embodiment, the message queue is adopted and the configuration suitable for the system requirement is carried out, so that the message queue simultaneously receives a plurality of CAN frame data from one or more CAN channels without frame loss, the storage quality is ensured, and the storage efficiency is improved.
As shown in fig. 5, in another embodiment of the present invention, there is further provided a storage apparatus using the storage method, where the storage apparatus includes:
the acquisition module 110 is configured to store each CAN frame acquired from the CAN buffer in the CAN interrupt service in a message queue;
and the storage module 120 is configured to periodically read each CAN frame from the message queue, reassemble the CAN frames, store the CAN frames, and delete the CAN frames read from the message queue.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A method of storing bus data to a memory, wherein a message queue is provided, the method comprising:
the collection process comprises the following steps: each CAN frame collected by the CAN interrupt service program from the CAN buffer area is stored in the message queue;
the regular storage process is as follows: and regularly reading each CAN frame from the message queue, recombining the CAN frames and storing the recombined CAN frames in a memory, and deleting the CAN frames read from the message queue.
2. The method of claim 1, wherein the acquisition process further comprises:
and configuring the capacity of the message queue capable of storing the CAN frames according to the rate of the CAN frames sent by the CAN equipment and the storage rate of the memory.
3. The method according to claim 1 or 2, wherein the message queue uses a FIFO mechanism for storing and reading.
4. The method according to claim 1 or 2, wherein the acquisition process comprises:
when CAN interruption is detected, the CAN interruption service program collects CAN frame data from a CAN buffer area;
necessary data is extracted from the CAN frame data, stored in a frame structure body to form a CAN frame which CAN be stored in a message queue, and stored in the message queue.
5. The method of claim 1, wherein the acquiring comprises simultaneous acquisition of multiple CAN channels:
and storing each CAN frame collected from the multi-path CAN buffer area in the multi-path CAN interrupt service into the message queue.
6. The method of claim 1, wherein the storing the procedure comprises:
creating a storage task, and creating and opening a file of a memory;
reading each CAN frame from the message queue, recombining each frame data and writing the data into a cache sector corresponding to the file;
when the cache sector is full, the frame data in the cache sector is flushed into a file of the memory.
7. The method of claim 6 wherein reading each CAN frame from the message queue processes CAN frames in the message queue in a non-blocking manner.
8. The method of claim 7, further comprising: and when the message queue is empty, delaying for a period of time, and then detecting whether the message queue is empty again.
9. A storage device based on the method of any one of claims 1 to 8, comprising:
the acquisition module is used for storing each CAN frame acquired from the CAN buffer area in the CAN interrupt service into a message queue;
and the storage module is used for regularly reading each CAN frame from the message queue, recombining the CAN frames, storing the CAN frames, and deleting the CAN frames read from the message queue.
10. A storage medium on which a computer program is stored, which program, when being executed by a processor, carries out a method of storing bus data according to any one of claims 1 to 8 on a memory.
CN201910853740.2A 2019-09-10 2019-09-10 Method for storing bus data in memory, storage device and storage medium Pending CN112559198A (en)

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Application publication date: 20210326