CN112988172A - Program updating method, device and system of encoder - Google Patents
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Abstract
The invention discloses a program updating method of an encoder, which comprises the steps of receiving a program updating instruction sent by an upper computer; erasing the original working program, and downloading a new working program through a communication link connected between the upper computer and the encoder; and writing the new working program into the storage space after the original working program is erased. The new working program is downloaded through the existing communication link between the upper computer and the encoder, so that the working program of the MCU chip in the encoder is updated, the program updating difficulty of the encoder is reduced to a certain degree, and the program updating working efficiency of the encoder is improved to a certain degree, and the updating cost is reduced. The application also provides a program updating device and a program updating system of the encoder, and the program updating device and the program updating system have the beneficial effects.
Description
Technical Field
The present invention relates to the field of encoder technologies, and in particular, to a method, an apparatus, and a system for updating a program of an encoder.
Background
As a measuring device, an encoder is often installed as an embedded component at a position similar to the rear end of a rotating shaft of a servo motor, and an external housing is required for sealing and shielding. However, in the process of using the encoder installed in the equipment such as the servo motor, which has been burned before the encoder leaves the factory, various defects are inevitably generated in the testing stage and even the using stage. The engineer is involved to produce a new version of the program after solving the bug in order to update the original working program.
Disclosure of Invention
The invention aims to provide a method, a device and a system for updating a program of an encoder, which can reduce the program updating difficulty and updating cost of the encoder to a certain extent.
To solve the above technical problem, the present invention provides a program updating method for an encoder, including:
receiving a program updating instruction sent by an upper computer;
erasing the original working program, and downloading a new working program through a communication link connected between the upper computer and the encoder;
and writing the new working program into the storage space in which the original working program is erased.
In an optional embodiment of the present application, after downloading a new working program through a communication link connected between the upper computer and the encoder, the method further includes:
identifying a check frame which is inserted into each frame of data in the new working program, and checking the new working program;
and if the new working program passes the verification, writing the new working program into the storage space erased by the original working program.
In an optional embodiment of the present application, identifying a check frame inserted in each frame of data in the new working procedure, and checking the new working procedure includes:
identifying an identifier of the check frame interspersed between frame data of the new workflow;
reading the operation data and the check data of the check frame based on the identifier;
calculating the operation data according to a preset algorithm to obtain operation result data;
and comparing the operation result data with the check data, and if the operation result data is consistent with the check data, the new working program passes the check.
In an optional embodiment of the present application, erasing the original working program includes:
switching the current program identifier from the working program identifier to an updating program identifier; restarting an MCU chip of the encoder;
when the program identifier is identified as an updated program identifier after restarting, erasing the original working program;
correspondingly, after writing the new working program into the storage space where the original working program is erased, the method further includes:
and switching the current program identifier from the updated program identifier to the working program identifier, and restarting an MCU chip of the encoder.
In an optional embodiment of the present application, downloading a new working program through a communication link connected between the upper computer and the encoder includes:
and downloading the new working program through a 485 bus connected between the upper computer and the encoder.
The present application also provides a program updating apparatus of an encoder, including:
the instruction receiving module is used for receiving a program updating instruction sent by the upper computer;
the download program module is used for erasing the original working program and downloading a new working program through a communication link connected between the upper computer and the encoder;
and the updating program module is used for writing the new working program into the storage space in which the original working program is erased.
In an optional embodiment of the present application, the apparatus further includes a data checking module, configured to, after downloading a new working program through a communication link connected between the upper computer and the encoder, identify a check frame inserted in each frame of data in the new working program, and check the new working program; and if the new working program passes the verification, writing the new working program into the storage space erased by the original working program.
In an optional embodiment of the present application, the data check module is configured to identify an identifier of the check frame that is interspersed between frames of data of the new working procedure; reading the operation data and the check data of the check frame based on the identifier; calculating the operation data according to a preset algorithm to obtain operation result data; and comparing the operation result data with the check data, and if the operation result data is consistent with the check data, the new working program passes the check.
A program updating system of a coder comprises an MCU chip arranged in the coder and an upper computer in communication connection with the MCU chip;
the MCU chip is used for receiving the program updating instruction output by the upper computer and executing the steps of realizing the program updating method of the encoder.
In an optional embodiment of the present application, the MCU chip and the upper computer are connected via 485 bus communication.
The invention provides a program updating method of an encoder, which comprises the steps of receiving a program updating instruction sent by an upper computer; erasing the original working program, and downloading a new working program through a communication link connected between the upper computer and the encoder; and writing the new working program into the storage space after the original working program is erased.
When the working procedure in the MCU chip in the encoder is updated again in this application, need not dismantle the encoder after with the pin connection special update instrument of MCU chip, but directly download new working procedure through existing communication link between host computer and the encoder, and then realize updating the working procedure of MCU chip in the encoder, reduce the procedure update degree of difficulty of encoder to a certain extent, and then improve the procedure update's of encoder work efficiency and reduce the update cost to a certain extent.
The application also provides a program updating device and a program updating system of the encoder, and the program updating device and the program updating system have the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a flowchart illustrating a program updating method for an encoder according to an embodiment of the present disclosure;
fig. 2 is a block diagram of a program updating apparatus of an encoder according to an embodiment of the present invention.
Detailed Description
In normal operation of the encoder, besides the sensing device reads the code wheel rotation position data, a decoding program on the MCU chip core is needed to perform decoding operation on the code signal read and output by the sensing device, and accurate absolute position information is output. In addition, there is more or less difference in the working procedures executed on the MCU chip of the encoder according to the actual measured object.
When the working program on the MCU chip needs to be updated due to the fact that bug exists or the measured equipment needs to be updated and the like, the encoder needs to be disassembled, the shell of the encoder needs to be disassembled, a special updating tool is connected with an updating pin of the MCU chip in the encoder, and the working program in the MCU chip is updated through a new working program stored in the updating tool.
The process of updating the working program of the MCU chip of the encoder needs to have a certain professional knowledge, and can be generally performed by after-sales staff, but the after-sales staff is generally a staff cooperative with the manufacturer, and there is a risk that the new working program is exported from the update tool. The encoder can also be directly returned to the factory for updating the working program in a factory returning and maintenance mode. But this will certainly increase the cost and upgrade efficiency of encoder program updates to some extent.
Therefore, the technical scheme capable of updating the working program in the encoder more simply and efficiently is provided.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, fig. 1 is a schematic flowchart of a program updating method of an encoder according to an embodiment of the present application, where the program updating method may include:
s11: and receiving a program updating instruction sent by the upper computer.
S12: and erasing the original working program, and downloading a new working program through a communication link connected between the upper computer and the encoder.
S13: and writing the new working program into the storage space after the original working program is erased.
It should be noted that the program updating of the encoder mainly refers to updating a working program on an MCU chip in the encoder, an induction device in the encoder senses a code channel position signal and then outputs a coded signal to the MCU chip, and the MCU chip operates the working program to decode the coded signal to obtain an absolute position signal. At present, a special wiring pin is arranged on an MCU chip of the encoder and can be connected with a special updating tool, and the updating of programs in the encoder is realized through the updating tool. Because the encoder belongs to embedded device, obviously, will realize its wiring pin and update the instrument and connect, just need dismantle the encoder, lead to encoder software upgrading process loaded down with trivial details, need consume great manpower and materials.
In the normal working process of the encoder, an upper computer also needs to be connected, when the encoder monitors and obtains measured position data, the encoder needs to perform data interaction with the upper computer, and the measured position data is uploaded to the upper computer. The encoder and the upper computer are typically communicatively connected by a wire, for example, the encoder and the upper computer may be communicatively connected by a 485 bus. Obviously, the upper computer is generally used for providing measurement data of the encoder for the staff, so the upper computer is generally a host computer which can be operated and interacted by the staff.
Therefore, in the embodiment, the encoder and the upper computer are used for information interaction, the upper computer is used for sending a new working program for software upgrading to the encoder, the MCU chip in the encoder can automatically update the working program after downloading the new working program, and the encoder does not need to be disassembled in the whole process; the new working program in the upper computer can be obtained through on-line transmission of a manufacturer in a networking mode, for example, related software can be configured in the upper computer, the software is started only, updating is confirmed, the software runs, the upper computer can automatically obtain the new working program from the manufacturer networking terminal equipment, and the new working program is sent to the encoder, so that the whole process is simple and executed, and even common workers without professional knowledge can realize the new working program. The difficulty of software updating in the encoder is reduced to a great extent, and the software updating cost is reduced.
Further, after the MCU chip in the encoder obtains a new working program, it needs to complete the updating of the working program itself. For this reason, in general, in the MCU chip of the encoder, two different memory spaces may be divided for storing the working program and the update program, respectively. For example, the storage space a stores a work program, and the storage space B stores an update program. Then, when the program does not need to be updated, the running program is the working program stored in the storage space a, and when the working program in the MCU chip needs to be updated, the updating program stored in the storage space B needs to be run. To this end, in an optional embodiment of the present application, after receiving the program update instruction, the method may further include:
switching the current program identifier from the working program identifier to an updating program identifier; restarting an MCU chip of the encoder;
when the program identifier is identified as an updated program identifier after restarting, erasing the original working program;
and after writing the new working program into the storage space after erasing the original working program, switching the current program identifier from the updated program identifier to the working program identifier, and restarting the MCU chip of the encoder.
Because the MCU chip stores two different programs, the MCU chip can specially set two program identifiers of a working program identifier and an updating program identifier, and the program identifier is firstly identified after the MCU chip is started. For example, the work flag may be set to 1, and the update flag may be set to 0.
When the encoder works normally, the current program identifier is obviously the working program identifier, and when the encoder receives an updating program instruction of the upper computer, the working program identifier is triggered to be changed into the updating program identifier. And after the MCU chip is restarted, recognizing that the program identifier is an updated program identifier, and starting to update the program in the storage space corresponding to the working program. And after the work program is updated, changing the program identifier into the work program identifier, restarting the MCU chip again, wherein the program identifier in the restarted MCU chip is the work program identifier, and the work program can be normally executed. Therefore, the MCU chip can automatically complete the working program stored in the MCU chip.
To sum up, when updating the working procedure of encoder again in this application, need not to dismantle the encoder, but directly download new working procedure through the host computer, and then accomplish the renewal of procedure automatically, whole process operation is simple, need not professional staff and carries out work such as the dismantlement of encoder, has reduced the loaded down with trivial details degree of procedure upgrading in the encoder at to a great extent to reduce the update cost of encoder, be favorable to the wide application of encoder.
As described above, during the program update process of the encoder, there may be a problem that the working program is exported by non-factory personnel, and the program leaks. To this end, in an optional embodiment of the present application, after downloading the new working program through the communication link connected between the upper computer and the encoder, the method further includes:
identifying check frames inserted in the data of each frame in the new working program, and checking the new working program;
and if the new working program passes the verification, executing the step of writing the new working program into the storage space after the original working program is erased.
For the data of the new working program, similar to the conventional data, including the starting frame, the data frame and the ending frame, on this basis, in this embodiment, at least one check frame is further set between the starting frame and the ending frame, and the check frame may be inserted between the data of the data frame.
It should be noted that, to insert at least one check frame in a data frame of a new working program, on one hand, whether new engineering data is correct or not is checked, and by checking the data of the check frame in the new engineering data, the correctness of the obtained new working program is ensured, and it is avoided that, due to an unexpected situation, a version of related data of the obtained new working program is incorrect when downloaded.
On the other hand, only the MCU chip in the encoder produced by the factory can identify the check frame, and insert the check frame into the data frame, even if the data of the new working program is accidentally leaked, the person or the device acquiring the data cannot distinguish which part of the data in the data frame is the check frame, which is equivalent to implementing the anti-leakage function of the new working program to a certain extent.
For the check of the check frame, in another optional embodiment of the present application, the check may include:
identifying identifiers of check frames which are inserted between the frames of data of the new working program;
reading operation data and check data of a check frame based on the identifier;
calculating the operation data according to a preset algorithm to obtain operation result data;
and comparing the operation result data with the check data, and if the operation result data is consistent with the check data, the new working program passes the check.
It should be noted that the check frame in this embodiment mainly includes three parts: an identifier, operational data, and verification data. Then when the data of the check frame is interspersed in the data of the data frame, as long as the identifier exists in the data of the new working program, the two subsequent data are necessarily the operation data and the check data.
In practical applications, the MCU chip of each encoder may be individually configured with a specific identifier so that the check frame can be identified after the working program is obtained, rather than considering the data as part of the data frame.
After the operation data and the check data of the check frame are obtained, the operation data can be calculated according to a preset algorithm, and the operation result data and the check data obtained after operation are compared. For example, the content of the check frame includes two data, M123 and N654. The algorithm H calculates M123 to obtain data B654. The algorithm H is preset by a programmer in an update program, and if the data calculated by the algorithm H preset in the update program is different from the N654, obviously, if the correct calculation algorithm corresponding to the calculation data in the obtained new working program is not consistent with the corresponding algorithm in the update program, there may be an error in downloading the obtained new working program, and there may be a new working program that is not corresponding to the type of the encoder, so that the program cannot be directly updated by using the new working program.
As described above, the check frame may be interspersed among data frames, and the identifier of each check frame and the corresponding preset algorithm may be different from each other, so that when performing the check frame check, it is required that each check frame passes through, and it is indicated that the new working procedure check passes through data correctly, and then the subsequent update is performed.
In summary, in this embodiment, a check frame is inserted into the new working program, so that the correctness of the data of the new working program can be checked, and the confidentiality of the new working program is also achieved to a certain extent, thereby avoiding data leakage and improving the security of the new working program.
In an optional embodiment of the application, before leaving a factory, the encoder records two different application programs in the position A and the position B on the MCU chip on a production line respectively, and sets a flag bit in a default state; the encoder can judge whether the A position program or the B position program needs to be operated through a stored flag bit (flag). The position program A is operated on the assumption that the flag is in a default state, and the position program B is operated on the assumption that the flag is in a non-default state; the program stored in the position A is an application program with normal functions, the program stored in the position B is a program for updating and erasing the program at the position A, and the state of the flag is judged before the encoder runs each time, so that the corresponding area is jumped to run the program.
When the encoder program has bug updating requirement, the upper computer is only required to send a program updating command (cmd _ updata).
And after the encoder identifies the command, setting the flag to be in a non-default state, and restarting the MCU chip at the moment, because the flag is judged to be in the non-default state firstly. Further executing the program stored in the position B; the program stored in the position B has the function of erasing the original program in the position A, writing the received program data into the position A through a certain communication protocol, and after the program data is written into the position A, restoring the flag to the default state. Wherein the "certain communication protocol" mainly means:
the self-defined protocol mainly comprises a starting frame, a check frame, a data frame and an ending frame.
The role of the start frame is: and the program for informing the position B, wherein the next sent data belongs to the program needing to be updated. The program code in B enters the accept program data state.
The data frame has the functions of: the program notifying the B position that the frame data belongs to the program data should be written to the corresponding program storage position.
The effect of the end frame is: and informing the B position program, and after the program data is sent, returning the Flag to the default state, and jumping the program pointer to the A position program for execution.
The effect of the check frame is to interleave, by the design implemented, after the start frame and before the end frame. When the B position program receives the frame head of the check frame, the B position program judges that the frame is the check frame, corresponding algorithm check is carried out, the check result is returned to be successful or failed, if the check result is successful, the update is continued, and if the check result is failed, the update is stopped.
The check frame can be mixed for many times before the end frame after the initial frame, so that various check algorithms can be designed, and a cracker is prevented from cracking the program. The protocol for updating the data is customized by a designer, is different from some upgrading protocols (such as xmodem) disclosed on the internet, the disclosed protocol is easy to crack and utilize, and after the designer customizes, some check frames are added, so that the cracking difficulty is greatly increased, and the safety of program data is ensured.
The following describes a program updating apparatus of an encoder according to an embodiment of the present invention, and the program updating apparatus of the encoder described below and the program updating method of the encoder described above may be referred to correspondingly.
Fig. 2 is a block diagram of a program updating apparatus of an encoder according to an embodiment of the present invention, where the program updating apparatus of the encoder shown in fig. 2 may include:
the instruction receiving module 100 is configured to receive a program update instruction sent by an upper computer;
a downloading program module 200, configured to erase an original working program and download a new working program through a communication link connected between the upper computer and the encoder;
and an update program module 300, configured to write the new working program into the storage space in which the original working program is erased.
In an optional embodiment of the present application, the apparatus further includes a data checking module, configured to, after downloading a new working program through a communication link connected between the upper computer and the encoder, identify a check frame inserted in each frame of data in the new working program, and check the new working program; and if the new working program passes the verification, writing the new working program into the storage space erased by the original working program.
In an optional embodiment of the present application, the data check module is configured to identify an identifier of the check frame that is interspersed between frames of data of the new working procedure; reading the operation data and the check data of the check frame based on the identifier; calculating the operation data according to a preset algorithm to obtain operation result data; and comparing the operation result data with the check data, and if the operation result data is consistent with the check data, the new working program passes the check.
In an optional embodiment of the present application, the update program module 300 is configured to switch the current program identifier from the working program identifier to the update program identifier; restarting an MCU chip of the encoder; when the program identifier is identified as an updated program identifier after restarting, erasing the original working program;
the device also comprises an identification switching module which is used for switching the current program identification from the updated program identification to the working program identification after the new working program is written into the storage space which is erased from the original working program, and restarting the MCU chip of the encoder.
In an optional embodiment of the present application, the downloading program module 200 is configured to download the new working program through a 485 bus connected between the upper computer and the encoder.
The program updating device of the encoder of the present embodiment is used to implement the program updating method of the encoder, and therefore, the specific implementation manner of the program updating device of the encoder can be found in the foregoing embodiment of the program updating method of the encoder, and is not described herein again.
The application further provides a program updating system of the encoder, and the system can comprise an MCU chip arranged in the encoder and an upper computer in communication connection with the MCU chip;
the MCU chip is used for receiving the program updating instruction output by the upper computer and executing the steps of the program updating method of the encoder.
The program updating method may include the steps of:
receiving a program updating instruction sent by an upper computer;
erasing the original working program, and downloading a new working program through a communication link connected between the upper computer and the encoder;
and writing the new working program into the storage space in which the original working program is erased.
Optionally, the MCU chip and the upper computer may be connected via 485 bus communication.
In summary, the program updating system of the encoder provided in this embodiment, when the working program on the MCU chip in the encoder is updated, the encoder does not need to be removed, and the upper computer is directly used to transmit the relevant data of the working program required for updating to the MCU chip, so as to realize the automatic updating of the MCU chip, and is simple in operation, and can be operated and implemented without excessive professional knowledge, thereby reducing the difficulty of updating the encoder program and the updating cost to a great extent.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A program update method of an encoder, comprising:
receiving a program updating instruction sent by an upper computer;
erasing the original working program, and downloading a new working program through a communication link connected between the upper computer and the encoder;
and writing the new working program into the storage space in which the original working program is erased.
2. The program updating method of an encoder according to claim 1, further comprising, after downloading a new work program through a communication link connected between the upper computer and the encoder:
identifying a check frame which is inserted into each frame of data in the new working program, and checking the new working program;
and if the new working program passes the verification, writing the new working program into the storage space erased by the original working program.
3. The program update method of an encoder according to claim 2, wherein identifying a check frame inserted in each frame data in the new work, and checking the new work, comprises:
identifying an identifier of the check frame interspersed between frame data of the new workflow;
reading the operation data and the check data of the check frame based on the identifier;
calculating the operation data according to a preset algorithm to obtain operation result data;
and comparing the operation result data with the check data, and if the operation result data is consistent with the check data, the new working program passes the check.
4. The program updating method of an encoder according to claim 1, wherein erasing the original working program comprises:
switching the current program identifier from the working program identifier to an updating program identifier; restarting an MCU chip of the encoder;
when the program identifier is identified as an updated program identifier after restarting, erasing the original working program;
correspondingly, after writing the new working program into the storage space where the original working program is erased, the method further includes:
and switching the current program identifier from the updated program identifier to the working program identifier, and restarting an MCU chip of the encoder.
5. The program updating method of an encoder according to claim 1, wherein downloading a new work program through a communication link connected between the upper computer and the encoder comprises:
and downloading the new working program through a 485 bus connected between the upper computer and the encoder.
6. A program update apparatus of an encoder, comprising:
the instruction receiving module is used for receiving a program updating instruction sent by the upper computer;
the download program module is used for erasing the original working program and downloading a new working program through a communication link connected between the upper computer and the encoder;
and the updating program module is used for writing the new working program into the storage space in which the original working program is erased.
7. The program updating apparatus of an encoder according to claim 6, further comprising a data checking module, configured to identify a check frame inserted in each frame of data in the new working program after downloading the new working program through a communication link connected between the upper computer and the encoder, and check the new working program; and if the new working program passes the verification, writing the new working program into the storage space erased by the original working program.
8. Program update apparatus for an encoder according to claim 7, wherein the data check module is configured to identify identifiers of the check frames interspersed between frames of data of the new working program; reading the operation data and the check data of the check frame based on the identifier; calculating the operation data according to a preset algorithm to obtain operation result data; and comparing the operation result data with the check data, and if the operation result data is consistent with the check data, the new working program passes the check.
9. A program updating system of a coder is characterized by comprising an MCU chip arranged in the coder and an upper computer in communication connection with the MCU chip;
the MCU chip is used for receiving the program updating instruction output by the upper computer and executing the steps of realizing the program updating method of the encoder according to any one of claims 1 to 5.
10. The program updating system of an encoder according to claim 9, wherein the MCU chip and the upper computer are communicatively connected via a 485 bus.
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| CN202110192528.3A CN112988172A (en) | 2021-02-20 | 2021-02-20 | Program updating method, device and system of encoder |
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| CN202110192528.3A CN112988172A (en) | 2021-02-20 | 2021-02-20 | Program updating method, device and system of encoder |
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