CN113204356B - Application program dynamic updating method for vehicle-mounted embedded equipment - Google Patents
Application program dynamic updating method for vehicle-mounted embedded equipment Download PDFInfo
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Abstract
The invention relates to a dynamic updating method of an application program for vehicle-mounted embedded equipment, and belongs to the technical field of ECU dynamic updating. The remote server compares the program information reported by the automobile ECU with the current latest program version of the ECU, sends a command to be updated by the vehicle ECU to the TBOX of the vehicle where the ECU needs to be updated, sends an update packet to the ECU through the CAN bus after receiving the update packet, waits for the TBOX to send the update command after receiving the update packet, and starts to dynamically update after receiving the update command of the TBOX, and the update is completed. The method has the advantages that under the condition that the running of the original program is not affected, the updating of the software is completed, the original data is protected from being lost, and the problems of function semantic ambiguity and multi-thread resource deadlock are solved.
Description
Technical Field
The invention relates to the technical field of dynamic upgrade of an ECU, in particular to a vehicle ECU which is dynamically updated in running. Is a method of (2).
Background
With the continuous increase of the number of vehicles in the world and the continuous development of the technology of the Internet of things, a large number of embedded devices are continuously emerging, the degree of automobile automation is higher and higher, a large number of ECUs (Electronic Control Unit electronic control units) are integrated in an automobile, software becomes the most important component in the ECUs, the iterative speed of programs in the vehicle ECUs is continuously accelerated, and the required updating times are continuously increased. While the current OTA technology increases the speed of software updates, it requires that the vehicle be shut down and all powered devices be turned off for the update. Moreover, the operation is complicated, and the driver needs to understand the updating operation to perform the operation.
While a vehicle typically has a plurality of ECU electronic control units, current OTA technology requires that the ECU operating program be updated in a stationary state during upgrade, which greatly limits the efficiency of the update.
Disclosure of Invention
The invention provides a dynamic updating method of an application program for vehicle-mounted embedded equipment, which aims to solve the problems of limitations and defects of the existing method for remotely upgrading an ECU by OTA.
The technical scheme adopted by the invention is that the method comprises the following steps:
step one: transmitting the generated software update package to a remote OTA server through an Ethernet http service, storing all ECU software version information of the vehicles in the current OTA server in the remote OTA server, and transmitting a software update instruction to the corresponding vehicle through the software version numbers of the new version and the old version to inform the TBOX of the corresponding vehicle that the upcoming software update package is ready to be received;
step two: after receiving an update instruction of a remote OTA server, the vehicle-mounted TBOX starts a dynamic update preparation program, starts an http service, starts a program for acquiring other ECU data of the current vehicle, loads a program for judging whether the running state of the current vehicle meets the dynamic requirement or not, prepares to receive an update package, and informs the remote OTA server that the update package can be sent;
step three: the remote OTA server starts to send an update package, after the vehicle-mounted TBOX receives the complete update package, the integrity of the update package is checked through the MD5 check code, and if the vehicle-mounted TBOX is incomplete, the remote OTA server is informed to resend the update package;
step four: the vehicle-mounted TBOX acquires current running state information of the vehicle, namely acquires sensor information of other ECU (electronic control unit) of the current vehicle so as to acquire the running state of the current safe vehicle, wherein the running states of the 3 safe vehicles meet any one state, namely the dynamic updating requirement is met, and if the dynamic updating requirement is met, the vehicle-mounted TBOX sends an updating instruction to the vehicle-mounted ECU to be updated through a CAN (controller area network) bus to inform the vehicle-mounted ECU of preparing to receive an updating packet sent by the TBOX;
step five: after receiving the instruction sent by the TBOX, the vehicle-mounted ECU starts to load a dynamic update guide program of the vehicle-mounted ECU, wherein the dynamic update guide program comprises a data receiving thread for starting an update packet of a CAN bus, and after the TBOX starts to send the update packet, the vehicle-mounted ECU starts to receive the update packet;
step six: after receiving the update package, the vehicle-mounted ECU checks whether the update package is complete through the MD5 check code, and if not, informs the vehicle-mounted TBOX to resend the update package;
step seven: dynamic update
(1) The method comprises the steps that a dynamic update guide program starts to load a dynamic update package and starts to dynamically update, an update program running in an ECU modifies the next instruction of all threads in a current running program, all threads are enabled to enter a blocking state in a semaphore adding mode, the blocking state is a state that the threads are temporarily stopped, after all threads are waited to enter the blocking state, priority is assigned to each thread according to logic of running the program when the threads are created according to sequential logic of running the threads, and the existing threads are combined into one process to run according to the height of the priority of the threads;
(2) The dynamic updating program starts to update the original program, and both the data of the address where the data section is positioned and the data of the address where the bss section is positioned in the original memory are updated into new data of the current version;
(3) The dynamic updating program traverses functions existing in the current function stack, the functions existing in the stack are functions currently being called, and for functions not existing in the function stack, the function entry address of the old version function is changed into the function address of the new function version;
(4) For functions existing in a function stack, loading the content of an old function and the content of a new function into an auxiliary thread for operation, wherein the auxiliary process is a process for updating a function being called, and the process is already loaded into a memory for operation when dynamic updating starts; when traversing the function stack, obtaining the function name currently running, and loading the old version of function into the auxiliary process through the function name by the obtained function name. When a new version update package is manufactured, a new and old function corresponding table is created, the corresponding table is correspondingly stored in the new version update package in a MAP mode by adopting a c++ STL library, the corresponding relation between the new and old functions is contained, the MAP is traversed to obtain that functions which are called in a function stack have functions which need to be updated, the functions which need to be updated are loaded into an auxiliary process, and the functions which do not need to be updated continue to use the functions of the original and old versions; the auxiliary process has the problem of judging the semantic ambiguity of the program, and the safety position which can be updated by manual marking in the new version function can be dynamically updated, so that the problem of semantic ambiguity does not exist after updating; because the auxiliary thread has 2 functions of new and old versions, when the safety position is not reached, the auxiliary process runs the functions of the old version, and once the position of the new version is reached, the auxiliary process jumps to the position of the function of the new version to continue running;
step eight: monitoring the software update state by an update execution monitoring subsystem, and if the update is successful, uploading an update result to a remote OTA server; if the update fails, uploading the result to the update server, informing the server that the next dynamic update is about to be performed, and returning to the fifth step for execution.
The safe vehicle running state in the fourth step of the invention comprises the following steps: the vehicle is in a state of waiting for a red light, the automatic gearbox of the vehicle is in an N-gear or P-gear state, and the vehicle is in a continuous voyage constant speed state.
In the step seven (2), bss refers to all static variables in a block memory region sequence for storing global variables which are not initialized or have an initial value of 0 in the program, and a data segment (data segment) refers to a block memory region for storing initialized global variables in the program, where the data segment belongs to static memory allocation.
The remote server of the invention compares the program information reported by the automobile ECU with the current latest program version of the ECU, sends the command to be updated of the vehicle ECU to the TBOX of the vehicle where the ECU needs to be updated, sends the update package to the ECU through the CAN bus after receiving the update package, waits for the TBOX to send the update command after receiving the update package, and starts to dynamically update after receiving the update command of the TBOX, thus completing the update.
The invention has the advantages that:
1. the method solves the problems of low iteration speed and complicated updating steps of the existing software updating, and repairs the loopholes existing in the software in time.
2. Because the safety related embedded equipment on the vehicle needs to be powered on for a long time to run, the traditional software updating method can cause data loss after restarting the equipment, and the dynamic updating method can finish the updating of the software under the condition that the running of the original program is not influenced, so that the original data is protected from being lost.
3. The existing method for dynamically updating on the server has the problem of deadlock of simultaneous multi-thread updating, and the method can well solve the problem of deadlock in the existing dynamic updating method aiming at the embedded equipment due to extremely high system stability required by the vehicle-mounted embedded equipment.
4. In the auxiliary thread, as the function of the new version and the function of the old version exist at the same time, when the function reaches the safe updating position, the program jumps to the position of the new function to continue to run, and the running function is updated. Compared with the current mainstream dynamic updating method, the current program dynamic updating is generally incapable of dynamically updating the function in the function stack, so that the problem of semantic ambiguity exists in the updated program, the update failure is caused, and the problem of the semantic ambiguity of the function is solved by adopting an auxiliary process mode, and the problem of multi-thread resource deadlock is solved.
Detailed Description
The remote server issues version information to be updated to the corresponding vehicle through the vehicle VIN unique identification code stored in the database. The VIN (Vehicle Identification Number vehicle identification code) code contains information such as the manufacturer, the year, the vehicle type, the vehicle body type, the code, the engine code, the assembly place and the like of the vehicle, and the VIN code of each vehicle is unique and can effectively indicate the identity of the vehicle. Thus, by receiving the VIN code, it is important to quickly and correctly identify the vehicle model, so that both a correct diagnosis and repair are performed.
Firstly, a built-in Linux operating system of an analog device at a vehicle-mounted TBOX end is taken as an IMX6Q development board of NXP company, a built-in Linux operating system of an IMX6ULL development board of NXP is taken as an analog vehicle-mounted ECU control unit, and a Linux server built by a centos7 operating system is taken as a remote OTA server. Comprises the following steps:
step one: and transmitting the generated software update package to a remote OTA server through an Ethernet http service, storing all ECU software version information of the vehicles in the current OTA server in the remote OTA server, and sending a software update instruction to the corresponding vehicle through the software version numbers of the new version and the old version to inform the TBOX of the corresponding vehicle that the upcoming software update package is ready to be received.
Step two: after receiving an update instruction of a remote OTA server, the vehicle-mounted TBOX starts a dynamic update preparation program, starts an http service, starts a program for acquiring other ECU data of the current vehicle, loads a program for judging whether the running state of the current vehicle meets the dynamic requirement or not, prepares to receive an update package, and informs the remote OTA server that the update package can be sent;
step three: the remote OTA server starts to send an update package, after the vehicle-mounted TBOX receives the complete update package, the integrity of the update package is checked through the MD5 check code, and if the vehicle-mounted TBOX is incomplete, the remote OTA server is informed to resend the update package;
step four: the vehicle-mounted TBOX acquires current running state information of the vehicle, namely acquires sensor information of other ECU of the current vehicle so as to acquire the current running state of the vehicle. The safe vehicle running state comprises that the vehicle is in a state of waiting for a red light, the automatic gearbox of the vehicle is in a state of N gear or P gear, and the vehicle is in a state of continuous voyage and constant speed, and the 3 states meet any one state, namely the dynamic update requirement is met. If the dynamic updating requirement is met, the vehicle-mounted TBOX sends an updating command to the vehicle-mounted ECU to be updated through the CAN bus, and the vehicle-mounted ECU is informed of preparing to receive the updating packet sent by the TBOX.
Step five: after receiving the instruction sent by the TBOX, the vehicle-mounted ECU starts to load a dynamic update guide program of the vehicle-mounted ECU, including a data receiving thread for starting an update packet of the CAN bus. After the TBOX starts to send the update package, the vehicle-mounted ECU starts to receive the update package.
And step six, after receiving the update package, the vehicle-mounted ECU checks whether the update package is complete through the MD5 check code, and if not, informs the vehicle-mounted TBOX to resend the update package.
Step seven, dynamically updating
(1) The dynamic update bootstrap program starts to load the dynamic update package and starts to dynamically update. The updating program running in the ECU modifies the next instruction of all threads in the current running program, and adopts a mode of adding a signal quantity to enable all threads to enter a blocking state, wherein the blocking state is a state that the threads are temporarily stopped, after waiting for all threads to enter the blocking state, priority is allocated to each thread according to the logic of the running of the threads when the threads are created according to sequential merging of the logic of the running of the threads, the existing multiple threads are merged into one process to run by the aid of the height of the priority of the threads, and the problem of deadlock caused by resource contention among the threads in the existing dynamic updating method is solved by the aid of the merging method.
(2) The dynamic update program starts to update the original program, and the data of the address where the data section is located are updated to new data of the current version.
(3) The dynamic updating program traverses the functions existing in the current function stack, the functions existing in the stack are the functions currently being called, and for the functions not existing in the function stack, the function entry addresses of the old version functions are changed into the function addresses of the new function version.
(4) For functions existing in a function stack, loading the contents of an old function and the contents of a new function into an auxiliary thread for operation, wherein the auxiliary process is a process specially used for updating a function being called, and the process is loaded into a memory to start operation when dynamic updating starts. When a new version update package is manufactured, a new and old function corresponding table is created, the corresponding table is correspondingly stored in the new version update package in a MAP mode by adopting a c++ STL library, the corresponding relation between the new and old functions is contained, the MAP is traversed to obtain that the functions called in the function stack have functions needing to be updated, the functions needing to be updated are loaded into an auxiliary process, and the functions needing to be updated continue to use the functions of the original and old versions. The second feature is that the auxiliary process has a problem of judging the semantic ambiguity of the program, the safe position can be updated dynamically by manually marking the safe position in the new function, and the problem of semantic ambiguity does not exist after updating. Because the auxiliary thread has 2 new and old versions of functions, when the safety position is not reached, the auxiliary process runs the old version of functions, and once the position of the new version is reached, the auxiliary process jumps to the position of the new version of functions to continue running.
Step eight: and the update execution monitoring subsystem monitors the update state of the software, and if the update is successful, the update result is uploaded to the remote OTA server. If the update fails, uploading the result to the update server, informing the server that the next dynamic update is about to be performed, and returning to the fifth step for execution.
The advantages are that: in the auxiliary thread, as the function of the new version and the function of the old version exist at the same time, when the function reaches the safe updating position, the program jumps to the position of the new function to continue to run, and the running function is updated. Compared with the current mainstream dynamic updating method, the current program dynamic updating is generally incapable of dynamically updating the function in the function stack, so that the problem of semantic ambiguity exists in the updated program, the update failure is caused, and the problem of the semantic ambiguity of the function is solved by adopting an auxiliary process mode, and the problem of multi-thread resource deadlock is solved.
Claims (3)
1. The dynamic updating method of the application program for the vehicle-mounted embedded equipment is characterized by comprising the following steps of:
step one: transmitting the generated software update package to a remote OTA server through an Ethernet http service, storing all ECU software version information of the vehicles in the current OTA server in the remote OTA server, and transmitting a software update instruction to the corresponding vehicle through the software version numbers of the new version and the old version to inform the TBOX of the corresponding vehicle that the upcoming software update package is ready to be received;
step two: after receiving an update instruction of a remote OTA server, the vehicle-mounted TBOX starts a dynamic update preparation program, starts an http service, starts a program for acquiring other ECU data of the current vehicle, loads a program for judging whether the running state of the current vehicle meets the dynamic requirement or not, prepares to receive an update package, and informs the remote OTA server that the update package can be sent;
step three: the remote OTA server starts to send an update package, after the vehicle-mounted TBOX receives the complete update package, the integrity of the update package is checked through the MD5 check code, and if the vehicle-mounted TBOX is incomplete, the remote OTA server is informed to resend the update package;
step four: the vehicle-mounted TBOX acquires current running state information of the vehicle, namely acquires sensor information of other ECU (electronic control unit) of the current vehicle so as to acquire the running state of the current safe vehicle, wherein the running states of the 3 safe vehicles meet any one state, namely the dynamic updating requirement is met, and if the dynamic updating requirement is met, the vehicle-mounted TBOX sends an updating instruction to the vehicle-mounted ECU to be updated through a CAN (controller area network) bus to inform the vehicle-mounted ECU of preparing to receive an updating packet sent by the TBOX;
step five: after receiving the instruction sent by the TBOX, the vehicle-mounted ECU starts to load a dynamic update guide program of the vehicle-mounted ECU, wherein the dynamic update guide program comprises a data receiving thread for starting an update packet of a CAN bus, and after the TBOX starts to send the update packet, the vehicle-mounted ECU starts to receive the update packet;
step six: after receiving the update package, the vehicle-mounted ECU checks whether the update package is complete through the MD5 check code, and if not, informs the vehicle-mounted TBOX to resend the update package;
step seven: dynamic update
(1) The method comprises the steps that a dynamic update guide program starts to load a dynamic update package and starts to dynamically update, an update program running in an ECU modifies the next instruction of all threads in a current running program, all threads are enabled to enter a blocking state in a semaphore adding mode, the blocking state is a state that the threads are temporarily stopped, after all threads are waited to enter the blocking state, priority is assigned to each thread according to logic of running the program when the threads are created according to sequential logic of running the threads, and the existing threads are combined into one process to run according to the height of the priority of the threads;
(2) The dynamic updating program starts to update the original program, and both the data of the address where the data section is positioned and the data of the address where the bss section is positioned in the original memory are updated into new data of the current version;
(3) The dynamic updating program traverses functions existing in the current function stack, the functions existing in the stack are functions currently being called, and for functions not existing in the function stack, the function entry address of the old version function is changed into the function address of the new function version;
(4) For functions existing in a function stack, loading the content of an old function and the content of a new function into an auxiliary thread for operation, wherein the auxiliary process is a process for updating a function being called, and the process is already loaded into a memory for operation when dynamic updating starts; when traversing the function stack, obtaining the function name currently running, loading the function of the old version into an auxiliary process through the obtained function name, creating a new-old function corresponding table when a new-version update package is manufactured, wherein the corresponding table adopts a MAP mode for a c++ STL library to correspondingly exist in the new-version update package, the corresponding relation of the new-old function is contained, and traversing the MAP to obtain that the function which is called in the function stack has the function which needs to be updated, and simultaneously loading the function of the new version into the auxiliary process, and continuously using the function of the original old version for the function which does not need to be updated; the auxiliary process has the problem of judging the semantic ambiguity of the program, and the safety position which can be updated by manual marking in the new version function can be dynamically updated, so that the problem of semantic ambiguity does not exist after updating; because the auxiliary thread has 2 functions of new and old versions, when the safety position is not reached, the auxiliary process runs the functions of the old version, and once the position of the new version is reached, the auxiliary process jumps to the position of the function of the new version to continue running;
step eight: monitoring the software update state by an update execution monitoring subsystem, and if the update is successful, uploading an update result to a remote OTA server; if the update fails, uploading the result to the update server, informing the server that the next dynamic update is about to be performed, and returning to the fifth step for execution.
2. The method for dynamically updating an application program for an in-vehicle embedded device according to claim 1, wherein the method comprises the steps of: the safe vehicle running state in the fourth step comprises the following steps: the vehicle is in a state of waiting for a red light, the automatic gearbox of the vehicle is in an N-gear or P-gear state, and the vehicle is in a continuous voyage constant speed state.
3. The method for dynamically updating an application program for an in-vehicle embedded device according to claim 1, wherein the method comprises the steps of: in the step seven (2), the bss refers to all static variables in a block memory region sequence for storing global variables which are not initialized or have an initial value of 0 in the program, the data field refers to a block memory region for storing initialized global variables in the program, and the data field belongs to static memory allocation.
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