CN113364655B - Reliable communication system and communication method of inertial north-seeking component based on DSP - Google Patents

Abstract

The invention provides a reliable communication system and a communication method of an inertia north-seeking assembly based on a DSP (digital signal processor), which solve the technical problem that the existing communication architecture lacks of communication reliability with internal equipment, external equipment and a vehicle-carrying upper computer and cannot provide better function and performance guarantee for the system. The system comprises: the serial port expansion chip is used for determining that a serial communication data link is established between the serial main control module, the peripheral and the upper computer; the network port expansion chip is used for determining that a broadband communication link is established between the network main control module and the upper computer; the CAN port expansion chip is used for determining that a CAN bus communication link is established between the CAN main control module and the upper computer; and the special data bus is used for establishing a direct connection data link between the storage device and the programmable logic device by the DSP main control module. The reliability of serial port communication, CAN communication and EEPROM parameter reading and writing is effectively improved, so that better communication function and performance guarantee are provided for the inertia north-seeking assembly.

Description

Reliable communication system and communication method of inertial north-seeking component based on DSP

Technical Field

The invention relates to the technical field of data communication, in particular to a reliable communication system and a reliable communication method of an inertial north-seeking component based on a DSP (digital signal processor).

Background

In the prior art, the inertial north-seeking component is fixed on a vehicle as a hardware carrier of a north-seeking instrument in a strapdown manner, so that the true north direction can be quickly determined, and high-precision direction reference and attitude information are provided for a vehicle.

The inertia north-seeking component is internally and externally connected with various devices or integrated functional modules. For example, the main control board communicates with external devices such as a light pipe, a lower instrument and a detector through an RS422 serial port; and simultaneously, the vehicle-mounted intelligent control system is communicated with various vehicle-mounted upper computers through a CAN interface, a network interface and an RS422 serial port. The communication link between the internal and external devices and the upper and lower computers has complex topological form, and the reliable communication directly influences the function realization and performance guarantee of the system. Particularly, inertial north-seeking components formed based on a dsp (digital Signal processor) have conflicts of less hardware interruption and more communication conflicts between external devices, conflicts of unbalanced throughput through data transmission between CAN interface devices, conflicts of influence of data reading and writing of key storage devices on stability and performance of key processes, and the like.

Disclosure of Invention

In view of the above problems, embodiments of the present invention provide a reliable communication system and a communication method for an inertial north-seeking component based on a DSP, which solve the technical problem that the existing communication architecture lacks communication reliability with internal devices, external devices, and a vehicle-mounted upper computer, and cannot provide better function and performance guarantee for the system.

The invention provides a reliable communication system of an inertial north-seeking component based on a DSP (digital signal processor), which comprises:

the serial port expansion chip is used for determining that a serial communication data link is established between the serial main control module, the peripheral and the upper computer;

the network port expansion chip is used for determining that a broadband communication link is established between the network main control module and the upper computer;

the CAN port expansion chip is used for determining that a CAN bus communication link is established between the CAN main control module and the upper computer;

and the special data bus is used for the DSP main control module to interact with the EEPROM memory through the IIC bus and interact with the FRAM memory through the FRAM bus, and a direct connection data link is established between the memory device and the programmable logic device.

In an embodiment of the present invention, the serial main control module includes:

the serial port upper computer processing module is used for receiving and processing instructions sent by an upper computer of the serial port;

the light pipe data processing module is used for receiving and processing the real-time data sent by the left light pipe and the right light pipe;

the lower instrument data processing module is used for receiving and processing data sent by the left lower instrument and the right lower instrument;

the detector data processing module is used for receiving and processing instructions and data sent by the detector peripheral;

and the debugging port data processing module is used for receiving and processing the debugging instruction sent by the debugging port.

In an embodiment of the present invention, the network master control module includes:

and the network port data processing module is used for receiving and processing the instruction sent by the upper computer from the network port.

In an embodiment of the present invention, the CAN master control module includes:

and the CAN data processing module is used for receiving, processing and sending the instruction data transmitted by the CAN1 bus and the CAN2 bus.

In an embodiment of the present invention, the DSP main control module includes:

the main program module is used for forming main instruction processing procedures, establishing a control flow among the main instruction processing procedures and sending heartbeats of the main instruction processing procedures in the control flow;

the initialization module is used for forming system software initialization, system interface initialization, system parameter initialization and global variable initialization;

the timer interrupt processing module is used for generating 1ms, 10ms, 100ms and 1s timers and a user timer capable of setting duration on the basis of 200us of timed interrupt;

the external interrupt data processing module is used for responding to external interrupt and calling a corresponding data processing function by judging the interrupt flag bit;

and the main control board data processing module is used for receiving and processing the system data sent by the main control board.

The reliable communication method of the inertia north-seeking assembly based on the DSP comprises the following steps:

responding to an external interrupt request, and calling a corresponding data processing module by judging an interrupt flag bit;

repackaging the instruction data transmitted by the CAN bus to form a data frame sequence in the processes of receiving, processing and sending;

and serializing the real-time system parameters in a control flow of the instruction main processing process, and storing the real-time system parameters at regular time according to a serialization sequence.

In an embodiment of the present invention, the responding to the external interrupt request by determining the interrupt flag bit and calling the corresponding data processing module includes:

triggering a corresponding cycle counter to start counting according to external interruption;

acquiring a zone bit address of an interrupt zone register corresponding to external interrupt;

inquiring a flag bit according to the address sequence of the flag bit in each counting period, and executing a data processing module corresponding to the flag bit when the flag bit is a true value;

and resetting the corresponding cycle counter when the corresponding cycle counter reaches the counting period.

In an embodiment of the present invention, the responding to the external interrupt request by determining the interrupt flag bit and calling the corresponding data processing module includes:

triggering a corresponding cycle counter to start counting according to external interruption;

acquiring a flag bit address of an interrupt flag register corresponding to external interrupt;

sequentially reading a flag bit in each counting period, and executing a data processing module corresponding to the flag bit when the flag bit is a true value;

step 160: and resetting the corresponding cycle counter when the corresponding cycle counter reaches the counting period, and stopping the current external interrupt response.

In an embodiment of the invention, the forming the sequence of data frames includes:

before the data is transmitted by a CAN data link, the length of a transmission data stabilization long byte is split to form a fixed-length data frame;

forming a data frame circular queue data structure, and sequentially storing fixed-length data frames into a circular queue;

setting a transmission timer and measuring the number of fixed-length data frames to be transmitted;

and setting a transmission period according to the number to be transmitted, and transmitting a fixed-length data frame in each period.

In an embodiment of the present invention, the serializing the real-time system parameters and the regularly storing the real-time system parameters according to the serialization order includes:

forming a key parameter circular queue data structure, and sequentially storing key parameters into a circular queue;

setting a read-write timer and measuring the number of key parameter units;

and setting read-write cycles according to the number of the key parameter units, and writing one key parameter unit into the system memory by performing write-in operation once in each cycle.

The reliable communication system and the communication method of the inertia north-seeking component based on the DSP of the embodiment of the invention carry out reliability optimization on a communication framework based on the DSP according to the type of the data port and the type of the bus, and form a communication processing module surrounding a serial communication data link, a broadband communication link, a CAN bus communication link and a local data bus. The communication processing module disposed in the DSP body cooperatively processes communication data to form a complete modularized reliable communication system, communication with internal equipment, external equipment and a vehicle-carrying upper computer is achieved, and meanwhile serial port communication, CAN communication and EEPROM parameter reading and writing reliability are improved, so that a better communication function and performance guarantee are provided for the inertia north-seeking assembly.

Drawings

FIG. 1 is a block diagram of a reliable communication system of an inertial north-seeking component based on a DSP according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating a reliable communication method of the DSP-based inertial north-seeking component according to an embodiment of the present invention.

Fig. 3 is a schematic diagram illustrating a first interrupt processing flow in the reliable communication method of the DSP-based inertial north-seeking module according to an embodiment of the present invention.

Fig. 4 is a schematic diagram illustrating a second interrupt processing flow in the reliable communication method of the DSP-based inertial north-seeking component according to an embodiment of the present invention.

FIG. 5 is a schematic diagram illustrating a third interrupt processing flow in the reliable communication method for the DSP-based inertial north-seeking component according to an embodiment of the present invention.

Fig. 6 is a schematic diagram illustrating a read/write process of system parameters in the reliable communication method of the DSP-based inertial north-seeking component according to an embodiment of the present invention.

Fig. 7 is a schematic diagram illustrating a process of entering a data frame circular queue of CAN data in a reliable communication method of an inertial north-seeking component based on a DSP according to an embodiment of the present invention.

Fig. 8 is a schematic diagram illustrating a process of outputting a data frame circular queue of CAN data in the reliable communication method of the DSP-based inertial north-seeking component according to an embodiment of the present invention.

FIG. 9 is a schematic diagram illustrating a process of entering system parameters into a critical parameter circular queue in the method for reliable communication of an inertial north-seeking component based on a DSP according to an embodiment of the present invention.

FIG. 10 is a schematic diagram illustrating a circular queue process of system parameter determination for a reliable communication method of an inertial north-seeking component based on DSP according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. 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.

Referring to fig. 1, a reliable communication system of an inertial north-seeking component based on a DSP according to an embodiment of the present invention is shown in fig. 1. In fig. 1, the present embodiment includes:

the serial port expansion chip is used for determining that a serial communication data link is established between the serial main control module, the peripheral and the upper computer; determining the serial master module includes, but is not limited to:

the serial port upper computer processing module is used for receiving and processing instructions sent by an upper computer of the serial port;

the light pipe data processing module is used for receiving and processing the real-time data sent by the left light pipe and the right light pipe;

the lower instrument data processing module is used for receiving and processing data sent by the left lower instrument and the right lower instrument;

the detector data processing module is used for receiving and processing instructions and data sent by the detector peripheral;

and the debugging port data processing module is used for receiving and processing the debugging instruction sent by the debugging port.

The network port expansion chip is used for determining that a broadband communication link is established between the network main control module and the upper computer; determining the network master module includes, but is not limited to:

and the network port data processing module is used for receiving and processing the instruction sent by the upper computer from the network port.

The CAN port expansion chip is used for determining that a CAN bus communication link is established between the CAN main control module and the upper computer; determining CAN master modules includes, but is not limited to:

and the CAN data processing module is used for receiving, processing and sending the instruction data transmitted by the CAN1 bus and the CAN2 bus.

The special data bus is used for the DSP main control module to interact with the EEPROM and the FRAM through the IIC bus and the FRAM bus so as to establish a direct connection data link between the storage device and the programmable logic device; the DSP host module includes but is not limited to:

the main program module is used for forming main instruction processing procedures, establishing a control flow among the main instruction processing procedures and sending heartbeats of the main instruction processing procedures in the control flow;

the initialization module is used for forming system software initialization, system interface initialization, system parameter initialization and global variable initialization;

the timer interrupt processing module is used for generating 1ms, 10ms, 100ms and 1s timers and a user timer capable of setting duration on the basis of 200us of timed interrupt;

the external interrupt data processing module is used for responding to external interrupts (#4, #5, #7, and the like) and calling corresponding data processing functions by judging interrupt flag bits;

and the main control board data processing module is used for receiving and processing the system data sent by the main control board.

The reliable communication system of the inertia north-seeking component based on the DSP carries out reliability optimization on a communication framework based on the DSP according to the type of the data port and the type of the bus, and forms a communication processing module surrounding a serial communication data link, a broadband communication link, a CAN bus communication link and a local data bus. The communication processing module disposed in the DSP body cooperatively processes communication data to form a complete modularized reliable communication system, communication with internal equipment, external equipment and a vehicle-carrying upper computer is achieved, and meanwhile serial port communication, CAN communication and EEPROM parameter reading and writing reliability are improved, so that a better communication function and performance guarantee are provided for the inertia north-seeking assembly.

Fig. 2 shows a reliable communication method of the inertial north-seeking component based on the DSP according to an embodiment of the present invention. In fig. 2, the present embodiment includes:

step 100: and responding to the external interrupt request, and calling the corresponding data processing module by judging the interrupt flag bit.

Step 200: and repackaging the command data transmitted by the CAN bus to form a data frame sequence in the processes of receiving, processing and sending.

Step 300: and serializing the real-time system parameters in a control flow of the instruction main processing process, and storing the real-time system parameters at regular time according to a serialization sequence.

The reliable communication method of the inertia north-seeking component based on the DSP of the embodiment of the invention utilizes the flag bit of the interrupt register to reasonably multiplex the limited hardware interrupt so as to improve the corresponding data processing reliability of the terminal. The command data transmitted by the CAN bus is discretized on a time axis by utilizing the data frame sequence, so that the stability of data transmission is guaranteed. The system parameter serialization is utilized to discretize the parallel processing of the system which is possible to burst, and the defect of parallel competition of system process and data storage is overcome. By the method, correct communication and instruction response of the inertial north-seeking component and internal equipment, external equipment and a vehicle-carrying upper computer thereof are ensured, and highly reliable multi-serial-port interrupt multiplexing is realized; the device ensures that the CAN port does not lose numbers and block when continuously sending multiframes; the method ensures that the instruction and flow processing of the system are not influenced when the EEPROM parameters are continuously written, thereby improving the reliability of the north-seeking component communication software and providing better guarantee for realizing the function and performance of the system.

As shown in fig. 2, in an embodiment of the present invention, step 100 includes:

step 110: triggering a corresponding cycle counter to start counting according to external interruption;

step 120: acquiring a zone bit address of an interrupt zone register (IFR) corresponding to external interrupt;

step 130: inquiring a flag bit according to the address sequence of the flag bit in each counting period, and executing a data processing module corresponding to the flag bit when the flag bit is a true value;

step 140: and resetting the corresponding cycle counter when the corresponding cycle counter reaches the counting period.

In an embodiment of the present invention, the count number and the count period duration of the loop counter are set according to the reuse degree of the external interrupt.

The reliable communication method of the inertia north-seeking assembly based on the DSP can avoid interruption blockage caused by incomplete processing when a plurality of devices generate interruption at the same time, and meanwhile, the upper limit of the polling times is set to avoid the condition that an interruption response function cannot exit when a single device generates high-frequency interference.

As shown in fig. 2, in an embodiment of the present invention, step 100 includes:

step 110: triggering a corresponding cycle counter to start counting according to external interruption;

step 120: acquiring a zone bit address of an interrupt zone register (IFR) corresponding to external interrupt;

step 150: sequentially reading a flag bit in each counting period, and executing a data processing module corresponding to the flag bit when the flag bit is a true value;

step 160: and resetting the corresponding cycle counter after the corresponding cycle counter reaches the counting period, and stopping the current external interrupt response.

In an embodiment of the present invention, reading a flag bit sequentially is from a low address direction to a high address direction, i.e. the sequence of 0 th query, 1 st query, 2 nd query, and 3 rd query.

In one embodiment of the invention, different external interrupt responses of different multiplexing degrees may be formed, a multiplexing arrangement as follows:

INT4
		position
0	Left light pipe
		1 st position	Right light tube
Position 2	Lower left instrument
		Position 3	Lower right instrument
INT7
		Position
0	Upper vehicle loading machine
		1 st position	Debugging upper computer
Position 2	Main control board
		Position 3	Detecting instrument
INT5
		Position
0	Network
		1 st position	CAN1
Position 2	CAN2
		INT6
Position
	0	Timer 1 interrupt

The complex multiplexing requirements corresponding to the limited external interrupts can be met.

The reliable communication method of the inertia north-seeking assembly based on the DSP can avoid interruption blockage caused by incomplete processing when a plurality of devices generate interruption at the same time, and meanwhile, the upper limit of the polling times is set to avoid the condition that an interruption response function cannot exit when a single device generates high-frequency interference.

As shown in fig. 2, in an embodiment of the present invention, step 200 includes:

step 210: before the data is transmitted by a CAN data link, the length of a transmission data stabilization long byte is split to form a fixed-length data frame;

step 220: forming a data frame circular queue data structure, and sequentially storing fixed-length data frames into a circular queue;

step 230: setting a transmission timer and measuring the number of fixed-length data frames to be transmitted;

step 240: and setting a transmission period according to the number to be transmitted, and transmitting a fixed-length data frame in each period.

In an embodiment of the present invention, the data frame circular queue data structure forms a CAN data frame circular queue structure, and the structure is as follows:

the reliable communication method of the inertia north-seeking assembly based on the DSP of the embodiment of the invention effectively discretizes the dense data and forms a continuous controllable storage structure, thereby avoiding blocking a CAN bus when continuous multi-frame CAN data are sent.

As shown in fig. 2, in an embodiment of the present invention, step 300 includes:

step 310: forming a key parameter circular queue data structure, and sequentially storing key parameters into a circular queue;

step 320: setting a read-write timer and measuring the number of key parameter units;

step 330: and setting read-write cycles according to the number of the key parameter units, and writing one key parameter unit into the system memory by performing write-in operation once in each cycle.

In one embodiment of the present invention, the critical parameter circular queue data structure forms an EEPROM to-be-written parameter circular queue structure, and the structure is as follows:

the period is 1 ms.

According to the reliable communication method of the inertia north-seeking component based on the DSP, disclosed by the embodiment of the invention, the read-write process of the system parameters is normalized through the key parameter circular queue data structure, so that the read-write rates of different system parameters are balanced. When the EEPROM and the FRAM store the key parameters, the reading and writing of the FRAM are short, and the reading and writing of a plurality of parameters can be continuously carried out; the EEPROM has long read-write time, and a plurality of parameters can occupy long system time for reading and writing, so that instructions and flow processing are not timely. The reliability design method provided by the invention stores the parameters to be written into the EEPROM in a circular queue mode, and takes the parameters to be written into the circular queue according to the period of 1ms in the main program to perform writing operation. Therefore, the influence of continuous multiple parameter writing on system instructions and flow processing is avoided.

A first interrupt processing flow in the reliable communication method of the DSP-based inertial north-seeking component according to an embodiment of the present invention is shown in fig. 3. In fig. 3, the specific process is as follows:

judging whether all multiplexing external interrupts aiming at one hardware interrupt 4 generate interrupt requests in one cycle counting period of the cycle counter, and respectively calling corresponding data processing modules to process when the interrupt requests occur;

and after the data processing is finished, judging whether an interrupt request exists and whether the counting period of the interrupt response reaches a fixed value, and quitting the response process of the interrupt request when judging that the interrupt request does not exist and the counting period of the interrupt response reaches through the interrupt flag bit.

A second interrupt processing flow in the reliable communication method of the DSP-based inertial north-seeking component according to an embodiment of the present invention is shown in fig. 4. In fig. 4, the specific process is as follows:

judging whether interrupt flag bits of all multiplexing external interrupts of one hardware interrupt 7 generate interrupt requests in one cycle of the cycle counter, and respectively calling corresponding data processing modules to process when the interrupt requests occur;

and after the data processing is finished, judging whether an interrupt request exists and whether the counting period of the interrupt response reaches a fixed value, and quitting the response process of the interrupt request when judging that the interrupt request does not exist and the counting period of the interrupt response reaches through the interrupt flag bit.

A third interrupt processing flow in the reliable communication method of the DSP-based inertial north-seeking component according to an embodiment of the present invention is shown in fig. 5. In fig. 5, the specific process is:

sequentially judging whether interrupt flag bits of all multiplexing external interrupts of one hardware interrupt 5 generate interrupt requests, and sequentially calling corresponding data processing modules to process when the interrupt requests occur;

and after the data processing is finished, clearing the interrupt request mark and exiting the response process of the interrupt request.

The process of reading and writing system parameters in the reliable communication method of the inertial north-seeking component based on the DSP according to an embodiment of the present invention is shown in fig. 6. In fig. 6, the system parameter writing includes:

setting a command parameter processing function and a flow processing function in a main program;

caching the command parameters to a key parameter annular queue in a command parameter processing function;

and periodically calling a command parameter writing function in the flow processing function to complete the successive queue unit writing of the command parameter.

In the reliable communication method of the inertial north-seeking component based on the DSP according to an embodiment of the present invention, the ring queue of the CAN data incoming data frame is shown in fig. 7. In fig. 7, the CAN data-in data frame circular queue includes:

forming a ring-shaped queue with determined capacity as CAN data frame buffer;

sequentially caching CAN data frames in a ring queue;

marking the tail of the buffer in the annular queue by receiving a pointer;

determining the amount of the cached data in the circular queue according to the cache tail;

and caching the CAN data frame until the cache is full.

In the reliable communication method of the inertial north-seeking component based on the DSP according to an embodiment of the present invention, a CAN data frame circular queue is shown in fig. 8. In the context of figure 8 of the drawings,

marking the head of a buffer in the circular queue by sending a pointer;

determining the CAN data frame sending sequence according to the cache head;

determining the amount of the buffer data in the annular queue according to the buffer head;

and sending the CAN data frame until the sending pointer is cleared.

In the reliable communication method of the inertial north-seeking component based on the DSP according to an embodiment of the present invention, the circular queue of the system parameter entry key is shown in fig. 9. In fig. 9, the system parameter entry key parameter circular queue includes:

forming a circular queue with determined capacity as a system parameter unit for caching;

sequentially caching system parameter units in a ring queue;

marking the buffer tail of a system parameter unit in the circular queue by receiving a pointer;

determining the amount of the cached data in the circular queue according to the cache tail;

and caching the CAN data frame until the cache is full.

In the reliable communication method of the inertial north-seeking component based on the DSP according to an embodiment of the present invention, a system parameter deriving key parameter circular queue is shown in fig. 10. In fig. 10, the system parameter critical parameter circular queue includes:

marking the head of a buffer in the circular queue by sending a pointer;

determining the reading and writing sequence of the system parameter unit according to the cache head;

determining the number of system parameter units in the circular queue according to the cache head;

and sending the CAN data frame until the sending pointer is cleared.

An embodiment of the present invention provides a reliable communication system of an inertial north-seeking component based on a DSP, comprising:

the memory is used for storing program codes corresponding to the communication process in the reliability communication method of the embodiment;

and the DSP is used for executing the program codes corresponding to the communication process in the reliability communication method of the embodiment.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A DSP-based reliable communication system for an inertial north-seeking component, comprising:

the serial port expansion chip is used for determining that a serial communication data link is established between the serial main control module, the peripheral and the upper computer;

the network port expansion chip is used for determining that a broadband communication link is established between the network main control module and the upper computer;

the CAN port expansion chip is used for determining that a CAN bus communication link is established between the CAN main control module and the upper computer;

the special data bus is used for the DSP main control module to interact with the EEPROM memory through the IIC bus and interact with the FRAM memory through the FRAM bus, and a direct connection data link is established between the memory device and the programmable logic device;

the DSP main control module comprises:

the main program module is used for forming main instruction processing procedures, establishing a control flow among the main instruction processing procedures and sending heartbeats of the main instruction processing procedures in the control flow;

the initialization module is used for forming system software initialization, system interface initialization, system parameter initialization and global variable initialization;

the timer interrupt processing module is used for generating 1ms, 10ms, 100ms and 1s timers and a user timer capable of setting duration on the basis of 200us of timed interrupt;

the external interrupt data processing module is used for responding to external interrupt and calling a corresponding data processing function by judging the interrupt flag bit;

and the main control board data processing module is used for receiving and processing the system data sent by the main control board.

2. The DSP-based reliable communications system for an inertial north-seeking component according to claim 1, wherein said serial master control module comprises:

the serial port upper computer processing module is used for receiving and processing instructions sent by an upper computer of the serial port;

the light pipe data processing module is used for receiving and processing the real-time data sent by the left light pipe and the right light pipe;

the lower instrument data processing module is used for receiving and processing data sent by the left lower instrument and the right lower instrument;

the detector data processing module is used for receiving and processing instructions and data sent by the detector peripheral;

and the debugging port data processing module is used for receiving and processing the debugging instruction sent by the debugging port.

3. The DSP-based reliable communications system for an inertial north-seeking component according to claim 1, wherein said network master module comprises:

and the network port data processing module is used for receiving and processing the instruction sent by the upper computer from the network port.

4. The DSP-based inertial north-seeking assembly reliability communication system according to claim 1, wherein said CAN master module comprises:

and the CAN data processing module is used for receiving, processing and sending the instruction data transmitted by the CAN1 bus and the CAN2 bus.

5. A method for reliable communication using the DSP-based inertial north-seeking component of any one of claims 1 to 4, comprising:

responding to an external interrupt request, and calling a corresponding data processing module by judging an interrupt flag bit;

repackaging the instruction data transmitted by the CAN bus in the receiving processing and sending processing processes to form a data frame sequence;

and serializing the real-time system parameters in a control flow of the instruction main processing process, and storing the real-time system parameters at regular time according to a serialization sequence.

6. The method for reliable communication of an inertial north-seeking component based on a DSP of claim 5, wherein said invoking a corresponding data processing module by determining an interrupt flag bit in response to an external interrupt request comprises:

triggering a corresponding cycle counter to start counting according to external interruption;

acquiring a zone bit address of an interrupt zone register corresponding to external interrupt;

inquiring a flag bit according to the address sequence of the flag bit in each counting period, and executing a data processing module corresponding to the flag bit when the flag bit is a true value;

and resetting the corresponding cycle counter when the corresponding cycle counter reaches the counting period.

7. The method as claimed in claim 5, wherein said invoking the corresponding data processing module by determining the interrupt flag bit in response to the external interrupt request comprises:

triggering a corresponding cycle counter to start counting according to external interruption;

acquiring a zone bit address of an interrupt zone register corresponding to external interrupt;

sequentially reading a flag bit in each counting period, and executing a data processing module corresponding to the flag bit when the flag bit is a true value;

step 160: and resetting the corresponding cycle counter after the corresponding cycle counter reaches the counting period, and stopping the current external interrupt response.

8. The method for reliable communication of an inertial north-seeking component based on a DSP of claim 5, wherein said forming a sequence of data frames comprises:

before the data is transmitted by a CAN data link, the length of a transmission data stabilization long byte is split to form a fixed-length data frame;

forming a data frame circular queue data structure, and sequentially storing fixed-length data frames into a circular queue;

setting a transmission timer and measuring the number of fixed-length data frames to be transmitted;

and setting a transmission period according to the number to be transmitted, and transmitting a fixed-length data frame in each period.

9. The method for reliable communication of an inertial north-seeking component based on a DSP as claimed in claim 5, wherein said serializing real-time system parameters and said sequentially storing periodically according to a serialization order comprises:

forming a key parameter circular queue data structure, and sequentially storing key parameters into a circular queue;

setting a read-write timer, and measuring the number of key parameter units;

and setting read-write cycles according to the number of the key parameter units, and writing one key parameter unit into the system memory by performing write-in operation once in each cycle.

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