CN113742232B - Model-based TC1797 diesel engine control algorithm development tool - Google Patents
Model-based TC1797 diesel engine control algorithm development tool Download PDFInfo
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Abstract
The invention provides a model-based TC1797 diesel engine control algorithm development tool, which comprises the following components: customizing a TC1797 target platform Simulink model library, seamlessly installing the model library in a Simulink environment, and configuring related parameters through a graphical interface; customizing an embedded frame code and an embedded code generation template of the TC1797 target platform; and an integrated development environment for automatically integrating TASKING is provided, an executable program is generated from a one-key model to a C code, and is automatically compiled, and downloaded to a target platform through a simulator, so that the rapid design, test and verification of an algorithm are realized. According to the invention, the customized graphical target platform interface drives the Simulink module library to realize that the control algorithm model rapidly generates the executable code of the target platform, so that the convenient configuration of the development environment of the target platform and the unified management of engineering projects can be realized.
Description
Technical Field
The invention belongs to the technical field of ECU (electronic control unit) software development, in particular to the field of diesel engine control algorithm model design development, and relates to a controller development tool for graphical programming and automatic code generation.
Background
The ship power electric control is mainly expressed as an implementation mode of economy, energy conservation and emission reduction, is also a development trend of national economy and politics requirements, and simultaneously embodies innovation capability of industry. The importance of software and electronic equipment is highlighted by ship power electronic control, and the reliability and the safety of a software control program directly determine the safety and the reliability of the whole equipment. Because the marine diesel engine has high power and high emission, the diesel engine has less opportunity for on-line test and the diesel oil burned in the on-line test causes a great deal of energy waste. In order to improve the reliability of the controller algorithm and reduce the test cost, the graphical programming tool Simulink can realize agile development and rapid test of the control strategy, so that the control algorithm is more diversified and more reasonable, and the introduction of errors in the early design development stage is reduced.
A conventional diesel ECU embedded system development scheme is seen in fig. 1, which includes complex underlying implementations of code generation, code integration, compilation, deployment, etc. In the existing engine ECU development process, the bottom software and the control algorithm design are all that C language or C++ codes are manually written in the development environment of a corresponding microprocessor (such as task), and the period is long and the requirement is high. The object oriented object of the bottom programming and the control algorithm development is completely different, the bottom programming has a great relation with the hardware, the detailed information of the hardware is fully known, the relation with the hardware engineer is close, the control algorithm development is oriented to the application object, the application engineer fully understands the process control of the system work, and therefore the programmer and the system engineer need to cooperate with each other. The bottom layer and the application layer in the whole controller development work respectively and closely, and the complexity naturally increases. Therefore, how to utilize a complete development system to penetrate through the whole controller development process and solve the problem of gap connection in the design process among hardware engineers, software engineers and system engineers is a problem to be solved in the current ECU development.
TASKING is an Integrated Development Environment (IDE) supporting the family of embedded processor products, infinion, and the like. The TASKING embedded software development solution provides an industry leading ecosystem for the whole software development process. Each TASKING compiler is developed for a specific architecture, and can meet the unique requirements of the professional industry. The complete integrated development environment allows users to create error-free and efficient code for industry-led microprocessors and microcontrollers using compilers, debuggers, embedded Internet and RTOS support. The InfineonTC1797 chip has the advantages that the working temperature is-40-125 ℃ and is suitable for complex and severe working environments of marine diesel engines, a 32-bit high-performance processor is mounted, the working frequency is 180MHz in the whole temperature range, multiple A/D channels, digital I/O,16DMA and the like are realized, and the engine electric control system is widely selected as a main control unit CPU.
By adopting the model-based development design method, all engineers use a unified modeling environment, and engineers performing different design tasks complete development work under the unified environment, and not only design documents but also system models are transmitted among the engineers. Therefore, before implementing the model-based development method, the problem of data transfer between the algorithm model and the hardware interface, i.e., the design of the interface module library of TC1797, must be completed.
Disclosure of Invention
Aiming at the problems existing in the development process of the ECU of the existing diesel engine, the invention provides model-based TC1797 diesel engine control algorithm development tool software, and the interface of TC1797 and a graphical design module is designed to solve the modular packaging of a TC1797 bottom function, and the bottom interface information (such as CAN, RS485, flexRay, rotating speed pulse, electromagnetic valve, flow proportioning valve, AD acquisition, timer and the like) required by diesel engine control is subjected to customized design, thereby meeting the requirements of TC1797 electric control diesel engine control algorithm rapid prototype development and verification and improving the reliability, safety and verification rapidity of a diesel engine control algorithm.
The technical scheme of the invention is as follows:
a model-based TC1797 diesel engine control algorithm development tool is application software for diesel engine control algorithm development, and an executable code of a target platform is quickly generated by a control algorithm model through a customized graphical target platform interface driving Simulink module library. The target platform is TC1797, and the development environment is TASKING VX-Toolset for TriCore and PCP v3.5r1. The development tool includes:
TC1797 bottom package, with C MEX S function package, function grade is Level 2, including all signal graphics driver software packages related to TC1797 such as communication, drive that diesel engine control needs, through Simulink selection module, the graphical interface configuration input output sets up initialization parameter. The module library is packaged and then matched with the embedded frame codes for use.
The algorithm engineering parameter configuration, namely an embedded frame code, is a frame library of a main CPU and a PCP program compiled by TASKING, and the frame program comprises a source file, a TC1797 driver library and an interface function library of a TC1797 bottom packaging package, wherein the source file comprises all driving functions, CPU configuration files, dcf and PCP coprocessor configuration files.
The bottom layer-application layer links the intermediate library, namely the embedded code module generating template, is an S function of a self-defined interface directly driven by a Simulink engine, and uses TLC language to write a module target file (TLC file) of the S function, wherein each S function module corresponds to the module target file.
And the automatic code generator is used for automatically completing the integration of a TASKING development environment, integrating a bottom layer driver, library files and the like which are commonly used in a diesel engine control algorithm model and the generated code into a TASKING project which can be directly compiled and debugged in the TASKING, and automatically completing the configuration of a generating file and a tool chain of the task basic project in the compiling process.
An automatic compiling downloader provides automatic generation of one-click model to C code, automatic compiling into executable program, downloading executable program to target platform. From the C code, a.erf, a.hex, a.map file is generated, and a program compilation a. lsl file may be performed.
And the data online calibration matcher provides an online calibration interface and a file for combining data between the TC1797 target plate and the TASKING.
Further, interface driving software of TC1797 in the TC1797 bottom packaging package is packaged according to functional classification, and is divided into software packages such as an oil injection signal module library, a synchronous signal module library, a rail pressure signal module library, a communication signal module library, an AD data acquisition module library, a clock interrupt module library and the like according to diesel engine control characteristics and Infineon chip physical characteristics. The graphical driving software package comprising RS232, RS485, CAN, flexRay, AD, PWM, oil injection signals, MEU signals, coprocessors, timers and the like is seamlessly installed in a Simulink environment, and all software packages can flexibly carry out module function package unpacking modification and optimization in the Simulink, and can also carry out independent debugging and integrated debugging.
Further, the data calibration file output comprises the steps of automatically calling a compiler to compile codes to generate a complete file for measuring calibration, and calling the file to perform online calibration debugging on calibration variables through calibration software; and further, generating a complete mapxml file for data tracking, and calling the file to track and inquire all variables and data of the target engineering through task compiling software.
In general, the invention is a model-based design tool software designed according to the architectural model of a control chip of the Infram TC1797, comprising: customizing a TC1797 target platform Simulink model library, seamlessly installing the model library in a Simulink environment, and configuring related parameters through a graphical interface; customizing embedded frame codes of a TC1797 target platform and an embedded code generation template (tlc file); the method comprises the steps of integrating an automatic integration TASKING (an integrated development environment) and an automatic integration TASKING (an mbds), generating a model to a code C (an elf, an hex and an map), automatically compiling an executable program (an lsl), and downloading the executable program to a target platform through a simulator so as to realize rapid design, test and verification of an algorithm.
Compared with the common model-based algorithm development tool, the invention supports the embedded development by using the model-based design more conveniently, and the user only needs to pay attention to the design of the algorithm in the model, but does not need to pay attention to the complex bottom implementation of the traditional development method such as code generation, code integration, compiling, deployment and the like shown in fig. 1, thereby simplifying the development flow of the user, realizing the rapid iteration of the user algorithm model and improving the development efficiency of the user, and the invention has the specific advantages that:
1. the hardware-related underlying software development module is cured in a graphically modeled manner.
2. The model parameter configuration is only performed for the first time.
3. And packaging the bottom layer functions related to the diesel engine control algorithm into modules to realize rapid modeling.
4. One-key automatic code generation, compiling and downloading operation.
5. The code generation report is detailed, clear and accurate in positioning.
6. And (5) automatically generating measurement calibration elf and A2L files, and completely matching.
Drawings
FIG. 1 is a conventional diesel engine ECU embedded system development scheme;
FIG. 2 (a) is a block diagram of a model-based diesel ECU software development in accordance with an embodiment of the present invention;
FIG. 2 (b) is a model-based diesel ECU software development step in accordance with an embodiment of the present invention;
FIG. 2 (c) is a model-based diesel ECU software development concept in accordance with an embodiment of the present invention;
FIG. 3 is a model environment configuration in accordance with an embodiment of the present invention;
FIG. 4 (a) is a diagram of the generation of an underlying encapsulation process file mexw64, according to an embodiment of the present invention;
FIG. 4 (b) is a diagram illustrating the generation of an underlying encapsulation process file tlc, according to an embodiment of the present invention;
FIG. 5 is an underlying library according to an embodiment of the present invention;
FIG. 6 is a code generation process file according to an embodiment of the present invention;
FIG. 7 is a code compilation report according to an embodiment of the present invention;
FIG. 8 (a) is a calibration file A2L according to an embodiment of the present invention;
fig. 8 (b) is a data file MAPXML according to an embodiment of the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The model-based TC1797 diesel engine control algorithm development tool provided by the invention is model-based design tool software designed according to the architecture mode of the Yingfei TC1797 control chip, and is used for realizing convenient configuration of a target platform development environment and unified management of engineering projects.
The development target platform is InlineontC 1797, the development environment TASKING VX-Toolset for TriCore and PCP v3.5r1, the custom model library is packaged by a C MEX S function, and the basic engineering comprises frame codes of CPU and PCP configuration files; the required TC1797 interface driver software is functionally packaged into a module library according to diesel engine control characteristics, including but not limited to: the system comprises an oil injection signal module library, a synchronous signal module library, a rail pressure signal module library, a communication signal module library, an AD data acquisition module library, a clock interrupt module library and the like.
The present embodiment is used to illustrate a detailed flow of model-based embedded development, as shown in fig. 2 (a) -2 (c):
firstly, completing environment configuration of a target platform in an MBDS-APP, creating or opening engineering, automatically opening MATLAB and Simulink development environments by the MBDS-APP, automatically opening a Simulink model with the same name as the engineering name, and building an algorithm model on the model. Meanwhile, the relevant environment (as shown in fig. 3) of the target platform TC1797 is automatically installed in Simulink.
Then TC1797 bottom library packaging: according to the characteristics of the TC1797 target platform, the files of the bottom layer function are designed, the mex compiling is carried out to generate codes which can be identified by C/C++ codes, and the TLC matched with the codes is also compiled simultaneously, as shown in fig. 4 (a) and 4 (b), the files of C, mexw64 and TLC are indispensable. The model library of the target platform TC1797 contains all the packaged peripheral driver graphics software packages, and the driver interfaces are packaged into independent modules according to the driver interface source program, so that the peripheral driver modules can be used in a graphical manner when the algorithm model is built, as shown in fig. 5.
Finally, the model can be built, and an algorithm model is built according to the requirements. In this process, the driver modules in the model library of the target platform TC1797 may be used, and the user may use the Simulink modules of the driver interface like other Simulink modules.
After the model is built and simulated, the model to code generation is realized in a single-key mode in Simulink, see fig. 6. In this stage, according to the diesel algorithm requirement and the characteristics of the TC1797 target platform, the custom code generates a template TLC file and a custom embedded frame code, provides a function of generating the embedded code by one key, and can generate a code report (containing detailed comments) at the same time of generating the code, so that the code and the model can be traced back bidirectionally. After the model generates the code, the code can be compiled into an executable program on the Simulink interface by one-click. And (3) opening a compiling interface of a compiler MiniWigger DAS of the Simulink and the TASKING, integrating TASKING engineering, and integrating a bottom layer driver, library files and the like commonly used in a diesel engine control algorithm model and generated codes into a TASKING engineering capable of directly compiling and debugging in the TASKING.
After the model generates codes and compiles the codes into executable programs, the functions of downloading the executable programs to the TC1797 target platform by one key are realized, the executable programs are automatically downloaded to the user target platform through the simulator, and verification can be directly carried out in a Simulink environment. And simultaneously generating a complete A2L file figure 8 (a) for calibration measurement and a MAPXML file figure 8 (b) for data tracking and matching, and completing data and measurement file generation.
According to the embodiment of the invention, for the TC1797 target platform, custom development is performed for specific chips and interfaces, and different compilers are used, so that differences exist. In the whole customization development process, the following contents are mainly included:
and (3) packaging a driving module: and according to the peripheral interface drive required by the diesel engine control algorithm, the peripheral interface drive is packaged into a corresponding Simulink module, so that a user can use the peripheral interface drive in a graphical form in a model, and drive interface parameters, input and output settings can be carried out in the model. In the embodiment of the present invention, the underlying model library shown in fig. 5 mainly includes:
ADC (digital to analog converter)
SCI (serial communication interface)
SPI (serial peripheral interface)
CAN (local area network)
DualCAN (redundant local area network)
FlexRay (local area network)
Timer (Timer clock)
InjDrv (solenoid valve drive)
LED (Lamp driving)
MEU (proportional valve drive)
PULSE (PULSE signal)
Ext_flash (external buffer).
Code generation template customization: the architecture, interface and the like of the code automatically generated by Simulink are not in accordance with the development requirement of a target platform under default conditions, and the code cannot be compiled by directly and automatically integrating the code into TASKING. The customized code generation template is a framework and an interface for customizing the generated code according to the TASKING and the development requirement of a chip TC1797 specified by a user, so that the TASKING can directly compile the automatically generated code. The code generating template is an S function of a self-defined interface directly driven by the Simulink engine, a module target file (TLC file) of the S function is written by using TLC language, and each S function module corresponds to the module target file.
Customizing a system target compiling file: in an integrated development environment TASKING to Simulink environment for integrating a TC1797 target platform, interfaces between Simulink and TASKING are opened, after Simulink codes are generated, a compiler of TASKING software can be automatically called to compile the codes to generate executable programs, and meanwhile, generated code files are added into engineering.
And customizing and developing a set of TASKING project according to the common functions of the TC1797 and the integration requirements of the automatically generated codes, and rapidly integrating the automatically generated codes by a user on the basis of the project and downloading the automatically generated codes to a TC1797 target board for verification.
Although embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made hereto without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (7)
1. A model-based TC1797 diesel engine control algorithm development tool is characterized in that: the tool drives a Simulink module library through a customized graphical target platform interface to realize that a control algorithm model rapidly generates executable codes of a target platform, wherein the target platform is TC1797, and the development environment is TASKING VX-Toolset for TriCore and PCP v3.5r1; the tool comprises:
TC1797 bottom packaging package, which is a custom C MEX S function package, the function grade is Level 2, which comprises signal imaging driving software packages related to TC1797, such as communication, driving and the like required by diesel engine control, and the imaging interface is configured with input and output to set initialization parameters through a Simulink selection module;
the algorithm engineering parameter configuration is a frame library of a main CPU and a PCP program compiled by TASKING, wherein the frame program comprises a source file, a TC1797 driver library and an interface function library of a TC179 bottom packaging package, and the source file comprises all driving functions, CPU configuration files, dcf and PCP coprocessor configuration files;
the bottom layer-application layer links the intermediate library, namely an embedded code module generating template, is an S function of a self-defined interface directly driven by a Simulink engine, and uses TLC language to write a module target file (TLC file) of the S function, wherein each S function module corresponds to the module target file;
the automatic code generator is used for automatically completing the integration of a TASKING development environment, integrating a bottom layer driver, library files and the like which are commonly used in a diesel engine control algorithm model and the generated codes into a TASKING basic project which can be directly compiled and debugged in the TASKING, automatically completing the configuration of a generating file and a tool chain of the TASKING basic project in the compiling process, and automatically generating a C code from the model;
an automatic compiling downloader for providing one-click C code to compile into executable program and downloading the executable program to a target platform, wherein the executable program comprises files of alf, hex, map and lsl;
and the data online calibration matcher provides an online calibration interface and a file for combining data between the TC1797 target plate and the TASKING.
2. The model-based TC1797 diesel engine control algorithm development tool of claim 1 wherein: the method is characterized in that: the module libraries such as TC1797 interface drivers in the TC1797 bottom packaging package are packaged according to function classification, and the module libraries comprise graphical driving software packages driven by RS232, RS485, CAN, flexRay, AD, PWM, oil injection signals, MEU signals, coprocessors, timers and the like, are seamlessly installed in a Simulink environment, and flexibly perform integrated debugging of module function packages in the Simulink.
3. The model-based TC1797 diesel engine control algorithm development tool of claim 1 or 2, wherein: the automatic compiling downloader generates automatic codes through a code generation button command, generates a system configuration folder, generates files including · erf · hex · map and · lsl files, generates detailed code reports, and can track codes through double clicking.
4. The model-based TC1797 diesel engine control algorithm development tool of claim 3 wherein: the system configuration folder comprises a source file, a bottom base library, a bottom interface intermediate library and a bottom compiling file library.
5. The model-based TC1797 diesel engine control algorithm development tool of any one of claims 1-4, wherein: the downloading mode is downloaded through an emulator or through a MiniWigglerDAS debugger.
6. The model-based TC1797 diesel engine control algorithm development tool of claim 5 wherein: the compiling process comprises the steps of automatically calling a compiler to compile codes, generating a complete file a21 for measuring calibration, and calling the file through calibration software to perform online calibration debugging on calibration variables.
7. The model-based TC1797 diesel engine control algorithm development tool of claim 5 wherein: the compiling process comprises the steps of automatically calling a compiler to compile codes, generating a complete map xml file for data tracking, and calling the file to track and inquire all variables and data of a target project through task compiling software.
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