CN114816460A - Device and method for remotely upgrading microcontroller of robot system - Google Patents
Device and method for remotely upgrading microcontroller of robot system Download PDFInfo
- Publication number
- CN114816460A CN114816460A CN202210745010.2A CN202210745010A CN114816460A CN 114816460 A CN114816460 A CN 114816460A CN 202210745010 A CN202210745010 A CN 202210745010A CN 114816460 A CN114816460 A CN 114816460A
- Authority
- CN
- China
- Prior art keywords
- program segment
- microcontroller
- module
- control module
- file
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/61—Installation
- G06F8/63—Image based installation; Cloning; Build to order
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
Landscapes
- Engineering & Computer Science (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Stored Programmes (AREA)
Abstract
A device and its method for robot system remote upgrade microcontroller, the device includes end of master control chip, communication link and multiple microcontrollers; the main control chip end comprises a segmentation module, a first control module and a sending module; the splitting module splits the executable file into a plurality of program segment files; the sending module sends the program segment files to a microcontroller to be upgraded in sequence through a communication link according to the instruction of the first control module; the microcontroller comprises a receiving module, a second control module and a programming module; after the receiving module sequentially receives a program segment file, the second control module controls the programming module to store the current program segment file into a memory of the microcontroller and to program the current program segment file into a Flash of the microcontroller; and circularly reciprocating until all program segment files are programmed into Flash of the microcontroller. Therefore, the invention solves the problem that the microcontroller cannot be upgraded on line because the memory capacity of the microcontroller is too small, and reduces the hardware cost.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a device and a method for remotely upgrading a microcontroller of a robot system.
Background
With the increasing development of robot systems, higher and higher requirements are put forward on robot control systems; the robot motion can not be controlled by the sensor, and the robot control system has the function of receiving detection signals from the sensor and driving each motor in the mechanical arm according to the requirements of operation tasks just like the movement of people depends on the sense of the robot.
That is, the robot needs sensors to detect various states, an internal sensor signal of the robot is used to reflect an actual motion state of a robot arm joint, and an external sensor signal of the robot is used to detect a change in a working environment.
It is clear to those skilled in the art that the robot control system tends to be more and more complex, and may include tens or even tens of Microprocessors (MCUs) or Digital Signal Processing (DSPs) in addition to the main control chip, and each MCU or DSP is responsible for its own work.
In order to meet the requirement of continuously updating software of a robot system, the MCU or DSP program needs to be upgraded many times, and if the robot control cabinet is directly opened to upgrade the MCU or DSP software, not only is time and labor resources wasted, but also the workload of maintenance personnel is increased.
Therefore, remotely upgrading the MCU program of the robot through the main control chip is a mainstream path in the industry. In the prior art, the MCU online upgrade mode is to send an executable file (e.g., bin file) for remote upgrade to the MCU at a time, and the MCU stores the executable file in the memory and then writes it into the Flash of the microprocessor.
However, the above-mentioned MCU online remote upgrade method requires the MCU to have a large memory capacity to completely receive the executable file, and then performs the MCU online upgrade.
Disclosure of Invention
The invention aims to provide a device and a method for remotely upgrading a microcontroller of a robot system, which are applied to an environment that a main control chip end transmits an executable file to a small memory capacity MCU.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a device for remotely upgrading microcontrollers of a robot system comprises a main control chip end, a communication link and N microcontrollers; the master control chip end comprises a segmentation module, a first control module and a sending module; the splitting module splits the executable file for upgrading into M program segment files; the sending module sends the M program segment files to the microcontroller needing to be upgraded in sequence through the communication link according to the instruction of the first control module; the size of each program segment file is less than or equal to a preset threshold value; the microcontroller comprises a receiving module, a second control module and a programming module; after the receiving module sequentially receives a program segment file, the second control module controls the programming module to store the current program segment file into a memory of the microcontroller and to program the current program segment file into a Flash of the microcontroller; and after the current program segment file is programmed, the programming module informs the second control module, the second control module sends a message to the first control module to inform the first control module of the completion of programming, the first control module controls the sending module to send the next program segment file after receiving the message, and the receiving module receives the next program segment file and repeats the cycle until all the program segment files are programmed into Flash of the microcontroller.
Further, the Flash of the microcontroller comprises a set Boot program segment, an IAP program segment, a User App program segment and an update state value stored at a fixed address; when the User App program segment is initialized or runs normally, the updating state value is in a normal state, and when the User App program segment fails to run, the updating state value is in an abnormal state; after the microcontroller is powered on, the Boot program segment judges the update state value: if the update state value is in a normal state, the IAP program segment upgrades the User App program segment in a segmented transmission mode, after the segmented transmission and upgrading of the current program segment file are completed, the update state value is set to be in a normal state, the program segment is skipped to, and the steps are repeated in a circulating mode until all program segment files are burnt into Flash of the microcontroller; and if the update state value is in an abnormal state, directly jumping to the IAP program segment and waiting for the main control chip to resend the current program segment file to update the User App program segment, and after the update is successful, setting the update state value as a normal value again by the second control module.
Further, the main control chip side resends the current program segment file through communication cooperation between the first control module and the second control module.
Further, the executable file is a bin file.
Further, the main control chip end further comprises a first checking module, and when the first control module and the sending module are matched to send the M program segment files in sequence, whether the sending sequence of the M program segment files is correct is checked.
Further, the microcontroller further comprises a second checking module, and when the second control module and the receiving module are matched to sequentially receive the M program segment files, whether the receiving sequence of the M program segment files is correct is checked.
In order to achieve the above object, another technical solution of the present invention is as follows:
a method for remotely upgrading a microcontroller of a robot system adopts the device, and comprises the following steps:
step S1: the segmentation module is used for segmenting an execution file which can be used for upgrading into M program segment files; the sending module sends the M program segment files to the microcontroller needing to be upgraded in sequence through the communication link according to the instruction of the first control module; the size of each program segment file is less than or equal to a preset threshold value;
step S2: after the receiving module sequentially receives a program segment file, the second control module controls the programming module to store the current program segment file into a memory of the microcontroller and to program the current program segment file into a Flash of the microcontroller; and after the current program segment file is programmed, the programming module informs the second control module, the second control module sends a message to the first control module to inform the first control module of the completion of programming, the first control module controls the sending module to send the next program segment file after receiving the message, and the receiving module receives the next program segment file and repeats the cycle until all the program segment files are programmed into Flash of the microcontroller.
Further, the Flash specific programming step in step S2 includes: after the microcontroller is powered on, the Boot program segment judges the update state value: if the update state value is in a normal state, the IAP program segment upgrades the User App program segment in a segmented transmission mode, after the segmented transmission and upgrading of the current program segment file are completed, the update state value is set to be in a normal state, the program segment is skipped to, and the steps are repeated in a circulating mode until all program segment files are burnt into Flash of the microcontroller; and if the update state value is in an abnormal state, directly jumping to the IAP program segment and waiting for the main control chip to resend the current program segment file to update the User App program segment, and after the update is successful, setting the update state value as a normal value again by the second control module.
Further, the step S1 includes checking whether the sending sequence of the M program segment files is correct when the first control module and the sending module cooperate to send the M program segment files in sequence.
Further, the step S2 includes checking whether the receiving sequence of the M program segment files is correct when the second control module and the receiving module cooperate to sequentially receive the M program segment files.
According to the technical scheme, the device and the method for remotely upgrading the microcontroller of the robot system can solve the problem that the MCU cannot be upgraded on line due to the fact that the memory capacity of the MCU is too small, and can also utilize the self-defined update state Value to determine that the program jumps to an IAP program section or a User App program section (no external input signal is needed or the program jumps to the IAP program section by utilizing a window period) in a Boot program section, so that the convenience and the efficiency of the MCU on-line upgrading are improved, and the hardware cost can be reduced in a certain sense.
Drawings
FIG. 1 is a schematic diagram of a device for remotely upgrading a microcontroller of a robot system according to the present invention;
FIG. 2 is a schematic diagram illustrating a transmission method between a main control chip and a microcontroller according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method for remotely upgrading a microcontroller in a robotic system according to the present invention;
FIG. 4 is a schematic flow chart illustrating Flash programming according to an embodiment of the present invention.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to fig. 1 to 4.
In the following detailed description of the embodiments of the present invention, in order to clearly show the structure of the present invention for the convenience of description, the structure in the drawings is not drawn to a general scale and may be partially enlarged, modified and simplified, and therefore, the present invention should not be construed as limited thereto.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating an apparatus for remotely upgrading a microcontroller of a robot system according to the present invention. As shown in FIG. 1, the device for remotely upgrading the microcontroller of the robot system comprises a master control chip terminal, a communication link and N microcontrollers.
The main control chip end comprises a segmentation module, a first control module and a sending module; the splitting module splits the executable file for upgrading into M program segment files; the sending module sends the M program segment files to the microcontroller needing to be upgraded in sequence through the communication link according to the instruction of the first control module; the size of each program segment file is less than or equal to a preset threshold value.
In the embodiment of the invention, the robot master control chip end can split the executable file which needs to be sent to a microprocessor (including but not limited to an MCU or a DSP, etc.); usually, the executable file may be a bin file, and the size of the M program segment files may be a fixed value, for example, the executable file is split into a program segment file with a fixed size of 2kb, and of course, 2kb may be usually selected, but is not limited to 2kb, because most chips use 2kb as a sector, and the read-write efficiency is the highest, and if the split last program segment file is less than 2kb, a program segment file may be calculated separately.
The microcontroller comprises a receiving module, a second control module and a programming module; after the receiving module sequentially receives a program segment file, the second control module controls the programming module to store the current program segment file into a memory of the microcontroller and to program the current program segment file into a Flash of the microcontroller; and after the current program segment file is programmed, the programming module informs the second control module, the second control module sends a message to the first control module to inform the first control module of the completion of programming, the first control module controls the sending module to send the next program segment file after receiving the message, and the receiving module receives the next program segment file and repeats the cycle until all the program segment files are programmed into Flash of the microcontroller.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a transmission manner between a master control chip and a microcontroller according to an embodiment of the invention. As shown in fig. 2, in the embodiment of the present invention, the split executable file is sequentially sent to the microcontroller to be upgraded from the main control chip end by, for example, Uart or other communication methods, and after the microcontroller finishes writing the current program segment file, the microcontroller sends the next program segment file (e.g., bin file) to the microcontroller until all bin files are written successfully.
In addition, the main control chip end further comprises a first checking module, and when the first control module and the sending module are matched to send the M program segment files in sequence, whether the sending sequence of the M program segment files is correct is checked. Correspondingly, the microcontroller further comprises a second checking module, and when the second control module and the receiving module are matched to sequentially receive the M program segment files, whether the receiving sequence of the M program segment files is correct is checked.
In some embodiments of the present invention, the microcontroller with online upgrade function will make the Flash of the microcontroller include a set Boot program segment, an IAP program segment, a User App program segment, and an update state value stored at a fixed address; and when the User App program segment fails to operate, the update state value is in an abnormal state.
Specifically, after the microcontroller is powered on, the Boot program segment judges the update state value:
if the update state value is in a normal state, the IAP program segment upgrades the User App program segment in a segmented transmission mode, after the segmented transmission and upgrading of the current program segment file are completed, the update state value is set to be in a normal state, the program segment is skipped to, and the steps are repeated in a circulating mode until all program segment files are burnt into Flash of the microcontroller;
and if the update state value is in an abnormal state, directly jumping to the IAP program segment and waiting for the main control chip to resend the current program segment file to update the User App program segment, and after the update is successful, setting the update state value as a normal value again by the second control module.
In the above embodiment, M is 2 or more and N is 1 or more. And the main control chip end resends the current program segment file through communication coordination between the first control module and the second control module. Therefore, through the operation, the problem that the program of the microcontroller cannot be upgraded due to the fact that the memory of the microcontroller is too small can be avoided.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a method for remotely upgrading a microcontroller of a robot system according to the present invention. As shown in fig. 3, the method for remotely upgrading a microcontroller by a robot system includes the following steps:
step S1: the segmentation module is used for segmenting an execution file which can be used for upgrading into M program segment files; the sending module sends the M program segment files to the microcontroller needing to be upgraded in sequence through the communication link according to the instruction of the first control module; the size of each program segment file is less than or equal to a preset threshold value;
step S2: after the receiving module sequentially receives a program segment file, the second control module controls the programming module to store the current program segment file into a memory of the microcontroller and to program the current program segment file into a Flash of the microcontroller; and after the current program segment file is programmed, the programming module informs the second control module, the second control module sends a message to the first control module to inform the first control module of the completion of programming, the first control module controls the sending module to send the next program segment file after receiving the message, and the receiving module receives the next program segment file and repeats the cycle until all the program segment files are programmed into Flash of the microcontroller.
As mentioned above, in the embodiment of the present invention, a state variable (update state Value) is stored at a fixed address in the memory of the microcontroller, and the update state Value indicates whether the current User App segment code in Flash has been successfully updated.
In the step of programming in sections, if the updating is completed, directly jumping to a User App section in an IAP section. When online upgrade is needed, a main control chip end (or an upper computer) directly sends a jump instruction to jump the program from a User App program segment to an IAP program segment.
In the step of programming in segments, if the User App program segment is not programmed or an accident occurs in the process of upgrading the User App program segment last time, the User App program segment is upgraded unsuccessfully (if the power is cut off in the upgrading process). Reading an abnormal state variable in the Boot program section, jumping the program to an IAP program section in the Boot program section, and waiting for the main control end to send a bin file in the IAP program section to upgrade the User App program section; and after the upgrading is successful, the state variables are changed into normal states, and the next time the power-on program of the microcontroller can be directly jumped from the Boot program section to the User App program section.
Specifically, referring to fig. 4, fig. 4 is a schematic flow chart illustrating Flash programming according to an embodiment of the present invention. As shown in fig. 4, when the microcontroller is powered on, the microcontroller defaults to enter a Boot area, and the Boot program segment determines that the update state Value is: and reading the updated state Value, and if the updated state Value is in a normal state, jumping to a User App program section by the program. If the update state Value is abnormal, the program jumps to the IAP program segment and waits for the main control chip to update the User App program segment.
If the program jumps to the User App program section, if the first controller at the main control chip end sends an online updating command at the moment, the program can also jump from the User App program section to the IAP program section to upgrade the User App program.
That is to say, if the microcontroller is suddenly powered off when the IAP program segment is upgraded to the User App program segment in a segmented transmission mode, so that the User App program segment is unsuccessfully upgraded, after the microcontroller is powered on again, the microcontroller enters the Boot program segment, and after the update state Value is inquired in the Boot program segment and is abnormal, the microcontroller jumps to the IAP program segment and waits for the main control end to send a bin file to update the User App program segment. After the update is successful, the update status Value is set to the normal Value again.
And if the power-on program segment is re-supplied next time, the program can be directly jumped from the Boot to the User App program segment to normally run. In this way, even if the User App program segment is not upgraded successfully due to power failure or other reasons in the upgrading process can be avoided.
In summary, the present invention not only solves the actual online update problem, but also reduces the requirements of the microcontroller for large capacity memory and large capacity Flash caused by IAP function requirements, thereby reducing the cost and ensuring that the User App program segment cannot update the program online after the IAP program segment is powered off midway, i.e. the Flash space usage of the microcontroller can be reduced in a certain program, and the microcontroller of low capacity Flash can be considered when the system is designed, thereby reducing the cost.
The above description is only for the preferred embodiment of the present invention, and the embodiment is not intended to limit the scope of the present invention, so that all the equivalent structural changes made by using the contents of the description and the drawings of the present invention should be included in the scope of the present invention.
Claims (10)
1. A device for remotely upgrading microcontrollers of a robot system is characterized by comprising a master control chip end, a communication link and N microcontrollers; wherein the content of the first and second substances,
the main control chip end comprises a segmentation module, a first control module and a sending module; the splitting module splits the executable file for upgrading into M program segment files; the sending module sends the M program segment files to the microcontroller needing to be upgraded in sequence through the communication link according to the instruction of the first control module; the size of each program segment file is less than or equal to a preset threshold value;
the microcontroller comprises a receiving module, a second control module and a programming module; after the receiving module sequentially receives a program segment file, the second control module controls the programming module to store the current program segment file into a memory of the microcontroller and to program the current program segment file into a Flash of the microcontroller; and after the current program segment file is programmed, the programming module informs the second control module, the second control module sends a message to the first control module to inform the first control module of the completion of programming, the first control module controls the sending module to send the next program segment file after receiving the message, and the receiving module receives the next program segment file and repeats the cycle until all the program segment files are programmed into Flash of the microcontroller.
2. The apparatus for remotely upgrading a microcontroller of a robot system according to claim 1, wherein Flash of the microcontroller comprises a set Boot program segment, an IAP program segment, a User App program segment and an update status value saved at a fixed address; when the User App program segment is initialized or runs normally, the updating state value is in a normal state, and when the User App program segment fails to run, the updating state value is in an abnormal state; after the microcontroller is powered on, the Boot program segment judges the update state value:
if the update state value is in a normal state, the IAP program segment upgrades the User App program segment in a segmented transmission mode, after the segmented transmission and upgrading of the current program segment file are completed, the update state value is set to be in a normal state, the program segment is skipped to, and the steps are repeated in a circulating mode until all program segment files are burnt into Flash of the microcontroller;
and if the update state value is in an abnormal state, directly jumping to the IAP program segment and waiting for the main control chip to resend the current program segment file to update the User App program segment, and after the update is successful, setting the update state value as a normal value again by the second control module.
3. The apparatus for remotely upgrading a microcontroller of a robotic system as claimed in claim 2, wherein the main control chip re-sending the current program segment file is performed by communication cooperation between the first control module and the second control module.
4. The apparatus for remotely upgrading a microcontroller for a robotic system as claimed in claim 1, wherein the executable file is a bin file.
5. The apparatus for remotely upgrading a microcontroller of a robot system as claimed in claim 1, wherein the main control chip further comprises a first checking module, and when the first control module and the sending module cooperate to sequentially send the M program segment files, the first checking module checks whether the sending sequence of the M program segment files is correct.
6. The apparatus for remotely upgrading a microcontroller of a robotic system as claimed in claim 1, wherein the microcontroller further comprises a second checking module for checking whether the receiving sequence of the M program segment files is correct when the second control module and the receiving module cooperate to sequentially receive the M program segment files.
7. A method for remotely upgrading a microcontroller in a robotic system using the apparatus of claim 2, comprising the steps of:
step S1: the segmentation module is used for segmenting an execution file which can be used for upgrading into M program segment files; the sending module sends the M program segment files to the microcontroller needing to be upgraded in sequence through the communication link according to the instruction of the first control module; the size of each program segment file is less than or equal to a preset threshold value;
step S2: after the receiving module sequentially receives a program segment file, the second control module controls the programming module to store the current program segment file into a memory of the microcontroller and to program the current program segment file into a Flash of the microcontroller; after the current program segment file is programmed, the programming module informs the second control module, the second control module sends a message to the first control module to inform the first control module of programming completion, the first control module controls the sending module to send the next program segment file after receiving the message, and the receiving module receives the next program segment file and repeats the process until all the program segment files are programmed into Flash of the microcontroller.
8. The method for remotely upgrading a microcontroller by a robot system according to claim 7, wherein the Flash specific programming step in the step S2 comprises the following steps:
after the microcontroller is powered on, the Boot program segment judges the update state value: if the update state value is in a normal state, the IAP program section upgrades the User App program section in a sectional transmission mode, after the sectional transmission and upgrading of the current program section file are finished, the update state value is set to be in a normal state, the Boot program section is jumped to, and the process is repeated in a circulating way until all the program section files are burnt into Flash of the microcontroller;
and if the update state value is in an abnormal state, directly jumping to the IAP program segment and waiting for the main control chip to resend the current program segment file to update the User App program segment, and after the update is successful, setting the update state value as a normal value again by the second control module.
9. The method for remotely upgrading a microcontroller of a robotic system as claimed in claim 7, wherein the step S1 further comprises checking whether the M program segment files are transmitted in the correct sequence when the first control module and the transmitting module cooperate to transmit the M program segment files in sequence.
10. The method for remotely upgrading a microcontroller of a robotic system as claimed in claim 7, wherein the step S2 further comprises checking whether the M program segment files are received in the correct order when the M program segment files are received in sequence by the second control module and the receiving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210745010.2A CN114816460A (en) | 2022-06-29 | 2022-06-29 | Device and method for remotely upgrading microcontroller of robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210745010.2A CN114816460A (en) | 2022-06-29 | 2022-06-29 | Device and method for remotely upgrading microcontroller of robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114816460A true CN114816460A (en) | 2022-07-29 |
Family
ID=82522241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210745010.2A Pending CN114816460A (en) | 2022-06-29 | 2022-06-29 | Device and method for remotely upgrading microcontroller of robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114816460A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108228198A (en) * | 2016-12-22 | 2018-06-29 | 比亚迪股份有限公司 | programming method and device |
| CN110262817A (en) * | 2019-05-17 | 2019-09-20 | 福建星云电子股份有限公司 | A kind of SCM program batch upgrading method and system based on Ethernet |
| CN111273937A (en) * | 2020-01-18 | 2020-06-12 | 四川九洲空管科技有限责任公司 | Remote upgrading method based on STM32F746 processor |
| US20210117180A1 (en) * | 2019-03-11 | 2021-04-22 | Contemporary Amperex Technology Co., Limited | Method for upgrading energy storage system remotely, energy management system, and battery management system |
| CN113918202A (en) * | 2021-09-16 | 2022-01-11 | 海南云智联科技有限公司 | Method and equipment for remotely upgrading firmware of single chip microcomputer supporting IAP function |
-
2022
- 2022-06-29 CN CN202210745010.2A patent/CN114816460A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108228198A (en) * | 2016-12-22 | 2018-06-29 | 比亚迪股份有限公司 | programming method and device |
| US20210117180A1 (en) * | 2019-03-11 | 2021-04-22 | Contemporary Amperex Technology Co., Limited | Method for upgrading energy storage system remotely, energy management system, and battery management system |
| CN110262817A (en) * | 2019-05-17 | 2019-09-20 | 福建星云电子股份有限公司 | A kind of SCM program batch upgrading method and system based on Ethernet |
| CN111273937A (en) * | 2020-01-18 | 2020-06-12 | 四川九洲空管科技有限责任公司 | Remote upgrading method based on STM32F746 processor |
| CN113918202A (en) * | 2021-09-16 | 2022-01-11 | 海南云智联科技有限公司 | Method and equipment for remotely upgrading firmware of single chip microcomputer supporting IAP function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109358887B (en) | On-line upgrading method, device and system for single chip microcomputer program | |
| CN106843953B (en) | iOS system based application program transverse switching system and method | |
| EP2249222A1 (en) | Robot system, robot control device, and software updating method for robot system | |
| CN105183515A (en) | Cloud deck firmware updating method and device | |
| KR20110076432A (en) | System for upgrading multi-program by using can communication and method thereof | |
| CN111240720A (en) | Boot program upgrading method and device and storage medium | |
| WO2021136200A1 (en) | Bootloader loading method, storage medium, and embedded terminal | |
| CN109814900B (en) | Firmware updating method and device and controller of robot joint | |
| CN110737452A (en) | FPGA firmware online upgrading method and system | |
| CN105468390B (en) | BOOT online upgrading device and method | |
| US9824229B2 (en) | Controller with enhanced reliability | |
| CN113434467B (en) | Network file transmission method, device and computer readable storage medium | |
| CN114816460A (en) | Device and method for remotely upgrading microcontroller of robot system | |
| CN1658161A (en) | System with primary application and spare program and starting method | |
| CN116700765A (en) | Firmware upgrading method and device of servo driver and servo driver | |
| CN103631611A (en) | Method and equipment for updating optical transmitter and receiver | |
| US6374335B1 (en) | Data loading process | |
| KR101261022B1 (en) | Apparatus of data processing and method of setting program data thereof | |
| CN111966385B (en) | Flat panel detector online upgrading method, flat panel detector and upper computer | |
| CN114281390A (en) | Zynq 7000-based online upgrading system and method | |
| CN113342385A (en) | Software upgrading method and device and air conditioner control panel | |
| CN115934139B (en) | FPGA online upgrading method and system | |
| US11650571B2 (en) | Control device, control method, and control program for executing a machining program using flag indications | |
| CN111142909B (en) | Terminal, method and system for realizing remote upgrading of CAN (controller area network) based on XC7Z045 chip | |
| CN110096047B (en) | Robot motion control system upgrading method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220729 |