JP2000267868A - Electronic controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an electronic controller capable of processing, without consuming many memory resources, each object obtained by subdividing a program for controlling a control object in each unit function. SOLUTION: When a message is outputted by executing the method of an object, the message is stored (queued) in an object message storing part, and message distribution processing is carried out when the execution of the method of any object is finished. When the message is stored in the object message storing part (S210: YES), one of first stored messages is read (S230) after counting the number of queuing messages (S220), and the processing is shifted to the execution of the method of an object being the output destination of the message (S250 and S260). Consequently, only the message has to be stored and only a small quantity of storage information is needed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electronic control device for controlling a control target according to an object-oriented program.

[0002]

2. Description of the Related Art Conventionally, for example, in an electronic control device for controlling a vehicle engine, an engine control program executed by a microcomputer (specifically, a CPU of the microcomputer) is created for each type of control. Was like that. For example, regarding the fuel injection control, each type of control (hereinafter referred to as control) includes normal injection control synchronized with engine rotation, injection control asynchronous with engine rotation, and fuel cut control at high rotation. ) Had each created a program.

However, if a program is created for each control, many common parts are included in each program, so that memory resources for storing the program and development time of the program are wasted. For example, in the example of the fuel injection control described above, a processing portion for driving an injector (fuel injection valve) is provided in a redundant manner in a program for each control. Also, since there are many common parts in each program, if it is necessary to change the control specifications related to the common parts, it is necessary to find out the program related to the specification change part from each program and correct it. It would take a lot of time for development.

Accordingly, the present inventor has attempted to create (program) a control program in an object-oriented manner in this type of electronic control device as in the case of a personal computer or the like.

[0005] The object orientation is a model in which a computer system is modeled on the concept of proceeding with work focusing on the operation target as when a human is acting.
In this object-oriented programming, the processing of a program is considered in units of objects.

That is, an object is a software module in which data and a program (hereinafter, referred to as a method) which is a procedure for processing the data are grouped together. In object-oriented programming, all functions of the control program are implemented as components. An object is prepared for each unit function such as each unit. Then, in the object-oriented programming, each object is connected using a concept of so-called inter-object message communication in which messages are exchanged between objects.

Here, an example in which a program for controlling the engine idle speed is created based on object orientation will be described with reference to FIG.

FIG. 28 is a message sequence chart showing the functions related to idle speed control of the engine by subdividing them into objects and adding messages to and from each object. In the message sequence chart, objects are indicated by vertical lines, and exchange of messages between the objects is indicated by left and right arrows. A rectangular frame above a line indicating an object indicates processing of the object.

[0009] On the other hand, in the description in this specification, an operation expression having an object as a subject such as "the object does ..." or "the object does ..." actually means that the CPU of the microcomputer operates according to the object. (That is, the CPU executes the method of the object)
(The unit processing means in the present invention) performs the above-mentioned operation (...). Further, “the object operates” indicates that the CPU of the microcomputer executes the method of the object.

First, the function of each object shown in FIG. 28 will be described.

[0011] The ISC object is an object for calculating a target throttle opening for setting the engine speed to an optimum idle speed based on the engine water temperature value and the like. The water temperature sensor object detects the engine water temperature. This is an object that converts a digital value obtained by AD-converting an analog signal from a water temperature sensor into a water temperature value. The AD converter object is an object that controls an AD converter for converting an analog signal from the water temperature sensor into a digital value (AD conversion). The throttle controller object controls an engine throttle valve by an ISC object. This is an object that controls to be the calculated target throttle opening.

Next, the contents of the processing realized by each object in FIG. 28 will be described.

First, when the idle speed control timing comes, the ISC object starts operating (that is, CSC).
The PU starts executing the method of the ISC object). Then, as shown in FIG. 28, the ISC object sends a water temperature acquisition request message to the water temperature sensor object.

Then, the water temperature sensor object operates and sends a water temperature AD value acquisition request message to the AD converter object as shown in FIG. Then, the A / D converter object operates in accordance with the water temperature AD value acquisition request message, and performs an operation of converting an analog signal from the water temperature sensor into a digital signal.

After ending the above operation, the AD converter object sends a water temperature AD value acquisition response message (that is, a message indicating that the digital conversion of the water temperature sensor has been completed) to the water temperature sensor object as shown in FIG. send.

Then, the water temperature sensor object becomes AD
The water temperature value is calculated based on the calculation result of the converter object, and after the calculation, a message of a water temperature acquisition response (that is, a message that the calculation of the water temperature value has been completed) is sent to the ISC object as shown in FIG. .

The ISC object calculates a target throttle opening based on the calculated water temperature value in response to the water temperature acquisition response message.
The SC object sends a throttle setting request message (that is, a message indicating that the target throttle opening has been calculated) to the throttle controller object as shown in FIG.

Then, the throttle controller object operates to control the throttle valve of the engine so as to have the calculated target throttle opening, whereby the engine speed is controlled to the optimum idle speed. .

As described above, in an object-oriented program, each object issues a message as a processing request to another object, and the virtual object-to-object message such that the object to which the message is output operates. The communication determines the processing order of each object.

When a program is created in an object-oriented manner, common parts of the program can be easily collected, and compared with a case where a program is created for each control,
Even when the control specification is changed, it is very easy to modify the program.

When a program is created in such an object-oriented manner, as described above, it is necessary to consider a method of exchanging processing requests between objects (message communication between objects). Therefore, it is conceivable to apply a conventionally known function call method to message communication between objects.

In the method using a function call, as shown in FIG. 29, an instruction for calling the method of the object to be processed next is written in the method of the object. Then, when it is desired to perform message communication between objects one after another, an instruction for calling a method of another object is previously written in a method of the called object.

More specifically, as shown in FIG. 29, the method of the object A is called during the execution of the method of the object A, and the method of the object C is called during the execution of the method of the object B. I do.
That is, in this method, a message as a processing request to another object is issued by the function call.

[0024]

As a method of utilizing a memory area used for executing such a program,
Dynamic (how to reserve a storage area when needed without securing a storage area to store specific data and use it to release the storage area when it is no longer needed) and static (when the microcomputer operates During the middle, there is a method of using a memory area that is exclusively reserved according to the stored contents. For dynamic use,
The memory area can be secured for general use regardless of the content (size and number) of data, and limited memory resources can be used effectively.

For dynamic use, the memory area is usually managed by an operating system (OS) on the system. When managing with the OS, in order to secure the memory area for general purpose regardless of the data content (size / number),
A system call such as a memory area acquisition instruction and a memory area release instruction is executed for the OS, but the overhead required to call the system call is large (the processing load of the program is large). Therefore, it is desired that the memory area is statically managed in order to improve the operation speed, and that the memory area can be dynamically managed.

However, in the above method using a function call, execution of the calling method is temporarily suspended, and after execution of the called method, execution of the interrupted method is resumed. Become. Therefore,
In order to resume the execution of the interrupted method, the internal state of the microcomputer immediately before the interruption (that is, the values of the program counter and various registers) must be stored in a stack area of the RAM. Consumes a lot of storage space.

In particular, the larger the number of nestings (ie, the combination of calls formed in multiple layers), the more the storage area of the consumed RAM is significantly increased. There is a limit in equipment with limited resources.

Moreover, the amount of consumption of the storage area of the RAM at the time of the call is secured in advance because the program execution position to be stored and the value of a variable used after resuming execution change depending on sensor inputs and other program execution states. It is difficult to predict the storage area that needs to be used, and it is difficult to use it statically.

The present invention has been made in view of such a problem, and performs processing of each object obtained by dividing a program for controlling a control target into unit functions at a high operation speed and consuming a large amount of memory resources. It is an object of the present invention to provide an electronic control device that can be performed without performing the operation.

[0030]

The electronic control unit according to the present invention according to the first aspect of the present invention provides a program for controlling an object to be controlled in accordance with an object obtained by subdividing a program for each unit function. It has a plurality of unit processing means for respectively performing processing for realizing functions.

Here, the unit processing means is, for example, a function means realized by the CPU of the microcomputer operating according to the object (in other words, the CPU executing the method of the object), as described above. . That is, when the CPU of the microcomputer executes the method of the object, processing for realizing the function allocated to the object is performed.

In the electronic control device according to the present invention, it is premised that any one of the plurality of unit processing means performs the processing operation alternatively, and that each of the unit processing means performs another processing during the processing operation. By issuing a message as a processing request to the processing means, the unit processing means which is the output destination of the message performs the processing.

Here, in particular, the electronic control device of the present invention includes a message storage means and a start control means, and the message storage means previously reserves a dedicated storage area in a memory, and stores a unit of the storage area in advance. The message issued by the processing means is stored. Then, the activation control means reads out the message stored in the message storage means, and causes any one of the unit processing means which is the output destination of the read out message to start processing.

Therefore, according to the electronic control device of the present invention,
The memory can be used without depending on the operating system, and the processing of each object obtained by subdividing the program for controlling the control target for each unit function can be performed at a high operation speed. In addition, since the activation control means stores only the message for starting the processing of the unit processing means in the storage area exclusively reserved, it is possible to easily predict the capacity to be reserved and reduce the consumption of memory resources. .

The activation control means reads the message stored in the message storage means and causes the unit processing means, which is the output destination of the read message, to start the processing. If the read message is deleted from the message storage unit, it is possible to prevent the unnecessary message from remaining in the message storage unit, and to effectively use the memory resources.

Next, in the electronic control device according to the third aspect of the present invention, in the electronic control device according to the first and second aspects, the activation control means is configured so that any one of the unit processing means performs a processing operation. At the time of termination, one of the plurality of unit processing means is started according to the content of the message stored in the message storage means.

Accordingly, it is possible to process each object obtained by subdividing the program for controlling the control target for each unit function in real time. That is, the processing of each object can be executed in an event-driven manner.

Next, in the electronic control unit according to a fourth aspect, in the electronic control unit according to any one of the first and second aspects, the message storage means is determined according to the data size of the message. A predetermined number of unit storage areas are secured in units of storage capacity, and the contents of one message are stored in one unit storage area.

Thus, the maximum number of messages to be stored at one time can be predicted and set, so that a storage area dedicated to messages to be secured can be easily set. Further, in the conventional method using a function call, when nesting occurs, a memory area is required as the number of nesting increases, and it is necessary to secure a large memory capacity to realize the nesting. It is possible to realize only with the memory of FIG.

Next, in the electronic control device according to the fifth aspect, in the electronic control device according to the fourth aspect,
The message issued by each unit processing means includes an identification code indicating an object corresponding to the unit processing means to which the message is output.

Further, the message storage means stores the identification code in the unit storage area. The activation control means reads the identification code and causes the unit processing means indicated by the read identification code to start processing.

According to the electronic control apparatus of the fifth aspect, since the messages stored in the unit storage area are of a fixed format, the storage capacity of the message-only storage area to be secured can be reduced. Furthermore, it is possible to easily configure the system to independently manage the memory without relying on system calls for securing and releasing a general-purpose memory area provided by the operating system.

Next, according to the electronic control device of the sixth aspect, in the electronic control device of any one of the first to fifth aspects, the activation control means performs a predetermined process. During this time, the number of messages stored in the message storage means is counted. Then, the capacity of the storage area to be secured is determined according to the largest value among the count values during the execution of the predetermined processing. According to the electronic control device described in claim 7, in the electronic control device according to any one of claims 4 and 5, the activation control means includes:
While the predetermined process is being performed, the number of unit storage areas in which no message is stored among the unit storage areas of the message storage unit is counted. Then, the capacity of the storage area to be secured is determined according to the smallest count value during the execution of the predetermined processing.

With the electronic control device according to the sixth and seventh aspects, the maximum number of stored messages can be obtained by a predetermined process, so that the storage area to be secured can be easily obtained. In particular, if the messages are stored in the unit storage areas according to the fourth and fifth aspects, the maximum number of message storages and the number of the unit storage areas coincide with each other. Can be.

According to the electronic control unit of the eighth aspect, in addition to the electronic control unit of the fourth aspect, a portion for storing message data in a plurality of unit storage areas and address information of the message storage means are further provided. Is provided, and the storage order of the message in the unit storage area is determined by the pointer portion. Then, the activation control unit reads out the data of the message stored first in the unit storage area, and causes any one of the plurality of unit processing units, which is the output destination of the read out message, to start processing.

According to the electronic control unit of the ninth aspect, in addition to the electronic control unit of the eighth aspect, the data of the message is further stored in the pointer portion of the unit storage area in which the data of the message is stored at the Nth position. Is stored in the (N + 1) -th unit storage area.

According to the electronic control unit of the tenth aspect,
10. The electronic control unit according to claim 8, further comprising: an address of a unit storage area where data of a message stored first among the messages is stored in the message storage means; Message storage management means for storing the address of the unit storage area in which the data is stored is provided, and the activation control means causes any of the unit processing means to start processing based on the information stored in the message storage management means.

With the electronic control device according to the eighth, ninth, and tenth aspects, message management (object processing) can be easily managed only by storing addresses while reducing the amount of memory resources consumed.

According to an eleventh aspect of the present invention, in addition to the electronic control unit according to any one of the eighth to tenth aspects, the message storage means further stores a message data of a plurality of unit storage areas. A unit storage area management means for managing an unstored unit storage area in which no unstored unit storage area is stored. It is stored in a pointer portion of any one of the storage unit storage areas.

Then, the unit storage area management means stores the address information of the unstored unit storage area in which the address information is not described in the pointer portion of the other unstored unit storage area, and The non-storage unit storage area is managed by storing the address information of the non-storage unit storage area in which the storage unit storage area address information is not stored.

Thus, the management of the message (object processing) and the management of the unit storage area in which the message is not stored can be easily performed only by storing the address.

[0052]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An electronic control unit according to an embodiment of the present invention will be described below with reference to the drawings. still,
It is needless to say that the present invention is not limited to the embodiments described below, and can take various forms within the technical scope of the present invention.

FIG. 1 is a block diagram showing a hardware configuration of an electronic control unit (hereinafter, referred to as an ECU) 1 mounted on an automobile and controlling an internal combustion engine.

As shown in FIG. 1, the ECU 1 calculates an optimal control amount for the engine based on input signals from various sensors such as a water temperature sensor for detecting the temperature of the engine and a crank sensor for detecting the number of revolutions of the engine. The CPU 3 outputs a control signal based on the calculation result, and receives signals from various sensors and sends them to the CPU 3.
3, an input / output circuit 2 for driving an actuator such as an engine throttle valve or an injector (fuel injection valve) in response to a control signal from the engine 3, a program executed by the CPU 3 for controlling the engine, and a reference when the program is executed. A non-volatile ROM 5 for storing data to be stored;
A volatile RAM 6 for temporarily storing the operation results of the PU 3 and the like.

In the ECU 1, the above C
PU3, ROM5, and RAM6 constitute a main part of the microcomputer, and although not shown, the microcomputer has an I / O for the CPU 3 to input and output signals to and from the input / output circuit 2. An / O port is also provided. Further, a part of the storage area of the RAM 6 is set as a backup RAM that can retain the stored contents even when the power supply to the ECU 1 is cut off.

To check whether the program executed by the CPU 3 is operating as determined, the debug tool 7 is connected to the input / output circuit 2 from outside the ECU 1. When the flag DEBUG is set in the RAM 6 after the debug tool 7 is connected to the input / output circuit 2,
The CPU 3 performs a predetermined process for confirming the program operation.

In the ECU 1 of the present embodiment, the engine control programs and data stored in the ROM 5 and executed by the CPU 3 are programmed in an object-oriented manner. Therefore, the ECU 1 of the present embodiment includes the message delivery control unit 10 shown in FIG. 2 as a means for realizing the above-described message communication between objects.

FIG. 2 is a conceptual diagram showing the relationship between the engine control object stored in the ROM 5 and the message delivery control unit 10, not showing the hardware configuration. Then, the message delivery control unit 10
Instead of being configured by hardware, CP
U3 is a functional means realized by operating in accordance with the message delivery control object stored in the ROM 5.

Therefore, the message delivery control unit 10 will be described below with reference to an example of a program portion for controlling the idle speed of the engine.

First, as shown in FIG.
As an object for controlling the idle speed of the engine, an ISC object O for calculating a target throttle opening for setting the engine speed to the optimum idle speed based on the water temperature value of the engine and the actual speed.
B1, a water temperature sensor object OB2 for converting a digital value obtained by AD-converting an analog signal from the water temperature sensor into a water temperature value, and an AD converter (AD conversion) for converting an analog signal from the water temperature sensor into a digital value (AD conversion) ( (Not shown), a crank sensor object OB5 for calculating an engine speed based on a signal from the crank sensor, and a throttle opening of the engine at the target throttle opening calculated by the ISC object. And a throttle controller object OB4 that performs control as described above.

In the ROM 5, the object O
Objects other than B1 to OB5 are also stored, and include objects for implementing the functions of the message delivery control unit 10 (objects for message delivery control).

Next, each of the objects OB1 to OB5
An outline of the processing realized by the above will be described with reference to the message sequence chart of FIG.

First, an object other than the objects OB1 to OB5, which are executed periodically (for example, every 4 ms) to determine the timing of the idle speed control, is used to determine the ISC object O as shown in FIG.
When the throttle setting start request message is issued to B1, the ISC object OB1 starts operating (that is, the CPU 3 starts executing the method of the ISC object OB1).

Then, as shown in FIG. 3, the ISC object OB1 sends a water temperature acquisition request message to the water temperature sensor object OB2, and then, as shown in FIG. 3, acquires the engine speed from the crank sensor object OB5. Issues a request message.

Then, the water temperature sensor object OB2 operates according to the above-mentioned water temperature acquisition request message, and FIG.
As shown in (5), a message of a water temperature AD value acquisition request is issued to the AD converter object OB3.

On the other hand, the crank sensor object OB5 operates in accordance with the engine speed acquisition request message, and calculates the engine speed based on a signal from the crank sensor. Then, after completing the calculation of the engine speed, the crank sensor object OB5 sends a message of an engine speed acquisition response to the ISC object OB1 (that is, a message indicating that the calculation of the engine speed has been completed) as shown in FIG. ).

The AD converter object OB3 operates according to the water temperature AD value acquisition request message issued by the water temperature sensor object OB2, and performs an operation of converting an analog signal from the water temperature sensor into a digital value. After completing the above calculation, the AD converter object OB3 sends a water temperature AD value acquisition response message to the water temperature sensor object OB2 as shown in FIG. 3 (that is, a message indicating that digital conversion of the water temperature sensor has been completed).
Put out.

Then, the water temperature sensor object OB2
Calculates the water temperature value based on the calculation result of the AD converter object OB3, and after the calculation, as shown in FIG. 3, a message of the water temperature acquisition response to the ISC object OB1 (that is, the calculation of the water temperature value is completed). Message).

Then, with the water temperature acquisition response message or the engine speed acquisition response message,
The ISC object OB1 operates to calculate a target throttle opening based on the water temperature value calculated by the water temperature sensor object OB2 and the engine speed calculated by the crank sensor object OB5.
The ISC object OB1 is, as shown in FIG.
A throttle setting request message (that is, a message indicating that the target throttle opening has been calculated) is issued to the throttle controller object OB4.

Then, the throttle controller object OB4 operates to control the throttle valve of the engine so that the calculated target throttle opening is obtained.
Thus, the engine speed is controlled to the optimum idle speed.

As described above, in the ECU 1 of the present embodiment,
Each of the objects OB1 to OB5 issues a message as a processing request to another object, and the object that is the output destination of the message operates, thereby performing virtual inter-object message communication.
The processing order of the objects OB1 to OB5 is determined.

Next, the message delivery control unit 10 for realizing the above-described inter-object message communication.
Queues the messages issued by each object, reads the first queued message among the queued messages each time a predetermined delivery condition is satisfied, and outputs the read message to the message. Deliver to the destination object.

Note that "queuing" is an operation of inserting and storing data in a queue, and a "queue" is a queue, and one end of a data structure at one end. Data is inserted, and data is deleted at the other end. “Delivery” means to start processing of an object that is a message output destination (specifically, execution of a method of an object specified by the message).

Then, as shown in FIG. 2, the message delivery control section 10 stores the object message storage section 1 for queuing a message from each object.
2 and an empty memory block storage unit 14 for securing a storage area for storing (queuing) messages in the object message storage unit 12.

Here, the object message storage unit 1
2 and the empty memory block storage unit 14 are for securing a message-only storage area secured on the RAM 6, and the capacity of the secured storage area dynamically fluctuates. The details will be described later.

On the other hand, in the present embodiment, the message issued from each object includes, as its message contents, an object identification number (hereinafter, referred to as OID) indicating the output destination object of the message, and the object of the output destination. A method identification number (hereinafter, MI) indicating the method to be executed among the constituent methods
D), and may further include an argument. Instead of the argument, an address for storing data necessary for the operation of the message transmission destination may be used.

Then, as shown in FIG. 2, the message delivery control section 10 specifies the delivery destination of the message read from the object message storage section 12, in other words, the OID included in the read message.
In order to identify at which address of the ROM 5 the method of the object indicated by MID is stored,
A connection information database 16 is provided.

As shown in FIG. 4, the connection information database 16 stores each combination of OID and MID and the start address (ie, execution start address) of the ROM 5 in which the method of the object indicated by each combination is stored. , And a data table stored in association therewith. For example, the data table of FIG. 4 indicates that the method of the object whose OID is n and whose MID is m is stored in the ROM 5 starting from the address “Anm”. The connection information database 16 including such a data table is stored in the ROM 5 together with each object.

Next, the details of the object message storage unit 12 and the empty memory block storage unit 14 will be described. The storage area of the above-mentioned message is stored in the object message storage unit 12 and the free memory block storage unit 1.
4 is specified and secured, and is secured in units of a predetermined capacity corresponding to the size of the message data (the storage area of the unit capacity is called a memory block).
In other words, a predetermined number (for example, 5) of memory blocks designated by the program are secured in the RAM 6 as message-only storage areas.

As shown in FIG. 5A, this memory block includes an OID section for storing an OID of a message output destination, an MID section for storing an MID of a message output destination, and an argument section for storing an argument. Have. When the memory blocks are secured in the object message storage unit 12 and the free memory block storage unit 14, the order in which the memory blocks are released from being secured by a predetermined rule is determined. It also has a pointer to specify a memory address.

For example, memory addresses 0000 to 0004
Assuming that five memory blocks are secured in this order, the pointer is 0001 for the pointer of the memory block at the memory address 0000 and 0002 for the pointer of the memory block at the memory address 0001, as shown in FIG. 5B. NULL, which means that nothing exists, is written in the pointer of the memory block at the final memory address 0004.

For the sake of simplicity, the number of memory blocks to be reserved is 5, and the order of release is 0000 →
0001->0002->0003-> 0004 are unified, but the invention is not limited to this.

The memory block (hereinafter, referred to as a message block) in which a message is written (in which the OID and MID are written) among the memory blocks reserved in advance is stored in the object message storage unit 12.
Then, a memory block in which no message is written (hereinafter referred to as a free memory block) is secured in the free memory block storage unit 12.

When a message is issued from the object, the number of memory blocks reserved in the empty memory block storage unit 14 decreases by one, and instead, the number of memory blocks reserved by the object message storage unit 12 increases by one. , The message is stored in the increased memory block. When the message is read from the object message storage unit 12 and delivered to the object, the memory block storing the message returns from the object message storage unit 12 to the free memory block storage unit 14. I have.

Next, how the object message storage unit 12 and the free memory block storage unit 14 secure memory blocks will be described with reference to FIG.

The object message storage unit 12 and the free memory block storage unit 14 use the memory address of the memory block to be released first among the secured memory blocks as the head address, and the memory address of the memory block to be released last. Is stored as the end address.

Initially, all the memory blocks are empty memory blocks and no messages are queued. Therefore, as shown in FIG. 6A, the empty memory block storage unit 14 sets 0000 as the start address and 0000 as the end address. 0004 is stored. The object message storage unit 14 stores NULL as the start address and the end address.

Further, according to the determined order, the pointers of the memory blocks (empty memory blocks) at the memory addresses 0000 to 0004 are 0001 and 00, respectively.
02, 0003, 0004, and NULL are written.

The message is exchanged from here.
Assuming that two messages are queued, FIG.
As shown in (b), the object message storage unit 1
4 stores 0000 as the start address and 0001 as the end address.
4 stores 0002 as a start address and 0004 as an end address.

Then, the memory address 0000, 000
0001 and NULL are respectively written in the pointers of one memory block (message block), and 0003, 0004 and NULL are respectively written in the pointers of the memory blocks (empty memory blocks) of the memory addresses 0002, 0003 and 0004. ing. Note that OIDa, OIDb, MIDa, and MIDb are the OID and MID of the output destination of the queued message.

If messages are exchanged from the state of FIG. 6A and five messages are queued, there is no empty memory block.
As shown in (c), the object message storage unit 1
4 stores 0000 as the start address and 0004 as the end address.
4 is NULL as a start address and an end address
I remember.

Then, the memory addresses 0000 to 0004
0001, 0002, 0003, 0 as shown in the pointer of each memory block (message block) of FIG.
004, NULL is written. OID
c to g and MIDs c to g are the OID and MID of the output destination of the queued message.

When queuing a message from an object, first, the free memory block storage unit 14
Releases the memory block by writing the memory address of the memory block to be released next to the memory block of the memory address stored as the head address in the head address. Then, the OI of the received message
D, MID, and arguments are written to the corresponding locations of the released memory block. Then, in order for the object message storage unit 12 to secure the written memory block, a memory block for newly securing a memory block pointer of a memory address previously stored as the end address of the object message storage unit 12 from NULL. And the pointer of the newly secured memory block is set to NULL. Finally, the memory address of the newly secured memory block is stored in the object message storage unit 12 as the end address.

When the message is delivered to the object, the memory address of the memory block to be released next to the memory block of the memory address stored as the head address in the object message storage unit 12 is stored again as the head address. Release a memory block. Then, the OID and the MID stored in the released memory block are read, and the message is delivered to the corresponding object. Thereafter, in order to secure the memory block released from the object message storage unit 12 in the free memory block storage unit 14, the pointer of the memory block of the memory address previously stored as the end address in the free memory block storage unit 12 is set to N.
In addition to rewriting the memory address of the memory block released from the UL, NULL is written to the pointer of the newly secured memory block. Finally, the memory address of the newly secured memory block is stored in the free memory block storage unit 14 as the end address.

Therefore, conceptually, all the memory blocks secured in the RAM 6 are initially stored in the free memory block storage unit 14, and when a message is issued from the object, the free memory block storage unit 14 1 memory block in object message storage 12
Is transferred (transferred), and the message is stored in the transferred memory block. When the message queued in the object message storage unit 12 is read and delivered to the object, the memory block storing the message is returned from the object message storage unit 12 to the free memory block storage unit 14. Being reused.

Next, the state transition and function of the message delivery control unit 10 will be described with reference to FIG. FIG. 7 is a state transition diagram of the message delivery control unit 10.
In addition, the processing of the message delivery control unit 10 described below is actually performed by the CPU 3 using the message delivery control objects (methods and data) stored in the ROM 5.
In accordance with the following.

The message delivery control unit 10 is turned off as shown in FIG. 7A when the ignition switch of the vehicle is turned off and the microcomputer of the ECU 1 stops operating. When an initialization request is made, for example, when the ignition switch is turned on from the off state or when the microcomputer is reset, initialization processing is performed as shown in FIG. 7B, and thereafter, FIG. As shown in FIG.

Here, in the initialization processing performed in FIG. 7B, as shown in FIG. 8, first, in S50, the object message storage unit 12 is initialized. Specifically, as shown in FIG. 6A, the head address and the tail address stored in the object message storage unit 12 are set to NULL.

Next, in S60, the free memory block storage section 14 is initialized. Specifically, as shown in FIG. 6A, first, the number specified in the program (5 in the example)
) Free memory blocks. Next, the determined order of release (0000, 0001, 000 in this example)
2, 0003, 0004), the memory address of the memory block to be released next is written in the pointer of each memory block (the pointer of the memory block at the memory address 0004 is NULL). Then, predetermined addresses are written as the start address and the end address in the empty memory block storage unit 14 (in this example, the start address is 0000 and the end address is 0004).
As a result, when a message is issued from any of the objects, the free memory block held by the free memory block storage unit 14 can be delivered to the object message storage unit 12.

After finishing such initialization processing, the message delivery control section 10 enters a message reception waiting state. The message reception waiting state is a state in which a message issued from an object can be queued in the object message storage unit 12.
In this state, when a termination request such as an ignition switch being turned off is generated, the message delivery control unit 10
Performs the serialization process as shown in FIG. 7D, and then returns to the above-described off state.

Here, in the serialization processing performed in FIG. 7D, as shown in FIG. 9, first, in S70, the object message storage unit 12 is initialized. Next, S8
At 0, the free memory block storage unit 14 is initialized.
Specifically, it is the same as S50 and S60 of the initialization processing in FIG.

On the other hand, when a message is output from the object in the message reception waiting state, the message delivery control unit 10 performs a message queuing process as shown in FIG. The message is queued in the storage unit 12, and then returns to the message reception waiting state.

In this embodiment, a message is output when an object issues a message transmission request. In the following description, the OID as the message content is n (= 1, 2,...)
A message in which D is m (= 1, 2,...) Is particularly described as “message (n, m)”, and the message (n, m)
The message transmission request for outputting m) is referred to as “message transmission request (n, m)”.

Here, in the message queuing process performed when an object issues a message (message transmission request), first, as shown in FIG.
It is determined whether a free memory block can be acquired from the free memory block storage unit 14 (that is, whether a free memory block is secured in the free memory block storage unit 14). Then, if a free memory block can be obtained, in the following S110, the free memory block storage unit 14 reads the free memory block at the top of the free memory blocks, that is, the free memory block storage unit 14 as the start address. Obtain a free memory block at the stored memory address.

Next, in S120, the message issued this time from the object is written in the obtained free memory block. Note that, specifically, the OID and MID, which are the contents of the message, or an argument is written in the empty memory block.

Then, in the subsequent S130, the above S120
The memory block in which the message has been written is queued in the object message storage unit 12. That is, first, the memory address of the memory block in which the message has been written is written to the pointer of the message block that has been secured at the end, and NULL is written to the pointer of the memory block in which the message has been written. Then, the memory address of the memory block in which the message is written is stored in the object message storage unit 1.
2 is stored as the end address.

Then, in S140, it is determined whether or not the flag DEBUG indicating the debug state is OFF. S140
When it is determined that the flag DEBUG is ON, the counter C is incremented by one in S150 in order to count the maximum value of messages queued during debugging. This counter C is a counter that is incremented by one during the message queuing process and decremented by one in the message delivery process described later.

Next, in step S160, the value of the maximum value Cmax of the number of queuing messages so far is read from the RAM, and in step S170, the value of the counter C is compared with the value of the maximum value Cmax. When the value of the counter C is larger, the current queuing number becomes the maximum value during the debugging process so far.
And the message queuing process ends. In S180, the counter value is larger than the maximum value Cmax.
Is determined to be smaller than the maximum value Cmax, the value of the maximum value Cmax stored in the RAM is determined to be the maximum value even after the current queuing process is completed, and the message queuing process is terminated.

Note that the flag DEBUG is set in S140.
Is determined to be OFF, the message queuing processing is terminated without performing the above-described debugging processing because the debugging is not being performed.

If it is determined in S100 that a free memory block cannot be acquired (that is, there is no free memory block in the free memory block storage unit 14), the Give an error message to the method. Thus, it can be determined that the number of secured free memory blocks is small.

Next, how the message queuing process performs message queuing and release / secure of a memory block will be described with reference to FIGS. 11 and 12. FIG. In FIG. 11, as shown in FIG. 11A, first, the memory block of the memory addresses 0000 and 0001 is a message block,
2,0003,0004 memory blocks are examples of empty memory blocks. FIG. 12 first shows FIG.
As shown in FIG.
4 is an example of a message block, and memory blocks of memory addresses 0000, 0001, and 0002 are examples of empty memory blocks. Where OIDk,
m, n, p, q, r and MID k, m, n, p, q, r are the OID and MID of each message.

First, the memory block of the memory address stored as the head address in the empty memory block storage unit 14 is selected (the memory address is changed to the memory address shown in FIG. 11).
In the example of FIG. 12, and 0000 in the example of FIG. 12).

Next, as shown in FIGS. 11 (b) and 12 (b), the free memory block storage unit 14 sets the memory address of the next memory block (FIG.
12 and 0001 in the example of FIG. 12, and the obtained pointer of the memory block is deleted (S100: YES, S110).

Then, as shown in FIGS. 11 (c) and 12 (c), the contents of the message issued from the object this time (OIDn, MIDn, FIG. OIDr, MID
r) is written (S120), and the memory of the memory block newly secured as a pointer of the memory block (memory address is 0001 in the example of FIG. 11 and 0004 in the example of FIG. 12) which was the end address so far. The address (0002 in the example of FIG. 11 and 00 in the example of FIG. 12)
00) is written, and NULL is written to the pointer of the newly secured memory block. In addition, the memory block in which the content of the message is written (memory block whose memory address is 0002 in the example of FIG. 11 and 0000 in the example of FIG. 12) is stored in the object message storage unit 1.
The memory address is stored as the end address in the object message storage unit 12 so as to be at the end of the message block in S2 (S130).

Thereafter, if the flag DEBUG is ON, the value of the counter C is incremented by one, and becomes the same value as the message queuing number (C = 3 in both the examples of FIGS. 11 and 12) (S140). : YES, S15
0). And the maximum value Cm of the queuing number so far
If ax is larger than the value of the counter C, the value of C is written to Cmax (S170: YES, S180).

Thus, the message queuing process ends.

As described above, in this state, as shown in FIGS. 11 and 12, the number of message blocks secured in the object message storage unit 12 is increased by one, and The secured free memory block is reduced by one. Then, in the free memory block storage unit 14, the free memory block (the memory block whose memory address is 0003 in the example of FIG. 11 and 0001 in the example of FIG. 12) whose release order is the second at the beginning is replaced by the first free memory block. It becomes a memory block,
The third free memory block (the memory address is 0004 in the example of FIG. 11 and 0002 in the example of FIG. 12) which was the third free memory block becomes the second free memory block.

Next, the message delivery control unit 10
In the message reception waiting state, when a message delivery request is issued from the object as shown in FIG.
The message is delivered as shown in FIG.

In the message delivery state, as shown in FIG. 7 (h), if there is a message queued in the object message storage unit 12, a message delivery process described later is performed to execute the queued message. (That is, execution of the method of the object specified by the message).
As shown in (i), the object message storage unit 1
If there are no messages queued in 2, the process returns to the message receiving state.

In the message delivery state, when a message transmission request is issued from the object being executed, the message queuing process of FIG. 10 is performed as shown in FIG. I do.

Here, as shown in FIG. 13, the message delivery process is performed when a message delivery request is issued from an object or when execution of a method of any object is completed. It is determined whether there is a message queued in the object message storage unit 12 (that is, whether a message block can be obtained from the object message storage unit 12). Then, if there is a queued message, in the following S220, the message is set to 1
In order to deliver one message, the counter C for counting the number of queuing of the above-mentioned message is decremented by one. Then, in S230, the object message storage unit 12
From the message block at the beginning of the message blocks, that is, the object message storage unit 12
Of the message queue in which the first queued message is stored, and obtains the contents (OID and MI) of the message written in the message block.
Read D).

Next, in S240, the message block obtained in S230 is set as a free memory block.
It is registered at the end of the free memory block in the free memory block storage unit 14.

Then, in the following S250, the above-mentioned S230
ROM that stores the methods of the objects corresponding to the message contents OID and MID read in
The head address (execution start address) of No. 5 is calculated by searching the connection information database 16 described above, and the subsequent S
At 260, the execution start address calculated at S250 is called.

Then, the execution destination of the program by the CPU 3 moves to the head of the method of the object corresponding to the message content read in S230, and the message is delivered. Then, when the process execution of the method ends, the message delivery process is performed again from S210 described above.

On the other hand, in S210, there is no message queued in object message storage unit 12 (that is, object message storage unit 12
If it is determined that the message block cannot be obtained from the message), the process directly returns to the message reception waiting state.

Next, how the message delivery and the release / secure of the memory block are performed by the message delivery process will be described with reference to FIGS. 14 and 15. FIG.

Note that FIG. 14 initially shows memory addresses 0000, 0001, 000 as shown in FIG.
2 is an example of a message block, and memory blocks of memory addresses 0003 and 0004 are examples of empty memory blocks. FIG. 15 first shows FIG.
As shown in FIG.
2 is an example of a message block, and memory blocks of memory addresses 0003, 0004, and 0000 are examples of empty memory blocks. Where OIDh,
i, j and MIDh, i, j are OID and M of each message
ID.

First, the object message storage unit 1
If the message is queued at 2, the value of the counter C indicating the number of queued messages is decremented by one and the same value as the number of queued messages after the message delivery processing (the example in FIG. 14). Then C =
2, C = 1 in the example of FIG. 15 (S210: YE)
S, S220).

Next, as shown in FIGS. 14 (b) and 15 (b), a memory block of the memory address stored as the head address in the object message storage unit 12 is selected (the memory address is changed to the memory address shown in FIG. 14). 00 in the example
00, the memory block of 0001 in the example of FIG. 15)
The memory address of the next memory block (0 in the example of FIG. 14)
001, 0002) in the example of FIG.
The obtained pointer of the memory block is deleted (S23).
0).

Then, the OID and MID stored in the obtained memory block (OIDh, OIDh,
MIDh, OIDi and MIDi in the example of FIG. 15 are read, and the contents of the message are erased.
In the example of FIG. 14, the memory address of the newly secured memory block (0000 in the example of FIG. 14, and 00 in the example of FIG. 15) is set to the pointer of the memory block of 0000 in the example of FIG.
01) is written, and NULL is written to the pointer of the newly secured memory block. In addition, the memory block which has become a free memory block (the memory address is 0000 in the example of FIG. 14 and 0001 in the example of FIG. 15) is the last of the message blocks in the free memory block storage unit 14. Then, the memory address is stored in the free memory block storage unit 14 as the end address (S240).

Finally, the address of the method of the object corresponding to the message content read from the message block is read, the method is called, and the execution is started (S250, S260).

As described above, in this state, as shown in FIG. 14 and FIG.
Is increased by one, and instead, the number of message blocks secured by the object message storage unit 12 is reduced by one. Then, in the object message storage unit 12, the message block whose release order was initially the second (memory address is 0001 in the example of FIG. 14 and 0002 in the example of FIG. 15).
Is the first free memory block.

FIGS. 11, 12, and 13 show examples of queuing and delivery of queued messages.
4 and FIG. However, the number of message blocks and memory addresses are not limited to these, and the number of memory blocks determined by the program, the order of release, as well as the message queuing process and message delivery It changes depending on whether the exchange was performed. That is, in the above example, the memory block of the memory address stored as the head address in the object message storage unit 12 (or the empty memory block storage unit 14) (that is, the memory block which is released first among the memory blocks secured in each storage unit). Of the present invention, after the message is read / erased (or the message is written), and registered in the free memory block storage unit 14 (or the object message storage unit 12) as the end address. Are given as specific examples for explaining the above.

If the debugging process is performed by the debugging tool 7 of FIG. 1, the flag DEBUG is used.
Is turned ON, the message queuing number is counted, and the maximum value Cmax of the queuing number is obtained.

When the predetermined debug processing is completed, the debug tool 7 reads the Cmax value from the RAM 6 and reflects the read value in the specified location of the memory block number in the program.

Next, the objects OB1 to OB5 for controlling the idle speed shown in FIG. 2 perform message communication between the objects by the operation of the message delivery control unit 10, and are shown in the message sequence chart of FIG. Whether the above processing is performed will be specifically described with reference to FIGS. 16 to 25.

First, as shown in FIG. 16, the ISC object OB1 is converted into a message (1, 2) as a throttle setting start request message shown in FIG. 3, that is, a message whose OID is 1 and whose MID is 2 The idle-time throttle setting start request method (FIG. 18) executed accordingly, and the water temperature acquisition response method (FIG. 19) executed with the message (1, 3) as the water temperature acquisition response message shown in FIG. And an engine speed acquisition response method (FIG. 20) executed in response to the message (1, 4) as the engine speed acquisition response message shown in FIG.

The water temperature sensor object OB2 is
A water temperature acquisition request method (FIG. 21) executed in accordance with the message (2, 1) as a water temperature acquisition request message shown in FIG. 3, and a message as a water temperature AD value acquisition response message shown in FIG. It has a water temperature AD value acquisition response method (FIG. 26) executed in association with (2, 2).

Furthermore, the AD converter object OB3
Is the water temperature A executed in response to the message (3, 0) as the water temperature AD value acquisition request message shown in FIG.
The throttle controller object OB4 has a D value acquisition request method (FIG. 23), and the throttle controller object OB4 executes the throttle setting request method (FIG. 24) executed in response to the message (4, 4) as the throttle setting request message shown in FIG. ) And the crank sensor object OB
5 has an engine speed acquisition request method (FIG. 25) executed in accordance with the message (5, 0) as the engine speed acquisition request message shown in FIG.

The objects OB1 to OB5
As shown in FIG. 16, the execution start address of each method is registered in advance in the connection information database 16 in correspondence with the OID and MID indicating each method.

Next, the processing executed by the CPU 3 will be described in detail.

First, the schedule process shown in FIG. 17, which is an object other than the above objects OB1 to OB5, for determining the timing of idle speed control, is executed every 4 ms. still,
In the following description, the debugging process is performed, and the flag DE
It is assumed that BUG is in the ON state. Therefore, in S140 of the message queuing process shown in FIG. 10, a positive determination is always made. It is assumed that this schedule process has been executed after the initialization process of FIG. 8 has been performed. In addition, a sufficient number of free memory blocks are set in the free memory block storage unit 14, and a positive determination is always made in S100 of the message queuing process shown in FIG.

As shown in FIG. 17, when the execution of the schedule process is started, first, in S300, a message transmission request (1, 2) is issued.

Then, the message queuing process of FIG. 10 described above is executed, and the messages (1, 2) are queued in the object message storage unit 12.

That is, in S110 of FIG. 10, the first free memory block is obtained from the free memory block storage unit 14, and in S120, the message (1, 2) is written in the obtained free memory block. , S13
At 0, the memory block in which the message (1, 2) is written is registered in the object message storage unit 12 as a message block. Then, in this case, only one message block in which the message (1, 2) is written is registered in the object message storage unit 12. In other words, only one message (1, 2) is stored in the object message storage unit 12. Therefore, the counter C is incremented by one in S150, and the count value C = 1 of the counter C at this time becomes the maximum value.
, The maximum value Cmax = 1.

When the queuing of the message (1, 2) is completed as described above, the process returns to the schedule process of FIG. 17, and a message delivery request is issued in S310 of FIG.

Then, the above-described message delivery process shown in FIG.
The message (1, 2) queued to the server is delivered.

That is, first, in S210 of FIG. 13, it is checked whether or not a message is queued in the object message storage unit 12. In this case, only the message (1, 2) is queued. Therefore, after the counter C is decremented by one in S220, the content of the message (1, 2) is read from the message block at the head of the object message storage unit 12 in S230. In S240, the message block in which the message (1, 2) has been written is returned to the free memory block storage unit 14 as a free memory block.

In S250 of FIG. 13, the execution start address A12 (see FIG. 16) of the idle throttle setting start request method of the ISC object OB1 corresponding to the contents of the read message (1, 2) is set.
It is calculated from the connection information database 16, and in S260, the calculated execution start address is called.

As a result, the message (1, 2) is delivered, and the execution of the idle time throttle setting start request method shown in FIG. 18 is started.

As shown in FIG. 18, when execution of the idle time throttle setting start request method is started, first, S
At 400, it is determined whether or not the engine is idling, that is, whether or not the engine is in an idling operation state.

If the method is not idle, the execution of the method is terminated and the execution of the processing is terminated.
The processing returns to the schedule processing described above, and all the processing ends accordingly. If it is idle, a message transmission request (2, 1) is issued in subsequent S405.

Then, the message queuing process shown in FIG.
Message (2, 1) is queued.

That is, in S110 of FIG. 10, the first free memory block is obtained from the free memory block storage unit 14, and in S120, the message (2, 1) is written in the obtained free memory block. , S13
At 0, the memory block in which the message (2, 1) is written is registered in the object message storage unit 12 as a message block. Then, in this case, only one message block in which the message (2, 1) is written is registered in the object message storage unit 12. In other words, only one message (2, 1) is stored in the object message storage unit 12. Therefore, the counter C is incremented by one in S150, and the count value C = 1 of the counter C at this time becomes the maximum value.
, The maximum value Cmax = 1.

When the queuing of the message (2, 1) is completed in this way, the process returns to the idle throttle setting start request method in FIG.
At 410, a message transmission request (5,0) is issued.

Then, the message queuing process of FIG. 10 is executed again, and the message (5, 0) is queued in the object message storage unit 12.

That is, in S110 of FIG. 10, the first free memory block is obtained from the free memory block storage unit 14, and in S120, the message (5, 0) is written in the obtained free memory block. , S13
At 0, the memory block in which the message (5, 0) is written is registered as the message block at the end (in this case, the second from the top) of the message block in the object message storage unit 12.

In this case, two message blocks in which the message (2, 1) is written and two message blocks in which the message (5, 0) is written are stored in the object message storage unit 12 in this order. It will be registered. In other words, two messages are stored in the object message storage unit 12 in the order of message (2, 1) → message (5, 0). Therefore, the counter C is incremented by one in S150, and the count value C = 2 of the counter C at this time becomes the maximum value.
x = 2.

When the queuing of the message (5, 0) is completed in this way, the process returns to the idle throttle setting start request method in FIG. When the process of the idle time throttle setting start request method is completed, the message delivery process of FIG. 13 is executed, and the message stored first among the two messages queued in the object message storage unit 12 is stored. (2, 1) is delivered.

That is, after the counter C is decremented by one in S220 of FIG. 13, the content of the message (2, 1) is read from the message block at the head of the object message storage unit 12 in S230.
In S240, the message block in which the message (2, 1) has been written is returned to the free memory block storage unit 14 as a free memory block. Then, in S250, the read message (2,
The execution start address A21 of the water temperature acquisition request method of the water temperature sensor object OB2 corresponding to the content of 1) (FIG. 1)
6) is calculated from the connection information database 16,
In S260, the calculated execution start address is called.

As a result, the message (2, 1) is delivered, and the execution of the water temperature acquisition request method shown in FIG. 21 is started.

As shown in FIG. 21, when the execution of the water temperature acquisition request method is started, a message transmission request (3, 0) is issued in S500.

Then, the message queuing process of FIG. 10 is executed, and the message (3, 0) is queued in the object message storage unit 12, just like the procedure described above. Then, in this case, the message block in which the message (5, 0) is written and the message (3,
Two message blocks in which 0) is written are registered in that order. In other words, two messages are stored in the object message storage unit 12 in the order of message (5, 0) → message (3, 0). Therefore, the counter C becomes 1 in S150.
Since the count value C of the counter C at this time is 2, the maximum value Cmax remains 2.

When the queuing of the message (3, 0) is completed as described above, the process returns to the water temperature acquisition request method in FIG. When the process of the water temperature acquisition request method ends, the message delivery process of FIG. 13 is executed, and the message (the first one of the two messages queued in the object message storage unit 12) that is stored first is executed. 5,0) is delivered.

That is, after the counter C is decremented by one in S220 of FIG. 13, the contents of the message (5, 0) are read from the message block at the head of the object message storage unit 12 in S230.
In S240, the message block in which the message (5, 0) has been written is returned to the free memory block storage unit 14 as a free memory block. Then, in S250, the read message (5,
Crank sensor object OB corresponding to the contents of 0)
5, the execution start address A50 (see FIG. 16) of the engine speed acquisition request method is stored in the connection information database 16
In S260, the calculated execution start address is called.

As a result, the message (5, 0) is delivered, and the execution of the engine speed acquisition request method shown in FIG. 25 is started.

As shown in FIG. 25, when the execution of the engine speed acquisition request method is started, in S800, the engine speed is calculated based on the signal from the crank sensor. Then, in S805, the engine speed calculated in S800 is stored in the RAM 6, and the next S
At 810, a message transmission request (1, 4) is issued.

Then, the message queuing process of FIG. 10 is executed, and the message (1, 4) is queued in the object message storage unit 12, just like the procedure described above. Then, in this case, the message block in which the message (3, 0) is written and the message (1,
Two message blocks in which 4) is written are registered in that order. In other words, two messages are stored in the object message storage unit 12 in the order of message (3, 0) → message (1, 4). Therefore, the counter C is set to 1 at S150.
Since the count value C of the counter C at this time is 2, the maximum value Cmax remains 2.

When the queuing of the message (1, 4) is completed as described above, the process returns to the engine speed acquisition request method of FIG. When the process of the engine speed acquisition request method is completed, the message delivery process of FIG. 13 is executed, and the two messages queued in the object message storage unit 12 are stored first. Message (3,
0) is delivered.

That is, after the counter C is decremented by one in S220 of FIG. 13, the content of the message (3, 0) is read from the message block at the head of the object message storage unit 12 in S230.
In S240, the message block in which the message (3, 0) has been written is returned to the free memory block storage unit 14 as a free memory block. Then, in S250, the read message (3,
Execution start address A30 of the water temperature AD value acquisition request method of the AD converter object OB3 corresponding to the content of 0)
(See FIG. 16) is calculated from the connection information database 16, and in S260, the calculated execution start address is called.

As a result, the message (3, 0) is delivered, and the execution of the water temperature AD value acquisition request method shown in FIG. 23 is started.

As shown in FIG. 23, when the execution of the water temperature AD value acquisition request method is started, in S600, an operation of converting an analog signal from the water temperature sensor into a digital value is performed, and in S605, The digital value calculated in S600 is stored in the RAM 6. And the next S6
At 10, a message transmission request (2, 2) is issued.

Then, the message queuing process of FIG. 10 is executed, and the message (2, 2) is queued in the object message storage unit 12, just like the procedure described above. In this case, the message block in which the message (1, 4) is written and the message (2,
Two message blocks in which 2) has been written are registered in that order. In other words, two messages are stored in the object message storage unit 12 in the order of message (1, 4) → message (2, 2). Therefore, the counter C is set to 1 at S150.
Since the count value C of the counter C at this time is 2, the maximum value Cmax remains 2.

When the queuing of the message (2, 2) is completed in this way, the execution of the processing is stopped at the water temperature AD shown in FIG.
Return to the value acquisition request method. Then, when the process of the water temperature AD value acquisition request method is completed, the message delivery process of FIG. 13 is executed, and of the two messages queued in the object message storage unit 12, the one stored first is stored. The message (1,4) is delivered.

That is, after the counter C is decremented by one in S220 in FIG. 13, the contents of the message (1, 4) are read from the message block at the head of the object message storage unit 12 in S230.
In S240, the message block in which the message (1, 4) has been written is returned to the free memory block storage unit 14 as a free memory block. Then, in S250, the read message (1,
Execution start address A14 of the engine speed acquisition response method of the ISC object OB1 corresponding to the content of 4)
(See FIG. 16) is calculated from the connection information database 16, and in S260, the calculated execution start address is called.

Thus, the message (1, 4) is delivered, and the execution of the engine speed acquisition response method shown in FIG. 20 is started.

As shown in FIG. 20, when the execution of the engine speed acquisition response method is started, in S450, it is determined whether or not the water temperature has been acquired, that is, whether or not the latest water temperature value is stored in the RAM 6. Is determined.

Here, if the water temperature has been obtained, S
At 455, the latest engine speed and water temperature value are read from the RAM 6, and at S460, the engine speed is set to the optimum idle speed based on the engine speed and water temperature value read at S455. The target throttle opening for performing the operation is calculated. At S465, the target throttle opening calculated at S460 is stored in the RAM6.
In step S470, a message transmission request (4, 4) is issued.

However, in the case of the present embodiment, the water temperature AD value acquisition response method of the water temperature sensor object OB2 for storing the latest water temperature value in the RAM 6 at this point has not been executed yet. In S450, it is always determined that the water temperature has not been acquired,
The execution of the engine speed acquisition response method is terminated without performing the process of S470.

When the execution of the engine speed acquisition response method is completed, the message delivery process shown in FIG. 13 is executed, and the message (2, 2) queued in the object message storage unit 12 is delivered.

That is, in this case, the message (2,
Since only 2) is queued, S2 in FIG.
After the counter C is decremented by one at 20,
In S230, the message (2, 2) is read from the message block at the top of the object message storage
Is read. In S240, the message block in which the message (2, 2) has been written is returned to the free memory block storage unit 14 as a free memory block. Then, in S250, the execution start address A22 (see FIG. 16) of the water temperature AD value acquisition response method of the water temperature sensor object OB2 corresponding to the content of the read message (2, 2) is calculated from the connection information database 16. , S260, the calculated execution start address is called.

As a result, the message (2, 2) is delivered, and the execution of the water temperature AD value acquisition response method shown in FIG. 22 is started.

As shown in FIG. 22, when the execution of the water temperature AD value acquisition response method is started, the water temperature A
RAM 6 in S605 of D value acquisition request method (FIG. 23)
Is read, and in S515, an operation of converting the digital value read in S510 into a water temperature value (° C.) is performed.

Then, in subsequent S520, the above-mentioned S515
Is stored in the RAM 6, and the next S52
At 5, a message transmission request (1, 3) is issued.

Then, the message queuing process of FIG. 10 is executed, and the message (1, 3) is queued in the object message storage unit 12, just like the procedure described above. Then, in this case, only one message block in which the message (1, 3) is written is registered in the object message storage unit 12. In other words, only one message (1, 3) is stored in the object message storage unit 12. Therefore, the counter C is set to 1 at S150.
Since the count value C = 1 of the counter C at this time does not become the maximum value, the maximum value Cmax remains 2.

When the queuing of the message (1, 3) is completed in this way, the execution of the processing is stopped at the water temperature AD shown in FIG.
Return to the value acquisition response method. When the process of the water temperature AD value acquisition response method ends, the message delivery process of FIG. 13 is executed, and the message (1, 3) queued in the object message storage unit 12 is executed.
Will be delivered.

That is, after the counter C is decremented by one in S220 in FIG. 13, the contents of the message (1, 3) are read from the message block at the head of the object message storage unit 12 in S230.
In S240, the message block in which the message (1, 3) has been written is returned to the free memory block storage unit 14 as a free memory block. Then, in S250, the read message (1,
The execution start address A13 (see FIG. 16) of the water temperature acquisition response method of the ISC object OB1 corresponding to the content of 3) is calculated from the connection information database 16, and S2
At 60, the calculated execution start address is called.

Thus, the message (1, 3) is delivered, and the execution of the water temperature acquisition response method shown in FIG. 19 is started.

As shown in FIG. 19, when the execution of the water temperature acquisition response method is started, in S420, it is determined whether or not the rotational speed has been acquired, that is, whether or not the latest engine rotational speed is stored in the RAM 6. Is determined.

Here, if the engine speed has not been acquired, the water temperature acquisition response method is immediately terminated. In the case of the present embodiment, however, at this point, the engine speed acquisition request method (see FIG. 25) Since the latest engine speed is stored in the RAM 6 in S805, it is always determined in S420 that the engine speed has already been acquired.

If it is determined that the rotational speed has been acquired, the latest engine rotational speed and water temperature value are read from the RAM 6 in the subsequent S425, and in the next S430, the S
Based on the engine speed and the water temperature value read at 425, a target throttle opening for setting the engine speed to the optimum idle speed is calculated. And the following S4
At 35, the target throttle opening calculated at S430 is stored in the RAM 6, and at S440, a message transmission request (4, 4) is issued.

Then, the message queuing process of FIG. 10 is executed, and the messages (4, 4) are queued in the object message storage unit 12, just like the procedure described above. Then, in this case, only one message block in which the message (4, 4) is written is registered in the object message storage unit 12. In other words, only one message (4, 4) is stored in the object message storage unit 12. Therefore, the counter C becomes 1 in S150.
Since the count value C = 1 of the counter C at this time does not become the maximum value, the maximum value Cmax remains 2.

When the queuing of the message (4, 4) is completed in this manner, the process returns to the water temperature acquisition response method in FIG. When the process of the water temperature acquisition response method ends, the message delivery process of FIG. 13 is executed, and the messages (4, 4) queued in the object message storage unit 12 are delivered.

That is, after the counter C is decremented by one in S220 of FIG. 13, the content of the message (4, 4) is read from the message block at the head of the object message storage unit 12 in S230.
In S240, the message block in which the message (4, 4) has been written is returned to the free memory block storage unit 14 as a free memory block. Then, in S250, the read message (4,
The execution start address A44 (see FIG. 16) of the throttle setting request method of the throttle controller object OB4 corresponding to the content of 4) is calculated from the connection information database 16, and the calculated execution start address is called in S260. .

As a result, the message (4, 4) is delivered, and the execution of the throttle setting request method shown in FIG. 24 is started.

As shown in FIG. 24, when the execution of the throttle setting request method is started, the target throttle opening stored in the RAM 6 in S435 of the water temperature acquisition response method (FIG. 19) is read in S700. Followed by S705
The throttle control for adjusting the opening of the throttle valve to the target throttle opening is performed. And this S7
After performing the throttle control of 05, the throttle setting request method ends.

Then, the message delivery process shown in FIG. 13 is executed, and it is checked in step S210 whether or not the message is queued in the object message storage unit 12. In this case, the queue is no longer queued. Since there is no message being sent, the process returns to the message reception waiting state. Then, the process returns to the schedule process of FIG. 17, and all the processes are temporarily ended with the end of the schedule process.

Since a predetermined debugging process has been completed, FIG.
The debug tool 7 reads the Cmax value from the RAM 6 and reflects the read value in the specified location of the number of memory blocks in the program.

In the above example, Cmax = 2. Therefore, since it is understood that the above process can be performed without error if two memory blocks are prepared, the specified number of memory blocks in the program is rewritten to a value close to 2 or more. Thereby, a memory block can be effectively secured.

As described above, each of the objects OB1 to OB
The method of B5 is an idle throttle setting start request method of the ISC object OB1 (FIG. 18),
A water temperature acquisition request method for the water temperature sensor object OB2 (FIG. 21), an engine speed acquisition request method for the crank sensor object OB5 (FIG. 25), a water temperature AD value acquisition request method for the AD converter object OB3 (FIG. 23), an ISC object OB1 Engine speed acquisition response method of FIG. 20 (FIG. 20), water temperature AD value acquisition response method of water temperature sensor object OB2 (FIG. 2)
2), the water temperature acquisition response method of the ISC object OB1 (FIG. 19) and the throttle setting request method of the throttle controller object OB4 (FIG. 24) are executed in this order, and the idle speed is set in the order shown in the message sequence chart of FIG. Processing for control is performed.

Here, in particular, in the ECU 1 of the present embodiment,
If the ignition switch is turned on from the off state,
When an initialization request such as a reset is issued to the microcomputer, the initialization processing shown in FIG. 8 is executed, and a storage area (empty memory) dedicated to storage (queuing) of messages in the empty memory block storage unit 14 is used. Block). Then, the message (message transmission request) issued by the object is stored and secured in the object message storage unit 12. Then, the message stored in the object message storage unit 12 is read, and the process shifts to execution of the method of the object that is the output destination of the read message.

Therefore, according to the ECU 1 of this embodiment,
The method of each object can be executed at a high operation speed. Moreover, in order to store only the message in a dedicated storage area (free memory block),
It is possible to easily predict the capacity to be secured and reduce the consumption of memory resources.

Further, according to the ECU 1 of this embodiment, the memory area is secured at the time of initial operation by a necessary amount during the life of the system, and these are managed by the message delivery control unit 10 and dynamically operated therein. are doing.

By using the memory in a management method independent of the OS in this way, the independence from the OS is increased, and the overhead required for a system call to the OS can be eliminated.

Further, the ECU 1 of the present embodiment reads out the message stored in the object message storage section 12 and causes the method of the object which is the output destination of the read out message to start processing, and the read out message is read out. Is deleted from the object message storage unit 12. For more information,
The memory block of the object message storage unit 12 in which the read message has been written is erased and returned to the free memory block storage unit 12.

[0206] Therefore, it is possible to prevent unnecessary messages from remaining in the message storage means, and it is possible to effectively use memory resources.

Further, in the ECU 1 of the present embodiment, FIG.
Is executed, the message is stored (queued) in the object message storage unit 12, and when the execution of the method of one of the objects is completed, the message delivery process of FIG. 13 is executed. The content of the message stored in the object message storage unit 12 is read, and the process shifts to execution of the method of the object that is the output destination of the read message.

Therefore, according to the ECU 1 of this embodiment, the method of each object can be executed in real time. That is, the method of each object can be executed in an event-driven manner.

In the initialization process of FIG. 8, the ECU 1 of this embodiment can determine a unit storage area (empty memory block) in which the storage capacity is determined according to the data size of the message in the empty memory block storage unit 12. In the message queuing process shown in FIG. 10, when one message is delivered, one free memory block is obtained from the free memory block storage unit 12 and the message content is written.

Thus, the maximum number of messages that can be stored at one time can be predicted and set, so that the memory blocks to be secured can be easily set.

In the conventional method using a function call, when nesting occurs, a memory area is required as the number of nestings increases, and it is necessary to secure a large memory capacity to realize the nesting. This can be realized with one free memory block.

In the ECU 1 of this embodiment, the message issued by executing the method of the object includes an OID (object identification number) as an identification code indicating the object and the method of the output destination and the MID.
(Method identification number).

[0213] Further, the object message storage section 12 stores the OID and the MID in the memory block. Then, by the message delivery process shown in FIG. 13, the process shifts to execution of the method of the object indicated by the read identification code.

As a result, since the messages stored in the memory blocks are fixed, the number of memory blocks to be secured can be reduced.

Further, the object message storage unit 12 does not rely on execution of a system call for securing and releasing a general-purpose memory area as provided by the operating system.
In addition, it is easy to configure the memory management in the free memory block storage unit 14 independently.

Further, the ECU 1 of this embodiment counts the number of message blocks queued in the object message storage unit 12 during debugging. Then, the largest value queued at one time during debugging is obtained, and the number of free memory blocks to be reserved in the free memory block storage unit 12 in the initialization processing shown in FIG.

As a result, the maximum message block queuing number can be obtained in the debugging process, so that the number of memory blocks to be secured in advance can be easily obtained.

Note that the ECU 1 of the above embodiment counts the number of message blocks queued in the object message storage unit 12 during debugging and obtains the largest value queued at one time during debugging. Thus, the number of free memory blocks to be reserved in the free memory block storage unit 12 is determined in the initialization processing shown in FIG. However, as shown in FIGS. 26 and 27, the number of empty memory blocks to be reserved in the empty memory block storage unit 12 may be determined by counting the number of empty memory blocks.

More specifically, as shown in FIG. 26, after the message queuing process (S140) is completed, if debugging is in progress, the counter C 'for counting the number of empty memory blocks is decremented by one (S140; YE
S, S155). Then, the c'min value is read from the RAM (S165), and if the counter C 'is smaller than C'min, C'min is rewritten to the value of the counter C' (S165).
S175; YES, S185).

Then, as shown in FIG. 27, before acquiring the message block (S230), the counter C 'is incremented by one (S225).

Therefore, during debugging, the maximum message block queuing number can be obtained in the debugging process in the same manner as counting the number of message blocks queued in the object message storage unit 12. It is easy to determine the number of memory blocks to be secured.

In FIGS. 26 and 27, the same steps as those in FIGS. 10 and 13 perform the same processing.

In the above embodiment, FIG. 10 or FIG.
The message queuing process 6 and the object message storage unit 12, the free memory block storage unit 14, and the initialization process in FIG. 8 correspond to a message storage unit.
3 or the message delivery process of FIG. 27 corresponds to the activation control unit.

On the other hand, in the above embodiment, all the objects are stored in one ROM 5, but when the objects are stored in a plurality of ROMs, the storage location information in the connection information database 16 is Which RO
Information such as the execution start address of M may be stored.

On the other hand, in the above embodiment, each object and each method are assigned an identification number.
It is also possible to determine uniquely with one identification number.

On the other hand, in the above embodiment, when the ignition switch is turned on from the off state or when the microcomputer is reset, a request for initialization processing occurs, and the initialization processing in FIG. 8 is performed. However, it may be performed immediately before the message queuing process starts. In other words, if a memory area dedicated to messages can be secured before the message queuing process starts,
The effects of the present invention can be enjoyed.

On the other hand, in the above embodiment, after a message is delivered from the object message storage unit 12 to an object, when a memory block is reserved in the free memory block storage unit 14, the last address is stored in the free memory block storage unit 12 so far. The pointer of the memory block of the stored memory address is rewritten with the memory address of the memory block released from NULL, and the pointer of the newly secured memory block is replaced with NULL.
L is written, and the memory address of the newly secured memory block is stored in the free memory block storage unit 14 as the end address. However, the memory block released by the object message storage unit 12 may not be secured as the end address (for example, may be secured as the head address).

Although the ECU 1 of the above embodiment controls the engine of the vehicle, the present invention relates to an electronic control unit for controlling other controlled objects such as an automatic transmission and a suspension of the vehicle. However, the same can be applied.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a hardware configuration of an electronic control unit (ECU) according to an embodiment.

FIG. 2 is a conceptual diagram illustrating a relationship between an engine control object and a message delivery control unit.

FIG. 3 is a message sequence chart illustrating an outline of processing of each object for controlling an idle rotation speed.

FIG. 4 is an explanatory diagram illustrating a connection information database.

FIG. 5 is an explanatory diagram illustrating a message storage area of a memory.

FIG. 6 is an explanatory diagram illustrating a method of securing a memory block by an object message storage unit and a free memory block storage unit.

FIG. 7 is a state transition diagram illustrating the state transition of the message delivery control unit.

FIG. 8 is a flowchart illustrating initialization processing of a message delivery control unit.

FIG. 9 is a flowchart illustrating a serialization process of a message delivery control unit.

FIG. 10 is a flowchart illustrating a message queuing process of a message delivery control unit.

FIG. 11 is an explanatory diagram illustrating an example of a message queuing process.

FIG. 12 is an explanatory diagram illustrating another example of a message queuing process.

FIG. 13 is a flowchart illustrating a message delivery process of a message delivery control unit.

FIG. 14 is an explanatory diagram illustrating an example of a message delivery process.

FIG. 15 is an explanatory diagram illustrating another example of a message delivery process.

FIG. 16 is an explanatory diagram illustrating an object for controlling the idle speed of the engine and a specific example of a connection information database.

FIG. 17 is a flowchart showing a schedule process that is periodically executed to determine the timing of idle speed control.

FIG. 18 is a flowchart showing a method of requesting start of throttle setting at the time of idling of an ISC object.

FIG. 19 is a flowchart illustrating a water temperature acquisition response method of the ISC object.

FIG. 20 is a flowchart illustrating an engine speed acquisition response method of an ISC object.

FIG. 21 is a flowchart illustrating a water temperature acquisition request method of a water temperature sensor object.

FIG. 22 is a flowchart illustrating a water temperature AD value acquisition response method of a water temperature sensor object.

FIG. 23 is a flowchart illustrating a water temperature AD value acquisition request method of the AD converter object.

FIG. 24 is a flowchart illustrating a throttle setting request method of a throttle controller object.

FIG. 25 is a flowchart illustrating an engine speed acquisition request method for a crank sensor object.

FIG. 26 is a flowchart illustrating another example of the message queuing process of the message delivery control unit.

FIG. 27 is a flowchart illustrating another example of the message delivery process of the message delivery control unit.

FIG. 28 is a message sequence chart illustrating an example of a program created by object orientation.

FIG. 29 is an explanatory diagram for explaining a problem when a function call method is applied to inter-object message communication.

[Explanation of symbols]

1. Electronic control unit (ECU) 2. Input circuit 3.
CPU 4 ... Output circuit 5 ... ROM 6 ... RAM 10 ...
Message delivery control unit 12 ... Object message storage unit 14 ... Free memory block storage unit 16 ... Connection information database OB1 ... ISC object OB2 ... Water temperature sensor object OB3 ... AD converter object OB4 ... Throttle controller object OB5 ... Crank sensor object

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Shigeru Kajioka 1-1-1 Showa-cho, Kariya-shi, Aichi F-term in DENSO Corporation (Reference) 5B076 AB17 5B098 GA02 GB13 GC16

Claims (11)

[Claims] A plurality of unit processing means for performing processing for realizing each unit function according to an object obtained by subdividing a program for controlling a control target for each unit function; One of the means performs the processing operation alternatively, and each of the unit processing means issues a message as a processing request to the other unit processing means during the processing operation, so that the output destination of the message is output. In the electronic control device configured to perform processing by the unit processing unit, a dedicated storage area is previously reserved in a memory for temporarily storing the program and its control result, and the unit processing unit outputs Message storage means for storing a message in a storage area dedicated to the message; reading a message stored in the message storage means; The output destination of the found message,
An electronic control unit, comprising: an activation control unit that causes any of the plurality of unit processing units to start processing. 2. The electronic control device according to claim 1, wherein the activation control means erases the content of the read message from the message storage means when reading the message. Control device. 3. The electronic control device according to claim 1, wherein the activation control unit stores the message in the message storage unit when any one of the plurality of unit processing units ends the processing operation. An electronic control unit for starting the processing of any one of the plurality of unit processing units in accordance with the content of the message. 4. The electronic control device according to claim 1, wherein the message storage unit is a unit having a predetermined storage capacity predetermined according to a data size of the message as a unit. By securing a predetermined number of storage areas, a dedicated storage area for storing the message is secured, and the content of one message is stored in one unit storage area. Electronic control device. 5. The electronic control device according to claim 4, wherein the message includes an identification code indicating an object corresponding to a unit processing unit that is an output destination of the message. Storing the identification code in the unit storage area, the activation control unit reads the identification code from the message storage unit, and causes the unit processing unit indicated by the read identification code to start processing. Electronic control device characterized by the following. 6. The electronic control device according to claim 1, wherein the activation control unit is configured to execute a predetermined process, the number of messages stored in the message storage unit. Is stored, and the largest value among the count values during the execution of the predetermined processing is stored, and after the completion of the predetermined processing, the stored largest count value is read and stored according to the read value. Determining the capacity of the area; 7. The electronic control device according to claim 4, wherein the activation control unit executes a message in a unit storage area of the message storage unit while performing a predetermined process. Counts the number of unit storage areas where is not stored, stores the smallest value among the count values during the execution of the predetermined process, and reads out the stored smallest value after the end of the predetermined process, Determining a capacity of a storage area to be reserved according to the read value. 8. The electronic control device according to claim 4, wherein each of the plurality of unit storage areas includes a part for storing message data and a pointer part for storing address information of the message storage means. Indicates the storage order of the message in the unit storage area, the activation control unit reads out the data of the message stored first in the unit storage area, and outputs the read out message to the plurality of messages. An electronic control device for causing any one of the unit processing means to start processing. 9. The electronic control device according to claim 8, wherein the address information of the unit storage area storing the message data in the (N + 1) th position is stored in the pointer portion of the unit storage area storing the message data in the Nth position. An electronic control device characterized by storing. 10. The electronic control device according to claim 8, wherein the message storage means includes an address of a unit storage area in which data of a message stored first among the messages is stored, and A message storage management unit that stores an address of a unit storage area in which data of the stored message is stored, wherein the activation control unit is configured to execute any one of the unit processing units based on information stored in the message storage management unit. An electronic control device for starting processing. 11. The electronic control device according to claim 8, wherein the message storage unit manages an unstored unit storage area in which message data is not stored among the plurality of unit storage areas. When there are a plurality of unstored unit storage areas, the address information of each unstored unit storage area is one of the other unstored unit storage areas except one. The unit storage area management means, wherein the address information is not stored in the pointer part of another unstored unit storage area among the unstored unit storage areas. By storing the address information of the unit storage area and the address information of the unstored unit storage area that does not store the address information of the other unstored unit storage area, An electronic control device for managing a storage unit storage area.