KR101273278B1 - Error detection apparatus and method for dual microcontroller system - Google Patents

Abstract

An error detection apparatus of a dual core system according to the present invention includes a first core, a first CAN module, a can transceiver, a second CAN module, and a second core. The first core receives the sensing data from the sensor, calculates the first data, and compares the first data with the second data transmitted from the second core to output the first data when no error is detected. . The first CAN module processes and outputs the first data according to a CAN protocol. The can transceiver receives the first data from the first can module and transmits it through a CAN bus. The second CAN module processes and outputs the first data fed back from the first can module according to the CAN protocol. The second core receives the calculated data from the sensor and calculates the second data. When the error is detected by comparing the second data and the first data, the second core outputs the first data to the first core. Send an interrupt signal to stop. As a result, the stability and reliability of the output data can be improved.

Description

ERROR DETECTION APPARATUS AND METHOD FOR DUAL MICROCONTROLLER SYSTEM}

The present invention relates to an error detection apparatus and method of a dual core system, and more particularly, to an error detection apparatus and method of a dual core system for calculating and processing steering steering angle data in a vehicle.

In general, CANs are used to exchange information between on-board electronic control units (ECUs) used in engine management systems, automatic transmissions, airbag systems, body position control systems (ESPs), etc. in the automotive sector. The communication protocol used. The CAN protocol is a real-time serial broadcasting protocol with very high levels of safety. It is an international standard defined by high speed ISO 11898 and low speed ISO 11519-2. The CAN protocol provides two message frame formats: the CAN standard frame provides an 11-bit long ID and the CAN extended frame provides a 29-bit ID.

However, when one MCU (Micro Control Unit) is used in a system operating in real time, such as CAN, when an operation error, system failure, or dead lock occurs in the MCU, data (Data) There is a problem that can not be transmitted, and therefore in a system that requires data in real time because the data is not input is recognized as a failure or cause a malfunction. In particular, a system that computes and processes steering steering angle data in a vehicle requires real-time data.

Therefore, in the steering angle calculation system requiring real-time data, attempts to solve the error part by a method such as mutual control and synchronous communication between two sensor inputs and two MCUs have been studied.

Referring to FIG. 1, the steering angle calculation system 10 using the conventional dual controller receives a sensing signal from the sensor 20 and the MCU1 30 and the MCU2 40 configured as dual calculate the steering angle according to a predetermined algorithm. The CAN bus to other nodes in the vehicle network (ECU). In order to transmit the calculated data (steering angle data), the CAN modules 35 and 45 included in the MCU1 30 and the MCU2 40 form the steering angle data into message frames according to the CAN protocol, and then the CAN transceiver 50 To CAN bus. In error detection, when a problem occurs in the MCU1 30 and the MCU2 40, it is possible to prevent an error in the output by comparing and controlling each other through communication between the MCUs.

However, in the case of the prior art, even if the result verified by the comparator 33 and 43 is correct, when the CAN module 35 or 45 or a problem occurs in the data output calculator 31 or 41 for driving the conventional method, There is a problem in that there is no way of recognizing sending an error to the vehicle.

In particular, in this case, the CAN module 35, 45 does not recognize the control authority received from the comparator / control unit 33, 43, or the comparator / control unit 33, 43 has an error and therefore the CAN module (35, 45) Failure to control can cause problems because previous error data will continue to be sent to the vehicle.

In addition, the comparator / controllers 33 and 43 are not aware of this and have a high probability of continuing the problem. In addition, it is not possible to recognize whether there is a problem with the actual state of transmission to the vehicle except for information exchange through communication between MCUs, and even if there is a problem in synchronization, an error probability may be higher because the factor of control authority depends on the communication between MCUs. That is, even if there is no problem in the main control unit, if a problem occurs in another configuration, there is a problem that it is difficult to detect the error.

In addition, due to the technological development of today's controller process, the system has been developed into a system having a dual core in a single MCU. In such a dual core system, there is a need for an error detection method that can solve the above problem.

Accordingly, the technical problem of the present invention has been conceived in this respect, and an object of the present invention is to detect an error of a dual core system that detects an error occurrence in a detailed area constituting a core in a calculation process of steering steering angle data in a vehicle. It is to provide an apparatus and method.

An error detecting apparatus of a dual core system according to an exemplary embodiment for realizing the object of the present invention may include a first core, a first CAN module, a can transceiver, a second CAN module, and a second core. Include. The first core receives the sensing data from the sensor, calculates the first data, and compares the first data with the second data transmitted from the second core to output the first data when no error is detected. . The first CAN module processes and outputs the first data according to a CAN protocol. The can transceiver receives the first data from the first can module and transmits it through a CAN bus. The second CAN module processes and outputs the first data fed back from the first can module according to the CAN protocol. The second core receives the calculated data from the sensor and calculates the second data. When the error is detected by comparing the second data and the first data, the second core outputs the first data to the first core. Send an interrupt signal to stop.

In an embodiment of the present disclosure, the first core detects an error by comparing the first calculator, the first data, and the second data, which receives the sensed data and calculates the first data. A first comparison control unit which transmits an output on control signal to a data output unit when the error is not detected, and a first comparison control unit which transmits an output off control signal to the data output unit when the error is detected, and the output from the first comparison control unit. When the on control signal is input, the first data is output to the first can module, and when the output off control signal or the interrupt signal is input from the second core, the first comparison module. It may include a data output unit for stopping the output of the data.

In an embodiment of the present disclosure, the second core may include a second calculator configured to receive the sensed data, calculate the second data, and output the first data received from the second can module. And detecting an error by comparing the second data with the first data transmitted from the first comparison control unit, and detecting the error by comparing the second data with the first data transmitted from the data input unit. And a second controller which transmits the interrupt signal to the data output unit when an error is detected by the second comparer.

In an embodiment of the present disclosure, when the error is not detected by the second comparator, the first comparison controller may transmit the output on control signal to the data output unit.

In one embodiment of the present invention, the first communication line, the data output unit and the second control unit for connecting the first comparison control unit and the second comparison unit to provide a transmission line of the first and second data signals And a second communication line connected to provide a transmission line of the interrupt signal, and a feedback line feeding back the first data output from the first can module to the second can module.

In one embodiment of the present invention, the sensor may be provided in plurality, and the first and second cores may receive sensing data from the plurality of sensors, respectively.

In an error detecting method of a dual core system according to another exemplary embodiment for realizing the object of the present invention, the first core receives the sensing data from a sensor and calculates the first data. The second core receives the sensing data from the sensor and computes the second data. The first core compares the first data with the second data transmitted from the second core and outputs the first data when no error is detected. A first CAN module processes and outputs the first data according to a CAN protocol. A can transceiver receives the first data from the first can module and transmits it through a CAN bus. A second CAN module processes and outputs the first data fed back from the first can module according to a CAN protocol. When the second core compares the second data and the first data and detects an error, the second core transmits an interrupt signal to stop the output of the first data.

In one embodiment of the present invention, the step of outputting the first data,

A first comparison control unit detects an error by comparing the first data and the second data, and transmits an output on control signal to a data output unit when the error is not detected, and when the error is detected, the data output unit Transmitting an output off control signal to the apparatus; And

When the output on control signal is input from the first comparison controller, the data output unit outputs the first data to the first can module, and outputs the output off control signal or the second core from the first comparison controller. Stopping the output of the first data when the interrupt signal is input from

The transmitting of the interrupt signal may include outputting, by a data input unit, the first data received from the second can module, and by using a second comparator, the second data and the first core. Detecting the error by comparing the first data transmitted from the second data, and comparing the first data transmitted from the second data and the data input unit to detect the error, and a second control unit at the second comparing unit If an error is detected, the method may include transmitting the interrupt signal to the data output unit.

In an embodiment of the present disclosure, the transmitting of the output on control signal by the first comparison controller may include transmitting the output on control signal to the data output unit when an error is not detected by the second comparison unit. Can be.

According to the error detection device and method of the dual-core system, the core configuration modules are divided into more detailed areas, and the core outputs are transmitted to the vehicle in the event of an error in each area by detecting communication between cores and final data output to the outside. By controlling and redundantly verifying the risks caused by errors, the output of dangerous data with errors can be blocked, thereby improving the stability and reliability of the output data.

1 is a block diagram illustrating a dual core system for calculating a conventional steering angle.
2 is a schematic diagram of a dual core system according to an exemplary embodiment of the present invention.
3 is a detailed configuration diagram of a dual core system according to an embodiment of the present invention.
4 is a flowchart illustrating an error detection method of a dual core system according to an exemplary embodiment of the present invention.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing. The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, the term "comprises" or "comprising ", etc. is intended to specify that there is a stated feature, figure, step, operation, component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a schematic diagram of a dual core system according to an exemplary embodiment of the present invention.

Referring to FIG. 2, the error detecting apparatus 100 of the dual core system according to an exemplary embodiment may include a first core 110, a first can module 120, a can transceiver 130, and a second can module. 140 and the second core 150. In addition, the sensor 101 may further include a first communication line 210, a second communication line 220, and a feedback line 230.

In the present exemplary embodiment, a real-time arithmetic system for calculating a steering angle of a steering wheel in a vehicle is disclosed, but the present invention is not limited thereto and may be applied to various error detection apparatuses employing a dual core system.

The sensor 101 may be implemented as an anisotropic magneto resistance (AMR) sensor for detecting a steering angle of a steering wheel. The sensor 101 may be provided in plurality, and the first and second cores 110 and 150 may receive sensing data from the plurality of sensors, respectively.

The first core 110 receives the sensing data from the sensor 101 and calculates the first data. The first core 110 calculates first data according to a predetermined algorithm. In addition, the first core 110 compares the first data and the second data transmitted from the second core 130 to output the first data when no error is detected. That is, the first data is compared with the second data, and when the predetermined error tolerance is exceeded, an error is detected. When the error is not detected, the first data is output.

The first can module 120 processes and outputs the first data according to a CAN protocol. The first can module 127 may operate according to the output on control signal or the output off control signal from the first core 110 to process the first data according to the CAN protocol.

The can transceiver 130 receives the first data from the first can module 120 and transmits it through a CAN bus. That is, the can transceiver 130 is a data transmission device that transmits steering angle data for which no error is detected to the vehicle network.

The second can module 140 processes and outputs the first data fed back from the first can module 120 according to the CAN protocol. That is, the second can module 140 reverses the data conversion process of the first can module 120 to provide the converted first data to the second core 150.

The second core 150 receives the sensing data from the sensor 101 to calculate the second data. The second core 150 may calculate the second data according to the same algorithm as the first core 110. In addition, when the second core 130 compares the second data with the first data fed back from the first can module 120 and detects an error, the second core 130 stops outputting the first data to the first core 110. Send the interrupt signal. That is, the second data is compared with the first data and detected as an error when the predetermined error tolerance is exceeded. If an error occurs, the interrupt signal is transmitted to the first core 110 to stop the output of the first data.

The first communication line 210 is provided between the first core 110 and the second core 150 and is a transmission line for mutual comparison between the first data and the second data.

The second communication line 220 is provided between the first core 110 and the second core 150 and is a transmission line for transmitting an interrupt signal to the first core 110.

The feedback line 230 is branched from an output terminal of the first can module 120 to be connected to the second can module 140, and is a transmission line for feeding back first data to the second core 150.

According to the error detection device of the dual-core system, the core component modules are divided into more detailed areas, and the core-to-core communication and the final data output to the outside are sensed together to control the transmission output to the vehicle when an error occurs in each area. In addition, it can improve the stability and reliability of the output data by blocking the output element by redundantly verifying the risk factors caused by the error.

3 is a detailed configuration diagram of a dual core system according to an embodiment of the present invention.

Referring to FIG. 3, the first core 110 may include a first calculator 111, a first comparison controller 113, and a data output unit 115.

The first calculating unit 111 receives the sensing data and calculates the first data. That is, the first calculator 111 converts the sensor value input through the sensor 101 into data recognizable by the first core 110 through the calculator.

The first comparison controller 113 compares the first data and the second data to detect an error, and transmits an output on control signal to the data output unit 115 when the error is not detected. If an error is detected, the output off control signal is transmitted to the data output unit 115. In addition, when no error is detected in the second core 150, the first comparison controller 113 transmits an output on control signal to the data output unit 115. That is, the first comparator 113 and the second comparator 153 of the second core 150 compare the first data and the second data with each other and output a data output unit to enable normal output when no error is detected. Control 115.

The data output unit 115 outputs the first data to the first can module 120 when the output on control signal is input from the first comparison controller 113. In addition, the data output unit 115 stops outputting the first data when the output off control signal from the first comparison controller 113 or the interrupt signal is input from the second core 150. That is, the data output unit 115 operates according to the output on control signal to transmit the first data. The data output unit 115 controls whether the first data is output by both the first comparison control unit 113 and the second comparison unit 153.

In addition, the second core 150 may include a second calculator 151, a second comparator 153, a second controller 155, and a data input unit 157.

The second calculator 151 receives the sensed data to calculate the second data. That is, the second calculator 151 converts the sensor value input through the sensor 101 into data recognizable by the second core 150 through the calculator.

The second comparator 153 detects an error by comparing the second data with the first data transmitted from the first core 110. In addition, the second comparator 153 detects an error by comparing the second data with the first data transmitted from the data input unit 157. Here, the first data is data fed back from the first can module 120.

The second control unit 155 transmits an interrupt signal to the first core 110 when an error is detected by the second comparing unit 153. That is, the second control unit 155 outputs and controls the data output unit 115 of the first core 110 to enable normal output when no error is detected by comparing the second data with the fed back first data.

The data input unit 157 outputs the first data received from the second can module 140.

Here, the first communication line 210 connects the first comparison control unit 113 and the second comparison unit 153 to provide a transmission line of the first and second data signals, and the second communication line 220. Is connected to the data output unit 115 and the second control unit 155 to provide a transmission line of the interrupt signal, the feedback line 230 is a second can output the first data output from the first can module 120 Feedback to module 140.

On the other hand, the dual core system 100 according to the present embodiment may be configured to further include a peripheral (peripheral). The peripheral may include an auxiliary memory device and an input / output device among the devices constituting the computer system. The auxiliary storage device includes a disk device such as a floppy disk or an external memory such as a magnetic tape device or a magnetic card device to supplement the capacity of a main memory device (main memory) directly accessible to the CPU. Device) includes a device for inputting or outputting information to a computer, for example, a digitizer or an A / D converter, a printer or a CRT display.

The error detecting apparatus 100 of the dual core system according to the present exemplary embodiment is an error detecting apparatus for preventing transmission of incorrect information to a vehicle when a malfunction of a steering angle sensor for a vehicle used to transmit steering angle information to a vehicle. The purpose of the present invention is to stop transmission of output data when an error occurs in some modules constituting the system. Specific operations of the error detection apparatus 100 of the dual core system according to the present embodiment are as follows.

For example, when a problem occurs in the first operation unit 111 and the second operation unit 151 as an input terminal, the first comparison control unit 113 and the second comparison unit 153 may perform the operation of the first communication line 210. Compare with each other through communication and control each other to prevent error of output. In addition, when an error occurs in one of the two areas of the first comparison control unit 113 or the second comparison unit 153, the output may be controlled by recognizing that the communication of the first communication line 210 is impossible. In the case of this embodiment, since only one output stage is used, only the control right of the first comparison controller 113 is possible.

However, when an error occurs in both areas of the first comparison control unit 113 and the second comparison unit 153, the data output unit 115 transmits the existing input value to the vehicle, and thus the value input through the data input unit 157. Compared to the second control unit 155 output control is possible. In addition, when an error of the data output unit 115 occurs, output control may also be performed under the control of the second control unit 155.

Although both the first comparison control unit 113 and the second comparison unit 153 are normal, the second control unit 155 may control the output even when the error of the first communication line 210 is not recognized. Since the error of the second communication line 220 is not a communication but a hardware short-circuit, the first comparison control unit 113 also includes a case where an error of the second control unit 155 does not include the probability of an error. When the error occurs, all the power control is lost, which corresponds to the case where both the first and second cores 110 and 150 are errors. Therefore, when comparing the probability of the software error of each region with the probability of error occurrence, error output control is possible except for the case of a software failure in the first and second cores 110 and 150.

On the other hand, in the inter-core communication method, the synchronization method generally recognizes the synchronization when the value within the error range during the sampling of the sensor input data value is synchronized to match the second control unit 155 in the present embodiment. ) Transmits the recognition result value to the second comparison unit 153 and transfers it to the first comparison control unit 113 using the first communication line 210, and the second comparison unit 153 and the first comparison control unit ( 113) It is preferable to perform the synchronization by using the range transformation for all sampling times of the sensor input values.

For example, when the first comparison control unit 113 and the second comparison unit 153 both store data at one time point and perform data comparison at the next time point, data from the second can module 140 at the previous time point are compared with data coming from the previous time point. If the data values of the previous time point stored are compared and matched, the synchronization of the sensor values of the next time point is performed. Of course, this is a synchronization of the sampling time point and the difference of the sensor data is synchronized with the range variation of the sampling data.

The first comparison controller 113 controls the first can module 120 by the comparison result through the first communication line 210 and the second comparison unit 153 compares the result through the first communication line 210. When the control command is commanded to the first comparison control unit 113 again through the first communication line 210, in this case, the problem of the first communication line 210 or the problem of the first comparison control unit 113 occurs. Since there is no control right of the first can module 120, the second controller 155 may determine whether or not the synchronization success is transmitted from the second comparator 153, the operation result transfer value of the second calculator 151, and the second can module. When a failure is detected within a predetermined number of times by comparing the data values coming from the 140, the output of the data output unit 115 is controlled using the second communication line 220.

The output control of the first comparison controller 113 is controlled by the method of controlling the first can module 120 by the data output unit 115, and the output control method of the second controller 155 is constant by using an internal data bus. If an error occurs within a time, the data output unit 115 is stopped and then restored to normal again. If the error is continuously detected for a predetermined time, an interrupt is applied to the first core 110 to initialize the whole system. After that, the operation can be performed again.

4 is a flowchart illustrating an error detection method of a dual core system according to an exemplary embodiment of the present invention.

Referring to FIG. 4, in the error detection method of the dual core system according to an exemplary embodiment of the present invention, first, the first core 110 receives the sensing data from the sensor 101 and calculates the first data ( S11). At the same time as the step S11 is performed, the second core 150 receives the sensing data from the sensor 101 to calculate the second data (S21).

Next, the first core 110 and the second core 150 compare the first data and the second data with each other. That is, the first comparison controller 113 compares the first data and the second data transmitted from the second core 150 to detect an error (S12). In addition, the second comparator 153 detects an error by comparing the second data with the first data transmitted from the first core 150 (S22).

When no error is detected as a result of the comparison in step S12, the first comparison controller 113 transmits an output-on control signal to the data output unit 115 to output the first data (S13). In operation S14, the first can module 120 processes the first data according to the CAN protocol. The can transceiver 130 receives the first data from the first can module 120 and transmits it through a CAN bus (S15).

When a comparison result error is detected in step S12, the first comparison control unit 113 outputs an output off control signal (S16) to cause the data output unit 115 to stop outputting the first data (S17).

If no error is detected as a result of the comparison in step S22, the second can module 140 processes and outputs the first data fed back from the first can module 120 according to the CAN protocol (S23). In operation S14, the first data output by the first can module 120 is fed back to the second can module 140.

Next, the second comparator 153 detects an error by comparing the second data with the first data transmitted from the first core 110 (S24). If no error is detected as a result of the comparison in step S24, the enable signal is output to the data output unit 115 of the first core 110 to allow normal output (S25). That is, the data output unit 115 maintains normal operation by the output on control signal or the enable signal. Then, the process returns to steps S11 and S12 to repeat the above process.

When a comparison result error is detected in step S22 or when a comparison result error is detected in step S24, the second control unit 155 transmits an interrupt signal for stopping output of the first data to the data output unit 115. (S26). The data output unit 115 stops outputting the first data when the output off control signal from the first comparison control unit 113 or the interrupt signal is input from the second core 150 (S17). . That is, the data output unit 115 controls the output of the first data by both the first comparison control unit 113 and the second comparison unit 153.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the following claims. You will understand.

The error detection apparatus and method of the dual core system according to the present invention divides core configuration modules into more detailed areas, detects communication between cores and final data output to the outside, and transmits the transmission output to the vehicle in case of an error in each area. By controlling and redundantly verifying the risks caused by errors, the output of dangerous data with errors can be blocked, thereby improving the stability and reliability of the output data.

100: error detection device of the dual-core system
101: sensor 110: first core
120: first can module 130: can transceiver
140: second can module 150: second core
210: first communication line 220: second communication line
230: feedback line

Claims (10)

A first core configured to receive sensing data from a sensor, calculate first data, and to output first data when no error is detected by comparing the first data and second data transmitted from the second core; A first CAN module configured to process and output the first data according to a CAN protocol; A can transceiver configured to receive the first data from the first can module and transmit the received data through a CAN bus; A second CAN module configured to process and output the first data fed back from the first can module according to a CAN protocol; And calculating the second data by receiving the sensed data from the sensor and calculating the second data. When an error is detected by comparing the second data and the first data, the output of the first data to the first core is stopped. A second core transmitting an interrupt signal,
The first core,
A first calculator which receives the sensed data and computes the first data; The first data and the second data are compared to detect an error, and if the error is not detected, an output on control signal is transmitted to a data output unit. If the error is detected, an output off control signal to the data output unit. A first comparison control unit transmitting a; And outputting the first data to the first can module when the output on control signal is input from the first comparison controller, and outputting the output off control signal from the first comparison controller or the interrupt from the second core. And a signal output unit to stop the output of the first data when a signal is input. delete The method of claim 1, wherein the second core,
A second calculator which receives the sensed data and computes the second data;
A data input unit configured to output the first data received from the second can module;
A second comparison that detects an error by comparing the second data and the first data transmitted from the first comparison control unit and detects an error by comparing the second data and the first data transmitted from the data input unit part; And
And a second controller which transmits the interrupt signal to the data output unit when an error is detected by the second comparator. The method of claim 3,
And the first comparison control unit transmits the output on control signal to the data output unit when an error is not detected by the second comparison unit. 5. The method of claim 4,
A first communication line connecting the first comparison control unit and the second comparison unit to provide transmission lines of the first and second data signals;
A second communication line connecting the data output unit and the second control unit to provide a transmission line of the interrupt signal; And
And a feedback line for feeding back the first data output from the first can module to the second can module. The method according to claim 1,
The sensor may be provided in plurality, and the first and second cores may detect error data from the plurality of sensors, respectively. Calculating, by the first core, the first data by receiving the sensing data from the sensor and calculating the first data; Calculating, by the second core, the second data by receiving the sensed data from the sensor and calculating the second data; The first core comparing the first data with the second data transmitted from the second core and outputting the first data when no error is detected; A first CAN module processing and outputting the first data according to a CAN protocol; Receiving, by a can transceiver, the first data from the first can module through a CAN bus; A second CAN module processing and outputting the first data fed back from the first can module according to a CAN protocol; And when the second core compares the second data and the first data and transmits an interrupt signal to stop the output of the first data to the first core when an error is detected.
The outputting of the first data may include:
A first comparison control unit detects an error by comparing the first data and the second data, and transmits an output on control signal to a data output unit when the error is not detected, and when the error is detected, the data output unit Transmitting an output off control signal to the apparatus; And when the output on control signal is input from the first comparison controller, output the first data to the first can module, and output the control signal from the first compare controller or the second control module. Stopping the output of the first data when the interrupt signal is input from a core. delete The method of claim 7, wherein
Transmitting the interrupt signal,
Outputting, by a data input unit, the first data received from the second can module;
A second comparator detects an error by comparing the second data and the first data transmitted from the first core, and detects an error by comparing the second data and the first data transmitted from the data input unit. step; And
And transmitting, by the second control unit, the interrupt signal to the data output unit when an error is detected in the second comparator. 10. The method of claim 9,
The transmitting of the output on control signal by the first comparison controller,
And transmitting the output-on control signal to the data output unit when an error is not detected by the second comparator.

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