WO2019062129A1

WO2019062129A1 - Serial duplex communication method and device, and computer readable storage medium

Info

Publication number: WO2019062129A1
Application number: PCT/CN2018/086209
Authority: WO
Inventors: 王冰春
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-09-28
Filing date: 2018-05-09
Publication date: 2019-04-04
Also published as: CN107590094A

Abstract

Disclosed in the present invention are a serial duplex communication method and device, and a computer readable storage medium. The method comprises: performing data transmission with a peer end in a serial mode, and collecting statistics about transmission quality information, the transmission quality information being used for reflecting communication interference during the data transmission; and adaptively adjusting a communication rate according to the transmission quality information. In embodiments of the present invention, the communication interference can be used as a decision basis, so that the communication rate can be adjusted flexibly.

Description

Serial duplex communication method, device and computer readable storage medium

This application claims the priority of the Chinese Patent Application entitled "Serial Duplex Communication Method, Apparatus, and Computer Readable Storage Medium" filed on September 28, 2017 by the Chinese Patent Office, Application No. 201710901596.6, the entire contents of which is hereby incorporated by reference. This is incorporated herein by reference.

Technical field

The present application relates to the field of communications, and more particularly to a serial duplex communication method, apparatus, and computer readable storage medium.

Background technique

The serial communication is that the data communicated at the transmitting end is sent to the communication line bit by bit in bit order, and the receiving end receives the data bit by bit in order, and reassembles into data. Duplex communication is that both parties can send and receive at the same time without being affected by each other.

In the application scenario of the drone, there is a need for communication between two modules or sensors, and the distance between the two modules is not fixed due to the design requirements of the drone, so the communication scene needs the following characteristics. :

1, is susceptible to interference, and the size, strength, and duration of the disturbance are uncertain;

2. In the case of interference, the data is received incorrectly, resulting in serious results.

Although complex line modulation methods and expensive shielded line materials can be used to resist external interference, it will increase the cost of drone production and the weight of the drone, affecting the life course.

Summary of the invention

In order to solve the above technical problem, the present invention provides a serial duplex communication method, apparatus, and computer readable storage medium, which can adaptively adjust a communication rate according to a transmission condition.

In order to achieve the object of the present invention, an embodiment of the present invention provides a serial duplex communication method, including:

Transmitting data through the serial mode and the opposite end, and counting the transmission quality information; the transmission quality information is used to reflect the communication interference when transmitting the data;

And adaptively adjusting a communication rate with the peer end transmission data according to the transmission quality information.

Optionally, the transmission quality information includes: consecutively receiving the number of errors and/or continuously receiving the correct number of times.

Optionally, the transmitting the data in the serial manner and the peer end, and collecting the transmission quality information includes:

Receiving the data sent by the opposite end and the corresponding check code in a serial manner, calculating the check code according to the received data, and comparing with the received check code, if not, determining that an error occurs, discarding the received The data, the number of consecutive reception errors is increased by one, and the number of consecutive receptions is cleared. If it is consistent, it is judged that the reception is correct, the correct reception indication is sent to the opposite end, the correct number of consecutive receptions is increased by one, and the number of consecutive reception errors is cleared.

Optionally, the adaptively adjusting the communication rate with the peer end transmission data according to the transmission quality information includes:

When the number of consecutive reception errors is greater than the threshold of the number of reception errors, and the data reception rate does not reach the minimum reception rate, the reception rate is decreased, and the number of consecutive reception errors is cleared; when the consecutive reception correct times are greater than the reception correct number threshold, and the data When the receiving rate does not reach the highest receiving rate, the receiving rate is increased, and the correct number of consecutive receiving times is cleared; or,

When the number of consecutive reception errors is greater than a threshold of the number of reception errors of the current level, and the data reception rate does not reach the minimum reception rate, the reception rate is reduced by one level; when the consecutive reception correct times are greater than the current level of the reception correct number threshold, and When the data reception rate does not reach the maximum reception rate, the reception rate is increased by one level.

Optionally, the transmission quality information includes: consecutively transmitting the number of errors and/or continuously transmitting the correct number of times.

The data and the corresponding check code are sent to the opposite end in a serial manner and timed; if the correct receiving indication sent by the opposite end is received within the timeout threshold time range, the correct number of consecutive transmissions is incremented by one, and the number of consecutive transmission errors is cleared. If the timeout threshold has not received the correct indication of the reception sent by the peer, the data is resent, the number of consecutive transmission errors is increased by one, and the number of consecutive transmissions is cleared.

When the number of consecutive transmission errors is greater than the threshold of the number of transmission errors, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is decreased, and the number of consecutive transmission errors is cleared; when the consecutive number of consecutive transmissions is greater than the threshold for sending the correct number of times, and the data When the transmission rate does not reach the highest transmission rate, the transmission rate is increased, and the correct number of consecutive receptions is cleared; or,

When the number of consecutive transmission errors is greater than a threshold of the number of transmission errors of the current level, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is reduced by one level; when the correct number of consecutive transmissions is greater than the current level of the correct number of transmission thresholds, and When the data transmission rate does not reach the highest transmission rate, the transmission rate is increased by one level.

Optionally, the method further includes determining a data write rate according to the bandwidth indication information.

The embodiment of the invention further provides a serial duplex communication device, comprising: a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the program to implement the following steps:

Optionally, the transmission quality information includes: consecutively receiving the number of errors and/or continuously receiving the correct number of times; the apparatus further includes a receiving port, and the processor further implements when the program is executed:

Controlling, by the receiving port, the data sent by the opposite end and the corresponding check code in a serial manner, calculating a check code according to the received data, and comparing with the received check code, if not, determining that occurs Error, discard the received data, the number of consecutive reception errors is increased by one, and the number of consecutive receptions is cleared. If it is consistent, it is judged that the reception is correct, and the correct reception indication is sent to the opposite end. The number of consecutive receptions is increased by one, and the number of consecutive reception errors is consecutive. Cleared.

Optionally, when the processor executes the program, the method further implements:

Optionally, the transmission quality information includes: consecutively transmitting the number of errors and/or continuously transmitting the correct number of times; the apparatus further includes a sending port, where the processor further implements:

Controlling the sending port to send the data and the corresponding check code to the opposite end in a serial manner and timing; if receiving the correct receiving indication sent by the opposite end within the timeout threshold time range, continuously sending the correct number of times plus one consecutive If the number of transmission errors is cleared, if the correct indication of the reception sent by the peer is not received, the data is resent, the number of consecutive transmission errors is increased by one, and the number of consecutive transmissions is cleared.

When the number of consecutive transmission errors is greater than a threshold of the number of transmission errors of the current level, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is reduced by one level; when the consecutive number of consecutive transmissions is greater than the correct number of times of sending the current level, and When the data transmission rate does not reach the highest transmission rate, the transmission rate is increased by one level.

The embodiment of the present invention further provides a computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the steps of the serial duplex communication method as described above.

Embodiments of the present invention include: transmitting data through a serial manner and a peer end, and collecting transmission quality information; the transmission quality information is used to reflect a situation of communication interference when transmitting data; and adaptively adjusting a communication rate according to the transmission quality information. . Since the transmission quality information can reflect the situation of the communication interference, in the embodiment of the present invention, the communication interference can be used as a decision basis, and the communication rate can be flexibly adjusted. Further, by adaptively adjusting the communication rate, the problem that the communication link is disturbed and causing the failure is solved without increasing the cost, the safety of the drone is guaranteed, and the property safety of the user is protected.

Other features and advantages of the invention will be set forth in the description which follows, The objectives and other advantages of the invention may be realized and obtained by means of the structure particularly pointed in the appended claims.

DRAWINGS

The drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the specification, which together with the embodiments of the present application are used to explain the technical solutions of the present invention, and do not constitute a limitation of the technical solutions of the present invention.

1 is a flowchart of a serial duplex communication method according to an embodiment of the present invention;

2 is a schematic diagram of a serial duplex communication application scenario according to an application example of the present invention;

3 is a flow chart of receiving data according to an application example 1 of the present invention;

4 is a flow chart of sending data according to application example 1 of the present invention;

5 is a flow chart of receiving data according to application example 2 of the present invention;

6 is a flow chart of sending data according to application example 2 of the present invention;

FIG. 7 is a schematic diagram of a serial duplex communication device according to an embodiment of the present invention.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the features in the embodiments and the embodiments in the present application may be arbitrarily combined with each other.

The steps illustrated in the flowchart of the figures may be executed in a computer system such as a set of computer executable instructions. For example, the following method can be applied to a processor of a serial duplex communication device, and the serial duplex communication device can further include a memory in which the computer executable instructions can be stored, and executed by the processor, You can implement any of the following methods. Further, the serial duplex communication device may further include a communication interface, and the communication interface may include a transmitting port and a receiving port, and the sending port and the receiving port may work independently of each other, thereby implementing the dual pair of the serial duplex communication device and the opposite end. Communication. The serial duplex communication device can be connected to a module in the drone, which can communicate with other modules in the drone using a serial duplex communication device. For example, the host module is connected to a serial duplex communication device, and the flight control module, the vision module, the sensor module and the like that communicate with the host module can be respectively connected with another serial duplex communication device, and the host module and other modules can be utilized. The serial duplex communication devices connected to each other implement a communication connection. Among them, one of the serial duplex communication devices can serve as the opposite end of the serial duplex communication device with which it communicates. For example, a serial communication device connected to the flight control module can serve as the opposite end of the serial communication device connected to the host module. Also, although logical sequences are shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.

As shown in FIG. 1, the serial duplex communication method of the embodiment of the present invention includes:

Step 101: Transmit data through the serial mode and the opposite end, and collect transmission quality information;

The transmission quality information is used to reflect the communication interference when transmitting data, for example, by continuously receiving the number of errors/continuous reception, the number of consecutive transmission errors, or the number of consecutive transmissions, reflecting the communication interference when transmitting data: continuous reception error The more the number of times or the number of connection transmission errors, the more serious the interference; conversely, the more the correct number of consecutive receptions or the more consecutive transmissions, the smaller the interference.

The application uses the serial mode and the peer end to transmit data, which can save the pin resources and reduce the transmission power consumption of the device.

Specifically, data may be transmitted to the opposite end by using a transmission port in the serial duplex communication device, or may be received by the receiving port in the serial duplex communication device.

Step 102: Adaptively adjust a communication rate with the peer end transmission data according to the transmission quality information.

Among them, the adaptive adjustment of the communication rate means that the communication parties can communicate at a plurality of rates, and the switching of different rates is automatically completed without external intervention.

Since the transmission quality information can reflect the situation of the communication interference, in the embodiment of the present invention, the communication interference can be used as a decision basis, and the communication rate can be flexibly adjusted. Further, by adaptively adjusting the communication rate, the problem that the communication link is disturbed and causing the failure is solved without increasing the cost, the safety of the drone is guaranteed, and the property safety of the user is protected. It can guarantee the validity and stability of communication between modules in the drone.

In an embodiment, the transmission quality information includes: consecutively receiving the number of errors and/or continuously receiving the correct number of times.

In an embodiment, in step 101, the data is transmitted in a serial manner with the opposite end, and the transmission of the quality information includes: receiving the data sent by the opposite end and the corresponding check code in a serial manner, and calculating the data according to the received data. Check the code and compare it with the received check code. If it is inconsistent, it is judged that an error has occurred, the received data is discarded, the number of consecutive receiving errors is increased by one, and the number of consecutive receiving is cleared. If they are consistent, the receiving is correct. Send the correct indication to the peer, continuously receive the correct number of times, and clear the number of consecutive reception errors.

In an embodiment, in step 102, adaptively adjusting the communication rate according to the transmission quality information includes: when the continuous reception error number is greater than the reception error threshold, and the data reception rate does not reach the minimum reception rate, the reception rate is decreased. The number of consecutive reception errors is cleared; when the correct number of consecutive receptions is greater than the threshold for receiving the correct number of times, and the data reception rate does not reach the highest reception rate, the reception rate is increased, and the correct number of consecutive receptions is cleared.

For example, if the threshold of the number of reception errors is set to 5, when the number of consecutive reception errors reaches 6, and the data reception rate does not reach the minimum reception rate, the reception rate is lowered, and the number of consecutive reception errors is cleared; when the number of consecutive reception errors is once again When the accumulated value reaches 6, and the data receiving rate does not reach the minimum receiving rate, the receiving rate will continue to decrease, and so on. It can be understood that the same is true for the method of increasing the receiving rate according to the correct number of consecutive receptions, and details are not described herein again.

Further, in other embodiments, when the number of consecutive reception errors is greater than or equal to the threshold of the number of reception errors, and the data reception rate does not reach the minimum reception rate, the reception rate is decreased, and the number of consecutive reception errors is cleared; When the correct number of consecutive receptions is greater than or equal to the threshold for receiving the correct number of times, and the data reception rate does not reach the highest reception rate, the reception rate is increased, and the correct number of consecutive receptions is cleared. How to set the comparison criterion is based on the threshold of the number of reception errors and the threshold of receiving the correct number of times. For example, if the threshold of the number of reception errors is set to 6 in this scheme, the comparison result with the threshold of the number of reception errors in the above scheme is 5 In the same way, the rate is adjusted when the number of consecutive reception errors or the number of consecutive receptions reaches 6. Therefore, it can be considered that the scheme also falls within the protection range of the above scheme.

It can be understood that the setting of the threshold number of receiving errors and the threshold of receiving the correct number of times can be set according to specific occasions, and is not strictly required here.

The receiving rate can be divided into multiple levels. Each time the receiving rate is lowered, one rate level is lowered until the lowest receiving rate is reached; each time the receiving rate is increased, a rate level is increased until the highest receiving rate is reached.

In another embodiment, when the number of consecutive reception errors is greater than a threshold of the number of reception errors of the current level, the number of consecutive reception errors may not be cleared; when the correct number of consecutive receptions is greater than a threshold of the correct number of receptions of the current level, The number of consecutive receptions can be eliminated without clearing. The number of consecutive reception errors and the number of consecutive receptions are counted in a cumulative manner. At this time, the data can be cleared according to the last time (this data clear may be the number of consecutive reception errors cleared. It is also possible that the level corresponding to the correct number of consecutive times is cleared. For each level, a threshold of the number of reception errors and a threshold of the number of receptions are set, that is, the threshold of the number of reception errors corresponding to each level and the threshold of the number of receptions are dynamically changed.

Step 102: adaptively adjusting the communication rate according to the transmission quality information, when the number of consecutive reception errors is greater than a threshold of the number of reception errors of the current level, and the data reception rate does not reach the minimum reception rate, and the reception rate is decreased. Level; when the consecutive number of consecutive receptions is greater than the current level of the correct number of reception thresholds, and the data reception rate does not reach the highest reception rate, the reception rate is increased by one level.

In an application scenario, the receiving rate is divided into first to fifth levels according to the level, where the first level is the lowest rate level, and the fifth level is the highest rate level. If the last data clear is the number of consecutive receive errors that occur at the third level is cleared, a corresponding receive error threshold and a receive correct threshold are set for each corresponding level, such as the third level of receive errors. The threshold is 5, the second level of the receiving error threshold is 10, the first level of the receiving error threshold is 15, the third level of the correct number of receiving threshold is 5, and the fourth level of the correct number of receiving threshold is 10, the fifth level The threshold for receiving the correct number of times is 15. If the current level is the third level, the number of consecutive receiving errors is greater than 5, the receiving rate is decreased by one level to the second level, and the current level becomes the second level, and the number of consecutive receiving errors can continue to be accumulated. When the number of consecutive reception errors is greater than 10, the reception rate will continue to decrease from one level to the first level. Of course, if there is a case where the number of consecutive receptions is increased by one at the second level (that is, the number of consecutive reception errors is cleared), a corresponding reception error threshold and reception are reset for each corresponding level. The correct number of thresholds.

In an embodiment, the transmission quality information includes: consecutively transmitting the number of errors and/or continuously transmitting the correct number of times.

In an embodiment, in step 101, the data is transmitted in a serial manner with the opposite end, and the transmission of the quality information includes: transmitting the data and the corresponding check code to the opposite end in a serial manner and timing; if the timeout threshold time is If the correct receiving indication sent by the peer end is received within the range, the correct number of consecutive transmissions is incremented by one, and the number of consecutive transmission errors is cleared; if the timeout threshold is exceeded, the correct indication of the receiving by the opposite end is not received, then the data is resent. The number of consecutive transmission errors is increased by one, and the number of consecutive transmissions is cleared to zero.

Wherein, before the data and the corresponding check code are sent to the peer end in a serial manner, the check code is obtained according to the data, and the check code algorithm may be: cyclic redundancy check, parity check, The code distance, Hamming check, etc., are not specifically limited in the present invention.

In an embodiment, in step 102, adaptively adjusting the communication rate according to the transmission quality information includes: when the consecutive transmission error number is greater than the transmission error threshold, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is decreased. The number of consecutive transmission errors is cleared; when the correct number of consecutive transmissions is greater than the threshold for transmitting the correct number of times, and the data transmission rate does not reach the highest transmission rate, the transmission rate is increased, and the correct number of consecutive receptions is cleared.

For example, if the threshold of the number of transmission errors is set to 5, when the number of consecutive transmission errors reaches 6, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is lowered, and the number of consecutive transmission errors is cleared; when the number of consecutive transmission errors is once again When the total reaches 6, and the data transmission rate does not reach the minimum transmission rate, the transmission rate will continue to decrease, and so on. It can be understood that the same is true for the method of increasing the transmission rate according to the correct number of consecutive transmissions, and details are not described herein again.

Further, in other embodiments, when the number of consecutive transmission errors is greater than or equal to the threshold of the number of transmission errors, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is decreased, and the number of consecutive transmission errors is cleared; When the correct number of consecutive transmissions is greater than or equal to the threshold for transmitting the correct number of times, and the data transmission rate does not reach the highest transmission rate, the transmission rate is increased, and the correct number of consecutive transmissions is cleared. How to set the comparison criterion is based on the setting of the number of transmission error thresholds and the threshold of sending the correct number of times. For example, if the threshold of the number of transmission errors is set to 6 in the scheme, the comparison result with the threshold of the number of transmission errors in the above scheme is 5 In the same way, the rate is adjusted when the number of consecutive transmission errors or the number of consecutive transmissions reaches 6. Therefore, it can be considered that the scheme is also within the protection scope of the above scheme.

It can be understood that the setting of the number of transmission error thresholds and the threshold of the number of transmission correct times can be set according to specific occasions, and is not strictly required here.

The sending rate can be divided into multiple levels. Each time the sending rate is lowered, one rate level is lowered until the lowest sending rate is reached; each time the sending rate is increased, a rate level is increased until the highest sending rate is reached.

In another embodiment, when the number of consecutive transmission errors is greater than a threshold of the number of transmission errors of the current level, the number of consecutive transmission errors may not need to be cleared; when the correct number of consecutive transmissions is greater than a threshold of the correct number of transmissions of the current level, The number of consecutive receptions can be cleared without clearing. In this case, the data can be cleared according to the last time. The data can be cleared according to the last time. (The data clearing may be the number of consecutive transmission errors cleared, or it may be the correct number of consecutive transmissions. The level corresponding to each level is set to a number of transmission error thresholds and a threshold number of transmission correct times, that is, the number of transmission error thresholds and the number of correct transmission times corresponding to each level are dynamically changed.

Step 102: adaptively adjusting the communication rate according to the transmission quality information, when the number of consecutive transmission errors is greater than a threshold of the number of transmission errors of the current level, and the data transmission rate does not reach the minimum transmission rate, and the transmission rate is decreased. Level: When the consecutive number of consecutive transmissions is greater than the current level of the correct number of transmission thresholds, and the data transmission rate does not reach the highest transmission rate, the transmission rate is increased by one level.

In an application scenario, the sending rate is divided into first to fifth levels according to the level, where the first level is the lowest rate level, and the fifth level is the highest rate level. If the last data clear is the number of consecutive transmission errors that occur at the third level is cleared, a corresponding number of transmission error thresholds and a correct number of transmission thresholds are set for each corresponding level, such as the number of transmission errors of the third level. The threshold is 5, the second level of the transmission error threshold is 10, the first level of the transmission error threshold is 15, the third level of the correct number of transmissions is 5, and the fourth level of the correct number of times is 10, the fifth level The threshold for sending the correct number of times is 15. If the current level is the third level, the number of consecutive transmission errors greater than 5 will reduce the receiving rate by one level to the second level, at which time the current level becomes the second level, and the number of consecutive transmission errors can continue to be accumulated when When the number of consecutive transmission errors is greater than 10, the transmission rate will continue to decrease by one level to the first level. Of course, if there is a case where the number of consecutive transmissions is increased by one at the second level (that is, the number of consecutive transmission errors is cleared), a corresponding number of transmission error thresholds and transmissions are reset for each corresponding level. The correct number of thresholds.

FIG. 2 is a schematic diagram of a serial duplex communication application scenario according to an application example of the present invention, wherein two serial duplex communication devices communicate in a serial duplex mode, and one of them is used as a local serial duplex communication. The device is another serial duplex communication device. The local serial duplex communication device is used as an example. If not specified, the serial duplex communication device refers to the local serial duplex communication. The implementation process of the peer end can be the same as the local one, and will not be described again.

The serial duplex communication device is connected to the host module, and the serial duplex communication device is provided with a data writing interface and a data reading interface, and the serial duplex communication device notifies the host module of the current adoption by transmitting a bandwidth indication signal to the host module. The bandwidth rate at which the host module writes data to the data write interface based on the currently indicated bandwidth rate. When the serial duplex communication device receives the data sent by the opposite end and judges that the data is correct, the data is stored and waits for the host module to read data from the data read interface.

The bandwidth indication signal may be obtained by a transmission port in the serial duplex communication device, and the transmission port can control the data write rate by monitoring the bandwidth rate, thereby ensuring the smoothness of data transmission through the transmission port. Avoid data congestion in serial duplex communication devices.

In another implementation manner, the processor in the serial duplex communication device can determine the currently acceptable data write rate according to the bandwidth rate detected by the sending port, and further send a bandwidth indication signal to the host module, where the bandwidth indication is The signal is used to indicate the data write rate when the host module writes data. The host module then writes the data according to the data write rate indicated in the bandwidth indication signal.

Further, the processor in the serial duplex communication device can also determine the data transmission rate in conjunction with the data write rate, for example, the data write rate is equal to the data transmission rate to ensure the timeliness of data transmission, and the like.

Further, the processor in the serial duplex communication device can also determine the data transmission rate in conjunction with the data write rate and the data reception rate from the receiving port.

Here, the determined data transmission rate may refer to an initial data transmission rate of the serial duplex communication device, and the initial data transmission rate may be adjusted by using the method of the embodiment of the present application.

Application example one

As shown in FIG. 3, the serial duplex communication device of the first application example of the present invention receives data according to the following steps:

Step 301: Receive data and a check code sent by the opposite end.

Among them, the data is usually sent and received in the form of data packets.

Step 302: Calculate the check code according to the received data, and compare with the received check code. If not, it is determined that an error has occurred, and step 303 is performed. If they are consistent, it is determined that the reception is correct, and step 308 is performed.

In step 303, the received data is discarded, the number of consecutive reception errors is increased by one, and the number of consecutive receptions is cleared.

Step 304: Determine whether the number of consecutive reception errors is greater than a threshold number of reception errors. If yes, go to step 305. If no, go to step 306.

Step 305: Determine whether the data receiving rate reaches the minimum receiving rate. If yes, go to step 306; if no, go to step 307.

In step 306, the current receiving rate is kept unchanged.

If the number of consecutive receiving errors is greater than the threshold of the number of receiving errors, and the data receiving rate reaches the minimum receiving rate, an alarm may be generated, indicating that the transmission line may be faulty, or the interference is too strong to transmit data.

In step 307, the receiving rate is reduced by one level, and the number of consecutive receiving errors is cleared.

Step 308, waiting for the host module to read data from the data read interface, and send the correct indication to the opposite end, continuously receiving the correct number of times plus one, and the number of consecutive receiving errors is cleared.

Step 309: Determine whether the number of consecutive receiving correct times is greater than the receiving correct number threshold. If yes, go to step 310. If no, go to step 306.

Step 310: Determine whether the data receiving rate reaches the highest receiving rate. If yes, go to step 306. If no, go to step 311.

In step 311, the receiving rate is increased by one level, and the consecutive receiving correct times are cleared.

As shown in FIG. 4, the serial duplex communication device of the first application example of the present invention transmits data including the following steps:

Step 401: Send the data written by the host module and the corresponding check code to the peer end and time.

Step 402: Determine whether the correct receiving indication sent by the peer end is not received within the timeout threshold time range. If yes, go to step 403. If no, go to step 408.

In step 403, the data is resent, the number of consecutive transmission errors is increased by one, and the number of consecutive transmissions is cleared.

In step 404, it is determined whether the number of consecutive transmission errors is greater than the number of transmission error thresholds. If yes, step 405 is performed, and if no, step 406 is performed.

Step 405: Determine whether the data transmission rate reaches the minimum transmission rate. If yes, go to step 406. If no, go to step 407.

In step 406, the current transmission rate is kept unchanged.

If the number of consecutive transmission errors is greater than the threshold of the number of transmission errors, and the data transmission rate reaches the minimum transmission rate, an alarm may be generated, indicating that the transmission line may be faulty, or the interference is too strong to transmit data.

In step 407, the transmission rate is reduced by one level, and the host module is notified by the bandwidth indication signal, and the number of consecutive transmission errors is cleared.

In step 408, the correct number of consecutive transmissions is incremented by one, and the number of consecutive transmission errors is cleared.

In step 409, it is determined whether the number of consecutive transmissions is greater than the number of times the transmission is correct. If yes, step 410 is performed, and if no, step 406 is performed.

Step 410: Determine whether the data transmission rate reaches the highest transmission rate. If yes, go to step 406. If no, go to step 411.

In step 411, the transmission rate is increased by one level, and the host module is notified by the bandwidth indication signal, and the correct number of consecutive receptions is cleared.

Application example two

As shown in FIG. 5, the serial duplex communication device of the second application of the present invention receives data according to the following steps:

Step 501: Receive data and a check code sent by the peer end.

Among them, the data is usually sent and received in the form of data packets.

Step 502: Calculate the check code according to the received data, and compare it with the received check code. If it is inconsistent, it is determined that an error has occurred, and step 503 is performed. If they are consistent, it is determined that the reception is correct, and step 508 is performed.

In step 503, the received data is discarded, the number of consecutive reception errors is increased by one, and the number of consecutive receptions is cleared to zero.

Step 504: Determine whether the number of consecutive reception errors is greater than a threshold of the number of reception errors of the current level. If yes, go to step 505. If no, go to step 506.

Step 505: Determine whether the data receiving rate reaches the minimum receiving rate. If yes, go to step 506; if no, go to step 507.

In step 506, the current receiving rate is kept unchanged.

If the number of consecutive receiving errors is greater than the current number of receiving error thresholds, and the data receiving rate reaches the minimum receiving rate, an alarm may be generated, indicating that the transmission line may be faulty, or the interference is too strong to transmit data.

In step 507, the receiving rate is lowered by one level.

Step 508: Wait for the host module to read data from the data readout interface, and send the correct indication to the opposite end, and continuously receive the correct number of times plus one, and the number of consecutive receive errors is cleared.

In step 509, it is determined whether the correct number of consecutive receptions is greater than the current correct reception threshold. If yes, go to step 510. If no, go to step 506.

Step 510: Determine whether the data receiving rate reaches the highest receiving rate. If yes, go to step 506. If no, go to step 511.

In step 511, the receiving rate is increased by one level.

As shown in FIG. 6, the serial duplex communication device of the second application of the present invention transmits data including the following steps:

Step 601: Send the data written by the host module and the corresponding check code to the peer end and time.

Step 602: Determine whether the correct receiving indication sent by the peer end is not received within the timeout threshold time range. If yes, go to step 603. If no, go to step 608.

In step 603, the data is resent, the number of consecutive transmission errors is increased by one, and the number of consecutive transmissions is cleared.

In step 604, it is determined whether the number of consecutive transmission errors is greater than the current level of the number of transmission error thresholds. If yes, step 605 is performed, and if no, step 606 is performed.

Step 605: Determine whether the data transmission rate reaches the minimum transmission rate. If yes, go to step 606. If no, go to step 607.

In step 606, the current transmission rate is kept unchanged.

In step 607, the transmission rate is reduced by one level, and the host module is notified by the bandwidth indication signal.

In step 608, the correct number of consecutive transmissions is incremented by one, and the number of consecutive transmission errors is cleared.

In step 609, it is determined whether the number of consecutive transmissions is greater than the current level of the correct number of transmission thresholds. If yes, step 610 is performed, and if no, step 606 is performed.

Step 610: Determine whether the data transmission rate reaches the highest transmission rate. If yes, go to step 606. If no, go to step 611.

In step 611, the transmission rate is increased by one level, and the host module is notified by the bandwidth indication signal.

In the embodiment of the present invention, by adopting the rate adaptive serial duplex communication mode, high-rate communication is used in the case of no interference or small interference, the bandwidth is improved, the flying quality of the drone is improved, and the high-quality task is ensured; In the case of moderate interference or severe interference, reduce the communication rate and ensure the basic data requirements, so that the drone can guarantee basic safe flight and return flight or initiate emergency measures.

It should be noted that the transmission quality information is used to reflect the communication interference when the data is transmitted. In the foregoing embodiment, for the received data, the transmission quality information includes: the number of consecutive reception errors and the number of consecutive receptions; and the transmission quality information for the transmission data. This includes the number of consecutive transmission errors and the number of consecutive transmissions. However, the present invention is not limited thereto, and the transmission quality information may also be represented by other information. For example, in other embodiments, for receiving data, the transmission quality information may include: a reception success rate and/or a reception failure rate; for transmitting data, transmission The quality information may include a transmission success rate and/or a transmission failure rate.

The receiving success rate may be the correct number of times received within a specified time range (for example, 5 minutes) at the current receiving rate divided by the total number of received times; the receiving failure rate may be the number of receiving errors within a specified time range (for example, 5 minutes) at the current receiving rate. Divide by the total number of receptions. The transmission success rate may be the correct number of transmissions within the specified time range (for example, 5 minutes) divided by the total number of transmissions at the current transmission rate; the transmission failure rate may be the number of transmission errors within a specified time range (for example, 5 minutes) at the current transmission rate divided by The total number of times sent.

The embodiment of the present invention further provides a serial duplex communication device, which is used to implement the foregoing embodiments and implementation manners, and has not been described again.

The serial duplex communication device of the embodiment of the invention comprises: a memory, a processor and a computer program stored on the memory and operable on the processor, the processor implementing the program to implement the following steps:

In an embodiment, the processor further implements when executing the program:

In an embodiment, when the processor executes the program, when the number of consecutive reception errors is greater than the threshold of the number of reception errors, and the data reception rate does not reach the minimum reception rate, the reception rate is decreased, and the number of consecutive reception errors is received. Cleared; when the correct number of consecutive receptions is greater than the threshold for receiving the correct number of times, and the data reception rate does not reach the highest reception rate, the reception rate is increased, and the correct number of consecutive receptions is cleared.

In an embodiment, when the processor executes the program, when the number of consecutive reception errors is greater than a threshold of the number of reception errors of the current level, and the data reception rate does not reach the minimum reception rate, the reception rate is reduced by one level. When the consecutive number of consecutive receptions is greater than the current level of the correct number of reception thresholds, and the data reception rate does not reach the highest reception rate, the reception rate is increased by one level.

In an embodiment, the transmission quality information includes: the number of consecutive transmission errors and the number of consecutive transmissions.

In an embodiment, the processor further implements when executing the program:

When the number of consecutive transmission errors is greater than the threshold of the number of transmission errors, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is decreased, and the number of consecutive transmission errors is cleared; when the consecutive number of consecutive transmissions is greater than the threshold for sending the correct number of times, and the data When the transmission rate does not reach the highest transmission rate, the transmission rate is increased, and the number of consecutive receptions is cleared to zero.

In an embodiment, the processor further implements when executing the program:

In the embodiment of the present invention, the communication interference can be used as a decision basis, and the communication rate can be flexibly adjusted. Further, by adaptively adjusting the communication rate, the problem that the communication link is disturbed and causing the failure is solved without increasing the cost, the safety of the drone is guaranteed, and the property safety of the user is protected.

The embodiment of the present invention further provides a serial duplex communication device, which is used to implement the foregoing embodiments and implementation manners, and has not been described again. As used below, the term "module" may implement a combination of software and/or hardware of a predetermined function. Although the devices described in the following embodiments may be implemented in software, hardware, or a combination of software and hardware, is also possible and contemplated.

As shown in FIG. 7, the serial duplex communication device of the embodiment of the present invention includes:

The transmission module 71 is configured to transmit data through the serial manner and the opposite end, and collect transmission quality information; the transmission quality information is used to reflect a communication interference situation when transmitting data;

The adjusting module 72 is configured to adaptively adjust a communication rate with the peer end transmission data according to the transmission quality information.

In an embodiment, the transmission quality information includes: the number of consecutive reception errors and the number of consecutive receptions.

In an embodiment, the transmission module 71 is further configured to:

In an embodiment, the adjusting module 72 is further configured to:

When the number of consecutive reception errors is greater than the threshold of the number of reception errors, and the data reception rate does not reach the minimum reception rate, the reception rate is decreased, and the number of consecutive reception errors is cleared;

When the correct number of consecutive receptions is greater than the threshold for receiving the correct number of times, and the data reception rate does not reach the highest reception rate, the reception rate is increased, and the correct number of consecutive receptions is cleared.

In an embodiment, the adjusting module 72 is further configured to:

When the number of consecutive reception errors is greater than a threshold of the number of reception errors of the current level, and the data reception rate does not reach the minimum reception rate, the reception rate is reduced by one level;

When the consecutive number of consecutive receptions is greater than the current level of the correct number of reception thresholds, and the data reception rate does not reach the highest reception rate, the reception rate is increased by one level.

In an embodiment, the transmission module 71 is further configured to:

In an embodiment, the adjusting module 72 is further configured to:

When the number of consecutive transmission errors is greater than the threshold of the number of transmission errors, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is decreased, and the number of consecutive transmission errors is cleared;

When the consecutive number of consecutive transmissions is greater than the threshold for transmitting the correct number of times, and the data transmission rate does not reach the highest transmission rate, the transmission rate is increased, and the correct number of consecutive receptions is cleared.

In an embodiment, the adjusting module 72 is further configured to:

When the number of consecutive transmission errors is greater than a threshold of the number of transmission errors of the current level, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is reduced by one level;

When the consecutive number of consecutive transmissions is greater than the current level of the correct number of transmission thresholds, and the data transmission rate does not reach the highest transmission rate, the transmission rate is increased by one level.

Embodiments of the present invention also provide a storage medium. In the present embodiment, the above storage medium may be arranged to store program code for performing, for example, the following steps:

S1, transmitting data through the serial mode and the opposite end, and collecting transmission quality information; the transmission quality information is used to reflect the communication interference when transmitting the data;

S2. adaptively adjust a communication rate with the peer end transmission data according to the transmission quality information.

In this embodiment, the foregoing storage medium may include, but not limited to, a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk. A variety of media that can store program code.

For examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and implementation manners, and details are not described herein again.

The embodiment further provides a serial duplex communication device, the device includes a processor, and the processor is configured to implement the functions of the foregoing transmission module 71 and the adjustment module 72. Specifically, the device performs the following process: through serial mode and pair The terminal transmits data and calculates transmission quality information; the transmission quality information is used to reflect a situation of communication interference when transmitting data; and the communication rate is adaptively adjusted according to the transmission quality information.

It will be apparent to those skilled in the art that the above-described modules or steps of the embodiments of the present invention can be implemented by a general-purpose computing device, which can be centralized on a single computing device or distributed over a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device such that they may be stored in the storage device by the computing device and, in some cases, may be different from the order herein. The steps shown or described are performed either separately as an integrated circuit module, or a plurality of modules or steps thereof are fabricated as a single integrated circuit module. Thus, embodiments of the invention are not limited to any specific combination of hardware and software.

While the embodiments of the present invention have been described above, the described embodiments are merely for the purpose of understanding the invention and are not intended to limit the invention. Any modification and variation in the form and details of the embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention. The scope defined by the appended claims shall prevail.

Claims

A serial duplex communication method includes:

Transmitting data through the serial mode and the opposite end, and counting the transmission quality information; the transmission quality information is used to reflect the communication interference when transmitting the data;

And adaptively adjusting a communication rate with the peer end transmission data according to the transmission quality information.
The method of claim 1 wherein

The transmission quality information includes: the number of consecutive reception errors and/or the number of consecutive receptions.
The method according to claim 2, wherein the transmitting the data in a serial manner with the opposite end and counting the transmission quality information comprises:

Receiving the data sent by the opposite end and the corresponding check code in a serial manner, calculating a check code according to the received data, and comparing the received check code;

If they are inconsistent, it is judged that an error has occurred, the received data is discarded, the number of consecutive reception errors is increased by one, and the number of consecutive receptions is cleared to zero;

If they are consistent, it is judged that the reception is correct, and the correct reception indication is sent to the opposite end, and the number of consecutive receptions is increased by one, and the number of consecutive reception errors is cleared.
The method according to claim 3, wherein the adaptively adjusting the communication rate with the data transmitted by the peer according to the transmission quality information comprises:

When the number of consecutive reception errors is greater than the threshold of the number of reception errors, and the data reception rate does not reach the minimum reception rate, the reception rate is decreased, and the number of consecutive reception errors is cleared; when the consecutive reception correct times are greater than the reception correct number threshold, and the data When the receiving rate does not reach the highest receiving rate, the receiving rate is increased, and the correct number of consecutive receiving times is cleared; or,

When the number of consecutive reception errors is greater than a threshold of the number of reception errors of the current level, and the data reception rate does not reach the minimum reception rate, the reception rate is reduced by one level; when the consecutive reception correct times are greater than the current level of the reception correct number threshold, and When the data reception rate does not reach the maximum reception rate, the reception rate is increased by one level.
The method according to any one of claims 1 to 4, wherein the transmission quality information comprises: consecutive transmission errors and/or consecutive transmissions of the correct number of times.
The method according to claim 5, wherein the transmitting the data in a serial manner with the opposite end and counting the transmission quality information comprises:

The data and the corresponding check code are sent to the opposite end in a serial manner and timed; if the correct receiving indication sent by the opposite end is received within the timeout threshold time range, the correct number of consecutive transmissions is incremented by one, and the number of consecutive transmission errors is cleared. If the timeout threshold has not received the correct indication of the reception sent by the peer, the data is resent, the number of consecutive transmission errors is increased by one, and the number of consecutive transmissions is cleared.
The method according to claim 6, wherein the adaptively adjusting the communication rate with the data transmitted by the peer according to the transmission quality information comprises:

When the number of consecutive transmission errors is greater than the threshold of the number of transmission errors, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is decreased, and the number of consecutive transmission errors is cleared; when the consecutive number of consecutive transmissions is greater than the threshold for sending the correct number of times, and the data When the transmission rate does not reach the highest transmission rate, the transmission rate is increased, and the correct number of consecutive receptions is cleared; or,

When the number of consecutive transmission errors is greater than a threshold of the number of transmission errors of the current level, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is reduced by one level; when the correct number of consecutive transmissions is greater than the current level of the correct number of transmission thresholds, and When the data transmission rate does not reach the highest transmission rate, the transmission rate is increased by one level.
The method according to any one of claims 1 to 7, wherein the method further comprises:

The data write rate is determined according to the bandwidth indication information.
A serial duplex communication device includes: a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor executes the program to implement the following steps:

Transmitting data through the serial mode and the opposite end, and counting the transmission quality information; the transmission quality information is used to reflect the communication interference when transmitting the data;

And adaptively adjusting a communication rate with the peer end transmission data according to the transmission quality information.
The apparatus according to claim 9, wherein said transmission quality information comprises: a number of consecutive reception errors and/or a continuous reception of the correct number of times; said apparatus further comprising a receiving port, said processor executing said computer program Also achieved:

Controlling, by the receiving port, the data sent by the opposite end and the corresponding check code in a serial manner, calculating a check code according to the received data, and comparing the received check code;

If they are inconsistent, it is judged that an error has occurred, the received data is discarded, the number of consecutive reception errors is increased by one, and the number of consecutive receptions is cleared to zero;

If they are consistent, it is judged that the reception is correct, and the correct reception indication is sent to the opposite end, and the number of consecutive receptions is increased by one, and the number of consecutive reception errors is cleared.
The apparatus according to claim 10, wherein said processor, when said computer program is executed, further implements:

When the number of consecutive reception errors is greater than the threshold of the number of reception errors, and the data reception rate does not reach the minimum reception rate, the reception rate is decreased, and the number of consecutive reception errors is cleared; when the consecutive reception correct times are greater than the reception correct number threshold, and the data When the receiving rate does not reach the highest receiving rate, the receiving rate is increased, and the correct number of consecutive receiving times is cleared; or,

When the number of consecutive reception errors is greater than a threshold of the number of reception errors of the current level, and the data reception rate does not reach the minimum reception rate, the reception rate is reduced by one level; when the consecutive reception correct times are greater than the current level of the reception correct number threshold, and When the data reception rate does not reach the maximum reception rate, the reception rate is increased by one level.
The apparatus according to any one of claims 9 to 11, wherein the transmission quality information comprises: consecutive transmission errors and/or consecutive transmissions of the correct number of times; the apparatus further comprising a transmission port, the processor The implementation of the computer program also implements:

Controlling the sending port to send the data and the corresponding check code to the opposite end in a serial manner and timing; if receiving the correct receiving indication sent by the opposite end within the timeout threshold time range, continuously sending the correct number of times plus one consecutive If the number of transmission errors is cleared, if the correct indication of the reception sent by the peer is not received, the data is resent, the number of consecutive transmission errors is increased by one, and the number of consecutive transmissions is cleared.
The apparatus according to claim 12, wherein said processor, when said computer program is executed, further implements:

When the number of consecutive transmission errors is greater than the threshold of the number of transmission errors, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is decreased, and the number of consecutive transmission errors is cleared; when the consecutive number of consecutive transmissions is greater than the threshold for sending the correct number of times, and the data When the transmission rate does not reach the highest transmission rate, the transmission rate is increased, and the correct number of consecutive receptions is cleared; or,

When the number of consecutive transmission errors is greater than a threshold of the number of transmission errors of the current level, and the data transmission rate does not reach the minimum transmission rate, the transmission rate is reduced by one level; when the consecutive number of consecutive transmissions is greater than the correct number of times of sending the current level, and When the data transmission rate does not reach the highest transmission rate, the transmission rate is increased by one level.
The apparatus according to any one of claims 9 to 13, wherein the processor further executes when the computer program is executed:

The data write rate is determined according to the bandwidth indication information.
A computer readable storage medium, wherein the computer readable storage medium stores a computer program, the computer program being executed by a processor to implement the serialization of any one of claims 1-8 The steps of the duplex communication method.