CN115200624A - XCP (X-ray computer peripheral protocol) -based exercise station measuring and calibrating method and device - Google Patents

Abstract

The invention discloses a method and a device for measuring and correcting a motion platform based on an XCP (X-ray computer peripheral) protocol, which are used for XCP master equipment and a measured motion control platform as slave equipment, wherein the method for measuring and correcting the motion platform comprises the following steps: sending a first command to the slave device to establish a communication connection with the slave device based on an XCP protocol; acquiring corresponding target data from XCP software of each sensor of the slave equipment based on the XCP protocol; after each required target data is obtained, data processing is carried out on each target data to determine setting data of the sensor; transmitting tuning data of the sensor to the sensor based on the XCP protocol. The embodiment of the invention realizes the calibration of the high-precision motion console based on the XCP protocol, reduces the development cost and meets the requirement of quickly and effectively realizing the calibration of the motion controller (or the sensor) of the high-precision motion console.

Description

A method and device for measuring and calibrating motion table based on XCP protocol

technical field

The invention relates to the field of equipment calibration, in particular to a method and device for testing and calibrating a motion table based on an XCP protocol.

Background technique

The sensors, actuators and controlled objects of high-precision motion tables involve mechanical dynamics, optics, power electronics and other disciplines. In the actual adjustment process, it is difficult to express accurately through an accurate mathematical model.

Calibration is an indispensable process for calibrating the sensors of the high-precision motion table and debugging the parameters of the controller to optimize the mathematical model. An efficient and universal calibration system is an important window for understanding the physical laws of various components at the nanoscale, which is crucial for accelerating the development of high-precision motion tables.

The traditional calibration system includes both the calibration code in the motion controller (or sensor) of the high-precision motion console and the calibration man-machine interface in the computer.

In the traditional scheme, the variable selector, trigger selector and application part are coupled together, and the test program does not exist independently in the motion controller (or sensor) of the high-precision motion console.

Since the test calibration code is deeply coupled with the application code, if the application program changes, it is necessary to redefine and develop a new test program protocol layer interface, which greatly affects the work efficiency.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a method and device for testing and calibrating a motion table based on the XCP protocol, which are used to realize the test and calibration of a high-precision motion table based on the XCP protocol, reduce development costs, and meet the requirements of quickly and effectively realizing motion control of a high-precision motion console. device (or sensor) measurement requirements.

The present invention proposes a method for checking and calibrating a motion table based on the XCP protocol, which is used for an XCP master device and a motion console to be tested as a slave device. The method for testing and calibrating a motion table includes:

Send a first command to the slave device to establish a communication connection with the slave device based on the XCP protocol;

Obtain corresponding target data from the XCP software of each sensor of the slave device based on the XCP protocol;

After obtaining the required target data, perform data processing on each target data to determine the setting data of the sensor;

The setting data of the sensor is sent to the sensor based on the XCP protocol.

In some embodiments, sending the first command to the slave device is implemented based on a standard command of the XCP protocol.

In some embodiments, the XCP software of each sensor of the slave device is compatible with the XCP protocol, wherein each XCP software includes an event call layer, a slave operation call layer, a slave protocol layer, a slave transport layer and a slave platform Floor.

In some embodiments, acquiring the corresponding target data from the software of each sensor of the slave device based on the XCP protocol is implemented based on the event call layer.

In some embodiments, the slave transport layer provides at least the following interfaces:

a first API interface for implementing device communication;

a second API interface for implementing inter-core communication;

A third API interface for providing the internal first timestamp and timing of the slave device.

In some embodiments, the slave platform layer provides at least the following interfaces:

A fourth API interface for implementing static memory space configuration;

A fifth API interface for providing a second timestamp for data collection.

In some embodiments, the slave protocol layer is configured to provide support for commands of the XCP protocol.

In some embodiments, each XCP software is configured with an XCP main loop configured to run a communication protocol stack to enable receiving and sending data packets.

In some embodiments, each XCP software is configured with XCP events that are configured to periodically record event-calling layer-related DAQ data.

In some embodiments, the XCP main loop and the XCP events run in a plurality of cores of the slave device, and the XCP main loop and the XCP events communicate with target task cores through corresponding linear tables exchanged, and the target task core is different from the cores where the XCP main loop and the XCP events are located.

The present invention also provides an XCP protocol-based sports station calibration device, including a processor and a memory, the memory stores a computer program, and the processor implements the based on the various embodiments of the present disclosure when the processor invokes the computer program. Motion table calibration method of XCP protocol.

The embodiment of the present invention realizes the calibration of high-precision motion consoles based on the XCP protocol, reduces development costs, and satisfies the requirements for quickly and effectively implementing the measurement and comparison of motion controllers (or sensors) of high-precision motion consoles.

The above description is only an overview of the technical solutions of the present invention, in order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand , the following specific embodiments of the present invention are given.

Description of drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be considered limiting of the invention. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

1 is a schematic flow chart of a basic flow chart of a method for testing and calibrating a motion table according to an embodiment of the present invention;

2 is a schematic diagram of a basic communication architecture according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a specific task allocation according to an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly understood, and will fully convey the scope of the present disclosure to those skilled in the art.

The present invention proposes a method for testing and calibrating a motion table based on the XCP protocol, which is used for the XCP master device, and the tested motion console is used as a slave device. As shown in FIG. 1 , the method for testing and calibrating the motion table includes:

In step S101, a first command is sent to the slave device to establish a communication connection with the slave device based on the XCP protocol. Specifically, in this embodiment, the variable values in the motion controller (or sensor) software are acquired into the upper computer or the test system. The XCP of this embodiment is based on the ASAM standard CAN Calibration Protocol (CCP). Originally designed for the automotive industry, it is mainly used in the field of ECU development, calibration and testing. In this embodiment, the tool side of the calibration is set as the XCP master device, the high-precision motion console to be measured is used as the slave device, and the corresponding motion controller (or sensor) is the XCP slave node, which uses the master-slave communication method to communicate The connection, for example, can be in a client/server architecture.

In step S102, the corresponding target data is acquired from the XCP software of each sensor of the slave device based on the XCP protocol. After the master-slave communication mode is established, the further XCP master device in this example can use the XCP protocol to obtain corresponding target data from the XCP software of each sensor of the device.

In step S103, after each required target data is acquired, data processing is performed on each target data to determine the setting data of the sensor. The required target data in the present disclosure refers to data that can be used for data processing and has a specified data precision and depth. After obtaining the data of the specified depth, data analysis can be performed in the XCP master device to determine the set of targets. The calibration amount corresponding to the data, for example, the calibration amount (setting data) can be determined by means of waveform analysis. In the present disclosure, the XCP protocol allows direct read and write access to the memory, thereby enabling the measurement of numerical parameters from the memory in the read access, and the adjustment of the values of specific parameters in the memory in the write access.

In step S104, the setting data of the sensor is sent to the sensor based on the XCP protocol.

The embodiment of the present invention realizes the calibration of high-precision motion consoles based on the XCP protocol, reduces development costs, and satisfies the requirements for quickly and effectively implementing the measurement and comparison of motion controllers (or sensors) of high-precision motion consoles.

In some embodiments, sending the first command to the slave device is implemented based on a standard command of the XCP protocol. In this embodiment, Command Transfer Object (CTO: Command Transfer Object) is used to transmit general standard control commands: control command (CMD), command response (RES), error packet (ERR), event packet (EV) and service request data package (SERV). In some examples, the XCP master device sends command parameters to establish a connection with the slave device, unlock, read data, and change parameters.

In some embodiments, the XCP software of each sensor of the slave device is compatible with the XCP protocol, wherein each XCP software includes an event call layer, a slave operation call layer, a slave protocol layer, a slave transport layer and a slave platform Floor. In the present disclosure, the XCP software of each sensor of the slave device is compatible with the XCP protocol. As shown in FIG. 2 , the overall software framework of the high-precision motion table measurement and comparison system based on the XCP protocol includes the XCP DAQ event call layer, the XCP slave machine operation call layer, XCP Slave Protocol Layer, XCP Slave Transport Layer and XCP Slave Platform Layer.

In some embodiments, acquiring the corresponding target data from the software of each sensor of the slave device based on the XCP protocol is implemented based on the event call layer.

Data Transfer Object (DTO: Data Transfer Object) is used to transmit synchronous data acquisition data (DAQ) and synchronous data stimulation data (STIM). The XCP protocol in the present disclosure can synchronize the data acquisition work with the running tasks or interrupts, thereby ensuring that the required parameter values can be quickly acquired whenever the motion controller (or sensor) of the high-precision motion console updates the parameters. XCP enables measurements to be synchronized with events in the control device, thus ensuring that the measured values are correlated.

In some embodiments, the slave transport layer provides at least the following interfaces:

a first API interface for implementing device communication;

a second API interface for implementing inter-core communication;

A third API interface for providing the internal first timestamp and timing of the slave device.

Specifically, the XCP slave transmission layer of the present invention provides the following interface: a direct communication API interface (first API interface) for the upper computer and the motion controller (or sensor) of the high-precision motion console.

The XCP driver sends and receives XCP data through the inter-device communication channel, and the XCP driver is based on the inter-device API interface. In this embodiment, the first API interface is independent of the physical layer for sending data, and the physical layer that can be supported includes interfaces such as Ethernet and RS232. An exemplary first API interface includes: XcpDriverOpen(), XcpDriverSend(), XcpDriverRecv(), XcpDriverClose().

The communication API interface (second API interface) between the internal processes of the motion controller (or sensor) of the high-precision motion console. The motion controller (or sensor) of the high-precision motion console in the present disclosure uses a multi-core processor, and the communication between the cores needs to use the hardware queue provided by the multi-core processor, which can solve the problem of memory consistency. The core internal API interface design is independent of the physical layer, and the supported queue physical layer includes interfaces such as shared memory, multi-core navigator, and SRIO. An exemplary second API interface includes: XcpQueueInit(), XcpQueuePush(), XcpQueuePull().

The timestamp timer API interface (third API interface) inside the motion controller (or sensor) of the high-precision motion console.

In some embodiments, the slave platform layer provides at least the following interfaces:

A fourth API interface for implementing static memory space configuration;

A fifth API interface for providing a second timestamp for data collection.

Specifically, the slave platform layer provides at least the following interfaces: queue static memory space configuration (fourth API interface), timestamp and memory API interface (fifth API interface), wherein the fourth API interface is used to create static memory and release information. The fourth API interface may be: XcpQueueInsertMemoryRegion(). When XCP performs synchronous data collection, it is necessary to obtain the running time of the motion controller (or sensor) of the high-precision motion console as the time stamp of data collection. The fifth API interface can be defined as: XcpTimeStamp().

In some embodiments, the slave protocol layer is configured to provide support for commands of the XCP protocol. Specifically, the slave protocol layer can be configured to support standard STANDARD command modules, DAQ command modules, CALIBRATION command modules, PROGRAM command modules, BLOCK command modules, etc., to provide support for each command of the XCP protocol. In this example, the slave protocol layer adopts a hierarchical design, and the modules implemented later only need to register the modules when the protocol layer is initialized to realize the expansion of the command module.

As an example, the standard commands corresponding to the standard STANDARD command module may include:

The XCP_PID_CONNECT->Connect" command is used to establish a connection with the controller. The controller either responds with a successful connection or a failed response.

XCP_PID_DISCONNECT->This command is the opposite of the process of XCP_PID_CONNECT.

XCP_PID_GET_STATUS - The current status information of the slave will be returned in the response to this command.

XCP_PID_SET_MTA->This command will set the specified memory address in the controller.

XCP_PID_UPLOAD->This command will upload data from the controller to the host. The length of the data bytes will be specified in the command.

For the above standard commands, corresponding action handlers and response handlers are respectively set.

The DAQ commands corresponding to the DAQ command module can include:

XCP_PID_START_STOP_DAQ_LIST->Start or stop DAQ list

XCP_PID_START_STOP_SYNCH -> start or stop synchronization

XCP_PID_WRITE_DAQ -> Write DAQ

XCP_PID_SET_DAQ_LIST_MODE-> can set the mode of DAQ

XCP_PID_FREE_DAQ -> free daq list

XCP_PID_ALLOC_DAQ -> allocate daq memory

XCP_PID_ALLOC_ODT -> allocate ODT memory

XCP_PID_ALLOC_ODT_ENTRY->Set the ODT entry.

There are corresponding action handlers and response handlers for the above DAQ commands.

In some embodiments, each XCP software is configured with an XCP main loop configured to run a communication protocol stack to enable receiving and sending data packets.

Specifically, the XCP main loop in the present disclosure may be a thread running in the background, responsible for running the communication protocol stack and sending and receiving data packets. An exemplary transceiving process is as follows:

Step A1: Read the data frame from the linear table queue, and check the frame format.

Step A2: Read the PID command number by preliminarily analyzing the frame.

Step A3: Determine the command module to which the command belongs according to the command number.

Step A4: Obtain the function handle of the command module according to the command module.

Step A5: Execute the action handler and the response handler respectively.

Step A6, the response handler pushes the response data frame into the queue.

In some embodiments, each XCP software is configured with XCP events that are configured to periodically record event-calling layer-related DAQ data. Specifically, XCP events run in periodic threads or tasks, and DAQ data is recorded periodically. Specifically, it can be achieved through the following steps:

Step B1, judging the current XCP DAQ state, when in the start state, generate an event according to the prescaler and the number of operations in the DAQ table.

Step B2: After the event is generated, record the ODT data according to the DAQ table, and frame the data according to the corresponding DAQ packets. If there are multiple DAQ tables, the corresponding number of frames will be generated.

Step B3, the generated data packet is pushed into the linear table queue.

Step B4, if the XCP DAQ is in the stop state, suspend the data recording.

For the deployment of the XCP software of the motion controller (or sensor) of the high-precision motion console on the multi-core processor, there are multiple masters for the memory. When the CPU turns on the cache, there will be a data consistency problem. In a multi-core controller application, if both the XCP main loop (xcp run) thread and the XCP event (xcp event) thread are placed in one core, there will be a problem of multi-core data consistency. In some embodiments, the XCP main loop and the XCP events run in a plurality of cores of the slave device, and the XCP main loop and the XCP events communicate with target task cores through corresponding linear tables exchanged, and the target task core is different from the cores where the XCP main loop and the XCP events are located.

The method of the present disclosure places the xcp run thread and the xcp event thread in each core respectively. As shown in Figure 3, each xcp run thread and xcp event thread can be configured in the cores 1-n. In the case of data between the Xcp software and the host computer, the multi-core processor calls the linear table Queue module for transmission. Through this The way that core 0 and task cores (cores 1-n) can exchange data in an asynchronous manner. Therefore, when cores 1 to n are running, the xcp run thread and xcp event thread of the corresponding core will not be affected by other main processes (master) during data operation, and will not cause data consistency problems.

After the method of the present disclosure adopts the XCP protocol stack, the measurement and comparison program of the lower computer does not need to be changed with the change of the application, and the interface of the upper computer does not need to be repeatedly developed, and commercial software can be connected, which greatly reduces the development of the measurement and comparison system. workload. The implementation of the XCP protocol software refers to the OSI model and adopts a layered architecture, so that the protocol stack can be quickly tailored and transplanted according to requirements.

The method of the present disclosure can be connected to the human-machine interface of a commercial upper computer. The development of the traditional measurement and comparison system does not adopt any standard, and all development is one-time. The test and comparison system in the present invention is based on the XCP protocol, so that the test and calibration man-machine interface of the upper computer can be developed by itself, and can also be connected to commercial software based on this standard. For example, matlab can realize the monitoring and management of real-time data in place of the field, and use its powerful data processing and calculation functions to analyze the dynamic frequency domain characteristics of the system, which speeds up the process of testing and calibration, and also enables the development of simulink-based control algorithms, Offline and real-time simulation tests are integrated to process the development cycle of high-precision motion tables.

The embodiment of the present invention is based on the Slaver part of the XCP protocol, and the software framework is layered, which makes the transplantation of the framework more convenient. It only needs to simply modify the program interface of the underlying hardware, set the appropriate memory space according to the processor platform, and tailor the required functions to complete the deployment of the measurement function.

The present invention also provides an XCP protocol-based sports station calibration device, including a processor and a memory, the memory stores a computer program, and the processor implements the based on the various embodiments of the present disclosure when the processor invokes the computer program. Motion table calibration method of XCP protocol.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

From the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform, and of course hardware can also be used, but in many cases the former is better implementation. Based on this understanding, the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products are stored in a storage medium (such as ROM/RAM, magnetic disk, CD-ROM), including several instructions to make a terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) execute the methods described in the various embodiments of the present invention.

The embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative rather than restrictive. Under the inspiration of the present invention, without departing from the scope of protection of the present invention and the claims, many forms can be made, which all belong to the protection of the present invention.

Claims (11)

1. a method for checking and calibrating a motion table based on XCP protocol, for XCP master equipment, and a motion console under test is used as slave equipment, it is characterized in that, the method for testing and calibrating of described motion table comprises: Send a first command to the slave device to establish a communication connection with the slave device based on the XCP protocol; Obtain corresponding target data from the XCP software of each sensor of the slave device based on the XCP protocol; After obtaining the required target data, perform data processing on each target data to determine the setting data of the sensor; The setting data of the sensor is sent to the sensor based on the XCP protocol. 2 . The method for checking and calibrating a sports station based on the XCP protocol according to claim 1 , wherein sending the first command to the slave device is implemented based on a standard command of the XCP protocol. 3 . 3. the method for checking and calibrating the motion station based on XCP protocol as claimed in claim 1, is characterized in that, the XCP software of each sensor of described slave device is compatible with described XCP protocol, wherein, each XCP software comprises event call layer, and slave Run Call Layer, Slave Protocol Layer, Slave Transport Layer and Slave Platform Layer. 4. The method for checking and calibrating a sports station based on the XCP protocol as claimed in claim 3, wherein obtaining corresponding target data from the software of each sensor of the slave device based on the XCP protocol is based on the event call layer realized. 5. the method for checking and calibrating the motion station based on XCP protocol as claimed in claim 3, is characterized in that, described slave transport layer provides following interface at least: a first API interface for implementing device communication; a second API interface for implementing inter-core communication; A third API interface for providing the internal first timestamp and timing of the slave device. 6. the method for checking and calibrating the motion platform based on XCP protocol as claimed in claim 3, is characterized in that, described slave platform layer provides following interface at least: A fourth API interface for implementing static memory space configuration; A fifth API interface for providing a second timestamp for data collection. 7 . The method for testing and calibrating a sports station based on the XCP protocol according to claim 3 , wherein the slave protocol layer is configured to provide support for each command of the XCP protocol. 8 . 8. the method for checking and calibrating a sports station based on XCP protocol as claimed in claim 3, is characterized in that, each XCP software is configured with XCP main loop, and described XCP main loop is configured to run communication protocol stack to realize receiving and sending data Bag. 9 . The method for testing and calibrating a sports station based on the XCP protocol according to claim 8 , wherein each XCP software is configured with an XCP event, and the XCP event is configured to periodically record the DAQ data related to the event call layer. 10 . 10. The method for checking and calibrating a sports station based on the XCP protocol as claimed in claim 9, wherein the XCP main loop and the XCP event run in a plurality of cores of the slave device, and the XCP main loop The loop and the XCP event exchange data with the target task core through a corresponding linear table, and the target task core is different from each core where the XCP main loop and the XCP event are located. 11. A motion table calibration device based on XCP protocol, characterized in that it comprises a processor and a memory, and the memory stores a computer program, and when the processor calls the computer program, any one of claims 1-10 is realized The method for testing and calibrating the motion table based on the XCP protocol described in the above item.

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