An embedded system signal fault-tolerant management system and method

Abstract

The application relates to an embedded system signal fault-tolerant management system and method, which comprises a bus interface module, a bus state management module and a signal fault-tolerant management module. The bus interface module mainly realizes bus data receiving, bus data sending, bus state transient monitoring and data packet state transient monitoring; the bus state monitoring module realizes bus state judgment, bus state and data packet state monitoring and data packet state synthesis. The signal fault-tolerant management module completes signal self-monitoring synthesis according to the bus and data packet state transient monitoring results output by the bus interface module and other self-monitoring information, completes effective channel selection according to the bus and data packet state monitoring results output by the bus state monitoring module, and completes signal voting, fault monitoring and fault recovery according to the signal self-monitoring synthesis results and the effective channel selection results, and outputs the fault monitoring results and the voting value to subsequent functional modules.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of embedded system signal processing, and particularly relates to an embedded system signal fault-tolerant management system and method. BACKGROUND

[0002] High-security embedded systems generally use redundancy design, that is, multiple redundant system working channels are constructed to ensure system security. The nodes of the system usually use various buses for information transmission, and the fault-tolerant management algorithms of various signals are seriously coupled with different buses and the specific use of each actual system. The content range and boundary of signal fault-tolerant management are not clear, and it is difficult to reuse. There is no signal fault-tolerant management method for embedded systems to guide the specific signal fault-tolerant design of the system. SUMMARY

[0003] The purpose of the present application is to provide an embedded system signal fault-tolerant management system and method, which can guide and support the design and implementation of embedded system signal monitoring and voting, ensure system security, and improve system fault-tolerant capability.

[0004] To achieve the above purpose, the technical scheme is adopted as follows.

[0005] In a first aspect, the present application provides an embedded system signal fault-tolerant management system, comprising a bus interface module, a bus state monitoring management module and a signal fault-tolerant management module, wherein:

[0006] The bus interface module is used for receiving bus signals from other nodes transmitted through the bus, and sending information transmitted by the node through the bus to other nodes, and monitoring the bus transient state and the transient state of each data packet. The bus interface module includes a bus data receiving module, a bus data sending module, a bus transient monitoring module and a data packet transient monitoring module.

[0007] The bus state monitoring management module completes the permanent fault monitoring and fault recovery of the bus and each data packet according to the transient monitoring results of each bus and each data packet. The bus state monitoring management module includes a bus state judgment module, a data packet state monitoring module, a bus state monitoring module, a data packet state comprehensive module and a bus fault recovery module.

[0008] The signal fault-tolerant management module completes the monitoring and voting of various redundant signals received by the bus interface module according to the transient monitoring results and other information of the bus and the data packet provided by the bus interface module, and the monitoring results of the bus and the data packet provided by the bus state monitoring management module. The signal fault-tolerant management module includes a self-monitoring signal collection module, an effective channel selection signal collection module, a self-monitoring signal comprehensive module, an effective channel selection module, a cross-channel comparison monitoring module and a cross-channel voting module.

[0009] Further, the bus data receiving module implements the judgment of the start of the data packet data receiving of the bus transmission, the acquisition of the data load area of the data packet of the bus transmission, and the collection of the bus operation state information and the data packet state information;

[0010] The bus data sending module implements the judgment of the start of the bus data packet data sending and the external sending of the bus data packet data.

[0011] The bus state transient monitoring module implements the judgment of the start of the bus state transient monitoring, and according to the collected current bus operation state information, implements the transient monitoring of the current bus state according to a proper monitoring strategy.

[0012] The data packet transient monitoring module implements the transient monitoring of the current data packet according to a proper monitoring strategy.

[0013] Further, the bus state judgment module includes a bus available judgment module, a bus normal judgment module, and a data packet first effective judgment module, wherein:

[0014] The bus available judgment module is used to judge whether the bus state is available, i.e., the bus can be normally accessed, and further correctly execute basic functions such as data transceiving, data packet state transient monitoring, etc.

[0015] The bus normal judgment module is used to judge whether the bus state is normal, i.e., whether the bus state satisfies the monitoring functions such as bus state monitoring and data packet state monitoring.

[0016] The data packet first effective judgment module is used to judge whether the data packet in the bus can be correctly received and used.

[0017] Further, the data packet state monitoring module is used to implement the monitoring function of the monitor set for the data packet state monitoring.

[0018] The bus state monitoring module is used to implement the monitoring function of the monitor set for the bus state monitoring.

[0019] The data packet state comprehensive module is used to implement the comprehensive judgment of the data packet state monitoring result, and provide the data packet effectiveness information for the signal fault tolerance management.

[0020] The bus fault recovery module is used to implement the bus fault recovery function controlled by the bus fault recovery instruction, and provide the bus fault recovery state information for the system health management.

[0021] Further, the self-monitoring signal collection module collects the self-monitoring information of each channel of the multiple redundancy signals, and the collection result is used for the self-monitoring signal comprehensive module.

[0022] The effective channel selection signal collection module collects the relevant effective channel selection signals of the redundancy signals, and the collection result is used in the effective channel selection module.

[0023] The self-monitoring signal synthesis module synthesizes the relevant self-monitoring information of the channel signals, and the synthesis result is used in the cross-channel comparison monitoring module to make a transient fault judgment on the corresponding channel signals in the case of a singular transient fault.

[0024] The effective channel selection module synthesizes the relevant state information of the channel signals, and selects the signals of the state effective channel for cross-channel comparison monitoring.

[0025] The cross-channel comparison monitoring module uses the input values of the channel signals, the self-monitoring synthesis result, and the effective channel selection result to complete the fault monitoring of the channel signals, and outputs the fault monitoring result of the channel signals for the cross-channel voting module; and in response to a signal fault recovery instruction, the signals of the fault channel are recovered.

[0026] The cross-channel voting module uses the input values of the channel signals and the fault monitoring result to complete the voting of the signals, and outputs the voting value of the signals for the upper-layer application.

[0027] Further, the input end of the bus data receiving module is used to receive bus data, and the output end of the bus data receiving module is connected with the bus state transient monitoring module, the data packet state transient monitoring module, the effective channel selection signal collection module, the self-monitoring signal collection module, and the cross-channel comparison monitoring module.

[0028] The output end of the bus data sending module is used to send bus data.

[0029] The input end of the data packet state transient monitoring module is connected with the bus data receiving module, and the output end of the data packet state transient monitoring module is connected with the data packet first effective judgment module, the bus normal judgment module, the bus available judgment module, the data packet state monitoring module, and the self-monitoring signal collection module.

[0030] The input end of the bus state transient monitoring module is connected with the bus data receiving module, and the output end of the bus state transient monitoring module is connected with the bus normal judgment module, the bus available judgment module, the bus state monitoring module, and the self-monitoring signal collection module.

[0031] The input end of the data packet first effective judgment module is connected with the data packet state transient monitoring module.

[0032] The input end of the bus normal judgment module is connected with the bus state transient monitoring module and the data packet state transient monitoring module, and the output end of the bus normal judgment module is connected with the data packet state monitoring module and the bus state monitoring module.

[0033] The input end of the bus available judgment module is connected with the bus state transient monitoring module and the data packet state transient monitoring module.

[0034] The input end of the data packet state monitoring module is connected with the data packet state transient monitoring module and the bus normal judgment module, and the output end of the data packet state monitoring module is connected with the data packet state comprehensive module.

[0035] The input end of the data packet state comprehensive module is connected with the data packet state monitoring module, and the output end is connected with the effective channel selection signal collection module.

[0036] The input end of the bus state monitoring module is connected with the bus normal judgment module and the bus state transient monitoring module, and the output end is connected with the effective channel selection signal collection module.

[0037] The input end of the bus fault recovery module is from a fault recovery instruction, and the output is a fault recovery state.

[0038] The input end of the self-monitoring signal collection module is from the data packet state transient monitoring module, the bus state transient monitoring module and the bus data receiving module, and the output end is connected with the self-monitoring signal comprehensive module.

[0039] The input end of the effective channel selection signal collection module is from the data packet state monitoring module, the bus state monitoring module and the bus data receiving module, and the output end is connected with the effective channel selection module.

[0040] The input end of the self-monitoring signal comprehensive module is from the self-monitoring signal collection module, and the output end is connected with the cross-channel comparison monitoring module.

[0041] The input end of the effective channel selection module is from the self-monitoring signal collection module, and the output end is connected with the cross-channel comparison monitoring module.

[0042] The input end of the cross-channel comparison monitoring module is from the self-monitoring signal comprehensive module, the effective channel selection module and the bus data receiving module, and the output end is connected with the cross-channel voting module.

[0043] The input end of the cross-channel voting module is from the cross-channel comparison monitoring module, and the output signal is a voting value.

[0044] In a second aspect, the application provides a signal fault-tolerant management method for an embedded system, which comprises:

[0045] Step 1: the bus interface module receives data packets transmitted through the bus and completes transient monitoring of the bus and transient monitoring of the data packets;

[0046] Step 2: the bus state monitoring module completes bus state monitoring and data packet state monitoring according to the transient monitoring of the bus state and the transient monitoring of the data packet state.

[0047] Step 3: The signal fault-tolerant management module completes the self-monitoring synthesis of the signal and the effective channel selection result according to the signal information and the bus state transient monitoring result and the data packet transient monitoring result, the bus state monitoring result and the data packet monitoring result, and performs voting, fault monitoring and fault recovery on the redundant signal, and outputs the fault monitoring result and the voting value to the subsequent functional module.

[0048] Further, step 1 includes:

[0049] Step 11: Bus data receiving: completing the judgment of data packet data receiving start, acquiring the data packet load area data transmitted by the bus, and collecting the bus running state information and the data packet state information;

[0050] Step 12: According to the current bus running state information, the transient monitoring of the current bus state is realized according to the appropriate monitoring strategy;

[0051] Step 13: According to the data packet state information, the transient monitoring of the current data packet state is realized according to the appropriate monitoring strategy;

[0052] Step 14: Realizing the judgment of bus data packet data sending start and the external sending of bus data packet data.

[0053] Further, step 2 includes:

[0054] Step 21: According to the transient monitoring of the bus state and the transient monitoring of the data packet state, the bus availability judgment is completed, if the bus state transient monitoring is normal and the data packet state transient monitoring is normal, the bus is available;

[0055] Step 22: According to the transient monitoring of the bus state and the transient monitoring of the data packet state, the bus normal judgment is completed, if the bus state transient monitoring is normal and the data packet state transient monitoring is normal and lasts for a certain time, the bus is normal;

[0056] Step 23: According to the monitoring result of the data packet verification information such as data packet software vertical parity check and data packet heartbeat word in the data packet state monitoring, the first effective judgment of the data packet is completed, when the monitoring result is correct for the first time, the data packet is effective for the first time;

[0057] Step 24: According to the data packet state transient monitoring result, the monitoring function is executed and the data packet state monitoring result is output according to the selected data packet state monitoring information; the data packet verification information includes but is not limited to data packet VPC check flag and data packet heartbeat word;

[0058] Step 25: According to the data packet transient monitoring result, the data packet transient state synthesis is completed;

[0059] Step 26: complete data packet state synthesis according to data packet monitoring result;

[0060] Step 27: complete bus state monitoring according to bus state transient monitoring result.

[0061] Further, step 3 comprises:

[0062] Step 31: complete self-monitoring collection of each continuous signal and discrete signal according to bus state transient monitoring result, data packet transient monitoring result and relevant information obtained from load area;

[0063] Step 32: complete effective channel selection of each continuous signal and discrete signal according to bus state monitoring result, data packet monitoring result and relevant information obtained from load area;

[0064] Step 33: complete self-monitoring signal synthesis of signals according to self-monitoring collection result of signals, and the synthesis strategy is that if all factors obtained by collection are effective, the self-monitoring signal of signals is effective.

[0065] Step 34: complete effective channel selection of signals according to self-monitoring signal collection result of signals, and the selection strategy is that if all factors obtained by collection are effective, the effective channel selection signal of signals is effective.

[0066] Step 35: complete cross-channel comparison fault monitoring of redundant signals according to effective channel selection result of signals and self-monitoring signal synthesis result.

[0067] Step 36: complete voting of redundant continuous signals according to fault monitoring result of redundant signals.

[0068] In summary, the application provides a signal fault-tolerant management system and method for a high-safety embedded system,

[0069] 1) a signal fault-tolerant management architecture of a high-safety embedded system is established, and the scope and specific connotation of signal fault-tolerant management are clearly structured;

[0070] 2) a general bus state monitoring algorithm is designed, which is convenient for high-safety embedded systems to realize monitoring logic of each specific bus;

[0071] 3) principles of self-monitoring signal synthesis and effective channel selection of signals are formulated, and the design of monitoring voting algorithms of various signals is improved. BRIEF DESCRIPTION OF DRAWINGS

[0072] Figure 1 is a high-safety embedded system signal fault-tolerant management architecture and module composition schematic diagram provided for an embodiment of the application.

[0073] Figure 2is a continuous fault monitor monitoring logic diagram provided by the embodiment of the application;

[0074] Figure 3 is an accumulated fault monitor monitoring logic diagram provided by the embodiment of the application. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical scheme and advantages of the embodiment of the application more clear, the technical scheme in the embodiment of the application will be clearly and completely described below with reference to the drawings in the embodiment of the application.

[0076] Embodiment one

[0077] The application provides an embedded system signal fault-tolerant management system, which comprises a bus interface module, a bus state monitoring module and a signal fault-tolerant management module, as shown in the figure. Figure 1

[0078] The bus interface module is used for receiving bus signals from other nodes transmitted through the bus, and sending information of the node to other nodes transmitted through the bus, and monitoring the bus transient state and the transient state of each data packet received;

[0079] The bus state monitoring module completes the permanent fault monitoring and fault recovery of the bus and each data packet according to the transient monitoring results of each bus and each data packet

[0080] The signal fault-tolerant management module completes the monitoring and voting of various redundancy signals received by the bus interface module according to the transient monitoring results and other information of the bus and the data packet provided by the bus interface module, and the monitoring results of the bus and the data packet provided by the bus state monitoring module.

[0081] Further, the bus interface module comprises a bus data receiving module, a bus data sending module, a bus transient monitoring module and a data packet transient monitoring module.

[0082] The bus data receiving module realizes the judgment of the start of the data packet data receiving of the bus transmission, the acquisition of the data load area of the data packet of the bus transmission, and the collection of the bus running state information and the data packet state information.

[0083] The bus data sending module realizes the judgment of the start of the bus data packet data sending and the external sending of the bus data packet data.

[0084] The bus state transient monitoring module realizes the judgment of the start of the bus state transient monitoring, and realizes the transient monitoring of the current bus state according to the collected current bus running state information and the appropriate monitoring strategy.

[0085] The data packet transient monitoring module realizes the transient monitoring of the current data packet according to the appropriate monitoring strategy.​

[0086] Further, the bus state monitoring module comprises a bus state judging module, a data packet state monitoring module, a bus state monitoring module, a data packet state comprehensive module, and a bus fault recovery module.

[0087] The bus state judging module comprises a bus available judging module, a bus normal judging module, and a data packet first valid judging module.

[0088] The bus available judging module is used to judge whether the bus state is available, i.e. the bus can be normally accessed, and then the basic functions such as data transceiving, data packet state transient monitoring, etc. are correctly executed.

[0089] The bus normal judging module is used to judge whether the bus state is normal, i.e. the bus state satisfies the monitoring functions such as bus state monitoring and data packet state monitoring.

[0090] The data packet first valid judging module is used to judge whether the data packet in the bus can be correctly received and used.

[0091] The data packet state monitoring module is used to realize the monitoring function of the set monitor for data packet state monitoring.

[0092] The bus state monitoring module is used to realize the monitoring function of the set monitor for bus state monitoring.

[0093] The data packet state comprehensive module is used to realize the comprehensive judgment of the data packet state monitoring result, and to provide the data packet validity information for signal fault-tolerant management.

[0094] The bus fault recovery module is used to realize the bus fault recovery function controlled by the bus fault recovery instruction, and to provide the bus fault recovery state information for system health management.

[0095] Further, the signal fault-tolerant management module comprises a self-monitoring signal collection module, an effective channel selection signal collection module, a self-monitoring signal comprehensive module, an effective channel selection module, a cross-channel comparison monitoring module, and a cross-channel voting module.

[0096] The self-monitoring signal collection module collects the self-monitoring information of each channel of the multiple-redundancy signal, and the collection result is used for the self-monitoring signal comprehensive module.

[0097] The effective channel selection signal collection module collects the effective channel selection signal of each channel of the multiple-redundancy signal, and the collection result is used for the effective channel selection module.

[0098] The self-monitoring signal comprehensive module comprehensively processes the self-monitoring information of each channel signal, and the comprehensive result is used for the transient fault judgment of the corresponding channel signal in the cross-channel comparison monitoring module when the singular transient fault occurs.

[0099] The effective channel selection module synthesizes the relevant state information of each channel signal, selects the signal of the state effective channel for cross-channel comparison monitoring.

[0100] The cross-channel comparison monitoring module uses the input values of each channel signal, monitors the synthesis result, and completes the fault monitoring of each channel signal according to the effective channel selection result, and outputs the fault monitoring result of each channel signal for the cross-channel voting module; and responds to the signal fault recovery instruction to recover the signal of the fault channel.

[0101] The cross-channel voting module uses the input values of each channel signal and the fault monitoring result to complete the voting of the signal, and outputs the voting value of the signal for the upper layer application.

[0102] Specifically, the input end of the bus data receiving module is used to receive bus data, and the output end of the bus data receiving module is connected with the bus state transient monitoring module, the data packet state transient monitoring module, the effective channel selection signal collection module, the self-monitoring signal collection module, and the cross-channel comparison monitoring module.

[0103] The output end of the bus data sending module is used to send bus data.

[0104] The input end of the data packet state transient monitoring module is connected with the bus data receiving module, and the output end of the data packet state transient monitoring module is connected with the data packet first effective judgment module, the bus normal judgment module, the bus available judgment module, the data packet state monitoring module, and the self-monitoring signal collection module.

[0105] The input end of the bus state transient monitoring module is connected with the bus data receiving module, and the output end of the bus state transient monitoring module is connected with the bus normal judgment module, the bus available judgment module, the bus state monitoring module, and the self-monitoring signal collection module.

[0106] The input end of the data packet first effective judgment module is connected with the data packet state transient monitoring module.

[0107] The input end of the bus normal judgment module is connected with the bus state transient monitoring module and the data packet state transient monitoring module, and the output end of the bus normal judgment module is connected with the data packet state monitoring module and the bus state monitoring module.

[0108] The input end of the bus available judgment module is connected with the bus state transient monitoring module and the data packet state transient monitoring module.

[0109] The input end of the data packet state monitoring module is connected with the data packet state transient monitoring module and the bus normal judgment module, and the output end of the data packet state monitoring module is connected with the data packet state synthesis module.

[0110] The input end of the data packet state comprehensive module is connected with the data packet state monitoring module, and the output end is connected with the effective channel selection signal collection module.

[0111] The input end of the bus state monitoring module is connected with the bus normal judgment module and the bus state transient monitoring module, and the output end is connected with the effective channel selection signal collection module.

[0112] The input end of the bus fault recovery module is from a fault recovery instruction, and the output is a fault recovery state.

[0113] The input end of the self-monitoring signal collection module is from the data packet state transient monitoring module, the bus state transient monitoring module and the bus data receiving module, and the output end is connected with the self-monitoring signal comprehensive module.

[0114] The input end of the effective channel selection signal collection module is from the data packet state monitoring module, the bus state monitoring module and the bus data receiving module, and the output end is connected with the effective channel selection module.

[0115] The input end of the self-monitoring signal comprehensive module is from the self-monitoring signal collection module, and the output end is connected with the cross-channel comparison monitoring module.

[0116] The input end of the effective channel selection module is from the self-monitoring signal collection module, and the output end is connected with the cross-channel comparison monitoring module.

[0117] The input end of the cross-channel comparison monitoring module is from the self-monitoring signal comprehensive module, the effective channel selection module and the bus data receiving module, and the output end is connected with the cross-channel voting module.

[0118] The input end of the cross-channel voting module is from the cross-channel comparison monitoring module, and the output signal is a voting value.

[0119] Embodiment two

[0120] The application provides an embedded system signal fault-tolerant management method applied to the embedded system signal fault-tolerant management system provided in the above embodiment, and the method comprises the following steps:

[0121] Step 1: the bus interface module receives data packets transmitted through the bus and completes transient monitoring of the bus and transient monitoring of the data packets.

[0122] Specifically, step 1 comprises the following steps.

[0123] Step 11: bus data receiving: completing the judgment of the opening of data packet data receiving, acquiring data packet load area data transmitted by the bus and collecting bus running state information and data packet state information;

[0124] Specifically, step 11 comprises the following steps.

[0125] Step 111: Perform the judgment of the data packet data receiving start of the bus transmission according to the appropriate strategy, if started, perform the following operation, if prohibited, do not perform the operation;

[0126] Step 112: Collect the bus running state information;

[0127] Step 113: Collect the data packet update state information, and judge whether the data packet is updated according to the data packet update state information;

[0128] Step 114: If updated, obtain the data packet load area data, collect the data packet check information, and move the data to the area designated by the driver invoker;

[0129] Step 115: If not updated, do not perform the operation.

[0130] Step 12: According to the current bus running state information, implement the transient monitoring of the current bus state according to the appropriate monitoring strategy.

[0131] Step 13: According to the data packet state information, implement the transient monitoring of the current data packet state according to the appropriate monitoring strategy.

[0132] Step 14: Implement the judgment of the bus data packet data sending start and the external sending of the bus data packet data.

[0133] Specifically, step 14 includes:

[0134] Step 141: Perform the judgment of the data packet data sending start of the bus transmission according to the appropriate strategy, if started, perform the following operation, if prohibited, do not perform the operation;

[0135] Step 142: Obtain the data information to be sent, and fill in the position defined by the load area according to the specified format and ICD;

[0136] Step 143: Obtain or calculate the data packet check information when sending the data packet each time;

[0137] Step 144: Fill in the data packet check information in the position defined by the load area according to the specified format, and form the complete load area data;

[0138] Step 145: Place the packaged data packet into the planned data packet sending buffer area according to the bus hardware use requirement, and complete the sending by the hardware according to the planned protocol;

[0139] Step 2: The bus state monitoring module completes the bus state monitoring and the data packet state monitoring according to the transient monitoring of the bus state and the transient monitoring of the data packet state.

[0140] Specifically, step 2 includes:

[0141] Step 21: complete the bus available judgment according to the bus state transient monitoring and the data packet state transient monitoring, if the bus state transient monitoring is normal and the data packet state transient monitoring is normal, the bus is available.

[0142] Step 22: complete the bus normal judgment according to the bus state transient monitoring and the data packet state transient monitoring, if the bus state transient monitoring is normal and the data packet state transient monitoring is normal and lasts for a certain time, the bus is normal.

[0143] Step 23: complete the data packet first effective judgment according to the monitoring result of the data packet state monitoring such as data packet software vertical parity check (sVPC) and data packet heartbeat word, when the monitoring result is correct for the first time, the data packet is first effective.

[0144] Step 24: according to the data packet state transient monitoring result, execute the monitoring function and output the data packet state monitoring result for the selected data packet state monitoring information. The data packet verification information includes but is not limited to data packet VPC verification mark and data packet heartbeat word.

[0145] Specifically, step 24 includes:

[0146] Step 241: initialize the data packet monitoring fault as normal or fault, configure the fault counter threshold value and the fault recovery counter threshold value;

[0147] Step 242: if the bus is normal, execute step 243 or step 244;

[0148] Step 243: if the continuous fault monitor is selected, according to the data packet monitoring fault initialization result, when the data packet monitoring fault is initialized as normal, if the data packet state transient monitoring result is normal, the fault counter is cleared to 0, if the data packet state transient monitoring result is fault, the fault counter is added by 1, when the fault counter reaches the threshold value, the data packet monitoring fault is fault; when the data packet monitoring fault is fault, if the data packet state transient monitoring result is normal, the fault recovery counter is added by 1, if the data packet state transient monitoring result is fault, the fault recovery counter is cleared to 0, when the fault recovery counter reaches the threshold value, the data packet monitoring fault is normal, as shown in the following formula: Figure 2

[0149] ​Step 244: If the cumulative fault monitor is selected, the fault initialization result is monitored according to the data packet. If the data packet state transient monitoring result is normal, the fault counter is reduced by 1 until it is reduced to 0. If the data packet state transient monitoring result is fault, the fault counter is increased by 1. When the fault counter reaches the threshold value, the data packet monitoring fault is fault. When the data packet monitoring fault is fault, if the data packet state transient monitoring result is normal, the fault recovery counter is increased by 1. If the data packet state transient monitoring result is fault, the fault recovery counter is reduced by 1 until it is reduced to 0. When the fault recovery counter reaches the threshold value, the data packet monitoring fault is normal, as shown in FIG. 8. Figure 3

[0150] Step 25: The data packet transient state is integrated according to the data packet transient monitoring result.

[0151] The specific integration strategy is integrated according to the data packet VPC check flag, data packet sVPC, data packet heartbeat word and other transient monitoring results.

[0152] Step 26: The data packet state is integrated according to the data packet monitoring result.

[0153] The specific integration strategy can be integrated according to the data packet VPC check flag, data packet sVPC, data packet heartbeat word and other monitoring results.

[0154] Step 27: The bus state monitoring is completed according to the bus state transient monitoring result. The specific steps can be referred to step 24.

[0155] Step 3: The signal fault-tolerant management module completes the signal self-monitoring integration and effective channel selection result according to the signal information and bus state transient monitoring result and data packet transient monitoring result, and bus state monitoring result and data packet monitoring result. The excess degree signal is voted, fault monitored and fault recovered. The fault monitoring result and voting value are output to the subsequent functional module.

[0156] The specific step 3 includes:

[0157] Step 31: The self-monitoring collection of each continuous signal and discrete signal is completed according to the bus state transient monitoring result and data packet transient monitoring result and the related information obtained from the load area.

[0158] The type of self-monitoring collection includes:

[0159] 1. Signal transient validity: representing whether the signal transient is valid;

[0160] 2. Source end (device / node) transient information: representing the transient validity of the signal source such as sensor, central processing unit;

[0161] ​3. Transmission transient validity of signal transmission link: the transient validity of the transmission bus and data packet through which the signal passes from the source to the monitoring and voting site.

[0162] It should be noted that the signal self-monitoring information refers to the validity of the corresponding signal source, which is used as a reference basis for the reliability of the corresponding channel signal in the case of singular failure. For signals without self-monitoring information, it is considered that the self-monitoring comprehensive result is all failure. For signals with self-monitoring information, the information collected by the self-monitoring signal is related to the specific signal.

[0163] Step 32: According to the bus state monitoring result and the data packet monitoring result and the related information obtained by the load area, the effective channel selection of each continuous signal and discrete signal is completed.

[0164] The effective channel selection is selected according to the following information:

[0165] 1. Signal validity: indicating whether the signal itself is valid;

[0166] 2. Source (device / node) validity: indicating the validity of the signal source such as sensor, central processing unit;

[0167] 3. Transmission validity of signal transmission link: the validity of the transmission bus and data packet through which the signal passes from the source to the monitoring and voting site.

[0168] It should be noted that if the signal effective channel selection is not started, it is considered that all channels of the signal are effective. For the signal with the effective channel selection started.

[0169] Step 33: According to the signal self-monitoring collection result, the self-monitoring signal synthesis of the signal is completed, and the synthesis strategy is that if the factors collected are all valid, the self-monitoring signal of the signal is valid.

[0170] Step 34: According to the signal effective channel selection signal collection result, the effective channel selection of the signal is completed, and the selection strategy is that if the factors collected are all valid, the effective channel selection signal of the signal is valid.

[0171] Step 35: According to the signal effective channel selection result and the self-monitoring signal synthesis result, the cross-channel comparison fault monitoring of the redundant signal is completed.

[0172] The specific signal fault monitoring algorithm can adopt the mature cross-channel comparison monitoring algorithm of the redundant signal.

[0173] Step 36: According to the fault monitoring result of the redundant signal, the voting of the redundant continuous signal is completed.

[0174] It needs to be added that the configuration requirements and implementation notes of bus interface module, bus state monitoring module, signal fault-tolerant management module are as follows:

[0175] 1. According to specific needs, bus state transient monitoring function module and data packet state transient monitoring function module can be selected.

[0176] Among them, if the current bus has no relevant bus running state information, the bus state transient monitoring function module can be pruned, and the bus running state information is no longer obtained in the bus data receiving function module.

[0177] 2. According to specific needs, data packet state information and data packet state transient monitoring can be designed.

[0178] Data packet state information can include data packet update state information and data packet verification information.

[0179] Among them, the data packet update state information can be a data packet update mark; the data packet verification information can be a data packet VPC verification mark, a data packet sVPC, and a data packet heartbeat word. According to the data packet state information, the corresponding data packet state transient monitoring can be designed.

[0180] When the bus state monitoring module is used in specific bus multiplexing, the following requirements should be met:

[0181] If the bus has no state information, the bus state transient monitoring and bus state monitoring are fault-free by default;

[0182] According to specific use needs, the information required for data packet state monitoring can be selected:

[0183] The information required for data packet state monitoring includes data packet update state and data packet verification information. Among them, the data packet update state is a data packet update mark; the data packet verification information includes but is not limited to a data packet VPC verification mark, a data packet sVPC, and a data packet heartbeat word.

[0184] According to specific use needs, the monitoring method of bus state monitoring and data packet state monitoring, fault / fault recovery counter threshold, and fault / fault recovery counter threshold which is an integer multiple of bus monitoring period can be selected.

[0185] According to specific use needs, the information required for data packet state synthesis can be selected, which should be selected from data packet state transient monitoring results and data packet state monitoring results.

[0186] According to specific use needs, the bus fault recovery strategy can be selected as self-recovery or ordered recovery. If ordered recovery is selected, specific recovery logic needs to be designed.

[0187] Signal fault-tolerant management module, for a specific signal, the following information needs to be configured when used:

[0188] 1. Signal redundancy configuration;

[0189] 2. Signal monitoring voting period;

[0190] 3. Whether the signal has a self-monitoring signal;

[0191] 4. Specific information of the self-monitoring signal integration;

[0192] 5. Effective channel selection start flag;

[0193] 6. Specific information of the effective channel selection;

[0194] 7. Monitoring inhibition and start conditions of the signal;

[0195] 8. Monitoring time threshold of the signal: one fault delay, two fault delay, three fault delay, four fault delay, abnormal fault monitoring delay, fault recovery delay;

[0196] 9. Monitoring amplitude threshold of the signal: whether it is a variable threshold, and the boundary of the variable threshold;

[0197] 10. Voting inhibition and start conditions of the continuous signal;

[0198] 11. Value of the fault safety value;

[0199] Embodiment three

[0200] Taking the signal fault-tolerant management of a certain type of aircraft flight control computer subsystem using HB6096 bus and atmospheric data system for data communication as an example, the HB6096 bus signal fault-tolerant management includes an HB6096 bus interface module, an HB6096 bus state monitoring module, and a signal fault-tolerant management module.

[0201] Step 1: The HB6096 bus interface module receives the atmospheric data sensor data packet.

[0202] Step 11: The atmospheric data sensor data packet transmitted by the HB6096 bus is received under the condition that the system enters the periodic task by default, and when the atmospheric data sensor data packet transient update flag is updated, the load area data is obtained, and the data packet verification information is collected.

[0203] Step 12: The HB6096 bus has no bus transient monitoring, which is normal by default;

[0204] Step 13: The transient monitoring type of the atmospheric data sensor data packet includes data packet update transient monitoring and data packet sVPC transient monitoring;

[0205] Step 2: The HB6096 bus status monitoring module completes the status judgment of the HB6096 bus, the status monitoring of the data packet, and the status synthesis. The HB6096 bus has no bus status monitoring.

[0206] Step 21: The status judgment of the bus is divided into:

[0207] Step 211: HB6096 bus normal judgment: judge whether the HB6096 bus status is normal, that is, whether the HB6096 bus status meets the monitoring functions such as data packet status monitoring. If the atmospheric data sensor data packet update transient monitoring is normal, the HB6096 bus is normal;

[0208] Step 212: HB6096 bus available judgment: judge whether the HB6096 bus status is available, that is, the HB6096 bus can be normally accessed, and then correctly execute the basic functions such as data reception and transmission, data packet status transient monitoring. If the atmospheric data sensor data packet update transient monitoring is normal and continuously maintains the system 2 running cycles, the HB6096 bus is available;

[0209] Step 213: Data packet first effective judgment: judge whether the atmospheric data sensor data packet can be correctly received and used. If the atmospheric data sensor data packet update transient monitoring is normal and the sVPC transient monitoring is normal, the data packet is first effective;

[0210] Step 22: Perform atmospheric data sensor data packet update monitoring and sVPC monitoring

[0211] Step 221: The update monitoring adopts a continuous monitoring mode;

[0212] Step 221: The sVPC monitoring adopts an accumulative monitoring mode;

[0213] Step 23: Perform atmospheric data sensor data packet status synthesis. If the atmospheric data sensor data packet update transient monitoring is normal and the sVPC transient monitoring is normal, the data packet is transiently effective. If the atmospheric data sensor data packet update monitoring is normal and the sVPC monitoring is normal, the data packet is effective.

[0214] Step 3: Fault-tolerant management is performed on the signals contained in the atmospheric data sensor data packet. Taking the static pressure signal as an example,

[0215] Step 31: The self-monitoring signals related to the static pressure signal are collected:

[0216] Step 311: Static pressure signal source end self-monitoring signal: none

[0217] Step 312: Static pressure signal transient effectiveness: atmospheric data machine source end fault status word

[0218] Step 313: Static pressure signal transmission link transient validity: atmospheric data sensor data packet update transient monitoring is normal;

[0219] Step 32: Collect static pressure signal related valid channel selection signals:

[0220] Step 321: Static pressure signal source end validity: no relevant information;

[0221] Step 322: Static pressure signal validity: no relevant information;

[0222] Step 323: Static pressure signal transmission link validity: atmospheric data sensor data packet update monitoring is normal;

[0223] Step 33: According to the static pressure signal self-monitoring collection results obtained in step 31, complete the self-monitoring signal synthesis of the static pressure signal.

[0224] Step 34: According to the static pressure signal valid channel selection signal collection results obtained in step 32, complete the valid channel selection of the static pressure signal.

[0225] Step 35: According to the signal valid channel selection results and self-monitoring signal synthesis results obtained in steps 33 and 34, complete the cross-channel comparison fault monitoring of the static pressure signal. The specific signal fault monitoring algorithm can adopt a mature multi-redundancy signal cross-channel comparison monitoring algorithm, etc.

[0226] Step 36: According to the static pressure signal fault monitoring results obtained in step 35, complete the voting of the static pressure continuous signal.

Claims

1. An embedded system signal fault tolerance management system, characterized by, The application comprises a bus interface module, a bus state monitoring management module and a signal fault-tolerant management module, wherein: The bus interface module is used for receiving bus signals from other nodes through the bus and sending information of the node to other nodes through the bus, and monitoring the bus transient state and the transient state of each data packet; the bus interface module comprises a bus data receiving module, a bus data sending module, a bus transient state monitoring module and a data packet transient state monitoring module; The bus state monitoring management module completes permanent fault monitoring and fault recovery of the bus and each data packet according to the transient monitoring results of each bus and each data packet; the bus state monitoring management module comprises a bus state judgment module, a data packet state monitoring module, a bus state monitoring module, a data packet state comprehensive module and a bus fault recovery module; The signal fault-tolerant management module completes monitoring and voting of each type of redundancy signal received by the bus interface module according to the transient monitoring results and other information of the bus and the data packet provided by the bus interface module and the monitoring results of the bus and the data packet provided by the bus state monitoring management module; the signal fault-tolerant management module comprises a self-monitoring signal collection module, an effective channel selection signal collection module, a self-monitoring signal comprehensive module, an effective channel selection module, a cross-channel comparison monitoring module and a cross-channel voting module; The self-monitoring signal collection module collects self-monitoring information of each channel of the redundancy signal, and the collection result is used for the self-monitoring signal comprehensive module; The effective channel selection signal collection module collects effective channel selection signals of each channel of the redundancy signal, and the collection result is used for the effective channel selection module; The self-monitoring signal comprehensive module comprehensively processes the related self-monitoring information of each channel signal, and the comprehensive result is used for the cross-channel comparison monitoring module to judge the transient fault of the corresponding channel signal when a singular transient fault occurs; The effective channel selection module comprehensively processes the related state information of each channel signal, and selects the signal of the state effective channel for cross-channel comparison monitoring; The cross-channel comparison monitoring module uses the input value of each channel signal, the self-monitoring comprehensive result and the effective channel selection result to complete fault monitoring of each channel signal, and outputs the fault monitoring result of each channel signal for the cross-channel voting module; and in response to a signal fault recovery instruction, the cross-channel comparison monitoring module recovers the signal of the fault channel; The cross-channel voting module uses the input value of each channel signal and the fault monitoring result to complete voting of the signal, and outputs the voting value of the signal for the upper application. The bus data receiving module realizes judgment of the start of data packet data receiving of the bus transmission, acquisition of the data load area of the bus transmission data packet, and collection of the bus running state information and the data packet state information; 2. The system of claim 1, wherein, The bus data sending module realizes judgment of the start of bus data packet data sending and external sending of the bus data packet data; The bus state transient monitoring module realizes judgment of the start of bus state transient monitoring, and according to the collected current bus running state information, realizes transient monitoring of the current bus state according to a proper monitoring strategy; The data packet transient monitoring module realizes transient monitoring of the current data packet according to a proper monitoring strategy. ​ 3. The system of claim 1, wherein, The bus state judgment module comprises a bus available judgment module, a bus normal judgment module, and a data packet first effective judgment module, wherein: The bus available judgment module is used for judging whether the bus state is available, i.e. the bus can be normally accessed, and then the basic functions of data transceiving, data packet state transient monitoring are correctly executed; The bus normal judgment module is used for judging whether the bus state is normal, i.e. whether the bus state satisfies the monitoring functions of bus state monitoring and data packet state monitoring; The data packet first effective judgment module is used for judging whether the data packet in the bus can be correctly received and used.

4. The system of claim 1, wherein, The data packet state monitoring module is used for realizing the monitoring functions of the set monitors of data packet state monitoring; The bus state monitoring module is used for realizing the monitoring functions of the set monitors of bus state monitoring; The data packet state comprehensive module is used for realizing the comprehensive judgment of the data packet state monitoring results, and providing the data packet effectiveness information for signal fault-tolerant management; The bus fault recovery module is used for realizing the bus fault recovery functions controlled by the bus fault recovery instructions, and providing the bus fault recovery state information for system health management.

5. The system of claim 1, wherein, Specifically, the input end of the bus data receiving module is used for receiving bus data, and the output end of the bus data receiving module is connected with the bus state transient monitoring module, the data packet state transient monitoring module, the effective channel selection signal collection module, the self-monitoring signal collection module, and the cross-channel comparison monitoring module; The output end of the bus data sending module is used for sending bus data; The input end of the data packet state transient monitoring module is connected with the bus data receiving module, and the output end of the data packet state transient monitoring module is connected with the data packet first effective judgment module, the bus normal judgment module, the bus available judgment module, the data packet state monitoring module, and the self-monitoring signal collection module; The input end of the bus state transient monitoring module is connected with the bus data receiving module, and the output end of the bus state transient monitoring module is connected with the bus normal judgment module, the bus available judgment module, the bus state monitoring module, and the self-monitoring signal collection module; The input end of the data packet first effective judgment module is connected with the data packet state transient monitoring module; The input end of the bus normal judgment module is connected with the bus state transient monitoring module and the data packet state transient monitoring module, and the output end of the bus normal judgment module is connected with the data packet state monitoring module and the bus state monitoring module; The input end of the bus available judgment module is connected with the bus state transient monitoring module and the data packet state transient monitoring module; The input end of the data packet state monitoring module is connected with the data packet state transient monitoring module and the bus normal judgment module, and the output end of the data packet state monitoring module is connected with the data packet state comprehensive module; The input end of the data packet state comprehensive module is connected with the data packet state monitoring module, and the output end of the data packet state comprehensive module is connected with the effective channel selection signal collection module; The input end of the bus state monitoring module is connected with the bus normal judgment module and the bus state transient monitoring module, and the output end of the bus state monitoring module is connected with the effective channel selection signal collection module; The input end of the bus fault recovery module is from the fault recovery instruction, and the output is the fault recovery state. The input end of the self-monitoring signal collection module is connected with the data packet state transient monitoring module, the bus state transient monitoring module and the bus data receiving module, and the output end is connected with the self-monitoring signal comprehensive module; The input end of the effective channel selection signal collection module is connected with the data packet state monitoring module, the bus state monitoring module and the bus data receiving module, and the output end is connected with the effective channel selection module; The input end of the self-monitoring signal comprehensive module is connected with the self-monitoring signal collection module, and the output end is connected with the cross-channel comparison monitoring module; The input end of the effective channel selection module is connected with the self-monitoring signal collection module, and the output end is connected with the cross-channel comparison monitoring module; The input end of the cross-channel comparison monitoring module is connected with the self-monitoring signal comprehensive module, the effective channel selection module and the bus data receiving module, and the output end is connected with the cross-channel voting module; The input end of the cross-channel voting module is connected with the cross-channel comparison monitoring module, and the output signal is a voting value.

6. A method for signal fault tolerance management in an embedded system, characterized in that, The embedded system signal fault-tolerant management system and method of any one of claims 1-5, the method comprising: Step 1: the bus interface module receives the data packet transmitted through the bus and completes the transient monitoring of the bus and the transient monitoring of the data packet; Step 2: the bus state monitoring module completes the bus state monitoring and the data packet state monitoring according to the transient monitoring of the bus state and the transient monitoring of the data packet state; Step 3: the signal fault-tolerant management module completes the self-monitoring synthesis of the signal and the selection of the effective channel according to the signal information, the transient monitoring result of the bus state, the transient monitoring result of the data packet, the bus state monitoring result and the data packet monitoring result, and performs the voting, fault monitoring and fault recovery on the redundant signal, and outputs the fault monitoring result and the voting value to the subsequent functional module; step 3 comprises: Step 31: the self-monitoring collection of each continuous signal and discrete signal is completed according to the transient monitoring result of the bus state, the transient monitoring result of the data packet and the relevant information obtained from the load area; Step 32: the effective channel selection of each continuous signal and discrete signal is completed according to the bus state monitoring result and the data packet monitoring result and the relevant information obtained from the load area; Step 33: the self-monitoring signal synthesis of the signal is completed according to the self-monitoring collection result of the signal, and the synthesis strategy is that the self-monitoring signal of the signal is effective if all the factors obtained by the collection are effective; Step 34: the effective channel selection of the signal is completed according to the self-monitoring collection result of the signal, and the selection strategy is that the effective channel selection signal of the signal is effective if all the factors obtained by the collection are effective; Step 35: the cross-channel comparison fault monitoring of the redundant signal is completed according to the effective channel selection result of the signal and the self-monitoring signal synthesis result; Step 36: the voting of the redundant continuous signal is completed according to the fault monitoring result of the redundant signal.

7. The method of claim 6, wherein, Step 1 comprises: Step 11: bus data receiving: completing the judgment of the opening of the data packet data receiving, obtaining the data packet load area data transmitted through the bus, and collecting the bus running state information and the data packet state information; Step 12: according to the current bus running state information, the transient monitoring of the current bus state is realized according to the appropriate monitoring strategy; Step 13: According to the data packet state information, the transient monitoring of the current data packet state is realized according to the appropriate monitoring strategy; Step 14: The judgment of the start of the bus data packet data transmission and the external transmission of the bus data packet data are realized.

8. The method of claim 6, wherein, Specifically, step 2 includes: Step 21: The bus usability is judged according to the transient monitoring of the bus state and the transient monitoring of the data packet state. If the transient monitoring of the bus state is normal and the transient monitoring of the data packet state is normal, the bus is usable; Step 22: The bus normality is judged according to the transient monitoring of the bus state and the transient monitoring of the data packet state. If the transient monitoring of the bus state is normal and the transient monitoring of the data packet state is normal and lasts for a certain time, the bus is normal; Step 23: The first validity of the data packet is judged according to the monitoring result of the data packet verification information such as the data packet software vertical parity check and the data packet heartbeat word in the data packet state monitoring. When the monitoring result is correct for the first time, the data packet is valid for the first time; Step 24: According to the transient monitoring result of the data packet state, the monitoring function is executed and the data packet state monitoring result is outputted for the selected data packet state monitoring information. The data packet verification information includes but is not limited to the data packet VPC check mark and the data packet heartbeat word; Step 25: The transient state of the data packet is synthesized according to the transient monitoring result of the data packet; Step 26: The data packet state is synthesized according to the data packet monitoring result; Step 27: The bus state monitoring is completed according to the transient monitoring result of the bus state.

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