A servo tracking system for mobile communication antenna based on dual-core MCU

Abstract

The present invention provides a servo tracking system for a mobile communication antenna based on a dual-core MCU, belonging to the field of antenna servo technology; the system comprises a dual-core MCU connected to a receiver unit, a posture acquisition and processing unit, and a motor drive unit. All servo tracking programs are integrated in the dual-core MCU, and the data exchange mode between the cores is optimized, and the data exchange mode is realized by using shared memory, interruption and query. The present invention can greatly improve the data exchange rate, shorten the execution cycle of the position loop control task, reduce the waste of interruption resources, and improve the performance of the mobile communication antenna servo tracking system.

Description

Technical Field

[0001] The present invention relates to the field of antenna servo technology, and in particular to a communication-in-motion antenna servo tracking system based on a dual-core MCU. Background Art

[0002] The moving antenna is installed on a mobile carrier and needs to remain in working condition when the carrier moves to achieve reliable communication. This requires a servo tracking system to accurately align the antenna with the satellite. Since the working environment of the carrier is relatively complex, the carrier's motion posture is also extremely changeable, and the beam width used by the moving antenna is very narrow, the moving antenna has extremely high performance requirements for the servo tracking system.

[0003] At present, the servo tracking system of the mobile antenna adopts a single-core MCU plus a motor driver. The single-core MCU is used to complete the antenna control algorithm and send the antenna movement instructions to the motor driver. The motor driver works with the motor as an actuator to realize the movement of the antenna. However, the single-core MCU and the motor driver are generally connected through a communication network such as CAN or serial port. The communication rate is slow, which directly limits the execution cycle of the position loop task and the update rate of key data in the mobile antenna servo tracking system, becoming a key factor restricting the further improvement of the performance of the mobile antenna servo tracking system. Summary of the invention

[0004] In view of this, the present invention provides a servo tracking system for a mobile communication antenna based on a dual-core MCU. The present invention can greatly shorten the execution cycle of the position loop task, enhance the real-time performance of key data updates, and help improve the performance of the mobile communication antenna servo tracking system.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A dual-core MCU-based in-motion antenna servo tracking system comprises a dual-core MCU, a receiver unit, a posture acquisition and processing unit and a motor drive unit; the dual-core MCU comprises a first core and a second core; the first core is used to perform communication tasks, working state switching tasks, antenna parameter access tasks and position loop control tasks, and the second core is used to perform motor drive tasks;

[0007] The first core is connected to the receiver unit through a parallel interface to obtain satellite signal strength; the first core is connected to the attitude acquisition and processing unit through a McBSP interface to obtain the attitude and longitude and latitude information of the antenna and the carrier;

[0008] The second core is connected to the motor drive unit and is used to send motor control information and receive feedback information from the motor drive unit;

[0009] The communication between the first core and the second core is achieved through shared memory, and there are two data exchange modes between the first core and the second core: one is to trigger the data exchange between the first core and the second core by interruption, and the other is to achieve data exchange between the first core and the second core by querying the flag bit.

[0010] Furthermore, the receiver unit is used to process the radio frequency signal received by the antenna and obtain the signal strength; the receiver unit includes an FPGA module, an ADC sampling module and a down-conversion module connected in sequence; the FPGA module is connected to the first core through an EMIF interface and is used to receive feedback information required for position loop control.

[0011] Furthermore, the attitude acquisition and processing unit includes a GPS module, an IMU module and a DSP module, wherein the PS module and the IMU module are used as sensors to realize the acquisition of original information, and the DSP module is responsible for processing the original information and obtaining the longitude and latitude and attitude information of the antenna and the carrier; the DSP module is connected to the first core through the McBSP interface for position loop control.

[0012] Furthermore, the motor drive unit includes a power conversion module and a signal sampling and conditioning module; the power conversion module is connected to the second core and is used to power amplify the PWM control signal generated by the second core; the signal sampling and conditioning module is connected to the second core and is used to send the feedback signal of the motor control to the second core.

[0013] Furthermore, the specific process of using an interrupt to trigger data exchange between the first core and the second core is as follows:

[0014] Step 1: The first core determines whether the data to be transferred has been calculated. If the calculation is completed, proceed to step 2; if not, continue to step 1;

[0015] Step 2, the first core writes the data into the shared memory and sends an interrupt request to the second core, triggering an interrupt of the second core;

[0016] Step 3: The second core enters the interrupt function and performs a read operation on the shared memory area within the interrupt function.

[0017] Furthermore, the specific process of implementing data exchange between the first core and the second core by querying the flag bit is as follows:

[0018] The first core determines whether the calculation of the data to be transferred has been completed. If the calculation is completed, the first core determines whether the shared memory read flag is 0; if it is 0, the first core writes data to the shared memory and sets the memory read flag to 1, indicating that there is data to be read in the shared memory; for the second core, the memory read flag is continuously queried in the loop statement. If it is 1, the memory is read to realize data exchange, and then the memory read flag is set to 0, providing conditions for the first core to write data to the shared memory again.

[0019] The beneficial effects of the above technical solution of the present invention are:

[0020] The present invention runs the mobile communication antenna servo tracking program on the two cores of the dual-core MCU. The communication between the cores is completed through shared memory. The communication rate is much higher than that of the external communication network. Different data exchange triggering modes are designed according to the different real-time requirements of the data. Compared with the mobile communication antenna servo tracking system using multiple MCUs, it is beneficial to shorten the position loop task execution cycle and improve the servo tracking system performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall structural block diagram of an embodiment of the present invention.

[0022] Figure 2 This is a flow chart of data exchange between cores based on interruption in the present invention.

[0023] Figure 3 This is a flow chart of query-based inter-kernel data exchange in the present invention. DETAILED DESCRIPTION

[0024] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] A servo tracking system for a mobile communication antenna based on a dual-core MCU is provided. The servo tracking program for the mobile communication antenna is divided into two parts, which run in two cores of the dual-core MCU respectively. Data exchange is achieved between the cores through shared memory in conjunction with interrupts or queries, which can greatly shorten the execution cycle of position loop tasks, enhance the real-time nature of key data updates, and help improve the performance of the mobile communication antenna servo tracking system.

[0027] The invention provides a dual-core MCU-based communication-in-motion antenna servo tracking system, the core of which is a dual-core MCU unit, and further comprises a receiver unit, a posture acquisition and processing unit, and a motor drive unit.

[0028] The dual-core MCU chip has two cores that can independently execute tasks, wherein core 1 is used to execute communication tasks, working state switching tasks, antenna parameter access tasks and position loop control tasks, and core 2 is used to execute motor driving tasks.

[0029] The core 1 of the dual-core MCU chip is connected to the receiver unit via a parallel interface to obtain satellite signal strength.

[0030] The core 1 of the dual-core MCU chip is connected to the attitude acquisition and processing unit through the McBSP interface to obtain the attitude and longitude and latitude information of the antenna and the carrier;

[0031] The core 2 of the dual-core MCU chip generates a motor control signal, is connected to the motor drive unit, and receives sensor feedback information of the motor drive unit.

[0032] The communication between the cores of the dual-core MCU is achieved through shared memory. For data with high real-time requirements, interruption is used to trigger data exchange between the two cores. For data with low real-time requirements, data exchange is achieved by querying flag bits, which takes into account the real-time nature of data update and the saving of dual-core MCU interrupt resources.

[0033] like Figure 1 As shown, the present invention is mainly composed of a dual-core MCU unit, a receiver unit, a posture acquisition and processing unit, and a motor drive unit. The two cores of the dual-core MCU are both C28x architectures. The core 1 of the chip is used to perform communication tasks, working state switching tasks, antenna parameter access tasks, and position loop control tasks, and is connected to the receiver unit and the posture acquisition and processing unit; the core 2 is used to perform motor drive tasks and is connected to the motor drive unit.

[0034] like Figure 1As shown, the receiver unit consists of an FPGA module, an ADC sampling module, and a down-conversion module, which are used to process the RF signal received by the antenna, obtain the signal strength, and pass it to the core 1 of the dual-core MCU through the EMIF interface as feedback information for position loop control. The attitude acquisition and processing unit consists of a GPS module, an IMU module, and a DSP module, wherein the GPS module and the IMU module are used as sensors to collect raw information, and the DSP module is responsible for processing the raw information, obtaining the longitude and latitude and attitude information of the antenna and the carrier, and passing it to the core 1 of the dual-core MCU through the McBSP interface for position loop control. The motor drive unit consists of a power conversion module and a signal sampling and conditioning module, which is responsible for power amplification of the PWM control signal generated by the core 2 of the dual-core MCU and passing the feedback signal related to motor control to the core 2 of the dual-core MCU.

[0035] In general, data exchange between dual-core MCU cores is triggered by interrupts. However, due to the large amount of data to be exchanged, if all data exchanges are triggered by interrupts, too many interrupt resources will be occupied. Therefore, in the present invention, an interrupt plus query combination is used. For data with high real-time requirements, an interrupt is used. Figure 2 As shown; for data with low real-time requirements, the flag bit query method is used, such as Figure 3 shown.

[0036] Figure 2 It is an interrupt-based data exchange method between cores. The specific process is that if core 1 wants to pass data to core 2, it first determines whether the data calculation is completed. After the calculation is completed, core 1 writes the data to the shared memory, and then sends an interrupt request to trigger the interrupt of core 2. At this time, core 2 enters the interrupt function and performs a read operation on the shared memory area inside the interrupt function to realize data exchange.

[0037] Figure 3 This is a kernel communication method based on flag query. The specific process is that if kernel 1 wants to transfer data to kernel 2, it first determines whether the data calculation is completed, and then determines whether the memory read flag is 0. If it is 0, it means that kernel 2 has not performed a read operation. At this time, kernel 1 writes the data to be transferred to the shared memory, and then sets the memory read flag to 1, indicating that there is data to be read in the shared memory. For kernel 2, the memory read flag is continuously queried in the loop statement. If it is set to 1, the memory is read to achieve data exchange, and then the memory read flag is set to 0, providing conditions for kernel 1 to write data to the shared memory again.

Claims

1. A dual-core MCU-based mobile communication antenna servo tracking system, comprising a dual-core MCU, a receiver unit, a posture acquisition and processing unit and a motor drive unit; characterized in that: The dual-core MCU includes a first core and a second core; wherein the first core is used to perform communication tasks, working state switching tasks, antenna parameter access tasks and position loop control tasks, and the second core is used to perform motor driving tasks; The first core is connected to the receiver unit through a parallel interface to obtain satellite signal strength; the first core is connected to the attitude acquisition and processing unit through a McBSP interface to obtain the attitude and longitude and latitude information of the antenna and the carrier; The second core is connected to the motor drive unit and is used to send motor control information and receive feedback information from the motor drive unit; The communication between the first core and the second core is realized through a shared memory, and there are two data exchange modes between the first core and the second core: one is to trigger the data exchange between the first core and the second core by an interrupt mode, and the other is to realize the data exchange between the first core and the second core by a query flag mode; The specific process of triggering data exchange between the first core and the second core by interruption is as follows: Step 1: The first core determines whether the calculation of the data to be transmitted has been completed. If the calculation is completed, proceed to step 2; if not, continue to step 1; Step 2, the first core writes the data into the shared memory and sends an interrupt request to the second core, triggering an interrupt of the second core; Step 3, the second core enters the interrupt function and performs a read operation on the shared memory area within the interrupt function; The specific process of using the query flag bit to implement data exchange between the first core and the second core is as follows: The first core determines whether the data to be transferred has been calculated. If the calculation is completed, the first core determines whether the shared memory read flag is 0; if it is 0, the first core writes data to the shared memory and sets the memory read flag to 1, indicating that there is data to be read in the shared memory; For the second core, the memory read flag is continuously queried in the loop statement. If it is 1, the memory is read to implement data exchange, and then the memory read flag is set to 0, providing conditions for the first core to write data into the shared memory again.

2. According to claim 1, a dual-core MCU-based mobile communication antenna servo tracking system is characterized in that: The receiver unit is used to process the radio frequency signal received by the antenna and obtain the signal strength; the receiver unit includes an FPGA module, an ADC sampling module and a down-conversion module connected in sequence; the FPGA module is connected to the first core through an EMIF interface and is used to receive feedback information required for position loop control.

3. The servo tracking system for a dual-core MCU-based mobile communication antenna according to claim 1, characterized in that: The attitude acquisition and processing unit includes a GPS module, an IMU module and a DSP module, wherein the PS module and the IMU module are used as sensors to realize the acquisition of original information, and the DSP module is responsible for processing the original information and obtaining the longitude and latitude and attitude information of the antenna and the carrier; the DSP module is connected to the first core through the McBSP interface for position loop control.

4. The servo tracking system for a dual-core MCU-based mobile communication antenna according to claim 1, characterized in that: The motor drive unit includes a power conversion module and a signal sampling and conditioning module; the power conversion module is connected to the second core and is used to power amplify the PWM control signal generated by the second core; the signal sampling and conditioning module is connected to the second core and is used to send the feedback signal of the motor control to the second core.

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