Embedded software design method for ultra-static active vibration isolation platform

Abstract

The invention discloses an embedded software design method for a super-static active vibration isolation platform. The method comprises the following steps: designing functions executed by embedded software according to hardware configuration and vibration isolation task requirements of the super-static active vibration isolation platform; designing a model architecture of the embedded software according to the execution function of the embedded software and a modular decomposition principle; designing an operation process of the embedded software; and running the embedded software. According to the embedded software design method of the ultra-static active vibration isolation platform, the vibration isolation control software is modularized according to the function of the vibration isolation control software, so that unification of design and development processes of the ultra-static active vibration isolation software under different hardware configurations is achieved, namely, the model architecture can be adopted for different vibration isolation task requirements and hardware configurations, and the design efficiency is improved. The same version of software model architecture can be used to adapt to different projects, software model platformization is realized, the workload of model maintenance is reduced, and the software development time is shortened.

Description

Technical Field

[0001] The invention relates to the field of vibration control and data processing, and in particular to a design method for embedded software of an ultra-quiet active vibration isolation platform. Background Art

[0002] At present, the precision payloads on spacecraft are developing towards high stability, high precision and high resolution. However, precision payloads such as space cameras installed on high-resolution remote sensing satellites or optical atomic clocks on space stations are very sensitive to vibrations, most of which are caused by various disturbances such as the movement of solar panels, on-board flywheels, jet devices, and astronaut activities. In order to ensure the normal operation of precision payloads on spacecraft, an ultra-quiet active vibration isolation platform is required. The ultra-quiet active vibration isolation platform should not only play a vibration isolation effect in ground joint test experiments, but also play a vibration suppression effect in various scientific experiments in the space environment. Therefore, in the development process of the ultra-quiet active vibration isolation platform, it is necessary to provide a general embedded software model architecture, which needs to adapt to the software development of the vibration isolation platform required by different precision payloads, to ensure that the vibration isolation platform of different precision payloads can use the same software model architecture, realize software modularization, and reduce the workload of software maintenance.

[0003] The embedded software of the vibration isolation platform generally has control algorithm implementation functions, data bus communication functions, analog signal acquisition functions, digital signal input and output functions, etc. Since the hardware configurations of the vibration isolation platforms supporting different precision loads are different, their communication types, feedback input types, and control output types are also different. Therefore, the design and development of the embedded software model architecture of the vibration isolation system has the disadvantages of repeated design and low production efficiency. Summary of the invention

[0004] In order to overcome the above technical problems, the purpose of the present invention is to provide an embedded software design method for an ultra-quiet active vibration isolation platform, which can solve the generalization problem of embedded software development for vibration isolation platforms, avoid repeated design, improve production efficiency and reduce production costs.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An embedded software design method for an ultra-quiet active vibration isolation platform, characterized in that it comprises the following steps:

[0007] S1: According to the hardware configuration of the ultra-quiet active vibration isolation platform and the requirements of the vibration isolation task, the functions executed by the embedded software are designed to include: system event scheduling function, AD / DA function, scientific data return function, vibration isolation control function, and communication management function;

[0008] S2: According to the functions executed by the embedded software and the principle of modular decomposition, the model architecture of the embedded software is designed to include: digital signal processor reset initialization module, vibration isolation control module, scientific data processing module, message processing module, communication management module, watchdog module, and logic interface module;

[0009] S3: Design the operation process of the embedded software to include the following operation states: initialization state, loop state, timer interrupt state, serial port interrupt state, measurement data acquisition interrupt state, and vibration isolation control interrupt state;

[0010] S4: Run the embedded software. First, the reset initialization module of the digital signal processor performs initialization. Then the control program of the logic interface module enters an infinite loop. During this process, the watchdog module starts to run and continuously monitors the operating status of the system. If the system does not send a specific indication signal to the watchdog module within the predetermined time, the watchdog module will consider that the system is abnormal and trigger a reset operation to restore the system with an interrupt service program. The message processing module periodically queries the operation identifier and performs event table event query and processing operations. When a serial port interrupt occurs, the interrupt service program of the communication management module is called to complete the identification setting by parsing the chip telemetry status. The logic interface module manages the interrupt of the timer. In the interrupt service program, the logic interface module executes counter counting to realize the information operation of the digital quantity and the industrial parameter collected in a timed period. When a measurement data collection interrupt occurs, the interrupt service program of the scientific data processing module is called. The interrupt service program is responsible for obtaining data from the hardware interface and putting it into the data area pointer sending queue of the analog-to-digital converter to wait for output. When a vibration isolation control interrupt occurs, the interrupt service program of the vibration isolation control module is called to perform active vibration isolation control solution.

[0011] Furthermore, the system event scheduling function includes digital signal processor data interaction, task scheduling and bus interruption functions; the input data of the AD / DA function is multiple AD signals, and the output data is multiple DA voltage values; the scientific data feedback function is a conditional call, and this function is called only when a data feedback instruction from the host computer is received; the vibration isolation control function refers to the analysis of acceleration sensor information, calculation and generation of control signals according to a certain algorithm and sending them to the actuator; the communication management function determines the communication agreement between the main control logic inside the precision load subsystem and the vibration isolation software.

[0012] Furthermore, the input of the digital signal processor reset initialization module is the binding parameters, and the output is the initialization state, related digital quantities, and industrial parameter state, which is used to reset the load system to the power-on initial state through instruction control or watchdog, enable hardware devices, configure parameters of each functional module, and allocate storage resources and addresses required for module operation.

[0013] Furthermore, the input of the vibration isolation control module is vibration isolation control parameters, vibration isolation control related instructions, and acceleration information acquisition data of each channel, and the output is the control voltage of each voice coil motor, which is used to complete the precision load micro-vibration suppression control.

[0014] Furthermore, the input of the scientific data processing module is the acceleration information collected by AD and the control voltage output by DA, and the output is scientific data for visual analysis. It is used to save the acceleration information, platform acceleration information and control voltage data into the static random access memory after the vibration isolation control is started, so as to perform a visual vibration isolation effect analysis.

[0015] Furthermore, the input of the message processing module is control instruction information and data input operation identifier, and the output is instruction feedback, related digital quantities, industrial parameter status, and data output operation identifier. It is used to perform secondary analysis after receiving various instructions from the host computer and execute corresponding operations according to the communication protocol.

[0016] Furthermore, the input of the communication management module is initialization state parameters, instruction codes, engineering parameters, scientific data, and injection data, and the output is engineering state, scientific data, instruction codes, injection data, and response frames. It specifies the communication agreement between the internal main control logic of the precision load system and the vibration isolation software, and is used to forward the in-cabinet instructions and vibration isolation control data injection instructions sent by the precision load controller, and collect the engineering parameters and scientific data of the vibration isolation controller and forward them to the precision load controller.

[0017] Furthermore, the input of the watchdog module is a status indication signal, and the output is a dog feeding signal, which is used to output the watchdog signal and provide it to an external watchdog dedicated device after the system is powered on. If the operation is abnormal, the watchdog signal is stopped and the watchdog device resets the digital signal processor.

[0018] Furthermore, the input of the logic interface module is data acquisition interrupt, AD acquisition information, and DA output information, and the output is AD acquisition digital quantity, DA output analog quantity, packaged industrial parameters, digital quantity, and measurement data. It is responsible for completing the functions of each interface timing control and interface control. Each module has corresponding registers and software for interaction.

[0019] Furthermore, the logic interface module design includes DA output circuit logic design, analog AD acquisition logic design and external memory interface design.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention proposes an embedded software design method for an ultra-quiet active vibration isolation platform, which modularizes the vibration isolation control software according to its functions. This achieves the unification of the ultra-quiet active vibration isolation software design and development process under different hardware configurations. That is, the model architecture can be used for different vibration isolation task requirements and hardware configurations, so that the same version of the software model architecture can be used to adapt to different projects, realize the platformization of the software model, reduce the workload of model maintenance, and shorten the time of software development. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a structural schematic diagram of an ultra-quiet active vibration isolation platform provided by an embodiment of the present invention;

[0023] Figure 2 A schematic diagram of the internal layout of an ultra-quiet active vibration isolation platform provided by an embodiment of the present invention;

[0024] Figure 3 A schematic diagram of software functions of an ultra-quiet active vibration isolation platform provided by an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of software modules of the ultra-quiet active vibration isolation platform provided by an embodiment of the present invention;

[0026] Figure 5 A hierarchical structure diagram of a DSP reset initialization module provided by an embodiment of the present invention;

[0027] Figure 6 A hierarchical structure diagram of a vibration isolation control module provided by an embodiment of the present invention;

[0028] Figure 7 A hierarchical structure diagram of a scientific data processing module provided by an embodiment of the present invention;

[0029] Figure 8 A hierarchical structure diagram of a message processing module provided by an embodiment of the present invention;

[0030] Fig. 9 A hierarchical structure diagram of a communication management module provided by an embodiment of the present invention;

[0031] Fig.10 A hierarchical structure diagram of a watchdog module provided by an embodiment of the present invention;

[0032] Fig.11 A hierarchical structure diagram of a logical interface module provided by an embodiment of the present invention;

[0033] Fig.12 Software state transition relationship diagram of the ultra-quiet active vibration isolation platform provided by an embodiment of the present invention.

[0034] In the figure: 1-top plate, 2-upper platform, 3-mounting lug, 4-power interface, 5-information interface, 6-lower platform, 7-optical load structure mounting hole, 8-crossbeam, 9-single-axis acceleration sensor, 10-main structure, 11-locking release device, 12-three-axis acceleration sensor, 13-voice coil actuator. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.

[0036] The ultra-quiet active vibration isolation platform is an important unit that provides a stable working environment for aerospace precision payloads. The main task of the system is to measure the acceleration value of the base plate or the acceleration value of the outrigger through the acceleration sensor, and then perform active vibration isolation control, and upload the collected acceleration information and control voltage value to the precision payload main control software.

[0037] The ultra-quiet active vibration isolation platform control software is an embedded software product supporting the aerospace precision payload software. It runs on the digital signal processor (DSP). After the hardware self-check is successful, it enters the preparation mode and automatically runs after receiving the start-up command of the precision payload master control software. The software uses DSP as the control core, acceleration sensor and voice coil motor as the execution components, and adopts active vibration isolation control strategy to achieve active vibration suppression effect. It can receive control instructions from the host computer and execute related functions and scientific data collection tasks according to the communication protocol rules. At the same time, it uses a watchdog module to monitor the working status and perform interruption, reset and other operations.

[0038] like Figure 1-2 As shown, in one embodiment, the ultra-quiet active vibration isolation platform includes a top plate 1, an upper platform 2, a mounting lug 3, a power interface 4, an information interface 5, a lower platform 6, an optical load structure mounting hole 7, a crossbeam 8, a uniaxial acceleration sensor 9, a main structure 10, a locking release device 11, a triaxial acceleration sensor 12, and a voice coil actuator 13. Among them, the mounting lug 3 is used for mechanical thread connection with the spacecraft; the M6 ​​array hole of the top plate is the optical load structure mounting hole 7; and the interface on the front side is a power supply and information transmission socket connected to the vibration isolation electronic control unit.

[0039] According to the main hardware configuration of the vibration isolator and the basic requirements of the vibration isolation task, the control software of the ultra-quiet active vibration isolation platform is divided into modules according to its functions, such as Figure 3 As shown, its main functions are as follows:

[0040] 1) System event scheduling function: including DSP data interaction, task scheduling and bus interruption functions.

[0041] 2) AD / DA function: The input data is multiple AD signals, and the output data is multiple DA voltage values.

[0042] 3) Scientific data return function: The scientific data return function is conditionally called. This function is called only when a data return instruction is received from the host computer.

[0043] 4) Vibration isolation control function: The vibration isolation control function refers to analyzing the acceleration sensor information, calculating and generating the control signal according to a certain algorithm and sending it to the actuator.

[0044] 5) Communication management function: The communication management function determines the communication agreement between the main control logic and the vibration isolation software of the precision load subsystem. Its function is to forward the cabinet instructions and vibration isolation control data injection instructions sent by the precision load controller, collect the engineering parameters and scientific data of the vibration isolation controller and forward them to the precision load controller.

[0045] According to the functions described by the ultra-quiet active vibration isolation platform software and the principle of modular decomposition, its software model architecture can be divided into DSP reset initialization module, vibration isolation control module, scientific data processing module, message processing module, communication management module, watchdog module, and logic interface module, such as Figure 4 The design description of each module is as follows:

[0046] 1) DSP reset initialization module

[0047] (1) Function: Able to reset the payload system to the initial power-on state through command control or watchdog, enable hardware devices, configure parameters of each functional module, and allocate storage resources and addresses required for module operation.

[0048] (2) Input: Binding parameters.

[0049] (3) Structural design: hierarchical structure such as Figure 5 As shown in the figure, the DSP reset initialization module adopts a layered and modular approach in structural design to ensure the clarity, maintainability and scalability of the system. The module first provides the basic hardware environment configuration for the entire system through the DSP chip initialization layer, including core elements such as clock setting and memory allocation. Subsequently, in the dog feeding operation layer, the system status is monitored by configuring the watchdog timer to improve the stability and reliability of the system. Next, the DSP timer initialization layer provides the system with precise time management and task scheduling capabilities. In addition, the vibration isolation parameter initialization layer is specifically responsible for configuring parameters related to the vibration isolation function to meet the specific performance requirements of the system. Finally, the serial port interface initialization layer implements the communication function with other devices and enhances the interactivity of the system.

[0050] (4) Output: initialization status, related digital quantities, and industrial parameter status.

[0051] 2) Vibration isolation control module

[0052] (1) Function: Complete the micro-vibration suppression control of precision loads and ensure that the vibration environment of the vibration isolation platform can meet the working requirements of precision loads by controlling each voice coil motor.

[0053] (2) Input: vibration isolation control parameters, vibration isolation control related instructions, and acceleration information collection data from various channels.

[0054] (3) Structural design: hierarchical structure such as Figure 6 As shown in the figure, the vibration isolation control module adopts a hierarchical structure design. The necessary control parameters are configured through the parameter initialization layer. The vibration isolation data update layer collects and updates the vibration data in real time. The vibration isolation control filter layer filters the data to improve the data accuracy. Finally, the vibration isolation control calculation layer calculates the control signal according to the filtered data and the preset algorithm, and outputs it to the actuator to achieve vibration suppression and equipment stability control.

[0055] (4) Output: Control voltage of each voice coil motor.

[0056] 3) Scientific data processing module

[0057] (1) Function: After the vibration isolation control is started, the acceleration information of each leg, the platform acceleration information and the control voltage data of each voice coil motor are saved to the static random access memory (SRAM) for vibration isolation effect analysis.

[0058] (2) Input: AD collects acceleration information and DA outputs control voltage.

[0059] (3) Structural design: hierarchical structure such as Figure 7 As shown in the figure, the scientific data processing module adopts a layered architecture design, including four core layers: data storage, data reading, data packetization and framing, and data transmission. The data storage layer ensures the integrity and accessibility of scientific data; the data reading layer extracts data efficiently through optimization strategies; the data packetization and framing layer packets and frames the data according to the communication protocol or data format requirements to ensure transmission consistency and reliability; the data transmission layer is responsible for encapsulating, transmitting and verifying the data to the target receiving end.

[0060] (4) Output: scientific data for visual analysis.

[0061] 4) Message processing module

[0062] (1) Function: After receiving various instructions from the host computer, it performs secondary analysis and executes corresponding operations in a timely manner according to the communication protocol.

[0063] (2) Input: control instruction information, data input operation identifier.

[0064] (3) Structural design: hierarchical structure such as Figure 8 As shown in the figure, the message processing module is in the message processing initialization layer. The module is responsible for configuring the necessary processing parameters and initialization resources to lay the foundation for subsequent message processing. The instruction parsing layer is responsible for receiving and parsing instructions from the outside or inside, and converting them into a format that the module can recognize. The health status word judgment layer monitors the health status and operation of the module by checking the status word information. The control gain injection layer dynamically adjusts the control gain according to the parsed instructions and current status to optimize the system performance. Finally, the instruction response layer generates and sends a response message to confirm the execution result of the instruction.

[0065] (4) Output: command feedback, related digital quantities, industrial parameter status, and data output operation identification.

[0066] 5) Communication management module

[0067] (1) Function: The communication management module specifies the communication protocol between the internal master control logic of the precision payload system and the vibration isolation software. Its function is to forward the cabinet instructions and vibration isolation control data injection instructions sent by the precision payload controller, collect the engineering parameters and scientific data of the vibration isolation controller and forward them to the precision payload controller. As the host, the communication data packet types sent by the precision payload master control logic to the vibration isolation control software include control instructions, injection data and telemetry polling commands. As the slave, the vibration isolation controller has the communication response data packet types including command response, engineering parameter response and scientific data response.

[0068] (2) Input: initialization state parameters, instruction codes, engineering parameters, scientific data, and injection data.

[0069] (3) Structural design: hierarchical structure such as Fig. 9 As shown, the serial port receiving layer is responsible for data reception; the instruction parsing and processing layer parses instructions and performs corresponding operations; the instruction response layer feeds back the execution results; the interrupt generation indication signal layer responds to abnormalities or specific events; and the serial port sending layer is responsible for data transmission.

[0070] (4) Output: engineering status, scientific data, instruction code, injection data, response frame.

[0071] 6) Watchdog module

[0072] (1) Function: After the system is powered on, the watchdog signal is output and provided to the external watchdog dedicated device. If the system works abnormally, the watchdog signal is stopped and the watchdog device resets the DSP.

[0073] (2) Input: Status indication signal.

[0074] (3) Structural design: hierarchical structure such as Fig.10As shown in the figure, the watchdog enable layer is responsible for starting the watchdog timer; the watchdog feeding operation layer resets the timer periodically to prevent timeout; and the software reset layer performs a system reset after detecting a watchdog timeout.

[0075] (4) Output: dog feeding signal.

[0076] 7)Logic interface module

[0077] (1) Function: Responsible for completing the functions of timing control and interface control of each interface. Each module has corresponding registers and software for interaction. It mainly includes DA output circuit logic design, analog AD acquisition logic design and external memory interface (EMIF) design. The EMIF interface adopts asynchronous memory control mode.

[0078] (2) Input: data acquisition interrupt, AD acquisition information, DA output information.

[0079] (3) Structural design: hierarchical structure such as Fig.11 As shown, the DA output circuit logic design layer is responsible for the conversion logic from digital to analog signals; the AD acquisition logic design layer processes the acquisition logic from analog to digital signals; and the EMIF interface design layer implements the interface logic with the external memory.

[0080] (4) Output: AD collects digital quantity, DA outputs analog quantity, packaged industrial parameters, digital quantity, and measurement data.

[0081] The software running process can be divided into the following running states: initialization state, loop state, timer interrupt state, other interrupt states (serial port interrupt, measurement data collection interrupt, vibration isolation control interrupt). The state transition relationship is as follows: Fig.12 shown.

[0082] After the ultra-quiet active vibration isolation platform software is powered on, the DSP reset initialization module first performs system reset and initialization tasks. This includes setting the DSP's operating frequency, clock source, interrupt vector table, memory mapping, etc., as well as initializing the necessary hardware interfaces and registers. At this time, the watchdog module is activated. As an independent monitoring task, the watchdog module starts running when the system starts and continuously monitors the activity status of the main program and other key tasks. If the main program or other key tasks fail to send a specific indication signal to the watchdog module, the watchdog module will consider the system abnormal and trigger a reset interrupt operation to restore the normal operation of the system. After initialization is completed, the logic interface module is responsible for handing control to the main program loop. The main loop is the core of the software operation, constantly checking and processing various events. In the main loop, the message processing module periodically queries the operation identifier. These identifiers are set by internal timers, external interrupts or other modules to indicate new tasks or events. The message processing module traverses the event table to check whether there are any events to be processed. For each event, the corresponding event processing function or task is called, which is distributed in different modules, such as the vibration isolation control module, the scientific data processing module, etc. When a serial port interrupt occurs, the interrupt service routine of the communication management module is called, which is responsible for receiving serial port data, parsing the chip telemetry status, and setting the completion flag. The parsed data is then sent to other modules for processing through the message processing module. Timer interrupts are managed by the logic interface module. In the interrupt service routine, the logic interface module updates the counter value and triggers operations related to the timing cycle. When the ADC or other measurement device generates a data acquisition interrupt, the interrupt service routine of the scientific data processing module is called, which is responsible for reading data from the hardware and putting it into the queue or buffer pointed to by the ADC data area pointer. After that, the scientific data processing module can further process the data. When a vibration isolation control interrupt is detected (which may be triggered by sensor signals, system state changes, etc.), the interrupt service routine of the vibration isolation control module is called, executes the active vibration isolation control algorithm, calculates the control parameters, and sends the control parameters to the actuator through the communication management module or the logic interface module. After processing all events and interrupts, the logic interface module returns control to the beginning of the main loop and continues to periodically query the operation flag and process events.

[0083] It should be noted that the above-described embodiments are only preferred embodiments of the present invention. For those skilled in the art, without departing from the principles of the present invention, the present invention may be modified, improved and replaced with equivalents, and these modifications, improvements and equivalents are also considered to fall within the scope of protection of the claims of the present invention.

Claims

1. An embedded software design method for an ultra-quiet active vibration isolation platform, characterized in that: The steps include: S1: According to the hardware configuration of the ultra-quiet active vibration isolation platform and the requirements of the vibration isolation task, the functions executed by the embedded software are designed to include: system event scheduling function, AD / DA function, scientific data return function, vibration isolation control function, and communication management function; S2: According to the functions executed by the embedded software and the principle of modular decomposition, the model architecture of the embedded software is designed to include: a digital signal processor reset initialization module, a vibration isolation control module, a scientific data processing module, a message processing module, a communication management module, a watchdog module, and a logic interface module; S3: Designing the operation process of the embedded software to include the following operation states: initialization state, loop state, timer interrupt state, serial port interrupt state, measurement data collection interrupt state, and vibration isolation control interrupt state; S4: Run the embedded software. First, the reset initialization module of the digital signal processor performs initialization. Then, the control program of the logic interface module enters an infinite loop. During this process, the watchdog module starts to run and continuously monitors the operating status of the system. If the system does not send a specific signal to the watchdog module within a predetermined time, the watchdog module will consider that the system is abnormal and trigger a reset operation to restore the system with an interrupt service program. The message processing module periodically queries the operation identifier and performs event table event query and processing operations. When a serial port interrupt occurs, the interrupt service program of the communication management module is called to complete the identification setting by parsing the chip telemetry status. The logic interface module manages the interrupt of the timer. In the interrupt service program, the logic interface module executes counter counting to realize the information operation of the timing period to collect digital quantities and industrial parameters. When a measurement data collection interrupt occurs, the interrupt service program of the scientific data processing module is called. The interrupt service program is responsible for obtaining data from the hardware interface and putting it into the data area pointer sending queue of the analog-to-digital converter to wait for output. When a vibration isolation control interrupt occurs, the interrupt service program of the vibration isolation control module is called to perform active vibration isolation control solution.

2. The embedded software design method according to claim 1, characterized in that: The system event scheduling function includes digital signal processor data interaction, task scheduling and bus interruption functions; the input data of the AD / DA function is multiple AD signals, and the output data is multiple DA voltage values; the scientific data return function is a conditional call, and this function is called only when the data return instruction of the host computer is received; the vibration isolation control function refers to the analysis of acceleration sensor information, calculation and generation of control signals according to a certain algorithm and sending them to the actuator; the communication management function determines the communication agreement between the main control logic inside the precision load subsystem and the vibration isolation software.

3. The embedded software design method according to claim 1, characterized in that: The input of the digital signal processor reset initialization module is the binding parameters, and the output is the initialization state, related digital quantities, and the working parameter state. It is used to reset the load system to the power-on initial state through command control or watchdog, enable hardware devices, configure parameters of each functional module, and allocate storage resources and addresses required for module operation.

4. The embedded software design method according to claim 1, characterized in that: The input of the vibration isolation control module is vibration isolation control parameters, vibration isolation control related instructions, and acceleration information collection data of each channel, and the output is the control voltage of each voice coil motor, which is used to complete the micro-vibration suppression control of the precision load.

5. The embedded software design method according to claim 1, characterized in that: The input of the scientific data processing module is the acceleration information collected by AD and the control voltage output by DA, and the output is scientific data for visual analysis. It is used to save the acceleration information, platform acceleration information and control voltage data into the static random access memory after the vibration isolation control is started, so as to perform visual vibration isolation effect analysis.

6. The embedded software design method according to claim 1, characterized in that: The input of the message processing module is control instruction information and data input operation identifier, and the output is instruction feedback, related digital quantity, industrial parameter status, and data output operation identifier. It is used to perform secondary analysis after receiving various instructions from the host computer and execute corresponding operations according to the communication protocol.

7. The embedded software design method according to claim 1, characterized in that: The input of the communication management module is initialization state parameters, instruction codes, engineering parameters, scientific data, and injection data, and the output is engineering state, scientific data, instruction codes, injection data, and response frames. It specifies the communication agreement between the internal main control logic of the precision load system and the vibration isolation software, and is used to forward the in-cabinet instructions and vibration isolation control data injection instructions sent by the precision load controller, collect the engineering parameters and scientific data of the vibration isolation controller and forward them to the precision load controller.

8. The embedded software design method according to claim 1, characterized in that: The input of the watchdog module is a status indication signal, and the output is a dog feeding signal. After the system is powered on, the watchdog signal is output and provided to an external watchdog dedicated device. If the operation is abnormal, the watchdog signal is stopped and the watchdog device resets the digital signal processor.

9. The embedded software design method according to claim 1, characterized in that: The input of the logic interface module is data acquisition interrupt, AD acquisition information, and DA output information. The output is AD acquisition digital quantity, DA output analog quantity, packaged industrial parameters, digital quantity, and measurement data. It is responsible for completing the functions of each interface timing control and interface control. Each module has corresponding registers and software for interaction.

10. The embedded software design method according to claim 1, characterized in that: The logic interface module design includes DA output circuit logic design, analog AD acquisition logic design and external memory interface design.

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