A controller program updating system and method for engineering machinery with reusable calibration parameters

Abstract

The present invention discloses a controller program update system and method for engineering machinery with reusable calibration parameters, a host computer program, including: a first CAN communication module, an A2L file parsing module, a first CCP module, a calibration parameter conversion module, a calibration parameter integration module, a controller firmware download module, a first integrity check module and a first update process control module; a Bootloader program, including: a second CAN communication module, a second CCP module, a second integrity check module, a Flash driver module and a second update process control module; an application program, including: reusable calibrated parameters. By reusing calibrated parameters, the present invention greatly simplifies the recalibration work after the application program is updated, avoids possible errors, and improves the reliability of the application program update process.

Description

Technical Field

[0001] The invention relates to a controller program updating system and method for engineering machinery with reusable calibration parameters, belonging to the technical field of vehicle-mounted controllers for engineering machinery. Background Art

[0002] With the development of technology, electronic control devices and software-defined functions are increasingly used in engineering machinery control systems. The design, production, use, and maintenance of engineering machinery require more frequent updates to the controller's application program. The bootloader is solidified in Flash and is the first program executed after the controller is powered on. After completing the initialization of the CPU and related hardware, it jumps to the application running starting point that is also solidified in Flash and loads the application into the RAM space for operation. Its application in the field of engineering machinery controllers has become very popular.

[0003] With the widespread application of intelligence in the field of engineering machinery, the controller application software algorithms are becoming more and more complex, and there are more and more adjustable parameters. Parameter calibration has become an extremely complicated task. Most parameters are stored in Flash. The parameter changes brought about by each update of the application software require recalibration after the update, which brings more repetitive work. Therefore, the backup, conversion and reuse of calibrated parameters are very important for controller application updates.

[0004] Existing controller program update methods only provide methods / protocols for updating firmware, and do not explain the calibrated parameters in the controller. Therefore, after the firmware is updated, it is necessary to recalibrate or process the data saved during the previous calibration separately and then re-solidify it, which makes it difficult to reuse. Summary of the invention

[0005] Purpose: In order to overcome the deficiencies in the prior art, the present invention provides a controller program update system and method for engineering machinery with reusable calibration parameters.

[0006] Technical solution: To solve the above technical problems, the technical solution adopted by the present invention is:

[0007] In a first aspect, a controller program update system for engineering machinery with reusable calibration parameters includes: a host computer program, a bootloader program, and an application program.

[0008] Among them, the host computer program includes: a first CAN communication module, an A2L file parsing module, a first CCP module, a calibration parameter conversion module, a calibration parameter integration module, a controller firmware download module, a first integrity check module and a first update process control module.

[0009] The Bootloader program includes: a second CAN communication module, a second CCP module, a second integrity check module, a Flash drive module and a second update process control module.

[0010] Application program, including: reusable calibrated parameters.

[0011] As a preferred solution, the first CAN communication module is used to implement the CAN protocol, and the host computer program communicates with the Bootloader program in the controller through the first CAN communication module.

[0012] The A2L file parsing module is used by the host computer program to read the information in the A2L file corresponding to the new application version through the A2L file parsing module, and is used for uploading, converting and downloading calibrated parameters.

[0013] The first CCP module is used to implement the CCP protocol. The host computer program in the host computer interacts with the controller through the first CCP module to realize the upload and download of calibration parameters.

[0014] The calibration parameter conversion module is used to convert the calibrated parameters uploaded from the controller into the calibrated parameters of the corresponding new application according to the calibration parameter information corresponding to the application version of the current controller and the new application version.

[0015] The calibration parameter integration module is used to integrate the calibrated parameters of the corresponding new application program converted by the calibration parameter conversion module into the new application program to form a new application program containing the calibrated parameters.

[0016] The controller firmware download module is used by the host computer program to transmit the new application program to the controller through the controller firmware download module.

[0017] The first integrity verification module is used to generate a verification code for the new application program that is finally downloaded to the controller according to a specified algorithm.

[0018] The first update process control module is used to call the first CAN communication module to communicate with the controller Bootloader program, control the application update process, and call other modules to complete corresponding functions.

[0019] As a preferred solution, the second CAN communication module is used to implement the CAN protocol, and the controller communicates with the host computer program in the host computer through the second CAN communication module.

[0020] The second CCP module is used to implement the CCP protocol. The controller interacts with the host computer program in the host computer through the second CCP module to achieve uploading and downloading of calibration parameters.

[0021] The second integrity verification module is used to verify the source and correctness of the new application after the new application is transmitted.

[0022] The Flash driver module is used to operate and drive the Flash of the controller, erase the application program of the original controller, and write the application program of the new controller.

[0023] The second update process control module is used to call the second CAN communication module to communicate with the host program in the host computer, and call the second CCP module, the second integrity check module and the Flash driver module according to the host program instructions to realize calibration parameter upload, download and controller application program update.

[0024] As a preferred solution, the calibrated parameters are described using an A2L file, including: the name, address, type, range, unit and conversion method information of the calibration parameters.

[0025] As a preferred solution, the first CCP module adopts the Master end protocol.

[0026] As a preferred solution, the second CCP module adopts the Slave end protocol.

[0027] On the one hand, a method for updating a controller program update system for engineering machinery with reusable calibration parameters specifically includes:

[0028] Step 1.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect.

[0029] Step 1.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the first CAN communication module, the first CCP module, the first integrity check module and the Flash driver module.

[0030] Step 1.3: The host computer program sends a command to obtain the application version in the controller from the controller.

[0031] Step 1.4: The host computer program reads and parses the corresponding A2L file from the database according to the obtained application version to obtain the calibrated parameter information of the current version.

[0032] Step 1.5: The host computer program uses the CCP protocol to communicate with the Bootloader program based on the calibrated parameter information of the current version to read the calibrated parameters of the current version.

[0033] Step 1.6: The host computer program reads and parses the corresponding A2L file from the database according to the version of the new application firmware to obtain the calibrated parameter information of the new version.

[0034] Step 1.7: The host computer program converts the calibrated parameters read in step 1.5 into the calibration parameters corresponding to the new firmware according to the calibration parameter information of the two versions.

[0035] Step 1.8: The host computer program integrates the calibration parameters of the new firmware obtained in step 1.7 into the new controller application firmware.

[0036] Step 1.9: The host computer program passes the new controller application firmware with integrated calibration parameters to the controller bootloader program, and the controller bootloader program writes the new controller application firmware with integrated calibration parameters.

[0037] Step 1.10: The host computer program and the controller bootloader program jointly verify the integrity of the new controller application firmware. After the verification passes, the controller bootloader program initializes the controller and jumps to the new controller application.

[0038] As a preferred solution, the step 1.7 specifically includes:

[0039] Step 1.7.1: Convert the calibrated parameters read from the current version of the application into the corresponding physical values ​​according to the conversion method described in the A2L file corresponding to the old firmware.

[0040] Step 1.7.2: According to the conversion method recorded in the A2L file corresponding to the new firmware, reversely convert the physical values ​​obtained in step 1.7.1 into the internal values ​​of the controller application as the calibration parameters of the new firmware.

[0041] On the one hand, a method for updating a controller program update system for engineering machinery with reusable calibration parameters specifically includes:

[0042] Step 2.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect.

[0043] Step 2.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the first CAN communication module, the first CCP module, the first integrity check module and the Flash driver module.

[0044] Step 2.3: The host computer program sends a command to obtain the application version in the controller from the controller.

[0045] Step 2.4: The host computer program reads and parses the corresponding A2L file from the database according to the obtained application version to obtain the calibrated parameter information of the current version.

[0046] Step 2.5: The host computer program uses the CCP protocol to communicate with the Bootloader program based on the calibrated parameter information of the current version to read the calibrated parameters of the current version.

[0047] Step 2.6: The host computer program reads and parses the corresponding A2L file from the database according to the version of the new application firmware to obtain the calibration parameter information of the new version;

[0048] Step 2.7: The host computer program converts the calibrated parameter information of the two versions to obtain the calibration parameters corresponding to the new firmware.

[0049] Step 2.8: The host computer program passes the new controller application firmware to the controller bootloader program, and the controller bootloader program writes the new controller application firmware.

[0050] Step 2.9: The host computer program and the controller bootloader program jointly verify the integrity of the new firmware.

[0051] Step 2.10: The host computer program solidifies the calibration parameters of the new firmware obtained in step 2.7 into the new controller application firmware written into the controller through the CCP protocol. After solidification is completed, the controller Bootloader program initializes the controller and jumps to the new controller application.

[0052] As a preferred solution, the step 2.7 specifically includes:

[0053] Step 2.7.1: Convert the calibrated parameters read from the current version of the application into the corresponding physical values ​​according to the conversion method described in the A2L file corresponding to the old firmware.

[0054] Step 2.7.2: According to the conversion method recorded in the A2L file corresponding to the new firmware, reversely convert the physical values ​​obtained in step 2.7.1 into the internal values ​​of the controller application as the calibration parameters of the new firmware.

[0055] On the one hand, a method for updating a controller program update system for engineering machinery with reusable calibration parameters specifically includes:

[0056] Step 3.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect.

[0057] Step 3.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the first CAN communication module, the first CCP module, the first integrity check module and the Flash driver module.

[0058] Step 3.3: The host computer program passes the new controller application firmware to the controller bootloader program, and the controller bootloader program writes the new controller application firmware.

[0059] Step 3.4: The host computer program and the controller bootloader program jointly verify the integrity of the new controller application firmware. After the verification passes, the controller bootloader program initializes the controller and jumps to the new controller application.

[0060] Beneficial effects: The present invention provides a controller program update system and method for engineering machinery with reusable calibration parameters, which splits the calibration function of the controller into independent modules and allows bootloader program calls. When updating the application, the host computer backs up, converts, and merges the calibrated parameters into the new application and generates a check value, then updates the new application to the controller and checks the integrity.

[0061] The present invention greatly simplifies the previous recalibration work after the application is updated by reusing the calibrated parameters, avoids possible errors, and improves the reliability of the application update process. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a schematic diagram of the framework of the program updating system of the present invention.

[0063] Figure 2 It is a flowchart of the program updating method of the present invention. DETAILED DESCRIPTION

[0064] The following is a clear and complete description of the technical solutions in the examples of the present invention in conjunction with the accompanying drawings in the examples of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present invention.

[0065] The present invention will be further described below in conjunction with specific embodiments.

[0066] Embodiment 1:

[0067] This embodiment introduces a controller program update system for engineering machinery with reusable calibration parameters, such as Figure 1As shown, this update system includes: a host computer program in the host computer, a Bootloader program in the controller and an application program, and the host computer program and the Bootloader program in the controller communicate through the CAN bus. The Bootloader program and the application program constitute the controller program, and the application program contains reusable calibrated parameters.

[0068] The Bootloader program is stored in the controller's Flash, which is a protected memory area. The Bootloader program includes: CAN communication module, CCP module, integrity check module, Flash driver module and update process control module.

[0069] CAN communication module: used to implement the CAN (Controller Area Network) protocol. The controller communicates with the host computer program in the host computer through the CAN communication module.

[0070] CCP module: used to implement CCP (Can Calibration Protocol) protocol (the controller is a slave device and needs to implement the slave end protocol). The controller interacts with the host computer program in the host computer through the CCP module to upload and download calibration parameters.

[0071] Integrity verification module: used to verify the source and correctness of the new application after the new application is transmitted.

[0072] Flash driver module: used to operate and drive the controller Flash, erase the application program of the original controller, and write the application program of the new controller.

[0073] Update process control module: used to call the CAN communication module to communicate with the host program in the host computer, and call the CCP module, integrity check module and Flash driver module according to the host program instructions to upload and download calibration parameters and update the controller application.

[0074] The application is also stored in the controller Flash, including the calibrated parameters, and describes the name, address, type, range, unit and conversion method information of all calibrated parameters through the A2L file.

[0075] The host computer program runs in the host computer and communicates with the controller using a CAN plug-in, including: CAN communication module, A2L file parsing module, CCP module, calibration parameter conversion module, calibration parameter integration module, controller firmware download module, integrity check module and update process control module.

[0076] CAN communication module: used to implement the CAN (Controller Area Network) protocol. The host computer program communicates with the Bootloader program in the controller through the CAN communication module.

[0077] A2L file parsing module: The A2L file stores the calibrable data information in the application program in the controller, including the name, address, type, range, unit, and conversion method of the calibration parameters. It is used by the host computer program to read the information in the A2L file corresponding to the new application version through the A2L file parsing module, and is used for uploading, converting, and downloading calibrated parameters.

[0078] CCP module: used to implement CCP (Can Calibration Protocol) protocol (the host computer program is a Master device and needs to implement the Master end protocol). The host computer program in the host computer interacts with the controller through the CCP module to upload and download calibration parameters.

[0079] Calibration parameter conversion module: used to convert the calibrated parameters uploaded from the controller into the calibrated parameters of the corresponding new application according to the calibration parameter information corresponding to the application version of the current controller and the new application version (obtained by the A2L file parsing module).

[0080] Calibration parameter integration module: used to integrate the calibrated parameters of the corresponding new application program converted by the calibration parameter conversion module into the new application program to form a new application program containing the calibrated parameters.

[0081] Controller firmware download module: used by the host computer program to transfer new application programs to the controller through the controller firmware download module.

[0082] Integrity check module: used to generate a check code for the new application program that is finally downloaded to the controller according to the specified algorithm.

[0083] Update process control module: used to call the CAN communication module to communicate with the controller Bootloader program, control the application update process, and call other modules to complete the corresponding functions.

[0084] Embodiment 2:

[0085] This embodiment introduces an update method for a controller program update system for engineering machinery with reusable calibration parameters. The process involved in this method is mainly controlled by the host computer program, and the calculation and conversion of the calibrated parameters are also completed by the host computer. Figure (2) shows the host computer operation process. The main work of the Bootloader program in the controller is to perform corresponding operations according to the host computer instructions and feedback the execution results. This method can be divided into three operation processes according to the selection / configuration, which are specifically described as follows:

[0086] Step 1: reuse the calibrated parameters and integrate them into the new firmware for update.

[0087] Step 2: reuse the calibrated parameters but write and fix them separately after the new firmware is written.

[0088] Step 3: Do not reuse calibrated parameters / no calibrated parameters.

[0089] Furthermore, the step 1 specifically includes:

[0090] Step 1.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect.

[0091] Step 1.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the CAN communication module, CCP module, integrity check module, and Flash erase / programming driver module.

[0092] Step 1.3: The host computer program sends a command to obtain the application version in the controller from the controller.

[0093] Step 1.4: The host computer program reads the corresponding A2L file from the database according to the obtained application version and parses it to obtain the calibrated parameter information of the current version, including: calibrated parameter list, address, type, and conversion method information.

[0094] Step 1.5: The host computer program uses the CCP protocol to communicate with the Bootloader program based on the calibrated parameter information of the current version to read the calibrated parameters of the current version.

[0095] Step 1.6: The host computer program reads the corresponding A2L file from the database according to the version of the new application firmware and parses it to obtain the calibrated parameter information of the new version, including: the calibration parameter list, address, type, conversion method and other information of the new version.

[0096] Step 1.7: The host computer program converts the calibrated parameters read in step 1.5 into the calibration parameters corresponding to the new firmware according to the calibration parameter information of the two versions.

[0097] Step 1.8: The host computer program integrates the calibration parameters of the new firmware obtained in step 1.7 into the new controller application firmware.

[0098] Step 1.9: The host computer program passes the new controller application firmware with integrated calibration parameters to the controller bootloader program, and the controller bootloader program writes the new controller application firmware with integrated calibration parameters.

[0099] Step 1.10: The host computer program and the controller bootloader program jointly verify the integrity of the new controller application firmware. After the verification passes, the controller bootloader program initializes the controller and jumps to the new controller application.

[0100] Furthermore, the step 1.7 specifically includes:

[0101] Step 1.7.1: Convert the calibrated parameters read from the current version of the application into the corresponding physical values ​​according to the conversion method described in the A2L file corresponding to the old firmware.

[0102] Step 1.7.2: According to the conversion method recorded in the A2L file corresponding to the new firmware, reversely convert the physical values ​​obtained in step 1.7.1 into the internal values ​​of the controller application as the calibration parameters of the new firmware.

[0103] Note: The pre- and post-calibration parameters can be mapped according to parameter names or separate mapping tables.

[0104] Furthermore, the step 2 specifically includes:

[0105] Step 2.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect.

[0106] Step 2.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the CAN communication module, CCP module, integrity check module, and Flash erase / programming driver module.

[0107] Step 2.3: The host computer program sends a command to obtain the application version in the controller from the controller.

[0108] Step 2.4: The host computer program reads the corresponding A2L file from the database according to the obtained application version and parses it to obtain the calibrated parameter information of the current version, including: calibrated parameter list, address, type, and conversion method information.

[0109] Step 2.5: The host computer program uses the CCP protocol to communicate with the Bootloader program based on the calibrated parameter information of the current version to read the calibrated parameters of the current version.

[0110] Step 2.6: The host computer program reads the corresponding A2L file from the database according to the version of the new application firmware and parses it to obtain the calibration parameter information of the new version, including the calibration parameter list, address, type, and conversion method information of the new version;

[0111] Step 2.7: The host computer program converts the calibrated parameter information of the two versions to obtain the calibration parameters corresponding to the new firmware.

[0112] Step 2.8: The host computer program passes the new controller application firmware to the controller bootloader program, and the controller bootloader program writes the new controller application firmware.

[0113] Step 2.9: The host computer program and the controller bootloader program jointly verify the integrity of the new firmware.

[0114] Step 2.10: The host computer program solidifies the calibration parameters of the new firmware obtained in step 2.7 into the new controller application firmware written into the controller through the CCP protocol. After solidification is completed, the controller Bootloader program initializes the controller and jumps to the new controller application.

[0115] Furthermore, the step 2.7 specifically includes:

[0116] Step 2.7.1: Convert the calibrated parameters read from the current version of the application to the corresponding physical values ​​according to the conversion method described in the A2L file corresponding to the old firmware.

[0117] Step 2.7.2: According to the conversion method recorded in the A2L file corresponding to the new firmware, reversely convert the physical values ​​obtained in step 2.7.1 into the internal values ​​of the controller application as the calibration parameters of the new firmware.

[0118] Note: The pre- and post-calibration parameters can be mapped according to parameter names or separate mapping tables.

[0119] Furthermore, the step 3 specifically includes:

[0120] Step 3.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect.

[0121] Step 3.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the CAN communication module, CCP module, integrity check module, and Flash erase / programming driver module.

[0122] Step 3.3: The host computer program passes the new controller application firmware to the controller bootloader program, and the controller bootloader program writes the new controller application firmware.

[0123] Step 3.4: The host computer program and the controller bootloader program jointly verify the integrity of the new controller application firmware. After the verification passes, the controller bootloader program initializes the controller and jumps to the new controller application.

[0124] The present invention integrates the CCP (CAN Calibration Protocol) protocol into the controller Bootloader program. When updating the application, the upper computer converts the A2L files corresponding to the previous and next firmware (the A2L files are used to describe the database files in the ECU memory) to obtain calibration parameters that can be used for the new firmware, and completes the conversion and writing of calibration data during the firmware update. By reusing the calibrated parameters, the recalibration work after the application is updated is greatly simplified, and possible errors are avoided, thereby improving the reliability of the application update process.

[0125] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A controller program update system for engineering machinery with reusable calibration parameters, characterized in that: include: Host computer program, Bootloader program and application program; The host computer program includes: a first CAN communication module, an A2L file parsing module, a first CCP module, a calibration parameter conversion module, a calibration parameter integration module, a controller firmware download module, a first integrity check module and a first update process control module; The Bootloader program includes: a second CAN communication module, a second CCP module, a second integrity check module, a Flash driver module and a second update process control module; Application program, including: reusable calibrated parameters.

2. The controller program updating system for engineering machinery with reusable calibration parameters according to claim 1, characterized in that: The first CAN communication module is used to implement the CAN protocol, and the host computer program communicates with the Bootloader program in the controller through the first CAN communication module; The A2L file parsing module is used for the host computer program to read the information in the A2L file corresponding to the new application version through the A2L file parsing module, and is used for uploading, converting and downloading the calibrated parameters; The first CCP module is used to implement the CCP protocol. The host computer program in the host computer interacts with the controller through the first CCP module to upload and download calibration parameters. The calibration parameter conversion module is used to convert the calibrated parameters uploaded from the controller into the calibrated parameters of the corresponding new application according to the calibration parameter information corresponding to the application version of the current controller and the new application version; The calibration parameter integration module is used to integrate the calibrated parameters of the corresponding new application converted by the calibration parameter conversion module into the new application to form a new application containing the calibrated parameters; The controller firmware download module is used for the host computer program to transmit the new application program to the controller through the controller firmware download module; The first integrity check module is used to generate a check code for the new application program finally downloaded to the controller according to a specified algorithm; The first update process control module is used to call the first CAN communication module to communicate with the controller Bootloader program, control the application update process, and call other modules to complete corresponding functions.

3. The controller program updating system for engineering machinery with reusable calibration parameters according to claim 1, characterized in that: The second CAN communication module is used to implement the CAN protocol, and the controller communicates with the host computer program in the host computer through the second CAN communication module; The second CCP module is used to implement the CCP protocol. The controller interacts with the host computer program in the host computer through the second CCP module to upload and download calibration parameters. The second integrity check module is used to check the source and correctness of the new application after the new application is transmitted; The Flash driver module is used to operate and drive the Flash of the controller, erase the application program of the original controller, and write the application program of the new controller; The second update process control module is used to call the second CAN communication module to communicate with the host program in the host computer, and call the second CCP module, the second integrity check module and the Flash driver module according to the host program instructions to realize calibration parameter upload, download and controller application program update.

4. The controller program updating system for engineering machinery with reusable calibration parameters according to claim 1 is characterized in that: The calibrated parameters are described using an A2L file, including: the name, address, type, range, unit and conversion method information of the calibration parameters.

5. The controller program updating system for engineering machinery with reusable calibration parameters according to claim 1, characterized in that: The first CCP module adopts the Master end protocol; the second CCP module adopts the Slave end protocol.

6. The updating method of the controller program updating system for engineering machinery with reusable calibration parameters according to any one of claims 1 to 5, characterized in that: Specifically include: Step 1.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect; Step 1.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the first CAN communication module, the first CCP module, the first integrity check module and the Flash driver module; Step 1.3: The host computer program sends a command to obtain the application version in the controller from the controller; Step 1.4: The host computer program reads and parses the corresponding A2L file from the database according to the obtained application version to obtain the calibrated parameter information of the current version; Step 1.5: The host computer program uses the CCP protocol to communicate with the Bootloader program to read the calibrated parameters of the current version according to the calibrated parameter information of the current version; Step 1.6: The host computer program reads and parses the corresponding A2L file from the database according to the version of the new application firmware to obtain the calibrated parameter information of the new version; Step 1.7: The host computer program converts the calibrated parameters read in step 1.5 into the calibration parameters corresponding to the new firmware according to the calibration parameter information of the two versions; Step 1.8: The host computer program integrates the calibration parameters of the new firmware obtained in step 1.7 into the new controller application firmware; Step 1.9: The host computer program passes the new controller application firmware with integrated calibration parameters to the controller bootloader program, and the controller bootloader program writes the new controller application firmware with integrated calibration parameters; Step 1.10: The host computer program and the controller bootloader program jointly verify the integrity of the new controller application firmware. After the verification passes, the controller bootloader program initializes the controller and jumps to the new controller application.

7. The updating method according to claim 6, characterized in that: The step 1.7 specifically includes: Step 1.7.1: Convert the calibrated parameters read from the current version of the application to the corresponding physical values ​​according to the conversion method recorded in the A2L file corresponding to the old firmware; Step 1.7.2: According to the conversion method recorded in the A2L file corresponding to the new firmware, reversely convert the physical values ​​obtained in step 1.7.1 into the internal values ​​of the controller application as the calibration parameters of the new firmware.

8. The updating method of the controller program updating system for engineering machinery with reusable calibration parameters according to any one of claims 1 to 5, characterized in that: Specifically include: Step 2.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect; Step 2.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the first CAN communication module, the first CCP module, the first integrity check module and the Flash driver module; Step 2.3: The host computer program sends a command to obtain the application version in the controller from the controller; Step 2.4: The host computer program reads the corresponding A2L file from the database according to the obtained application version and parses it to obtain the calibrated parameter information of the current version; Step 2.5: The host computer program uses the CCP protocol to communicate with the Bootloader program to read the calibrated parameters of the current version according to the calibrated parameter information of the current version; Step 2.6: The host computer program reads and parses the corresponding A2L file from the database according to the version of the new application firmware to obtain the calibration parameter information of the new version; Step 2.7: The host computer program converts the calibrated parameter information of the two versions to obtain the calibration parameters corresponding to the new firmware; Step 2.8: The host computer program passes the new controller application firmware to the controller bootloader program, and the controller bootloader program writes the new controller application firmware; Step 2.9: The host computer program and the controller Bootloader program jointly verify the integrity of the new firmware; Step 2.10: The host computer program solidifies the calibration parameters of the new firmware obtained in step 2.7 into the new controller application firmware written into the controller through the CCP protocol. After solidification is completed, the controller Bootloader program initializes the controller and jumps to the new controller application.

9. The updating method according to claim 8, characterized in that: The step 2.7 specifically includes: Step 2.7.1: Convert the calibrated parameters read from the current version of the application to the corresponding physical values ​​according to the conversion method recorded in the A2L file corresponding to the old firmware; Step 2.7.2: According to the conversion method recorded in the A2L file corresponding to the new firmware, reversely convert the physical values ​​obtained in step 2.7.1 into the internal values ​​of the controller application as the calibration parameters of the new firmware.

10. The updating method of the controller program updating system for engineering machinery with reusable calibration parameters according to any one of claims 1 to 5, characterized in that: Specifically include: Step 3.1: Restart the controller to enter the Bootloader program or the controller enters the Bootloader program according to the instruction and stays to wait for the host computer program to connect; Step 3.2: The host computer program connects to the Bootloader program, and the Bootloader program initializes the first CAN communication module, the first CCP module, the first integrity check module and the Flash driver module; Step 3.3: The host computer program passes the new controller application firmware to the controller bootloader program, and the controller bootloader program writes the new controller application firmware; Step 3.4: The host computer program and the controller bootloader program jointly verify the integrity of the new controller application firmware. After the verification passes, the controller bootloader program initializes the controller and jumps to the new controller application.

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