Controller hard wire signal processing method, device and equipment and readable storage medium

Abstract

A controller hardwire signal processing method, apparatus and device, and a readable storage medium, the controller hardwire signal processing method comprising: when it is detected that a hardwire signal of a target controller is in a suspended state, starting a standby circuit to restore the hardwire signal of the target controller to a state before the suspended state appears. According to the method and the device, aiming at the condition that the main controller is connected with the target controller by adopting a hard wire, when the main controller is reset, the hard wire signal of the target controller is in a suspended state, and the functional abnormity of the target controller is possibly caused, so that if the hard wire signal of the target controller is detected to be in the suspended state, the target controller is reset. If the main controller is reset at the moment, the standby circuit is started in time, and the hard wire signal of the target controller is recovered to a normal state before the reset, so that the functional abnormality of the target controller caused by the suspension of the hard wire signal of the target controller due to the reset of the main controller can be better avoided; and serious consequences are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle safety, and particularly relates to a controller hard-wire signal processing method and device, equipment and a readable storage medium. BACKGROUND

[0002] At present, with the increase of electrical devices on vehicles, the electrical environment of the vehicle is more complex. Due to software or hardware faults, the controller is prone to reset. After the main controller such as the vehicle controller resets, the target controller under control is prone to function abnormities due to the reset of the main controller, thereby causing a significant impact on the driving safety of the vehicle, and even threatening the life safety of the driver. For example, if the target controller under control is a hydrogen storage system controller, and the function abnormity is caused due to the reset of the main controller, the hydrogen supply will be interrupted, and the vehicle will be shut down.

[0003] In summary, for some target controllers under control, if the function abnormity is caused due to the reset of the main controller, serious consequences may be caused. SUMMARY

[0004] The present application provides a controller hard-wire signal processing method and device, equipment and a readable storage medium, and aims to solve the technical problem that for some target controllers under control, if the function abnormity is caused due to the reset of the main controller, serious consequences may be caused.

[0005] In a first aspect, the present application provides a controller hard-wire signal processing method, which comprises the following steps. When it is detected that the hard-wire signal of the target controller is in a suspended state, a backup circuit is enabled to restore the hard-wire signal of the target controller to a state before the suspended state appears, wherein the connection between the target controller and the main controller comprises a hard-wire connection, and the hard-wire signal of the target controller is controlled by the main controller.

[0006] Optionally, the connection between the target controller and the main controller further comprises a controller area network bus connection, and the target controller and the main controller exchange messages through the controller area network bus. After the step of enabling the backup circuit to restore the hard-wire signal of the target controller to the state before the suspended state appears, the method further comprises the following steps. The main controller generates a second control message based on a first control message sent to the target controller before the reset and a state message of the target controller received after the reset is completed. The main controller sends the second control message to the target controller to take over the control of the target controller.

[0007] Optionally, after the master controller sends the second control packet to the target controller and takes over the control of the target controller, the method further comprises: After the master controller completes the takeover control of the target controller, the backup circuit is closed.

[0008] Optionally, the enabling the backup circuit to restore the hard-wire signal of the target controller to the state before the suspension state includes: If the hard-wire signal of the target controller is in the power supply state before the suspension state, the backup circuit is enabled to connect the hard-wire to supply power to the target controller. If the hard-wire signal of the target controller is in the high level or low level before the suspension state, the backup circuit is enabled to connect the hard-wire to restore the hard-wire signal to the corresponding high level or low level.

[0009] Optionally, the controller hard-wire signal processing method further comprises: When it is detected that the voltage value corresponding to the hard-wire signal of the target controller is not in the preset range, the backup circuit is enabled to restore the voltage value corresponding to the hard-wire signal of the target controller to the preset range.

[0010] In a second aspect, an embodiment of the present application provides a controller hard-wire signal processing device, which comprises: A processing module is configured to enable a backup circuit to restore a hard-wire signal of a target controller to a state before a suspension state when it is detected that the hard-wire signal of the target controller is in the suspension state, wherein the connection between the target controller and a master controller includes a hard-wire connection, and the hard-wire signal of the target controller is controlled by the master controller.

[0011] Optionally, the connection between the target controller and the master controller further includes a controller area network bus connection, and the target controller and the master controller exchange packets through the controller area network bus, and the controller hard-wire signal processing device further comprises a generating module configured to: The master controller generates a second control packet based on a first control packet sent to the target controller before the reset and a state packet of the target controller received after the reset is completed; The master controller sends the second control packet to the target controller to take over the control of the target controller.

[0012] Optionally, the controller hard-wire signal processing device further comprises a closing module configured to: After the master controller completes the takeover control of the target controller, the backup circuit is closed.

[0013] Thirdly, embodiments of this application provide a controller hardwired signal processing device, the controller hardwired signal processing device including a processor, a memory, and a controller hardwired signal processing program stored in the memory and executable by the processor, wherein when the controller hardwired signal processing program is executed by the processor, it implements the steps of the controller hardwired signal processing method as described above.

[0014] Fourthly, embodiments of this application provide a readable storage medium storing a controller hardwired signal processing program, wherein when the controller hardwired signal processing program is executed by a processor, it implements the steps of the controller hardwired signal processing method as described above.

[0015] The beneficial effects of the technical solutions provided in this application include: In this embodiment, when a hardwired signal of the target controller is detected to be in a floating state, a backup circuit is activated to restore the hardwired signal of the target controller to its state before the floating state occurred. The connection between the target controller and the main controller includes a hardwired connection, and the hardwired signal of the target controller is controlled by the main controller. Through this embodiment, for cases where the main controller and target controller are connected by a hardwired connection, when the main controller resets, the hardwired signal of the target controller will become floating, potentially leading to malfunction of the target controller. For critical target controllers, this could have serious consequences. Therefore, if a floating hardwired signal of the target controller is detected, it indicates that the main controller has reset. By promptly activating the backup circuit to restore the hardwired signal of the target controller to its normal state before the reset, the malfunction of the target controller caused by a floating hardwired signal due to a main controller reset can be better avoided, thus preventing serious consequences. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the connection between the main controller and the target controller in an embodiment of the controller hardwired signal processing method of this application. Figure 2 This is a schematic diagram of a backup circuit for an embodiment of the controller hardwired signal processing method of this application; Figure 3 This is a first flowchart illustrating an embodiment of the controller hardwired signal processing method of this application; Figure 4 This is a second flowchart illustrating an embodiment of the controller hardwired signal processing method of this application; Figure 5 This is a schematic diagram of the hardware structure of the controller hardwired signal processing device involved in the embodiments of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0019] In a first aspect, embodiments of this application provide a controller hardwired signal processing method.

[0020] In one embodiment, the controller hardwired signal processing method includes: Step S10: When the hardwire signal of the target controller is detected to be in a floating state, the backup circuit is activated to restore the hardwire signal of the target controller to the state before the floating state occurred. The connection between the target controller and the main controller includes a hardwire connection, and the hardwire signal of the target controller is controlled by the main controller.

[0021] In this embodiment, the hardwire signal status of the target controller is monitored in real time. When the hardwire signal is detected to become floating, the backup circuit is immediately activated. This mechanism is based on a key principle: under normal operating conditions, the hardwire signal output by the main controller is not floating. When the main controller resets, the hardwire signal of the target controller will become floating. A floating hardwire signal can easily cause malfunctions in the target controller, even leading to serious consequences. Therefore, detecting a floating hardwire signal in the target controller indicates a main controller reset. By immediately activating the backup circuit, the hardwire signal of the target controller is restored to its state before the main controller reset, ensuring the target controller continues to operate normally and avoiding vehicle malfunctions caused by a main controller reset. This approach not only improves vehicle reliability but also avoids serious safety issues caused by main controller resets, such as vehicle shutdown due to hydrogen supply interruption in fuel cell commercial vehicles, thus significantly improving driving safety and user experience.

[0022] It should be noted that, referring to Figure 1 , Figure 1 This is a schematic diagram showing the connection between the main controller and the target controller in an embodiment of the controller hardwired signal processing method of this application, as shown below. Figure 1As shown, in the application scenario of this invention, the connection between the target controller and the main controller (vehicle controller) includes not only the controller area network bus (i.e., CAN bus) connection, but also a hardwired connection. The control of the target controller by the vehicle controller includes not only the control commands of CAN bus communication, but also the hardwired wake-up signal of the vehicle controller to the target controller, such as 24V (volt) power supply control. This control logic uses the relevant hardwired control output of the vehicle controller as the control input of the relay, and the pin of the target controller that receives the hardwired signal is the functional output of the relay. The target controller includes, but is not limited to, hydrogen fuel system controllers, motor control system controllers, and other target controllers such as HMS (Hydrogen Management System, hydrogen storage system controller), all of which can be applied to the method of this embodiment. The main controller is not limited to the vehicle controller, but also includes other controllers that apply control to the target controller through hardwired connections and CAN bus.

[0023] Reference Figure 2 , Figure 2 This is a schematic diagram of a backup circuit for an embodiment of the controller hardwired signal processing method of this application, as shown below. Figure 2 As shown, the hard-wire signal of the target controller is monitored by the backup circuit. When the hard-wire signal is detected to be in a floating state, it indicates that the vehicle controller has been reset. The backup circuit is immediately activated to restore the hard-wire signal to its state before the reset, ensuring that the target controller continues to work normally. It should be noted that the execution subject for detecting the floating state of the hard-wire signal of the target controller can be any device with corresponding functions, in addition to the target controller or the backup circuit. Furthermore, various methods can be used to detect the floating state of the hard-wire signal. For example, by detecting the status message of the target controller, when a certain flag bit appears in the status message, it indicates that the hard-wire signal of the target controller is in a floating state.

[0024] Furthermore, in one embodiment, the connection between the target controller and the main controller also includes a controller area network (CLAN) bus connection, through which the target controller and the main controller exchange messages, as described above. Figure 3 , Figure 3 This is a first flowchart illustrating an embodiment of the controller hardwired signal processing method of this application, as shown below. Figure 3 As shown, after step S10, the following steps are included: Step S20: After the main controller completes the reset, it generates a second control message based on the first control message sent to the target controller before the reset and the status message received from the target controller after the reset. In step S30, the main controller sends a second control message to the target controller to take over control of the target controller.

[0025] In this embodiment, after the main controller completes the reset, it first receives a status message from the target controller, which reflects the current state of the target controller. Then, the main controller compares the first control message sent before the reset with the received status message to generate a second control message. The design principle of the second control message is to ensure that the target controller can seamlessly take over control after the reset, avoiding state jumps. This ensures the continuity of CAN bus communication, allowing the target controller to continue operating in its pre-reset state. This approach not only solves the problem of suspended hard-wired signals but also guarantees the continuity of CAN bus communication, further improving the reliability and safety of the vehicle system. Specifically, after the vehicle controller resets, the first control message sent to the target controller before the reset is combined with the status message received after the reset to generate a second control message that better reflects the current state of the target controller. This avoids sudden changes in vehicle state caused by changes in control commands, ensuring smooth and safe vehicle operation.

[0026] Furthermore, in one embodiment, reference is made to Figure 4 , Figure 4 This is a second flowchart illustrating an embodiment of the controller hardwired signal processing method of this application, as shown below. Figure 4 As shown, after step S30, the following steps are included: Step S40: After the main controller completes the takeover control of the target controller, the backup circuit is shut down.

[0027] In this embodiment, the backup circuit can be shut down promptly after the main controller completes its takeover control of the target controller. The principle behind shutting down the backup circuit is that when the main controller resumes normal operation, its output hardwired signal will no longer be in a floating state and will return to its state before the reset. If the backup circuit continues to be activated at this time, it may lead to dual control of the hardwired signal, causing control conflicts. Therefore, shutting down the backup circuit promptly after the main controller resumes normal operation and takes over the target controller ensures that control of the hardwired signal is completely returned to the main controller, avoiding control conflicts and guaranteeing the stability and reliability of the system. This approach ensures a smooth transition during the reset fault handling process, avoids potential problems caused by the continuous operation of the backup circuit, such as control disturbances caused by dual control of the hardwired signal, and further improves the safety and reliability of the system.

[0028] Furthermore, in one embodiment, the step of activating the backup circuit to restore the hardwired signal of the target controller to its state before the floating state occurred includes: If the hardwired signal of the target controller is in a powered state before it becomes floating, then the backup circuit is activated to connect the hardwired signal to power the target controller. If the hardwired signal of the target controller is high or low before it becomes floating, the backup circuit is activated to connect the hardwired signal and restore it to the corresponding high or low level.

[0029] In this embodiment, the backup circuit design needs to be adapted to the hardwired signal type of the target controller. When the target controller's hardwired signal is in a powered state (e.g., 24V power supply), the backup circuit needs to provide a stable power supply to ensure that the target controller can continuously receive power. When the target controller's hardwired signal is high or low (e.g., a wake-up signal), the backup circuit needs to be able to simulate the main controller's output and provide the corresponding high or low level signal. This design takes into account the characteristics of different hardwired signal types, ensuring that the backup circuit can accurately restore the state of the hardwired signal. For example, in fuel cell commercial vehicles, the wake-up signal of the hydrogen storage system controller (HMS) is usually powered by 24V. When the vehicle controller resets, causing this signal to float, the backup circuit will immediately provide 24V power to ensure that the HMS can work normally and avoid hydrogen supply interruption. In this way, the control requirements of different types of target controllers can be met, ensuring that they can work normally during the main controller reset, avoiding system failures caused by abnormal hardwired signals, and significantly improving the reliability and safety of the entire vehicle.

[0030] Furthermore, in one embodiment, the controller hardwired signal processing method further includes: When the voltage value corresponding to the hard-wired signal of the target controller is detected to be outside the preset range, the backup circuit is activated to restore the voltage value corresponding to the hard-wired signal of the target controller to the preset range.

[0031] In this embodiment, in addition to detecting whether the hard-wire signal is in a floating state, monitoring of the hard-wire signal voltage value is also added. When the voltage value of the hard-wire signal is detected to exceed a preset range (e.g., below or above the normal operating range), the backup circuit is activated to restore the voltage value to the preset range. This processing method can handle more complex fault conditions, such as abnormal voltage values ​​output by the main controller, rather than just a floating state. For example, when the voltage value output by the vehicle controller is unstable during the reset process, causing the hard-wire signal voltage value of the target controller to exceed the normal range (e.g., the 24V power supply signal drops to 12V), the backup circuit will immediately intervene to restore the voltage value to 24V. This multi-dimensional fault detection and processing mechanism significantly improves the robustness of the vehicle system, ensuring that the target controller can work normally under various abnormal conditions, further enhancing the safety and reliability of the entire vehicle. In this way, this solution can cope with various abnormal situations that may occur during the main controller reset process, ensuring that the vehicle system can maintain stable operation under various fault conditions.

[0032] Secondly, embodiments of this application also provide a controller hardwired signal processing device.

[0033] In one embodiment, the controller hardwired signal processing device includes: The processing module is used to activate the backup circuit to restore the hard-wired signal of the target controller to the state before the hard-wired signal of the target controller was detected to be in a floating state when it is detected that the hard-wired signal of the target controller is in a floating state. The connection between the target controller and the main controller includes a hard-wired connection, and the hard-wired signal of the target controller is controlled by the main controller.

[0034] Furthermore, in one embodiment, the connection between the target controller and the main controller further includes a controller area network (CLAN) bus connection, through which the target controller and the main controller exchange messages. The controller hardwired signal processing device further includes a generation module for: After the main controller completes the reset, it generates a second control message based on the first control message sent to the target controller before the reset and the status message received from the target controller after the reset. The main controller sends a second control message to the target controller to take over control of the target controller.

[0035] Furthermore, in one embodiment, the controller hardwired signal processing device further includes a shutdown module for: After the main controller completes the takeover control of the target controller, the backup circuit is shut down.

[0036] Furthermore, in one embodiment, the activation of the backup circuit restores the hardwired signal of the target controller to its state before the floating state occurred for the following purposes: If the hardwired signal of the target controller is in a powered state before it becomes floating, then the backup circuit is activated to connect the hardwired signal to power the target controller. If the hardwired signal of the target controller is high or low before it becomes floating, the backup circuit is activated to connect the hardwired signal and restore it to the corresponding high or low level.

[0037] Furthermore, in one embodiment, the controller hardwired signal processing device further includes a recovery module, used for: When the voltage value corresponding to the hard-wired signal of the target controller is detected to be outside the preset range, the backup circuit is activated to restore the voltage value corresponding to the hard-wired signal of the target controller to the preset range.

[0038] The functions of each module in the controller hardwired signal processing device correspond to the steps in the controller hardwired signal processing method embodiment, and their functions and implementation processes will not be described in detail here.

[0039] Thirdly, embodiments of this application provide a controller hardwired signal processing device.

[0040] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the controller hardwired signal processing device involved in the embodiments of this application. In the embodiments of this application, the controller hardwired signal processing device may include a processor, a memory, a communication interface, and a communication bus.

[0041] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0042] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting devices within the controller's hardwired signal processing equipment, as well as interfaces used for interconnecting the controller's hardwired signal processing equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0043] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0044] The processor can be a general-purpose processor, which can call the controller hard-wired signal processing program stored in the memory and execute the controller hard-wired signal processing method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the controller hard-wired signal processing program is called can be referred to in various embodiments of the controller hard-wired signal processing method of this application, and will not be repeated here.

[0045] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0046] Fourthly, embodiments of this application also provide a readable storage medium.

[0047] The present application has a readable storage medium storing a controller hardwired signal processing program, wherein when the controller hardwired signal processing program is executed by a processor, it implements the steps of the controller hardwired signal processing method as described above.

[0048] The method implemented when the controller hard-wired signal processing program is executed can be referred to in various embodiments of the controller hard-wired signal processing method of this application, and will not be repeated here.

[0049] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0050] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0051] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0052] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0053] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0054] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0055] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A controller hardwired signal processing method, characterized in that, The controller hardwired signal processing method includes: When the hardwire signal of the target controller is detected to be in a floating state, the backup circuit is activated to restore the hardwire signal of the target controller to the state before the floating state occurred. The connection between the target controller and the main controller includes a hardwire connection, and the hardwire signal of the target controller is controlled by the main controller.

2. The controller hardwired signal processing method as described in claim 1, characterized in that, The connection between the target controller and the main controller also includes a controller area network (CLAN) bus connection. The target controller and the main controller exchange messages via the CLAN bus. After the backup circuit is activated to restore the target controller's hardwire signal to its state before the hardwire signal was detected to be in a floating state when the target controller's hardwire signal is detected to be floating, the following steps are included: After the main controller completes the reset, it generates a second control message based on the first control message sent to the target controller before the reset and the status message received from the target controller after the reset. The main controller sends a second control message to the target controller to take over control of the target controller.

3. The controller hardwired signal processing method as described in claim 2, characterized in that, After the main controller sends a second control message to the target controller to take over control of the target controller, the process includes: After the main controller completes the takeover control of the target controller, the backup circuit is shut down.

4. The controller hardwired signal processing method as described in claim 1, characterized in that, The step of activating the backup circuit to restore the hardwired signal of the target controller to its state before the floating state occurred includes: If the hardwired signal of the target controller is in a powered state before it becomes floating, then the backup circuit is activated to connect the hardwired signal to power the target controller. If the hardwire signal of the target controller is high or low before it becomes floating, the backup circuit is activated to connect the hardwire and restore the hardwire signal to the corresponding high or low level.

5. The controller hardwired signal processing method as described in claim 1, characterized in that, The controller hardwired signal processing method further includes: When the voltage value corresponding to the hard-wired signal of the target controller is detected to be outside the preset range, the backup circuit is activated to restore the voltage value corresponding to the hard-wired signal of the target controller to the preset range.

6. A controller hardwired signal processing device, characterized in that, The controller hardwired signal processing device includes: The processing module is used to activate the backup circuit to restore the hard-wired signal of the target controller to the state before the hard-wired signal of the target controller was detected to be in a floating state when it is detected that the hard-wired signal of the target controller is in a floating state. The connection between the target controller and the main controller includes a hard-wired connection, and the hard-wired signal of the target controller is controlled by the main controller.

7. The controller hardwired signal processing device as described in claim 6, characterized in that, The connection between the target controller and the main controller also includes a controller area network (CLAN) bus connection. The target controller and the main controller exchange messages via the CLAN bus. The controller hardwired signal processing device further includes a generation module for: After the main controller completes the reset, it generates a second control message based on the first control message sent to the target controller before the reset and the status message received from the target controller after the reset. The main controller sends a second control message to the target controller to take over control of the target controller.

8. The controller hardwired signal processing device as described in claim 7, characterized in that, The controller hardwired signal processing device further includes a shutdown module for: After the main controller completes the takeover control of the target controller, the backup circuit is shut down.

9. A controller hardwired signal processing device, characterized in that, The controller hardwired signal processing device includes a processor, a memory, and a controller hardwired signal processing program stored in the memory and executable by the processor, wherein when the controller hardwired signal processing program is executed by the processor, it implements the steps of the controller hardwired signal processing method as described in any one of claims 1 to 5.

10. A readable storage medium, characterized in that, The readable storage medium stores a controller hardwired signal processing program, wherein when the controller hardwired signal processing program is executed by a processor, it implements the steps of the controller hardwired signal processing method as described in any one of claims 1 to 5.

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