JP3442806B2 - Job priority processing method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a job priority processing method for improving efficiency of processing a plurality of jobs in vehicle control.

[0002]

2. Description of the Related Art In recent years, microcomputers have been introduced into vehicles such as automobiles, and it has become possible to control engines, power trains and the like with high precision. Therefore, in the development of the vehicle control system, the software development of the microcomputer has become a major factor, and the efficiency of the processing on the control algorithm has become an important issue.

In this case, in the engine control system using the above microcomputer, a job for performing equal time interval processing for discrete value processing based on digital control theory, such as an intake air amount and a fuel injection amount, an ignition timer set, etc. There are multiple jobs for each control strategy, such as jobs that perform processing based on crank position information, and these jobs are normally interrupted at predetermined time intervals and crank angles. Various proposals have heretofore been made to appropriately execute a plurality of interrupt processes.

For example, in Japanese Patent Laid-Open No. 55-137358, when another interrupt request is issued during execution of one interrupt processing program, the fact that the request is generated is registered, and the interrupt processing is performed. There is disclosed a technique of executing an interrupt processing program corresponding to a registered request after the interrupt processing program being executed is terminated without executing the interrupt processing program.

Further, in Japanese Unexamined Patent Publication No. 62-10453, an interrupt routine having a lower level of priority is used to make control decisions such as ignition timing control and fuel injection control in accordance with the stored rotation angle. A prior art is disclosed in which even if an upper level interrupt occurs during interrupt processing, the process is always restarted according to the rotation angle before the interrupt.

[0006]

However, when the interrupt processing program corresponding to the registered request is executed after the interrupt processing program being executed is completed,
A job with a long processing time may cause the next important job to wait.

Further, as described above, in vehicle control, there are many jobs to be processed in addition to the jobs synchronized with the rotation of the engine, and all the interrupt processing of the rotation synchronization is executed with priority over other processing. It does not have to be, but when multiple interrupts of multiple jobs occur, simply
It is not possible to deal with each interrupt request only by executing the lower level interrupt routine according to the stored rotation angle.

That is, only executing a plurality of jobs in the order of interruption, or uniquely giving the highest priority to the rotation-synchronized interruption causes not only a decrease in processing efficiency but also an equal time interval or a predetermined timing. It is difficult to properly process a job that must be performed.

The present invention has been made in view of the above circumstances, and improves the execution efficiency of a job for each control strategy in vehicle control, and makes it possible to perform accurate processing at equal time intervals or at predetermined timings. It is intended to provide a preferential treatment method.

[0010]

In order to solve the problem] was to achieve the above purpose
Therefore, the invention according to claim 1 is defined by the execution cycle.
If you run multiple jobs with different priority levels in priority order
In both cases, when multiple interrupts occur, the job on the low priority side
The number of interrupt requests of the
Execute the stored interrupt request count for the next lower priority job
In the priority processing method of the job for controlling the vehicle,
Assigning an overlap counter for each priority level
Both are used for periodic interrupt processing that is executed at fixed basic times.
In addition, the priority is indicated and each integer multiple of the above basic time
A job flag indicating a job interrupt request for each execution cycle
Corresponding to each execution cycle at intervals of an integral multiple of the above basic time
Set each of them and use either
Judge whether the job flag is set or not, and
When the job flag is set, the
Whether the job flag of the previous level or lower is set
Job interrupts that are below the current level due to multiple interrupts.
When the lag is set, the job of the low priority level is
Of the overlap counter that indicates the number of execution requests
The counter value is incremented and the current priority level
Whether or not the job flag of high priority level is set
Whether the job flag is higher than the current level
When is set, the priority level
The job flag corresponding to the priority level is set
It is judged by the set job flag.
Of priority level overlap counters
The job that counts up the value and has a higher priority level than the current one
When the flag is not set, the priority level
The job is counted by the overlap counter of the priority level.
Run the number of times indicated by the default value and execute the above job
After that, the priority levels are sequentially lowered, and the priority level is reduced for each priority level.
Determine the count value of Bell's overlap counter,
Indicated by the count value of the overlap counter
It is characterized in that the job of the priority level is executed a number of times .

According to a second aspect of the invention, the execution cycle determines
Multiple isochronous processes with different priority levels
And for each predetermined crank angle synchronized with the engine rotation
Jobs are executed in priority order and multiple interrupts occur.
The interrupt request count of the job on the low priority side,
Then, after executing the high-priority job,
Stores the number of stored interrupt requests for the vehicle control
The priority processing method of Job
-Assign a lap counter and
For a physical job, a constant job is executed every fixed basic time.
Period interrupt processing indicates priority and the above basic time
A job interrupt request for each execution cycle that is an integer multiple of
The job flag at each execution cycle at intervals of an integral multiple of the above basic time.
Corresponding to the period, set each to
Check whether any of the job flags are set.
Judgment, when the above job flag is set,
In addition, job flags below the current priority level are set.
It is determined whether or not it is
When the following job flags are set, the
Overlap that indicates the number of execution requests for the previous level job
The count value of the counter is increased and
Job flag of priority level higher than priority level is set
It is judged whether or not the job is performed at a predetermined crank angle.
Regarding the above, in the interrupt processing for each crank angle,
Counts the overlap counter corresponding to the previous level
Up and set the job flag of the corresponding priority level
However, the priority level is interrupted by interrupt processing for each predetermined crank angle.
After setting the job flag of the
Only higher level jobs than the current level in processing
When the flag is set, the priority level is increased sequentially.
The job flag corresponding to the priority level is set
The job flag that has been set,
Of the overlap counter of the priority level indicated by
The count value is incremented and the higher priority level
If the job flag is not set, the priority level
Bell job is overlapped counter of the priority level
Execute the number of times indicated by the count value of
After the execution, the priority level is lowered in sequence and the priority level is reduced for each priority level.
Determine the count value of the previous level overlap counter
Indicated by the count value of the overlap counter.
The job of the priority level is executed the number of times that the job is executed .

The invention according to claim 3 is the same as claim 1 or the contract.
In the invention described in claim 2, the job for each priority level is
Set at the start of execution and cleared at the end of execution
It has a job in progress flag and the priority level for each priority level.
The count value of the overlap counter
Number of times indicated by the count value of the overlap counter
The number of job executions when executing a job of the priority level.
Refers to the in-process flag and the job in-execution flag is set
The job that was interrupted by multiple interrupts
Characterized in that row.

[0013]

[0014] The invention of claim 4, wherein the organic in the invention described in any one of claims 1 to 3, as a target jobs isochronous process, a plurality of positions of the above basic time as one location However, in correspondence with an integer multiple of the job execution cycle of each priority level with respect to the basic time, there is provided a table in which data for setting job flags of the corresponding priority level is arranged at positions of integer multiples, and a fixed basic time is set. In the periodic interrupt process executed every time, the pointer designating the table position is incremented to refer to the table, and the job flag indicating the job interrupt request for each execution cycle is set for the job of the equal time interval process. It is characterized by

[0015] According to a fifth aspect of the invention, organic in the invention described in any one of claims 1 to 3, as a target jobs isochronous process, a plurality of positions of the above basic time as one location Then, corresponding to the integer multiple of the job execution cycle of each priority level from the highest priority level to the preset middle priority level for the basic time, the job flag of the priority level is set at the position of the integer multiple interval. For a job of equal time interval processing and a first table in which data to be processed is arranged, the execution cycle of the above-mentioned medium priority level job is set as a basic time, and the basic time is defined as one position, and a plurality of positions are set. Then, the job flag of the corresponding priority level is set at the position of the integer multiple interval corresponding to the integer multiple of the job execution cycle of each priority level up to the lowest priority level with respect to the basic time. A second table in which data is arranged, and in a periodic interrupt process executed at fixed basic time intervals, the pointer designating the position of the first table is incremented to refer to the first table and A pointer for designating the position of the second table is incremented to correspond to the execution cycle of the medium priority level job, and the second table is referred to. It is characterized in that a job flag indicating a job interruption request is set.

[0016]

[0017]

The invention according to claim 1 is defined by the execution cycle.
Run multiple jobs with different priority levels in priority order
The overlap counter for each priority level.
Allocate. And a regular run every fixed basic time
Interrupt processing indicates priority and the above basic time
A job interrupt request for each execution cycle that is an integer multiple of
Buflag for each execution cycle at intervals of an integral multiple of the basic time.
Set each accordingly. And for periodic interrupt processing
Whether any of the job flags are set
If the job flag is set,
In addition, job flags below the current priority level are set.
It is determined whether or not And due to multiple interrupts
When a job flag below the current level is set
Indicates the number of execution requests for the low priority job.
Count up the count value of the burlap counter
The job level of a priority level higher than the current priority level.
Determine if the lag is set. And now
The job flag of a higher level than the
When you are in
Judge whether the corresponding job flag is set,
Priority level indicated by the set job flag
The count value of the overlap counter
Up. Also, the job flag of higher priority level than the current one
If is not set, the job of the priority level
Is the count value of the overlap counter of the priority level
Execute by the number of times. After executing the job, the priority level
Decrease the bell in sequence and turn the priority level o
Judge the count value of the burlap counter and
The number of times indicated by the count value of the lap counter,
Run the previous level job.

The invention according to claim 2 is defined by the execution cycle.
Multiple isochronous processes with different priority levels
And for each predetermined crank angle synchronized with the engine rotation
When executing jobs in priority order, the
Overlap counter is assigned. And at equal time intervals
Processing jobs are executed at fixed basic time intervals
Periodic interrupt processing indicates the priority and the above basic
Indicates a job interrupt request for each execution cycle that is an integral multiple of time
Each execution of the job flag at intervals of integer multiples of the above basic time
Set each corresponding to the cycle. And regular interruption
Only one of the job flags is set
The job flag is set.
Job flags below the current priority level
It is determined whether or not is set. And multiple discount
Job flags below the current level are set due to
The number of execution requests for the low priority job
The count value of the overlap counter indicating
Up to a higher priority level than the current priority level
It is determined whether the job flag is set. Well
Also, for a job for each predetermined crank angle,
The interrupt corresponding to the priority level in the interrupt processing for each corner
The burlap counter is incremented and the priority level
Set the bell job flag. And the predetermined clan
The job flag of the relevant priority level is processed by interrupt processing for each corner.
After setting the flag or during periodic interrupt processing.
A job flag higher than the current level is set
When it is, the priority level is gradually increased to the priority level.
Determine if the corresponding job flag is set
The priority indicated by the set job flag
Count the count value of the level overlap counter
Up. In addition, job jobs with higher priority levels
If the lag is not set, the priority level
The count of the overlap counter of the priority level.
Run the number of times indicated by the value. And the actual job
After the line, the priority level is gradually lowered and the priority is given to each priority level.
Determine the count value of the level overlap counter
Indicated by the count value of the overlap counter.
The job of the priority level is executed the number of times .

The invention according to claim 3 is for each priority level.
It is set when the job starts executing and cleared when the job ends.
The job execution flag is set. And the priority level
For each bell, the counter of the overlap counter of the priority level
Count of the overlap counter by judging the counter value
The job of the priority level is executed the number of times indicated by the value.
When the job is running, refer to the job running flag
Interrupted by multiple interrupts when flag is set
Execute the job you were doing.

[0020]

The invention according to claim 4 is for processing at equal time intervals.
For the job, the basic time as one position
It has multiple positions, and each priority level
Corresponding to an integer multiple of the job execution cycle,
Data that sets the job flag of the priority level
Is provided with a table. And at a certain basic time
In the periodic interrupt processing executed every interval, the table
Table by incrementing the pointer that specifies the position
Refer to each job for equal time interval processing
Set the job flag that indicates the job interrupt request for each execution cycle.
To put.

The invention according to claim 5 is for processing at equal time intervals.
For the job, the basic time as one position
The highest priority level for the basic time having a plurality of positions
To each intermediate priority level set in advance
Corresponding to an integer multiple of the job execution cycle of
Data that sets the job flag of the priority level corresponding to the position
Data is placed on the first table and at the same time interval processing
Jobs with medium priority level above
The cycle is the basic time, and the basic time is one position.
The lowest priority level for the base time, having a number of positions
Up to an integer multiple of the job execution cycle of each priority level up to
The job flags of the priority level
The second table with the data to set
Prepare And a periodical schedule that is executed every fixed basic time
Specify the position of the first table in the embedding process
Increment the pointer and make the first table reference
Along with the execution cycle of the above-mentioned medium priority level jobs
The pointer that specifies the position of the second table above.
And refer to the second table for equal time
Job allocation for each execution cycle, targeting remote processing jobs
Set a job flag indicating a request for inclusion.

[0023]

[0024]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a flowchart of job priority processing, FIG. 2 is a flowchart of periodic interrupt processing every 0.5 ms, FIG. 3 is a flowchart of Krasen interrupt processing, and FIG. 4 is a job flag creation subroutine. 5 is a partial flowchart 1 of the job execution subroutine, FIG. 6 is a partial flowchart 2 of the job execution subroutine, FIG. 7 is a partial flowchart 3 of the job execution subroutine, FIG. 8 is a partial flowchart 4 of the job execution subroutine, and FIG. FIG. 10 is an explanatory diagram showing a job execution state, FIG. 10 is an explanatory diagram of a job flag, and FIG.
Is an explanatory diagram of a job flag table, FIG. 12 is an explanatory diagram of crank position variables, FIG. 13 is an explanatory diagram showing changes in a job execution flag and an overlap counter, FIG. 14 is an explanatory diagram of a system shift buffer, and FIG. 15 is an engine. FIG. 16 is a front view of a crank rotor and a crank angle sensor, FIG. 17 is a front view of a cam rotor and a cam angle sensor,
FIG. 18 is a circuit configuration diagram of the electronic control system.

The vehicle control system in this embodiment is, for example, an engine control system for performing fuel injection control, ignition timing control, etc., and as shown in FIG. 18, an electronic control unit (ECU) 50 having a microcomputer as its core.
The engine system shown in FIG. 15 is controlled by. This E
The microcomputer of the CU 50 is equipped with an operating system (OS) based on a new concept, and under the control of this OS, each job based on each control strategy is executed according to each priority level.

First, the equipment configuration of the engine system will be described. As shown in FIG. 15, an engine 1 (a horizontally opposed four-cylinder engine is shown in the drawing) has an intake manifold 3 in communication with an intake port 2 a of a cylinder head 2, and an air chamber 4 is provided upstream of the intake manifold 3. The throttle passage 5 is communicated with each other. An air cleaner 7 is attached to the upstream side of the throttle passage 5 via an intake pipe 6, and the air cleaner 7 is in communication with an air intake chamber 8 which is an intake port for intake air.

An exhaust pipe 10 is connected to the exhaust port 2b via an exhaust manifold 9, and a catalytic converter 11 is connected to the exhaust pipe 10 and is connected to a muffler 12. On the other hand, a throttle valve 5a is provided in the throttle passage 5, and an intercooler 13 is provided in the intake pipe 6 immediately upstream of the throttle passage 5,
Further, a resonator chamber 14 is interposed downstream of the air cleaner 7 in the intake pipe 6.

Further, an idle speed control valve (IS) is provided in a bypass passage 15 which connects the resonator chamber 14 and the intake manifold 3 and bypasses the upstream side and the downstream side of the throttle valve 5a.
CV) 16 is interposed. Furthermore, this ISCV1
A check valve 17 which is opened immediately downstream of 6 when the intake pressure is a negative pressure and which is closed when the intake pressure becomes a positive pressure by being supercharged by a turbocharger 18 is interposed.

In the turbocharger 18, a compressor housing is provided downstream of the resonator chamber 14 of the intake pipe 6, and a turbine housing is provided in the exhaust pipe 10. Further, a wastegate valve 19 is provided at the turbine housing inlet of the turbocharger 18, and a wastegate valve actuating actuator 20 is connected to the wastegate valve 19.

The waste gate valve actuating actuator 20 is partitioned into two chambers by a diaphragm, one of which forms a pressure chamber communicating with the waste gate valve controlling duty solenoid valve 21, and the other of which forms the waste gate valve 19. A spring chamber is formed that houses a spring that urges in the closing direction.

The wastegate valve controlling duty solenoid valve 21 is provided in a passage communicating between the resonator chamber 14 and the compressor housing downstream of the turbocharger 18 of the intake pipe 6, and the EC
The pressure on the resonator chamber 14 side and the pressure on the compressor housing downstream side are adjusted according to the duty ratio of the control signal output from U50, and the pressure is supplied to the pressure chamber of the waste gate valve operating actuator 20.

That is, the wastegate valve controlling duty solenoid valve 21 is controlled by the ECU 50, and the wastegate valve operating actuator 20 is controlled.
Is operated to adjust the exhaust gas relief by the waste gate valve 19, so that the supercharging pressure by the turbocharger 18 is controlled.

An absolute pressure sensor 22 is connected to the intake manifold 3 through a passage 23, and the passage 2
3, an intake pipe pressure / atmospheric pressure switching solenoid valve 24 that selectively communicates the absolute pressure sensor 22 with the intake manifold 3 or the atmosphere is interposed.

Further, an injector 25 is provided immediately upstream of each intake port 2a of each cylinder of the intake manifold 3.
Further, an ignition plug 26a whose tip is exposed to the combustion chamber is attached to each of the cylinders of the cylinder head 2, and an igniter 27 is connected to an ignition coil 26b connected to the ignition plug 26a. .

In the injector 25, the fuel tank 2
Fuel is pressure-fed from an in-tank type fuel pump 29 provided inside 8 through a fuel filter 30, and the pressure is regulated by a pressure regulator 31.

An intake air amount sensor 32 of a hot wire type or a hot film type is provided immediately downstream of the air cleaner 7 of the intake pipe 6, and the throttle valve 5a is connected to a throttle opening sensor 33a. Throttle sensor 33 with built-in idle switch 33b
Are lined up.

Further, a knock sensor 34 is attached to the cylinder block 1a of the engine 1, and a cooling water temperature sensor 36 is exposed to a cooling water passage 35 which connects the left and right banks of the cylinder block 1a. O2 at the collecting part of the above exhaust manifold 9
The sensor 37 is exposed.

A crank rotor 38 is rotatably mounted on a crank shaft 1b supported by the cylinder block 1a, and a crank angle sensor 39 including an electromagnetic pickup is provided on the outer periphery of the crank rotor 38. Further, a cam angle sensor 41 for discriminating a cylinder, which is composed of an electromagnetic pickup or the like, is provided opposite to a cam rotor 40 connected to the cam shaft 1c of the engine 1. still,
The crank angle sensor 39 and the cam angle sensor 41
Is not limited to a magnetic sensor such as an electromagnetic pickup, but may be an optical sensor.

As shown in FIG. 16, the crank rotor 38 has projections 38a, 38b and 38c formed on the outer periphery thereof, and the projections 38a, 38b and 38c are provided in the cylinders (# 1, # 2 and #). Before # 3, # 4 compression top dead center (BTD
C) It is formed at the positions of θ1, θ2, θ3, and in the present embodiment, θ1 = 97 ° CA, θ2 = 65 ° CA, θ3.
= 10 ° CA.

Each protrusion of the crank rotor 38 is detected by the crank angle sensor 39, and the BTDC 97
Crank angle signals of °, 65 °, and 10 ° are engine 1/2
It is output every rotation (every 180 ° CA). Then, the input interval time of each signal is counted by a timer, and the engine speed is calculated.

The protrusion 38b serves as a reference crank angle when setting the ignition timing, and the protrusion 38c serves as a reference crank angle for the injection start timing at the start and a crank angle indicating the fixed ignition timing at the start. .

Further, as shown in FIG. 17, on the outer periphery of the cam rotor 40, there are projections 40a, 40b for cylinder discrimination,
40c is formed, and the protrusion 40a is formed at the position after compression top dead center (ATDC) θ4 of the # 3 and # 4 cylinders.
b is composed of three protrusions, and the first protrusion is A for cylinder # 1.
It is formed at the position of TDCθ5. Furthermore, the protrusion 40
c is formed by two protrusions, and the first protrusion is A for cylinder # 2.
It is formed at the position of TCDθ6. In this embodiment, θ4 = 20 ° CA, θ5 = 5 ° CA, θ6 = 20 °
It is CA.

When each projection of the cam rotor 40 is detected by the cam angle sensor 41 and the combustion stroke sequence of each cylinder is # 1 → # 3 → # 2 → # 4, this combustion stroke sequence and Cylinder discrimination is performed based on the pattern of the detection signal of the cam angle sensor 41 and the value counted by the counter.

On the other hand, as shown in FIG.
Is mainly composed of two computers, a main computer 51 for performing fuel injection control, ignition timing control, and the like, and a dedicated sub computer 52 for performing knock detection processing. A constant voltage that supplies a predetermined stabilizing power source to each part. The circuit 53 and various peripheral circuits are incorporated.

The constant voltage circuit 53 includes an ECU relay 54.
The relay coil of the ECU relay 54 is connected to the battery 55 via an ignition switch 56.
Further, the constant voltage circuit 53 is directly connected to the battery 55, and further, the fuel pump 29 is connected via a relay contact of a fuel pump relay 57.

That is, the constant voltage circuit 53 supplies control power when the ignition switch 56 is turned on and the relay contact of the ECU relay 54 is closed, and the ignition switch 56 is turned off.
Supply the power for backup when

The main computer 51 has a CPU 5
8 (hereinafter, referred to as main CPU 58), ROM 59,
RAM 60, the ignition switch 56 is OFF
Backup RAM 6 which holds data by being supplied with backup power from the constant voltage circuit 53 even when
1, a counter / timer group 62, a serial communication interface SCI 63, and an I / O interface 64 are connected to each other via a bus line 65.

The counter / timer group 62 includes various counters such as a free-run counter, a cam angle sensor (hereinafter, abbreviated as "CamSens") signal counting counter, a fuel injection timer, an ignition timer, and the like. A periodic interrupt timer for generating a periodic interrupt every 0.5 ms described later, a crank angle timer for inputting a crank angle sensor (hereinafter, abbreviated as "clasen") signal interval, and a watchdog timer for system abnormality monitoring For the sake of convenience, the various types of timers such as the above are collectively referred to, and various other software counters and timers are used in the main computer 51.

In the sub computer 52, the CPU 71 (hereinafter referred to as the sub CPU 71), the ROM 72, the RAM 73, the counter / timer group 74, the SCI 75, and the I / O interface 76 are also connected to the bus line similarly to the main computer 51. The microcomputer is a microcomputer connected via 77, and the main computer 51 and the sub computer 52 are the SCI 63, 7
They are connected to each other via a serial communication line via 5.

The I / O interface 64 of the main computer 51 has an intake port, an intake air amount sensor 32, a throttle opening sensor 33a, and a water temperature sensor 3 at its input ports.
6, O2 sensor 37, absolute pressure sensor 22, vehicle speed sensor 4
2 and battery 55 are A / D of 8 channel input
The idle switch 33b, the crank angle sensor 39, and the cam angle sensor 41 are connected together via the converter 66.
Is connected, and further, a starter switch 43 is connected to detect the starting state.

In this embodiment, the A / D converter 66 uses inputs for 7 channels, and the remaining 1
The channel is reserved.

An igniter 27 is connected to the output port of the I / O interface 64, and further,
Through the drive circuit 67, the ISCV16, the injector 2
5, the relay coil of the fuel pump relay 57, the waste solenoid valve controlling duty solenoid valve 21, and the intake pipe pressure / atmospheric pressure switching solenoid valve 24 are connected.

On the other hand, the I / O of the sub computer 52
The interface 76 has an input port to which the crank angle sensor 39 and the cam angle sensor 41 are connected, and
The knock sensor 34 is connected via the D / D converter 78, the frequency filter 79, and the amplifier 80. The knock detection signal from the knock sensor 34 is amplified to a predetermined level by the amplifier 80, and then the frequency filter 79. The necessary frequency components are extracted by the A / D converter 78.
At, it is converted into a digital signal and input.

The main computer 51 processes the detection signals from the respective sensors and calculates the fuel injection pulse width, ignition timing and the like. That is, the intake air amount sensor 32
The intake air amount is calculated from the output signal, and the fuel injection amount corresponding to the intake air amount is calculated based on various data stored in the RAM 60 and the backup RAM 61, and the ignition timing and the like are calculated.

Then, a drive pulse width signal corresponding to the fuel injection amount is output to the injector 25 of the corresponding cylinder at a predetermined timing through the drive circuit 67 to inject fuel, and at the predetermined timing, the igniter 27 is also used. To the ignition plug 26a of the corresponding cylinder.

As a result, the air-fuel mixture supplied to the corresponding cylinder explodes and burns, the oxygen concentration in the exhaust gas is detected by the O 2 sensor 37 facing the collecting portion of the exhaust manifold 9, and the waveform of this detection signal is shaped. After that, the main CPU 58 compares the reference voltage (slice level) with
It is determined whether the engine air-fuel ratio state is on the rich side or lean side with respect to the target air-fuel ratio, and feedback control is performed so that the air-fuel ratio becomes the target air-fuel ratio.

On the other hand, in the sub-computer 52, a sample section of the signal from the knock sensor 34 is set based on the engine speed and the engine load, and the signal from the knock sensor 34 is A / D at high speed in this sample section. Then, the vibration waveform is faithfully converted into digital data to determine whether knock has occurred.

The output port of the I / O interface 76 of the sub computer 52 is connected to the input port of the I / O interface 64 of the main computer 51, and the knock determination result of the sub computer 52 is I / O. It is output to the interface 76. Then, in the main computer 51, when the sub computer 52 outputs a determination result indicating that knock has occurred, the knock data is read from the serial communication line via the SCI 63, and the ignition timing of the corresponding cylinder is immediately read based on the knock data. Delay and avoid knocks.

In such engine control, in the main computer 51, various programs for each item such as signal input processing from each sensor, engine speed calculation, intake air amount calculation, fuel injection amount calculation, ignition timing calculation, etc. Is efficiently executed under the control of one OS. This OS has various management functions for vehicle control and an internal strategy closely related to this management function, and systematically combines various jobs.

As the management function of the above OS, (1-1) job priority processing (1-2) divided file support for each job according to section definition (1-3) stack usage status monitoring function (1-4) Abnormal interrupt operation monitor function (1-5) Functions such as standard map and standard work memory settings that do not create unique restrictions for each job improve the control strategy development environment and maximize the limited CPU capacity. The same time interval processing which is the basis of digital control theory can be achieved as much as possible.

The equal time interval processing is based on a periodic interrupt every 0.5 ms and is 2, 4, 10, 50, 250.
Five types of equally interrupted jobs for every ms are prepared, and a high-priority class job (hereinafter simply referred to as classen job) that is immediately interrupted by crank angle signal input as processing synchronized with engine rotation. , A relatively low-urgency low-priority job that is interrupted by a crank angle signal input when there is no other job with a higher priority.

Each of these jobs includes a Krasen job>
The priority levels of 7 to 1 are assigned from the higher side to the lower side in the order of 2 ms job> 4 ms job> 10 ms job> low priority class job> 50 ms job> 250 ms job, and as shown in FIG. The low-speed job is divided into the high-speed job and processed, and the multiplex waiting process of each job is performed.

The programs operating under the OS are arranged in order for each function-specific area, and each function is named by a section declaration. Many strategy files (files on the user side) that work under the above OS use a section declaration with the same name as the OS for each function, so that at the development stage, for example,
Even if the initial value setting process, the process for every 10 ms, the background process, etc. are described in separate files, when each file is linked, the same process is collected in one continuous area and integrated with the OS. Works.

The main section areas used on each strategy file side are: ○ variable declaration area ○ self file name, automatic recording area during file creation ○ setting data area ○ class job area ○ 2ms job area ○ 4ms job area ○ 10ms Job area ○ Low priority class job area ○ 50ms job area ○ 250ms job area ○ Reset initialization job area ○ Engine stall initialization job area ○ Background job area ○ Program area, which divides the file for each function It enables program development and structured description of programs.

In addition, the above-mentioned OS has (2-1) A / D conversion processing (2-2) calculation of various information related to crank position (2-3) debug as an internal strategy closely related to the above management function. Simulation function (engine rotation and A / D conversion) (2-4) Ignition timer set (2-5) Fuel injection timer set and other functions are provided. Furthermore, various service routines related to these functions are provided. It is prepared in each job.

Conventionally, such a function has been achieved at each job level, but in this system,
If the fuel injection amount, ignition timing, etc. are set for each job on the user side based on the A / D conversion result processed by the OS side, crank position information, engine speed, etc. The instruction value is set by the OS in the fuel injection timer and the ignition timer.

Next, among the various functions of the OS in the main computer 51, the functions related to the job priority processing of the present application will be described based on the flowcharts of FIGS. Since the sub computer 52 is a computer dedicated to knock detection processing, its operation description is omitted.

First, the ignition switch 56 is turned on.
When the system is powered on, a reset interrupt associated with the reset is activated, various initializations are performed, and a periodic interrupt timer for activating the periodic interrupt is activated every 0.5 ms.
Each signal input from 9 (BTDC 97 °, 65 °, 10 °
The classen interrupt that is activated every six engine revolutions per CA) is permitted, and then the background job is executed.

Then, on this background job, a periodic interrupt every 0.5 ms and 6 times per engine revolution.
A job of the 7th level is preferentially processed by the number of classen interrupts. In these two interrupts, after executing their own processing, they jump to a common address and execute job priority processing.

The reset interrupt may be caused by factors that do not normally occur, such as when division by 0 is executed in an internal operation or when an infinite loop occurs.
Is activated.

First, the periodic interrupt every 0.5 ms shown in FIG. 2 will be described. In this periodic interrupt, step S1
At 00, set the OS work area, and at step S101,
When the watchdog timer is initialized, the process proceeds to step S102, and the P-RUN flag is set once every 20 times, that is, 10 times.
Invert every ms. The P-RUN flag is a flag for preventing the system from being automatically reset by a protection circuit (not shown), and is protected as long as the system operates normally and is inverted at regular time intervals (every 10 ms). The operation of the circuit is blocked.

Next, in step S103, the switch output is transferred. This switch output is the ON / OFF value of the bit written in the memory in each job. It is not directly output from the output port of the I / O interface 64 from each job, but the OS outputs the memory every 0.5 ms. Transfer the value to the output port.

Next, in step S104, the A / D conversion subroutine is executed to make various settings related to the A / D conversion, and in step S105, the job flag creation subroutine shown in FIG. , 4, 10, 50, 250m
Job flag JB_F indicating each job interrupt request for each s
After creating LG, in step S106, A / D conversion is started.

In the A / D conversion, basically, the 8-channel input of the A / D converter 66 is processed every 0.5 ms in a predetermined conversion order, and all the inputs are converted in a cycle of 4 ms. However, one specific channel is synchronized at every crank angle of 90 ° (with time accuracy of 0.5 ms) for A / D conversion of suction pipe pressure that causes rotational pulsation, and interrupts the conversion order. The processing is performed in a dull shape, and the order of subsequent inputs is delayed by one.

When the engine speed is 3750 rpm or more, the last input of A / D conversion is completely stopped, and
At 500 rpm or more, the penultimate input is also stopped, but the order of A / D conversion is that the throttle opening, intake air amount, etc. that have a fast change, and the cooling water temperature, voltage, etc., that have a relatively slow change. Is set so that
Moreover, since the last A / D conversion order is set to the crank synchronization input, no particular trouble occurs.

Further, as shown in FIG. 10, the job flag JB_FLG is one in which each bit of the 1-byte variable is assigned as a flag corresponding to each job, and a plurality of job requests can be made simultaneously. There is. Bits 1 to 7 of this 1-byte variable correspond to priority levels 1 to 7, and are respectively 250 ms job, 50 ms job,
It is assigned to flags of low priority class job, 10 ms job, 4 ms job, 2 ms job, and class job. Then, when a predetermined bit is set, a job interruption request of a corresponding priority level is made. still,
Bit 0 is assigned to the flag of the background job and is not normally referred to.

The job flag JB_FLG basically arranges 1-byte data in which bits corresponding to respective jobs of 2, 4, 10, 50, and 250 ms are set and zero data in a table, and It is created by incrementing the pointer designating the position of the table and referring to the table every time the flag creating routine is executed, that is, every 0.5 ms which is the basic time. As a result, even when the time interval of each regular job is changed, the data in the table can be flexibly dealt with without changing the algorithm of the job flag creation routine itself.

At this time, in the job flag creation subroutine, the job flag table JB as the first table for creating flags up to 2, 4, and 10 ms jobs
F_N and job flag table JBF as a second table for creating flags for 50,250 ms jobs
Two tables, _M, are prepared to save memory and speed up processing. The procedure will be described below with reference to the flowchart of FIG.

First, in step S400, the pointer JBF_I for the job flag table JBF_N is incremented by 1 to make a remainder of 40, and the pointer JBF_I is set to 1, 2, ..., 39, 0, every execution of this job flag creation subroutine.
By setting 1, 2, ..., 20 ms (= 0.
A cycle of 5 ms × 40) is generated. Then, step S4
The processing proceeds to 01 and the contents of the job flag table JBF_N designated by the pointer JBF_I, JBF_N [JBF
_I] is set in the job flag JB_FLG.

The job flag table JBF_N is
It is a 40-byte table corresponding to a cycle of 20 ms. As shown in FIG. 11A, a 1-ms flag of 2 ms job is set in a 40-byte data string.
Byte data JBT02 appears once every four times, 1-byte data JBT04 flagged for a 4ms job appears once every eight times, and 1-byte data JBT10 flagged for a 10ms job appears once every twenty times. It is placed in, and the others are zero data.

Therefore, every 0.5 ms × 4, 0.5 ms ×
8 every 0.5 ms × 20, each data JBT02, JB in the table designated by the pointer JBF_I
T04 and JBT10 are set in the job flag JB_FLG and are integer multiples of the basic time (0.5 ms).
The job flag JB_FLG in which the flag of each job is set is created every 4 and 10 ms.

After that, the process proceeds to step S402, and it is checked whether or not there is a flag for the 10 ms job, and it is determined whether or not the flag creation up to the 10 ms job is completed. And
If there is no flag for the 10 ms job and the flag creation up to the 10 ms job is not completed yet, the routine exits and the routine returns to the regular interrupt, and if the flag for the 10 ms job exists, the flag for the job of 50 ms or more is created. Proceed to S403.

In step S403, the pointer JBF_X for the job flag table JBF_M is incremented by 1 to obtain a remainder of 25, and the pointer JBF_X is set to 1, 2, ..., 24 ,.
Set 0, 1, 2, ..., 250ms (= 10ms x
25) is generated. Then, in step S404, the content JBF_M [JBF_X] of the job flag table JBF_M designated by the pointer JBF_X is set to the job flag JB_FLG, and the routine interrupt is returned.

The job flag table JBF_M is
It is a 25-byte sub-table corresponding to a cycle of 250 ms in units of 10 ms as the second basic time.
As shown in 1 (b), 5 bytes are stored in a 25-byte data string.
1-byte data JB with 0ms job flag set
T50 is arranged at intervals of 5, and 1-byte data JBTQR flagged for a 250 ms job is arranged to appear once every 25 times, and the others are zero data.

Therefore, the above-mentioned job flag table JB
Similar to the case of F_N, each data JBT50, JBT in the table designated by the pointer JBF_X
QR will be set in the job flag JB_FLG every 10 ms × 5, 10 ms × 25,
50,25 which is an integer multiple of the second basic time (10 ms)
A job flag JB_FLG in which a flag for each job is set is created every 0 ms.

Usually, if such a process is performed with one table, 500 bytes (0.5 ms × 500 = 0.5 ms × 500 = 0.5 ms) are required to create a flag for a 250 ms job.
250 ms) area is required, but in this job flag creation routine, the two job flag tables JBF_N and JBF_M have a total capacity of 65 bytes, which not only saves a large amount of memory but also speeds up. Flags can be created.

After the job flag JB_FLG is created by the job flag creation subroutine in step S105 and A / D conversion is started in step S106,
In step S107, it is checked whether or not the bit corresponding to any job of the job flag JB_FLG is set.

As a result, at step S107, when no bit is set in the job flag JB_FLG, there is no request from any job, and the interrupt is ended.
If any bit of the job flag JB_FLG is set, the process proceeds to step S108, and there is no flag equal to or lower than the current level (a state in which a job of a predetermined priority level is being executed at the time when this periodic interrupt is executed). Check whether or not.

If there is no flag below the current level in step S108, the process jumps to the job priority process shown in label WAR_JB in FIG. 1, and if there is a flag below the current level, in step S109 the level below the current level is reached. The overlap counter OLC of is increased by one.

The overlap counter OLC is a counter for storing a job request, 1 byte is allocated to each priority level, and the job flag JB_F is set.
It is incremented when a job is requested by LG and decremented when the job is completed. That is, by storing the job request by the counter, it is possible to deal with the multiple job request.

Then, the above steps S109 to S1
Go to step 10 to check whether there is a flag higher than the current level. If there is no flag higher than the current level, exit the routine and end the interrupt. If there is a flag higher than the current level, the job priority process of label WAR_JB is executed. Jump to.

On the other hand, in contrast to the periodic interrupt every 0.5 ms, the classen interrupt of FIG.
When the work area for use is set, in step S201, the crank position / half rotation time calculation subroutine is executed, and the crank position variable for determining the current crank position and the half of the latest three Classen intervals are calculated. Calculate the rotation time.

The above crank position variables are system variables prepared in the OS, and as shown in FIG.
Crank position for # 4 cylinder is 97 °, 65 °, 1
It is divided into 12 states by 0 ° CA and represents the current crank position.

That is, for each cylinder, the Krasen order S_CCAS, # indicating the Krasen input order by the numerical values of 0, 1, 2
Cylinder order S_RCAS that indicates the combustion order of cylinders, where 1 cylinder is 0, # 3 cylinder is 1, # 2 cylinder is 2, and # 4 cylinder is 3, and the Krasen order and the cylinder order are comprehensively represented by the numerical values of 0-11. The current crank position is represented by the three variables of the total position S_ACAS, which is 0 when the crank position is normally discriminated with confirmation, 1 is an estimated state where the discriminant results are not consistent and 1 is anxious, and unknown state. An error level S_ECAS of 2 indicates the determination status of the crank position.

Then, from step S201 to step S2
When the process proceeds to 02, it is checked by reading the code stored in the accumulator A whether the crank position determination in the crank position / half-rotation time calculation subroutine has ended normally or cannot be determined (error code 1, normal Exit code 0).

Then, in step S202, when the value of the accumulator A is 1 and the crank position cannot be determined, the interrupt is ended, the value of the accumulator A is 0, and the crank position is determined normally. If so, the process proceeds to step S203, and the engine stall flag is cleared.

Note that the class flag is set to 0. This flag is set when the time of 5 seconds or more (about 30 rpm or less) is measured and indicates that the engine is in the stalled state. It is cleared by this classen interrupt and the stalled state is released.

Next, in step S204, the ignition timer setting subroutine is executed, and the ignition timer is set in accordance with the ignition schedule created based on the instruction value of the ignition timing set on the user job side. This ignition schedule is for dwell start time, dwell on waiting time,
This is a structure variable whose members are the dwell off waiting time and the like. A creation routine is prepared during the 10 ms job, and the ignition sequence is determined according to this ignition schedule.

Next, in Sup S205, the subroutine for the fuel injection timer setting is executed, and the fuel injection amount instruction value (injection width for each cylinder) set on the user job side is set to
The fuel injection start timing is set in the fuel injection timer, and the process proceeds to step S206.

In step S206, it is determined whether or not the current job level at which this class is executed is the own job level. If the current status is the level of the class job, the class job is executed in steps S207 and S208. ,
Overlap counter OLC for low priority class job
Is incremented by 1 to terminate the interruption, and when the current job level is not the level of the class job, it is checked in step S209 whether the current job level is the level of the low priority class job or more.

If the current job level is equal to or higher than the low priority class job, the process proceeds from step S209 to step S210 to increment the overlap counter OLC of the low priority class job by 1 and step S2
At 11, the job flag of the class job is set, and the process jumps to the job priority process of the label WAR_JB.

On the other hand, in step S209, if the current job level is not lower than the low-priority class job, the process proceeds from step S209 to step S212, and the job flag of the class job is set. The job flag is set, and the process jumps to the job priority process with the label WAR_JB.

In this job priority processing, step S300
Then, if the job level JB_LEV, which is a 1-byte variable indicating the priority level of the job, is increased by 1, the process proceeds to step S301, and it is checked whether or not the job flag corresponding to this priority level is set. If the job flag is not set, the process returns to step S300 to further increase the job level JB_LEV by one, and if the job flag is set, the process proceeds to step S302 to set the overlap counter OLC of the job for which the job flag is set. Initial value 0
Is set to 1 and the process proceeds to step S303.

In step S303, it is checked whether or not there is a higher job flag, and if there is a higher job,
Returning to step S300, the above processing is repeated. If there is no higher job, the process proceeds to step S304 to set the job executing flag JB_RUN, and then step S3
At 05, the highest-level job is executed by the job execution subroutine described later.

The job executing flag JB_RUN is
It is a flag that is set at the start of job execution and cleared at the end. By this flag, a job interrupted by a job with a higher priority can be identified during processing.

For example, as shown in FIG. 13, JB_LE
When an interrupt request for a 2ms job with JB_LEV = 6 is made during execution of a 10ms job with V = 4, the processing of the 10ms job is interrupted, and the higher priority 2ms job is set to JB_RUN = 1 and OLC = 1. Is executed. Then, during the processing of this 2 ms job, JB_
When an interrupt request for a 4 ms job with LEV = 5 occurs,
This 4 ms job is set to JB_RUN = 0 and OLC = 1 to accept an interrupt, but is not executed and is in a standby state.

After that, when the execution of the job by the job execution subroutine is completed, the process proceeds from step S305 to step S306, the overlap counter OLC is decremented by 1, and it is checked in step S307 whether the overlap counter OLC has become zero. . As a result, when the overlap counter OLC is not zero and there are multiple job interrupt requests at the same priority level, step S3
Returning to 05, the job is repeatedly executed, and when the overlap counter OLC becomes zero, the process proceeds from step S307 to step S308 to clear the job executing flag JB_RUN.

Next, in step S309, when the job level JB_LEV is decreased by 1 and the job level is changed to the next job level,
In step S310, it is checked whether this job level JB_LEV has become zero. Then, the job level JB_
When LEV is zero, this interrupt is ended, and when job level JB_LEV is not zero, step S3
Proceed to 11 and check whether the overlap counter OLC is zero.

When the overlap counter OLC is zero in step S311, there is no job request at this level. Therefore, the process returns from step S311 to step S309, the job level JB_LEV is further lowered by one, and the same processing is repeated. If the overlap counter OLC is not zero, the flow advances to step S312 to check if the job executing flag JB_RUN is set at this job level.

When the job executing flag JB_RUN is set in step S312 above, the job was being executed before the interruption, so the interruption is terminated and the process returns to the job before the interruption, and the job executing flag JB_RUN is set. If not, the process returns to step S304, the job of this level is executed, and the same processing is repeated.

That is, in FIG. 13, JB_LEV
= 6 ms 2ms job is completed, OLC = 0, JB_RU
When N = 0, the job level is lowered by 1 and JB_
4ms job with LEV = 5, JB_RUN = 0, OL
JB_RUN = 1 is set from the standby state of C = 1,
To be executed. Furthermore, when the 4ms job is completed, JB
Moving to _LEV = 4, the processing of the 10 ms job suspended by the 2 ms job and the 4 ms job is resumed from the state of JB_RUN = 1 (job is being executed).

In this way, the periodic interrupt every 0.5 ms,
A job flag J for notifying the priority level and execution timing of each job with the classen interrupt as the basic timing.
Since B_FLG is created, equal time interval processing and engine rotation synchronization processing can be realized as accurately as possible, and each job can be processed efficiently. Further, the job flag JB_F updated for each interrupt which is the basic timing
Since the overlap counter OLC stores the job multiplex request regardless of the LG, the processing is abandoned in the middle even when the processing time of a certain job becomes long and it is time to execute the same job again. The processing can be continued to the end as much as possible without any problem.

Next, the job execution subroutine of FIGS. 5 to 8 will be described.

First, in step S500, the job flag JB
By referring to _FLG, it is checked whether the job to be executed is not a class job. If it is not a class job,
The processing branches to label ALJ10, and if it is a class job, the process proceeds to step S501 to check whether or not cylinder discrimination is provided.

If the cylinder is not discriminated, the routine is not executed and the job is not executed. If the cylinder is discriminated, steps S501 to S501 are executed.
In step S502, the value of the overlap counter OLC is referenced to check whether or not the multiplex wait state is set.

In step S502, when the multiplex waiting state is not set, the process proceeds to step S503, and the system variable S_ACAS (crank total position) calculated for each classen interrupt is set as the user variable ACAS. Branched to S504, user variable AC
AS is incremented by 1 and the remainder is divided by 12 to obtain a new user variable ACAS, and this user variable ACAS is updated in software by 0, 1, 2, ..., 11, 0, 1 ,. .

That is, the classen job and the low-priority classen job may be delayed by being disturbed by the self or the job of high priority, but the classen interrupt is executed exactly in synchronization with the crank angle sensor signal, and the system variable S
_ACAS is updated regardless of job delay.

Therefore, in the job, the system variable S_AC
Knowing the crank position by referring to AS, and trying to perform work according to this crank position, but if you are delayed because of being disturbed by another job, know the crank position that corresponds to your work Can not be. Therefore, in a class job and a low-priority class job, the system variable S_ACAS for the OS is taken in as the user variable ACAS when not in the multiplex waiting state, and this user variable ACAS is updated each time the job is executed and a multiple request is made. Also, the appropriate processing corresponding to the crank position is performed.

After that, the process proceeds from step S503 or step S504 to step S505 to set the work area of the job. In step S506, the level 0 interrupt is permitted, and in step S507, the classen job section is entered. Then, the processing linked to this class job section is executed, and in step S508, the interrupt is prohibited and the routine exits.

Next, at step S500, when the job to be executed is not the class job, the label AL
In step S510 of J10, it is checked whether or not the job is a 2 ms job. When the job is a 2 ms job, the work area of the job is set in step S511. In step S512, the level 0 interrupt is permitted, and in step S513, the 2 ms job Go to section. Then, the job main body (a routine based on the control strategy on the user side or a service routine prepared on the OS side) linked to this section is executed, and in step S514, interrupt is prohibited and the routine exits.

On the other hand, if the job to be executed is not a 2 ms job in step 510, the process branches from step S510 to step S520 to check whether the job to be executed is a 4 ms job. If it is not a 4 ms job, the process branches to label ALJ30. If it is a 4 ms job, the work area of the job is set in step S521, and the process proceeds to step S522. Note that this 4ms job is
A / D conversion use job, which uses A / D conversion data via a system shift buffer SSHB described later.

In step S522, the interrupt of level zero is permitted, and then in step S523, the switch input is read, and in step S524, the section of the 4 ms job is moved to and the linked job main body is executed.
After that, when the section of the 4 ms job is exited, the interrupt is prohibited in step S525, the process proceeds to step S526,
The system shift buffer SSHB is shifted to exit the routine.

The system shift buffer SSHB is
As shown in FIG. 14, head offset addresses 0, +8, +1 in which the A / D conversion results of 8 channels are stored
It consists of memories of Nos. 6, +24, +32, +34, +36, and +38, and a 1-word memory at the start offset address -2 where the A / D conversion result of crank synchronization at every 4 ms is stored. One A / D conversion result executed each time is stored in one word (2 bytes).

4 from the first offset address 0
It is a multi-stage shift memory, and A / D every 90 ° CA.
The conversion result is stored and the latest 4 data (1 rotation) can be referred to from the job. The head offset addresses +32, +34, +36, and +38 are each 1
This is a word memory, and when the smoothing function is selected, a weighted average value of the A / D conversion results is stored to enable noise removal and accuracy improvement. The data is available for slow jobs.

Further, each head offset address +8, +
From addresses 16 and 24, each is a 4-word memory,
It is designed to be used in 4ms jobs. The latest A / D conversion result is stored at the beginning of each of these memories,
It is a FIFO buffer that is sequentially shifted according to the value of the overlap counter OLC of the 4 ms job and is read from the previously stored data.

That is, A / D conversion is accurately performed in a cycle of 4 ms by a periodic interrupt every 0.5 ms.
ms jobs may be delayed by being disturbed by higher priority jobs. Therefore, the FIFO buffer is used for delivery of A / D conversion, and after referring to the data of each FIFO buffer at addresses +8, +16, and +24 in the 4 ms job, the above steps are performed.
In S526, the data in each FIFO buffer is sequentially shifted.

On the other hand, when the job to be executed is not the 4 ms job in step S520 and the process branches to label ALJ30, the job to be executed is 10 in step S530.
It is checked whether it is an ms job or not, and if it is a 10 ms job, the work area of the job is set in step S531, and the step
If the level 0 interrupt is enabled in S532, step S5
At 33, the section moves to the 10 ms job section, the job main body is executed, and at step S534, interruption is prohibited and the routine exits.

In the 10 ms job section, a service routine for calculating the engine speed from the half rotation time, a service routine for creating the above-mentioned ignition schedule, etc. are prepared on the OS side.

If it is determined in step S530 that the job to be executed is not a 10 ms job, then step S5 is executed.
The process branches from 30 to step S540 to check whether the job to be executed is a low priority class job. If the job is not the low priority class job, the process branches from step S540 to the label ALJ50. If the job to be executed is the low priority class job, the process proceeds from step S540 to step S541, and the current state is the multiplex waiting state. Check if there is.

When the current state is not the multiplex waiting state, the process proceeds from step S541 to step S542, the system variable S_ACAS (crank total position) is set as the user variable ACAS, and the process proceeds to step S544. Step S541 to Step S5
Branch to 43 and increase the user variable ACAS by 1 to 12
After taking the remainder divided by, go to step S544.

In step S544, the work area of the job is set, and in step S545, when the level 0 interrupt is permitted, in step S546, the section moves to the low priority class job and the job body is executed, and then step S547.
Disable the interrupt and exit the routine.

Further, with the label ALJ50, it is checked whether or not the job to be executed is a 50 ms job, and 50 m
If it is an s job, the flow advances to step S551 to set the work area of the job, and then the flow advances to step S552.

In step S552, if the interrupt of level zero is permitted, then in step S553 the section for the 50 ms job is entered, and the engine stall flag preparation routine, ignition timing retard routine for each cylinder, and fuel injection start timing setting routine prepared on the OS side. Etc., and also executes a routine based on the control strategy of the user side. And
After the job is completed, interrupt is prohibited in step S554, and the routine is exited.

On the other hand, if the job to be executed in step S550 is not a 50 ms job, then step S5
After branching from step 50 to step S560 and setting the work area of the job, in step S561 the level 0 interrupt is permitted, the process proceeds to step S562, the section area of the 250 ms job is entered, the job body is executed, and then step S5
Disable interrupt at 63 and exit the routine.

[0135]

As described above, according to the first aspect of the present invention, when a plurality of jobs having different priority levels defined by the execution cycle are executed in order of priority, an overlap counter is assigned to each priority level. . Then, by a periodic interrupt process executed at fixed basic time intervals, a job flag indicating a priority level and a job interrupt request for each execution cycle that is an integral multiple of the basic time is set at intervals of an integral multiple of the basic time. Set each corresponding to each execution cycle. Then, it is determined whether or not any job flag is set in the periodic interrupt processing, and when the job flag is set, it is further determined whether or not a job flag at the current priority level or lower is set. . Then, when the job flag of the current level or lower is set by the multiple interruption, the count value of the overlap counter indicating the number of execution requests of the job of the low priority level is counted up, and the priority level higher than the current priority level is further increased. It is determined whether the job flag is set. Then, when the job flag of a level higher than the current level is set, the priority level is sequentially increased to determine whether the job flag corresponding to the priority level is set, and the job flag indicated by the set job flag is displayed. The count value of the priority level overlap counter is incremented. When the job flag of the priority level higher than the current status is not set, the job of the priority level is executed the number of times based on the count value of the overlap counter of the priority level. After the job is executed, the priority level is sequentially lowered to determine the count value of the overlap counter of the priority level for each priority level, and the job of the priority level is determined by the number of times indicated by the count value of the overlap counter. Run. Therefore, when a multiple interrupt occurs, a high priority level is set by a very simple process by setting the job flag for each priority level and the count value of the overlap counter for counting each multiple interrupt. Jobs on the lower priority level side can be executed in order from the job, and the job of the priority level can be executed reliably for each priority level by the number of requests generated by multiple interrupts for each priority level. You can As a result, it is possible to efficiently execute each job of a plurality of priority levels having different execution cycles based on each control strategy for vehicle control, and accurately realize the processing at each equal time interval for each priority level. According to the invention described in claim 2, when the plurality of jobs of equal time interval processing having different priority levels defined by the execution cycle and the job for each predetermined crank angle synchronized with the engine rotation are executed in the priority order, each priority is executed. Assign an overlap counter for each level. Then, for the job of the equal time interval processing, by the periodic interrupt processing that is executed at a constant basic time, a job flag indicating a priority and a job interrupt request for each execution cycle that is an integral multiple of the basic time, It is set corresponding to each execution cycle at intervals of an integral multiple of the basic time. Then, in the periodic interrupt processing, it is determined whether or not any job flag is set, and when the job flag is set, it is further determined whether or not the job flag of the current priority level or lower is set. To do. Then, when the job flag of the current level or lower is set by the multiple interruption, the count value of the overlap counter indicating the number of execution requests of the job of the low priority level is counted up, and the priority level higher than the current priority level is further increased. It is determined whether the job flag is set. Further, for the job for each predetermined crank angle, the overlap counter corresponding to the priority level is counted up in the interrupt processing for each crank angle, and the job flag of the corresponding priority level is set. Then, after the job flag of the corresponding priority level is set by the interrupt process for each predetermined crank angle, or when the job flag of the higher level than the current level is set in the regular interrupt process, the priority level is sequentially increased to the priority level. It is determined whether the job flag corresponding to the level is set, and the count value of the overlap counter of the priority level indicated by the set job flag is counted up. When the job flag of the priority level higher than the current status is not set, the job of the priority level is executed the number of times indicated by the count value of the overlap counter of the priority level. After the job is executed, the priority level is sequentially lowered to determine the count value of the overlap counter of the priority level for each priority level, and the job of the priority level is determined by the number of times indicated by the count value of the overlap counter. Since it is executed, in addition to the effect of the invention according to claim 1, multiple jobs of equal time interval processing having different priority levels defined by the execution cycle and a job for each predetermined crank angle synchronized with engine rotation are multiplexed. Even if an interrupt occurs, jobs of high priority level can be executed in order from jobs of high priority level, and jobs of the priority level can be executed for each priority level for the number of requests generated by multiple interrupts. According to the third aspect of the invention, the job execution flag is set when the execution of the job for each priority level is started and cleared when the execution is completed. Then, the count value of the overlap counter of the priority level is determined for each priority level, and when the job of the priority level is executed for the number of times indicated by the count value of the overlap counter, the job execution flag is referred to. When the job in-execution flag is set, the job interrupted by the multiple interrupt is executed. Therefore, in addition to the effect of the invention described in claim 1 or 2, the job of high priority level is generated by the multiple interrupt. Jobs on the low priority level side that were interrupted by the execution of can be reliably restarted after the job on the high priority level is completed, and processing can be continued to the end as much as possible without abandoning the processing. Therefore, the controllability can be improved. According to the invention described in claim 4, for a job of equal time interval processing, there are a plurality of positions with the basic time as one position, and it corresponds to an integer multiple of the job execution cycle of each priority level with respect to the basic time. Then, a table is provided in which data for setting the job flag of the corresponding priority level is arranged at the position of the interval of the integral multiple. Then, in the periodic interrupt processing executed at fixed basic time intervals, the pointer designating the position of the table is incremented to refer to the table, and the job interrupt request for each execution cycle is targeted for the job of the equal time interval processing. Since the job flag indicating "1" is set, in addition to the effect of the invention described in any one of claims 1 to 3 , the job for each priority level having a different execution cycle in equal time interval processing can be obtained by a simple table reference. The execution instruction can be accurately performed, and the calculation load can be reduced. Further, when the time interval of each regular job is changed, it is possible to flexibly deal with the data change in the table without changing the algorithm.
According to the invention described in claim 5, for a job of equal time interval processing, there are a plurality of positions with the basic time as one position, and the medium priority set in advance from the highest priority level for the basic time. The first table in which the data for setting the job flag of the corresponding priority level is arranged at the position of the integer multiple interval corresponding to the integer multiple of the job execution cycle of each priority level up to the level, and the equal time interval processing For a job, the execution cycle of the medium priority level job is a basic time, the basic time is one position, and there are a plurality of positions. Jobs of each priority level up to the lowest priority level for the basic time. A second table in which data for setting the job flag of the corresponding priority level is arranged at positions corresponding to an integral multiple of the execution cycle. Then, in the periodic interrupt processing executed at regular intervals, the pointer designating the position of the first table is incremented to refer to the first table, and the execution cycle of the medium priority job is dealt with. Then, the pointer designating the position of the second table is incremented to refer to the second table, and a job flag indicating a job interrupt request for each execution cycle is set for a job of equal time interval processing. Therefore, in addition to the effect of the invention described in claim 4, in the case where execution of jobs with different priority levels is instructed due to the difference in the execution cycle of all isochronous processing by one table reference, the memory of the table is used. It is possible to reduce the used capacity and realize further reduction of the calculation load, and at the same time, to implement all the processes for equal time interval processing. Accurately Bufuragu an integral multiple of the time interval of different basic time corresponding to the priority level has an effect that can be set.

[Brief description of drawings]

FIG. 1 is a flowchart of job priority processing.

FIG. 2 is a flowchart of periodic interrupt processing every 0.5 ms.

FIG. 3 is a flowchart of classen interrupt processing.

FIG. 4 is a flowchart of a job flag creation subroutine.

FIG. 5 is a partial flowchart 1 of a job execution subroutine.

FIG. 6 is a partial flowchart 2 of a job execution subroutine.

FIG. 7 is a partial flowchart 3 of a job execution subroutine.

FIG. 8 is a partial flowchart 4 of a job execution subroutine.

FIG. 9 is an explanatory diagram showing a job execution state.

FIG. 10 is an explanatory diagram of a job flag.

FIG. 11 is an explanatory diagram of a job flag table.

FIG. 12 is an explanatory diagram of crank position variables.

FIG. 13 is an explanatory diagram showing changes in a job execution flag and an overlap counter.

FIG. 14 is an explanatory diagram of a system shift buffer.

FIG. 15 is a schematic configuration diagram of an engine system.

FIG. 16 is a front view of a crank rotor and a crank angle sensor.

FIG. 17 is a front view of a cam rotor and a cam angle sensor.

FIG. 18 is a circuit configuration diagram of an electronic control system.

[Explanation of symbols]

50 ECU JB_FLG job flag OLC overlap counter JB_LEV job level JBF_N First table JBF_M Second table

Continuation of front page (56) Reference JP-A-55-134719 (JP, A) JP-A-61-82203 (JP, A) JP-A-56-105507 (JP, A) JP-A-59-36814 (JP , A) JP 4-301162 (JP, A) JP 56-104136 (JP, A) JP 56-38542 (JP, A) JP 53-40105 (JP, A) 2-1443 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) F02D 41/00-45/00

Claims (5)

(57) [Claims] 1. Priority level differences defined by execution cycles
Multiple jobs are executed in priority order and multiple interrupts are executed.
Occurs, the interrupt request count of the job on the low priority side
The number is stored, and after the high-priority job is executed, the
Of the vehicle control that executes the stored number of interrupt requests
For each priority level in the job priority processing method for
By assigning an overlap counter to, and performing periodic interrupt processing that is executed at fixed basic time intervals,
Indicate the priority and each execution cycle that is an integral multiple of the above basic time
A job flag indicating a job interrupt request for each period is
Corresponding to each execution cycle at intervals of an integral multiple of this time
Set and one of the job flags is set in the periodic interrupt processing.
It determines whether it is bets, when the job flag has been set, further the current
The job flag below the priority level is set
It is determined whether or not the job flag below the current level is set by multiple interruption.
If a job with a low priority level is
The count value of the overlap counter that indicates the number of requests
The priority level is higher than the current priority level.
Determine if the bell job flag is set
However, the job flag of a higher level than the current level is set.
When the priority level is increased, the priority level is gradually increased and the priority level is increased.
The job flag corresponding to the
The job flag indicated by the set job flag.
Count the count value of the overlap counter of the previous level
And the job flag of higher priority level than the current one is set.
When there is no job, the job of the priority level is
Indicated by the count value of the overlap counter of
After executing the job a number of times, lower the priority level in sequence and
For each bell, the counter of the overlap counter of the priority level
Count of the overlap counter
The job of the priority level is executed the number of times indicated by the value.
Priority processing method of the job, characterized in that that. 2. Different priority levels defined by execution cycles
Multiple jobs of equal time interval processing , and engine rotation
Execute the jobs for each predetermined crank angle synchronized to
In addition, when multiple interrupts occur, the low priority side
Job interrupt request count, high priority job execution
Then, the jobs on the low priority side are sequentially processed for the stored interrupt requests.
The priority processing method of the job for controlling the vehicle to be executed several times.
And assigning an overlap counter for each priority level
In both cases, a constant basic time is set for the above-mentioned jobs of equal time intervals
The priority is indicated by the periodic interrupt processing executed for each
Together with the job allocation for each execution cycle that is an integral multiple of the above basic time
The job flag indicating a request for inclusion is an integer multiple of the above basic time
Are set for each execution cycle at intervals of , and any job flag is set in the periodic interrupt processing.
It determines whether it is bets, when the job flag has been set, further the current
The job flag below the priority level is set
It is determined whether or not the job flag below the current level is set by multiple interruption.
If a job with a low priority level is
The count value of the overlap counter that indicates the number of requests
The priority level is higher than the current priority level.
Determine if the bell job flag is set
And, for the job for each predetermined crank angle, the crank angle for each
Interrupt corresponding to the priority level
The lap counter is incremented to the corresponding priority level.
The job flag of is set, and interrupt processing for each predetermined crank angle causes the corresponding priority level
After setting the job flag, or the above periodic interrupt processing
Job processing at a higher level than the current level in processing
When the group is set, raise the priority level in sequence.
The job flag corresponding to the priority level is set
The job flag that has been set.
Count of overlapping counters for the indicated priority level
Count value is increased and the job flag of higher priority level than the current one is set.
When there is no job of the priority level,
Number of times indicated by the count value of the overlap counter
Several times, and after executing the above jobs, lower the priority level in sequence and
For each bell, the counter of the overlap counter of the priority level
Count of the overlap counter
The job of the priority level is executed the number of times indicated by the value.
A job priority processing method characterized by the following. 3. By starting execution of a job for each priority level
A job execution flag that is set and cleared when execution is completed
There is a lag and an overlap counter for each priority level
Of the overlap counter by judging the count value of
The job indicated by the priority value
When executing, refer to the job executing flag and
When the running flag is set, multiple interrupts cause
Billing characterized by executing a suspended job
The job priority processing method according to claim 1 or 2 . 4. A job for equal time interval processing, having a plurality of positions with the basic time as one position, and corresponding to an integer multiple of the job execution cycle of each priority level with respect to the basic time, the integer Equipped with a table in which the data for setting the job flag of the corresponding priority level is placed at the position of the doubled interval, and the table is referenced by incrementing the pointer that specifies the table position in the periodic interrupt processing that is executed at fixed basic time intervals. It was carried out, as a target jobs isochronous process, priority processing job according to any one of claims 1 to 3, characterized in that to set the job flag indicating a job interrupt requests for each execution cycle Method. 5. A job of equal time interval processing, having a plurality of positions with the basic time as one position, each priority from the highest priority level to the preset intermediate priority level for the basic time. The first table in which the data for setting the job flag of the priority level corresponding to the integer multiple of the job execution cycle of the level is arranged at the position of the integer multiple, and the job of the equal time interval processing is targeted. The execution cycle of the medium priority level job is set as a basic time, the basic time is defined as one position, and a plurality of positions are provided. An integer multiple of the job execution cycle of each priority level up to the lowest priority level with respect to the basic time. And a second table in which data for setting the job flag of the corresponding priority level is arranged at the position of the integer multiple interval corresponding to In the interrupt processing, the pointer designating the position of the first table is incremented to refer to the first table and the position of the second table is designated corresponding to the execution cycle of the medium priority level job. 4. The job flag indicating a job interrupt request for each execution cycle is set for the job of equal time interval processing by incrementing the pointer to perform the second table reference. Priority processing method of the job described in any one of .