JP7230511B2 - SOFTWARE EXECUTION LOAD FACTOR MEASUREMENT IN CONTROLLER - Google Patents

Description

The present invention relates to a technique for measuring an execution load factor of software in a control device that operates software in a high-speed periodic cycle, such as a motor drive device for an electric vehicle.

As a method of measuring the execution time of software and the execution load factor, which is the execution time per unit time, the counter value of the CPU built-in timer is recorded at the start and end of execution of tasks and interrupts belonging to the target software, A technique for calculating the execution time and the execution load factor from the difference between the time and the end is known.

In this technique, when a task or interrupt process belonging to the target software is being executed, if a task or interrupt process not belonging to the software is preferentially executed, it is necessary to deduct the execution time of those tasks.

In the method of measuring the execution time of a task or the like in a control device described in Patent Document 1, when a task or interrupt process with a higher priority than the object to be measured is executed multiple times, the execution time is subtracted by manipulating the stack. ing.

Specifically, the control device uses a free-running counter provided for the operating system, reads the time value of the free-running counter at the start of a task or interrupt processing, stores it as stack data by a push operation, and ends the operation. The execution time of each task and interrupt processing is calculated from the time value of the free-running counter at that time and the stack data recalled by the pull operation.

JP 2003-288237 A

However, the method of Patent Document 1 has the following problems.

First, it takes time to calculate the execution time of each task and interrupt processing, and to subtract the execution time of tasks and interrupt processing executed at a higher priority than those to be measured. In addition, more time is required for stack operations such as interrupt masking and signed operations associated with execution of interrupt processing and calculation of execution time. For this reason, in a CPU with low performance, the time required for executing software and measuring the execution time may exceed the allowable time determined by the control target and control details.

The method then includes the measurement time in the execution time. In a control device such as a motor drive device for an electric vehicle that operates software at a high-speed constant cycle of several hundred microseconds or less, this error cannot be ignored, and a large error occurs in the execution load factor calculated from the execution time.

The present invention is intended to solve the above problems, and minimizes the processing for measuring the execution load factor, suppresses the required time to about 100 ns or less, and easily measures the execution load factor of software with small errors. provide a way to

Software consisting of a plurality of interrupt processes with different priorities and an idling process executed when none of the interrupt processes is executed in a control device having a digital terminal that outputs a high level voltage or a low level voltage. is executed, a High level voltage is output to the digital terminal during execution of each interrupt process, and a Low level voltage is output during execution of the idling process.

The voltage of this digital terminal is measured with a device such as an oscilloscope or a memory HiCorder, and the ratio between the average voltage and the high level voltage in a predetermined period, or the ratio of the period during which the high level voltage is output in the predetermined period is calculated. By doing so, the execution load factor of the software can be obtained.

When measuring the execution load factor for each interrupt process, a high level voltage is output to the digital terminal at the start of the interrupt process to be measured, and a low level voltage is output at the end of the process. At the end of the measurement, when the interrupt process to be measured is occurring and the interrupt process with higher priority than the interrupt process to be measured is not occurring, a high level voltage is output, and the voltage of the digital terminal is measured in the same manner as above. Thus, the execution load factor of the target interrupt process can be obtained.

Further, global variables are provided in software, and processing is executed by replacing the above-mentioned digital terminal, High level voltage, and Low level voltage with global variables "1" and "0", respectively, and the state of the global variables is monitored by a RAM monitor or the like. The execution load factor of software and interrupt processing can also be obtained by measuring with equipment.

According to the present invention, in a control device that operates software consisting of a plurality of interrupt processes with different priorities in a high-speed fixed cycle, it is possible to minimize the execution load factor measurement processing of the software and the interrupt processes that constitute the software. Therefore, it is possible to measure the effective load factor in a short time and with a small error.

1 is a configuration diagram of a system for measuring a software execution load factor by the method of the present invention; FIG. 1 is a configuration diagram of software to be measured by the present invention; FIG. 4 is a timing chart representing the first embodiment of the present invention; Numerical examples of digital terminal output signals in FIG. The timing chart showing 2nd Embodiment of this invention. Changes in interrupt processing execution state variables and digital terminal output states corresponding to FIG.

Embodiments of the invention will be described below with reference to the drawings.
[System and software configuration]
FIG. 1 shows an example of the configuration of a system for measuring the execution time and execution load factor of software according to the method of the present invention. It consists of a testing device 10 , a driving device 20 , a motor 30 and a measuring device 40 .

The test apparatus 10 is connected to the drive device 20 via a communication cable such as a twisted pair, and gives commands to the drive device 20 . The drive device 20 is a control device that controls the motor 30 in response to commands from the test device 10. The drive device 20 gives commands to the motor 30 and responds to the test device 10 with the result of command execution, the state of itself and the motor 30, and the like. return as A power source that supplies a driving force to the motor 30, a power conversion device, and a device that detects the current and rotation state of the motor 30 are not shown. The measuring device 40 measures the state of the digital terminals and memory of the driving device 20 through the I/O port of the driving device 20. Specifically, an oscilloscope, a memory high coder, a RAM monitor and the like are used.

FIG. 2 is a configuration example of software (hereinafter referred to as a control program) that operates in the drive device 20. As shown in FIG. The control program consists of interrupt processing A (201), interrupt processing B (202), interrupt processing C (203), and idling processing 204.

The priority of interrupt processing is interrupt processing A (201)>interrupt processing B (202)>interrupt processing C (203), and when none of the interrupt processing is being executed, idling processing 204 is executed. Since the function of each process is not related to the execution load factor measurement of the present invention, the explanation is omitted.

In the system configuration shown in FIG. 1 and the control program configuration shown in FIG. A high level voltage or a low level voltage is output to a digital terminal according to the execution state of .

The output voltage is held until the opposite level voltage (Low level voltage for High level voltage, High level voltage for Low level voltage) is output. Such a mechanism can be easily and inexpensively realized by a flip-flop circuit or a logic IC incorporating the flip-flop circuit.

In the following description, the High level voltage and Low level voltage are also simply referred to as High and Low, respectively, and the digital terminal output voltage is also referred to as a digital terminal output signal or a digital terminal output state.
[First embodiment]
In the first embodiment, the entire control program shown in FIG. 2 is to be measured.

As a process for measuring the execution load factor, a High level voltage is applied to the digital terminal at the start of each of the interrupt process A (201), the interrupt process B (202), and the interrupt process C (203), and a Low level voltage is applied at the start of the idling process 204. to output

FIG. 3 is an operation example of the control program and a timing chart of digital terminal output signals when the first embodiment is applied to this. In the following, numbers enclosed in circles in the drawings are represented by numbers in parentheses.

The digital terminal output signal 305 is changed from Low to High at the time (1) when the interrupt process A (301) is started. Subsequently, interrupt processing B (302), interrupt processing C (303), interrupt processing A (301), and interrupt processing C (303) are executed in order.

Since the idling process 304 is started at the time (2) when the interrupt process C (303) is completed, no interrupt process is executed, so the digital terminal output signal 305 is changed from High to Low. Let the period (1)-(2) be T1.

Similarly, the periods (3)-(4), (5)-(6), and (7)-(8) during which any interrupt process is executed are T2, T3, and T4, respectively. The period from (1) to (9) is the measurement period, and its length is the total time Tall.

The execution load factor of the control program in the measurement period (1)-(9) is Tsum÷Tall×100%, where Tsum=T1+T2+T3+T4 is the total interrupt processing time.

At this time, the average voltage VA of the digital terminal is VA = (VH - VL) × Tsum ÷ Tall, where VH is the High level voltage and VL is the Low level voltage. The effective load factor can be calculated by ÷(VH−VL)×100%.

For example, if the digital terminal output signal as shown in FIG. 4 has a High level voltage of 5.0V and a Low level voltage of 0.0V, the measured average voltage is 3.75V. When the execution load factor of the control program is calculated from this average voltage, it becomes 3.75V/(5.0V-0.0V)×100%=75%.
[Second embodiment]
In the second embodiment, a specific interrupt process among the processes constituting the control program is to be measured.

As a process for measuring the execution load factor, a high level voltage is output to the digital terminal at the start of the interrupt processing to be measured, and a low level voltage is output at the end of the interrupt processing. A high level voltage is output when the target interrupt process is occurring (after the start and before the end) and no interrupt process with a higher priority than the measurement target interrupt process is occurring. At the start of the idling process, a Low level voltage is output to the digital terminal.

FIG. 5 is an operation example of a control program obtained by adding interrupt processing D (404) to the control program shown in FIG. 2, and a timing chart of digital terminal output signals when the second embodiment is applied to this.

The priority of interrupt processing is interrupt processing A (401)>interrupt processing B (402)>interrupt processing C (403)>interrupt processing D (404). executed.
[Second embodiment: When interrupt processing B is the object of measurement]
When the interrupt process B (402) is to be measured, the digital terminal output signal 406 is set to High at (3), (10), and (15) when the interrupt process B (402) is started, and (4 ), (11), and (18), and interrupt processing A (401), C (403), and D (404), which are not subject to measurement, are started (1), (2), ( 4), (5), (9), (11), (12), (16), the digital terminal output signal 406 is set to Low, and (3), (6), (7), (8) ), (10), (13), (14), and (17), if the interrupt process B (402) is occurring, the digital terminal output signal 406 is set to High.

During periods (3)-(4) and (10)-(11), no interrupt process with a higher priority occurs during the execution of interrupt process B (402). Therefore, this period is the period in which the digital terminal output signal 406 is High.

During the period from (15) to (18), interrupt process A (401) having a higher priority than interrupt process B (402) occurs. Therefore, the digital terminal output signal 406 is set to Low when the interrupt processing A (401) is started (16), and the digital terminal output signal 406 is set to High when the interrupt processing A (401) is finished (17) because the interrupt processing B is occurring. to Then, the digital terminal output signal 406 becomes High during the periods (15)-(16) and (17)-(18) of the period (15)-(18).

Here, the periods (3)-(4), (10)-(11), (15)-(16), and (17)-(18) are Tb1, Tb2, Tb3, and Tb4, respectively. Let the period (1)-(19) be the measurement period, and let its length be the total time Tall.

The execution load factor of the interrupt process B (402) in the measurement period (1)-(19) is Tsum/Tall×100% where Tsum=Tb1+Tb2+Tb3+Tb4, which is the total interrupt process time, which is the same as in the first embodiment. can be calculated from the measured value of the average voltage at the digital terminals.
[Second embodiment: When interrupt process D is measured]
When the interrupt process D (404) is to be measured, the digital terminal output signal 407 is set to High at (1) when the interrupt process D (404) is started and to Low at (8) when the interrupt process D (404) ends. , interrupt processes A (401), B (402), and C (403) not to be measured are started (2), (3), (4), (5), (9), (10), ( 11), (12), (15), and (16), the digital terminal output signal 407 is set to Low, and (3), (4), (6), (7), (10), and (11) are completed. ), (13), (14), (17), and (18), when the interrupt process D (404) is occurring and the interrupt process with higher priority is not occurring, the digital terminal output signal 407 is set to High. to

During the period from (1) to (8), interrupt processes A (401), B (402), and C (403) with higher priority than interrupt process D (404) occur.

Therefore, first, the digital terminal output signal 407 is changed from High to Low at time (2) when interrupt processing A (401) is started. At the point in time (3) when interrupt process A (401) ends, interrupt process D (404), which is the object of measurement, is being executed. Since (402) is subsequently started, the digital terminal output signal 407 remains Low. The same is true at time (4) when the interrupt process B (402) ends and the interrupt process C (403) starts, and the digital terminal output signal 407 is kept low during the period (2)-(4). It will be.

Subsequently, the digital terminal output signal 407 remains Low at (5) when the interrupt process A (401) is started again. At the point in time (6) when interrupt processing A (401) ends, interrupt processing D (404) to be measured is still being executed. The terminal output signal 407 remains Low. At the time (7) when the interrupt process C (403) is completed, the interrupt process D (404) to be measured is being executed and the interrupt process having a higher priority than this is not being executed, so the digital terminal output signal 407 is changed from Low to High. to

After that, the interrupt process D (404) is resumed, and at the time of completion (8), the digital terminal output signal is changed from High to Low. Since the interrupt process D (404) is not executed thereafter, the digital terminal output signal is kept Low.

Therefore, the digital terminal output signal 407 becomes High during periods (1)-(2) and (7)-(8) of the periods (1)-(19).

Let the periods (1)-(2) and (7)-(8) be Td1 and Td2, respectively. Let the period (1)-(19) be the measurement period, and let its length be the total time Tall.

The execution load factor of the interrupt process D (404) in the measurement period (1)-(19) is Tsum/Tall×100% where Tsum=Td1+Td2 is the total interrupt process time, which is also the same as in the first embodiment. can be calculated from the measured value of the average voltage at the digital terminals.

The process of changing the output to the digital terminal according to the execution state of each interrupt process as described above can be realized by providing an interrupt process execution state variable in the control program.

An interrupt processing execution state variable indicating the execution state is provided for each interrupt processing, and the interrupt processing execution state variable is turned ON (in execution) at the start of interrupt processing and turned OFF (not in execution) at the end. The interrupt processing execution state=ON includes the execution restart waiting state, and is the period from the start of the interrupt processing to the end thereof.

FIG. 6 shows the transition of the interrupt processing execution state variables and the digital terminal output state for each interrupt processing in FIG.

For example, in the period from (4) to (7) when the interrupt process D (404) is to be measured in the second embodiment, when the interrupt process B (402) ends at (4), another interrupt process is started. When referring to the execution state variables, the execution state variable of the interrupt process D (404) to be measured is ON. becomes Low, and at the time (6) when the interrupt process A (401) ends, the execution state variable of the interrupt process D (404) to be measured is still ON, but the interrupt process C (403), which has a higher priority than this, is ON. is ON, the output to the digital terminal is also Low. When the interrupt process C (403) ends (7), the execution state variable of the interrupt process D (404) to be measured is ON, and the interrupt processes A (401), B (402), and C with higher priority than this. Since none of the execution state variables of (403) is ON, the output to the digital terminal is High.

Since such processing consists only of data comparison and output, and does not require complicated calculations such as those mentioned in the subject, the required time can be suppressed to about 100 ns or less.
[Application of the first and second embodiments]
In the first and second embodiments, by providing the control program with a variable for storing the measurement mode, the mode for measuring the execution load factor of the entire control program as in the first embodiment and the mode for measuring the execution load factor of the entire control program as in the second embodiment. Alternatively, the test apparatus 10 may specify a mode for measuring the execution load factor in units of interrupt processing.

In the second embodiment, an identifier for distinguishing each interrupt process is defined, and a variable for storing the identifier of the interrupt process to be measured is provided in the control program. can be specified from

In addition, in the first embodiment and/or the second embodiment, a plurality of digital terminals are provided, and a plurality of processing out of the processing for measuring the entire control program and the processing for measuring any of the interrupt processing is performed. It may be performed at the start and end of each interrupt process to allocate the output of each process to a plurality of digital terminals.
[Third Embodiment]
In the third embodiment, global variables provided in the control program are used instead of digital terminals.

A global variable is provided in the control program, and processing is executed by replacing the digital terminal, High level voltage, and Low level voltage of the first and second embodiments with the global variables "1" and "0", respectively.

If the state of this global variable is periodically sampled using a device such as a RAM monitor, the interrupt processing time to be measured can be found from the number of times the global variable is "1", and the execution load factor can be calculated from this. can.

For example, in the first embodiment, when a control program is executed in which the digital terminal output signal is as shown in FIG. It is calculated as 100%=75%.

By using this method together with the first embodiment and the second embodiment and comparing the calculation results, the accuracy of the effective load factor measurement can be improved. Also, if this method is used alone, the effective load factor can be measured without a digital terminal or voltage output means for the digital terminal.

10 test device 20 drive device 30 motor 40 measuring instrument 201, 301 interrupt processing A
202, 302 Interrupt processing B
203, 303 Interrupt processing C
204, 304 Idling process 401 Interrupt process A
402 Interrupt processing B
403 Interrupt processing C
404 Interrupt processing D
405 Idling processing 305, 406, 407 Digital terminal output signal

Claims (3)

In a control device having a digital terminal that outputs a High level voltage or a Low level voltage,
When executing software consisting of multiple interrupt processes with different priorities and idling process executed when none of the interrupt processes is executed,
Outputting a High level voltage or a Low level voltage to the digital terminal according to the execution state of each interrupt process,
outputting a High level voltage or a Low level voltage to the digital terminal according to the execution state of the idling process;
providing a global variable in the software;
outputting "1" or "0" to the global variable according to the execution state of each of the interrupt processes;
outputting "1" or "0" to the global variable according to the execution state of the idling process;
calculating an execution load factor of the software or each of the interrupt processes by periodically sampling the voltage measurement value of the digital terminal and the global variable ;
Software execution load rate measurement method. A software execution load factor measuring method according to claim 1 ,
outputting "1" to the global variable during execution of each of the interrupt processes;
outputting "0" to the global variable during execution of the idling process;
calculating the execution load factor of the software from the length of the period during which "1" was output to the global variable in a predetermined period;
Software execution load rate measurement method. A software execution load factor measuring method according to claim 1 ,
Measuring one interrupt process among the plurality of interrupt processes,
Outputting "1" to the global variable at the start of the interrupt processing time to be measured and holding it, and outputting "0" to the global variable at the end,
At the start of the interrupt processing time not subject to measurement, outputting "0" to the global variable and holding it, and at the end of the time, the interrupt processing to be measured is occurring and has a higher priority than the interrupt processing to be measured. is not occurring, outputting "1" to the global variable,
calculating the execution load factor of the software from the length of the period during which "1" was output to the global variable in a predetermined period;
Software execution load rate measurement method.

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