Research on Online Upgrade of Gun Servo System Based on CAN Bus

Aiming at the problem that the debugging efficiency is reduced due to the difficulty of software upgrade during the whole gun joint debugging of the servo system, an online upgrade method based on CAN bus is proposed, which adopts the IAP download method to get rid of the JTAG emulator without changing the DSP power-on startup mode, and innovatively adds the online upgrade function of the upgrade module, and the application program and the upgrade program can be upgraded with the help of the CAN interface reserved by the servo system. The upper computer software converts the format of the application to be upgraded, extracts and subcontracts it, and then distributes and caches to the on-chip SARAM of JDSPF28335 through USB-CAN. The upgrade program pre-burned to the on-chip Flash receives, checksums and moves to the specified storage space, and finally jumps to the application program to realize online upgrade. Tests have proved that the method is stable and reliable, improves the efficiency of product development, saves scientific research and production costs, and has engineering application value.