嵌入式实时操作系统RT-MINIX的设计
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摘要
目前，嵌入式系统已成为我国信息技术产业的重要发展领域，围绕嵌入式系统的研究和开发成为计算机软硬件技术发展中最活跃的方向之一。
为了可移植性和稳定性，一个设计良好的操作系统已成为嵌入式系统中必不可少的层次。嵌入式操作系统作为嵌入式系统中的关键部分，它的稳定性和效率直接影响到整个系统的性能。因此对嵌入式操作系统开展理论研究显得很有必要。在现代操作系统理论指导下，设计开发具有自主产权的嵌入式操作系统对我国嵌入式应用产业具有重要的意义。
现在很多嵌入式应用都选择嵌入式Linux，由于Linux的宏内核和非抢占式调度方法并不适合嵌入式应用，现有的嵌入式Linux都是在对Linux进行改造后得到的。本文以微内核操作系统MINIX为基础，参考Linux、RT-Linux和其它实时操作系统，设计了一个微内核的32位嵌入式实时操作系统的内核，结合原有的MINIX功能，形成一个嵌入式实时操作系统：RT-MINIX。
本文的主要内容包括：
(1)MINIX工作原理的深入分析，特别是中断处理流程，任务调度方法，任务切换的具体细节，揭示了多任务操作系统的核心原理。
(2)微内核嵌入式实时操作系统RT-MINIX的总体设计，提出了实现RT-MINIX的总体方案。
(3)RT-MINIX的模块设计，这主要包括实现嵌入式实时操作系统所必须的中断处理部分、实时任务调度部分、实时任务管理部分、内存管理部分和时间管理部分等。
(4)RT-MINIX的开发环境的创建，本文提供了一种方便、高效、低成本的系统软件开发环境。
(5)给出了RT-MINIX原型的一些实验结果。
Embedded system has become an important development field in IT industry currently. The research & development of software and hardware has already become one of the most active fields in terms of embedded system.
To get transplant ability and stability, a well-designed operating system has become indispensable part of whole embedded system. As a key part of embedded system, the performance of the whole embedded system can be influenced by the stability and efficiency of embedded operating system. So, it's very necessary to study embedded operating system. Under the guidance of modern operating system theory, it is significant for our embedded application industry to design and develop our embedded operating system that has own property right.
Nowadays, a great number of embedded application adopt embedded Linux, however macro kernel and non-preempt able schedule of Linux are at adds with embedded system application. Current used embedded Linux systems are the product of the improvement of Linux. Based on micro kernel operating system MINIX & reference to Linux, RT-Linux and other real-time operating system, this thesis designed a micro kernel 32 bit embedded real-time operating system kernel. A embedded real-time operating system RT-MINIX was come into being with the other functions of MINIX.
The thesis is mainly concerns about:
(1) Deep analysis of MINIX, especially in deal with interrupt, task schedule, task exchange details, reveal the kernel principle of multi-task operating system.
(2) General design of micro kernel embedded real-time operating system; demonstrate detailed account of the realization of RT-MINX.
(3) Module design of RT-MINIX, mainly includes: the interrupt management, real-time task schedule, real-time task management, memory management and time management.
(4) A convenient, efficient, low-cost development environment is offered in order to the establishment of development of RT-MINIX.
(5) Some research findings of RT-MINIX prototype are presented in this thesis.
为了可移植性和稳定性，一个设计良好的操作系统已成为嵌入式系统中必不可少的层次。嵌入式操作系统作为嵌入式系统中的关键部分，它的稳定性和效率直接影响到整个系统的性能。因此对嵌入式操作系统开展理论研究显得很有必要。在现代操作系统理论指导下，设计开发具有自主产权的嵌入式操作系统对我国嵌入式应用产业具有重要的意义。
现在很多嵌入式应用都选择嵌入式Linux，由于Linux的宏内核和非抢占式调度方法并不适合嵌入式应用，现有的嵌入式Linux都是在对Linux进行改造后得到的。本文以微内核操作系统MINIX为基础，参考Linux、RT-Linux和其它实时操作系统，设计了一个微内核的32位嵌入式实时操作系统的内核，结合原有的MINIX功能，形成一个嵌入式实时操作系统：RT-MINIX。
本文的主要内容包括：
(1)MINIX工作原理的深入分析，特别是中断处理流程，任务调度方法，任务切换的具体细节，揭示了多任务操作系统的核心原理。
(2)微内核嵌入式实时操作系统RT-MINIX的总体设计，提出了实现RT-MINIX的总体方案。
(3)RT-MINIX的模块设计，这主要包括实现嵌入式实时操作系统所必须的中断处理部分、实时任务调度部分、实时任务管理部分、内存管理部分和时间管理部分等。
(4)RT-MINIX的开发环境的创建，本文提供了一种方便、高效、低成本的系统软件开发环境。
(5)给出了RT-MINIX原型的一些实验结果。
Embedded system has become an important development field in IT industry currently. The research & development of software and hardware has already become one of the most active fields in terms of embedded system.
To get transplant ability and stability, a well-designed operating system has become indispensable part of whole embedded system. As a key part of embedded system, the performance of the whole embedded system can be influenced by the stability and efficiency of embedded operating system. So, it's very necessary to study embedded operating system. Under the guidance of modern operating system theory, it is significant for our embedded application industry to design and develop our embedded operating system that has own property right.
Nowadays, a great number of embedded application adopt embedded Linux, however macro kernel and non-preempt able schedule of Linux are at adds with embedded system application. Current used embedded Linux systems are the product of the improvement of Linux. Based on micro kernel operating system MINIX & reference to Linux, RT-Linux and other real-time operating system, this thesis designed a micro kernel 32 bit embedded real-time operating system kernel. A embedded real-time operating system RT-MINIX was come into being with the other functions of MINIX.
The thesis is mainly concerns about:
(1) Deep analysis of MINIX, especially in deal with interrupt, task schedule, task exchange details, reveal the kernel principle of multi-task operating system.
(2) General design of micro kernel embedded real-time operating system; demonstrate detailed account of the realization of RT-MINX.
(3) Module design of RT-MINIX, mainly includes: the interrupt management, real-time task schedule, real-time task management, memory management and time management.
(4) A convenient, efficient, low-cost development environment is offered in order to the establishment of development of RT-MINIX.
(5) Some research findings of RT-MINIX prototype are presented in this thesis.
引文
[1]．Andrew Tanenbaum,Albert Woodhull操作系统设计与实现．北京：电子工业出版社，1998．8
[2]．王学龙．嵌入式Linux系统设计与应用．北京：清华大学出版社，2001，8
[3]．邹思铁．嵌入式Linux设计与应用．北京：清华大学出版社，2002．1
[4]．林宇，郭凌云．Linux网络编程．北京：人民邮电出版社，2000．10
[5]．Alessandro rubini.Linux设备驱动程序．北京：中国电力出版社，2000．4
[6]．毛德操，胡希明．Linux内核源代码情景分析．杭州：浙江大学出版社，2001．9
[7]．Wayne Wolf．嵌入式计算系统设计原理．北京：机械工业出版社，2002．2
[8]．Jean Labrosse．源码公开的实时嵌入式操作系统．北京：中国电力出版社，2001．8
[9]．马忠梅，马广云．ARM嵌入式处理器结构与应用基础．北京：航空航天大学出版社，2002．1
[10]．Barry Brey.80x86奔腾机汇编语言程序设计．北京：电子工业出版社，1998
[11]．房有定，卢安国．80x86系列保护模式高级程序设计．西安：西安交通大学出版社，1996
[12]．赵海．嵌入式Internet．北京：清华大学出版社，2001．9
[13]．王建文，陈军．80386扩展内存编程．西安：西安电子科技大学出版社，1994．4
[14]．Barry Brey．Intel系列微处理器结构，编程和接口技术大全．北京：机械工业出版社，2000．2
[15]．William Stallings．操作系统内核与设计原理．北京：电子工业出版社，2001．6
[16]．Maurice Bach.UNIX操作系统设计．北京：机械工业出版社，2000．4
[17]．郭嵩山．DOS内核结构分析．北京：电子工业出版社，1996．8
[18]．Andrew Tanenbaum．现代操作系统．北京：机械工业出版社，1999．11
[19]．张云生．实时控制系统软件设计原理与应用．北京：国防工业出版社，1998．12
[20] 孔祥营，柏桂枝．嵌入式实时操作系统VxWork及其开发环境Tornado．北京：中国电力出版社，2002．1
[21]．蔡德聪．工业控制计算机实时操作系统，北京：清华大学出版社，1999．12
[22]．陈莉君．Linux操作系统内核分析．北京：人民邮电出版社，2000．8
[23]．探矽工作室．嵌入式系统开发圣经．北京：中国青年出版社，2002．1
[24]．Frank van Gilluwe.PC技术内幕．北京：中国电力出版社，2001，4
[25]．John Hennessy,David Patterson．计算机系统结构．北京：清华大学出版社，2002．8
[26]．William Stallings．计算机组织与结构：性能设计．北京：清华大学出版社，1999．9
[27]．徐文．一个动态内存管理模块的实现．单片机与嵌入式系统应用第9期，2002．9
[28]．朱巍．嵌入式实时操作系统及其应用．单片机与嵌入式系统应用第8期，2002．8
[29]．师明珠．嵌入式应用系统软件设计技术研究．计算机工程与应用．第7期，2002．7
[30]．Michael Melkonian．编写自己的实时操作系统．单片机与嵌入式系统应用第1期，2002．1
[31]．刘海鹏，张根度．Minix新增系统调用的设计与实现．小型微型计算机系统．2002年第4期
[32].Giorgio Buttazzo,Giuseppe Lipari. Elastic Scheduling for Flexible Workload Management. IEEE Transactions on computer,VOL.51 NO.3,March 2002
[33].D. Seto, J.P. Lehoczky, L. Sha, K.G. Shin.On Task Schedulability in Real-Time Control Systems. IEEE Real-Time Systems Symp. Dec 1997
[34].Bala Kaashoek, M F Weihl. Operating System Design and
Implementation. USENIX, 1994
[35].Boris Beizer. Software Testing Techniques,second edition, New York:Van Nostrand Reinhold,1990
[36].L. Benini, A.Bogliolo, and G. De Micheli, "A survey of design techniques for system-level dynamic management", IEEE Transactions on VLSI Systems,June 2000
[37].M. Chiodo, P. Giusto, H.Hsieh, A. Jurecska, L.Lavagno, and A. Sangiovanni-Vincentelli, "Hardware software co-design of embedded systems", IEEE Micro, August 1994
[38].Robert R. Collins, "In-circuit emulation ", Dr dobb's Journal, September 1997
[39].Sari L. Coumeri and Donald E. Thomas, "A simulation environment for hardware software codesign", Los Alamitos CA:IEEE Computer Society Press, 1995
[40].Alan M. Davis, Software Requirements: Analysis and Specification.Englewood Cliffs NJ: Prentice Hall, 1990
[41].Bruce Power Douglass, Doing Hard Time: Developing Real-Time System with UML, Objects, Frameworks and Patterns. Reading MA:Addison-Wesley Longman, 1999
[42].'Lewis C. Eggebrecht. Interfacing to the IBM Personal Computer, second edition, Carmel IN: Howard W. Sams and Co., 1990
[43].Rolf Ernst, Joerg Henkel and Thomas Benner, "Hardware-software cosynthesis for microcontrollers", IEEE Design and Test of Computer,December 1993
[44].Paniel.Understanding the Linux Kernel. Addison-Wesley, 2000
[45].Gary J. Kernel Projects for Linux. Addison-Wesley,2002
[46].David Tansley. Linux and Unix Shell Programming,2000
[47].K.Wall,M.Watson and M.Whitis. Linux Programming Unleased, 1999
[48].Hermann Kopetz. Real-Time Systems. Boston:Kluwer Academic
Publishers, 1997
[49].Roger S.Pressman. Software Engineering. New York: McGraw-Hill,1997
[50].Michael Beek. Linux Kernel Internals. Addison-Wesley, 1997
[51].Richard W. Eamshaw, Lee D. Smith and Kevin Welton. "Challenges in cross-development" IEEE Micro, July 1997
[2]．王学龙．嵌入式Linux系统设计与应用．北京：清华大学出版社，2001，8
[3]．邹思铁．嵌入式Linux设计与应用．北京：清华大学出版社，2002．1
[4]．林宇，郭凌云．Linux网络编程．北京：人民邮电出版社，2000．10
[5]．Alessandro rubini.Linux设备驱动程序．北京：中国电力出版社，2000．4
[6]．毛德操，胡希明．Linux内核源代码情景分析．杭州：浙江大学出版社，2001．9
[7]．Wayne Wolf．嵌入式计算系统设计原理．北京：机械工业出版社，2002．2
[8]．Jean Labrosse．源码公开的实时嵌入式操作系统．北京：中国电力出版社，2001．8
[9]．马忠梅，马广云．ARM嵌入式处理器结构与应用基础．北京：航空航天大学出版社，2002．1
[10]．Barry Brey.80x86奔腾机汇编语言程序设计．北京：电子工业出版社，1998
[11]．房有定，卢安国．80x86系列保护模式高级程序设计．西安：西安交通大学出版社，1996
[12]．赵海．嵌入式Internet．北京：清华大学出版社，2001．9
[13]．王建文，陈军．80386扩展内存编程．西安：西安电子科技大学出版社，1994．4
[14]．Barry Brey．Intel系列微处理器结构，编程和接口技术大全．北京：机械工业出版社，2000．2
[15]．William Stallings．操作系统内核与设计原理．北京：电子工业出版社，2001．6
[16]．Maurice Bach.UNIX操作系统设计．北京：机械工业出版社，2000．4
[17]．郭嵩山．DOS内核结构分析．北京：电子工业出版社，1996．8
[18]．Andrew Tanenbaum．现代操作系统．北京：机械工业出版社，1999．11
[19]．张云生．实时控制系统软件设计原理与应用．北京：国防工业出版社，1998．12
[20] 孔祥营，柏桂枝．嵌入式实时操作系统VxWork及其开发环境Tornado．北京：中国电力出版社，2002．1
[21]．蔡德聪．工业控制计算机实时操作系统，北京：清华大学出版社，1999．12
[22]．陈莉君．Linux操作系统内核分析．北京：人民邮电出版社，2000．8
[23]．探矽工作室．嵌入式系统开发圣经．北京：中国青年出版社，2002．1
[24]．Frank van Gilluwe.PC技术内幕．北京：中国电力出版社，2001，4
[25]．John Hennessy,David Patterson．计算机系统结构．北京：清华大学出版社，2002．8
[26]．William Stallings．计算机组织与结构：性能设计．北京：清华大学出版社，1999．9
[27]．徐文．一个动态内存管理模块的实现．单片机与嵌入式系统应用第9期，2002．9
[28]．朱巍．嵌入式实时操作系统及其应用．单片机与嵌入式系统应用第8期，2002．8
[29]．师明珠．嵌入式应用系统软件设计技术研究．计算机工程与应用．第7期，2002．7
[30]．Michael Melkonian．编写自己的实时操作系统．单片机与嵌入式系统应用第1期，2002．1
[31]．刘海鹏，张根度．Minix新增系统调用的设计与实现．小型微型计算机系统．2002年第4期
[32].Giorgio Buttazzo,Giuseppe Lipari. Elastic Scheduling for Flexible Workload Management. IEEE Transactions on computer,VOL.51 NO.3,March 2002
[33].D. Seto, J.P. Lehoczky, L. Sha, K.G. Shin.On Task Schedulability in Real-Time Control Systems. IEEE Real-Time Systems Symp. Dec 1997
[34].Bala Kaashoek, M F Weihl. Operating System Design and
Implementation. USENIX, 1994
[35].Boris Beizer. Software Testing Techniques,second edition, New York:Van Nostrand Reinhold,1990
[36].L. Benini, A.Bogliolo, and G. De Micheli, "A survey of design techniques for system-level dynamic management", IEEE Transactions on VLSI Systems,June 2000
[37].M. Chiodo, P. Giusto, H.Hsieh, A. Jurecska, L.Lavagno, and A. Sangiovanni-Vincentelli, "Hardware software co-design of embedded systems", IEEE Micro, August 1994
[38].Robert R. Collins, "In-circuit emulation ", Dr dobb's Journal, September 1997
[39].Sari L. Coumeri and Donald E. Thomas, "A simulation environment for hardware software codesign", Los Alamitos CA:IEEE Computer Society Press, 1995
[40].Alan M. Davis, Software Requirements: Analysis and Specification.Englewood Cliffs NJ: Prentice Hall, 1990
[41].Bruce Power Douglass, Doing Hard Time: Developing Real-Time System with UML, Objects, Frameworks and Patterns. Reading MA:Addison-Wesley Longman, 1999
[42].'Lewis C. Eggebrecht. Interfacing to the IBM Personal Computer, second edition, Carmel IN: Howard W. Sams and Co., 1990
[43].Rolf Ernst, Joerg Henkel and Thomas Benner, "Hardware-software cosynthesis for microcontrollers", IEEE Design and Test of Computer,December 1993
[44].Paniel.Understanding the Linux Kernel. Addison-Wesley, 2000
[45].Gary J. Kernel Projects for Linux. Addison-Wesley,2002
[46].David Tansley. Linux and Unix Shell Programming,2000
[47].K.Wall,M.Watson and M.Whitis. Linux Programming Unleased, 1999
[48].Hermann Kopetz. Real-Time Systems. Boston:Kluwer Academic
Publishers, 1997
[49].Roger S.Pressman. Software Engineering. New York: McGraw-Hill,1997
[50].Michael Beek. Linux Kernel Internals. Addison-Wesley, 1997
[51].Richard W. Eamshaw, Lee D. Smith and Kevin Welton. "Challenges in cross-development" IEEE Micro, July 1997