一种基于μC/OS-Ⅱ符合OSEK标准的实时系统内核设计
|
摘要
一些安全关键任务系统对嵌入式操作系统的实时性和安全可靠性提出了更高的要求。设计并实现了一种满足OSEK/VDX标准且支持时间/事件混合触发的实时操作系统内核,该内核除具有事件触发的实时性好、使用方便、灵活性高等特点外,还具有时间触发的确定性和安全性等特点。此外,还提出并实现了一种基于静态表的混合任务调度策略,并给出了时间触发任务可调度性的静态测试算法,在保证事件触发灵活性的基础上,通过中断级和任务级时间/事件触发任务的灵活切换,可确保时间触发任务的确定性和安全性,并提高系统的利用率。实验结果表明,该内核可以有效支持时间/事件混合触发的任务调度,并具有良好的实时性与安全性。
Safety critical systems make more requirements on timeliness and reliability of embedded systems.This paper designed a new kernel for a mixed time-triggered and event-triggered mechanism,meeting the OSEK standard.The kernel has the features of good timeliness,high flexibility and certainty.This paper also put forward a static schedule strategy for mixed tasks and an algorithm to check the schedulability of time-triggered tasks.The flexible switch between tasks at both interrupt and task level helps to guarantee those good features while improving the system utilization as well.The experiment shows that the real-time kernel is effective and efficient with good timeliness and high reliability.
Safety critical systems make more requirements on timeliness and reliability of embedded systems.This paper designed a new kernel for a mixed time-triggered and event-triggered mechanism,meeting the OSEK standard.The kernel has the features of good timeliness,high flexibility and certainty.This paper also put forward a static schedule strategy for mixed tasks and an algorithm to check the schedulability of time-triggered tasks.The flexible switch between tasks at both interrupt and task level helps to guarantee those good features while improving the system utilization as well.The experiment shows that the real-time kernel is effective and efficient with good timeliness and high reliability.
引文
[1]Van Den Heuvel M M H P,Bril R J,Lukkien J J,et al.RTOS support for mixed time-triggered and event-triggered task sets[C]∥Proceedings of the 2012IEEE 15th International Conference on Computational Science and Engineering.IEEE Computer Society,2012:578-585
[2]Kopetz H.Event-triggered versus time-triggered real-time systems[M]∥Operating Systems of the 90sand Beyond.Springer Berlin Heidelberg,1991:86-101
[3]Liu C L,Layland J W.Scheduling algorithms for multiprogramming in a hard-real-time environment[J].Journal of the ACM(JACM),1973,20(1):46-61
[4]Baruah S,Fohler G.Certification-cognizant time-triggered scheduling of mixed-criticality systems[C]∥2011IEEE 32nd RealTime Systems Symposium(RTSS).IEEE,2011:3-12
[5]Itami Y,Ishigooka T,Yokoyama T.A Distributed Computing Environment for Embedded Control Systems with Time-Triggered and Event-Triggered Processing[C]∥14th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications,2008(RTCSA’08).IEEE,2008:45-54
[6]Chen Xi,Lv Wei-jie,Liu Lu-yuan.Design and implementation of real time kernel supporting event/time mixed trigger[J].Computer Engineering and Applications,2008,44(16):87-89(in Chinese)陈曦,吕伟杰,刘鲁源.事件/时间触发嵌入式操作系统内核的设计[J].计算机工程与应用,2008,44(16):87-89
[7]Dan Tu-nan,Zhu Li-ping,Yan Ji-xun.A Mixed Trigger Schedule Method Based on Time-Triggered Safety Critical Operating System[C]∥China Aviation Science and Technology Conference.2013:1-5(in Chinese)淡图南,朱立平,颜纪迅.一种基于时间触发的安全关键操作系统混合调度策略[C]∥2013首届中国航空科学技术大会论文集.2013:1-5
[8]OSEK Group.OSEK/VDX Operating System Specification[S/OL].[2005-02-17].http://www.osek-vdx.org
[9]OSEK Group.OSEK/VDX Time-triggered Operating System Specification,Version 1.0[S/OL].[2005-02-17].http://www.osek-vdx.org
[2]Kopetz H.Event-triggered versus time-triggered real-time systems[M]∥Operating Systems of the 90sand Beyond.Springer Berlin Heidelberg,1991:86-101
[3]Liu C L,Layland J W.Scheduling algorithms for multiprogramming in a hard-real-time environment[J].Journal of the ACM(JACM),1973,20(1):46-61
[4]Baruah S,Fohler G.Certification-cognizant time-triggered scheduling of mixed-criticality systems[C]∥2011IEEE 32nd RealTime Systems Symposium(RTSS).IEEE,2011:3-12
[5]Itami Y,Ishigooka T,Yokoyama T.A Distributed Computing Environment for Embedded Control Systems with Time-Triggered and Event-Triggered Processing[C]∥14th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications,2008(RTCSA’08).IEEE,2008:45-54
[6]Chen Xi,Lv Wei-jie,Liu Lu-yuan.Design and implementation of real time kernel supporting event/time mixed trigger[J].Computer Engineering and Applications,2008,44(16):87-89(in Chinese)陈曦,吕伟杰,刘鲁源.事件/时间触发嵌入式操作系统内核的设计[J].计算机工程与应用,2008,44(16):87-89
[7]Dan Tu-nan,Zhu Li-ping,Yan Ji-xun.A Mixed Trigger Schedule Method Based on Time-Triggered Safety Critical Operating System[C]∥China Aviation Science and Technology Conference.2013:1-5(in Chinese)淡图南,朱立平,颜纪迅.一种基于时间触发的安全关键操作系统混合调度策略[C]∥2013首届中国航空科学技术大会论文集.2013:1-5
[8]OSEK Group.OSEK/VDX Operating System Specification[S/OL].[2005-02-17].http://www.osek-vdx.org
[9]OSEK Group.OSEK/VDX Time-triggered Operating System Specification,Version 1.0[S/OL].[2005-02-17].http://www.osek-vdx.org