基于OSEK/VDX标准的RTOS汽车仪表设计
摘要
随着科技发展的不断加快,汽车行业成为我国发展速度最快的行业之一,给汽车电子带来了前所未有的发展空间。电子技术在汽车上的广泛应用,使汽车的电子化、网络化和智能化水平日趋提高,汽车领域70%的技术革新来自汽车电子产品。日益扩大的汽车电子市场已成为信息产业新的经济增长点,新一代汽车仪表信息系统的研制具有很重要的意义。
本文在分析了目前国内汽车仪表信息系统发展趋势基础上,提出了以OSEK/VDX标准为基础的嵌入式汽车仪表信息系统中央控制器的设计。中央控制器以飞思卡尔公司的16位单片机MC9S12DG128为处理核心,软件上遵循多控制单元的开放式分布控制标准OSEK/VDX,以μC/OS-II作为实时操作系统内核,通过LIN总线与数字仪表通讯,通过CAN总线与汽车其他总成交换数据、发布控制命令,实现了汽车仪表信息系统数字化,中央控制器具有车载电子设备所要求的可靠性、EMC(电磁兼容性)等性能。
本文较深入地研究了μC/OS-II嵌入式操作系统内核,分析了其多任务调度及实时性机理,按OSEK/VDX国际通用标准要求,在MC9S12DG128单片机上成功移植了实时多任务操作系统。设计了汽车黑匣子数据保存、USB数据下载和汽车里程数据保存等算法,并以任务形式编写算法程序,采用优先级多任务调度管理,实现了软件系统的总体设计。
本文设计的汽车仪表信息系统中央控制器经反复设计、调试,最终上车运行试验,达到设计要求。文中探讨的OSEK/VDX开放式分布控制标准,汽车实时操作系统等内容为车载电子软件的设计提供了可供参考的经验。
With the rapid development of science and technology in recent years, the auto industry had been one of the most quickly developed industries in our country, which brought huge development space to auto-electron. The abroad electronics’application lifted electronic-automobile, internet-automobile and intelligentized-automobile , meanwhile 70 percent’s technology renovation in auto industry came from auto electronic products. Increasingly ampliative auto-electronic market had become new economic growth point to information industry, therefore the research and development of new generation automobile instrument information systems had very important significance.
Based on the analysis of domestic automobile instrument information systems’development trend at present, the paper brought forward embedded automobile instrument information systems CCU’s design based on OSEK/VD criterion. The CCU’s disposal core was Freescale’s 16-bit singlechip--MC9S12DG128, and its software followed open distributing control standard OSEK/VDX with many control units. AsμC/OS-II was the real-time operating system kernel, the CCU communicated and exchanged data with numeric instrument through LIN bus, and through CAN bus the CCU exchanged data, put out control command with other units. Besides, the CCU had reliability and EMC performance demanded by vehicle electronic equipment.
Based on the embedded-tech and with the background ofμC/OS-II real-time embedded operating system, the paper introduced the model of plantingμC/OS-II based on MC9S12DG128 and developing drivers, and the paper expatiated the open distributing control standard OSEK/VDX with many control units used in automobiles, the auto black casket’s design and the auto milestone data’s conservation arithmetic.
The paper’s automobile instrument information systems CCU design had been by trial and error method, succeeded to run in the automobile and called for the design. The open distributing control standard OSEK/VDX and the auto real-time operating system discussed by the paper had provided referenced experiences for the vehicle electronic software’s design.
本文在分析了目前国内汽车仪表信息系统发展趋势基础上,提出了以OSEK/VDX标准为基础的嵌入式汽车仪表信息系统中央控制器的设计。中央控制器以飞思卡尔公司的16位单片机MC9S12DG128为处理核心,软件上遵循多控制单元的开放式分布控制标准OSEK/VDX,以μC/OS-II作为实时操作系统内核,通过LIN总线与数字仪表通讯,通过CAN总线与汽车其他总成交换数据、发布控制命令,实现了汽车仪表信息系统数字化,中央控制器具有车载电子设备所要求的可靠性、EMC(电磁兼容性)等性能。
本文较深入地研究了μC/OS-II嵌入式操作系统内核,分析了其多任务调度及实时性机理,按OSEK/VDX国际通用标准要求,在MC9S12DG128单片机上成功移植了实时多任务操作系统。设计了汽车黑匣子数据保存、USB数据下载和汽车里程数据保存等算法,并以任务形式编写算法程序,采用优先级多任务调度管理,实现了软件系统的总体设计。
本文设计的汽车仪表信息系统中央控制器经反复设计、调试,最终上车运行试验,达到设计要求。文中探讨的OSEK/VDX开放式分布控制标准,汽车实时操作系统等内容为车载电子软件的设计提供了可供参考的经验。
With the rapid development of science and technology in recent years, the auto industry had been one of the most quickly developed industries in our country, which brought huge development space to auto-electron. The abroad electronics’application lifted electronic-automobile, internet-automobile and intelligentized-automobile , meanwhile 70 percent’s technology renovation in auto industry came from auto electronic products. Increasingly ampliative auto-electronic market had become new economic growth point to information industry, therefore the research and development of new generation automobile instrument information systems had very important significance.
Based on the analysis of domestic automobile instrument information systems’development trend at present, the paper brought forward embedded automobile instrument information systems CCU’s design based on OSEK/VD criterion. The CCU’s disposal core was Freescale’s 16-bit singlechip--MC9S12DG128, and its software followed open distributing control standard OSEK/VDX with many control units. AsμC/OS-II was the real-time operating system kernel, the CCU communicated and exchanged data with numeric instrument through LIN bus, and through CAN bus the CCU exchanged data, put out control command with other units. Besides, the CCU had reliability and EMC performance demanded by vehicle electronic equipment.
Based on the embedded-tech and with the background ofμC/OS-II real-time embedded operating system, the paper introduced the model of plantingμC/OS-II based on MC9S12DG128 and developing drivers, and the paper expatiated the open distributing control standard OSEK/VDX with many control units used in automobiles, the auto black casket’s design and the auto milestone data’s conservation arithmetic.
The paper’s automobile instrument information systems CCU design had been by trial and error method, succeeded to run in the automobile and called for the design. The open distributing control standard OSEK/VDX and the auto real-time operating system discussed by the paper had provided referenced experiences for the vehicle electronic software’s design.
引文
[1] 白木. 汽车仪表的识别、使用与发展趋势. 北京: 中国仪器仪表, 2004(3):56~58
[2] 杨忠敏. 汽车仪表的发展现状. 汽车电器,2004(1): 1~3
[3] 吕京建, 肖海桥. 面向二十一世纪的嵌入式系统综述. 电子质量, 2001(8): 10~13
[4] 林建民. 嵌入式操作系统技术发展趋势. 计算机工程, 2000, 27(10): 23~26
[5] Tabbara, Bassam. Function/architecture optimization and co-design of embedded systems. Boston: Kluwer Academic Publishers, 2000:245~246
[6] 罗克露等译. OSEK/VDX 汽车电子嵌入式软件编程技术. 北京航空航天大学出版社, 2004:1~2
[7] 王保进. Alpha OSEK:一个基于 OSEK/VDX 标准实现的嵌入式实时操作系统. 计算机工程与应用, 2003.36:30~35
[8] The OSEK/VDX group . OSEK/VDX Operating System. www.osek-vdx.org ,Version 2.2.3 February 17th, 2005:12~13
[9] 李秀梅. OSEK/ VDX 标准与车控电子产品开发. 单片机与嵌入式系统应用, 2005(4):37~30
[10] 董珂. CAN 总线技术及其在混合动力电动车上的应用. 清华大学学报(自然科学版), 2003,43(8):248~511
[11] The OSEK/VDX group .OSEK/VDX Communication. www.osek-vdx.org.Version 3.0.3.July 20, 2004:20~22
[12] Wind River Systems Inc. Tornado for OSEK Works 3.0.2 Online Docu2 mentation[S]. Alameda. California. USA. 2000:150~155
[13] OSEK/VDX Network Management .Concept and Application Programming Interface. 2004:35~36
[14] The OSEK/VDX group. OSEK Implementation Language. www.osek-vdx.org. Version 2.5. 2004:8~11
[15] 洪运富. 基于 OSEK/VDX 标准的汽车仪表信息系统设计. 计算机与信息技术, 2006(Z1):16~19
[16] 邵贝贝 . 嵌入式实时操作系统μC/OS-II. 北京航空航天大学出版社 ,2003(5):250~253
[17] Labrosse, Jean J. μC/OS- The Real-Time Kernel , R & D Publications, 1992:92~95
[18] Bal Sathe, Dhananjay .Fast Algorithm Determines Priority .EDN (India), Sept. 1988:237~240
[19] Wood, Mike and Tom Barrett .A Real-Time Primer .Embedded Systems Programming, February, 1990: 20~28
[20] Ganssle, Jack G. The Art of Programming Embedded Systems .San Diego, California .Academic Press, Inc, 1992:170~172
[21] Laplante, Phillip A .Real-Time Systems Design and Analysis, An Engineer's Handbook .Piscataway, IEEE Computer Society Press:12~15
[22] Allworth, Steve T.Introduction To Real-Time Software Design.New York, Springer-Verlag, 1981:42~45
[23] Klein, Mark H., and Michael Gonzlez .Guide to Rate Monotonic Analysis for Real-Time Systems.Norwell, Massachusetts. Kluwer Academic Publishers Group, 1993:232~235
[24] 程小东. 基于 μC/OS-II 的多线程程序实现. 石河子大学学报, 2005(6):772~774
[25] Comer, Douglas. Operating System Design. The XINU Approach. Englewood Cliffs, New Jersey. Prentice-Hall, Inc.1984:88~91
[26] Lehoczky. The Rate Monotonic Scheduling Algorithm. IEEE Computer Society. Los Alamitos, CA, 1989:166~171.
[27] Hunter & Ready. Dijkstra Semaphores, Application Note. Palo Alto, California. 1983:524~526
[28] Hunter & Ready. VRTX and Event Flags. Palo Alto, California. Hunter & Ready, Inc.1986:69~72
[29] 戴立成. 基于 μC/OS-II 的文件系统设计. 微计算机信息, 2005(22):33~35
[30] 常 兴 . μC/OS-II 简 化 移 植 方 法 的 研 究 与 实 现 . 小 型 微 型 计 算 机 系 统 , 2005(11):2046~2047
[31] 靳文兵. 嵌入式操作系统 μC/OS-Ⅱ在单片机上的移植. 太原理工大学学报, 2006(1):100~103
[32] 邵贝贝. 单片机嵌入式应用的在线开发方法. 北京: 清华大学出版社, 2004.10: 61~62
[33] 范本正. MC9S12DP256 单片机在转子发动机电控系统中的应用 .小型内燃机与摩托车, 2006(2):46~48
[34] 张亚宁. 摩托罗拉 16 位单片机 MC9S12DP256 在汽车电子中的应用. 国外电子元器件, 2003(11):17~18
[35] 袁媛. 闪速存储器芯片 K9F6408 系列的典型应用. 单片机与嵌入式系统应用, 2004(5):52~54
[36] 贺今朝. 基于 K9F6408 U0A 和 SPDS202A 的数码录音系统. 国外电子元器件, 2002(2):14~16
[37] 王娜 . 基于 USB 接口的 CAN 总线适配器的研制 . 通化师范学院学报 , 2006(2):210~212
[38] 南京沁恒. U 盘文件读写模块的使用说明. http://wch.cn/. 2006:1~10
[39] 曹炳坤. 形形色色的黑匣子. 科学之友, 2006(2):29
[40] 高玉民. 汽车黑匣子简介. 交通与运输, 2005(2):22~23
[41] 高峰. CAN 总线型多功能汽车行驶记录仪.广西工学院学报 , 2005(4):6~9
[42] 李建军. 铁电存储器的基本单元及其工作模式. 计算机与数字工程. 2006(1):8~11
[2] 杨忠敏. 汽车仪表的发展现状. 汽车电器,2004(1): 1~3
[3] 吕京建, 肖海桥. 面向二十一世纪的嵌入式系统综述. 电子质量, 2001(8): 10~13
[4] 林建民. 嵌入式操作系统技术发展趋势. 计算机工程, 2000, 27(10): 23~26
[5] Tabbara, Bassam. Function/architecture optimization and co-design of embedded systems. Boston: Kluwer Academic Publishers, 2000:245~246
[6] 罗克露等译. OSEK/VDX 汽车电子嵌入式软件编程技术. 北京航空航天大学出版社, 2004:1~2
[7] 王保进. Alpha OSEK:一个基于 OSEK/VDX 标准实现的嵌入式实时操作系统. 计算机工程与应用, 2003.36:30~35
[8] The OSEK/VDX group . OSEK/VDX Operating System. www.osek-vdx.org ,Version 2.2.3 February 17th, 2005:12~13
[9] 李秀梅. OSEK/ VDX 标准与车控电子产品开发. 单片机与嵌入式系统应用, 2005(4):37~30
[10] 董珂. CAN 总线技术及其在混合动力电动车上的应用. 清华大学学报(自然科学版), 2003,43(8):248~511
[11] The OSEK/VDX group .OSEK/VDX Communication. www.osek-vdx.org.Version 3.0.3.July 20, 2004:20~22
[12] Wind River Systems Inc. Tornado for OSEK Works 3.0.2 Online Docu2 mentation[S]. Alameda. California. USA. 2000:150~155
[13] OSEK/VDX Network Management .Concept and Application Programming Interface. 2004:35~36
[14] The OSEK/VDX group. OSEK Implementation Language. www.osek-vdx.org. Version 2.5. 2004:8~11
[15] 洪运富. 基于 OSEK/VDX 标准的汽车仪表信息系统设计. 计算机与信息技术, 2006(Z1):16~19
[16] 邵贝贝 . 嵌入式实时操作系统μC/OS-II. 北京航空航天大学出版社 ,2003(5):250~253
[17] Labrosse, Jean J. μC/OS- The Real-Time Kernel , R & D Publications, 1992:92~95
[18] Bal Sathe, Dhananjay .Fast Algorithm Determines Priority .EDN (India), Sept. 1988:237~240
[19] Wood, Mike and Tom Barrett .A Real-Time Primer .Embedded Systems Programming, February, 1990: 20~28
[20] Ganssle, Jack G. The Art of Programming Embedded Systems .San Diego, California .Academic Press, Inc, 1992:170~172
[21] Laplante, Phillip A .Real-Time Systems Design and Analysis, An Engineer's Handbook .Piscataway, IEEE Computer Society Press:12~15
[22] Allworth, Steve T.Introduction To Real-Time Software Design.New York, Springer-Verlag, 1981:42~45
[23] Klein, Mark H., and Michael Gonzlez .Guide to Rate Monotonic Analysis for Real-Time Systems.Norwell, Massachusetts. Kluwer Academic Publishers Group, 1993:232~235
[24] 程小东. 基于 μC/OS-II 的多线程程序实现. 石河子大学学报, 2005(6):772~774
[25] Comer, Douglas. Operating System Design. The XINU Approach. Englewood Cliffs, New Jersey. Prentice-Hall, Inc.1984:88~91
[26] Lehoczky. The Rate Monotonic Scheduling Algorithm. IEEE Computer Society. Los Alamitos, CA, 1989:166~171.
[27] Hunter & Ready. Dijkstra Semaphores, Application Note. Palo Alto, California. 1983:524~526
[28] Hunter & Ready. VRTX and Event Flags. Palo Alto, California. Hunter & Ready, Inc.1986:69~72
[29] 戴立成. 基于 μC/OS-II 的文件系统设计. 微计算机信息, 2005(22):33~35
[30] 常 兴 . μC/OS-II 简 化 移 植 方 法 的 研 究 与 实 现 . 小 型 微 型 计 算 机 系 统 , 2005(11):2046~2047
[31] 靳文兵. 嵌入式操作系统 μC/OS-Ⅱ在单片机上的移植. 太原理工大学学报, 2006(1):100~103
[32] 邵贝贝. 单片机嵌入式应用的在线开发方法. 北京: 清华大学出版社, 2004.10: 61~62
[33] 范本正. MC9S12DP256 单片机在转子发动机电控系统中的应用 .小型内燃机与摩托车, 2006(2):46~48
[34] 张亚宁. 摩托罗拉 16 位单片机 MC9S12DP256 在汽车电子中的应用. 国外电子元器件, 2003(11):17~18
[35] 袁媛. 闪速存储器芯片 K9F6408 系列的典型应用. 单片机与嵌入式系统应用, 2004(5):52~54
[36] 贺今朝. 基于 K9F6408 U0A 和 SPDS202A 的数码录音系统. 国外电子元器件, 2002(2):14~16
[37] 王娜 . 基于 USB 接口的 CAN 总线适配器的研制 . 通化师范学院学报 , 2006(2):210~212
[38] 南京沁恒. U 盘文件读写模块的使用说明. http://wch.cn/. 2006:1~10
[39] 曹炳坤. 形形色色的黑匣子. 科学之友, 2006(2):29
[40] 高玉民. 汽车黑匣子简介. 交通与运输, 2005(2):22~23
[41] 高峰. CAN 总线型多功能汽车行驶记录仪.广西工学院学报 , 2005(4):6~9
[42] 李建军. 铁电存储器的基本单元及其工作模式. 计算机与数字工程. 2006(1):8~11