基于μC/OS-Ⅱ嵌入式开发平台的设计与实现
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摘要
嵌入式系统融合了微电子、计算机软/硬件、通信和电子工程等多种技术、广泛应用于航空、航天、仪器仪表、工业控制、家用电器、信息家电和3C(Computer、Communication & Control)等领域,是科技集成创新的主要手段。嵌入式操作系统也由于RTOS(Real-Time Operation System)的编程方式比传统的编程方式有着明显的优越性,在越来越多的场合得到广泛的应用,研究和开发具有现场总线功能的嵌入式实时操作系统开发平台具有重要的现实意义。
论文首先从嵌入式系统的基本概念入手,对在嵌入式系统中使用RTOS的必要性,RTOS的发展现状和发展趋势等方面进行了简单综述,然后着重分析了操作系统μ C/OS-Ⅱ内核结构,如:任务调度、时间管理、通讯机制以及内存管理等。在此基础上,并以带有数据处理能力较强的8位单片机的Z84C15开发机为控制对象,以抢占式内核μ C/OS-Ⅱ为嵌入式操作系统,以Borland C++ 4.5为编译环境搭建了一套嵌入式操作系统软硬件开发平台,并完成了基于μ C/OS-Ⅱ的部分板级支持包BSP(Board Support Package)的开发,包括数据队列(Data Queue)的设计、串行输入/输出控制器SIO(Serial Input/Output Controller)驱动程序设计、微控制器局域网CAN(Controller Area Network)现场总线驱动程序设计。
在设计的开发平台之上,通过开发平台与设计的实验板通讯程序调试,验证了数据队列的设计、SIO驱动程序设计和CAN总线驱动程序正确性。这种开发过程简洁方便,体现了基于嵌入式操作系统平台的开发优势,达到了预期的设计目的。该平台可以避免嵌入式开发人员对Z84C15重复性设计,缩短开发周期。同时也使嵌入式开发人员从繁杂的CPU和硬件控制工作中解脱出来,从而能够专注于应用系统的开发,提高开发效率。论文最后指出了操作系统μ C/OS-Ⅱ的缺陷,如时钟中断延时、内存和任务栈的浪费,并提出了改进方案,为下一步的研究工作提供了有价值的建议。
Embedded System involves much technology, including micro-electronics, electronic engineering, the software & hardware of computer, Communication, and so on. It has been used in every walk of life, such as aviation, spaceflight, instrument, industrial-control, appliance equipment, intelligent facility, and communication, Computer, Communication & Control. Embedded System Design is a main method of science and technology innovation. Simultaneity, embedded operation-system has been applied widely in many fields, owing to its advantage of programme mode than tradition's.Beginning with the basic conception of the embedded system, the article introduces the necessity of using RTOS in the embedded system, the current situation of the development of RTOS and development trend, etc. This thesis introduces the real-time operation system μC/OS-II and analyzes kernel particularly, for instance, task-scheduler, time-manage, communication-principle and member-manage. Based on it, author designs the software & hardware platform of embedded operation system, which regards Z84C15 developer as control object, reaving kernel μC/OS-II as operation system, Borland C++ 4.5 as code warrior. And completes the design of bord support package about data queue, serial input/output controller, controller area network.By communication programme debugging between the platform and experimental circuit board, the paper validate bord support package of data queue, SIO CAN. The developing process is laconic and convenient, which embodies advantage of RTOS, and accomplishes expected purpose. Simultaneity The platform can avoid repeated design on Z84C15, reduce developing time, Simultaneity which can release programmers from bottom design, in order to focus on application. Eventually, the paper points out limitation of uC/OS-II, for example delay of time tick, waste of memory and task stack, and bring forward ameliorated projects. Which offers valuable advice for future research.
论文首先从嵌入式系统的基本概念入手,对在嵌入式系统中使用RTOS的必要性,RTOS的发展现状和发展趋势等方面进行了简单综述,然后着重分析了操作系统μ C/OS-Ⅱ内核结构,如:任务调度、时间管理、通讯机制以及内存管理等。在此基础上,并以带有数据处理能力较强的8位单片机的Z84C15开发机为控制对象,以抢占式内核μ C/OS-Ⅱ为嵌入式操作系统,以Borland C++ 4.5为编译环境搭建了一套嵌入式操作系统软硬件开发平台,并完成了基于μ C/OS-Ⅱ的部分板级支持包BSP(Board Support Package)的开发,包括数据队列(Data Queue)的设计、串行输入/输出控制器SIO(Serial Input/Output Controller)驱动程序设计、微控制器局域网CAN(Controller Area Network)现场总线驱动程序设计。
在设计的开发平台之上,通过开发平台与设计的实验板通讯程序调试,验证了数据队列的设计、SIO驱动程序设计和CAN总线驱动程序正确性。这种开发过程简洁方便,体现了基于嵌入式操作系统平台的开发优势,达到了预期的设计目的。该平台可以避免嵌入式开发人员对Z84C15重复性设计,缩短开发周期。同时也使嵌入式开发人员从繁杂的CPU和硬件控制工作中解脱出来,从而能够专注于应用系统的开发,提高开发效率。论文最后指出了操作系统μ C/OS-Ⅱ的缺陷,如时钟中断延时、内存和任务栈的浪费,并提出了改进方案,为下一步的研究工作提供了有价值的建议。
Embedded System involves much technology, including micro-electronics, electronic engineering, the software & hardware of computer, Communication, and so on. It has been used in every walk of life, such as aviation, spaceflight, instrument, industrial-control, appliance equipment, intelligent facility, and communication, Computer, Communication & Control. Embedded System Design is a main method of science and technology innovation. Simultaneity, embedded operation-system has been applied widely in many fields, owing to its advantage of programme mode than tradition's.Beginning with the basic conception of the embedded system, the article introduces the necessity of using RTOS in the embedded system, the current situation of the development of RTOS and development trend, etc. This thesis introduces the real-time operation system μC/OS-II and analyzes kernel particularly, for instance, task-scheduler, time-manage, communication-principle and member-manage. Based on it, author designs the software & hardware platform of embedded operation system, which regards Z84C15 developer as control object, reaving kernel μC/OS-II as operation system, Borland C++ 4.5 as code warrior. And completes the design of bord support package about data queue, serial input/output controller, controller area network.By communication programme debugging between the platform and experimental circuit board, the paper validate bord support package of data queue, SIO CAN. The developing process is laconic and convenient, which embodies advantage of RTOS, and accomplishes expected purpose. Simultaneity The platform can avoid repeated design on Z84C15, reduce developing time, Simultaneity which can release programmers from bottom design, in order to focus on application. Eventually, the paper points out limitation of uC/OS-II, for example delay of time tick, waste of memory and task stack, and bring forward ameliorated projects. Which offers valuable advice for future research.
引文
[1].王春铭,刘振华,郭去飞.实时操作系统中应用软件设计的任务划分.计算机工程.2000,26(7):19-93
[2].郭兵.嵌入式软件开放式集成开发平台体系结构研究:硕士学位论文.成都:电子科技大学计算机科学与工程学院,2002
[3]. Ramamritham.k, Arya, k. System support for embedded applications. IEEE, 2003.
[4].(美)Jean J.Labrosse著.嵌入式实时操作系统μC/OS—Ⅱ.第2版.北京:北京航空航天大学出版社,2003
[5]. Grzegorz HAMUDA, Wolfgang HALANG. Correctness Proof of An Operating System Kernel for Hard Real Time Computing.[J], The International Work shop on Discrete-Event System Design, June27 2001
[6].韩璐.嵌入式实时操作系统内核的研究与开发:硕士学位论文.沈阳:东北大学计算机学院,2003
[7].龚志刚.基于uC/OS-Ⅱ的嵌入式控制系统的开发平台的设计与实现:硕士学位论文.西安:西安交通大学,2003.
[8].任哲.嵌如式实时操作系统μC/OS—Ⅱ原理及应用.北京:北京航空航天大学出版社,2005:1-15
[9]. Khushu Sanjeev, Simmons Johnathan. Scheduling and Synchronization in Embedded Real-ime Operating Systems[In], CSE211, 2001
[10].李泓汐.嵌入式操作系统在炉温控制中的应用:硕士学位论文.大连:大连海事大学,2003
[11].郑君民.基于μC/OS-Ⅱ实时嵌入式操作系统平台的研究:硕士学位论文.哈尔滨:哈尔滨工业大学,2002
[12]. Tao Rim Park, Jae Hyun Park, Wook Hyun Kwon. Reduceing OS Overhead For Real Time Industrial Controllers With Adjustable Timer Resolution. IEEE, 2001.
[13].杨波.实时多任务操作系统的开发和应用实例:硕士学位论文.南京:东南大学,2003
[14]. Robert EDick" Ganesh Lakshminarayana. Analysis of Power Dissipation in Embedded Systems Using Real-Time Operating Systems.Computer-Aided Design of Integrated Circuitand Systems,IEEE Transactionson,2003,22(5):615-627
[15].马少丹.嵌入式操作系统的设计与实现:硕士学位论文.天津:南开大学,2002
[16].周立功.ARM微控制器基础与实战.北京:北京航空航天大学出版社,2003:441-470
[17].王田苗.嵌入式系统设计实力与开发.第2版.北京:清华大学出版社,2003,1-15
[18]. John M.Rodrigues Jr., Characteristics of Commercial RTOS, Proceedings of the 2001 International Conference on Embedded System, 2001.10
[19]. Bruno Dutertre, Victoria Stavridou. Formal Analysis for Real-Time Scheduling. Digital Avionics Systems Conferences, 2000. Proceedings. DASC. The Philadelphia, PA, USA, 2000, 1: 1-7
[20]. Tatsuo Nakajima, Masatoshi Iw asaki. Issues for Making Linux Predictable. IEEE, 2002.
[21]. Yu-Chung, Kwei-Jay Lin. Enhacing the Real-Time Capability of the Linux Kernel. IEEE, 1998.
[22].谢栓勤,刘科满.嵌入式操作系统μC/OS-Ⅱ在飞机汇流条控制器中的应用研究.计算机测量与控制,2005,13(6):535-537
[23].王原丽.μC/OS-Ⅱ中的时钟中断研究..单片机与嵌入式系统设计,2005,9:73-74
[24]. V.Olive, S. Martinand A. Vareille. OS for Embedded Systems:State of the Art and Prospects. Microelectronic Engineering. 2000, 54(12): 113-115
[25].李仕涌,谭南林.多任务操作系统在嵌入式系统开发中的应用.北方交通大学学报.2002,26(4):79-83
[26]. Rick Grehan Rob ert Moote, Addison Wesley LongmanIn c, [M], Real-Time Programming A Gide To 32-Bit Embedded Development, 中国电力出版社,2001.3
[27]. Pramote Kuacharoen, Tankut Akgul, Vincent J.Mooney. Adaptability, Extensibility and Flexibility in Real-Time Operating Systems. Digital Systems, Design, 2001. Proceeding. Euromicro Symposiumon.Warsaw, Poland, 2001:400-405
[28].林游,韩志科.在μC/OS-Ⅱ上实现优先级天花板.单片机与嵌入式系统设计,2005,4:77-79
[29]. EThomas, M.M.Nayak. A Hardware/Software Co-design for Improved Data Acquisition in a Processor Based Embedded System.Microprocessor and Microsystems.2000, (24): 129-134
[30]. Sanjeev Khushu, Johnathan Simmons. Scheduling and Synchronization in Embedded Real-Time Operating Systems.[J], March5, 2001
[31].赵学军.单片机实时嵌入式操作系统微内核的设计,桂林电子工业学院学报.2002,22(3):76-79
[32]. Jae-Ho Lee, Heung-Nam Kim. Implementing Priority Inheritance Semaphore on UC/OS Real-Time Kernel. IEEE, 2003.
[33].易旭东.μC/OS在嵌入式系统中的应用:硕士学位论文.成都:四川大学,2003
[34]. Jejurikar, Ravindra Gupta, Rajesh Energy. Task Scheduling with Task Synchronization for Embedded Real Time Systems[J], CASES October 8-11, 2002
[35].姚传安.μC/OS-Ⅱ的嵌入式串口通信模块设计.单片机与嵌入式系统设计,2005,7:72-74
[36].关新,方博等.CAN总线火灾报警控制.控制工程,2004,11(1):140-142
[37].周纯杰,方华京.一种现场总线控制系统的传输规划方法及实现.计算机工程与应用,2003,39(35):4-5
[38].张海峰,段登平,陈文芗.μC/OS-Ⅱ的多任务信息流与CAN总线驱动.单片机与嵌入式系统应用,2004,3:70-73
[39].陆芳群,陈明昭.基于CAN控制器SJA1000智能高速控制系统设计.电子设计应用,2003,1:42-44
[40].高强,董力川,朱宁.嵌入式CAN总线控制系统设计.自动化技术与应用,2002,(2):33-34.
[41].陆前锋.基于SJA1000的CAN总线智能控制系统设计.自动化技术与应用,2003,(1):61-64.
[42].李明.嵌入式互连网络接口的设计与开发工业控制计算机2002,15(8):39-42
[2].郭兵.嵌入式软件开放式集成开发平台体系结构研究:硕士学位论文.成都:电子科技大学计算机科学与工程学院,2002
[3]. Ramamritham.k, Arya, k. System support for embedded applications. IEEE, 2003.
[4].(美)Jean J.Labrosse著.嵌入式实时操作系统μC/OS—Ⅱ.第2版.北京:北京航空航天大学出版社,2003
[5]. Grzegorz HAMUDA, Wolfgang HALANG. Correctness Proof of An Operating System Kernel for Hard Real Time Computing.[J], The International Work shop on Discrete-Event System Design, June27 2001
[6].韩璐.嵌入式实时操作系统内核的研究与开发:硕士学位论文.沈阳:东北大学计算机学院,2003
[7].龚志刚.基于uC/OS-Ⅱ的嵌入式控制系统的开发平台的设计与实现:硕士学位论文.西安:西安交通大学,2003.
[8].任哲.嵌如式实时操作系统μC/OS—Ⅱ原理及应用.北京:北京航空航天大学出版社,2005:1-15
[9]. Khushu Sanjeev, Simmons Johnathan. Scheduling and Synchronization in Embedded Real-ime Operating Systems[In], CSE211, 2001
[10].李泓汐.嵌入式操作系统在炉温控制中的应用:硕士学位论文.大连:大连海事大学,2003
[11].郑君民.基于μC/OS-Ⅱ实时嵌入式操作系统平台的研究:硕士学位论文.哈尔滨:哈尔滨工业大学,2002
[12]. Tao Rim Park, Jae Hyun Park, Wook Hyun Kwon. Reduceing OS Overhead For Real Time Industrial Controllers With Adjustable Timer Resolution. IEEE, 2001.
[13].杨波.实时多任务操作系统的开发和应用实例:硕士学位论文.南京:东南大学,2003
[14]. Robert EDick" Ganesh Lakshminarayana. Analysis of Power Dissipation in Embedded Systems Using Real-Time Operating Systems.Computer-Aided Design of Integrated Circuitand Systems,IEEE Transactionson,2003,22(5):615-627
[15].马少丹.嵌入式操作系统的设计与实现:硕士学位论文.天津:南开大学,2002
[16].周立功.ARM微控制器基础与实战.北京:北京航空航天大学出版社,2003:441-470
[17].王田苗.嵌入式系统设计实力与开发.第2版.北京:清华大学出版社,2003,1-15
[18]. John M.Rodrigues Jr., Characteristics of Commercial RTOS, Proceedings of the 2001 International Conference on Embedded System, 2001.10
[19]. Bruno Dutertre, Victoria Stavridou. Formal Analysis for Real-Time Scheduling. Digital Avionics Systems Conferences, 2000. Proceedings. DASC. The Philadelphia, PA, USA, 2000, 1: 1-7
[20]. Tatsuo Nakajima, Masatoshi Iw asaki. Issues for Making Linux Predictable. IEEE, 2002.
[21]. Yu-Chung, Kwei-Jay Lin. Enhacing the Real-Time Capability of the Linux Kernel. IEEE, 1998.
[22].谢栓勤,刘科满.嵌入式操作系统μC/OS-Ⅱ在飞机汇流条控制器中的应用研究.计算机测量与控制,2005,13(6):535-537
[23].王原丽.μC/OS-Ⅱ中的时钟中断研究..单片机与嵌入式系统设计,2005,9:73-74
[24]. V.Olive, S. Martinand A. Vareille. OS for Embedded Systems:State of the Art and Prospects. Microelectronic Engineering. 2000, 54(12): 113-115
[25].李仕涌,谭南林.多任务操作系统在嵌入式系统开发中的应用.北方交通大学学报.2002,26(4):79-83
[26]. Rick Grehan Rob ert Moote, Addison Wesley LongmanIn c, [M], Real-Time Programming A Gide To 32-Bit Embedded Development, 中国电力出版社,2001.3
[27]. Pramote Kuacharoen, Tankut Akgul, Vincent J.Mooney. Adaptability, Extensibility and Flexibility in Real-Time Operating Systems. Digital Systems, Design, 2001. Proceeding. Euromicro Symposiumon.Warsaw, Poland, 2001:400-405
[28].林游,韩志科.在μC/OS-Ⅱ上实现优先级天花板.单片机与嵌入式系统设计,2005,4:77-79
[29]. EThomas, M.M.Nayak. A Hardware/Software Co-design for Improved Data Acquisition in a Processor Based Embedded System.Microprocessor and Microsystems.2000, (24): 129-134
[30]. Sanjeev Khushu, Johnathan Simmons. Scheduling and Synchronization in Embedded Real-Time Operating Systems.[J], March5, 2001
[31].赵学军.单片机实时嵌入式操作系统微内核的设计,桂林电子工业学院学报.2002,22(3):76-79
[32]. Jae-Ho Lee, Heung-Nam Kim. Implementing Priority Inheritance Semaphore on UC/OS Real-Time Kernel. IEEE, 2003.
[33].易旭东.μC/OS在嵌入式系统中的应用:硕士学位论文.成都:四川大学,2003
[34]. Jejurikar, Ravindra Gupta, Rajesh Energy. Task Scheduling with Task Synchronization for Embedded Real Time Systems[J], CASES October 8-11, 2002
[35].姚传安.μC/OS-Ⅱ的嵌入式串口通信模块设计.单片机与嵌入式系统设计,2005,7:72-74
[36].关新,方博等.CAN总线火灾报警控制.控制工程,2004,11(1):140-142
[37].周纯杰,方华京.一种现场总线控制系统的传输规划方法及实现.计算机工程与应用,2003,39(35):4-5
[38].张海峰,段登平,陈文芗.μC/OS-Ⅱ的多任务信息流与CAN总线驱动.单片机与嵌入式系统应用,2004,3:70-73
[39].陆芳群,陈明昭.基于CAN控制器SJA1000智能高速控制系统设计.电子设计应用,2003,1:42-44
[40].高强,董力川,朱宁.嵌入式CAN总线控制系统设计.自动化技术与应用,2002,(2):33-34.
[41].陆前锋.基于SJA1000的CAN总线智能控制系统设计.自动化技术与应用,2003,(1):61-64.
[42].李明.嵌入式互连网络接口的设计与开发工业控制计算机2002,15(8):39-42