基于RTLinux的嵌入式机电系统的应用研究
|
摘要
在2003年国家高新技术研究发展计划中，把在通用和嵌入式CPU、操作系统、信息获取与处理技术等一些重大应用行业方面取得突破性进展作为“十五”863计划信息技术领域的战略目标，而研究与发展机器人技术与自动化工艺装备中的核心技术是国家863计划在先进制造与自动化技术领域的主题。由此可见，机电一体化产品在嵌入式方面的开发和应用已越来越重要，面临的挑战是核心操作系统软件开发工作与机电控制系统软件的控制算法。在嵌入式操作系统中，RTLinux以其优秀的实时性能、免费开放的源代码以及丰富的工具套装等优点赢得了许多软件开发人员的青睐。目前国内已有数家公司提供商用的嵌入式RTLinux平台。
本研究课题在比较几种典型的嵌入式系统优缺点的基础上，选定RTLinux操作系统作为机电系统嵌入式开发的软件开发平台，分析了RTLinux实时化的关键问题和实现原理以及系统的结构，提出了嵌入式机电产品开发的思路和实现途径；结合国防科学技术大学机电工程与自动化教研室开发和使用的某武器伺服控制系统，针对系统中使用的四轴伺服控制器—PCI接口的运动控制卡MC400D进行具体的实践：根据产品特定的硬件环境。细致的分析了RTLinux系统下多任务实现和调度机制、进程的通讯机制、内核中断机制、内存访问和硬件访问等嵌入式功能实现的特殊性，在此基础上，着重深入的研究了RTLinux下块设备驱动程序的编写，设计了MC400D运动控制卡在RTLinux下的驱动程序，并将Windows系统下用VC++编写的伺服控制软件移植到RTLinux系统下；编制了一套实现伺服电机各种控制的实时控制软件，提出了一种适用于武器伺服平台的嵌入式操作系统的解决方案，实验表明了本方法的可行性和实用性；论文最后还进一步研究了嵌入式系统的引导和界面设计问题。实践证明，基于RTLinux开发的嵌入式伺服机电系统具有内核可裁减、实时性强、可用电子盘引导、移植性强等优点，是小巧稳定、高效而且实用的控制系统。
In the year of 2003, it takes the piercely evolvement in those large application field as the stratage purpose in the information technique field on the general and embedded CPU, operating system, information gotten and dealt and so on in the plan of National high technique research and development. And also the research and devolpnent of robot technique and the core technique in the automation arts equipment, are the rthyn of the advanced manufacture and automation technique in the plan of 863. From this point, the research and development in the embedded system has been more and more important. The challenge ahead is the development work of the core operating system and software control arithmetic of machatronic control system. Of all the embedded systems, RTLinux has been more and more popular to the software researchers for its advantages such as the excellent realtime performance, free source code, abundant toolkits and so on. At the present, commercial embedded RTLinux platform are provided in many companies in our country. At the present, commercial embedded RTLinux platform are provided in nany companies in our country.
The article takes RTLinux as the software development platform in the embedded servo system after compared with some typical embedded operating system, and analysized the key problem of the realtime and the realization principle and also the system' s construction, and brought about the thought of the development and method of the realization of the embedded machatronic product. Combining with the servo control system which was developed and used by Mechatronic and Automation staff room of National University of Defense Technology .aimed to the four-axis servo controller in the system桺CI interface motion card MC400D research. According to the special hardware inviroment of the mechtronic product, the particularity of the embedded function under the RTLinux system is deeply introduced about the mechanism of the muti-task realization, scheduler, the communication, kernel interrupt, memory access and hardware access. On this basis, the block device driver program is deeply and emphasisly researched. Finally, the MC400D motion card' s driver is programmed, and also the servo control software which was programmed with VC++ under Windows operating system was successfully transplanted to be under the RTLinux system; A set of RTLinux control software to realize all kinds of controllation of servo machatronic was programmed and a scheme of embedded operating system for veapon servo platform was brought about. The experiment shows the usability and practicability. Finally problem of the load and GUI were researched in the end of the article. The practice show: The embedded servo mechtronic system based on the RTLinux has so many excellence:kernel code being cut, high realtime performance, loading with electron disk, high transplanting performance,is a cabinet, stable, high efficiency and practical operating system.
本研究课题在比较几种典型的嵌入式系统优缺点的基础上，选定RTLinux操作系统作为机电系统嵌入式开发的软件开发平台，分析了RTLinux实时化的关键问题和实现原理以及系统的结构，提出了嵌入式机电产品开发的思路和实现途径；结合国防科学技术大学机电工程与自动化教研室开发和使用的某武器伺服控制系统，针对系统中使用的四轴伺服控制器—PCI接口的运动控制卡MC400D进行具体的实践：根据产品特定的硬件环境。细致的分析了RTLinux系统下多任务实现和调度机制、进程的通讯机制、内核中断机制、内存访问和硬件访问等嵌入式功能实现的特殊性，在此基础上，着重深入的研究了RTLinux下块设备驱动程序的编写，设计了MC400D运动控制卡在RTLinux下的驱动程序，并将Windows系统下用VC++编写的伺服控制软件移植到RTLinux系统下；编制了一套实现伺服电机各种控制的实时控制软件，提出了一种适用于武器伺服平台的嵌入式操作系统的解决方案，实验表明了本方法的可行性和实用性；论文最后还进一步研究了嵌入式系统的引导和界面设计问题。实践证明，基于RTLinux开发的嵌入式伺服机电系统具有内核可裁减、实时性强、可用电子盘引导、移植性强等优点，是小巧稳定、高效而且实用的控制系统。
In the year of 2003, it takes the piercely evolvement in those large application field as the stratage purpose in the information technique field on the general and embedded CPU, operating system, information gotten and dealt and so on in the plan of National high technique research and development. And also the research and devolpnent of robot technique and the core technique in the automation arts equipment, are the rthyn of the advanced manufacture and automation technique in the plan of 863. From this point, the research and development in the embedded system has been more and more important. The challenge ahead is the development work of the core operating system and software control arithmetic of machatronic control system. Of all the embedded systems, RTLinux has been more and more popular to the software researchers for its advantages such as the excellent realtime performance, free source code, abundant toolkits and so on. At the present, commercial embedded RTLinux platform are provided in many companies in our country. At the present, commercial embedded RTLinux platform are provided in nany companies in our country.
The article takes RTLinux as the software development platform in the embedded servo system after compared with some typical embedded operating system, and analysized the key problem of the realtime and the realization principle and also the system' s construction, and brought about the thought of the development and method of the realization of the embedded machatronic product. Combining with the servo control system which was developed and used by Mechatronic and Automation staff room of National University of Defense Technology .aimed to the four-axis servo controller in the system桺CI interface motion card MC400D research. According to the special hardware inviroment of the mechtronic product, the particularity of the embedded function under the RTLinux system is deeply introduced about the mechanism of the muti-task realization, scheduler, the communication, kernel interrupt, memory access and hardware access. On this basis, the block device driver program is deeply and emphasisly researched. Finally, the MC400D motion card' s driver is programmed, and also the servo control software which was programmed with VC++ under Windows operating system was successfully transplanted to be under the RTLinux system; A set of RTLinux control software to realize all kinds of controllation of servo machatronic was programmed and a scheme of embedded operating system for veapon servo platform was brought about. The experiment shows the usability and practicability. Finally problem of the load and GUI were researched in the end of the article. The practice show: The embedded servo mechtronic system based on the RTLinux has so many excellence:kernel code being cut, high realtime performance, loading with electron disk, high transplanting performance,is a cabinet, stable, high efficiency and practical operating system.
引文
[1] 郝丕英．防空导弹发射装置伺服系统[M]，北京：宇航出版社，1992．10-11．
[2] 石钰．樊丁．基于DOS系统的实时多任务控制软件设计方法研究[J]．甘肃工业大学学报，2001，27(4)：15-17．
[3] Hunter & Ready. VRTX Technical Tips. Palo Alto[M].California, Hunter & Ready, 1983.55.
[4] 王田苗．嵌入式系统设计与实例开发—基于ARM微处理器与uC／OS-Ⅱ实时操作系[M]．北京：清华大学出版社．2002．3．
[5] Allworth, Steve. T. Introuduction To Real-Time Software Design[M]. New York, Springer-Verlag: 1-2.
[6] Walter Oney. Programming the Microsoft Windows Driver Model[M].Microsoft Press. 2000.189-200.
[7] 周宏存．机载火控雷达实时调度软件设计[J]：现代雷达，2001，23：18-21．
[8] 孔祥营、柏桂枝．嵌入式实时操作系统VxWorks及其开发环境Tornado[M]．北京：中国电力出版社，2001．3．
[9] Klein, Mark H.,Thomas Ralya, Bill Pollak, Ray Harbour Obenza, and Michael Gonzel. A Practioner' s Handbook for Real-Time Ananlysis[J]. guide to Monotonix Analysis for Real-Time Systems. Norwell, Massachusetts:Kluwer Academic Publishers Group, 1993.3.
[10] 荆乎宁．操作系统—设计、结构和使用[M]．北京：新时代出版社，1987．35-40．
[11] Madnick, E. Stuart and John J. Donovan. Operating Systems[J].New York:McGraw-Hill, 1974.1.23.
[12] 张云生．实时控制系统软件设计原理及应用[M]，北京：国防工业出版社，1998．10：15．
[13] 曹计昌．关于提高Linux核心实时处理能力的讨论[J]．计算机应用，2001，21(1)：11-14．
[14] 严俊薇．计算机实时控制软件设计导论[M]．北京：清华大学出版社，1990．88．
[15] Savitaky, Stephen. Real-Time Microprocessor Systems[J].New York:Van Nostrand Reinold, 1985.2.30.
[16] 郭武，王仁华，马仲柯等．Windows 95设备驱动程序的编写[J]．中国计算机用户．1997，44(11)：18-20．
[17] 杨振钧，谢瑞和．Windows 95设备驱动程序的编写[M]．中国计算机用户，1997，44(11)：18-20．
[18] 杨强，李堂秋．Win9x虚拟设备驱动程序编程指南[M]．北京：清华大学出版社，1999：23-33．
[19] Allworth, Steve. Introduction. To Real-Time Software Design[M].NewYork:Springer-Verlag. 1981.40.
[20] Halang, Wolfgang A. and Alexander D. Stoyenko. Constucting Predictable Real Time Systems[M].Norwell, Massachusetts:Kluwer Academic Publishers Group, 1991,10.
[21] Comer, Douglas. Operating System Design[J].The XINU Approach. Englewood.,1984,108-200.
[22] 李哲英，骆丽．刘元盛．dsp器件为核心的嵌入式系统技术[J]．电子产品世界．2001，2：55．
[23] 何新．中国嵌入式系统主题研讨会[A]．嵌入式系统论文集[C]．2000．10．
[24] Texas Instruments. TMS320C54x DSP Reference Set[Z]. CPU and Peripherals, 1997. 1.
[25] 范质坚．Linux在嵌入式系统中的应用[J]．计算机与现代化，2000。6：29-31．
[26] 陈莉君．Linux内核的分析及应用[J]．西安邮电学院学报，2001，6(1)：12-15．
[27] 宋震.Research on Multi-Sensor Rapid Real-Time Inspection System and Appilication[D]．武汉：华中理工大学，1998．
[28] 刑国良，韦宏利．基于Linux的实时操作系统的分析与研究[J]．小型微型计算机系统，2001，22(8)：21-23．
[29] 陈莉君．Linux操作系统内核分析[M]．北京：人民邮电出版社，2000．3．
[30] Hunphrey M. Experiences using RT-Linux to implement a controller for a high speed magnetic bearing system[J]. Real-Time echnology and Applications-Proceedings.,1999,7:121-130.
[31] 谢明红．基于Windows平台的CNC实时多任务设计[J]．机械与电子，2000．1：6-11．
[32] 尚涛，施亮，吴智铭．实时操作系统VxWorks下IO设备驱动程序的编写技巧[J]．计算机信息，2001．17(8)：33-35．
[33] 余胜生．电子机械运动控制技术[M]，武汉：华中理工大学出版杜，1997．20．
[34] Gareau, Jean L. Embeded x86 Programming[M]:Protected Mode. Embedded Systems Programming, 1998,4.80.
[35] JEAN J. LABROSE. uC/OS-Ⅱ: the Real Time Kernel[M](1).邵贝贝译.R&D Books: an imprint of Miller Freeman, INC, 2002.1-3.
[36] 刘振华．机械电子学[M]．长沙：国防科技大学出版社，1999．
[37] 周祖德，唐永红．机电一体化控制技术与系统[M]，武汉：华中理工大学出版社．1993．34．
[38] 张毅刚，林修成，胡振江．MCS-51单片机应用设计[M]，哈尔滨：哈尔滨工业大学出版社， 1990．33．
[39] 王信义．机电一体化技术手册[M]，北京：机械工业出版社，1994．89．
[40] 冯勇．现代计算机控制系统[M]，哈尔滨：哈尔滨工业大学出版社，1997．68．
[41] 李善平，郑扣根．Linux操作系统及实验教程[M]．北京：机械工业出版社，1997．30-31．
[42] D.A. Bradly, D. Dawson, N.C. Burd, A.J. Loader. Mechatronics[J].Electronics in products and processes. Champman and Hall,1991, 1.33.
[43] 叶济忠[18]Laplante, Phillipe. Real-Time System Design and Analysis[M]. New Jersey:IEEE Computer Society Press,1992.67.
[44] 赵松年，张奇鹏．机电一体化机械系统设计[M]，北京：机械工业出版社，1995．5．
[45] 陈仲生，杨拥民．面向对象设计在机电系统实时软件中的应用[J]．工业控制计算机，2001，14(1)：19-22．
[46] 任玉田，焦振学，王宏莆．机床计算机数控技术[M]，北京：北京理工大学出版社，1996．165．
[47] 王恒奎，边耐欣，王文等．Windows环境下开放式数控系统伺服控制的研究[J]．中国机械工程，2001．12(11)：25-27．
[48] Anonymous. European research will result in open CNC architecture. Machinery and Production Engneering[J], 1995(2):7-8.
[49] G. Pritshow. Open System Controllers-A Challenge for the Future of the Machine Tool Industry[J].Annals of the Cirp., 1993,42(1):449-452.
[50] Frederick M. Open-architecture Controllers[J]. IEEE Specitrum.,1997,6:60-64.
[51] Y. Koren. Real-Time Open Control Architure and System Performance[J]. Annals of the CIRP., 1996,45(1):377-380.
[52] 李峰厚、叶佩青．基于RTLinux的开放式数控系统研究[J]．综合机床与自动化技术，2001，7．
[53] Y. Altintas. Open Architecture Modular Tool Kit for Motion and Machining Process[J].Control. Annals of the CIRP.,1998,47(1):295-300.
[54] 孙勇．基于Windows95／NT的开放式数控系统实时性分析[J]．机械与电子，2000．1：17-20．
[55] 周凯．发展国产数控系统的技术途径[J]．制造技术与机床，2000．3：5-7．
[56] 叶佩青．走中国特色的数控技术发展之路[J]．计算机辅助设计与制造，2000，5：3-6．
[57] 张正勇．Windows系列平台下的实时控制研究[J]．机电工程，1999，4：32-34．
[58] 爱林．基于Windows的开放式数控系统[J]．机械与电子．1999．4：32-34．
[59] 骆雁．一种基于Linux的实时操作系统模型[J]．华中理工大学学报，1999，9：109-112．
[60] Labrosse,Jean J..uC／OS,The Real-Time Kernal.Lawrencr,Kanasas[M]：R&D Publications.,1992．32．
[61] 周国祥．基于Win95／98实时控制系统快速响应中断的方法[J]．合肥工业大学学报，2001，24 (5)：31-33．
[62] 李善平、刘文峰、王焕龙Linux与嵌入式系统[M]，清华大学出版社，2002，
[63] 吴绍炜．Linux系统管理[M]，北京：人民邮电出版社，2002．1：85
[64] 范磊．Linux内核源代码[M](1)．北京：人民邮电出版社，2002．1：87
[65] 毛德操、胡希明．Linux内核源代码情景分析(下册)[M](1)．浙江：浙江大学出版社，2001．9：178
[66] ALESSANDRO RUBINI & JONATHAN CORBET. LINUX DEVICE DRIVERS. Beijing:O' Reilly &
Associates, Inc.2002.4:507
[67] 贾明，严世贤．Linux下的C编程[M](1)．北京：人民邮电出版社，2001．11：98．
[2] 石钰．樊丁．基于DOS系统的实时多任务控制软件设计方法研究[J]．甘肃工业大学学报，2001，27(4)：15-17．
[3] Hunter & Ready. VRTX Technical Tips. Palo Alto[M].California, Hunter & Ready, 1983.55.
[4] 王田苗．嵌入式系统设计与实例开发—基于ARM微处理器与uC／OS-Ⅱ实时操作系[M]．北京：清华大学出版社．2002．3．
[5] Allworth, Steve. T. Introuduction To Real-Time Software Design[M]. New York, Springer-Verlag: 1-2.
[6] Walter Oney. Programming the Microsoft Windows Driver Model[M].Microsoft Press. 2000.189-200.
[7] 周宏存．机载火控雷达实时调度软件设计[J]：现代雷达，2001，23：18-21．
[8] 孔祥营、柏桂枝．嵌入式实时操作系统VxWorks及其开发环境Tornado[M]．北京：中国电力出版社，2001．3．
[9] Klein, Mark H.,Thomas Ralya, Bill Pollak, Ray Harbour Obenza, and Michael Gonzel. A Practioner' s Handbook for Real-Time Ananlysis[J]. guide to Monotonix Analysis for Real-Time Systems. Norwell, Massachusetts:Kluwer Academic Publishers Group, 1993.3.
[10] 荆乎宁．操作系统—设计、结构和使用[M]．北京：新时代出版社，1987．35-40．
[11] Madnick, E. Stuart and John J. Donovan. Operating Systems[J].New York:McGraw-Hill, 1974.1.23.
[12] 张云生．实时控制系统软件设计原理及应用[M]，北京：国防工业出版社，1998．10：15．
[13] 曹计昌．关于提高Linux核心实时处理能力的讨论[J]．计算机应用，2001，21(1)：11-14．
[14] 严俊薇．计算机实时控制软件设计导论[M]．北京：清华大学出版社，1990．88．
[15] Savitaky, Stephen. Real-Time Microprocessor Systems[J].New York:Van Nostrand Reinold, 1985.2.30.
[16] 郭武，王仁华，马仲柯等．Windows 95设备驱动程序的编写[J]．中国计算机用户．1997，44(11)：18-20．
[17] 杨振钧，谢瑞和．Windows 95设备驱动程序的编写[M]．中国计算机用户，1997，44(11)：18-20．
[18] 杨强，李堂秋．Win9x虚拟设备驱动程序编程指南[M]．北京：清华大学出版社，1999：23-33．
[19] Allworth, Steve. Introduction. To Real-Time Software Design[M].NewYork:Springer-Verlag. 1981.40.
[20] Halang, Wolfgang A. and Alexander D. Stoyenko. Constucting Predictable Real Time Systems[M].Norwell, Massachusetts:Kluwer Academic Publishers Group, 1991,10.
[21] Comer, Douglas. Operating System Design[J].The XINU Approach. Englewood.,1984,108-200.
[22] 李哲英，骆丽．刘元盛．dsp器件为核心的嵌入式系统技术[J]．电子产品世界．2001，2：55．
[23] 何新．中国嵌入式系统主题研讨会[A]．嵌入式系统论文集[C]．2000．10．
[24] Texas Instruments. TMS320C54x DSP Reference Set[Z]. CPU and Peripherals, 1997. 1.
[25] 范质坚．Linux在嵌入式系统中的应用[J]．计算机与现代化，2000。6：29-31．
[26] 陈莉君．Linux内核的分析及应用[J]．西安邮电学院学报，2001，6(1)：12-15．
[27] 宋震.Research on Multi-Sensor Rapid Real-Time Inspection System and Appilication[D]．武汉：华中理工大学，1998．
[28] 刑国良，韦宏利．基于Linux的实时操作系统的分析与研究[J]．小型微型计算机系统，2001，22(8)：21-23．
[29] 陈莉君．Linux操作系统内核分析[M]．北京：人民邮电出版社，2000．3．
[30] Hunphrey M. Experiences using RT-Linux to implement a controller for a high speed magnetic bearing system[J]. Real-Time echnology and Applications-Proceedings.,1999,7:121-130.
[31] 谢明红．基于Windows平台的CNC实时多任务设计[J]．机械与电子，2000．1：6-11．
[32] 尚涛，施亮，吴智铭．实时操作系统VxWorks下IO设备驱动程序的编写技巧[J]．计算机信息，2001．17(8)：33-35．
[33] 余胜生．电子机械运动控制技术[M]，武汉：华中理工大学出版杜，1997．20．
[34] Gareau, Jean L. Embeded x86 Programming[M]:Protected Mode. Embedded Systems Programming, 1998,4.80.
[35] JEAN J. LABROSE. uC/OS-Ⅱ: the Real Time Kernel[M](1).邵贝贝译.R&D Books: an imprint of Miller Freeman, INC, 2002.1-3.
[36] 刘振华．机械电子学[M]．长沙：国防科技大学出版社，1999．
[37] 周祖德，唐永红．机电一体化控制技术与系统[M]，武汉：华中理工大学出版社．1993．34．
[38] 张毅刚，林修成，胡振江．MCS-51单片机应用设计[M]，哈尔滨：哈尔滨工业大学出版社， 1990．33．
[39] 王信义．机电一体化技术手册[M]，北京：机械工业出版社，1994．89．
[40] 冯勇．现代计算机控制系统[M]，哈尔滨：哈尔滨工业大学出版社，1997．68．
[41] 李善平，郑扣根．Linux操作系统及实验教程[M]．北京：机械工业出版社，1997．30-31．
[42] D.A. Bradly, D. Dawson, N.C. Burd, A.J. Loader. Mechatronics[J].Electronics in products and processes. Champman and Hall,1991, 1.33.
[43] 叶济忠[18]Laplante, Phillipe. Real-Time System Design and Analysis[M]. New Jersey:IEEE Computer Society Press,1992.67.
[44] 赵松年，张奇鹏．机电一体化机械系统设计[M]，北京：机械工业出版社，1995．5．
[45] 陈仲生，杨拥民．面向对象设计在机电系统实时软件中的应用[J]．工业控制计算机，2001，14(1)：19-22．
[46] 任玉田，焦振学，王宏莆．机床计算机数控技术[M]，北京：北京理工大学出版社，1996．165．
[47] 王恒奎，边耐欣，王文等．Windows环境下开放式数控系统伺服控制的研究[J]．中国机械工程，2001．12(11)：25-27．
[48] Anonymous. European research will result in open CNC architecture. Machinery and Production Engneering[J], 1995(2):7-8.
[49] G. Pritshow. Open System Controllers-A Challenge for the Future of the Machine Tool Industry[J].Annals of the Cirp., 1993,42(1):449-452.
[50] Frederick M. Open-architecture Controllers[J]. IEEE Specitrum.,1997,6:60-64.
[51] Y. Koren. Real-Time Open Control Architure and System Performance[J]. Annals of the CIRP., 1996,45(1):377-380.
[52] 李峰厚、叶佩青．基于RTLinux的开放式数控系统研究[J]．综合机床与自动化技术，2001，7．
[53] Y. Altintas. Open Architecture Modular Tool Kit for Motion and Machining Process[J].Control. Annals of the CIRP.,1998,47(1):295-300.
[54] 孙勇．基于Windows95／NT的开放式数控系统实时性分析[J]．机械与电子，2000．1：17-20．
[55] 周凯．发展国产数控系统的技术途径[J]．制造技术与机床，2000．3：5-7．
[56] 叶佩青．走中国特色的数控技术发展之路[J]．计算机辅助设计与制造，2000，5：3-6．
[57] 张正勇．Windows系列平台下的实时控制研究[J]．机电工程，1999，4：32-34．
[58] 爱林．基于Windows的开放式数控系统[J]．机械与电子．1999．4：32-34．
[59] 骆雁．一种基于Linux的实时操作系统模型[J]．华中理工大学学报，1999，9：109-112．
[60] Labrosse,Jean J..uC／OS,The Real-Time Kernal.Lawrencr,Kanasas[M]：R&D Publications.,1992．32．
[61] 周国祥．基于Win95／98实时控制系统快速响应中断的方法[J]．合肥工业大学学报，2001，24 (5)：31-33．
[62] 李善平、刘文峰、王焕龙Linux与嵌入式系统[M]，清华大学出版社，2002，
[63] 吴绍炜．Linux系统管理[M]，北京：人民邮电出版社，2002．1：85
[64] 范磊．Linux内核源代码[M](1)．北京：人民邮电出版社，2002．1：87
[65] 毛德操、胡希明．Linux内核源代码情景分析(下册)[M](1)．浙江：浙江大学出版社，2001．9：178
[66] ALESSANDRO RUBINI & JONATHAN CORBET. LINUX DEVICE DRIVERS. Beijing:O' Reilly &
Associates, Inc.2002.4:507
[67] 贾明，严世贤．Linux下的C编程[M](1)．北京：人民邮电出版社，2001．11：98．