基于ARM的嵌入式实时系统关键技术的研究

发布时间：2018-01-05 06:17

本文关键词：基于ARM的嵌入式实时系统关键技术的研究　出处：《中国科学院研究生院（沈阳计算技术研究所）》2015年硕士论文　论文类型：学位论文

【摘要】：随着ARM处理器计算能力的提高,该类型的处理器在嵌入式领域的应用越来越广泛的同时,也得到了数控系统的青睐。比如:德国ECKELMANN公司的E.ENC55和广州数控的GSK980TD系列车床CNC都是基于ARM的。本课题依托于国家重大专项,以ARM处理器的广泛应用为前提,分别采用RT-Preempt和Xenomai实时扩展技术来保证系统的实时性,成功实现了对基于ARM处理器的Linux系统的实时性改造。硬件系统选择用于工控的TI AM3358处理器平台。论文工作包括嵌入式系统的构建和Linux系统的实时化改造。系统的构建主要是系统bootloader、内核和根文件系统的构建;系统实时化改造包括分别采用RT-Preempt实时抢占补丁和Xenomai实时化扩展方案改进Linux操作系统的实时性能。深入学习了RT-Preempt实时抢占补丁的实现原理,研究了其可抢占自旋锁的实现、优先级反转问题的解决、中断线程化、高精度时钟等方面的内容,解决了TI AM3358平台上高精度时钟的问题,完成了其到TI AM3358平台的移植。深入分析了与Xenomai有关的Adeos的域管理机制和中断管理机制,解决了TI AM3358平台特定时钟和中断处理部分的问题,并完成了其到TI AM3358平台的移植。最后对RT-Preempt实时抢占补丁和Xenomai实时化扩展方案做了部分测试工作。对RT-Preempt主要做了任务调度延迟测试、中断响应延迟测试、内存读写测试、优先级反转测试和用户空间与内核空间间进程通信的测试等;对Xenomai实时扩展做了基本的性能测试。基于TI AM3358和RT-Preempt的嵌入式实时数控系统运行稳定,在实验室已经做为二次开发的系统平台。本课题的研究对数控系统的小型化和经济化发展具有重要的参考价值。
[Abstract]:With the improvement of computing power of ARM processor, this type of processor is more and more widely used in embedded field. Also get the favor of numerical control system. For example:. E.ENC55 of ECKELMANN Company of Germany and CNC of GSK980TD series lathe of Guangzhou NC are all based on ARM. Based on the widespread application of ARM processor, RT-Preempt and Xenomai real-time extension technology are adopted to ensure the real-time performance of the system. The real-time transformation of Linux system based on ARM processor is successfully realized. The TI of hardware system is selected for Industrial Control. AM3358 processor platform. The thesis includes the construction of embedded system and the real-time transformation of Linux system. The system construction is mainly system bootloader. The construction of kernel and root file system; The system real-time transformation includes the use of RT-Preempt real-time preemption patch and Xenomai real-time extension scheme to improve the real-time performance of Linux operating system. The implementation principle of reempt real-time preemption patch. The implementation of preemptive spin lock, the solution of priority inversion problem, interrupt threading, high precision clock and so on are studied. The problem of high precision clock on TI AM3358 platform is solved. The porting of Adeos to TI AM3358 platform is completed, and the domain management mechanism and interrupt management mechanism of Adeos related to Xenomai are deeply analyzed. It solves the problem of specific clock and interrupt processing in TI AM3358 platform. And finished it to TI. Finally, the RT-Preempt real-time preemption patch and the Xenomai real-time extension scheme are partly tested. The RT-Preempt is mainly done. Task scheduling delay testing. Interrupt response delay test, memory read and write test, priority inversion test and process communication between user space and kernel space, etc. The basic performance test of Xenomai real-time extension is done. The embedded real-time NC system based on TI AM3358 and RT-Preempt is running stably. The research of this subject has important reference value for the miniaturization and economical development of numerical control system.
【学位授予单位】：中国科学院研究生院（沈阳计算技术研究所）
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP316.2;TP332

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