以实时操作系统为中心的嵌入式系统平台化设计研究

发布时间：2018-05-26 01:17

本文选题：嵌入式系统 + 实时操作系统　；参考：《华中科技大学》2013年博士论文

【摘要】：嵌入式系统正朝着复杂化、大规模化和智能化的方向发展，对功能、性能、功耗和成本等方面提出了更多的要求和约束。如何在不同的要求和约束之间取得平衡是未来嵌入式系统设计所必须面对的挑战。平台化设计（Platform-Based Design）是应对这一挑战，在嵌入式系统诸多要求和约束中取得平衡的有效方法之一。平台化设计是一种系统级的设计方法，既包括软件平台化也包括硬件平台化，其核心一方面是强调软硬件的可复用性和可编程性从而实现对不同应用的灵活性，另一方面是强调硬/软件协同设计从而实现设计的优化。针对实时和中小型嵌入式系统，以实时操作系统（Real-Time Operating System, RTOS）为中心的平台化设计是一种更为合适的选择。本文对以实时操作系统为中心的嵌入式系统平台化设计进行了详细研究，围绕开放实时嵌入式系统软件平台TOPPERS（Toyobashi OPen Platform of Embedded Real-timeSystem）提出并实现了一个面向中小型嵌入式系统软硬件全可编程的快速原型开发平台，具体应用在工业测量仪器仪表、移动机器人和运动控制等领域中。适当放宽成本和功耗约束后，改进和扩展后的平台也适用于高端嵌入式系统。本文工作主要贡献如下。实时操作系统作为本文中平台化设计的核心和基础，其功能、性能、可扩展性等因素对整个平台都有着极为重要影响。本文从定性和定量两方面对目前主要的、具有代表性的开源实时操作系统进行了详细评价，分析比较了各自的优缺点，提出了一系列评价指标以及相应的测量方法，为实时操作系统的设计、选型和应用提供了理论和实验依据。通过评价比较，本文选择了TOPPERS作为平台化设计核心和基础，同时介绍了对其不足之处所做的改进。本文具体研究了面向中小型嵌入式系统的平台化设计，针对该类系统的特点，提出并实现了一个软硬件全可编程快速原型开发平台。该平台硬件上基于处理器-可编程逻辑混合架构，软件上以TOPPERS为核心，提出并应用了以实时操作系统为中心的硬/软件协同设计方法，构建了相应的硬/软协同仿真环境。相关评价实验和在工业测量仪器仪表领域的实际应用显示该平台充分发挥了硬软件全可编程的特点和硬/软件协同设计的优势，在成本、功能和性能之间取得了较好的平衡。本文将平台化设计与所实现的基础平台具体应用于移动机器人领域，提出了一种新型混合实时移动机器人平台（Hybrid Real-time Mobile Robot Platform， HRMRP），实时、异构和组件化是其主要特点。该平台在结构上包含三层，数据层负责外设接口和硬件加速，实时控制层负责实时控制，，高性能层负责高级复杂的功能。HRMRP在硬件上进一步提升了核心器件的性能，在软件上针对移动机器人的特点设计了更多的中间件并引入了机器人分布式系统框架ROS（Robot Operating System），从而实现了一个更加完整的应用平台。最后针对更复杂的高端嵌入式系统，提出了相应的扩展和改进方法，研究了片上异构多核环境下平台化设计的若干关键问题。在适当放松成本和功耗约束的基础上，整个平台在功能、性能和灵活性上获得大幅度提升。本文实现了多核环境下实时操作系统与通用操作系统的共同运行，并借助硬件机制有效隔离两者，从而在获得通用操作系统所带来更加丰富功能的同时又保障了实时操作系统的实时性和可靠性。
[Abstract]:The embedded system is developing in the direction of complex, large-scale and intelligent. It has put forward more requirements and constraints on function, performance, power consumption and cost. How to balance between different requirements and constraints is the challenge that the design of embedded system must face in the future. The platform design (Platform-Based Design) is the need. This challenge is one of the effective ways to balance the requirements and constraints of embedded systems. The platform design is a system level design method, including both the software platform and the hardware platform. The core of the design is to emphasize the reusability and programmability of the hardware and software to achieve the flexibility of different applications. On the one hand, it emphasizes the optimization of hardware / software collaborative design. For real-time and medium and small embedded systems, the platform design centered on Real-Time Operating System (RTOS) is a more suitable choice. This paper is designed for the platform design of embedded system centered on the real-time operating system. In detail, a rapid prototyping platform for software and hardware fully programmable for medium and small embedded systems is proposed and implemented around the open real-time embedded system software platform TOPPERS (Toyobashi OPen Platform of Embedded Real-timeSystem). It is specifically applied to industrial measurement instruments, mobile robots and motion control. In the field, after appropriately relaxing the cost and power constraints, the improved and extended platform is also suitable for high-end embedded systems. The main contributions of this paper are as follows.
As the core and foundation of this paper, the function, performance and extensibility of real time operating system are very important to the whole platform. In this paper, the main and representative open source real-time operating systems are evaluated in detail from two aspects of qualitative and quantitative, and their advantages and disadvantages are analyzed and compared. A series of evaluation indexes and corresponding measurement methods are put forward, which provide theoretical and experimental basis for the design, selection and application of real time operating system. Through evaluation and comparison, TOPPERS is chosen as the core and foundation of the platform design, and the improvement of its shortcomings is also introduced.
In this paper, the platform design of medium and small embedded system is studied. In view of the characteristics of this kind of system, a software and hardware fully programmable rapid prototyping platform is proposed and implemented. The platform is based on the processor - programmable logic hybrid architecture. The software is based on the TOPPERS as the core. The real-time operating system is put forward and applied. For the central hard / software collaborative design method, a corresponding hard / soft collaborative simulation environment is constructed. The related evaluation experiments and practical applications in the field of industrial measurement instruments show that the platform fully exerts the advantages of hardware and software fully programmable and hard / software collaborative design, and has achieved good results between cost, function and performance. Balance.
This paper applies the platform design and the implementation of the basic platform to the mobile robot field, and proposes a new hybrid real time mobile robot platform (Hybrid Real-time Mobile Robot Platform, HRMRP). The main features of the platform are real-time, heterogeneous and component-based. The platform consists of three layers in the structure, and the data layer is responsible for the peripherals and the interface. The hardware accelerates, the real-time control layer is responsible for real-time control, the high performance layer is responsible for the advanced complex function.HRMRP to further enhance the performance of the core device. In the software, more middleware is designed for the characteristics of the mobile robot and the robot distributed system framework ROS (Robot Operating System) is introduced. A more complete application platform.
Finally, aiming at the more complex high-end embedded systems, the corresponding expansion and improvement methods are proposed, and some key problems of the platform design in the heterogeneous multi-core environment are studied. On the basis of the proper relaxation of the cost and power constraints, the whole platform has been greatly improved in function, performance and flexibility. The real time operating system runs together with the general operating system, and the hardware mechanism is used to effectively isolate the two, so as to obtain the more abundant functions of the general operating system and ensure the real-time and reliability of the real-time operating system.
【学位授予单位】：华中科技大学
【学位级别】：博士
【学位授予年份】：2013
【分类号】：TP368.1;TP316.2

【参考文献】