CN102141915B - Equipment real-time control method based on RTLinux - Google Patents
Equipment real-time control method based on RTLinux Download PDFInfo
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Abstract
The invention provides an equipment real-time control method based on RTLinux, which comprises the following step of extending the RTLinux by utilizing a real-time operating system of an RTLinux real-time kernel loaded on a standard RTLinux system after cut-down to improve the support to required control equipment and realizing the interrupt sharing of the RTLinux. With the adoption of the method, the original characteristics of the RTLinux are not changed, all functions of the original RTLinux are supported, the compatibility is good, and the extension development of the RTLinux and the equipment control application under a Linux system can be carried out.
Description
Technical field
The present invention relates to a kind of equipment real-time control method based on real time operating system RTLinux, a computer system software technology that relates to real time operating system, device drives, the solution that provides a set of equipment including real time environment, device drives and interface api function storehouse to control in real time.
Background technology
The application of real time computer control technology based on real time operating system in Industry Control, communication and large server is increasingly extensive.Traditional general-purpose system is due to the timesharing of operating system, mainly that long interruption reaction time and task switched the reaction time, real-time control to equipment such as PCI equipment, USB device, the network equipments cannot be provided, therefore cannot meet the requirement of these equipment to the real-time task such as high efficient data capture, sequential control.
In numerous real time operating systems, linux system possesses following advantage: open property is good, can Free Acquisition in source code, and revise arbitrarily; Can support kinds of platform, transplantability is good; System kernel can be reduced as required; The feature richness of supporting; Safety and reliability is high.Adopt the Linux after reducing under the system of assurance meets the prerequisite of required function, to guarantee minimizing of volume, can save to greatest extent storage space to special embedded device.But the linux system of standard is because real-time performance is not good, conventionally adopt in system, to load RTLinux real-time kernel and realize the support when strong.
The hard real time operating system that RTLinux and (SuSE) Linux OS coexist can create the real-time process that meets POSIX.1b standard of accurate operation.RTLinux has realized the Real-Time Scheduling core that can try to be the first efficiently, and comprehensively take over and interrupt, and the minimum process operation of a priority using standard Linux as this real-time kernel.RTLinux and standard Linux form a complete entirety, and real-time kernel has been guaranteed the hard real-time of mission critical, can complete and both comprise real-time and non real-time complex task.But RTLinux operating system exists interrupts sharing, and can not support the operation of multiple same categories of device simultaneously, kernel thread cannot relevant device interruption etc. problem.Meanwhile, RTLinux, as real-time system kernel, lacks the support to hardware device.
Summary of the invention
The deficiency existing for above-mentioned prior art, the present invention proposes a kind of equipment real-time control method based on RTLinux, utilize the real time operating system that loads RTLinux real-time kernel after reduction in standard Linux system, RTLinux is expanded, increase the support of RTLinux to required opertaing device, realize RTLinux and interrupt sharing, mainly comprise the following steps:
(1) in RTLinux source code, write support equipment interface function, comprise interfacing equipment file type, file operation interface function, method function, the function of registering and cancelling, and generate corresponding interface module;
(2) in the interruption registration function of RTLinux, increase the interruption registration to equipment, rewrite the rtl_core.c file in RTLinux, in the situation that keeping the original processing mode of RTLinux constant, increase the interruption support of the equipment to PLX PCI9000;
(3) the device drives interface file_operations of the standard Linux driver to PLX PCI9000 family chip adopts the kernel function of RTLinux to carry out real time implementation, and spin lock real time implementation, in PLX PCI9000 standard Linux driver, use the rtl_wait_t handling interrupt of RTLinux to wait for, use the posix thread response PLX PCI9000 device interrupt of RTLinux;
(4) adopt the kernel function of RTLinux to be encapsulated as kernel module in the api function storehouse of PLX PCI9000 standard Linux, the physical memory mapping function of PLX PCI9000 equipment is rewritten as to the form consistent with RTLinux kernel function, increases the mutex of posix.
The equipment real-time control method based on RTLinux that the present invention proposes, that a kind of equipment that possesses hard real-time is controlled solution in real time, comprise that real time operating system environment, real-time device drive and control in real time api function, solve under standard RTLinux and cannot realize the shared problem of interrupting, can realize the real-time control to multiple same categories of device simultaneously, through actual verification, identical device is brought up to Microsecond grade than non real-time control interrupt response time by Millisecond under controlling in real time, and real-time performance is good; In addition, method of the present invention does not change the primary characteristic of RTLInux, supports the repertoire of original RTLinux, compatible good, can carry out the regarded as output controlling of equipment control application under RTLinux and linux system.
Embodiment
The present invention adopts the real time operating system that loads RTLinux real-time kernel after reduction in standard Linux system.RTLinux is expanded, increase RTLinux to required opertaing device, as the support of PCI equipment, USB device, the network equipment, realize RTLinux and interrupt sharing, guarantee that multiple same categories of device can move in real-time kernel simultaneously.On the original standard Linux driver of equipment architecture basics, keep driver framework structure and drive interface, use RTLinux real-time kernel function by its real time implementation.The real-time application api interface function of device drives is provided, by the real time implementation of device drives interface api function, solves the problem incompatible with RTLinux that drive.Solve the problem that kernel thread cannot respond interruption, in RTLinux thread, realize and interrupt processing.Finally, need to solve Real Time Drive and former API built-in function incompatibility problem, and the system function using in API built-in function is rewritten by kernel function, form real time implementation by api function storehouse with RTLinux kernel module, built-in function as real-time kernel module loading, is called by real-time task after driver module loads.Specifically real-time RTLinux system is expanded, realize interrupt shared mechanism, and in the Posix of RTLinux thread handling interrupt; In RTLinux, add the support to equipment.Increase equipment interface function, comprise interfacing equipment file type, file operation interface function, method function, the function of registering and cancelling, and generate corresponding interface module; Interrupt registration function at RTLinux and increase the real-time processing to device drives.The hard interruption of RTLinux, same interrupt number can only be registered an equipment, and the equipment that cannot be driven by multiple use RTLinux is shared.To interrupt shared mechanism in order realizing in RTLinux, to rewrite the rtl_core.c file in RTLinux.For with the original function compatibility of RTLinux, keeping original processing mode constant in the situation that, increased the interruption support to new equipment (XJS_device).Use the corresponding interruption registration of such new equipment institute, response and process function, same interrupt number and multiple XJS_device can be shared; Rewrite by the RTLinux real time implementation of carrying out real time implementation and device drives interface file_operations of driver being interrupted to processing section, and spin lock real time implementation, has realized the real time implementation that drives source code under the standard Linux of device drives.Owing to cannot responding interruption in kernel thread, for response apparatus in real-time task interrupts, in driving, use the rtl_wait_t handling interrupt of RTLinux to wait for, realize real-time task and use the posix thread response apparatus of RTLinux to interrupt.API is rewritten as to kernel module function, physical memory mapping function is rewritten as to the form consistent with real-time kernel, increase the mutex of posix, real-time control function is converted to kernel function, thus the kernelised of finishing equipment api function and real time implementation.The loading in last programming apparatus Real Time Drive, API kernel function storehouse and deletion script can add and remove real-time device easily in system equipment path/dev.
To the real-time control task of equipment, can be after hardware system loading equipment, start the RTLinux real-time kernel after expansion, and start-up loading device path script, be written into the real-time function library kernel module of real-time device driver module and API, different real-time tasks can be called real-time API built-in function according to mission requirements and carry out the real-time control to equipment simultaneously.
RTLinux after the present invention's expansion does not change the primary characteristic of RTLInux, supports the repertoire of original RTLinux completely.Equipment Real Time Drive, Real Time Drive API storehouse will enter system with real-time kernel module loading after RTLinux starts.The real-time control section of equipment also moves real-time kernel module in system; and the un-real time jobs such as equipment control application may operate in Linux user's space; the various resources (network, file system etc.) that use system easily provides; and be subject to the protection of system, increase the security of system.
To provide PLX PCI9000 family chip as the PCI equipment of the interface controller real-time control solution under RTLinux, further illustrate technology contents of the present invention below.
In RTLinux source code, write the equipment interface function of supporting PLX PCI9000 interface chip, comprise interfacing equipment file type, file operation interface function, method function, the function of registering and cancelling, and generate corresponding interface module.Interrupt registration function at RTLinux and increase the real-time processing that PCI9000 is driven.To interrupt shared mechanism in order realizing in RTLinux, to rewrite the rtl_core.c file in RTLinux.In the situation that keeping original processing mode constant, increase the interruption support to a class new equipment (XJS_device).Use the corresponding interruption registration of such new equipment institute, response and process function, same interrupt number and multiple XJS_device can be shared.Improve in standard Linux driver and api function storehouse to PLX PCI9000 family chip, can in the RTLinux kernel after expansion, move.To the RTLinux real time implementation of driver device drives interface file_operations, and spin lock real time implementation, realize the real time implementation of PLX PCI9000 series interfaces chip standard Linux driving source code.Owing to cannot responding interruption in kernel thread, for response apparatus in real-time task interrupts, in driving, use the rtl_wait_t handling interrupt of RTLinux to wait for, realize real-time task and use the posix thread response apparatus of RTLinux to interrupt.Api function storehouse is encapsulated as to kernel module function, PCI9000 physical memory mapping function is rewritten as to the form consistent with real-time kernel, the mutex that increases posix, is converted to kernel function by real-time control function, thereby completes kernelised and the real time implementation of PCI9000 api function.Specific as follows:
First, need to expand real-time RTLinux system, increase support to PLX PCI9000, realize and interrupt shared mechanism, and can be in the Posix of RTLinux thread handling interrupt
The original device file interface of RTLinux cannot be supported PLX pci interface chip, in RTLinux source code, write the equipment interface function of supporting PLX pci interface chip, comprise interfacing equipment file type, file operation interface function, method function, the function of registering and cancelling, and generate corresponding interface module.
In the interruption registration function of RTLinux, increase the interruption registration of the equipment to PLX PCI9000, rewrite the rtl_core.c file in RTLinux, in the situation that keeping the original processing mode of RTLinux constant, increase the interruption support of the equipment to PLX PCI9000.Interrupt registration function at RTLinux and increase the real-time processing that PLX is driven.The hard interruption of RTLinux, same interrupt number can only be registered an equipment, and the equipment that cannot be driven by multiple use RTLinux is shared.To interrupt shared mechanism in order realizing in RTLinux, to rewrite the rtl_core.c file in RTLinux.For with the original function compatibility of RTLinux, keeping original processing mode constant in the situation that, increased the interruption support to a class new equipment (XJS_device).Use the corresponding interruption registration of such new equipment institute, response and process function, same interrupt number and multiple XJS_device can be shared.
Adopt the kernel function of RTLinux to carry out real time implementation to the device drives interface file_operations of standard Linux driver, and spin lock real time implementation, in standard Linux driver, use the rtl_wait_t handling interrupt of RTLinux to wait for, use the posix thread response PLX PCI9000 device interrupt of RTLinux.Rewrite by the RTLinux real time implementation of carrying out real time implementation and device drives interface file_operations of driver being interrupted to processing section, and spin lock real time implementation, realize the real time implementation of PLX PCI9000 series interfaces chip standard Linux driving source code.Owing to cannot responding interruption in kernel thread, for response apparatus in real-time task interrupts, in driving, use the rtl_Wait_t handling interrupt of RTLinux to wait for, realize real-time task and use the posix thread response apparatus of RTLinux to interrupt.
Adopt the kernel function of RTLinux to be encapsulated as kernel module in the api function storehouse of standard Linux, the physical memory mapping function of PLX PCI900 equipment is rewritten as to the form consistent with RTLinux kernel function, increase the mutex of posix.API is rewritten as to kernel module function, PLX physical memory mapping function is rewritten as to the form consistent with real-time kernel, increase the mutex of posix, real-time control function is converted to kernel function, thereby completes kernelised and the real time implementation of PCI9000API function.
Finally, write PLX real-time device and load and delete script, can in system equipment path/dev, add easily and remove PLX real-time device.
To the real-time control task of the different PCI equipment based on PLX PCI9000 series, can be after hardware system loading equipment, start the RTLinux real-time kernel after expansion, and start-up loading device path script, be written into the real-time function library kernel module of PLX real-time device driver module and API, different real-time tasks can be called the real-time built-in function of API according to mission requirements and carry out the real-time control to equipment simultaneously.
The present invention has proposed the real-time control solution of PLX PCI9000 Series PC I interfacing equipment under a set of completely complete real-time Linux on the standard Linux driving of open source code and the basis of RTLinux real-time system, comprise that real time operating system environment, real-time device drive and control in real time api function, and solved cannot realize under RTLinux and interrupt shared problem, under this scheme, can realize multiple same categories of device real-time workings simultaneously.Versatility of the present invention is good, and the various functions of PLX PCI9000 family chip are had to tenability completely, and real-time performance is good, and identical device doubles than non real-time control interrupt response time under controlling in real time.The present invention loads on PCI using standard Linux as platform and the CPCI computing machine real-time solution as equipment, also can be used as the real-time control system of the embedded device based on PLX PCI9000 chip.
Claims (1)
1. the equipment real-time control method based on RTLinux, mainly comprises the following steps:
(1) in RTLinux source code, write support equipment interface function, comprise interfacing equipment file type, file operation interface function, method function, the function of registering and cancelling, and generate corresponding interface module;
(2) in the interruption registration function of RTLinux, increase the interruption registration to equipment, rewrite the rtl_core.c file in RTLinux, in the situation that keeping the original processing mode of RTLinux constant, increase the interruption support of the equipment to PLX PCI9000;
(3) the device drives interface file_operations of the standard Linux driver to PLX PCI9000 family chip adopts the kernel function of RTLinux to carry out real time implementation, and spin lock real time implementation, in PLXPCI9000 standard Linux driver, use the rtl_wait_t handling interrupt of RTLinux to wait for, use the posix thread response PLX PCI9000 device interrupt of RTLinux;
(4) adopt the kernel function of RTLinux to be encapsulated as kernel module in the api function storehouse of PLX PCI9000 standard Linux, the physical memory mapping function of PLX PCI9000 equipment is rewritten as to the form consistent with RTLinux kernel function, increases the mutex of posix.
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| CN107766263B (en) * | 2017-10-12 | 2020-11-06 | 硅谷数模半导体（北京）有限公司 | Control method and device of interface chip, storage medium and processor |
| CN110825501A (en) * | 2018-08-07 | 2020-02-21 | 龙芯中科技术有限公司 | Processor core optimization method and device and storage medium |
| CN109445959A (en) * | 2018-10-17 | 2019-03-08 | 北京技德终端技术有限公司 | A kind of sensing data processing real time operating system |
| CN110209483A (en) * | 2019-05-28 | 2019-09-06 | 福州瑞芯微电子股份有限公司 | Machine control system of sweeping the floor and control method, storage medium and controlling terminal |
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| CN1609797A (en) * | 2004-11-22 | 2005-04-27 | 浙江大学 | Method for avoiding RTL inux double-kernel |
| CN101894045A (en) * | 2010-06-18 | 2010-11-24 | 阳坚 | Real-time Linux operating system |
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| US7191445B2 (en) * | 2001-08-31 | 2007-03-13 | Texas Instruments Incorporated | Method using embedded real-time analysis components with corresponding real-time operating system software objects |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1609797A (en) * | 2004-11-22 | 2005-04-27 | 浙江大学 | Method for avoiding RTL inux double-kernel |
| CN101894045A (en) * | 2010-06-18 | 2010-11-24 | 阳坚 | Real-time Linux operating system |
Non-Patent Citations (2)
| Title |
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| 基于RTLinux系统的设备驱动程序开发与应用;陈建春 等;《微型机与应用》;20020930(第9期);15-16,60 * |
| 陈建春 等.基于RTLinux系统的设备驱动程序开发与应用.《微型机与应用》.2002,(第9期),15-16,60. |
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