CN100351788C - Drive method for embedded apparatus - Google Patents
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- CN100351788C CN100351788C CNB200510070699XA CN200510070699A CN100351788C CN 100351788 C CN100351788 C CN 100351788C CN B200510070699X A CNB200510070699X A CN B200510070699XA CN 200510070699 A CN200510070699 A CN 200510070699A CN 100351788 C CN100351788 C CN 100351788C
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Abstract
The present invention discloses a method for driving an embedded device in a protection mode operating system, which comprises that: application program interfaces API of different operating systems are encapsulated into a uniform operating system abstract interface function; the embedded device is registered as a virtual device supported by the operating system, and the mapping between an inner core state memory space of the virtual device and a user state memory space of a driving module is established; an application program invokes the driving module and the interface function of the operating system, and the interaction between the information and/or the data is controlled through the mapping of a memory and the embedded device. The present invention also discloses a method for driving an embedded device in a real mode operating system. After the present invention is applied, the driving module can be transplanted on different real mode operating systems by not changing, an inner core state function only needs to be changed a little, the transplant can be carried out on the protection mode operating system, and the running efficiency of the system is improved. The application program can be transplanted on various operating systems by not changing.
Description
Technical field
The present invention relates to embedded system, real pattern operating system and protected mode operating system, relate in particular to the driving method of embedded device in real pattern and protected mode operating system.
Background technology
Embedded system is application-centered, based on computer technology, but and the dedicated system of software and hardware cutting, it has strict demand to function, reliability, cost, volume, power consumption.It generally is made up of part such as four of embedded microprocessor, peripheral hardware equipment, embedded OS and application program of user etc., is used to realize to functions such as the monitoring of other equipment or management.
Peripheral hardware equipment in the embedded system is embedded device, it both can be certain communication port that is integrated on the microprocessor, as FCC (Fast Communications Controller), SCC (serial communication controller), the SMC (serial multichannel communication controller) of Power PC (enhancement mode flush bonding processor), or the MCBSP (multichannel buffered serial port) of DSP (digital signal processor); Also can be peripheral chip by microprocessor control, as ATM (asynchronous transfer mode) exchange chip, CAN (lan controller) bus controller, Voice CodeC (encoding and decoding speech) chip etc.
Driving to embedded device is mainly undertaken by driver module, driver module is mainly finished two functions: the first is carried out the transmission of control information between application program and embedded device, it two is transmission of carrying out data between application program and embedded device, makes application program can use every function of embedded device.
Driver module provides interface function to application program, the function that these interface functions have corresponding to embedded device usually, and application program will use required control information of a certain function and/or data transfer to give driver module by the calling interface function; Driver module passes to embedded device with these control informations and/or data by operating system.Corresponding to dissimilar operating system, drive the also difference to some extent of method of embedded device.
Operating system belongs to the category of system software, and it organizes the workflow of computing machine with the software and hardware resources of effective and reasonable mode supervisory computer, and the execution of control program also provides various services to the user.The operating system fork can further be divided into the general-purpose operating system (GOS) and real time operating system (RTOS).The general-purpose operating system operates under the protected mode, as Windows, Linux etc., and its user interface close friend, developing instrument is abundant, and characteristics are to utilize system resource to greatest extent and all system request of being impartial to.Real time operating system operates under the real pattern, as VxWorks, OSE etc., is generally operational on the embedded microprocessors such as Power PC, DSP, and multitask switching fast, preemptive type task scheduling are its basic characteristics, usually is used as the operating system of embedded system.
In real pattern operating system, the user can adopt self-defining interface to be undertaken alternately by driver module and equipment.Therefore in the prior art, driving method to embedded device in the real pattern operating system is: driver module carries out the mutual of control information and data by operating system and embedded device, simultaneously provide self-defining interface function to application program, application program realizes the transmission of control information and data by calling these interface functions.
The hierarchical structure of computer system as shown in Figure 1 under the real pattern, wherein driver module is operated between VxWorks, OSE operating system and the application program, and undertaken alternately by self-defining interface between the application program, directly use API (Application Program Interface, the application programming interfaces) function and the operating system of operating system to carry out alternately simultaneously.
Such driving method makes the user have very large degree of freedom, and the interface between application program and the driver module is all independently customized by the user.Because different driving developers often provides different and interface embedded device, cause at the driver module of developing on the VxWorks and use the application program of this driver module on OSE, can't use.And even on the identical real pattern operating system, the application program of user's exploitation also can't be used with the driver module of other user's exploitations usually together.
In protected mode operating system, application work is in user's attitude, forbids need carrying out at kernel state the direct visit of embedded device to the direct visit of hardware with to the unauthorized access of internal memory at user's attitude CPU (central processing unit).In the prior art, driving method to embedded device in the protected mode operating system is: embedded device is invented character device, block device or the network equipment that operating system can discern register in operating system, driver module is operated in kernel state to realize control signal and the data transfer with embedded device; Must adopt the interface of operating system between user's attitude and kernel state between driver module and the application program, therefore driver module is followed the interface that operating system formulates for virtual unit and is provided interface function for application program, and these interface functions and virtual unit one coexisted registers in the operating system; Be absorbed in kernel state by application program by system call and call above-mentioned interface function, carry out and driver module between the transmission of control information and data.
Figure 2 shows that the hierarchical structure of computer system under the protected mode; driver module is operated in the kernel state of Windows or Linux; application work is in user's attitude; must call by Windows or linux system and be absorbed in kernel state and visit the interface function that driver module provides, thereby use embedded device.
Because the kernel state of different protected mode operating systems has very large difference, the driver module of developing in a kind of protected mode operating system for embedded device can't use in another kind of protected mode operating system.Though different protected mode operating system provides user's attitude interface function difference little; but the character device interface function that protected mode operating system provides for the kernel state driver module, block device interface function, this three class function of network device interface function are but very different; thereby have only when embedded device when different protected mode operating system invents the equipment of same-type, the application program that relates to embedded device just has portability to a certain degree.And under protected mode operating system, application program is absorbed in kernel state by system call and visits driver module, can cause the frequent switching of user's attitude and kernel state, influences real-time.
Summary of the invention
The technical problem to be solved in the present invention is in the prior art, and the driver module of embedded device can not be transplanted in real pattern operating system; Driver module can not be transplanted in the protected mode system.
The driving method of embedded device may further comprise the steps in the protected mode operating system of the present invention:
A) the application programming interfaces API with different operating system is encapsulated as unified operating system abstraction interface function;
AB) make driver module provide unified driving abstraction interface function for application program;
B) embedded device is registered as the virtual unit that operating system is supported, sets up the mapping between user's attitude memory headroom of the kernel state memory headroom of described virtual unit and driver module;
C) described driver module calls described operating system abstraction interface function, starts described embedded device by memory-mapped;
D) application call described driver module abstraction interface function and described operating system abstraction interface function carry out the mutual of control information and/or data by memory-mapped and embedded device;
E) described driver module calls described operating system abstraction interface function, closes described embedded device by memory-mapped.
Preferably, described step B) and step C) between comprise:
BC) register the asynchronous notifications function of described virtual unit to operating system, be used for producing the live signal that sends described interruption when interrupting to described driver module at embedded device.
Preferably, described driving abstraction interface function comprises opens equipment function and closing device function, wherein opens the equipment function and is used for starting visit to embedded device; The closing device function is used for finishing the visit to embedded device;
Described step BC) and step C) between comprise: application call is opened equipment function notice driver module embedded device is conducted interviews, and specifies the duty of embedded device to driver module;
Described step D) and step e) between comprise: the described closing device function of application call notifies described driver module to finish visit to described embedded device.
Preferably, described driving abstraction interface function also comprises the input and output control function, is used for carrying out mutual with the control information of embedded device;
Described step D) comprise that application program to the process that embedded device sends control information, is specially:
The described input and output control function of application call is sent to driver module with control information;
Driver module writes control information by memory-mapped the register of embedded device.
Described step D) comprise that application program reads the process of control information from embedded device, is specially:
The control information that the described input and output control function notice of application call driver module reads embedded device;
Driver module reads in control information in the embedded device register by memory-mapped, and returns this control information to application program.
Preferably, described operating system abstraction interface function comprises the task management class function, is used for creating, deletes from the task of embedded device reception live signal;
Step C) be specially: driver module calls described task management class function and creates the task of receiving live signal from embedded device, and the duty of embedded device is set by memory-mapped according to the appointment of application program;
Step e) be specially: driver module calls the task of described task management class function deletion from embedded device reception live signal, stops embedded device, and removes described memory-mapped.
Preferably, described operating system abstraction interface function also comprises the memory management class function, is used for creating, deleting memory pool, and storage allocation from memory pool returns to memory pool with internal memory;
Described driving abstraction interface function also comprises the transmission data function, is used for sending data to embedded device;
Described step D) comprise the process of application program, be specially to embedded device transmission data:
Application program with copying data to calling in the transmission buffer zone that described memory management class function distributes;
The described transmission data function of application call passes to driver module with the pointer of described transmission buffer zone;
The data that driver module will send in the buffer zone copy in the buffer memory of embedded device by memory-mapped.
Preferably, described operating system abstraction interface function also comprises live signal administrative class function and message management class function, and wherein live signal administrative class function is used for creating, deletes, waits for and discharges live signal; The message management class function is used for creating, the deletion message queue, sends a message to message queue, receives message from message queue;
Described driving abstraction interface function also comprises the reception data function, is used for receiving data from embedded device;
Described step D) comprise the process of application program, be specially from described embedded device reception data:
D1) driver module calls live signal administrative class function creation and waits for live signal;
D2) operating system produces live signal according to the described asynchronous notifications function of the interrupt call of embedded device and is sent to driver module;
D3) driver module is sent to application program by memory-mapped with the data in the embedded device by calling described message management class function.
Preferably, operating system is called the live signal of asynchronous notifications function generation corresponding to described embedded device according to producing the embedded device that interrupts, and described live signal is sent to the driver module of described embedded device.
Preferably, described step D3) be specially:
Driver module calls described message management class function and sends message informing application program reception data;
The described memory management class function of application call is distributed send buffer, calls described reception data function the pointer of send buffer is passed to driver module;
Driver module arrives the copying data in the embedded device buffer memory by memory-mapped the send buffer of application program appointment.
Preferably, described step D3) be specially:
Driver module invoke memory administrative class function distributes send buffer, and by memory-mapped from the buffer memory of embedded device with copying data in send buffer;
Driver module message call administrative class function is sent to the data in the send buffer message queue of application program as the payload of message.
Preferably, described driving abstraction interface function also comprises the homing device function, is used for restarting the visit to embedded device;
Described step D) comprise the reset process of embedded device of application program, be specially:
The described homing device function notice of application call driver module resets to the visit of embedded device;
Driver module empties the buffer memory and the untreated live signal of embedded device.
Preferably, described operating system abstraction interface function also comprises mutual exclusion lock administrative class function, is used for creating, deletes, waits for and discharges mutual exclusion lock;
Described driving method also comprises:
Driver module calls described mutual exclusion lock administrative class function acquisition mutual exclusion lock the critical resource that will use is locked before the resource of using embedded device;
After driver module uses the resource of embedded device, call described mutual exclusion lock administrative class function and discharge mutual exclusion lock.
The present invention also provides the driving method of embedded device in a kind of real pattern operating system, may further comprise the steps:
A) the application programming interfaces API with different operating system is encapsulated as unified operating system abstraction interface function;
Ab) make driver module provide unified driving abstraction interface function for application program;
B) driver module calls described operating system abstraction interface function startup embedded device;
C) application program is carried out the mutual of control information and/or data by calling described driver module abstraction interface function and described operating system abstraction interface function with embedded device;
D) driver module calls described operating system abstraction interface function and stops embedded device.
The present invention uses by in operating system abstract layer the operating system abstraction interface function that offers the application program use originally also being offered driver module, be that driver module is operated on the Operational System Control layer, make driver module on different real pattern operating system, to transplant without changing; And only need the function of registering at kernel state is changed on a small quantity and can be transplanted on protected mode operating system, and can effectively reduce the switching times of user's attitude and kernel state, improve the operational efficiency of computer system;
Simultaneously, provide unified driving abstraction interface function to application program, make application program can on various operating system, transplant without changing by making driver module.
Description of drawings
Figure 1 shows that the embedded device drives structure figure of real pattern operating system in the prior art;
Figure 2 shows that the drives structure figure of the embedded device of protected mode operating system in the prior art;
Figure 3 shows that the application synoptic diagram of existing operating system level of abstraction;
Figure 4 shows that the process flow diagram of the method for the invention in the real pattern operating system;
Figure 5 shows that the embedded device drives structure figure of real pattern operating system of the present invention;
Figure 6 shows that the process flow diagram of the method for the invention in the protected mode operating system;
Figure 7 shows that the embedded device drives structure figure of protected mode operating system of the present invention.
Embodiment
In Fig. 1 and Fig. 2, all comprise operating system abstract layer between application program and the operating system.Operating system abstract layer provides unified api function for application program, to shield the otherness between the api function that various operating system provides, makes application program can be applicable to different operating system without change.
Api functions such as the task management class that operating system abstract layer provides several operation systems, message queue administrative class, Debugging message output class are analyzed and researched, extract the general character that function had of finishing similar functions, make unified encapsulation scheme according to its general character.
For example, in vxworks operating system, use following api function to come creation task:
int?taskSpawn(
Char name ,/* task name */
Int priority ,/* task priority (0-255), the highest * of 0 priority/
Int options ,/* assignment options, as whether support floating-point, whether allow to be provided with * such as breakpoint/
Int stackSize ,/* storehouse size */
FUNCPTR entryPt ,/* task entrance function */
Int arg1...arg10,10 input parameter * of/* task entrance function/
)
In OSE operating system, use following api function to come creation task:
PROCESS?create_process(
PROCESS_TYPE proc_type ,/* task type: priority, interrupt task */
Char * name ,/* task name */
OSENTRYPOINT entrypoint ,/* task entrance function */
OSADDRESS stack_size ,/* storehouse size */
OSPRIORITY priority ,/* task priority (0-31), the highest * of 0 priority/
OSTIME timeslice ,/* retention parameter, do not use */
PROCESS block ,/* retention parameter, do not use */
Struct OS_redir_entry, * route table ,/* retention parameter, do not use */
OSVECTOR vector ,/* interrupt vector, use * when creating interrupt task/
OSUSER user ,/* retention parameter, do not use */
)
American I EEE (Institute of Electrical ﹠amp; Electronic Engineers, IEEE) POSIX (the Portable Operating System Interface for computerEnvironments of association's formulation, the portable computer environment operating system interface) standard is a kind of of operating system abstract layer, and the method by following establishment thread realizes the encapsulation to above-mentioned two kinds of operating system creation tasks:
Pthread_attr_init: initialization thread attribute;
Pthread_attr_setschedpolicy: thread scheduling strategy (FIF0, RR) is set;
Pthread_attr_setschedparam: thread scheduling parameter (priority (1-99), 99 priority are the highest) is set;
Pthread_create: create thread.
The api function that part is followed the POSIX standard uses too complexity, does not obtain user's extensive approval but regrettably.And some java standard libraries of socket socket, file management system FMS, ANSI (American National Standards Institute) C have then formed standard universal in various operating systems, can directly use.At present, many companies all are that the development and operation system abstraction layer comes the operating system of its application program support is encapsulated voluntarily, see also Fig. 3, the unified package interface that application program provides by the call operation system abstraction layer, carry out and operating system between information and data transmission, application program can be common to multiple different operating system like this.
In order to realize the transplantability of driver module between different operating system, thinking of the present invention is that driver module is operated on the operating system abstract layer.
In real pattern operating system, the flow process of embedded device driving method of the present invention as shown in Figure 4.
At step S110, the API of different operating system is encapsulated as unified operating system abstraction interface function.Promptly extract the general character that API had of different operating system, and make the unified package interface of operating system: the operating system abstraction interface function according to its general character.As seen, the operating system abstraction interface function is the ingredient of aforementioned operation system abstraction layer among the present invention.These operating system abstraction interface functions that driver module uses comprise:
Task management class function: be used for creating, the deletion task.Particularly, driver module uses the Interrupt Process task that this class interface is created, deleted embedded device;
The memory management class function: be used for creating, deleting memory pool, storage allocation from memory pool returns to memory pool with internal memory.Particularly, the buffer memory that driver module uses such interface operation and embedded device to carry out data interaction is realized the purpose that static memory dynamically uses;
Semaphore administrative class function: be used for establishment, deletion, wait and release semaphore.Particularly, in embedded device produces, have no progeny, use this class interface to produce interruption with this embedded device of form notice driver module of semaphore.Driver module will carry out Interrupt Process, and for example if receive interruption, then notification application receives data; If then notification application equipment failure is interrupted in alarm;
Message management class function: be used for creating, deleting message queue, send a message to message queue, from message queue, receive message.Application program, then needs to send corresponding message by operating system to it when driver module needs notification application to carry out the operation relevant with embedded device by receiving to come the requirement of equipment is responded from the message of operating system;
Mutual exclusion lock administrative class function: be used for creating, delete, wait for and the release mutual exclusion lock, carry out mutually exclusive operation to embedded device.In supporting the multi-task operation system, when a task is used some resources,, tend to cause unpredictalbe consequence if other tasks are operated this resource simultaneously.Solution to this problem is to adopt mutual exclusion lock, when a task needs certain resource of use of exclusiveness, then locks on this resource, until the back release of finishing using, is not being disturbed by other tasks between its operating period guaranteeing.When the resource that will use when a task is locked by other tasks, can only wait until after this resource is unlocked and to use.
At step S120, make driver module provide unified driving abstraction interface function for application program.Driving the abstraction interface function can determine according to the using method of concrete embedded device.Integrated applications drives the abstraction interface function and generally can comprise following function the common using method of embedded device:
Open the equipment function: be used for starting visit to embedded device;
Closing device function: be used for finishing visit to embedded device;
Homing device function: be used for restarting visit to embedded device;
Send data function: be used for sending data to embedded device;
Receive data function: be used for receiving data from embedded device;
The input and output control function: it is mutual to be used for the control information carried out with embedded device.
At step S130, application call is opened equipment function notice driver module embedded device is conducted interviews, and transmits the running parameter of embedded device to driver module.Open the duty of equipment function while to the desired embedded device of driver module specified application.
At step S140, driver module starts embedded device.
The Interrupt Process task of driver module calling task administrative class function creation embedded device.Simultaneously, driver module specifies the duty of embedded device that embedded device is disposed accordingly according to application program.
At step S150, operating system abstraction interface function that the application call operating system abstract layer provides and driving abstraction interface function carry out the mutual of control information and/or data with embedded device.In fact, application program is to the embedded device sending controling instruction, and what read from embedded device is its status information, in the present invention, for describing for simplicity, the status information of embedded device also is referred to as control information.
This step is actually the detailed process that application program is used embedded device, in this course application program may send data, receive data, send control information, read control information, one or several work in the embedded device that resets etc., below introduce the concrete execution in step of every work respectively.
Application program to the process that embedded device sends data is:
The memory management class function that the application call operating system abstract layer provides is distributed the transmission buffer zone from the memory pool that it takies;
Application program arrives copying data and sends buffer zone;
The pointer that application call transmission data function will send buffer zone passes to driver module;
Driver module will send copying data in the buffer zone in the buffer memory of embedded device, data be handled according to the control information of application program by embedded device;
After pending data copy finishes, driver module invoke memory administrative class function will send in the memory pool that buffer zone is returned to application program.
Application program from the process of embedded device reading of data is:
Driver module call signal buret reason class function is created and wait-semaphore;
Embedded device produces and interrupts, and operating system is called the interrupt service routine inlet of registration, empties interruption, produces the Interrupt Process task that semaphore is sent to driver module;
After the Interrupt Process task has obtained semaphore, the data in the embedded device are sent to application program by driver module.Driver module has dual mode to realize this process: first kind is to take data away with the form notification application of message; Second kind is directly will be sent to the message queue of application program from the data that embedded device receives as the payload of message.
Adopt the idiographic flow of above-mentioned first kind of mode as follows:
Driver module message call administrative class function sends the message informing application program by operating system and receives data;
After the notified message of application program, first invoke memory administrative class function distributes send buffer from shared memory pool, calls to receive data function the pointer of send buffer is passed to driver module again;
Driver module from the buffer memory of embedded device with copying data in the send buffer of application program appointment;
Invoke memory administrative class function was returned to send buffer in its memory pool after application program finished to the reception data processing.
Adopt the idiographic flow of the above-mentioned second way as follows:
Driver module invoke memory administrative class function distributes send buffer from shared memory pool;
Driver module from the buffer memory of embedded device with copying data in send buffer;
Driver module message call administrative class function is sent to the data in the send buffer message queue of application program as the payload of message;
Invoke memory administrative class function was returned to send buffer in the memory pool of driver module after application program finished to the reception data processing.
Be to adopt first kind of mode, or the second way depend on application demand.Both differences are: adopt first kind of mode, application assigned send buffer, driver module provide the Data Receiving function; Adopt the second way, driver module distributes send buffer, and does not need to provide the Data Receiving function.
Application program to the process that embedded device sends control information is:
Application call input and output control function is sent to driver module with control information;
Driver module writes control information the control register of embedded device.
Application program from the process that embedded device reads control information is:
The control information that application call input and output control function notice driver module reads embedded device;
Driver module reads in the control information of corresponding embedded device, and returns this control information to application program.
In the use of application program to embedded device, unusual if embedded device takes place, when perhaps application program need interrupt the ongoing work of embedded device, then need the embedded device that resets.Detailed process is:
Application call homing device function notice driver module resets to the visit of embedded device;
Driver module empties the buffer memory of embedded device.
Application program can be according to actual needs, carries out repeatedly and control information between the embedded device and/or data mutual.In other words, above-mentioned each process can overlappingly be carried out.
At step S160, when application program does not re-use embedded device, call the visit of closing device function notice driver module end to embedded device.
At step S170, driver module stops embedded device.The Interrupt Process task of driver module calling task administrative class function deletion embedded device.
For supporting parallel multi-task operation system, driver module use may with resource that other task generation concurrent accesses conflicts before, the execution following steps:
Driver module calls mutual exclusion lock administrative class function acquisition mutual exclusion lock the critical resource that will use is locked before the resource of using embedded device; In this course, if the resource that driver module will use locks, then wait for after this resource is released to obtain mutual exclusion lock;
Use the resource of embedded device at driver module after, call mutual exclusion lock administrative class function and discharge mutual exclusion lock.
When application program is carried out repeatedly with the control information of embedded device and/or data interaction, all should the resource that the concurrent access conflict may take place be locked at every turn, and in the back release of finishing using.
Driver module can call by the existing standard library function that is common to different operating system in the prior art and realize the buffer memory of embedded device, the read-write operation of register under the real pattern.
To real pattern operating system, after adopting driving method of the present invention, the embedded device drives structure of real pattern operating system as shown in Figure 5, driver module is operated between operating system abstract layer and the application program, undertaken alternately by unified operating system abstraction interface function with VxWorks, OSE operating system, and undertaken alternately by driving the abstraction interface function between the application program.Like this, driver module and application program are without changing promptly applicable to a plurality of real pattern operating systems.
In protected mode operating system, with directly must carrying out at kernel state alternately of embedded device.And the kernel state difference of different operating system is very big, realizes that the encapsulation of kernel state operating system interface does not possess feasibility, that is to say, the module that is operated in kernel state is difficult to realize portable.
Therefore, among the present invention, driver module is realized on operating system abstract layer, simultaneously, set up the mapping relations of operating system nucleus attitude memory headroom and user's attitude memory headroom, the control register of embedded device, status register, buffer memory etc. all are mapped to the addressable user's attitude of driver module memory headroom, make that driver module can be by finishing control information and/or the data interaction with embedded device to the read-write of above-mentioned user's attitude memory headroom.
Carry out the embedded device of Interrupt Process for needs, how the interrupting information that also needs to solve kernel state is sent to the problem of user's attitude driver module.The present invention adopts the asynchronous notifications function to realize, has no progeny in embedded device produces, and the asynchronous notifications function that is operated in kernel state empties interruption, generates the driver module that live signal is delivered to user's attitude.
Except the part that relates to memory-mapped and live signal, the method for the invention in real pattern operating system with substantially the same in protected mode operating system.Figure 6 shows that in protected mode operating system the flow process of embedded device driving method of the present invention.
At step S210, the API of different operating system is encapsulated as unified operating system abstraction interface function.Promptly extract the general character that API had of different operating system, and make the unified package interface of operating system: the operating system abstraction interface function according to its general character.Equally, these operating system abstraction interface functions ingredient that is aforementioned operation system abstraction layer.These operating system abstraction interface functions that driver module uses comprise:
Task management class function: be used for creating, delete from the task of embedded device reception live signal;
The memory management class function: be used for creating, deleting memory pool, storage allocation from memory pool returns to memory pool with internal memory.Particularly, the buffer memory that driver module uses this class function and embedded device carries out data interaction is realized the purpose that static memory dynamically uses;
Live signal administrative class function: be used for creating, delete, wait for and discharge live signal.Particularly, in embedded device produces, have no progeny, use this class interface to notify this embedded device of driver module of user's attitude to produce interruption with the form of live signal.Driver module will carry out Interrupt Process, and for example if receive interruption, then notification application receives data; If then notification application equipment failure is interrupted in alarm;
Message management class function: be used for creating, deleting message queue, send a message to message queue, from message queue, receive message.Particularly, driver module knows that embedded device produces interruption, needs notification application, then uses the form notification application of this class function with message, can also use this class function that the data of embedded device are sent to application program simultaneously.；
Mutual exclusion lock administrative class function: be used for creating, delete, lock and opening mutual exclusion lock.Particularly, driver module uses the mutually exclusive operation of this class function realization to the critical resource (as buffer memory) of embedded device;
In each class function of aforesaid operations system abstraction interface, have only in live signal administrative class function and the real pattern operating system differently, and its user has only driver module, and application program is not used this class interface.
At step S220, make driver module provide unified driving abstraction interface function for application program.Generally can comprise following function:
Open the equipment function: be used for starting visit to embedded device;
Closing device function: be used for finishing visit to embedded device;
Homing device function: be used for restarting visit to embedded device;
Send data function: be used for sending data to embedded device;
Receive data function: be used for receiving data from embedded device;
Input and output control function: be used for carrying out mutual with the control information of embedded device.
With identical in the real pattern operating system, driving the abstraction interface function can determine according to the using method of concrete embedded device, for example, with Embedded A TM (Asynchronous Transfer Mode, asynchronous transfer mode) equipment is example, and driver module provides following driving abstraction interface function to application program:
Link establishment function (promptly opening the equipment function): s32 open (u32 u32ModuleId, conststruOpen * pStruOpen, u32 * pu32ConnId), wherein first parameter is the ID (code name) of driver module in operating system, second parameter is that physical link is created the data structure pointer that uses, and the 3rd parameter is for driving the link number that returns;
Link-down function (being the closing device function): s32 close (u32 u32ModuleId, u32u32ConnId), wherein first parameter is the module I D of driving, second parameter is link number;
Link reset function (being the homing device function): s32 reset (u32 u32ModuleId, u32u32ConnId), wherein first parameter is the module I D of driving, second parameter is link number;
Send data function: s32 write (u32 u32ModuleId, u32 u32ConnId, u16 u16Len, const u32 * pu32Buf), wherein first parameter is the module I D of driving, second parameter is link number, and the 3rd parameter is data length, and the 4th parameter is for pointing to the pointer that sends data;
Receive data function: s32 read (u32 u32ModuleId, u32 u32ConnId, u16 u16Len, u32 * pu32Buf), wherein first parameter is the module I D of driving, second parameter is link number, and the 3rd parameter is data length, and the 4th parameter is for pointing to the pointer that receives data;
Input and output control function: s32 ioctl (u32 u32ModuleId, u32 Cmd, u32 Arg), wherein first parameter is the module I D of driving, and second parameter is the I/O instruction, and the 3rd parameter is the I/O parameter.Input-output function provides a kind of method of carrying out the order of embedded device, someone calls it for fun " dustbin " function, and promptly other function except link establishment, link-down, link reset, data transmission, Data Receiving all can be classified as input-output operation.Its 3rd parameters u 32 Arg can be a variable, it also can be the address of a data structure, can design as required, as data query transmission statistical information, data query receiving and counting information, inquiry chip relevant configuration information, installation alarm call back function, installation reception call back function or the like operation, can realize by input-output function.
At step S230, embedded device is registered as the virtual unit that operating system is supported, set up the mapping between user's attitude memory headroom of the kernel state memory headroom of virtual unit and driver module.The control register of each embedded device, status register, the shared address space of buffer memory all belong to the part of kernel state address space, as previously mentioned, after the memory-mapped of having set up between kernel state and the user's attitude, the driver module that is operated in user's attitude can be operated embedded device by this memory-mapped.Setting up the memory-mapped relation realizes by being invoked at the memory-mapped function of registering in the kernel state operating system.
When os starting, need carry out initial work, resource that takies as Equipment Inspection, to operating system application embedded device etc. to embedded device; The resource that embedded device may take comprises interruption, internal memory etc.; Needs are carried out the embedded device of source synchronous, for example has the communication class equipment that receives data function, embedded device can produce to receive and interrupt when satisfying the condition of setting, therefore driver module will be this embedded device registration interrupt number and interrupt service routine inlet, these are all same as the prior art, repeat no more herein.
This step can be carried out when os starting, carries out before also can be behind os starting using embedded device for the first time.
At step S240, needs are carried out the embedded device of Interrupt Process, in operating system is virtual unit registration asynchronous notifications function, is used for notifying this embedded device of driver module of user's attitude to produce the type of interruption and this interruption with the form of live signal when embedded device produces interruption.
Embedded device is had no progeny in producing, and operating system is called the asynchronous notifications function according to the execution of the interrupt service routine inlet startup interrupt service routine of this embedded device registration in interrupt service routine.
At step S250, application call is opened equipment function notice driver module embedded device is conducted interviews, and transmits the running parameter of embedded device to driver module.
At step S260, driver module starts embedded device.
Driver module calling task administrative class function creation is from the task of embedded device reception live signal, and simultaneously, driver module disposes embedded device by the memory-mapped mode accordingly according to the running parameter of application program appointment embedded device.Protect for critical resource, avoid the concurrent access conflict under the multitask environment, also need to call mutual exclusion lock administrative class function creation mutual exclusion lock embedded device.
At step S270, operating system abstraction interface function that the application call operating system abstract layer provides and driving abstraction interface function carry out the mutual of control information and/or data by memory-mapped and embedded device.This step is actually the detailed process that application program is used embedded device, in this course application program can send data, receive data, send control information, read control information, one or several work in the embedded device that resets etc., below introduce the concrete execution in step of every work respectively.
Application program to the process that embedded device sends data is:
The memory management class function that the application call operating system abstract layer provides is distributed the transmission buffer zone from the memory pool that it takies;
Application program arrives copying data and sends buffer zone;
The pointer that application call transmission data function will send buffer zone passes to driver module;
Driver module will send copying data in the buffer zone in the buffer memory of embedded device, data be handled according to the control information of application program by embedded device;
After pending data copy finishes, driver module invoke memory administrative class function will send in the memory pool that buffer zone is returned to application program.
Need to prove, though carrying out write operation to the transmission buffer memory of embedded device, driver module carries out at user's space, but carried out memory-mapped during owing to the embedded device initialization, so, this embedded device mapping back just is equivalent to shine upon preceding buffer address at kernel spacing at the buffer address of user's space.Therefore in fact the data that will send have copied this embedded device in the buffer memory of kernel spacing.
Application program from the process of embedded device reading of data is:
Driver module calls live signal administrative class function creation and waits for live signal;
Embedded device produces and interrupts, kernel state operating system is called the asynchronous notifications function of registration, empty interruption, produce the driver module that live signal is sent to user's attitude, comprise the identification information (ID) of this live signal in the live signal, be used for representing to produce the embedded device and the interrupt type of interruption;
After driver module is received live signal, the data in the embedded device are sent to application program.Driver module has dual mode to realize this process: first kind is to take data away with the form notification application of message; Second kind is directly will be sent to the message queue of application program from the data that embedded device receives as the payload of message.
Adopt the idiographic flow of above-mentioned first kind of mode as follows:
Driver module message call administrative class function sends the message informing application program and receives data;
After the notified message of application program, first invoke memory administrative class function distributes send buffer from shared memory pool, calls to receive data function the pointer of send buffer is passed to driver module again;
Driver module from the buffer memory of embedded device with copying data in the send buffer of application program appointment;
Invoke memory administrative class function was returned to send buffer in its memory pool after application program finished to the reception data processing.
Adopt the idiographic flow of the above-mentioned second way as follows:
Driver module invoke memory administrative class function distributes send buffer from shared memory pool;
Driver module from the buffer memory of embedded device with copying data in send buffer;
Driver module message call administrative class function is sent to the data in the send buffer message queue of application program as the payload of message;
Invoke memory administrative class function was returned to send buffer in the memory pool of driver module after application program finished to the reception data processing.
Need to prove, in above-mentioned dual mode, though carrying out read operation to the buffer memory of embedded device, driver module carries out at user's space, but carried out memory-mapped during owing to the embedded device initialization, so, this embedded device mapping back just is equivalent to shine upon preceding buffer address at kernel spacing at the buffer address of user's space.Therefore in fact the data of driver module copy derive from the buffer memory of this embedded device at kernel spacing.
Be to adopt first kind of mode, or the second way depend on application demand.Both differences are: adopt first kind of mode, application assigned send buffer, driver module provide the Data Receiving function; Adopt the second way, driver module distributes send buffer, and does not need to provide the Data Receiving function.
Application program to the process that embedded device sends control information is:
Application call input and output control function is sent to driver module with control information;
Driver module writes control information by memory-mapped the control register of embedded device.
Application program from the process that embedded device reads control information is:
The control information that application call input and output control function notice driver module reads embedded device;
Driver module reads in control information in the embedded device register by memory-mapped, and returns this control information to application program.
In the use of application program to embedded device, unusual if embedded device takes place, when perhaps application program need interrupt the ongoing work of embedded device, then need the embedded device that resets.Detailed process is:
Application call homing device function notice driver module resets to the visit of embedded device;
Driver module empties the buffer memory of embedded device and has received but untreated live signal.
With identical in the real pattern operating system, application program can be according to actual needs, and overlapping ground repeatedly carries out above-mentioned each process.
At step S280, when application program does not re-use embedded device, call the visit of closing device function notice driver module end to embedded device.
At step S290, driver module stops embedded device.
The deletion of driver module calling task administrative class function simultaneously, is removed the memory-mapped relation from the task of embedded device reception live signal, also needs to call mutual exclusion lock administrative class function deletion mutual exclusion lock, removes the protection to the embedded device critical resource.
For supporting parallel multi-task operation system, driver module use may with resource that other task generation concurrent accesses conflicts before, the execution following steps:
Driver module calls mutual exclusion lock administrative class function acquisition mutual exclusion lock the critical resource that will use is locked before the resource of using embedded device; In this course, if the resource that driver module will use locks, then wait for after this resource is released to obtain mutual exclusion lock;
Use the resource of embedded device at driver module after, call mutual exclusion lock administrative class function and discharge mutual exclusion lock.
When application program is carried out repeatedly with the control information of embedded device and/or data interaction, all should the resource that the concurrent access conflict may take place be locked at every turn, and in the back release of finishing using.
Driver module can have the standard library function realization that is common to different operating system by calling, thereby herein this process be repeated no more the read-write operation of user's attitude internal memory under the protected mode in the prior art.
Memory-mapped function of registering in kernel state operating system and asynchronous notifications function can be the driver module service that is operated in user's attitude above.When carrying out memory-mapped, shine upon enough memory headrooms, make the driver module that surpasses under user's attitude can carry out the mutual of control information and/or data embedded device separately.These embedded devices are had no progeny in taking place, and all call same asynchronous notifications function, empty interruption, produce the live signal corresponding to the embedded device that takes place to interrupt, and send the corresponding driver module of this live signal notice.In other words, operating system is different from other embedded devices for the live signal that each embedded device produces.Like this, a plurality of embedded devices very little expense of generation in kernel state.
After using driving method of the present invention; the embedded device drives structure of protected mode operating system as shown in Figure 7; driver module is operated between operating system abstract layer and the application program; operate in user's attitude of operating system; undertaken alternately by unified operating system abstraction interface function with Windows, (SuSE) Linux OS, and undertaken alternately by driving the abstraction interface function between the application program.And at the kernel state of operating system, after embedded device invented character device, block device or the network equipment that operating system can discern, only need register asynchronous notifications function and memory-mapped function, can realize driving embedded device to operating system.
As seen, in protected mode operating system, the driver module that is operated in user's attitude can be transplanted on different operating system without changing with application program, and the asynchronous notifications function of kernel state is then revised with different needs of operating system with the memory-mapped function.Because the function of these two functions is very simple, to its modification only use that carries out expense little time and energy.
Be example with Embedded A TM equipment still, the driver module code of atm device all surpasses 8000 row usually in the prior art, and the driver module of function complexity can reach 20000 row nearly, and these codes all need to make amendment when changing operating system.After adopting the present invention, only need revise the code of asynchronous notifications function and memory-mapped function when changing operating system, and the code of these two functions is added up and is no more than 50 row.
In the present invention; in real pattern operating system with protected mode operating system in the operating system abstraction interface function have only the processing of live signal different; therefore; between real pattern operating system and protected mode operating system, the transplanting of driver module also only need be carried out a spot of modification.
The operating system abstraction interface function is then identical in real pattern operating system and protected mode operating system with driving abstraction interface function among the present invention; thereby application program need not revise can general and various operating systems on, no matter be real pattern operating system or protected mode operating system.
What is more important; adopt the present invention effectively to reduce and drive the switching times of embedded device in the protected mode operating system at user's attitude and kernel state; the operational efficiency that experiment showed, total system under Montavista Linux doubles at least, can satisfy higher real-time requirement.
Along with some protected mode operating system, through to the improvement of kernel scheduling mode, become real pattern operating system after, the design proposal of operating system abstract layer just is faced with crag-fast predicament.Iff the api function of encapsulation user attitude, can't solve the transplantability problem of driver module.If be the api function of the independent package core attitude of driver module, can't solve problem again with other operating system compatibilities.And behind application the present invention, do not influence the design philosophy of original operating system abstract layer, and no matter whether operating system distinguishes user's attitude and kernel state, all can be compatible, and the index word of operating system abstract layer is less.
Simultaneously, behind application the present invention, drive developer and Application developer and can use unified debugging acid, save costs such as training, purchase developing instrument.
Above-described embodiment of the present invention does not constitute the qualification to protection domain of the present invention.Any any modification of being done within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (13)
1. the driving method of embedded device in the protected mode operating system is characterized in that, may further comprise the steps:
A) the application programming interfaces API with different operating system is encapsulated as unified operating system abstraction interface function;
AB) make driver module provide unified driving abstraction interface function for application program;
B) embedded device is registered as the virtual unit that operating system is supported, sets up the mapping between user's attitude memory headroom of the kernel state memory headroom of described virtual unit and driver module;
C) described driver module calls described operating system abstraction interface function, starts described embedded device by memory-mapped;
D) application call described driver module abstraction interface function and described operating system abstraction interface function carry out the mutual of control information and/or data by memory-mapped and embedded device;
E) described driver module calls described operating system abstraction interface function, closes described embedded device by memory-mapped.
2. according to the driving method of embedded device in the described protected mode operating system of claim 1, it is characterized in that: described step B) and step C) between comprise:
BC) register the asynchronous notifications function of described virtual unit to operating system, be used for producing the live signal that sends described interruption when interrupting to described driver module at embedded device.
3. according to the driving method of embedded device in the described protected mode operating system of claim 1, it is characterized in that: described driving abstraction interface function comprises opens equipment function and closing device function, wherein opens the equipment function and is used for starting visit to embedded device; The closing device function is used for finishing the visit to embedded device;
Described step BC) and step C) between comprise: application call is opened equipment function notice driver module embedded device is conducted interviews, and specifies the duty of embedded device to driver module;
Described step D) and step e) between comprise: the described closing device function of application call notifies described driver module to finish visit to described embedded device.
4. according to the driving method of embedded device in the described protected mode operating system of claim 3, it is characterized in that: described driving abstraction interface function also comprises the input and output control function, is used for carrying out mutual with the control information of embedded device;
Described step D) comprise that application program to the process that embedded device sends control information, is specially:
The described input and output control function of application call is sent to driver module with control information;
Driver module writes control information by memory-mapped the register of embedded device.
Described step D) comprise that application program reads the process of control information from embedded device, is specially:
The control information that the described input and output control function notice of application call driver module reads embedded device;
Driver module reads in control information in the embedded device register by memory-mapped, and returns this control information to application program.
5. according to the driving method of embedded device in the described protected mode operating system of claim 4, it is characterized in that: described operating system abstraction interface function comprises the task management class function, is used for creating, deletes from the task of embedded device reception live signal;
Step C) be specially: driver module calls described task management class function and creates the task of receiving live signal from embedded device, and the duty of embedded device is set by memory-mapped according to the appointment of application program;
Step e) be specially: driver module calls the task of described task management class function deletion from embedded device reception live signal, stops embedded device, and removes described memory-mapped.
6. according to the driving method of embedded device in the described protected mode operating system of claim 5, it is characterized in that: described operating system abstraction interface function also comprises the memory management class function, be used for creating, deleting memory pool, storage allocation from memory pool returns to memory pool with internal memory;
Described driving abstraction interface function also comprises the transmission data function, is used for sending data to embedded device;
Described step D) comprise the process of application program, be specially to embedded device transmission data:
Application program with copying data to calling in the transmission buffer zone that described memory management class function distributes;
The described transmission data function of application call passes to driver module with the pointer of described transmission buffer zone;
The data that driver module will send in the buffer zone copy in the buffer memory of embedded device by memory-mapped.
7. according to the driving method of embedded device in the described protected mode operating system of claim 6, it is characterized in that: described operating system abstraction interface function also comprises live signal administrative class function and message management class function, and wherein live signal administrative class function is used for creating, deletes, waits for and discharges live signal; The message management class function is used for creating, the deletion message queue, sends a message to message queue, receives message from message queue;
Described driving abstraction interface function also comprises the reception data function, is used for receiving data from embedded device;
Described step D) comprise the process of application program, be specially from described embedded device reception data:
D1) driver module calls live signal administrative class function creation and waits for live signal;
D2) operating system produces live signal according to the described asynchronous notifications function of the interrupt call of embedded device and is sent to driver module;
D3) driver module is sent to application program by memory-mapped with the data in the embedded device by calling described message management class function.
8. according to the driving method of embedded device in the described protected mode operating system of claim 7; it is characterized in that; step D2) be specially: operating system is called the live signal of asynchronous notifications function generation corresponding to described embedded device according to producing the embedded device that interrupts, and described live signal is sent to the driver module of described embedded device.
9. according to the driving method of embedded device in the described protected mode operating system of claim 8, it is characterized in that described step D3) be specially:
Driver module calls described message management class function and sends message informing application program reception data;
The described memory management class function of application call is distributed send buffer, calls described reception data function the pointer of send buffer is passed to driver module;
Driver module arrives the copying data in the embedded device buffer memory by memory-mapped the send buffer of application program appointment.
10. according to the driving method of embedded device in the described protected mode operating system of claim 8, it is characterized in that described step D3) be specially:
Driver module invoke memory administrative class function distributes send buffer, and by memory-mapped from the buffer memory of embedded device with copying data in send buffer;
Driver module message call administrative class function is sent to the data in the send buffer message queue of application program as the payload of message.
11. according to the driving method of embedded device in any described protected mode operating system of claim 8 to 10, it is characterized in that: described driving abstraction interface function also comprises the homing device function, is used for restarting the visit to embedded device;
Described step D) comprise the reset process of embedded device of application program, be specially:
The described homing device function notice of application call driver module resets to the visit of embedded device;
Driver module empties the buffer memory and the untreated live signal of embedded device.
12. according to the driving method of embedded device in the described protected mode operating system of claim 11, it is characterized in that: described operating system abstraction interface function also comprises mutual exclusion lock administrative class function, is used for creating, deletes, waits for and discharges mutual exclusion lock;
Described driving method also comprises:
Driver module calls described mutual exclusion lock administrative class function acquisition mutual exclusion lock the critical resource that will use is locked before the resource of using embedded device;
After driver module uses the resource of embedded device, call described mutual exclusion lock administrative class function and discharge mutual exclusion lock.
13. the driving method of embedded device is characterized in that in the real pattern operating system, may further comprise the steps:
A) the application programming interfaces API with different operating system is encapsulated as unified operating system abstraction interface function;
Ab) make driver module provide unified driving abstraction interface function for application program;
B) driver module calls described operating system abstraction interface function startup embedded device;
C) application program is carried out the mutual of control information and/or data by calling described driver module abstraction interface function and described operating system abstraction interface function with embedded device;
D) driver module calls described operating system abstraction interface function and stops embedded device.
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