CN101515239A - Quick start method of X86 flight control computer - Google Patents
Quick start method of X86 flight control computer Download PDFInfo
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Abstract
A quick start method of an X86 flight control method belongs to a quick start method of an X86 architecture computer system. For a CPU of an X86 system structure, the initial start stage is generally in the real mode working environment, and the CUP can only access 100MB of memory size, while users can only access 575KB. Normally, a VxWorks system is started through secondary boot, and the application system is started after the operating system is loaded, so that the start needs longer time. In the invention, the VxWorks operating system is cut, the urgent task and the non-urgent task of the application program are directly loaded on to a full function VxWorks system image VxWorks_rom at one time, and simultaneously, the urgent task of the application program is loaded; and by utilizing a linker and a loader of VxWorks, and the symbol table technology, the non-urgent task modules of the operating system and the application program are dynamically loaded after the system is started, thereby greatly improving the start speed of key application program of the flight control computer. The invention provides a realistic application background for the quick start of control computers in the critical safety systems in the field of aerospace and the like.
Description
Technical field
The present invention relates to the quick start method of a kind of X86 framework flight control computer system, the quick start method that belongs to the X86 framework flight control computer system of VxWorks real time operating system, especially refer to the quick startup of the critical system software of safety, the safety of actual control system during with the assurance momentary power failure.
Background technology
In high-quality precision and sophisticated technologies such as China's military affairs, Aeronautics and Astronautics and the demanding field of real-time, computing machine based on the X86 framework has a wide range of applications, wherein most of system needs and can start fast, can restart fast when the instantaneous power-down, guarantees the safety of system or equipment.For the flight control computer that adopts VxWorks system, starting fast is that it can practical precondition, also is a problem that presses for solution.
For the X86 architecture, program leaves in the external memory storage such as hard disk, CPU can not be directly from these storeies instruction fetch carry out, and need that BIOS's is auxiliary.BIOS copies to the main memory space with the boot sector of boot disk, and carry out the given address that jumps to internal memory again.Its conventional start-up course comprises following 3 steps:
(1) the BIOS stage: be mainly initialization CPU and peripheral equipment, and hardware interface is provided backward.
(2) VxWorks guiding reflection (bootrom.sys) load phase: Main Boot Record (vxld program) is videoed to the given address of internal memory (this address is generally 0x08000 under the X86 framework) by the guiding of supplementary storage copy VxWorks by the BIOS funcall.
X86 architecture CPU is because backward compatible consideration generally is in the real pattern working environment in the CPU initial start stage, and the BIOS stage promptly is in real pattern.The distinguishing feature of real pattern is exactly the memory size that CPU can only visit 1MB.Consider memory headroom 0x0A0000～0xFFFFF at this moment for BIOS uses, VxWorks system bootstrap reflection generally is limited in this 575KB space of 0x008000～0x097FFF.
(3) VxWorks startup/load phase:
Load global function VxWorks system image.The VxWorks guiding reflection (bootrom.sys) that (2) step loaded only comprises the VxWorks of a basic function, and its function is to be system's carry equipment, for the loading of next step Full Featured VxWorks system image is prepared.The VxWorks system image has comprised Full Featured VxWorks system, and the basic VxWorks system that abandons after the VxWorks system image loads that previous step starts restarts this global function VxWorks and uses for the user.
As seen the VxWorks system starts through secondary boot, and as shown in Figure 1, the effect of VxWorks guiding reflection has two: one, can avoid the restriction of real pattern to VxWorks guiding image size; The 2nd, load the position and the method for reflection for the second time by guiding convenient control.So just can revise the VxWorks reflection in second step easily, so but secondary boot starts the application that is used for mostly debugging with system's online upgrading.But because the carry of memory device needs the more time, and whole process started the VxWorks system twice, and the speed that secondary boot starts seems too very long for most of embedded real-time control systems.
Summary of the invention
In order to solve VxWorks secondary system guiding and to cause the slow problem of system start-up, the VxWorks system under a kind of X86 of realization framework of the invention provides once guides the method for quick startup.Once guiding starts the loading of the VxWorks guiding reflection of having removed in the secondary boot startup, be that Main Boot Record directly loads global function VxWorks system image VxWorks _ rom, and loaded application program module simultaneously, obviously improved the toggle speed of system.
The present invention solves the technical scheme that its technical matters takes: adopt the global function system image VxWorks _ rom of the VxWorks system core that bootstrap technique directly loads, and load crucial application program module simultaneously.Because once VxWorks guiding reflection has been removed in the guiding startup, its toggle speed is the fastest, but obviously faces the limited problem of image size.On the other hand, the purpose that system starts fast mainly is can resume work fast for application software, and this just requires application module to be combined into a module with the VxWorks system to load simultaneously.The front has pointed out once to guide its startup image size of startup generally can be restricted, and the startup reflection is excessive in addition also can increase start-up time.In flight control system, application to the time requirement strictness generally only accounts for a less part, can guarantee the safety of aircraft to a great extent such as the fast quick-recovery of inner looping attitude control, and just not be strictness so for its requirement such as tasks such as communication to toggle speed.In order to reduce start-up time, satisfy under the real pattern loading the restriction of image size, select once guiding to start and reduce as far as possible the size of global function system image.
Therefore propose following solution: Full Featured system image includes only that some are important, and to the more sensitive hot job of time ratio, and other start the back dynamic load as a separate modular in hot job to not too responsive common task of time.In addition the VxWorks system is customized on request, reduce VxWorks system module uncorrelated with hot job but that common task needs, to reduce image size as far as possible.Reduce and system module that general module needs can be with the general module dynamic load.
Dynamic load is called in internal memory by the object module that program will be placed in the storer exactly after system moves, the symbol in the object module is finished parsing, link, and the program of operational objective module as requested.Everything has benefited from linker (linker) and the loader (loader) and the symbol table of VxWorks.Symbol table contains the record data that use for chain program, is used between binary object file variable and the function of naming (symbol) being carried out cross reference; String table contains and the corresponding character string of symbolic name.The design philosophy of dynamic load is as follows:
The application module of dynamic load is generally not the not executable file of link fully, and loading must be carried out reorientation and symbol resolution operation to it.It is 0 that object module is created start address, yet object module can not be loaded into this position.Reorientation is exactly according to specifying loading position to adjust the process of code and data.Such as, if the actual position 0x5000 that is loaded into of program, promptly segment base is 0x500.Will reorientation be 0x512 to quoting of segment base 0x12 in the file so.Because program is done as a whole by reorientation, a section bias internal amount can not change, so loader does not need to revise the other guide except that segment base.Exist in the object module simultaneously in a large number the quoting of various external variables, external function or shared library, the external reference address is all with 0 filling during compiling.Symbol resolution is exactly to be these definite address of quotation mark with 0 address modification of filling.Finish symbol resolution and must know the specific address of globak symbol in the system.System image is the executable file of link fully, and its load address is identical with the chained address, symbol table in the system image file and symbol string list just write down all globak symbols with and be arranged in the specific address of internal memory.Create a Hash table record globak symbol and corresponding address with this, can finish the symbol resolution of dynamic load object module by searching this table.Simultaneity factor can be added the globak symbol of the application module that newly loads in the symbol table to, is used for quoting or being used to start this application module of subsequent load module.
Description of drawings
Fig. 1 is the secondary boot system loads process synoptic diagram of using always.
Fig. 2 is a guidance system loading procedure of a present invention synoptic diagram.
Embodiment
Adopt workbench2.5 as developing instrument, hard disk or CF card (C dish) are as VxWorks system start-up equipment.With command line mode or tomado exploitation similar step and method are arranged.
(1) format of hard disk and leader record writes
Make the DOS boot disk, the DOS boot disk is the A dish in target machine, vxsys.com is copied in the boot disk, and under the DOS environment, fill order:
A:\vxsys?C:
In hard disk, generate the Main Boot Record (vxld) of VxWorks system.
(2) according to hardware environment customization BSP (plate level support package)
Before setting up all engineerings, at first dispose BSP according to hardware case, then all engineerings all are based upon on this BSP.Customization to BSP mainly is the configuration file configAll.h that is correlated with by revising, config.h, and makefile finishes.
The configuration file config.h that revise BSP reach the purpose of revising memory address, hardware configuration etc. more.Makefile is the compiling rule file of bootrom reflection, strict saying do not belong to configuration file, but there is the relevant macro definition of several memory addresss the inside, should with the config.h file in consistent, as in BSP, adding the driving code of oneself, as network interface card driving and TFFS driving etc., at this moment also need to revise makefile, generally be to add the EXTAR_MODULE definition.
(3) generate VxWorks boot files Bootrom
Utilize the workbench Integrated Development Environment to set up the engineering of a bootable image project type, select the BSP of customization in (2), selecting the form of boot files is .bin, and compiling obtains boot files bootrom.bin.Use the document copying order again:
Copy bootrom.bin I: bootrom.sys (establishing boot disk (CF card) indications in main frame is the I dish)
Copy it to goal systems boot disk, and check the continuity of this boot files.
(4) manufacture global function VxWorks image file
Utilize the workbench Integrated Development Environment to set up an engineering (loadable Image Project), select amended BSP, carry out the customization of VxWorks system component then, and add application program, the compiling back generates the vxwroks reflection.Then, copy the reflection vxworks that generates to the goal systems boot disk.
(5) goal systems starts
Boot disk (CF card) is put into goal systems, powers up, the system start-up operation.So far tradition startup is finished.
Like this, during start-up system, promptly can carry out according to the order of BIOS-Vxld-bootrom-global function VxWorks, after startup was finished, promptly loading application programs was carried out automatically.
Unique distinction of the present invention is: operating system and application program are all decomposed by the urgency level of task, and in a preferential order load, avoided the loading of VxWorks ultimate system, directly load global function VxWorks system.Therefore have part operation can save such as the bootline customization in the start-up course (2), (3) (4) step becomes:
(3) generate non-emergent task object module
Set up loadable Image Project engineering, the non-emergent task module of application program is put into engineering, the compiling back generates file destination (as test.out).This file destination is put into the external memory storage storer of boot disk (not necessarily as), the dynamic load of waiting system.
(4) making of main system reflection
1) custom-built system and boot sequence optimization
In Workbench, set up VxWorks Image Project engineering, join the hot job module of application program in the engineering simultaneously and system image compiles together, reduce unwanted assembly, revise the startup order of each assembly of VxWorks as required.Realize that by the usrAppInit.c file of revising in the engineering the various initialization operations that hot job is not needed are placed on hot job without exception to be started afterwards.
2) add the dynamic load supporting assembly
VxWorks system symbol table is compiled in the VxWorks system image and the VxWorks system image loads together, in engineering, add built-in symbol table and initialize system symbol table assembly, can contain the initialization that #include INCLUDE_SYM_TBL realizes symbol table in the VxWorks system image:
hashLibInit()；
symLibInit()；
If requirement start-up time to non-emergent task is not strict, the time of dynamic load is passed over, and can also adopt the mode of dynamic load to load in the system symbol table, but should forbid the reorientation of system symbol table this moment.
For realizing dynamic load, add loader components assembly in engineering, can contain initialization that #include INCLUDE_LOADER realize VxWorks system module management function in the VxWorks system image this moment:
moduleLibInit()；
cplusDemanglerInit()；
For guaranteeing the toggle speed of hot job, the dynamic load supporting assembly that is added should be placed on after the hot job startup, realizes in usrAppInit.c.
3) operation of dynamic load and program
Use loadModule () to load concrete application program, use symFindByName () in the system symbol table, to find out the function entrance and the execution of load application at last.The main statement of program segment of realization dynamic load is given an example:
fd＝open(″/ata0a/test.out″，O_RDONLY，0)；
hModule＝loadModule(fd，LOAD_ALL_SYMBOLS))；
symFindByName(sysSymTbl，″test″，(char**)&taskEntry，&Type)；
taskSpawn(″test″，100，0，30000，taskEntry，0，0，0，0，0，0，0，0，0，0)；
4) generate the main system reflection
Compiling generates VxWorks _ rom.bin form map, and just the global function system image for loading notices that the size of this reflection can not surpass the permissible value of system (herein according to the decision of hardware memory source).Then VxWorks _ rom.bin is videoed and put into the boot disk (CF card) of goal systems as bootrom.sys, will guarantee simultaneously to video and in storer, deposit continuously.So far starting manufacturing process fast finishes.
Claims (1)
1. X86 flight control computer quick start method, this quick start method be, adopts Workbench2.5 as developing instrument, and hard disk or CF card comprise the steps: as VxWorks system start-up equipment
(1) format of hard disk and leader record writes
Make the DOS boot disk, the DOS boot disk is the A dish in target machine, vxsys.com is copied in the boot disk, and under the DOS environment, fill order:
A:\vxsys?C:
In hard disk, generate the Main Boot Record vxld of VxWorks system;
(2) customization BSP
Before setting up all engineerings, at first dispose BSP according to hardware case, then all engineerings all are based upon on this BSP, customization to BSP, be by revising relevant configuration file configAll.h, config.h, makefile finishes, wherein configuration file config.h that revise BSP reach the modification memory address more, purposes such as hardware configuration, Makefile is the compiling rule file of bootrom reflection, but contain the relevant macro definition of memory address, so should with the config.h file in consistent, simultaneously also need to revise the makefile configuration file, generally be to add the EXTAR_MODULE definition;
It is characterized in that, vxworks operating system and application program are all decomposed by the urgency level of task, and in a preferential order load, realize VxWorks system image and the crucial disposable direct loading of application program module under the X86 computing machine real pattern, and utilize linker, loader and the symbol table of VxWorks, the operation system function that the non-emergent module of application program is used and the corresponding module of application program load in the laggard action attitude of system start-up, and the concrete operations step is:
(3) generate non-emergent task object module
Set up downloadable kernel Module Project engineering, the BSP that selection has customized puts into engineering with the non-emergent task module of application program, and the compiling back generates file destination, this file destination is put into external memory storage, the dynamic load of waiting system;
(4) making of main system reflection
1) custom-built system and boot sequence optimization
In Workbench, set up VxWorks Image Project engineering, the BSP that selection has customized, join the hot job module of application program in the engineering simultaneously and the VxWorks system image compiles together, reduce unwanted assembly, revise the startup order of each assembly of VxWorks as required, realize that by the usrAppInit.c file of revising in the engineering the various initialization operations that hot job is not needed are placed on hot job without exception to be started afterwards;
2) add the dynamic load supporting assembly
VxWorks system symbol table is compiled in the VxWorks system image and the VxWorks system image loads together, in engineering, add built-in symbol table and initialize systemsymbol table assembly, can contain the initialization that #include INCLUDE_SYM_TBL realizes symbol table in the VxWorks system image:
hashLibInit()；
symLibInit()；
For realizing dynamic load, in engineering, add Loader components assembly, can contain initialization that #include INCLUDE_LOADER realize VxWorks system module management function in the VxWorks system image this moment:
moduleLibInit()；
cplusDemanglerInit()；
For guaranteeing the toggle speed of hot job, the dynamic load supporting assembly that is added should be placed on after the hot job startup, realizes in usrAppInit.c;
3) operation of dynamic load and program
Use loadModule () to load concrete application program, use symFindByName () in VxWorks system symbol table, to find out the function entrance and the execution of load application at last, realize that the main statement of program segment of dynamic load has:
fd＝open(″/ata0a/test.out″，0_RDONLY，0)；
hModule＝loadModule(fd，LOAD_ALL_SYMBOLS))；
symFindByName(sysSymTbl，″test″，(char**)&taskEntry，&Type)；taskSpawn(″test″，100，0，30000，taskEntry，0，0，0，0，0，0，0，0，0，0)；
4) generate the main system reflection
Compiling generates VxWorks _ rom.bin form map, just be the global function VxWorks system image that will load, the size of this reflection can not surpass the permissible value of realistic objective system, then VxWorks _ rom.bin is videoed and put into the boot disk or the CF card of goal systems as bootrom.sys, will guarantee simultaneously to video and in storer, deposit continuously;
(5) boot disk is put into goal systems, powers up, the system start-up operation.
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