CN103853597A - Method for realizing high-frequency data collection of embedded virtual machine platform - Google Patents
Method for realizing high-frequency data collection of embedded virtual machine platform Download PDFInfo
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Abstract
The invention discloses a method for realizing high-frequency data collection of an embedded virtual machine platform. The method comprises the following steps that an internal memory mapping mechanism and an interrupt trap mechanism provided by Hypervisor are utilized, and a virtual machine partition registers a calling interface of an interrupt preprocessing function and a corresponding interrupt internal memory mapping partition in a Hypervisor space, so the privileged operation in the high-frequency data collection and the interrupt fast response can be directly completed in the Hypervisor. The method provided by the invention is mainly used in high-real-time-performance and high-safety-requirement embedded systems such as aerospace and energy source control, safety mechanisms of temporal and spatial isolation and the like provided by using virtualization technology are utilized, and meanwhile, the problem of excessive expenditure for responding high-frequency interrupt in the traditional virtualization technology is solved, so the high-real-time-performance and high-safety-requirement embedded virtualization systems can be realized.
Description
Technical field
The invention belongs to virtual machine field, specifically, relate to one and realize embedded type virtual machine platform high-frequency data acquisition method.
Background technology
Comprehensively modularized avionics system (IMA) taking ARINC653 specification as representative become the 4th generation avionics system actual standard, in Aero-Space, energy national defence field, obtained generally application.And along with the development of Intel Virtualization Technology, utilize the virtual machine subregion mechanism that Hypervisor provides that security, isolation, reusability are provided, widespread use and high-performance calculation, commerce server field, and derive many employing virtual methods and realize the embedded real-time operating system of ARINC653 standard, as XtratuM, Integrity, PikeOS etc.
In space industry, especially in the aerospacecraft control system such as rocket, guided missile, manned spaceship, need to constantly gather a large amount of external sensor information at run duration, need the data that gather to belong to different sub-systems, and the frequency of some data acquisition may very high (every 10ms gathers multiple sensing datas), image data will cause not in time enters the orbit or the positioning precision consequence such as reduce, cannot finish the work.
Traditional virtual technology, does not consider the consideration of numerous areas control system to interrupt response real-time demand such as Aero-Space, energy national defence.As Xen has adopted separation equipment model (Split Driver Model), driving processing to be divided into front end (Front-End) carries out with rear end (Back-End), rear end drives in the privileged partition operating in such as Domain0, be responsible for accessing actual hardware by Hypervisor, and Front End operates in the subregion of actual needs equipment, it does not need to move privileged instruction, only need to from privileged partition, obtain data by loop buffer, in the time that certain application virtual machine subregion needs access means, forward end drives and sends request, front-end driven will ask to send to the rear end operating in privileged partition to drive by circular buffer (Ring Buffer), after privileged partition starts to carry out, obtain one by one the device access request in circular buffer, access actual hardware by Hypervisor respectively, and data are preserved by shared drive, notify application partition to obtain equipment by loop buffer.Thereby front and back end device Driver Model has been realized the share and access of equipment on the one hand, and equipment, by direct hardware access, has reduced the performance cost that device emulation brings; By buffer zone, device access request is cushioned on the other hand, reduced frequent subregion and switched the expense of bringing.Separation equipment model is conducive to the access efficiency of block device (block device).
In embedded type virtual operating system XtratuM, in order to improve the time response velocity fails of system, outside the event subregion scheduling of ARINC653 normalized definition, adopt the method based on priority scheduling, thereby high priority subregion can be met with a response as early as possible, thereby improve the response speed of the tasks such as input data acquisition, signal response.The mode of priority scheduling can only meet high priority subregion is dispatched as early as possible, in the time that external event arrives, can meet with a response in time, still relatively large but switch with the expense of scheduling by stages.
In some research, researchist maps directly to hardware interrupt in the virtual machine subregion of appointment, look-at-me directly passes to virtual machine subregion by the mode of virtual interruption, the interrupt service routine of virtual machine subregion can directly respond the device interrupt of binding, thereby improves the virtual timer response speed of virtual subregion.
In embedded especially space industry, there are the following problems for said method:
The front and back end device model that traditional virtual technology adopts, cushions device access request by circular buffer, and by privileged partition, physical device operation is collected to special subregion, is suitable for the shared transmission of the block device of big data quantity.But for a device request, need in buffer zone, wait for that privileged partition reads, and need to carry out repeatedly subregion and switch and just can complete primary equipment access, for the embedded Hard Real Time Systems such as sensor collection, exchanges data of high-frequency, small data quantity, hard real time, in a lot of situations, cannot meet application demand.
Pass through priority scheduling, can accelerate as far as possible the response speed of high-priority task, but priority and interrupt response frequency are without direct correlation, are to have application characteristic and service logic to determine, the application partition that interrupt response frequency is high, its priority is not necessarily the highest.Therefore, once high-frequency interrupt response subregion is seized by high priority subregion, its data acquisition window will miss, thereby causes the loss of data.
In embedded platform especially space flight embedded platform, what adopt in a large number is the flush bonding processor such as SPARC, ARM, APIC module cannot be provided, relatively limited (for example SPARC V8 of its hardware interrupts resource, only have 16 interrupt numbers), cannot be for each sensor provides independently interrupt number, so just cannot adopt the direct mapping mode of above-mentioned interruption to improve the method for the Response time of subregion.
Summary of the invention
The technical problem to be solved in the present invention is to overcome above-mentioned defect, provide a kind of high-frequency data collection and privileged operation interrupting in response fast of making directly to complete in Hypervisor, reduce the repeatedly switching of Hypervisor and division operation system, thus realize high-frequency data collection and the quick response mechanism of interruption realize embedded type virtual machine platform high-frequency data acquisition method.
For addressing the above problem, the technical solution adopted in the present invention is:
One realizes embedded type virtual machine platform high-frequency data acquisition method, it is characterized in that: step is as follows: utilize the memory-mapped mechanism that Hypervisor provides to be absorbed in mechanism with interruption, virtual machine subregion interrupts the calling interface of pre-service function (PISR) in the registration of Hypervisor space, and corresponding interruption memory-mapped subregion (IMM), high-frequency data collection and the privileged operation interrupting in response fast are directly completed in Hypervisor, reduce the repeatedly switching of Hypervisor and division operation system, thereby realize high-frequency data collection and interrupt quick response mechanism.
The step of acquisition method is as follows:
1), at the spacecraft flight control platform based on Intel Virtualization Technology, build virtual machine monitor Hypervisor, and memory-mapped mechanism and interrupt response mechanism be provided;
2), provide special kernel code space and data space at Hypervisor, Hypercall calling interface is provided, allow the virtual machine subregion of non-privilege that the first half section code PISR that interrupts processing is kept in corresponding kernel code space, and can apply for certain data space IMM, preserve for the data of first half section code operational process;
3), as virtual machine subregion 1(VM1) need every 20ms to sample and obtain the external data that certain sensor (Sensor1) gathers by AD, VM1 can interrupt kernel corresponding to registration for Sensor1 sampling and interrupt pre-service service (PISR1), and request for data space IMM1, ISR1 operates in Hypervisor space, IMM1 is shone upon to VM1 by Hypervisor, in the time that AD sampling is interrupted arriving, Hypervisor does not need to be switched to privileged partition or VM1 and can call PISR1 and complete AD data read work, data are kept in IMM1 successively, and continue the normal process of work at present, when entering after the time window of VM1, the data that VM1 gathers before can obtaining by memory-mapped mechanism, and data are processed,
4), as virtual machine subregion 2(VM2) need every 10ms to carry out data by two-port RAM (DPRAM1) and redundant system and synchronize, VM2 can interrupt kernel corresponding to registration for DPRAM1 synchronizing signal and interrupt processing service PISR2, and request for data space IMM2, PISR2 operates in Hypervisor space, IMM2 is shone upon to VM2 by Hypervisor, in the time that two-port RAM synchronizing signal arrives, do not need to be switched to privileged partition or VM1, Hypervisor directly calls PISR2 and completes synchronous operation, synchrodata is kept in IMM2, and continue the normal process of work at present, when entering after the time window of VM2, synchronous data before VM2 can obtain by memory-mapped mechanism, and data are processed.
Owing to having adopted technique scheme, compared with prior art, the invention provides a kind of high-frequency data collection and quick response mechanism of interruption of completing in virtual platform, utilize the memory-mapped mechanism that Hypervisor provides to be absorbed in mechanism with interruption, virtual machine subregion interrupts the calling interface of pre-service function in the registration of Hypervisor space, and corresponding interruption memory-mapped subregion, high-frequency data collection and the privileged operation interrupting in response fast are directly completed in Hypervisor, reduce the repeatedly switching of Hypervisor and division operation system, thereby realize high-frequency data collection and interrupt quick response mechanism.
Brief description of the drawings
Fig. 1 is the working plan of an embodiment of the present invention.
Embodiment
Embodiment:
One realizes embedded type virtual machine platform high-frequency data acquisition method, step is as follows: utilize the memory-mapped mechanism that Hypervisor provides to be absorbed in mechanism with interruption, virtual machine subregion interrupts the calling interface of pre-service function (PISR) in the registration of Hypervisor space, and corresponding interruption memory-mapped subregion (IMM), high-frequency data collection and the privileged operation interrupting in response fast are directly completed in Hypervisor, reduce the repeatedly switching of Hypervisor and division operation system, thereby realize high-frequency data collection and interrupt quick response mechanism.
As shown in Figure 1, the concrete implementation step of acquisition method is as follows:
1), at the spacecraft flight control platform based on Intel Virtualization Technology, build virtual machine monitor Hypervisor, and memory-mapped mechanism and interrupt response mechanism be provided.
2), provide special kernel code space and data space at Hypervisor, Hypercall calling interface is provided, allow the virtual machine subregion of non-privilege that the first half section code PISR that interrupts processing is kept in corresponding kernel code space, and can apply for certain data space IMM, preserve for the data of first half section code operational process.
3), as virtual machine subregion 1(VM1) need every 20ms to sample and obtain the external data that certain sensor (Sensor1) gathers by AD, VM1 can interrupt kernel corresponding to registration for Sensor1 sampling and interrupt pre-service service (PISR1), and request for data space IMM1, ISR1 operates in Hypervisor space, IMM1 is shone upon to VM1 by Hypervisor, in the time that AD sampling is interrupted arriving, Hypervisor does not need to be switched to privileged partition or VM1 and can call PISR1 and complete AD data read work, data are kept in IMM1 successively, and continue the normal process of work at present, when entering after the time window of VM1, the data that VM1 gathers before can obtaining by memory-mapped mechanism, and data are processed.
4), as virtual machine subregion 2(VM2) need every 10ms to carry out data by two-port RAM (DPRAM1) and redundant system and synchronize, VM2 can interrupt kernel corresponding to registration for DPRAM1 synchronizing signal and interrupt processing service PISR2, and request for data space IMM2, PISR2 operates in Hypervisor space, IMM2 is shone upon to VM2 by Hypervisor, in the time that two-port RAM synchronizing signal arrives, do not need to be switched to privileged partition or VM1, Hypervisor directly calls PISR2 and completes synchronous operation, synchrodata is kept in IMM2, and continue the normal process of work at present, when entering after the time window of VM2, synchronous data before VM2 can obtain by memory-mapped mechanism, and data are processed.
The present invention is mainly used in the embedded system of the hard real time such as Aero-Space, energy control, high safety requirements, in the security mechanisms such as the space-time isolation that utilizes Intel Virtualization Technology to provide, solve the excessive problem of expense that traditional virtual technology response high-frequency is interrupted, thereby realize the embedded type virtual system of hard real time, high safety.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (2)
1. realize embedded type virtual machine platform high-frequency data acquisition method for one kind, it is characterized in that: step is as follows: utilize the memory-mapped mechanism that Hypervisor provides to be absorbed in mechanism with interruption, virtual machine subregion interrupts the calling interface of pre-service function (PISR) in the registration of Hypervisor space, and corresponding interruption memory-mapped subregion (IMM), high-frequency data collection and the privileged operation interrupting in response fast are directly completed in Hypervisor, reduce the repeatedly switching of Hypervisor and division operation system, thereby realize high-frequency data collection and interrupt quick response mechanism.
2. according to realizing embedded type virtual machine platform high-frequency data acquisition method described in claim 1, it is characterized in that: the step of acquisition method is as follows:
1), at the spacecraft flight control platform based on Intel Virtualization Technology, build virtual machine monitor Hypervisor, and memory-mapped mechanism and interrupt response mechanism be provided;
2), provide special kernel code space and data space at Hypervisor, Hypercall calling interface is provided, allow the virtual machine subregion of non-privilege that the first half section code PISR that interrupts processing is kept in corresponding kernel code space, and can apply for certain data space IMM, preserve for the data of first half section code operational process;
3), as virtual machine subregion 1(VM1) need every 20ms to sample and obtain the external data that certain sensor (Sensor1) gathers by AD, VM1 can interrupt kernel corresponding to registration for Sensor1 sampling and interrupt pre-service service (PISR1), and request for data space IMM1, PISR1 operates in Hypervisor space, IMM1 is shone upon to VM1 by Hypervisor, in the time that AD sampling is interrupted arriving, Hypervisor does not need to be switched to privileged partition or VM1 and can call PISR1 and complete AD data read work, data are kept in IMM1 successively, and continue the normal process of work at present, when entering after the time window of VM1, the data that VM1 gathers before can obtaining by memory-mapped mechanism, and data are processed,
4), as virtual machine subregion 2(VM2) need every 10ms to carry out data by two-port RAM (DPRAM1) and redundant system and synchronize, VM2 can interrupt kernel corresponding to registration for DPRAM1 synchronizing signal and interrupt processing service PISR2, and request for data space IMM2, PISR2 operates in Hypervisor space, IMM2 is shone upon to VM2 by Hypervisor, in the time that two-port RAM synchronizing signal arrives, do not need to be switched to privileged partition or VM1, Hypervisor directly calls PISR2 and completes synchronous operation, synchrodata is kept in IMM2, and continue the normal process of work at present, when entering after the time window of VM2, synchronous data before VM2 can obtain by memory-mapped mechanism, and data are processed.
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