CN111381894B - Method for realizing rapid starting and simultaneous working of slave system during starting of complex time-sharing operating system - Google Patents
Method for realizing rapid starting and simultaneous working of slave system during starting of complex time-sharing operating system Download PDFInfo
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- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
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Abstract
The invention discloses a realization method for quick starting and simultaneous working of a slave system when a complex time-sharing operating system is started, which comprises the following steps: when the complex time-sharing operating system or the real-time operating system modified by the complex time-sharing operating system is started, the slave system is initialized and started on another slave processor outside the main processor, and then works with the main system at the starting time or the starting set time period of the complex time-sharing operating system to complete the required task; at a specific time point when the main system is started, the system is integrated into the main system or always operates as an independent system in a mode compatible with the main operating system; the main processor refers to a main CPU or a main CPU core; the slave processor refers to a slave CPU or a slave CPU core.
Description
Technical Field
The invention relates to the field of computers, in particular to a method for realizing rapid starting and simultaneous working of a slave system when a complex time-sharing operating system is started.
Background
Along with the continuous development of the demands of people for production and life, the functions of the complex time-sharing operating system are more and more complex, and the covered aspects are more and more, so that the starting time of the complex time-sharing operating system is longer and longer, the starting time of operating systems like Windows or Android is longer and longer, and users can not do anything except waiting for the starting time of the system. The lengthening of the starting time is acceptable in some fields such as computers, mobile phones and the like, and after all, the computers, the mobile phones and the like are not started frequently. However, this is not acceptable for many fields or functions, such as in the vehicle field, where the dashboard must start operating within a second or two, and the reversing function must start operating within a few seconds. This also prevents the use of complex time-sharing operating systems in these areas or functions. Although some alternative solutions exist, such as the reversing function can be implemented by a video switching chip, the symptoms are treated without treatment, and the video switching chip makes the function of the complex time-sharing operating system completely unusable. In the existing vehicle-mounted field, the problem of quick start and simultaneous operation when a complex time-sharing operating system is started is not solved, and a flexible method is adopted, for example, a simple real-time multi-tasking operating system (RTOS) is operated on another singlechip, so that a bus, peripherals, functions or ecology and the like of a main operating system or a main system cannot be directly used on the RTOS.
Disclosure of Invention
The invention aims to provide a method for realizing quick starting and simultaneous working of a slave system when a complex time-sharing operating system is started, so that the bus, peripheral equipment, functions or ecology and the like of the complex time-sharing operating system or a main system can be completely used in the fields such as vehicle-mounted and the like which need multiple functions to be quickly started and started to work.
Specifically, the invention fully utilizes the characteristics of modern CPU multi-core and multiple CPUs mountable, designs a set of solution, when the complex time-sharing operating system is started, the slave system initializes and starts on the other CPU or CPU core except the main CPU or CPU core with the fastest possibility, and then works with the main system at the time or time period of the complex time-sharing operating system start to complete the required task. At a specific time point when the main system is started, the main system is integrated into the main system or always operates as an independent system in a mode compatible with the main operating system, and the main resources, codes and ecology of the main system can be completely used. The scheme of the invention is realized in RTONBOOT technology of the 1.5 version of a real-time android operating system (RTandroid).
Furthermore, the method for realizing the rapid starting and simultaneous working of the slave system when the complex time-sharing operating system is started is not only suitable for the complex time-sharing operating system such as Windows, linux or Android, but also suitable for the real-time operating system formed by modifying the complex time-sharing operating system, and the real-time Android operating system (RTandroid) is one such operating system.
A method for realizing quick start and simultaneous operation of a slave system when a complex time-sharing operating system is started comprises the following main system operation flow and slave system flow which work in parallel;
the operation flow of the main system comprises the following steps:
s1: powering up a main processor, wherein the main processor refers to a main CPU or a main CPU core;
s2: entering BOOTLOADER, BOOTLOADER for initialization; loading a slave system image;
s3: the slave processor powers up or jumps to the slave system entry point; the slave processor refers to a slave CPU or a slave CPU core;
s4: BOOTLOADER loads the main operating system image;
s5: entering a kernel entry point of a main operating system; starting a main operating system;
s6: the master operating system delays initializing the slave processor;
s7: the master operating system requests the slave system to finish running or blend into the master operating system;
s8: the master operating system waits for notification of completion of initialization of the slave processor of the delayed initialization;
s9: receiving a notification of completion of initialization of the slave system, and incorporating the slave processor with delayed initialization into a management system of the master operating system;
s10: the main operating system continues the remaining boot work on the main processor.
The slave system operation flow starts to operate from the step S4 of the master system operation flow, specifically including the following steps:
s301: initializing and starting up and running the slave system;
s302: accepting the request of the step S7 from the system;
s303: the slave system executes the initialization of the CPU or the CPU core of the main operating system delay initialization on the main operating system;
s304: the slave system informs the main operating system of the completion of the initialization of the CPU or the CPU core which delays the initialization;
the master operating system continues operation of the slave system on the at least one slave processor or the slave system continues running compatible with the master operating system S305.
As a preferred approach, the slave processor is initialized in the BOOTLOADER and/or slave system.
As a preferred mode, the master system judges whether the slave system is loaded successfully or not by judging a specific mark in a specific memory of the slave system, and if not, the master operating system does not execute special codes suitable for the slave system during starting and initializing; if the judgment is before the MMU of the main operating system is initialized, directly judging the physical memory address; if it is determined that the virtual address after the IOREMAP is determined after the MMU of the main operating system is initialized.
As a preferred way, there are two modes of data sharing, communication and interoperability between the master operating system and the slave systems:
mode 1: a shared memory area is arranged in the physical memory, the main operating system can access the shared memory area through the IOREMAP (after the MMU is initialized, the physical address is the physical address before the MMU is initialized), the main operating system and the auxiliary system can synchronize states through specific variables of the shared memory area, and if asynchronous notification is needed, inter-processor interrupt can be used;
mode 2: the method comprises the steps of establishing a linear mapping or a fixed mapping to a slave system physical memory, wherein if the slave system does not enable MMU, the mapping is a peer-to-peer mapping, and the mapping is not in the kernel space of the master operating system; before the first process of the user space is created, the mapping is released so as not to cause address space conflict; if the slave system has an MMU enabled, this mapping is consistent with the slave system's virtual address.
As a preferred way, the virtual address is in kernel space.
As a preferred mode, the slave system has the following operation modes after accessing the master operating system:
mode 1: ending the operation of the slave system at a set time point before the start of the master operating system is ended; the main operating system starts some real-time or non-real-time threads to continue the working of the slave system, if the threads are to inherit the running state before the slave system, the corresponding variables in the data section, the bypass section or the thread local storage in the slave system can be copied to the corresponding positions of the main operating system;
mode 2: the slave system finishes running at a set time point before the start of the master operating system is finished, and the master operating system starts some real-time or non-real-time threads to continue the work of the slave system; these threads are designated to run on additional slave processors in addition to the master CPU or CPU core and the slave system starting up the CPU or CPU core running above in the BOOTLOADER.
Mode 3: the slave system continues to run in a manner compatible with the master operating system.
As a preferred way, when the above way 3 is adopted, the address space of the slave system does not conflict with the user space of the master operating system, and at this time, the initialization of the CPU or CPU core on which the slave system starts running in the BOOTLOADER is put on one thread of the slave system.
In the invention, the slave system is initialized and started in the BOOTLOADER by initializing and starting the slave system in the fastest possible way. The slave system and the main operating system are operated on different CPUs or CPU cores when the main operating system is started, so that the two sides can operate in parallel, the slave system can process specific requirements required by a user to quickly start working when the main operating system is started, and the problem that the initialization and the starting of the main operating system can only be processed when the complex time-sharing operating system or the real-time operating system modified by the complex time-sharing operating system is started for many years is solved. When the non-main CPU or CPU core of the general complex time-sharing operating system is started, the non-main CPU or CPU core enters an IDLE state soon after initialization is completed, so the invention has no influence on the starting time of the main operating system.
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FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
The invention aims to overcome the defects of the prior art and provides a method for realizing quick starting and simultaneous operation of a slave system when a complex time-sharing operating system is started.
Examples
A method for realizing quick start and simultaneous operation of a slave system when a complex time-sharing operating system is started comprises the following main system operation flow and slave system flow which work in parallel;
the operation flow of the main system comprises the following steps:
s1: powering up a main processor, wherein the main processor refers to a main CPU or a main CPU core;
s2: entering BOOTLOADER, BOOTLOADER for initialization; loading a slave system image;
s3: the slave processor powers up or jumps to the slave system entry point; the slave processor refers to a slave CPU or a slave CPU core;
s4: BOOTLOADER loads the main operating system image;
s5: entering a kernel entry point of a main operating system; starting a main operating system;
s6: the master operating system delays initializing the slave processor; the main operating system initializes CPUs or CPU cores other than the main CPU or CPU core, at which time the real-time subsystem fused with the main operating system is not initialized for the real-time operating system changed from the complex time-sharing operating system, and the infrastructure is not available for the complex time-sharing operating system or is not suitable for ending the running of the slave system due to competition. So for a slave to start up a CPU or CPU core running on top in the BOOTLOADER, the initialization should be deferred to ensure that the slave is running uninterrupted.
S7: the master operating system requests the slave system to finish running or blend into the master operating system; the master operating system should request the slave system at a specific time point, the slave system receives the request and then performs cleaning work, and after the slave system starts the initialization of the slave processor running above in the BOOTLOADER on the master operating system, the master operating system should be notified to enable the slave processor to be incorporated into the management system of the master operating system.
S8: the master operating system waits for notification of completion of initialization of the slave processor of the delayed initialization;
s9: receiving a notification of completion of initialization of the slave system, and incorporating the slave processor with delayed initialization into a management system of the master operating system; when the slave system needs to finish running or be integrated into the master operating system, the initialization of the slave processor in the master operating system is restarted. It is simple to jump to this slave processor's initialization entry in the master operating system after the slave system has made the necessary cleanup. Some systems may clean up the slave processor before performing the corresponding initialization. It is also an option to create a thread in the slave system or to resume a thread to execute the corresponding initialization code, if the real-time performance of other functions of the slave system is to be guaranteed, the priority of the thread should be lower than the priority of the thread to be guaranteed, and after initialization is completed, the master operating system is notified asynchronously to enable the master operating system to use the slave processor.
S10: the main operating system continues the remaining boot work on the main processor.
The slave system operation flow starts to operate from the step S3 of the master system operation flow, and specifically comprises the following steps:
s301: initializing and starting up and running the slave system;
s302: accepting the request of the step S7 from the system;
s303: the slave system executes the initialization of the CPU or the CPU core of the main operating system delay initialization on the main operating system;
s304: the slave system informs the main operating system of the completion of the initialization of the CPU or the CPU core which delays the initialization;
the master operating system continues operation of the slave system on the at least one slave processor or the slave system continues running compatible with the master operating system S305.
In order for the slave system to boot and initialize with the fastest possibility, the slave system should boot and initialize in the BOOTLOADER of the master operating system, in order for the slave system to boot fast enough, the software system of the slave system should be built based on a simple real-time multitasking operating system (RTOS), or a firmware without an operating system, such as RTONBOOT (RTONBOOT is an implementation of the present invention in real-time android operating system (rtoandroid) version 1.5). Which employs a simple real-time multitasking operating system (RTOS). Initially, the slave system does not enable MMU (memory management unit) or enables MMU but only establishes a simple mapping, both to start and initialize the slave system fast enough. Since the master operating system is always busy starting and initializing on the master CPU or CPU core, the slave system starts and runs on the other CPU or CPU core in the BOOTLOADER. This requires the main CPU or CPU core in the BOOTLOADER to power up another CPU or CPU core before that or to jump another CPU or CPU core to the designated entry point. The initialization of the other CPU or CPU core may be performed in the BOOTLOADER, in the slave system, or in both systems. The code from the system software system can be independently loaded from the external memory or can be mixed with the BOOTLOADER code. The disadvantage of blending with the BOOTLOADER code is that there is redundancy code, and the advantage is that no separate build-up system from the system software system is required.
The system code is loaded into a block of physical memory, the address of the block of physical memory needs to be reserved in a BOOTLOADER, the address of the block can be fixed or variable, and if the address is variable, the code which is relocated from the system is needed. Whether fixed or variable, it is ensured that this block of address is not covered by the image decompression and load memory of the host operating system. During the starting process of the main operating system, the memory is reserved in the main operating system to prevent the memory from being allocated out and causing confusion. After the life cycle of the slave system is finished, the memory block can be optionally re-incorporated into the virtual memory allocation system of the master operating system. If the slave system enables the MMU, a linear mapping of this address segment can be established, but the slave system code is guaranteed to be linked to the corresponding virtual address.
Such that the master operating system and the slave system run in parallel on different CPUs or CPU cores. There are two ways to ensure that the master operating system performs some special actions for the slave system at startup and initialization. One is completely static, which is determined entirely by the configuration macro at compile time. But this method will not handle if the load from the system fails in the BOOTLOADER. The second is a mechanism of run-time judgment, which judges whether the loading of the slave system is successful by judging a specific mark in a specific memory of the slave system, and if not, the master operating system will not execute the special code adapted to the slave system at the time of starting and initializing. This determination may be made directly at this point prior to the MMU initialization of the main operating system; the virtual address after the IOREMAP may also be determined after the MMU of the host operating system is initialized. The value of this block address may be told by the BOOTLOADER to the host operating system kernel via the kernel's command line parameters.
Data sharing between the master operating system and the slave systems, communication and interoperability are in two modes, and both modes are within a protection scope. In a first simple mode, there is a block of shared memory in physical memory that the host operating system can access (after MMU initialization; physical address before MMU initialization) through IOREMAP, and both sides can synchronize state through specific variables of shared memory, and if asynchronous notification is required, inter-processor interrupt (IPI interrupt) can be used. For most cases. A simple mode is sufficient. Yet another mode is a complex mode in which the master operating system needs to build a linear or fixed map to the slave system physical memory. If the slave system does not enable the MMU, this mapping is a peer-to-peer mapping, which is often not in the kernel space of the master operating system, so this mapping is relieved before the first process in user space is created, so as not to cause address space conflicts. For a common application, the slave system has completed its mission before entering the user space, and can be eliminated. If the slave system has an MMU enabled, the mapping is consistent with the slave system's virtual address, which is preferably in kernel space, which will have no address space conflict problem. In the complex mode, the two parties can intermodulation the function of the other party, which is more flexible.
Regarding the final direction from the system, there are several approaches, which are all within the scope of protection. First, the slave system ends operation at a point in time before the start of the master operating system ends, and the slave system performs necessary cleaning before the end. The master operating system initiates some real-time or non-real-time threads to continue the operation of the slave system. These threads may or may not be designated to run on the CPU or CPU core that the slave initiates running on top in the BOOTLOADER, as freely scheduled by the master operating system. If the threads were to inherit the running state of the slave system, the corresponding variables in the slave system_data segment, the_bss segment, or the thread local store may be copied to the corresponding locations of the master operating system. Second, the slave system ends operation at a point in time before the start of the master operating system ends, and the slave system performs necessary cleaning before the end. The master operating system initiates some real-time or non-real-time threads to continue the operation of the slave system. These threads are designated to run on a third CPU or CPU core other than the master CPU or CPU core and the CPU or CPU core on which the slave system is started in the BOOTLOADER. This has the advantage that these newly created threads can be put into operation earlier. Third, slave systems continue to operate. This must ensure that the address space of the slave system does not conflict with the user space of the master operating system. The initialization of the slave system to start the CPU or CPU core running on top in the BOOTLOADER may then be placed on one thread of the slave system. If this CPU or CPU core were to make the master operating system scheduler available, then the process or thread context switch of the slave system must be compatible with the master operating system.
The present invention can be well implemented in accordance with the above-described embodiments. It should be noted that, on the premise of the above technical solution, even if some insubstantial changes or color modification are made on the present invention, the essence of the technical solution adopted is still the same as that of the present invention, so it should be within the protection scope of the present invention.
Claims (7)
1. The realization method for the rapid starting and simultaneous working of the slave system when the complex time-sharing operating system is started is characterized by comprising the following steps:
when the complex time-sharing operating system or the real-time operating system modified by the complex time-sharing operating system is started, the slave system is initialized and started on another slave processor outside the main processor, and then works with the main operating system at the starting time or the starting set time period of the main operating system to complete the required task; after a specific time point of starting the operating system of the main system, the system is integrated into the main system or is always used as an independent system to run in a mode compatible with the main operating system;
the main processor refers to a main CPU or a main CPU core; the slave processor refers to a slave CPU or a slave CPU core;
the method specifically comprises a main system operation flow and a slave system flow which work in parallel;
the operation flow of the main system comprises the following steps:
s1: powering up a main processor;
s2: entering BOOTLOADER, BOOTLOADER for initialization; loading a slave system image;
s3: the slave processor powers up or jumps to the slave system entry point;
s4: BOOTLOADER loads the main operating system image;
s5: entering a kernel entry point of a main operating system; starting a main operating system;
s6: the master operating system delays initializing the slave processor;
s7: the master operating system requests the slave system to finish running or blend into the master operating system;
s8: the master operating system waits for notification of completion of initialization of the slave processor of the delayed initialization;
s9: receiving a notification of completion of initialization of the slave system, and incorporating the slave processor with delayed initialization into a management system of the master operating system;
s10: the main operating system continues the residual starting work on the main processor;
the slave system operation flow starts to operate from the step S4 of the master system operation flow, specifically including the following steps:
s301: initializing and starting up and running the slave system;
s302: accepting the request of the step S7 from the system;
s303: the slave system executes the initialization of the CPU or the CPU core of the main operating system delay initialization on the main operating system;
s304: the slave system informs the main operating system of the completion of the initialization of the CPU or the CPU core which delays the initialization;
the master operating system continues operation of the slave system on the at least one slave processor or the slave system continues running compatible with the master operating system S305.
2. The method according to claim 1, wherein the slave system is started and run on a slave processor other than the master processor in the BOOTLOADER to ensure parallel operation with the master operating system and the fastest start-up speed.
3. The method for implementing fast start-up and simultaneous operation of a slave system at start-up of a complex time-sharing operating system according to claim 1, wherein the memory loaded from the system is staggered with the memory loaded from the master operating system and decompressed from the memory of the master operating system image during the BOOTLOADER phase; after the main operating system starts to start, a reserved space or virtual memory space is reserved in the main operating system so as to prevent the memory confusion caused by the allocation of the main operating system until the life cycle of the slave system is finished.
4. A method for implementing a fast start-up and simultaneous operation of a slave system at the start-up of a complex time-sharing operating system according to claim 1, wherein the initialization of the slave processor is in the BOOTLOADER and/or the slave system.
5. The method for implementing rapid start-up and simultaneous operation of a slave system at start-up of a complex time-sharing operating system according to claim 1, wherein data sharing, communication and interoperability between the master operating system and the slave system are in two modes:
mode 1: a shared memory area is arranged in the physical memory, the main operating system can access the shared memory area through the IOREMAP, the main operating system and the auxiliary system can synchronize states through specific variables of the shared memory area, and if asynchronous notification is needed, inter-processor interrupt can be used;
mode 2: the method comprises the steps of establishing a linear mapping or a fixed mapping to a slave system physical memory, wherein if the slave system does not enable MMU, the mapping is a peer-to-peer mapping, and the mapping is not in the kernel space of the master operating system; before the first process of the user space is created, the mapping is released so as not to cause address space conflict; if the slave system has an MMU enabled, this mapping is consistent with the slave system's virtual address.
6. The method for implementing rapid start-up and simultaneous operation of the slave system at the time of starting up the complex time-sharing operating system according to claim 2, wherein the slave system has the following operation modes after being accessed into the master operating system:
mode 1: ending the operation of the slave system at a set time point before the start of the master operating system is ended; the main operating system starts some real-time or non-real-time threads to continue the working of the slave system, if the threads are to inherit the running state before the slave system, the corresponding variables in the data section, the bypass section or the thread local storage in the slave system can be copied to the corresponding positions of the main operating system;
mode 2: the slave system finishes running at a set time point before the start of the master operating system is finished, and the master operating system starts some real-time or non-real-time threads to continue the work of the slave system; these threads are designated to run on additional slave processors in addition to the master CPU or CPU core and the slave system starting up the CPU or CPU core running above in the BOOTLOADER;
mode 3: the slave system continues to run in a manner compatible with the master operating system.
7. The method according to claim 4, wherein the address space of the slave system does not conflict with the user space of the master operating system when the method 3 is adopted, and the initialization of the CPU or the CPU core of the slave system, which is started and runs on the slave system in the BOOTLOADER, is put on a thread of the slave system.
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| CN108108199A (en) * | 2017-12-21 | 2018-06-01 | 北京东土科技股份有限公司 | Multiple operating system starts method and device on a kind of multi-core CPU |
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