CN111752550B - Embedded real-time Linux and AUTOSAR OS cross-platform development implementation system - Google Patents
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Abstract
The invention discloses an embedded real-time Linux and AUTOSAR OS cross-platform development implementation system, which comprises an application layer, an RTAR _ PLAT platform layer and a system platform layer; the RTAR _ PLAT platform layer comprises an application interface layer, a system matching layer and a system library layer; the application interface layer is used for providing a uniform application programming interface upwards, and the system library layer comprises a real-time Linux system library and an AUTOSAR OS system library; the system matching layer is used for calling the functional interface of the corresponding system library in the system library layer through system matching to realize the functional interface in the application interface layer. Aiming at the defects of the prior art, the invention provides a cross-platform solution of an embedded application program based on a cross-platform library technology, and can realize the cross-platform development of real-time Linux and AUTOSAR.
Description
Technical Field
The invention relates to the technical field of cross-platform development of an automobile real-time operating system, in particular to a cross-platform development implementation system of embedded real-time Linux and AUTOSAR OS.
Background
With the increasing complexity of the E/E (electrical Electronic architecture) architecture of automobiles, in order to solve the problems of non-uniformity of the E/E architecture, poor code cross-platform performance, and the like of the traditional automobile, major automobile manufacturers, first-level suppliers, and semiconductor companies all over the world jointly propose an operating System based on the automotive Open System architecture (autosar) standard in 2003, and Open a clear direction for the development of mainstream operating systems in the future world. Meanwhile, many other general real-time operating systems still exist at home and abroad at present, and the real-time operating systems play an important role in the fields of automobiles, industrial control and the like. How to implement the cross-platform development of the real-time operating system which is mainstream in the world nowadays is still a problem to be solved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a cross-platform development implementation system of embedded real-time Linux and AUTOSAR OS, which is an embedded application program cross-platform solution based on a cross-platform library technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
an embedded real-time Linux and AUTOSAR OS cross-platform development implementation system sequentially comprises an application layer, an RTAR _ PLAT platform layer and a system platform layer from top to bottom; the application layer mainly comprises cross-platform application programs; the system platform layer comprises a real-time Linux system platform and an AUTOSAR OS system platform; the real-time Linux system platform comprises a real-time Linux operating system and a corresponding hardware platform thereof, and the AUTOSAR OS system platform comprises an AUTOSAR OS operating system and a corresponding hardware platform thereof;
the RTAR _ PLAT platform layer comprises an application interface layer, a system matching layer and a system library layer; the application interface layer comprises a plurality of functional interfaces and is used for providing a uniform application programming interface for the application layer upwards; the system library layer comprises a real-time Linux system library and an AUTOSAR OS system library, and the real-time Linux system library and the AUTOSAR OS system library are both provided with functional interfaces corresponding to the functions of the functional interfaces in the application interface layer; the system matching layer is used for calling a functional interface of a corresponding system library in the system library layer through system matching to realize a functional interface in the application interface layer;
furthermore, the real-time Linux system library and the AUTOSAR OS system library in the application interface layer and the system library layer respectively comprise a car horn module, a radar module, a communication module and a complex module; the car light and car whistle module consists of a functional interface for controlling a car light and a car whistle; the radar module consists of a functional interface for controlling a radar; the communication module consists of a functional interface for controlling Spi communication; the complex module is composed of a function interface related to the system and other function interfaces which do not belong to a car light whistle module, a radar module and a communication module.
Furthermore, the car light whistle module comprises a car light control interface, a warning light turning-on function interface, a car whistle control interface and a warning light turning-off function interface; the car light control interface is used for controlling the lighting and extinguishing of the car light, the function interface of the turn-on warning light is used for controlling the periodical flashing of the warning light, the car whistle control interface is used for controlling the car whistle to whistle or stop the whistle, and the function interface of the turn-off warning light is used for controlling the warning light to stop the periodical flashing.
Furthermore, the radar module comprises a Trig pin trigger interface, a time difference detection interface, a distance detection interface, a dangerous distance warning interface and a radar stop trigger interface; the Trig pin triggering interface is used for triggering the ultrasonic radar by giving a high-level signal of 10 microseconds to the Trig pin, and the time difference detection interface is used for detecting the high-level duration time of the echo pin and accordingly measuring the echo time difference; the distance detection interface is used for calculating the distance according to a sound velocity formula by using the echo time difference measured by the time difference detection interface, the dangerous distance warning interface is used for controlling the buzzer to periodically sound when the dangerous distance is smaller than the warning distance and stopping the sound when the dangerous distance is larger than or equal to the warning distance, and the radar stopping triggering interface is used for stopping triggering by enabling the level of the Trig pin to return to zero.
Furthermore, the communication module comprises a communication mode setting interface, a synchronous data sending interface, an asynchronous data sending interface, a data reading interface, a parameter configuration interface and a Spi cancelling communication interface; the communication mode setting interface is used for setting the Spi communication to be a synchronous communication mode or an asynchronous communication mode, the synchronous data sending interface is used for sending data to the communication equipment in a synchronous communication mode, the asynchronous data sending interface is used for sending data to the communication equipment in an asynchronous communication mode, the data reading interface is used for reading the data by the communication equipment, the parameter configuration interface is used for configuring Spi communication parameters, and the Spi cancelling communication interface is used for releasing Spi communication resources.
Furthermore, the complex module comprises a platform initialization interface, a switch state judgment interface, a state debugging interface, a platform resource release interface and a time delay jitter elimination interface; the platform initialization interface is used for resource preparation before system startup, the switch state judgment interface is used for judging the on or off state of a switch, the state debugging interface is used for outputting required debugging information, the platform resource release interface is used for releasing system resources, and the delay jitter elimination interface is used for judging the key state through a delay jitter elimination function.
Further, the system matching layer firstly judges the current system platform environment, and calls the function interface function which is packaged in the corresponding system library in the system library layer and realizes the corresponding function interface of the application interface layer according to the current system platform environment.
Further, a car Light and vehicle horn driving module Light _ Beep _ driver in the real-time Linux operating system is subdivided into six driving submodules, namely an Led1_ driver, an Led2_ driver, a Beep _ driver, a Key1_ driver, a Key2_ driver and a Key3_ driver according to the pin functions, so as to respectively realize the control on a car Light, a warning Light, a car horn, a car Light switch, a warning Light switch and a car horn switch, and a radar driving module Light _ driver in the real-time Linux operating system is subdivided into four driving submodules, namely a Trig1_ driver, an Echo1_ driver, a Trig2_ driver and an Echo2_ driver, so as to respectively realize the state control on a Trig triggering pin and a Echo signal output pin of two ultrasonic radars; each driving submodule of the real-time Linux operating system is mutually independent and mutually independent application interface layer interfaces are released to an application layer; the application layer can operate each character device respectively to realize the parameter consistency of the functional interface between the two system platforms.
Furthermore, all the device driver file operations for opening the characters are packaged into a platform initialization interface function of a real-time Linux operating system, and a return value is assigned to a global static variable; and returning a return value to a declared static variable after executing each operation of opening the character device driver file, and transferring the static variable serving as a parameter to an application interface layer interface function encapsulating a device file operation interface function ioctl (), so as to achieve the effect of operating each character device.
The invention has the beneficial effects that: aiming at the defects of the prior art, the invention provides a cross-platform solution of an embedded application program based on a cross-platform library technology, and can realize the cross-platform development of real-time Linux and AUTOSAR OS.
Drawings
FIG. 1 is a schematic structural diagram of a cross-platform development implementation system of embedded real-time Linux and AUTOSAR OS according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an RTAR _ PLAT platform according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating functional module division of an application interface layer and a system library layer according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle lamp whistle module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a radar module according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a communication module according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating the composition of a complex module according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating a relationship among an application interface layer, a system matching layer, and a system library layer according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating a differentiated structure of a driving module of a car headlight and a whistle according to an embodiment of the present invention;
fig. 10 is a diagram illustrating a differentiation structure of a radar driving module according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, and it should be noted that the present embodiment is based on the technical solution, and the detailed implementation and the specific operation process are provided, but the protection scope of the present invention is not limited to the present embodiment.
Existing cross-platform technologies include operating system abstraction layer technology, virtual machine technology, embedded graphics middleware technology, and cross-platform library technology. The system for implementing cross-platform development of embedded real-time Linux and AUTOSAR OS provided by this embodiment is a cross-platform solution for embedded application programs based on a cross-platform library technology, and has an RTAR _ PLAT platform that can provide a uniform application programming interface upward and shield implementation details of a bottom layer downward. The implementation system will be described in further detail below.
The system for implementing cross-platform development of embedded real-time Linux and AUTOSAR OS provided in this embodiment includes, as shown in fig. 1, an application layer, an RTAR _ flat platform layer, and a system platform layer in sequence from top to bottom; the application layer mainly consists of cross-platform application programs; the system platform layer comprises a real-time Linux system platform and an AUTOSAR OS system platform; the real-time Linux system platform comprises a real-time Linux operating system and a corresponding hardware platform thereof, and the AUTOSAR OS system platform comprises an AUTOSAR OS operating system and a corresponding hardware platform thereof;
in this embodiment, the hardware platform corresponding to the real-time Linux operating system is an ARM architecture platform, and the hardware platform corresponding to the AUTOSAR OS operating system is a Power PC architecture hardware platform;
the RTAR _ PLAT platform layer is used for providing uniform application programming interfaces for the application layer upwards and shielding the specific implementation of each application programming interface under different system platforms downwards.
In this embodiment, a hierarchical design is performed on an RTAR _ PLAT platform layer based on a concept of a hierarchical architecture, as shown in fig. 2, the RTAR _ PLAT platform layer includes an application interface layer, a system matching layer, and a system library layer; the application interface layer comprises a plurality of functional interfaces and is used for providing a uniform application programming interface for the application layer upwards; the system library layer comprises a real-time Linux system library and an AUTOSAR OS system library, and the real-time Linux system library and the AUTOSAR OS system library are both provided with functional interfaces corresponding to the functions of the functional interfaces in the application interface layer; the system matching layer is used for calling a functional interface of a corresponding system library in the system library layer through system matching to realize a functional interface in the application interface layer;
the relationship between the application interface layer, the system matching layer, and the system library layer of the RTAR _ PLAT platform is shown in FIG. 8.
In this embodiment, the application interface layer and the system library layer adopt the idea of performing modularization according to application functions, and extract interface partitions for realizing the same functions by comparing embedded application programs of the real-time Linux system platform and the AUTOSAR OS system platform to realize modules of corresponding functions.
Specifically, in this embodiment, as shown in fig. 3, the real-time Linux system library and the AUTOSAR OS system library in the application interface layer and the system library layer each include a car headlight module, a radar module, a communication module, and a complex module; the car light and car whistle module consists of a functional interface for controlling a car light and a car whistle; the radar module consists of a functional interface for controlling the radar; the communication module consists of a functional interface for controlling Spi communication; the complex module is composed of a function interface related to the system and other function interfaces which do not belong to a car light whistle module, a radar module and a communication module.
The decoupling between the application programs is well realized based on the modularization idea, and the updating and upgrading flexibility of the RTAR _ PLAT platform layer is also improved.
In this embodiment, as shown in fig. 4, the car light whistle module includes a car light control interface, a turn-on warning light function interface, a car whistle control interface, and a turn-off warning light function interface; the car light control interface is used for controlling the turning on and off of the car light, the warning light function interface is used for controlling the periodic flashing of the warning light, the car whistle control interface is used for controlling the car whistle to whistle or stop whistling, and the warning light function interface is used for controlling the warning light to stop the periodic flashing;
as shown in fig. 5, the radar module includes a Trig pin trigger interface, a time difference detection interface, a distance detection interface, a dangerous distance warning interface, and a radar stop trigger interface; the Trig pin triggering interface is used for triggering the ultrasonic radar by giving a high-level signal of 10 microseconds to the Trig pin, and the time difference detection interface is used for detecting the high-level duration time of the echo pin and measuring the echo time difference according to the high-level duration time; the distance detection interface is used for calculating the distance according to a sound velocity formula by using the echo time difference measured by the time difference detection interface, the dangerous distance warning interface is used for controlling the buzzer to periodically sound when the dangerous distance is smaller than the warning distance and stopping the sound when the dangerous distance is larger than or equal to the warning distance, and the radar stopping triggering interface is used for stopping triggering by enabling the level of the Trig pin to return to zero.
As shown in fig. 6, the communication module includes a communication mode setting interface, a synchronous data sending interface, an asynchronous data sending interface, a data reading interface, a parameter configuration interface, and a Spi cancellation communication interface; the communication mode setting interface is used for setting the Spi communication to be a synchronous communication mode or an asynchronous communication mode, the synchronous data sending interface is used for sending data to the communication equipment in a synchronous communication mode, the asynchronous data sending interface is used for sending data to the communication equipment in an asynchronous communication mode, the data reading interface is used for reading the data by the communication equipment, the parameter configuration interface is used for configuring Spi communication parameters, and the Spi cancelling communication interface is used for releasing Spi communication resources.
As shown in fig. 7, the complex module includes a platform initialization interface, a switch state judgment interface, a state debugging interface, a platform resource release interface, and a delay jitter elimination interface; the platform initialization interface is used for resource preparation before the system is started, the switch state judging interface is used for judging the opening or closing state of the switch, the state debugging interface is used for outputting required debugging information, the platform resource releasing interface is used for releasing system resources, and the delay jitter elimination interface is used for judging the key state through a delay jitter elimination function.
Specifically, in the present embodiment, the system matching layer is implemented based on a preprocessing technique. The system matching layer firstly judges the current system platform environment and calls the function interface function which is packaged in the corresponding system library in the system library layer and realizes the corresponding function interface of the application interface layer according to the system platform environment. Two functions, namely the realization of an application interface layer interface and the matching of a system platform, are mainly realized.
Further, the functional interface of the AUTOSAR OS operating system performs different operations on each hardware pin, while the real-time Linux operating system encapsulates an application as a whole into a driver file for operation. If the car Light whistle driving module of the original real-time Linux operating system is packaged into a Light _ Beep _ driver driving file, and the radar driving module is packaged into a Light _ driver driving file, the original real-time Linux operating system needs to operate the two driving files when executing hardware operation, and the AUTOSAR OS operating system executes hardware operation on each hardware pin of the car Light whistle and the radar. The meaning and the framework of the interface parameters of the two system platforms have difference. In order to ensure the parameter significance and the framework unification of the two system platform interfaces in the interface standardization process, the implementation system of the embodiment differentiates the drivers of the real-time Linux operating system. Specifically, a car Light and car horn driving module Light _ Beep _ driver in the original real-time Linux operating system is subdivided into six driving submodules of Led1_ driver, Led2_ driver, Beep _ driver, Key1_ driver, Key2_ driver and Key3_ driver according to the functions of pins and is added to the real-time Linux operating system to respectively control a car Light, a warning Light, a car horn, a car Light switch, a warning Light switch and a car horn switch, and a radar driving module Light _ driver in the original real-time Linux operating system is subdivided into four driving submodules of Trig1_ driver, Echo1_ driver, Trig2_ driver and Echo2_ driver and is added to the real-time Linux operating system to respectively control the states of a Trig triggering pin and an Echo signal output pin of two ultrasonic radars; and each driver submodule of the real-time Linux operating system is mutually independent and releases mutually independent application interface layer interfaces to the application layer. The application layer can operate each character device respectively to achieve parameter consistency of the functional interface between the two system platforms.
The structure diagram of the car horn driving module is shown in fig. 9. The structure of the radar driving module is shown in fig. 10.
In this embodiment, the specific operation of the real-time Linux operating system on the device is to operate the underlying hardware device by calling the system call interface released by the file subsystem, that is, each hardware device is regarded as a file to perform the operation. Before each character device is operated, an open system call interface function is called to open a corresponding character device driver file, and a series of operations are carried out on the return value of the function. In the embodiment, all the operations of opening the character device driver file are encapsulated into the platform initialization interface function of the real-time Linux operating system, and the return value is assigned to the global static variable, so that the operations of opening the character device driver file and operating the opened character device driver file are separated. And returning a return value to a declared static variable after executing each operation of opening the character device driver file, and transferring the static variable serving as a parameter to an application interface layer interface function encapsulating a device file operation interface function ioctl (), so as to achieve the effect of operating each character device.
Various corresponding changes and modifications can be made by those skilled in the art based on the above technical solutions and concepts, and all such changes and modifications should be included in the protection scope of the present invention.
Claims (8)
1. An embedded real-time Linux and AUTOSAR OS cross-platform development implementation system is characterized by comprising an application layer, an RTAR _ PLAT platform layer and a system platform layer from top to bottom in sequence; the application layer mainly consists of cross-platform application programs; the system platform layer comprises a real-time Linux system platform and an AUTOSAR OS system platform; the real-time Linux system platform comprises a real-time Linux operating system and a corresponding hardware platform thereof, and the AUTOSAR OS system platform comprises an AUTOSAR OS operating system and a corresponding hardware platform thereof;
the RTAR _ PLAT platform layer comprises an application interface layer, a system matching layer and a system library layer; the application interface layer comprises a plurality of functional interfaces and is used for providing a uniform application programming interface for the application layer upwards; the system library layer comprises a real-time Linux system library and an AUTOSAR OS system library, and the real-time Linux system library and the AUTOSAR OS system library are both provided with functional interfaces corresponding to the functions of the functional interfaces in the application interface layer; the system matching layer is used for calling a functional interface of a corresponding system library in the system library layer through system matching to realize a functional interface in the application interface layer;
dividing a car Light and car horn driving module Light _ Beep _ driver in a real-time Linux operating system into six driving submodules of Led1_ driver, Led2_ driver, Beep _ driver, Key1_ driver, Key2_ driver and Key3_ driver according to pin functions so as to respectively control a car Light, a warning Light, a car horn, a car Light switch, a warning Light switch and a car horn switch, and dividing a radar driving module Light _ driver of the real-time Linux operating system into four driving submodules of Trig1_ driver, Echo1_ driver, Trig2_ driver and Echo2_ driver so as to respectively control the states of a Trig triggering pin and an Echo signal output pin of two ultrasonic radars; each driving submodule of the real-time Linux operating system is mutually independent and mutually independent application interface layer interfaces are released to an application layer; the application layer can operate each character device respectively to realize the parameter consistency of the functional interface between the two system platforms.
2. The system according to claim 1, wherein the real-time Linux system library and the AUTOSAR OS system library in the application interface layer and the system library layer each comprise a car horn module, a radar module, a communication module and a complex module; the car light and car whistle module consists of a functional interface for controlling a car light and a car whistle; the radar module consists of a functional interface for controlling the radar; the communication module consists of a functional interface for controlling Spi communication; the complex module is composed of a function interface related to the system and other function interfaces which do not belong to a car light whistle module, a radar module and a communication module.
3. The embedded real-time Linux and AUTOSAR OS cross-platform development implementation system of claim 2, wherein the car siren module comprises a car light control interface, a turn-on warning light function interface, a car siren control interface, and a turn-off warning light function interface; the car light control interface is used for controlling the turning on and turning off of the car light, the turn-on warning light function interface is used for controlling the periodic flashing of the warning light, the car whistle control interface is used for controlling the car whistle to whistle or stop the whistle, and the turn-off warning light function interface is used for controlling the warning light to stop the periodic flashing.
4. The system according to claim 2, wherein the radar module comprises a Trig pin trigger interface, a time difference detection interface, a distance detection interface, a dangerous distance warning interface and a radar stop trigger interface; the Trig pin triggering interface is used for giving a high level signal of 10 microseconds to the Trig pin to trigger the ultrasonic radar, and the time difference detection interface is used for detecting the high level duration time of the echo pin and measuring the echo time difference according to the high level duration time; the distance detection interface is used for calculating the distance according to a sound velocity formula by using the echo time difference measured by the time difference detection interface, the dangerous distance warning interface is used for controlling the buzzer to periodically sound when the dangerous distance is smaller than the warning distance and stopping the sound when the dangerous distance is larger than or equal to the warning distance, and the radar stopping triggering interface is used for stopping triggering by enabling the level of the Trig pin to return to zero.
5. The system according to claim 2, wherein the communication module comprises a communication mode setting interface, a synchronous data transmission interface, an asynchronous data transmission interface, a data reading interface, a parameter configuration interface and a Spi cancellation communication interface; the communication mode setting interface is used for setting the Spi communication to be a synchronous communication mode or an asynchronous communication mode, the synchronous data sending interface is used for sending data to the communication equipment in a synchronous communication mode, the asynchronous data sending interface is used for sending data to the communication equipment in an asynchronous communication mode, the data reading interface is used for reading the data by the communication equipment, the parameter configuration interface is used for configuring Spi communication parameters, and the Spi cancellation communication interface is used for releasing Spi communication resources.
6. The system according to claim 2, wherein the complex module comprises a platform initialization interface, a switch state judgment interface, a state debugging interface, a platform resource release interface and a delay jitter elimination interface; the platform initialization interface is used for resource preparation before system startup, the switch state judgment interface is used for judging the on or off state of a switch, the state debugging interface is used for outputting required debugging information, the platform resource release interface is used for releasing system resources, and the delay jitter elimination interface is used for judging the key state through a delay jitter elimination function.
7. The system according to claim 1, wherein the system matching layer first determines a current system platform environment, and accordingly calls a function interface function for implementing a corresponding function, which is packaged in a corresponding system library in the system library layer, to implement a corresponding function interface of the application interface layer.
8. The system according to claim 1, wherein all the operations of opening the device driver files of the characters are encapsulated in a platform initialization interface function of the real-time Linux operating system, and the return value is assigned to the global static variable; and returning a return value to a declared static variable after executing each operation of opening the character device driver file, and transferring the static variable serving as a parameter to an application interface layer interface function encapsulating a device file operation interface function ioctl (), so as to achieve the effect of operating each character device.
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| CN102799581A (en) * | 2011-05-23 | 2012-11-28 | 同济大学 | System and method for achieving cross-platform graphic library |
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| KR20120042296A (en) * | 2010-10-25 | 2012-05-03 | 주식회사 엠오투커뮤니케이션 | System and method for rendering automatically mobile web page generated by cross platform solution |
| CN102799581A (en) * | 2011-05-23 | 2012-11-28 | 同济大学 | System and method for achieving cross-platform graphic library |
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