CN112783624A - Non-real-time scheduling system for automobile and task execution method - Google Patents
Non-real-time scheduling system for automobile and task execution method Download PDFInfo
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- CN112783624A CN112783624A CN202110061708.8A CN202110061708A CN112783624A CN 112783624 A CN112783624 A CN 112783624A CN 202110061708 A CN202110061708 A CN 202110061708A CN 112783624 A CN112783624 A CN 112783624A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- 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
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- 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
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
- G06F9/505—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals considering the load
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M1/00—Design features of general application
- G06M1/27—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum
- G06M1/272—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum using photoelectric means
Abstract
The invention provides a non-real-time scheduling system for an automobile and a task execution method, wherein the task execution method comprises the following steps: s101: judging whether an overflow interruption flag bit is generated, if so, executing S102, otherwise, executing S101; s102: judging whether the count is greater than or equal to the maximum count value, if so, clearing the count, and executing S104, otherwise, executing S103; s103: acquiring offset values of different timing periods, and counting to judge whether the timing period corresponding to the counting can be acquired or not, if so, executing S105, and if not, executing S104; s104: controlling the timer to exit the timer overflow interrupt; s105: acquiring a timing period corresponding to counting, and setting a flag bit of the timing period; s106: and executing the scheduling task corresponding to the timing period according to the state of the non-real-time scheduling system. The invention can avoid the simultaneous arrival of a plurality of timing periods, realizes the task differentiation of different states, improves the operation efficiency of the system, reduces the consumption of hardware resources, and has simple logic and strong transportability.
Description
Technical Field
The invention relates to the field of control systems, in particular to a non-real-time scheduling system for an automobile and a task execution method.
Background
The scheduling system is the core of the control system, and the complexity and accuracy of the scheduling system also determine the complexity and accuracy of the control system. The scheduling systems currently used in control systems can be divided into real-time operating systems and non-real-time scheduling systems. Most real-time operating systems need commercial authorization, and the real-time operating systems need to be provided with a plurality of timers, so that the requirements on hardware system resources are higher compared with a non-real-time scheduling system, the cost is increased, and the control logic and the readability are more complex.
However, in some control systems of products such as automobiles, there are modules or structures that partially require not very strict real-time performance of the scheduling system, i.e., allow control by means of non-real-time scheduling. However, currently, a commonly used non-real-time scheduling system does not completely distinguish different timing periods, that is, a plurality of timing periods arrive at the same time, and a plurality of tasks need to be processed at the same time, which reduces the operating efficiency of the system.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a non-real-time scheduling system for an automobile and a task execution method, different offset values are set for different timing periods, the simultaneous arrival of a plurality of timing periods is avoided through the different offset values, the scheduling task is executed according to the state of the system, the task differentiation of different states is realized, the operation efficiency of the system is improved, only one timer is needed, the consumption of hardware resources is reduced, the logic is simple, and the portability is strong.
In order to solve the above problems, the present invention adopts a technical solution as follows: a task execution method of a non-real-time scheduling system, the interaction method comprising: the task execution method of the non-real-time scheduling system comprises the following steps: s101: controlling the timer to count, and judging whether the timer overflow interrupt flag bit is generated or not, if so, executing S102, otherwise, executing S101; s102: judging whether the count of the timer is larger than or equal to the maximum count value, if so, clearing the count, and executing S104, otherwise, executing S103; s103: acquiring offset values corresponding to different timing periods, judging whether the timing periods corresponding to the counting can be acquired or not according to the offset values and the counting, wherein the offset values corresponding to the different timing periods are different, if so, executing S105, and if not, executing S104; s104: controlling the timer to exit a timer overflow interrupt; s105: acquiring a timing period corresponding to the counting, setting a flag bit of the timing period, and controlling the timer to exit timer overflow interruption; s106: and clearing the zone bit, and executing the scheduling task corresponding to the timing period according to the state of the non-real-time scheduling system.
Further, before the step of controlling the timer to count and determining whether to start the timer overflow interrupt, the method further includes: a timer is initialized and a timer overflow interrupt is started.
Further, before the step of determining whether the count of the timer is greater than or equal to the maximum count value, the method further includes: the timer overflow interrupt flag bit is cleared and the count is incremented by one.
Further, the step of clearing the count specifically includes: and dividing the count by the maximum count value to obtain a remainder as a new count.
Further, the step of determining whether the timing period corresponding to the count can be acquired according to the offset value and the count specifically includes: judging whether the value of (CNT + Offset)% Timing _ Period is zero, wherein CNT is counting, Offset is an Offset value corresponding to a Timing Period, and Timing _ Period is the Period duration of the Timing Period; if so, determining that a timing period corresponding to the counting can be acquired; and if not, determining that the timing period corresponding to the counting cannot be acquired.
Further, after the step of controlling the timer to exit the timer overflow interrupt, the method further includes: and judging whether a scheduling task exists, and if not, executing the non-periodic task.
Further, the step of acquiring the timing period corresponding to the count specifically includes: the Timing Period when the value of (CNT + Offset)% Timing _ Period is zero is determined as the Timing Period corresponding to the count.
Further, the step of executing the scheduling task corresponding to the timing cycle according to the state of the non-real-time scheduling system specifically includes: and acquiring the state of the key signal, and determining the state of the non-real-time scheduling system according to the state.
Further, the step of controlling the counting of the timer specifically includes: and controlling the timer to perform accumulated counting according to the minimum period in the timing period.
Based on the same inventive concept, the non-real-time scheduling system for the automobile comprises a processor and a memory, wherein the processor is in communication connection with the memory, the memory stores a computer program, and the processor executes the task execution method of the non-real-time scheduling system according to the computer program.
Compared with the prior art, the invention has the beneficial effects that: different offset values are set for different timing periods, simultaneous arrival of a plurality of timing periods is avoided through the different offset values, scheduling tasks are executed according to the state of the system, task differentiation of different states is achieved, the operation efficiency of the system is improved, only one timer is needed, consumption of hardware resources is reduced, and the method is simple in logic and strong in transportability.
Drawings
FIG. 1 is a flowchart of a task execution method of a non-real-time scheduling system according to an embodiment of the present invention;
FIG. 2 is a flowchart of another embodiment of a task execution method of the non-real-time scheduling system according to the present invention;
FIG. 3 is a detailed flow diagram of one embodiment of the timer overflow interrupt of FIG. 2;
FIG. 4 is a block diagram of an embodiment of a non-real-time dispatch system for an automobile in accordance with the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Referring to fig. 1-3, fig. 1 is a flowchart illustrating a task execution method of a non-real-time scheduling system according to an embodiment of the present invention; FIG. 2 is a flowchart of another embodiment of a task execution method of the non-real-time scheduling system according to the present invention; FIG. 3 is a flowchart illustrating an embodiment of the timer overflow interrupt of FIG. 2. The task execution method of the non-real-time scheduling system of the present invention will be described in detail with reference to fig. 1-3.
In this embodiment, the task execution method of the non-real-time scheduling system includes:
s101: and controlling the timer to count, and judging whether a timer overflow interrupt flag bit is generated or not, if so, executing S102, and if not, executing S101.
In this embodiment, the device for executing the task execution method of the non-real-time scheduling system is a single chip, a DSP, or other control devices capable of executing the scheduling task.
The method can be applied to automobiles, robots, smart homes and other devices applying an embedded control system, and the following description takes an application object as an automobile as an example.
In this embodiment, before the step of controlling the timer to count and determining whether to start the timer overflow interrupt, the method further includes: a timer is initialized and a timer overflow interrupt is started. The timer overflow interruption is timer overflow interruption, and when the count of the timer reaches a preset value, the timer generates a timer overflow interruption flag bit.
In this embodiment, the timer is a timer counter, and the scheduling task is executed by the non-real-time scheduling system through counting of the timer.
In this embodiment, the step of controlling the counting of the timer specifically includes: and controlling the timer to count in an accumulation mode according to the minimum period in the timing period. The timing period can be obtained by configuring the timer according to requirements.
In other embodiments, the timer may count not according to the minimum period of the timing period, but according to a certain period or a certain time constant in the timing period, and all timing periods with allowed execution time offset can be executed by counting of the timer, which is not limited herein.
S102: and judging whether the count of the timer is larger than or equal to the maximum count value, if so, clearing the count, and executing S104, and if not, executing S103.
In this embodiment, before the step of determining whether the count of the timer is greater than or equal to the maximum count value, the method further includes: the timer overflow interrupt flag is cleared and the count is incremented by one.
In one particular embodiment, the maximum count value is 1000.
In this embodiment, in order to prevent the count of the timer from skipping the maximum count value due to a fault, the maximum count value is cleared by a remainder. The step of clearing the count specifically comprises the following steps: the remainder obtained by dividing the count by the maximum count value is used as a new count.
In other embodiments, the timer may also be cleared by sending a control instruction or signal for clearing the timer to the timer after the timer generates the timer overflow interrupt flag bit.
S103: and acquiring offset values corresponding to different timing periods, judging whether the timing periods corresponding to the counts can be acquired or not according to the offset values and the counts, wherein the offset values corresponding to the different timing periods are different, if so, executing S105, and if not, executing S104.
In this embodiment, the step of determining whether the timing period corresponding to the count can be acquired according to the offset value and the count specifically includes: judging whether the value of (CNT + Offset)% Timing _ Period is zero, wherein CNT is counting, Offset is an Offset value corresponding to a Timing Period, and Timing _ Period is the Period duration of the Timing Period; if so, determining that a timing period corresponding to the counting can be acquired; if not, determining that the timing period corresponding to the counting cannot be acquired.
In this embodiment, it is avoided that a plurality of timing cycles arrive at the same time, different offset values are set for different timing cycles, and the offset values and the counts are added to perform a remainder operation on the cycle duration of the corresponding timing cycle. Only when the resulting remainder is zero, the corresponding timing period is determined to have come.
In a specific embodiment, the duration of the minimum period in the timing periods is 1ms, and the period durations of the timing periods required to be executed are 5ms, 10ms, 40ms, 100ms, 250ms, 400ms and 500ms, respectively. For a 5ms timing period, the offset value is 9. For a 10ms timing period, the offset value is 8. For a 40ms timing period, the offset value is 7. By analogy, the offset values for the remaining timing periods can be obtained. By using the formula 1, it is determined whether the obtained value is zero, and if the obtained value is zero, the timing cycle is the cycle corresponding to the current count.
(CNT+Offset)％Timing_Period (1)
Wherein CNT is the value of count, and is in the range of 0-1000. Offset is an Offset value. Timing _ Period is the cycle duration of the Timing cycle.
By using the method described above. Available table one is shown in the following table:
TABLE I, offset results
As can be seen from Table one, for a timing period with a period duration of 5ms, the count value may be divided by 5 only if the mantissa is 1 or 6. For a timing period with a cycle duration of 10ms, the count value may be divided by 10 only if the mantissa is 2. For a timing period with a cycle duration of 40ms, the count value may be divided by 40 only if the mantissa is 3, and so on, to obtain the count value mantissa with the remaining timing period possibly divided by 40. In summary, the setting of the offset value can perfectly avoid that the count value is a multiple of the number of different periods and thus a plurality of timing periods arrive at the same time.
In this embodiment, the size and the number of the offset values may be set according to actual requirements, and only different timing periods need to be avoided from coming at the same time, which is not limited herein.
S104: the control timer exits the timer overflow interrupt.
In this embodiment, in order to improve the problem that the load rate of the non-real-time scheduling system is low, the step of controlling the timer to exit the timer overflow interrupt further includes: and judging whether a scheduling task exists, and if not, executing the non-periodic task. The scheduling task is a scheduling task of a timing period. By means of the method, when no periodic task exists, the idle time of the non-real-time scheduling system is reduced by means of executing the non-periodic task, and the load rate of the system is improved.
S105: and acquiring a timing period corresponding to the counting, setting a flag bit of the timing period, and controlling the timer to exit the timer overflow interruption.
In this embodiment, the step of acquiring the timing period corresponding to the count specifically includes: the Timing Period when the value of (CNT + Offset)% Timing _ Period is zero is determined as the Timing Period corresponding to the count, and the timer is set to the flag bit of the Timing Period.
S106: and clearing the zone bit, and executing the scheduling task corresponding to the timing period according to the state of the non-real-time scheduling system.
In a control system, the state of the system can be divided into a plurality of states. And under different conditions, the functions required by the system will also be different. Taking an embedded control system of an automobile as an example, the control system can be divided into four states of OFF, ACC, ON and crack according to a key signal. And in different states, the tasks required to be processed by the non-real-time scheduling system are different. In order to improve the operation efficiency of the control system, the non-real-time scheduling system can operate the corresponding task according to the state of the current key, thereby greatly improving the operation efficiency of the system.
In this embodiment, the step of executing the scheduling task corresponding to the timing cycle according to the state of the non-real-time scheduling system specifically includes: and acquiring the state of the key signal, and determining the state of the non-real-time scheduling system according to the state.
In other embodiments, the state information of the control device may also be obtained by obtaining a control mode of the control system and acquiring a state indication signal lamp of a state indication module of the device.
The following describes the task execution method of the non-real-time scheduling system in detail through a specific workflow of the task execution method of the non-real-time scheduling system.
In step S10, a timer is initialized and a timer overflow interrupt is started.
Step S11, process timer overflow interrupt.
Specifically, step S11 further includes:
in step S110, the timer overflow interrupt flag bit is cleared, and the count is increased by one.
Step S111, determining whether the count is greater than or equal to the maximum count value, which may be set to 1000 in the example.
And step S112, clearing the count value if the counting is judged to be more than or equal to the maximum count value in the step S111. In order to prevent the count value from skipping the maximum count value due to failure, the maximum value is cleared by a way of complementing the maximum value.
And step S114, if the counting is judged to be smaller than the maximum counting value in S111, acquiring offset values of different timing periods, performing complementation operation on the corresponding timing period by using a result obtained by adding the counting and the offset values, and judging whether the obtained remainder is zero or not.
And step S115, if the remainder obtained in the step S113 is zero, setting a flag bit corresponding to the timing period.
Step S113, quitting the interruption.
And step S12, judging whether the flag bit is set.
And step S13, if the flag bit is set, clearing the flag bit and judging the current state of the non-real-time scheduling system.
And step S14, executing the corresponding periodic scheduling task according to the state of the non-real-time scheduling system.
Has the advantages that: the task execution method of the non-real-time scheduling system sets different offset values for different timing periods, avoids simultaneous arrival of a plurality of timing periods through the different offset values, executes the scheduling task according to the state of the system, realizes task differentiation of different states, improves the operation efficiency of the system, only needs one timer, reduces consumption of hardware resources, and has simple logic and strong transportability.
Based on the same inventive concept, the present invention further provides a non-real-time scheduling system for an automobile, please refer to fig. 4, fig. 4 is a structural diagram of an embodiment of the non-real-time scheduling system for an automobile according to the present invention, and the non-real-time scheduling system for an automobile according to the present invention is further described with reference to fig. 4.
In this embodiment, the non-real-time scheduling system for an automobile includes a processor and a memory, the processor is connected to the memory in a communication manner, the memory stores a computer program, and the processor executes the task execution method of the non-real-time scheduling system according to the computer program.
In this embodiment, the processor and the memory may be integrated in the same circuit board, or may be separately and independently disposed, and only the processor needs to be capable of being communicatively connected to the memory and execute the task execution method of the non-real-time scheduling system according to the computer program in the memory.
Has the advantages that: the non-real-time scheduling system for the automobile comprises a processor and a memory, wherein different offset values are set for different timing cycles, the simultaneous arrival of a plurality of timing cycles is avoided through the different offset values, the scheduling task is executed according to the state of the system, the task differentiation of different states is realized, the operation efficiency of the system is improved, only one timer is needed, the consumption of hardware resources is reduced, the logic is simple, and the transportability is strong.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. For example, the above-described embodiments are merely illustrative, and for example, the division of the device and the device functions is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the processor and the memory shown or discussed may be connected in communication through some interfaces, indirect coupling of devices or units, or communication connection, which may be electrical, mechanical, or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A task execution method of a non-real-time scheduling system is characterized by comprising the following steps:
s101: controlling the timer to count, and judging whether the timer overflow interrupt flag bit is generated or not, if so, executing S102, otherwise, executing S101;
s102: judging whether the count of the timer is larger than or equal to the maximum count value, if so, clearing the count, and executing S104, otherwise, executing S103;
s103: acquiring offset values corresponding to different timing periods, judging whether the timing periods corresponding to the counting can be acquired or not according to the offset values and the counting, wherein the offset values corresponding to the different timing periods are different, if so, executing S105, and if not, executing S104;
s104: controlling the timer to exit a timer overflow interrupt;
s105: acquiring a timing period corresponding to the counting, setting a flag bit of the timing period, and controlling the timer to exit timer overflow interruption;
s106: and clearing the zone bit, and executing the scheduling task corresponding to the timing period according to the state of the non-real-time scheduling system.
2. The method as claimed in claim 1, wherein the step of controlling the timer to count and determining whether to start the timer overflow interrupt further comprises:
a timer is initialized and a timer overflow interrupt is started.
3. The method as claimed in claim 1, wherein the step of determining whether the count of the timer is greater than or equal to a maximum count value further comprises:
the timer overflow interrupt flag bit is cleared and the count is incremented by one.
4. The task execution method of the non-real-time scheduling system according to claim 1, wherein the step of clearing the count specifically comprises:
and dividing the count by the maximum count value to obtain a remainder as a new count.
5. The method for executing tasks in a non-real-time scheduling system according to claim 1, wherein the step of determining whether the timing cycle corresponding to the count can be acquired according to the offset value and the count specifically comprises:
judging whether the value of (CNT + Offset)% Timing _ Period is zero, wherein CNT is counting, Offset is an Offset value corresponding to a Timing Period, and Timing _ Period is the Period duration of the Timing Period;
if so, determining that a timing period corresponding to the counting can be acquired;
and if not, determining that the timing period corresponding to the counting cannot be acquired.
6. The method of claim 1, wherein the step of controlling the timer to exit a timer overflow interrupt is further followed by the step of:
and judging whether a scheduling task exists, and if not, executing the non-periodic task.
7. The task execution method of the non-real-time scheduling system according to claim 5, wherein the step of obtaining the timing period corresponding to the count specifically comprises:
the Timing Period when the value of (CNT + Offset)% Timing _ Period is zero is determined as the Timing Period corresponding to the count.
8. The task execution method of the non-real-time scheduling system according to claim 1, wherein the step of executing the scheduled task corresponding to the timing cycle according to the state of the non-real-time scheduling system specifically comprises:
and acquiring the state of the key signal, and determining the state of the non-real-time scheduling system according to the state.
9. The task execution method of the non-real-time scheduling system according to claim 1, wherein the step of controlling the timer to count specifically comprises:
and controlling the timer to perform accumulated counting according to the minimum period in the timing period.
10. A non-real-time scheduling system for a vehicle, characterized in that the non-real-time scheduling system for a vehicle comprises a processor, a memory, the processor being communicatively connected to the memory, the memory storing a computer program, the processor performing the task execution method of the non-real-time scheduling system according to any one of claims 1 to 9.
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| CN101320337A (en) * | 2008-07-16 | 2008-12-10 | 北京中星微电子有限公司 | Timer and its implementing method |
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