CN1409209A - Realizing method for multiple task real-time operation system - Google Patents
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Abstract
A realization method of real time operation system for embeddeed multitask of single chip computer sets up the maximum allowable waiting time for each task which is classified into priorable and normal ones and to use round number recording the waiting time of each task as well as the number value to be refroshed with decrement. The task will be connected with the corresponding task program or realized the multitask dispatching in noncritical area through establkishing the set-up function and hang-up function. The task which is over the maximum allowable waiting time is operated in the dispatch, and if there is a prior able task, the next available prior able task is confirmed according to the rotary method; if there is no prior able task, the next available normal task is conformed by the rotary method.
Description
Technical field
The present invention relates to operating system design and realize technical field, be specifically related to a kind of method that in microcontroller embedded real time operating system, realizes multi-task scheduling.
Background technology
Now, in the emerging computing equipment and embedded market that with the network are the center, embedded real-time operating system (RTOS) has obtained widespread use, especially in DSP, PDA and wireless application etc.Embedded RTOS is breeding huge business opportunity.For reducing cost, many Embedded Application all extensively adopt single-chip microcomputer miscellaneous to realize the intellectuality of product.The single-chip microcomputer target system software in the past more adopts assembly language to realize.After single-chip microcomputer C compilers such as Franklin, ArchimedesC51 produce, because the C language has abundant built-in function, the compile efficiency height, that uses writes target system software and can shorten the construction cycle greatly, increases the readability of software, is convenient to improve and safeguard.Generally adopted the C language to develop 8051 single-chip microcomputers such as grade now.But application system is varied, and application software also varies; If design the RTOS of a single-chip microcomputer, in the support of this RTOS, writing of application software just can be tried one's best simply so, and modularization realizes more excellent portability simultaneously.
In application system,, just need the support of an operating system when the target system software more complicated, when scale is huger.At present, the fashionable whole world of Embedded RTOS, Palm for example, VxWorks, Windows CE or the like.But it is too high to buy a commercial RTOS cost, and can't obtain source code, simultaneously because commercial RTOS possesses than perfect functions, and larger, the internal memory and the external memory that need are more, and difficult being transplanted on the concrete single-chip microcomputer mini system.Therefore it is strong to write an applicability, and function is suitable, and the less single-chip microcomputer operating system of scale just seems and has been necessary very much.This also helps writing of single-chip microcomputer application software to standardize and modularization.
Summary of the invention
The technical problem to be solved in the present invention is how to realize in the micro-kernel real time operating system particularly a kind of multi-task scheduling method of realizing in microcontroller embedded real time operating system on single-chip microcomputer.
Technical matters of the present invention is to solve like this, construct a kind of implementation method that can be used for the multiple task real-time operation system of microcontroller embedded system, it is characterized in that: may further comprise the steps: for each task is provided with a maximum permission stand-by period, each task that need take CPU operation is divided into priority tasks and general task, writes down the stand-by period of each task and in timer program, its numerical value is carried out decrement and refresh with the array of an integer type; The task creation function is set, a task can be linked to each other with its corresponding task program, and set up the TCB of this task, the random length timeslice that one or more its length is not more than the base unit time is distributed to a task; The task suspension function is set, be used for the scheduling between the memory headroom realization multitask in non-critical district, during scheduling, replace the local variable of scheduling place with the form of function and global variable, each task took CPU before assigned timeslice finishes or is suspended; Carry out multi-task scheduling according to following steps: have or not task in preservation presence states, the formation of inspection ready task, then utilize dispatching algorithm to take out a ready task if any task, the task that calling task operation function should take out is set to running status, recovers presence states; Wherein, described dispatching algorithm may further comprise the steps: if there is the stand-by period to surpass the maximum task of allowing the stand-by period, then move this task; If priority tasks is arranged, then determine next ready priority tasks according to rotation therapy; If there is not priority tasks, determine next ready general task according to rotation therapy.
In according to method provided by the invention, it is to carry out following steps that described calling task is hung up function: with the suspension time of pairing task suspension second parametric representation of the first parametric representation task number, described suspension time is a unit with the base unit time, described suspension time is 0 o'clock, the task of the described first parametric representation task number correspondence is re-applied to the end of described ready task formation; Described suspension time is not 0 o'clock, behind the suspension time with described second time representation of task suspension of the described first parametric representation task number correspondence, is re-applied to the end of described ready task formation again.
In according to method provided by the invention, further comprising the steps of: the ready function of the task that is provided with is used to make some tasks to be in ready state.
In according to method provided by the invention, further comprising the steps of: task priority is set function is set, be used for when calling this function, changing general task is that priority tasks or change priority tasks are general task.
In according to method provided by the invention, further comprising the steps of: as task deletion function to be set to be used to delete a task.
In according to method provided by the invention, described preservation scene may further comprise the steps: close and interrupt; Preserve the current task breakpoint information, wait until in the TCB environment of this task as storehouse, program pointer, register and open interruption; Described recovery scene may further comprise the steps: close and interrupt; CPU storehouse, program pointer, register etc. are set and open interruption with the environmental information that is kept among this TCB.
Implement the implementation method of a kind of multiple task real-time operation system of in microcontroller embedded real time operating system, realizing provided by the invention, compare with many existing RTOS, have following marked improvement: allow a plurality of tasks in parallel, the speed of performing task is fast, can requirement of real time; Can support abundant parallel task, parallel task quantity only is subjected to the actual hardware condition restriction, for example 8051 internal system and external RAM space.By reasonably adjusting the nesting allocation of program, can allow 32 or more tasks synchronization execution.This is enough for general Embedded Application; Utilize the inventive method realize like operating system take few resource; And make things convenient for the user to call, and the user is said that he need not understand the principle of OS, do not need to understand assurance mechanism such as semaphore.The usage of only understanding several call functions gets final product, and provides enough dirigibilities to user program again simultaneously, can realize task scheduling at any suitable procedure place; Specific aim and practicality are very strong.Based on method of the present invention, can increase the function of RTOS at current many softwares, and whole process is very simple, meanwhile, also provides an OS platform, makes things convenient for the modularization work of software.
Description of drawings
Fig. 1 utilizes the inventive method to carry out the realization flow figure of task scheduling;
Fig. 2 is the process flow diagram of explanation according to the implementation procedure of the task scheduling algorithm of the inventive method.
Embodiment
For sake of convenience, with the 8051 single-chip microcomputers hardware foundation that explanation is relied on as following examples.
For in embedded OS, realizing multitask, also to satisfy real-time simultaneously, need divide CPU time.In the present invention, the time of task divides and does not adopt the regular time sheet, and adopts the random length timeslice, and timeslice length can be provided with arbitrarily by the user, as long as enough accurate timer is arranged.Because 8051 resource-constraineds and application system vary, operating system does not have to take some concrete timers yet, so this timer needs the user to provide.Suppose that the user is provided with 8051 timer T0, timing cycle is 10ms, and the basic time unit of this duration (10ms) as task scheduling.So, 10ms is exactly the minimum timeslice of a task, the possible minimum delay time of just executing the task.In order to guarantee real-time, just need the user task program in 10ms, to finish, if can't finish, must hang up this task, vacate the task that CPU gives other needs operation.
Supposing has a task task0 in the example, this task all is finished needs 15ms.So, can be this task program separated into two parts.Carry out earlier the program part (as long as less than 10ms) of the about 8ms of first of this task, hang up this task after, allow other tasks to take CPU, the wait scheduler program distributes CPU once more, carries out the program of remaining second portion.
How does task dispatch so? usually in multitask environment, because the memory headroom true(-)running that task must oneself assigned to, do not disturb mutually, do not destroy mutually, like this for each task, all need enough memory headrooms to preserve current a large amount of ambient conditions, the operating system occupation space will be bigger like this.If 10 tasks are arranged in the user program, a task takies the 1K ram space, and 10 tasks will take 10K RAM so, and this will consume a large amount of precious resources of embedded user, and very uneconomical, applicability is very poor.
As preceding introduction, the multitask implementation method that the present invention adopts is actually and is similar to MSDOS, " the cooperation multitask " of Win31, and promptly task (program) runs to them always and initiatively abdicates till the CPU.Rather than Linux, " seizing the scheduling multitask " that Windows NT is supported.Adopt present this method, obviously user program need be realized task scheduling in a place (place after promptly being to discharge critical resource) that is not in the critical section, replaces the local variable of scheduling place with the form of function and global variable.Like this, operating system just need not keep the current a large amount of status informations of each task, and the undesired signal amount, complicated concurrent assurance mechanism such as mailbox.Like this, this operating system just can be accomplished very short and pithy, and (can allow 8 tasks to carry out simultaneously, if the task increase and decrease, ram space increases and decreases ratio only to take at present the ROM space of the RAM and the 2k of 128 bytes.In fact, ram space is all TCB occupation space just), can in general embedded system, be widely used.
The specific implementation of task scheduling can realize with a function of hanging up task.This function has two parameters, the task number that parameter 1 expression is hung up, the unit interval that parameter 2 expressions are hung up.Obviously, any one task can be hung up other task, also can self hang up; When self hangs up, promptly be to have abdicated CPU; When suspension time is 0, promptly be the tail of the queue that self task has been re-applied to ready task.The operation dispatching algorithm is distributed to the task of being about to operation to CPU then.
Adopt which kind of dispatching algorithm so? basically adopt loop dispatching method, i.e. the timeslice rotation therapy.Suppose that ready task one has 4, adopt the dispatching method of " 1 → 2 → 3 → 4 → 1 ", can both carry out to guarantee all tasks.In other words, after each task is used the CPU of a timeslice, after the release processor comes the task of ready head of the queue to the next one, oneself turn back to the tail of the queue (perhaps simply hang up the some time, find time) of ready queue to other ready tasks.For priority tasks, such as the task of interrupt levels, perhaps frequent the execution but very of short duration again task of execution time, the execution of can trying to be the first, but follow loop dispatching method equally then.Need to define a maximum latency in the user program.Owing to tried to be the first by priority, when causing that the stand-by period surpasses maximum latency in ready queue, this general task will be carried out at first by unconditional when general other task of level.After adopting above-mentioned dispatching method, just can guarantee that all tasks can be performed, can guarantee the real-time of the task of priority again.
In operating system, provide with lower interface to the user user friendly flexible Application: 1) task creation function a: task is linked to each other with its corresponding task program, and set up the TCB of this task as an embodiment of the inventive method; 2) task deletion function: delete a task; 3) the ready function of task: make some tasks be in ready attitude; 4) task priority is provided with function: the priority that changes a task; 5) task run function: carry out some tasks at once; 6) task suspension function: hang up some task regular hours; 7) os starting function: start operation.
In addition, the array that needs an integer type.The number of this array element is the sum of task, and element is the duration of the unit interval of each task wait.The user need carry out decrement operation to all array elements in user's timer program.Operating system needs each task dispatching to treat duration (operating system itself does not have the timer counter function), just can carry out correct scheduling and control.
In the realization flow shown in Fig. 1, in frame 101, close and interrupt based on multi-task scheduling method of the present invention, in frame 102, preserve the current task breakpoint information, wait until in this task TCB environment as storehouse, program pointer, register, in frame 103, open interruption; In frame 104, check in the ready task formation, have or not formation (whether formation is empty), if formation is empty, then returns frame 104 and continue to check; As the ready task formation is not empty, enter frame 105, in frame 105, take out a ready task in Fig. 2 according to the dispatching algorithm that its flow process provides, and enter in the frame 106, in frame 106, it is running status that this task is set, and closes in frame 107 frames and interrupts, in 108 frames, with the environmental information that is kept among this TCB CPU storehouse, program pointer, register etc. are set, in frame 109, open interruption.
In the process flow diagram of the dispatching algorithm shown in Fig. 2, in frame 201, inspection has or not the stand-by period to surpass the maximum task of allowing the stand-by period, as do not have, then in frame 202, check to have or not priority tasks, as do not have, then in frame 203, find next ready general task, in frame 205, take out this task at last according to rotation therapy; There is priority tasks as in frame 202, finding, then in frame 204, finds next ready priority tasks, and enter frame 205 these tasks of taking-up according to rotation therapy; If in frame 201, be checked through and have its stand-by period above the maximum task of allowing the stand-by period, then directly arrive frame 205 and take out these tasks.
Illustrating with a concrete example program below utilizes the inventive method to realize that RTOS carries out the actual usage of multi-task scheduling.
Operation hardware environment: 80C552 mini system; Show: 16 * 2 character LCD; Keyboard: 4 keys.Program is finished following function: LCD upper left corner part is taken in turn by two demonstration tasks, and the LCD upper right corner shows the current time; LCD lower left corner part realizes animation display by a task, and the LCD lower right corner shows a real time data, and when keyboard was pressed, these data were changed.
Simple declaration is this example program once.This program has 6 tasks, and division is as follows:
The every 100ms of Task0 carries out once, realizes adding up of a general data variable, and the coordinate (0,0) that is shown to display screen is located;
Task1 carries out once in per 1 second, reads and shows that the current time arrives coordinate (8,0) and locate, and in 1 minute time, allows Task0 and Task4 alternately to carry out 30 seconds simultaneously;
Task2 realizes simple animation display, is shown to coordinate (0,1) and locates;
What the every 500ms of Task3 realized a real time data refreshes display position (8,1);
Task4 realizes simple animation display, is shown to coordinate (0,0) and locates;
The every 10ms of Task5 reads the keyboard mouth, when keyboard is pressed, changes real time data, and moves Task3 at once.
Obviously, painstakingly Task0 and Task4 displaying contents are in same position here, come the deletion of validation task and rebuild function.
Set a 10ms timer T0 in the user program, in timer interrupt program, each value in the task counter array has all been moved a decrement computing (perhaps be called and subtract an operation).Operating system just can be carried out correct task scheduling according to the numerical value in the task counter array and handled like this.Therefore the chronomere of operating system is exactly 10ms.The fastest response and control will be carried out behind 10ms, thereby satisfy real-time.
Main program can followingly be realized:
Task0：
At first, this general data variable progressively increases, and is presented at coordinate (0,0) by decimal format and locates, and the time of self hanging up 10 units then gets final product.
Task1：
From a realtime clock chip, after the DS1687 time for reading, be presented at coordinate (8,0) by the time display format and locate; Judge whether this time is preceding 30 seconds, if, rebuild Task0, deletion Task4, otherwise rebuild Task4, and deletion Task0, self hangs up the time of 100 units at last;
Task2：
To between (7,1), show the small icon of a position ring shift left at coordinate (0,1), show 100 milliseconds of spacings at every turn, promptly self hangs up the time of 10 units;
Task3：
Show that by decimal format a real time data arrives coordinate (8,1) and locates, self hangs up the time of 50 units then;
Task4：
To between (7,0), show the small icon of a position ring shift right at coordinate (0,0), show 100 milliseconds of spacings at every turn, promptly self hangs up the time of 10 units;
Task5：
Read keyboard mouth data,, and continued for 60 seconds, close LCD backlight if there is not key to be pressed; Otherwise according to the numerical value of key change real time data, call Task3 (promptly finishing refreshing in real time of data) then at once, self hangs up the time of 1 unit at last.
In user's master routine, begin respectively calling task and set up function and set up 6 tasks; Initialization timing device T0 then, last call operation system start-up function gets final product.
In addition, the Task5 in this program regularly the keyboard Processing tasks select from 10 milliseconds of timer interrupt routine parts in the monitor system software of a reality.Therefrom as seen, the every 10ms of this task carries out once, reads the keyboard mouth, and the shake that disappears allows user's accelerator key to use, and sends into one automatically and withdraws from key assignments in keyboard buffer in per 30 seconds.Obviously, this program is bigger and complicated, carries out in timer interrupt routine and can reduce software reliability and efficient (interrupt routine should be short and small as far as possible), carries out to guarantee to read the real-time of key and demonstration again in backdrop procedure.As mentioned above, keyboard is handled function be used as a task execution, just ideally solved the problems referred to above.
In sum, realize the implementation method of the embedded RTOS of the support multi-task scheduling that the present invention proposes, when a plurality of tasks of abundant assurance are real-time, guarantee the real-time of response.Though the foregoing description with single-chip microcomputer 8051 for example, in fact it may be used on the Single Chip Microcomputer (SCM) system of other types.It can be used as a kind of micro-kernel RTOS, needs the user that task scheduling rationally is set during practical application.Owing to need not open up the environment that huge ram space is preserved each task, therefore seem very short and pithy, can be used in many Embedded Application.That uses is wonderful, has lain in each one.
Claims (6)
1, a kind of implementation method of multiple task real-time operation system is characterized in that: may further comprise the steps:
(1) for each task is set a maximum permission stand-by period, each task that need take the CPU operation is divided into priority tasks and general task, write down the stand-by period of each task and in timer program, its numerical value is carried out decrement and refresh with the array of an integer type, it is characterized in that, may further comprise the steps:
(2) a task creation function is set, a task can be linked to each other with its corresponding task program, and set up the TCB of this task, the random length timeslice that one or more its length is not more than the base unit time is distributed to a task;
(3) a task suspension function is set, be used for the scheduling between the memory headroom realization multitask in non-critical district, during scheduling, replace the local variable of scheduling place with the form of function and global variable, each task took CPU before assigned timeslice finishes or is suspended;
(4) carry out multi-task scheduling according to following steps: have or not task in preservation presence states, the formation of inspection ready task, then utilize dispatching algorithm to take out a ready task if any task, the task that calling task operation function should take out is set to running status, recovers presence states; Wherein, described dispatching algorithm may further comprise the steps: if there is the stand-by period to surpass the maximum task of allowing the stand-by period, then move this task; If priority tasks is arranged, then determine next ready priority tasks according to rotation therapy; If there is not priority tasks, determine next ready general task according to rotation therapy.
2, according to the described method of claim 1, it is characterized in that, it is to carry out following steps that described calling task is hung up function: with the suspension time of pairing task suspension second parametric representation of the first parametric representation task number, described suspension time is a unit with the base unit time, described suspension time is 0 o'clock, the task of the described first parametric representation task number correspondence is re-applied to the end of described ready task formation; Described suspension time is not 0 o'clock, behind the suspension time with described second time representation of task suspension of the described first parametric representation task number correspondence, is re-applied to the end of described ready task formation again.
According to the described method of claim 1, it is characterized in that 3, further comprising the steps of: the ready function of the task that is provided with is used to make some tasks to be in ready state.
According to the described method of claim 1, it is characterized in that 4, further comprising the steps of: task priority is set function is set, be used for when calling this function, changing general task is that priority tasks or change priority tasks are general task.
5, according to the described method of claim 1, it is characterized in that, further comprising the steps of: as task deletion function to be set to be used to delete a task.
According to the described method of claim 1, it is characterized in that 6, described preservation scene may further comprise the steps: close and interrupt; Preserve the current task breakpoint information, wait until in the TCB environment of this task as storehouse, program pointer, register and open interruption; Described recovery scene may further comprise the steps: close and interrupt; CPU storehouse, program pointer, register etc. are set and open interruption with the environmental information that is kept among this TCB.
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