CN1434940A - Two-Layer operating system and method for avionics software applications - Google Patents
Two-Layer operating system and method for avionics software applications Download PDFInfo
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- CN1434940A CN1434940A CN 00818910 CN00818910A CN1434940A CN 1434940 A CN1434940 A CN 1434940A CN 00818910 CN00818910 CN 00818910 CN 00818910 A CN00818910 A CN 00818910A CN 1434940 A CN1434940 A CN 1434940A
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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
- G06F9/46—Multiprogramming arrangements
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Abstract
Integrated Modular Avionics (101) can take advantage of faster modern processors and can run multiple existing avionics software applications (321) on a single processor (201) by using a two-layer operating system consisting of a system executive (301) and multiple application executives (311).
Description
Invention field
This invention relates to the circuit module and the method that are used for via a digital data system management process or operation execution, relates in particular to an integrated modular avionic device and a control system circuit card (IntegratedModular Avionics Circuit Card) that is programmed so that a two-layer operating system to be provided.
Background technology of the present invention
Several newly designed aircraft will use an integrated avionic device and control system architecture with the new remodeling that is used for old aircraft, it in the sector, be called as integrated modular avionic device and control system (Integrated Modular Avionics, IMA).Before the integrated avionic device and control system architecture of exploitation, aircraft uses many LRU line replaceable units (LRU) usually, such as radio etc., wherein each LRU carry out a special function, such as VHF communication or VOR navigation.IMA uses some multi-functional LRU to carry out various avionic devices and control system function, and they are carried out by the LRU of several special uses usually.Each IMA LRU comprises several modules, and they carry out the input and output of handling, arriving other aircraft hardware.The IMA method is that each uses a public base and power supply supply in each module of IMA LRU inside.This has considered a comprehensive avionics system, and it is compared with the control system architecture with typical case's " associating " avionic device that finds on old generation aircraft is lighter and lower-cost.
As mentioned above, for the exploitation of UAL's electronic equipment and control system with authenticated a large amount of software application, and software of reusing this previous exploitation is favourable.Yet existing avionic device moves on several different real time operating systems with the control system software application.Have the needs to supporting that a plurality of software application are integrated in addition, wherein these a plurality of software application have realized in the LRU of associating traditionally.As everyone knows, a spinoff using existing SDK (Software Development Kit) to merge a plurality of software application is a undesired correlativity between software application, such as the propagation of mistake from the software application of a failure to other software application.
With regard to FAA aircraft authentication, must enough very high level assurances show a problem in a software application or fail and to cause adverse effect to other any software application.
The avionic device and the control system operating system environment of a prior art have been described in " the Minimum Operational PerformanceStandards for Avionics Computer Resource " of the RTCA SC-182/EUROCAE WG-48 in " the Avionics ApplicationSoftware Standard Interface " of the ARINC instructions 653 in January, 1997 and in November, 1998.
Summary of the invention
A plurality of software application that the present invention is integrated are to go up operation in a CPU (central processing unit) (CPU), and wherein the available CPU of technology maturation is enough powerful, to meet the combination calculation needs of several avionic devices and control system software application.The present invention further provides a software architecture, wherein operating system partly is divided into two distinct layers, comprises system's execution level and a plurality of application execution level.Advantageously, this software architecture allows the operation simultaneously on same CPU of each real time operating system.System-level function, such as the advanced processes of software and configuration database loading, application feature monitoring, difficult problem record, basic operating system support and I/O, can in the middle of the several application of on an integrated modular avionic device and control system (IMA) module, moving, share.
Advantageously, two layer architectures provide the performance of integrated software application by the exploitation of each software provisioning manufacturer.When having only single software application to be increased, to upgrade or to delete from this system, the present invention has also eliminated the needs of testing a whole set of software application of moving again on an IMA module.
Ground floor in two layer architectures, be that system's execution level provides a shielded subregion to each software application, each clear and definite software application can be carried out together with a suitable application executive routine in this subregion.The second layer in two layer architectures, promptly use the modified version that execution level is a real time operating system, it provides a virtual machine and group interface storehouse (IL) function to each software application.These IL functions help in the communication of using between executive routine and the system executive.One embodiment of the present of invention comprise a system executive and a plurality of application executive routine.
Advantageously, by carry out limited-access on the memory address space, each application executive routine and its related software are used spatially and have been isolated with other application executive routine and the application of their related software.In addition, use restriction by carrying out on CPU and other system resource based on a precalculated static implementation schedule, each uses executive routine and its related software application uses executive routine with other and the application of their related software has temporarily been isolated.
System executive initialization, monitoring and stop each software application module, and keep a real-time clock accurately realizing this implementation schedule, according to each software application of this timetable designated the clear and definite time slice of definition.System executive is also handled context switching and the communication between each application executive routine, manages all IMA module hardware input and output resources, and carries out the isolation in strict protected storage zone.Advantageously, it is that each is used executive routine appointment and implements the Guared memory subregion that system executive passes through, and prevents that mistake and extraneous data from passing each application executive routine and the application of their related software is propagated.
Each uses executive routine is a customized version of an available real time operating system.Each application executive routine provides service for its related software application task, and wherein this software application task comprises communication, synchronous and dynamic memory management.Each uses executive routine also via the interface library function, and using for its related software provides system-level resource, comprises the visit of IMA module hardware input and output (I/O) equipment.In one embodiment, one use executive routine realize it, be used for the strategy that scheduling packets is contained in the task of a related software application.
An available real time operating system is customized to one to be used in the executive routine and comprises: by interface library function handle with communicate by letter, memory management and visit I/O equipment function associated be redirected to system executive.One aspect of the present invention is: do not use executive routine and can carry out any homing sequence process, interrupt form or the register of a Memory Management Unit (MMU) is set such as the detection of hardware device or initialization, initialization.Can utilize these homing sequence processes of real time operating system to replace by the one group of initialization data structure that is positioned at the protected storage subregion of using executive routine.As the part of system initialization process, all initialization data structures in using executive routine of system executive initialization.
Brief Description Of Drawings
Fig. 1 has illustrated a LRU line replaceable unit of the prior art (LRU), is commonly called one " black box ", and it is the design of aircraft device.The specific LRU that shows represents integrated modular avionics equipment and control system (IMA) casing.
Fig. 2 has illustrated that according to an illustrative embodiment of the present invention is suitable for being installed in a module or the circuit card assemblies (CCA) in the IMA casing.
Fig. 3 has illustrated the software architecture of the software that moves according to the present invention on each IMA module.
Fig. 4 has illustrated a process flow diagram of system executive layer of the present invention.
Fig. 5 has illustrated as described in the present invention, the interaction between system executive layer and each application executive routine layer.
Fig. 6 illustrated one shown system executive, used executive routine, with the several application executive routine in the timeline of execution sequence of each relevant software application.
Detailed description of the present invention
At first referring to Fig. 1, it has shown that use at present, an integrated modular avionic device and control system (IMA) base 101.IMA base 101 comprises a plurality of IMA modules 200, one or more connector 103 and a motherboard 102, be used for that an IMA module 200 interconnects each other and and connector 103 interconnect.Connector 103 is connected the aircraft electrical signal with circuit on being included in the IMA module.In other embodiments, optics and radiofrequency signal are transmitted between IMA module and other aircraft devices.
Referring to Fig. 2, in one embodiment of the invention, an IMA module 200 has a Memory Management Unit 202.Memory Management Unit 202 is divided into shielded subregion to system storage 204; and according to from the context instruction control of a system executive 301 (referring to Fig. 3) write access to these subregions, wherein system executive 301 is carried out on a CPU (central processing unit) 201.A clock 203 produces periodic timer and interrupts 505 to CPU (central processing unit) 201, as shown in Figure 5.Clock 203 is real-time clocks that are independent of remaining IMA module 200 hardware operation.Advantageously, system executive 301 can read the current time and not disturb its operation from clock 203.IMA module 200 among the present invention also comprises I/O hardware device 205, input/output bus equipment 206 and connector 211, is used for an electric signal to be connected with IMA motherboard 102.
Fig. 3 has illustrated the architecture layout that is programmed to a software of operation on CPU (central processing unit) 201.As shown in Figure 3, one aspect of the present invention is: software application 321 directly and I/O hardware device 205 or input/output bus equipment 206 communicate.According to the present invention, a software application 321 application executive routine 311 and the one group relevant interface library function 312 relevant with that has been linked to a relevant real time operating system between a preceding tectonic epochs in advance links.Software application 321 is used the relevant interface library function 312 of executive routine 311 with each and is communicated with I/O hardware device 205 and input/output bus equipment 206 by calling.Interface library function 312 visits I/O hardware device 205 by call hardware device driver 302 software application via system executive 301.The all functions of each hardware device 205 are all controlled via device driver 302 software application.Interface library function 312 visits input/output bus equipment 206 by call bus driver 303 software application via system executive 301.The all functions of each bus apparatus 206 are all controlled via device driver 303 software application.
According to the present invention, system executive 301 comprises one group of instruction that is stored in the storer 204 and carries out on a CPU (central processing unit) 201.This system executive 301 is responsible for being installed in the operation of all devices on the IMA circuit card 200, and wherein this circuit card 200 is installed in the IMA base 101.Each is used executive routine 311 and comprises one group of instruction in the storer 204 that is stored in an application partition 500 (as shown in Figure 5) address space, in these application partition 500 address spaces, read is by Memory Management Unit 202 controls, and these instructions are carried out on CPU (central processing unit) 201.Using executive routine 311 relevant software application 321, interface library 312 and timer Interrupt Service Routine 501 (as shown in Figure 5) with each also comprises: carry out and be stored in the instruction in the application partition 500 (as shown in Figure 5) identical with related application executive routine 311 on CPU (central processing unit) 201.
Fig. 4 has shown a process flow diagram, and it has illustrated when system executive 301 is carried out its instruction step on CPU (central processing unit) 201.System executive 301 comprises one group of setting up procedure that is performed once, and succeeded by a major cycle 410, wherein this major cycle 410 comprises the step of the predefined procedure execution that repeats with an indefinite duration after this setting up procedure.In another embodiment that the present invention does not show, system executive 301 further comprises sequence execution shutdown step once after major cycle stops.
The setting up procedure of system executive 301 comprises the following sequence alignment software step of being carried out by CPU (central processing unit) 201.At first, in step 401, initialization I/O hardware device 205 and input/output bus equipment 206.Secondly, in step 402, by making instruction sequence of CPU (central processing unit) 201 issues to Memory Management Unit 202, data-carrier store 204 is become virtual application memory partition 500 (as shown in Figure 5) by subregion.
The unlimited major cycle 410 of system executive 301 comprises the following sequence alignment software step of being carried out by central processing unit 201.At first, system executive 301 reads (step 415) and the next application partition that is scheduled 500 relevant application time slice 601 (as shown in Figure 6) and application 311 clock period of executive routine length (as shown in Figure 6) from quiet hour list scheduling (not shown).Next, system executive 301 uses following equation to calculate the number of cycles " Nticks " and the length in remainder cycle " parTick " of (step 415) total length.
| Eq.1 Nticks:=TimeSlice/TickLength; / * division-whole-number result */Eq.2 parTick:=TimeSlice%TickLength; / * ask mould division-remainder */ |
Use the local time structure (not shown) that total length clock period " Ntieks " and remainder cycle " parTick " are used to upgrade application partition 500 (as shown in Figure 5).
Next, CPU (central processing unit) 201 be instructed to have much to do-wait for the next start time of using executive routine 311 in step 411.Each start time of using executive routine 311 is stored in the predefine scheduling time table (not shown) that resides in the storer 204.Next, in step 412, Memory Management Unit 202 is instructed to use a relevant virtual storage partition 500 (as shown in Figure 5) to solve storage address and quotes, and the control of CPU (central processing unit) 201 is passed to application executive routine 311.During step 413, as shown in Figure 5, except when periodic timer when interrupting causing the timer service routine of being correlated with to be moved beyond, using executive routine 311 provides instruction to CPU (central processing unit) 201.These timer Interrupt Service Routines 501 comprise the instruction with the priority level operation identical with system executive 301.When distributing to time slice 601 (as shown in Figure 6) expiration of using executive routine 311, the control of CPU (central processing unit) 201 turns back to system executive 301, and major cycle 410 continues indefinitely.As mentioned above, the strictness of a time-based distribution of application partition is carried out and to be based on a quiet hour list scheduling (not shown), and wherein this timetable scheduling is created between the whole software tectonic epochs.
Refer again to Fig. 3, using executive routine 311 is to be initially the modified version that it has developed a real time operating system of relative application software 321.According to the present invention, it is essential that system executive 301 responds to any exception that is caused by software application 321 at first; Therefore " exception is interrupted " that provides an Interrupt Service Routine 501 (as shown in Figure 5) to cause by CPU (central processing unit) 201 with intercepting.The abnormality processing that remaps from existing real time operating system function need be in the function in system executive 301 and the application executive routine 311.According to the present invention, all low " user " priority level instructions of operation on CPU (central processing unit) 201 of software application 321 and application executive routine 311, this is with system executive 301 and to use Interrupt Service Routine 501 (as shown in Figure 5) opposite, and their boths move high " operating system " priority level and instruct on CPU (central processing unit) 201.
Interface library 312 comprises one group and is created the function that some services that provided by a specific real time operating system are provided; Advantageously, the real time operating system service of minimum number is replaced.In addition, device driver 302 can directly merge the bottom code of a prior art real time operating system.
Each is used executive routine 311 and keeps the progress of its data structure with the grasp real-time process.In a special embodiment, the duration (as shown in Figure 6) of interrupting between 505 at periodic timer is 10 milliseconds.
Fig. 5 has illustrated system executive 301, one and has used the details that the control between executive routine 311 and the software application 321 is shifted.System executive uses the control that timer Interrupt Service Routine 501 transmits CPU (central processing unit) 201 at step 412 place.The timer Interrupt Service Routine 501 relevant with using executive routine 311 is on CPU (central processing unit) 201, with the priority level execution command identical with system executive 301.Timer Interrupt Service Routine 501 comprises the instruction in the data-carrier store 204 that is kept in application partition 500 address spaces.Application executive routine 311 always plays the effect as the entrance of each application partition 500.Application memory subregion 500 and timer Interrupt Service Routine 501 synergies relevant with system executive 301, wherein this timer Interrupt Service Routine 501 be in the application partition 500 initial inlet and periodically timer interrupt 505 services, wherein periodic timer interrupts 505 and occurs in (as shown in Figure 6) during the time slice 601 of application partition.Use executive routine 311 dispatcher software in time slice 601 and use 321 tasks.When time segmentation 601 expiration, the current time and the current state of timer Interrupt Service Routine 501 these subregions of storage, and the control of CPU (central processing unit) 201 returned to system executive 301.
In case reenter in the subregion 500, timer interrupts 501 adjusts subregion local time data structure, and control is passed to application executive routine 311.This application executive routine 311 will determine which task that comes from the related software application has expired, and will distribute described task.According to the present invention, directly do not give software application 321 tasks the control of CPU (central processing unit) 201, but the application executive routine 311 of at first being correlated with on the contrary, even this task had been interrupted before finishing, this is necessary.The storage space of distributing for each application partition 500 comprises " heap " storer of a predetermined quantity, and it uses as a dynamic storage pond.Each uses the dynamic storage " heap " of executive routine 311 management in the subregion 500 of this application oneself.
Referring to Fig. 6, CPU (central processing unit) 201 is carried out and is included in system executive 301, uses all instructions in executive routine 311 and the software application 321.Timer interrupts 505 and periodically is applied on the CPU (central processing unit) 201 from clock 203.These timers interrupt 505 execution that are used to start-up system executive routine 301 and use executive routine 311, as defining in the static scheduling (not shown).This dynamic time table provides the time interval between the software application 321 relevant with different application executive routine 311.In a predefined quiet hour table (not shown), each application partition 500 all has been assigned with one and has used time slice 601 and a clock period length 602.Advantageously, this interim to stop software application to be subjected at interval interfering with each other.
Therefore, the present invention comprises a two-layer operating system, uses for a plurality of avionic devices and the control system software application 321 of the various aircraft subsystems of operation.The processing handling capacity and the hardware interface that are used for these a plurality of application are comprised in single IMA card 200, and wherein this IMA card 200 is positioned in the casing 101 of an aircraft installation with other similar card.Advantageously, the present invention has utilized current available high speed processor, and the avionics device software that still allows simultaneously to reuse previous exploitation is used.These a plurality of software application are that temporarily (time) and space ground (storer) separates each other.
Claims (5)
1. circuit module that is used for an integrated modular avionic device and control system, described module comprises:
I/O hardware,
, an input/output bus,
A real-time clock, the timer interruption that is used to produce a sequence period,
A Memory Management Unit,
A storer becomes a plurality of application partition by described Memory Management Unit subregion; And
A CPU (central processing unit), described CPU (central processing unit) are programmed to provide a two-stage software architecture, and this two-stage software architecture comprises:
A system executive comprises an initialization sequence, infinite loop and a plurality of described real-time clock is made the timer Interrupt Service Routine of response,
A plurality of application executive routines, wherein each is used executive routine and comprises a real time operating system, and with described timer Interrupt Service Routine in one relevant; And
Control described Memory Management Unit.
2. circuit module as claimed in claim 1 is characterized in that: use the interface library that executive routine further comprises software function, it provides the visit to one group of hardware input-output apparatus.
3. circuit module as claimed in claim 1 is characterized in that: use executive routine and keep the progress of its data structure with the grasp real-time process.
4. method that is used to carry out a plurality of existing avionic devices and control system software application, it is characterized in that: these application have separated from their preceding operating environment, and be connected with an application executive routine that on single CPU (central processing unit), moves simultaneously with a system executive, wherein this CPU (central processing unit) is installed on the circuit card assemblies with a Memory Management Unit, clock, data-carrier store, I/O hardware device and an input/output bus equipment, and described method comprises following steps:
Initialization I/O hardware device,
Initialization input/output bus equipment,
Use Memory Management Unit the data-carrier store subregion, and
Enter and remain in the unlimited circulation, this circulation comprises following steps:
Wait for a start time using executive routine,
According to an application partition relevant with described application executive routine, instruction memory administrative unit parse addresses,
The control of CPU (central processing unit) is passed to described application executive routine,
According to described application executive routine execution command,
Wait for a time slice expiration relevant with described application executive routine, and
The control of CPU (central processing unit) is returned to system executive.
5. method as claimed in claim 4 is characterized in that: described infinite loop further comprises following steps:
Wait for second start time using executive routine,
Foundation is used second relevant application partition of executive routine with described second, instruction memory administrative unit parse addresses,
The control of CPU (central processing unit) is passed to described second uses executive routine,
Use executive routine according to described second and execute instruction,
Wait for described second and use a relevant time slice expiration of executive routine, and
The control of CPU (central processing unit) is returned to system executive.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US17020099P | 1999-12-10 | 1999-12-10 | |
| US60/170,200 | 1999-12-10 | ||
| US64898500A | 2000-08-28 | 2000-08-28 | |
| US09/648,985 | 2000-08-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1434940A true CN1434940A (en) | 2003-08-06 |
Family
ID=26865834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 00818910 Pending CN1434940A (en) | 1999-12-10 | 2000-12-08 | Two-Layer operating system and method for avionics software applications |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP1283997A2 (en) |
| JP (1) | JP2004500634A (en) |
| CN (1) | CN1434940A (en) |
| AU (1) | AU2079301A (en) |
| CA (1) | CA2393828A1 (en) |
| WO (1) | WO2001042932A2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100430887C (en) * | 2004-03-31 | 2008-11-05 | 英特尔公司 | Event processing mechanism |
| CN104670508A (en) * | 2013-11-26 | 2015-06-03 | 空中客车运营简化股份公司 | Flight management system of aircraft |
| CN104834567A (en) * | 2015-04-13 | 2015-08-12 | 中国航空无线电电子研究所 | Partition and application time window conformance detection system |
| CN105677413A (en) * | 2016-01-06 | 2016-06-15 | 中国航空无线电电子研究所 | Multi-partition application post-loading method for comprehensive modularized avionics system |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008054507A2 (en) * | 2006-04-10 | 2008-05-08 | Aviation Communication & Surveillance Systems Llc | Integrated avionics system |
| US9189195B2 (en) | 2006-10-16 | 2015-11-17 | Sandel Avionics, Inc. | Integrity monitoring |
| CN101276292B (en) * | 2008-05-13 | 2010-04-21 | 杭州华三通信技术有限公司 | Interrupt synthetic method and apparatus as well as modularization host computer system |
| JP5607919B2 (en) * | 2009-12-16 | 2014-10-15 | 川崎重工業株式会社 | Integrated airborne electronic system |
| EP2539818A1 (en) * | 2010-02-23 | 2013-01-02 | Astronautics Corporation Of America | Single processor class-3 electronic flight bag |
| US9983902B2 (en) | 2015-05-14 | 2018-05-29 | General Electric Company | System and method for multi-level real-time scheduling analyses |
| US10225349B2 (en) | 2016-10-26 | 2019-03-05 | Honeywell International Inc. | Software development kit for aircraft tablet device and airborne application server |
| US11618585B2 (en) * | 2019-10-10 | 2023-04-04 | Ge Aviation Systems Limited | Integrated system for improved vehicle maintenance and safety |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5369767A (en) * | 1989-05-17 | 1994-11-29 | International Business Machines Corp. | Servicing interrupt requests in a data processing system without using the services of an operating system |
| US6564241B1 (en) * | 1996-05-14 | 2003-05-13 | L-3 Communications Corporation | Avionic computer software interpreter |
| AU4353297A (en) * | 1996-09-17 | 1998-04-14 | Radisys Corporation | Method and apparatus for encapsulating a protected-mode operating system within a real-time, protected-mode operating system |
| KR20000062377A (en) * | 1996-12-30 | 2000-10-25 | 사이러스 로직, 인크. | Real time services in backwardly compatible operating systems |
-
2000
- 2000-12-08 CN CN 00818910 patent/CN1434940A/en active Pending
- 2000-12-08 WO PCT/US2000/033419 patent/WO2001042932A2/en not_active Application Discontinuation
- 2000-12-08 EP EP00984115A patent/EP1283997A2/en not_active Withdrawn
- 2000-12-08 CA CA002393828A patent/CA2393828A1/en not_active Abandoned
- 2000-12-08 AU AU20793/01A patent/AU2079301A/en not_active Abandoned
- 2000-12-08 JP JP2001544154A patent/JP2004500634A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100430887C (en) * | 2004-03-31 | 2008-11-05 | 英特尔公司 | Event processing mechanism |
| CN104670508A (en) * | 2013-11-26 | 2015-06-03 | 空中客车运营简化股份公司 | Flight management system of aircraft |
| CN104670509A (en) * | 2013-11-26 | 2015-06-03 | 空中客车运营简化股份公司 | Avionics system, particularly flight management system of aircraft |
| CN104834567A (en) * | 2015-04-13 | 2015-08-12 | 中国航空无线电电子研究所 | Partition and application time window conformance detection system |
| CN104834567B (en) * | 2015-04-13 | 2018-04-17 | 中国航空无线电电子研究所 | A kind of subregion and application time window accordance detecting system |
| CN105677413A (en) * | 2016-01-06 | 2016-06-15 | 中国航空无线电电子研究所 | Multi-partition application post-loading method for comprehensive modularized avionics system |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2393828A1 (en) | 2001-06-14 |
| WO2001042932A3 (en) | 2002-12-05 |
| WO2001042932A2 (en) | 2001-06-14 |
| AU2079301A (en) | 2001-06-18 |
| EP1283997A2 (en) | 2003-02-19 |
| JP2004500634A (en) | 2004-01-08 |
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