JP2016057798A - Program embedding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a cyclic process to be embedded in a program so that the cyclic process can be executed at intervals in time for a cycle time even in a situation where a timer interrupt cannot be used.SOLUTION: A program embedding device according to the present invention includes: a branch destination search unit 2020 for searching a program source converted into assembly code for a branch destination in which a cyclic process 221 that is repeatedly executed at constant intervals is to be embedded; and a first program embedding unit 2021 for embedding, in the branch destination, the cyclic process 221 and a determination process 220 for determining the execution of the cyclic process 221 by an elapsed time from the last time the cyclic process 221 was executed.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an apparatus for embedding periodic processing in a program.

In a system that requires high reliability such as a control system, WDT (Watch Dog Timer) is regularly monitored as a means for detecting abnormalities in the OS (Operating System) and running applications in the system. It is common to do.
WDT is a hardware internal timer. When a predetermined time elapses (time up), it is determined that an abnormality has occurred in the system, and H / W (Hard Wear) is forcibly reset. Have. The system can avoid anomalies by resetting.
On the other hand, the OS in the system and the application being executed need to execute a process for resetting the WDT count (periodic process) at regular intervals (periodic time) before this WDT times out. .

Such periodic processing is generally realized by an interrupt processing routine using a timer interrupt of a microcomputer. However, at the time of boot loader activation and at the initial stage of OS activation, the available H / W is restricted, so that periodic processing cannot be described by an interrupt processing routine that relies on a timer interrupt. For this reason, it is necessary to embed periodic processing directly in the source code of the program (main program) that is normally executed.
For example, Patent Document 1 discloses a technique for embedding cyclic processing in a program source code at intervals such as a function call unit, a program line, and a basic block in order to control the use of CPU resources.

JP 2010-134494 A

  The conventional program embedding device has realized embedding at intervals according to the description contents of the program such as a function call unit, a program line, and a basic block. However, since the execution time of the program is not considered, there is a problem that the embedded program is excessively executed or cannot be executed within the period time.

  The present invention is to solve the above-described problems, and implements embedding a periodic processing execution instruction in a source code so as to execute periodic processing within the periodic time while measuring the execution time of the program. With the goal.

The program embedding device of the present invention includes a branch destination search unit for searching for a branch destination for embedding a periodic process that is repeatedly executed at regular intervals, from the program source converted into assembly code, and the cycle with respect to the branch destination. A first program embedding unit that embeds a determination process for determining the process and the execution of the periodic process based on an elapsed time from the previous execution of the periodic process.

  According to the present invention, it is possible to embed periodic processing in a program so that the periodic processing can be executed at an interval in time for the periodic time even in a situation where a timer interrupt cannot be used.

It is a figure which shows an example of the system configuration | structure in Embodiment 1 of this invention. It is a figure which shows an example of the hardware constitutions of the program embedding apparatus 20 and the execution apparatus 30 in Embodiment 1 of this invention. It is a whole block diagram of the software which operate | moves on the program embedding apparatus 20 in Embodiment 1 of this invention. It is a figure which shows an example of the periodic process code 22 for embedding in Embodiment 1 of this invention. It is a figure which shows an example of the assembly code after completing embedding of the periodic processing code 22 for embedding in Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the program embedding apparatus 20 in Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the elapsed time measurement process code 220 in Embodiment 1 of this invention. It is a figure which shows an example of the system configuration | structure in Embodiment 2 of this invention. It is a figure which shows the system configuration | structure in case the program embedding apparatus 20 in Embodiment 2 of this invention performs 1st operation | movement. It is a figure which shows the system configuration | structure when performing operation | movement on the apparatus 30 for execution in Embodiment 2 of this invention. It is a figure which shows the system configuration | structure in case the program embedding apparatus 20 in Embodiment 2 of this invention performs 2nd operation | movement. It is a whole block diagram of the software which operate | moves on the program embedding apparatus 20 in Embodiment 2 of this invention. It is a software block diagram which paid its attention when performing 1st operation | movement among the software which operate | moves on the program embedding apparatus 20 in Embodiment 2 of this invention. It is a software block diagram which paid its attention when performing 2nd operation | movement among the software which operate | moves on the program embedding apparatus 20 in Embodiment 2 of this invention. It is a figure which shows an example of the periodic process code 27 for embedding in Embodiment 2 of this invention. It is a flowchart explaining the 1st operation | movement of the program embedding apparatus 20 in Embodiment 2 of this invention. It is a flowchart explaining operation | movement of the time measuring process code 24 for embedding in Embodiment 2 of this invention. It is a figure which shows an example of the elapsed time log 26 in Embodiment 2 of this invention. It is a flowchart explaining the 2nd operation | movement of the program embedding apparatus 20 in Embodiment 2 of this invention. It is a figure which shows an example of the embedding position recording table in Embodiment 2 of this invention. It is a figure which shows an example of the periodic processing code for multiple times embedding in Embodiment 2 of this invention. It is a flowchart explaining operation | movement of the embedding position determination part 2060 in Embodiment 2 of this invention. It is a figure which shows an example of the system configuration | structure in Embodiment 3 of this invention. It is a whole block diagram of the software which operate | moves on the program embedding apparatus 20 in Embodiment 3 of this invention. It is a figure which shows an example of the instruction execution clock number list 29 in Embodiment 3 of this invention. It is a flowchart which shows operation | movement of the program embedding apparatus 20 in Embodiment 3 of this invention.

Embodiment 1 FIG.
FIG. 1 is an example of a system configuration diagram in the present embodiment. The system according to the present embodiment includes a development device 10, a program embedding device 20, and an execution device 30.
Note that the source code 21 and the embedded periodic processing code 22 of the main program are passed from the development device 10 to the program embedding device 20, and the periodic processing embedded binary 23 is passed from the program embedding device 20 to the execution device 30. It is.

  The development device 10 is a device for developing a program that runs on the execution device 30. The main program source code 21 and the embedded periodic processing code 22 developed by the development apparatus 10 are transferred to the program embedding apparatus 20.

  The source code 21 of the main program is the source code of the program that is to be run on the execution device 30. The source code 21 of the main program is described in a compilable programming language such as C or C ++, and may be composed of a plurality of files.

The periodic processing code 22 for embedding is an assembly code of a periodic processing program that is executed when a timer interrupt can be used on the execution device 30. The embedded periodic processing code 22 includes a periodic process and an assembly code of a program for periodically executing the periodic process.
The embedded periodic processing code 22 is an assembly code, but may be written in a compilable programming language such as C or C ++, like the source code 21 of the main program. However, in that case, it is necessary to convert to assembly code before embedding by an assembly code conversion unit 201 described later.

  The program embedding device 20 generates a periodic processing embedded binary 23 from the source code 21 of the main program received from the development device 10 and the periodic processing code 22 for embedding, and passes it to the execution device 30.

  The execution device 30 executes the periodic processing embedded binary 23 passed from the program embedding device 20.

  In the present embodiment, the development device 10 and the program embedding device 20 have been described as separate devices. However, on the same device, the development of the source code 21 of the main program and the periodic processing code 22 for embedding, The periodic processing embedded binary 23 may be generated.

  FIG. 2 is an example of a hardware configuration diagram of the program embedding device 20 and the execution device 30 in the present embodiment. Note that either or both of the hardware configurations of the program embedding device 20 and the execution device 30 may be different from the configuration shown in FIG.

  In FIG. 2, a program embedding device 20 and an execution device 30 include a CPU 1 (Central Processor Unit) that executes a program, a ROM 2 (Read Only Memory) that stores programs and data, and temporary data that can be used and referenced by the program. In addition to the RAM 3 (Random Access Memory) for storing the data, the communication module 4 for exchanging files with the development device 10, the program embedding device 20, and the execution device 30, the time and the program execution time, the device 7 A plurality of hardware such as a timer 5 that measures the output timing to and the like is provided.

The ROM 2 provides an area for storing programs and fixed data. It corresponds to a flash memory and the like, and the written program content can be rewritten.
The RAM 3 provides a work area for storing and referring to data used by the program.

The communication module 4 exchanges files with the development device 10, the program embedding device 20, and the execution device 30 through the network. In the present embodiment, an example of a hardware configuration using the communication module 4 is shown. However, the communication module 4 is not used, and for example, between the development device 10, the program embedding device 20, and the execution device 30. Then, delivery may be performed by media such as MT (magnetic tape) and FD (flexible disk).
The timer 5 measures not only the time but also the timing for executing the periodic processing.

  FIG. 3 is an overall configuration diagram of software that operates on the program embedding device 20 according to the first embodiment. These software are stored on the ROM 2 or the RAM 3 of the program embedding device 20 and executed by the CPU 1.

In FIG. 3, a program embedding device 20 includes an assembly code conversion unit 201 that converts source code described in a programming language into assembly code, and a periodic processing embedding unit 202 that embeds a periodic processing code 22 for embedding in a main program at an assembly level. An object code conversion unit 203 that converts the assembly code that has been embedded in the cyclic processing into an object code that can be executed by the CPU 1, and a binary conversion unit 204 that combines sharing of the object code (s) and the library I have.
The periodic processing embedding unit 202 embeds a program for performing processing for embedding a branch destination label searching unit (branch destination searching unit) 2020 for searching for a branch destination label from the assembly code and an embedded periodic processing code 22 in the assembly code. Section (first program embedding section) 2021.

  Details of the software operating on the program embedding device 20 will be described.

  The assembly code conversion unit 201 receives the source code 21 of the main program from the development device 10 and converts it into assembly code. The assembly code conversion unit 201 passes the converted assembly code to the periodic processing embedding unit 202.

The periodic processing embedding unit 202 receives the assembly code of the main program from the assembly code converting unit 201, and the branch destination label searching unit 2020 determines a position where the periodic processing code is embedded. The branch destination label search unit 2020 searches for all labels used in the assembly code, for example.
In the present embodiment, the label is embedded as a place to embed, but for example, a place where a conditional branch instruction is present may be set as a place to embed a branch destination label. When the location where the conditional branch instruction is present is set as the location where the branch destination label is embedded, the conditional branch instruction is searched from the assembly code. There may be only one label searched as a branch destination, or a plurality of combinations, for example, a combination such as “conditional branch instruction and addition instruction” may be used.

  The program embedding unit 2021 embeds the embedding periodic processing code 22 at the embedding position determined by the branch destination label searching unit 2020. The embedded assembly code will be described in detail with reference to FIG.

  FIG. 4 is a diagram illustrating an example of the embedded periodic processing code 22. The embedded periodic process code 22 includes an elapsed time measurement process code (determination process) 220 and a periodic process code 221.

The elapsed time measurement processing code 220 obtains the current time, measures the elapsed time from the difference from the time when the processing code was called last time, and if the preset time has elapsed, the periodic processing is performed. This is assembly code that describes the process to be called.
For example, if the periodic process is a periodic process of 10 milliseconds, if the periodic process has passed 8 milliseconds since the previous execution, the periodic process is executed and the current time is recorded. Next, when the elapsed time measurement processing code 220 is called, this recorded time becomes the previous time.

The periodic processing code 221 is an assembly code that performs periodic processing. In the present embodiment, the periodic processing code 221 is developed by the development device 10 and is described as being passed to the program embedding device 20. However, the periodic processing code 221 is provided in advance as an object code, and the binary conversion unit When performing binary conversion in 204, it may be performed simultaneously.
In the case of such a periodic processing code 22 for embedding, the program embedding unit 2021 embeds the elapsed time measurement processing code 220 and the periodic processing code 221 at the embedding position determined by the branch destination label searching unit 2020.

The periodic processing code 221 may be embedded at all positions simultaneously with the elapsed time measurement processing code 220 or may be embedded as a function at one location and called from the elapsed time measurement processing code 220. If the method is embedded in all the former positions, the processing speed can be improved, and if the method is embedded only in one of the latter positions, memory can be saved.
In the case of a function call, the periodic processing code 221 is not used as an assembly code, but may be used as an object code (not shown) and converted together when converted into an execution binary. An example of the assembly code after the embedding of the embedding periodic process code 22 is shown in FIG.

The object code converting unit 203 receives the assembly code after the embedding of the embedding periodic processing code 22 from the periodic processing embedding unit 202 and converts it into an object code.
The object code conversion unit 203 passes the converted object code to the binary conversion unit 204.

The binary conversion unit 204 receives the object code from the object code conversion unit 203 and converts the object code into a binary that can be executed on the execution apparatus 30 and a binary embedded in the cyclic processing 23.
The binary conversion unit 204 passes the converted periodic process embedded binary 23 to the execution apparatus 30.

  The cyclic processing embedded binary 23 is software that is stored in the ROM 2 or the RAM 3 on the execution device 30 and executed by the CPU 1 on the execution device 30. When executing the periodic processing embedded binary 23, the CPU 1 on the execution device 30 executes the elapsed time measurement processing code every time it passes through the branch destination label, and determines whether or not a preset periodic time has elapsed. To do. For example, when 80% or more has elapsed, the CPU 1 on the execution apparatus 30 executes the periodic process code.

  Next, the operation of the program embedding device 20 in the present embodiment will be described with reference to FIG. In the present embodiment, it is assumed that the branch destination label passes a plurality of times during the time (period time) in which the cycle process passes once, and the position where the cycle process is embedded is set at the head of the branch destination label.

  First, the assembly code conversion unit 201 converts the source code 21 of the main program received from the development device 10 into assembly code (S101). The method of converting the source code 21 of the main program into the assembly code may be performed by setting the option “S” if, for example, gcc (GNU C Compiler) is used.

The assembly code conversion unit 201 passes the converted assembly code to the periodic processing embedding unit 202.
Next, the branch destination label search unit 2020 reads line by row from the beginning of the assembly code received from the assembly code conversion unit 201 (S102), and determines whether the branch destination label is described (S103).

If the branch destination label is not described (S103: NO), the branch destination label search unit 2020 checks whether the currently read one line is the end of the assembly code (S105).
On the other hand, when the branch destination label is described (S103: YES), the branch destination label search unit 2020 calls the program embedding unit 2021.

The program embedding unit 2021 embeds the elapsed time measurement processing code 220 in the line next to the line read by the branch destination label search unit 2020 (S104).
Next, the branch destination label search unit 2020 confirms whether the currently read one line is the end of the assembly code (S105).

When it is not the end of the assembly code (S105: NO), the branch destination label search unit 2020 reads one line of the assembly code (S102) again and reads the next line.
If it is the end of the assembly code (S105: YES), the branch label search unit 2020 calls the program embedding unit 2021.

  The program embedding unit 2021 embeds the periodic process code 221 in the assembly code (S106). The position where the periodic processing code 221 is embedded may be anywhere in the assembly code. In this embodiment, the periodic process code 221 is embedded after the process of extracting the branch destination label, but may be performed before the branch destination label is extracted.

  Next, the object code conversion unit 203 converts the assembly code after completion of embedding output from the periodic process embedding unit 202 into an object code in binary format (S107). In the present embodiment, the periodic processing code 221 is embedded so as to become a part of the assembly code after the embedding is completed. It may be converted.

  Finally, the binary conversion unit 204 combines the object code (s) and the shared library, and outputs a periodic process embedded binary 23 that is a format executable by the CPU 1 on the execution apparatus.

  Next, the operation of the elapsed time measurement processing code 220 embedded in the periodic processing embedded binary 23 will be described with reference to FIG. The cyclic processing embedded binary 23 is stored in the ROM 2 or the RAM 3 on the execution device 30 and is executed by the CPU 1 on the execution device 30. The timer 5 referred to by the elapsed time measuring process code 220 embedded in the periodic process embedded binary 23 is also on the execution apparatus 30.

The elapsed time measurement processing code 220 reads the value of the timer 5 and calculates the difference from the time when the periodic processing code 221 was executed last time (S201).
In this embodiment, the initial value of the timer 5 is 0, and it is assumed that the count is started simultaneously with the start of the execution of the periodic process embedded binary 23. That is, the value of the timer 5 read by the elapsed time measurement processing code 220 is the elapsed time (difference) since the previous periodic processing code 221 was executed.

  Next, the elapsed time measurement processing code 220 determines whether the difference calculated in S201 is 80% or more of the cycle time (S202). In this embodiment, since the purpose is to execute the periodic processing within the periodic time without fail, the execution condition of the periodic processing is defined as when 80% of the periodic time has elapsed, but the periodic time must be exceeded. In particular, it may be other than 80%.

If the result of the determination is 80% or more (S202: YES), the elapsed time measurement process code 220 calls the periodic process code 221 (S203).
The elapsed time measurement processing code 220 records (updates) the current count value of the timer 5 as the value at the previous execution after calling the periodic processing code 221 (S204).

  If the determination result is less than 80% (S202: NO), the elapsed time measurement processing code 220 is terminated without doing anything.

  As described above, the branch destination label searching unit 2020 that searches for the branch destination label from the assembly code obtained by converting the source code 21 of the main program, and the program embedding unit that performs the process of embedding the embedded periodic processing code 22 in the assembly code. The provision of 2021 makes it possible to generate a binary (periodic processing embedded binary 23) that executes periodic processing without using a timer interrupt.

  Further, when the periodic process embedded binary 23 is executed on the execution apparatus 30, the execution of the periodic process code 221 is performed in order to determine whether to execute the periodic process code 221 while checking the count value of the timer 5. Can be kept to the minimum necessary.

  Furthermore, since it is determined whether or not to execute the periodic processing code 221 while checking the count value of the timer 5, even if the contents of the source code 21 of the main program change, the periodic processing is reliably performed within the periodic time. Can be performed.

Embodiment 2. FIG.
In the first embodiment, a program for embedding a branch destination label search unit 2020 for searching for a branch destination label from the assembly code obtained by converting the source code 21 of the main program, and a process for embedding the embedded periodic processing code 22 in the assembly code. The program embedding device 20 that generates the binary for executing the periodic processing without using the timer interrupt on the execution device 30 by providing the unit 2021 has been described.
The binary (periodic processing embedded binary 23) generated in the first embodiment determines whether or not to execute periodic processing when all branch destination labels pass.
In the present embodiment, the main program is executed in advance by the execution device 30, and the passage of the branch destination label necessary for the periodic processing to be executed within the period time from the log of the elapsed time measured at each branch destination label. Only when will the program embedding device 20 embed an execution instruction for periodic processing be described.
FIG. 8 is an example of a system configuration diagram in the present embodiment. The system according to the present embodiment includes a development device 10, a program embedding device 20, and an execution device 30.
The development device 10 passes the source code 21 of the main program, the embedding time measurement processing code 24 and the embedding periodic processing code 27 to the program embedding device 20, and the program embedding device 20 measures the execution device 30. The periodic processing embedded binary 25 and the periodic processing embedded binary 28 are delivered, and the elapsed time log 26 is delivered from the execution device 30 to the program embedding device 20.
Note that the program embedding device 20 in the present embodiment sequentially performs two types of operations, a first operation and a second operation. 9-11, the system configuration when the program embedding apparatus 20 performs the first operation (FIG. 9), the execution of receiving the measurement periodic process embedded binary 25 generated by the first operation A system configuration (FIG. 10) when the operating device 30 performs the operation and a system configuration (FIG. 11) when the program embedding device 20 performs the second operation will be described. In addition, in FIGS. 9-11, the component which is not related to each operation | movement was made into the dotted line.

  FIG. 9 is a system configuration diagram when the program embedding device 20 performs the first operation. The development device 10 is a device for developing a program that runs on the execution device 30. The source code 21 of the main program developed by the development apparatus 10 and the embedding time measurement processing code 24 are passed to the program embedding apparatus 20.

  The source code 21 of the main program is the source code of the program that is to be run on the execution device 30. The source code 21 of the main program is described in a compilable programming language such as C or C ++, and may be composed of a plurality of files.

The embedded time measurement processing code 24 is an assembly code for recording the execution (elapsed) time of the program.
The embedding time measurement processing code 24 is an assembly code, but may be written in a compilable programming language such as C or C ++ like the source code 21 of the main program. However, in that case, the assembly code conversion unit 201 needs to convert the assembly code into an assembly code before embedding.
In the first operation, the program embedding device 20 generates the measurement periodic process embedded binary 25 from the source code 21 of the main program received from the development device 10 and the embedding time measurement processing code 24, and sends it to the execution device 30. hand over.

  FIG. 10 is a system configuration diagram in the case where the execution apparatus 30 that has received the measurement periodic process embedded binary 25 generated by the first operation of the program embedding apparatus 20 performs the operation. The execution device 30 executes the measurement periodic process embedded binary 25 passed from the program embedding device 20 and outputs an elapsed time log 26. The elapsed time log 26 output from the execution device 30 is passed to the program embedding device 20.

  FIG. 11 is a system configuration diagram when the program embedding device 20 performs the second operation. The source code 21 and embedding periodic process code 27 of the main program developed by the development apparatus 10 and the elapsed time log 26 output as a result of the execution apparatus 30 executing the measurement periodic process embedded binary 25 are the program embedding apparatus 20. Passed to.

The periodic processing code 27 for embedding is an assembly code of a periodic processing program that is executed when a timer interrupt can be used on the execution device 30. The embedded periodic process code 27 is composed of an assembly code of a program for determining whether to execute the periodic process and the previous period process.
The embedded periodic processing code 27 is an assembly code, but may be written in a compilable programming language such as C or C ++, like the source code 21 of the main program. However, in that case, the assembly code conversion unit 201 needs to convert the assembly code into an assembly code before embedding.
In the second operation, the program embedding device 20 embeds periodic processing embedding from the source code 21 and embedding periodic processing code 27 received from the development device 10 and the elapsed time log 26 received from the execution device 30. A binary 28 is generated and passed to the execution device 30.

  FIG. 12 is an overall configuration diagram of software that operates on the program embedding device 20 according to the second embodiment. These software are stored on the ROM 2 or the RAM 3 of the program embedding device 20 and executed by the CPU 1.

  In FIG. 12, a program embedding device 20 includes an assembly code conversion unit 201 that converts source code described in a programming language into assembly code, and a first period in which embedding time measurement processing code 24 is embedded in the main program at the assembly level. With reference to the processing embedding unit 205 and the elapsed time log 26, a second periodic processing embedding unit 206 for embedding the embedding periodic processing code 27 into the main program at the assembly level, and an embedding time measuring processing code 24 or embedding cycle. An object code conversion unit 203 that converts assembly code in which the processing code 27 has been embedded into object code that can be executed by the CPU 1 (on the execution apparatus 30), sharing of object code (s), and a library And a binary conversion unit 204 for engagement.

  The first periodic processing embedding unit 205 includes a branch destination label searching unit 2020 for searching for a branch destination label from the assembly code, and a program embedding unit (for embedding the embedding time measurement processing code 24 in the assembly code). (Second program embedding unit) 2050, and the second periodic processing embedding unit 206 refers to the elapsed time log 26 and determines an embedding position for determining a position for embedding the periodic processing code 27 for embedding in the assembly code. A determination unit 2060 and a program embedding unit 2021 for embedding the embedding periodic processing code 27 in the assembly code are provided.

As described above, the program embedding device 20 in the present embodiment sequentially performs the two types of operations, the first operation and the second operation. FIG. 13 and FIG. 14 show an overall configuration diagram of software operating on the program embedding device 20 when attention is paid to each operation.
In this embodiment, it is composed of two types of periodic processing embedding units, and it is necessary to switch processing according to the execution operation. The process switching may be determined based on whether or not the program embedding device 20 has received the elapsed time log 26 from an argument at the time of software execution. In addition, when the elapsed time log 26 is input, it may be determined to execute the second periodic process embedding unit 206.

FIG. 13 is a software configuration diagram focusing on performing the first operation among the entire configuration of software operating on the program embedding device 20 in the second embodiment.
In FIG. 13, the embedding time measurement processing code 24 describes the count value of the timer 5 on the execution device 30, the file name in which the embedding time measurement processing code 24 is embedded, and an instruction to record the branch destination label. Assembly code.
The program embedding unit 2050 realizes embedding at the embedding position determined by the branch destination label searching unit 2020 regardless of the input code.

FIG. 14 is a software configuration diagram focusing on performing the second operation among the entire configuration of software operating on the program embedding device 20 in the second embodiment.
In FIG. 14, the embedding position determination unit 2060 determines the position of the branch destination label for executing the periodic process with reference to the elapsed time log 26. Further, in the case of loop processing or the like, it is assumed that the same branch destination label is passed a plurality of times, so the embedding position determination unit 2060 determines the embedding position including the branch destination label for performing the periodic processing and the number of times of passage. To do.

The embedding periodic process code 27 will be described with reference to FIG.
The periodic processing code 27 for embedding includes a passage count measurement code 270 for determining execution of the periodic processing while measuring the number of times the branch destination label has passed, and a periodic processing code 221.
The program embedding unit 2021 embeds a code at the position determined by the embedding position determining unit 2060. If the number of passes is one, only the periodic processing code 221 is embedded, and if it passes a plurality of times, the periodic processing code 221 is embedded together with the passage count measurement code 270.

In common with the first and second operations, the object code conversion unit 203 receives assembly code that has been embedded, and converts it into object code.
The object code conversion unit 203 passes the converted object code to the binary conversion unit 204.
The binary conversion unit 204 receives the object code from the object code conversion unit 203 and converts it into binary that can be executed on the execution apparatus 30.
In the first operation, it is converted into the periodic processing embedded binary 25 for measurement, and in the second operation, it is converted into the periodic processing embedded binary 28.

The measurement periodic process embedded binary 25 is software stored in the ROM 2 or the RAM 3 on the execution device 30 and executed by the CPU 1 on the execution device 30.
When executing the periodic processing embedded binary 25 for measurement, the CPU 1 on the execution device 30 records the value of the timer 5 every time the branch destination label is passed, and measures the elapsed time of the main program.

The periodic processing embedded binary 28 is software that is stored in the ROM 2 or the RAM 3 on the execution device 30 and executed by the CPU 1 on the execution device 30.
When executing the periodic process embedded binary 28, the CPU 1 on the execution apparatus 30 executes the periodic process code 221 every time it passes through the branch destination label in which the embedded periodic process code is embedded.

Next, the first operation of the program embedding device 20 in the present embodiment will be described with reference to FIG.
The first operation indicates that the program embedding device 20 generates a measurement periodic process embedded binary 25 operable by the execution device 30 from the source code 21 and the embedding time measurement processing code 24 of the main program.
In the first operation, the program embedding device 20 inserts the embedding time measurement processing code 24 into the first line of the branch destination label (S301). Other operation contents are the same as those in FIG. 6 described in the first embodiment.

Next, the operation of the embedding time measurement processing code 24 inserted into the measurement periodic process embedding binary 25 will be described with reference to FIG. The measurement periodic process embedded binary 25 is stored in the ROM 2 or the RAM 3 on the execution device 30 and is executed by the CPU 1 on the execution device 30. The timer 5 referred to by the embedded time measurement processing code 24 inserted into the measurement periodic process embedded binary 25 is also on the execution device 30.

The embedding time measurement processing code 24 acquires the file name of the embedded program and the branch destination label name (S206, S207).
Next, the embedding time measurement processing code 24 reads the value of the timer 5 (S208). Finally, the acquired information (file name, branch destination label, timer 5 value) is recorded in the progress log (S209).

FIGS. 16 and 17 show an example in which an instruction for recording a log is described in the embedding time measuring process code 24. However, these instructions are embedded as a function at one place, and the embedding time measuring process code 24 is written. You may make it call from.

By executing the measurement periodic process embedded binary 25 generated by the first operation on the execution apparatus 30, the elapsed time log 26 is output.
FIG. 18 is an example of the elapsed time log 26 output as a result of operating the measurement periodic process embedded binary 25 on the execution apparatus 30.

Next, the second operation of the program embedding device 20 in the present embodiment will be described with reference to FIG.
The second operation indicates that the program embedding device 20 uses the source code 21 and the embedding periodic processing code 27 of the main program to generate the periodic processing embedded binary 28 that can be operated by the execution device 30.

Secondly, in the operation, first, the assembly code conversion unit 201 converts the source code 21 of the main program received from the development apparatus 10 into assembly code (S101).
The assembly code conversion unit 201 passes the converted assembly code to the second periodic processing embedding unit 206.
Next, the embedding position determination unit 2060 determines a position where the embedding period processing code 27 is inserted based on the elapsed time log 26 received from the execution apparatus 30, and records it in the embedding position table (S302).

  The embedding position table is for recording the name of a file to be periodically processed, the branch destination label, and the number of passages. FIG. 20 shows an example of the embedded position table. The detailed operation flow of S302 will be described later.

The embedding position determination unit 2060 reads the branch destination labels recorded in the embedding position table line by line (S303).
Next, the embedding position determination unit 2060 reads one line at a time from the beginning of the assembly code of the main program received from the assembly code conversion unit 201 (S304), and determines whether it matches the branch destination label read in S303 (S305). .

If it does not match the branching destination label in the embedding position table (S305: NO), the embedding position determining unit 2060 reads one line of assembly code (S304) again and reads the next line.
On the other hand, when it matches with the branch destination label of the embedded position table (S305: YES), the embedded position determining unit 2060 determines the number of passages of the branch destination label recorded in the embedded position table (S306).

When the number of passes through the embedding position table is once (S306: once), the embedding position determination unit 2060 calls the program embedding unit 2021.
The program embedding unit 2021 inserts the periodic processing code 221 into the next line of the branch destination label read from the assembly code by the embedding position determination unit 2060 (S308).
The periodic processing code 221 may be embedded at all positions, or may be embedded as a function at only one place, and only a function call instruction may be inserted into the branch destination label. If the method is embedded in all the former positions, the processing speed can be improved, and if the method is embedded only in one of the latter positions, memory can be saved.

When the number of times of passage through the embedding position table is plural, the embedding position determination unit 2060 calls the program embedding unit 2021 to insert the passage number measurement code 270 into the next line of the branch destination label read from the assembly code. (S307) Then, the program embedding unit 2021 is called to insert the periodic processing code 221 (S308).
The periodic processing code 221 may be embedded at all positions at the same time as the passage count measurement code 270, or may be embedded as a function at one location and called from the passage count measurement code 270. If the method is embedded in all the former positions, the processing speed can be improved, and if the method is embedded only in one of the latter positions, memory can be saved.

Next, the embedding position determination unit 2060 checks whether the currently read branch destination label is the end of the embedding position table (S309).
If it is not the end of the embedding position table (S309: NO), the embedding position determination unit 2060 reads the branch destination label of the embedding position table again (S303), and reads the next line.

If it is the end of the embedding position table (S309: YES), the embedding position determination unit 2060 calls the object code conversion unit 203.
The operation contents (S106, S107) of the object code conversion unit 203 and the binary conversion unit 204 are the same as those in the first embodiment.

Next, the operation of the pass count code 270 inserted in the periodic process embedded binary 28 will be described with reference to FIG. The cyclic processing embedded binary 28 is stored in the ROM 2 or RAM 3 on the execution device 30 and is executed by the CPU 1 on the execution device 30.

The passage count measurement code 270 determines whether the periodic processing should be executed while counting the number of passages of the branch destination label.
First, the pass count measurement code 270 adds 1 to the pass count of the branch destination label (S210). It is assumed that the pass count measurement code 270 holds a table for counting the pass count for each branch destination label.

Next, the passage number measurement code 270 determines whether or not the added passage number is the number of passages for performing the periodic process recorded in the embedded position table (S203).
When the number of passes that matches the periodic processing (S203: YES), the passage count measurement code 270 calls the periodic processing code 221 (S203) and ends.
On the other hand, when it does not coincide with the number of times of passing the periodic process (S203: NO), the number of times of passing measurement code 270 is terminated without doing anything.

  Next, an operation flow in which the embedding position determination unit 2060 in the second periodic processing embedding unit 206 creates an embedding position table with reference to the progress log 26 (FIG. 19: details of S302) will be described with reference to FIG. .

  First, the embedding position determination unit 2060 reads the elapsed time log 26 received from the execution apparatus 30 line by line from the top (S310), and adds 1 to the number of passages of the read branch destination label (S311). Note that it is assumed that the embedding position determination unit 2060 holds a table or the like for counting the number of passes for each branch destination label.

  Next, the embedding position determination unit 2060 reads the timer value recorded in the elapsed time log 26 and calculates the difference from the time when the periodic processing code 221 was executed last time (S312). In the present embodiment, the initial value at the previous execution is set to zero.

Next, the embedding position determination unit 2060 determines whether the difference calculated in S312 is less than the cycle time (S313).
As a result of the determination, if it is not less than the cycle time (S313: YES), the embedding position determination unit 2060 stores the content recorded in the elapsed time log in the temporary buffer (S314), and is it the end of the elapsed time log? Determination is made (S317).

  On the other hand, if the determined result is less than the cycle time (S313: YES), the embedding position determination unit 2060 embeds the file name, the branch destination label, and the number of passages of the corresponding branch destination label recorded in the temporary buffer. It is recorded in the position table (S315), and the current timer value read from the elapsed time log is recorded (updated) as the previous execution value (S316).

Finally, the embedding position determination unit 2060 determines whether the read line is the end of the elapsed time log 26 (S317).
As a result of the determination, if it is not the end of the elapsed time log (S317: NO), the embedding position determining unit 2060 executes one line reading of the elapsed time log (S310) again and reads the next one line.
On the other hand, as a result of the determination, if it is the end of the elapsed time log (S317: YES), the embedded position determination unit 2060 ends without doing anything.

  As described above, the branch destination label search unit 2020 for searching for the branch destination label from the assembly code obtained by converting the source code 21 of the main program, and the first processing for embedding the embedding time measurement processing code 24 in the assembly code. Referring to the periodic processing embedding unit 205 and the elapsed time log 26 of the main program output in advance, the minimum necessary embedding position is determined to execute the periodic processing code 221 within the periodic time, and the assembly code By including the second periodic process embedding unit 206 that performs the process of embedding in the binary, it is possible to generate a binary (periodic process embedded binary 28) that executes the periodic process without using the timer interrupt.

In addition, since the measurement cycle process embedded binary 25 operable by the execution apparatus 30 is generated before the cycle process is embedded and the execution time of the program is measured, the cycle is performed when all branch destination labels pass as in the first embodiment. There is no need to determine whether the processing code 221 should be executed.
Furthermore, even in the case of a branch destination label that passes a plurality of times such as a loop process, the periodic process code 221 is executed only when it passes a specific number of times, so that it is not excessively executed.

Embodiment 3 FIG.
In the present embodiment, static analysis is performed on the source code 21 of the main program to calculate an approximate execution time of the program, and an execution instruction for periodic processing is issued in time for the periodic time. A case of embedding in the code 21 will be described.

FIG. 23 is an example of a system configuration diagram in the present embodiment. Similar to the first embodiment, the system according to the present embodiment includes a development device 10, a program embedding device 20, and an execution device 30.
Similarly to the first embodiment, in the system according to the present embodiment, the development program 10 passes the source code 21 of the main program and the periodic processing code 22 for embedding to the program embedding device 20, and the program embedding device. The periodic processing embedded binary 40 is transferred from the execution device 20 to the execution device 30.

In the present embodiment, unlike the first embodiment, the program embedding device 20 refers to the instruction execution clock number list 29.
In this embodiment, the program embedding apparatus 20 directly refers to the instruction execution clock number list 29. However, the development apparatus 10 manages the instruction execution clock number list 29, and the development apparatus 10 may be transferred to the program embedding device 20.

  FIG. 24 is an overall configuration diagram of software operating on the program embedding device 20 according to the present embodiment. These software are stored on the ROM 2 or the RAM 3 of the program embedding device 20 and executed by the CPU 1.

In FIG. 24, the instruction execution clock number list 29 describes the number of clocks necessary for execution of instructions. FIG. 25 shows an example of the instruction execution clock number list 29.
The periodic processing embedding unit 207 according to the present embodiment includes an instruction execution time calculating unit (branch destination searching unit) 2070 and a program embedding unit 2021.

The instruction execution time calculation unit 2070 extracts an instruction from the assembly code passed from the assembly code conversion unit 201, refers to the instruction execution clock number list 29, and calculates the instruction execution time.
The program embedding unit 2021 performs a process of embedding the periodic processing code for embedding in the assembly code.

  In FIG. 24, the same reference numerals as those in FIG. 3 represent the same or corresponding parts, and those other than the instruction execution time calculation unit 2070 and the instruction execution clock number list 29 are the same as those used in the first embodiment. The same operation as described in 3 is performed.

  Next, the operation of the program embedding device 20 in the present embodiment will be described with reference to FIG.

First, the assembly code conversion unit 201 converts the source code 21 of the main program received from the development device 10 into assembly code (S101).
The assembly code conversion unit 201 passes the converted assembly code to the periodic processing embedding unit 207.

The instruction execution time calculation unit 2070 that has received the assembly code from the assembly code conversion unit 201 initializes the elapsed time (S501).
Next, the instruction execution time calculation unit 2070 reads line by line from the beginning of the assembly code (S102), and determines whether a loop instruction or a function call instruction is described (S502).

When the instruction is not a loop instruction or a function call instruction (S502: NO), the instruction execution time calculation unit 2070 refers to the instruction execution clock number list 29, acquires the number of clocks necessary to execute the instruction, The execution time is calculated by multiplying the reciprocal of the clock frequency of the CPU 1 used in the execution apparatus 30 (S503).
For example, when the clock frequency of the CPU 1 used in the execution apparatus 30 is 1 GHz and the read instruction is “add (the number of instruction clocks is 4)”, the execution time is 4 nanoseconds.

  The instruction execution time calculation unit 2070 adds the calculated execution time to the elapsed time (S504), and determines whether it is 80% or more of the cycle time (S505). As in the case of the first embodiment, since the purpose of this embodiment is to execute the periodic processing within the periodic time, the execution condition of the periodic processing is defined as when 80% of the periodic time has elapsed. However, it may be other than 80% as long as the cycle time is not exceeded.

When the elapsed time is 80% or more of the cycle time (S505: YES), the instruction execution time calculation unit 2070 calls the program embedding unit 2021.
The program embedding unit 2021 embeds an instruction for calling the periodic process code 221 (S506).
Thereafter, the instruction execution time calculation unit 2070 initializes the elapsed time (S507).
Next, the instruction execution time calculation unit 2070 confirms whether the currently read line is the end of the assembly code (S105).

On the other hand, when the elapsed time is not 80% or more of the cycle time (S505: NO), the instruction execution time calculation unit 2070 confirms whether the currently read one line is the end of the assembly code (S105).
If it is the end of the assembly code (S105: YES), the instruction execution calculation unit 2070 calls the object code conversion unit 203.

  Next, the object code conversion unit 203 converts the post-embedding assembly code output by the periodic processing embedding unit 207 into an object code in a binary format (S107). In this embodiment, the periodic processing code 221 is embedded so as to become a part of the assembly code after completion of embedding. However, the file is different from the assembly code after embedding and is separate from the assembly code after embedding. It may be converted into an object code.

If the instruction is a loop instruction or a function call instruction (S502: YES), the instruction execution time calculation unit 2070 calls the program embedding unit 2021.
The program embedding unit 2021 embeds an instruction for reading the periodic processing code 221 immediately before the execution of the instruction and immediately after the execution of the instruction. Thereafter, the instruction execution time calculation unit 2070 initializes the elapsed time (S506).

Note that the number of times the loop instruction is repeatedly executed and the internal processing of the function to be called vary depending on the conditions under which the program is executed, so that it is difficult to calculate the execution time.
For this reason, in this embodiment, it is assumed that the processing by the loop instruction or the function call instruction is completed within the cycle time repeatedly executed by the loop instruction.

As described above, the execution time is calculated based on the instruction type of the assembly and the instruction execution time calculation unit 2070 that determines the position where the periodic process is embedded is provided, so that the periodic process embedding can be performed without using the elapsed time measurement processing code. The binary 40 can be generated.
As a result, even when the timer 5 does not exist in the execution apparatus 30 or its use is restricted and cannot be used, the periodic process can be executed within the period time.

  1 CPU, 2 ROM, 3 RAM, 4 communication module, 5 timer, 10 development device, 20 program embedding device, 21 source program source code, 22 periodic processing code for embedding, 23 periodic processing embedding binary, 24 embedding time Measurement processing code, 25 measurement periodic processing embedded binary, 26 elapsed time log, 27 embedded periodic processing code, 28 periodic processing embedded binary, 30 execution device, 40 periodic processing embedded binary, 201 assembly code conversion unit, 202 periodic processing Embedding unit, 203 Object code conversion unit, 204 Binary conversion unit, 205 First periodic processing embedding unit, 206 Second periodic processing embedding unit, 207 Periodic processing embedding unit, 220 Elapsed time measurement processing code, 221 cycles Processing code, 270 passage count measurement code, 2020 branch destination label search unit, 2021 program embedding unit, 2050 program embedding unit, 2060 embedding position determination unit, 2070 instruction execution time calculation unit.

Claims (4)

A branch destination search unit for searching for a branch destination for embedding a periodic process to be repeatedly executed at regular intervals from the program source converted into assembly code;
A first program embedding unit that embeds a determination process for determining the execution of the periodic process and the periodic process based on an elapsed time from the previous execution of the periodic process for the branch destination;
A program embedding device comprising:   2. The program embedding apparatus according to claim 1, wherein the branch destination search unit searches for a specific instruction among the instructions described in the assembly code as a branch destination. A first periodic processing embedding unit including a branch program searching unit, a second program embedding unit that embeds a process of measuring time and outputting an elapsed time to a log for the branch destination searched by the branch destination searching unit; ,
A position determination unit that refers to an elapsed time log obtained as a result of executing the program output by the first periodic processing embedding unit with respect to the branch destination, and determines a position where the periodic processing is embedded, A second periodic processing embedding unit having the first program embedding unit for embedding the periodic processing at the branch destination determined by the position determination unit;
The program embedding device according to claim 1, further comprising:   The branch destination search unit determines an instruction described in the assembly code, calculates an execution time of the instruction from the number of clocks of the instruction, and the determination process determines execution of the periodic process from the execution time The program embedding apparatus according to claim 1.

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