JP2021111133A - Update device, real-time system, update method and update program - Google Patents

Abstract

To realize an update device that can update firmware while suppressing disruption of real-time scheduling for multiple periodic tasks.SOLUTION: An update device 40 according to an aspect of the present disclosure comprises an update control management unit 41 that obtains and refers to the real-time scheduling for a plurality of periodic tasks of a running real-time operating system and calculates a time when the plurality of periodic tasks become idle, and an update control unit 42 that executes a firmware update at the time.SELECTED DRAWING: Figure 7

Description

The present disclosure relates to an update device, a real-time system, an update method and an update program.

In the control device and the like, a plurality of periodic tasks are executed in a predetermined execution cycle, and the firmware is updated during a period in which the plurality of periodic tasks are not executed. For example, the automobile control unit of Patent Document 1 executes a program rewriting process by the rewriting firmware during the sleep mode. Further, the control device of Patent Document 2 updates the program configuration unit between the time when the execution of the plurality of periodic tasks is completed and the time when the plurality of periodic tasks are executed again.

Japanese Unexamined Patent Publication No. 2006-301960 International Publication No. 2012/124197

The techniques of Patent Documents 1 and 2 acquire real-time scheduling of a plurality of periodic tasks, and do not update the firmware in consideration of the real-time scheduling. Therefore, the techniques of Patent Documents 1 and 2 may disturb the real-time scheduling of a plurality of periodic tasks.

One of the objectives to be achieved by the embodiments disclosed herein is to provide an update device, a real-time system, an update method and an update program that contribute to solving the problem. It should be noted that this object is only one of the purposes that the plurality of embodiments disclosed herein seek to achieve. Other objectives or issues and novel features will be apparent from the description or accompanying drawings herein.

The update device of the first aspect is
An update management unit that acquires and refers to real-time scheduling of multiple periodic tasks of a running real-time operating system and calculates the time during which the plurality of periodic tasks are idle.
An update control unit that executes a firmware update at the above time,
To be equipped.

The real-time system of the second aspect is
With the above-mentioned update device
A processor that executes the plurality of periodic tasks, and
To be equipped.

The update method of the third aspect is
A process of acquiring and referring to real-time scheduling of a plurality of periodic tasks of a running real-time operating system and calculating the time during which the plurality of periodic tasks are idle.
The process of executing the firmware update at the above time and
To be equipped.

The update program of the fourth aspect is
A process of acquiring and referring to real-time scheduling of a plurality of periodic tasks of a running real-time operating system and calculating the time during which the plurality of periodic tasks are idle.
The process of executing the firmware update at the above time and
Let the computer run.

According to the above-described aspect, it is possible to realize an update device, a real-time system, an update method, and an update program capable of updating firmware while suppressing disturbance of real-time scheduling of a plurality of periodic tasks.

It is a block diagram which shows the structure of the update apparatus of Embodiment 1. FIG. It is a flowchart which shows the flow of the update method of Embodiment 1. FIG. It is a figure which illustrates the scheduling of the periodic task and the firmware update process. It is a block diagram which shows the structure of the real-time system of Embodiment 2. It is a functional block diagram of an RTOS. It is a functional block diagram of the kernel. It is a block diagram which shows the structure of the update apparatus of Embodiment 2. It is a flowchart which shows the process flow of the update management part of Embodiment 2. FIG. It is a flowchart which shows the flow of the registration process of scheduling information. It is a flowchart which shows the flow of the calculation process of the idle state. It is a flowchart which shows the flow of the calculation process of the update timing. It is a flowchart which shows the flow of the firmware update process in the update control part. It is a figure for demonstrating the switching of the program area at the time of executing the firmware update process. It is a figure which shows the processing flow of a kernel. It is a block diagram which shows the structure of the update apparatus of Embodiment 3. It is a flowchart which shows the flow of the firmware update process in the update control part of Embodiment 3. FIG. It is a figure which illustrates the scheduling of the periodic task and the firmware update process. It is a block diagram which shows the structure of the real-time system of another embodiment. It is a block diagram which shows the structure of the real-time system of another embodiment.

Hereinafter, the best mode for carrying out the present disclosure will be described with reference to the accompanying drawings. However, the present disclosure is not limited to the following embodiments. Further, in order to clarify the explanation, the following description and drawings have been simplified as appropriate.

<Embodiment 1>
First, the configuration of the update device of the present embodiment will be described. FIG. 1 is a block diagram showing a configuration of an update device according to the present embodiment. As shown in FIG. 1, the update device 1 includes an update management unit 2 and an update control unit 3. The update management unit 2 acquires and refers to the real-time scheduling of a plurality of periodic tasks of the operating real-time operating system, and calculates the time during which the plurality of periodic tasks are idle. The update control unit 3 executes the firmware update at the calculated time.

Next, the flow of the update method of the present embodiment will be described. FIG. 2 is a flowchart showing the flow of the update method of the present embodiment. First, the update management unit 2 acquires and refers to the real-time scheduling of a plurality of periodic tasks of the operating real-time operating system (S1). Then, the update management unit 2 calculates the time during which the plurality of periodic tasks are idle based on the acquired real-time scheduling (S2).

Next, the update control unit 3 executes the firmware update at the calculated time (S3). For example, periodic task A executes once within 3 cycles, periodic task B executes once within 4 cycles, periodic task C executes twice within 6 cycles, and the priority is firmware update> periodic task. In the case of real-time scheduling in which A> periodic task B> periodic task C, as shown in FIG. 3, the firmware is updated at the time when all of the periodic tasks A, B, and C are in the idle state.

As described above, since the update device 1 and the update method of the present embodiment acquire and refer to the real-time scheduling of a plurality of periodic tasks, it is possible to update the firmware while suppressing the disturbance of the real-time scheduling of the plurality of periodic tasks. Is.

<Embodiment 2>
FIG. 4 is a block diagram showing a configuration of a real-time system according to the present embodiment. As shown in FIG. 4, the real-time system 10 includes a processor 20, a main storage device 30, and an update device 40, and a real-time operating system (RTOS) is operated as an operating system to guarantee the real-time performance of processing. There is.

Here, FIG. 5 is a functional block diagram of the RTOS. FIG. 6 is a functional block diagram of the kernel. As shown in FIG. 5, the RTOS 50 is an OS that guarantees that a certain process (task) is completed within a certain period (real-time property), and includes an OS management task 51.

The OS management task 51 includes a task 52 and a kernel 53. As the task 52, there are two types of tasks, a periodic task that is executed periodically and an aperiodic task. The kernel 53 is an area for managing the task 52 to be executed in the RTOS 50, and includes a scheduler 531 and task management information 532 as shown in FIG. The kernel 53 periodically executes itself as a periodic task with a special priority and dispatches the task 52.

The scheduler 531 provides execution order allocation (scheduling) of the task 52 that guarantees real-time performance. Specifically, the scheduler 531 determines which task 52 is executed when, by a predetermined algorithm, and dispatches the task 52 to be executed based on the management information of the task management information 532. Here, rate monotonic scheduling can be used as the scheduling algorithm.

The task management information 532 is a data structure representing information unique to the task 52, and is a TCB (Task Control Block) generated by the RTOS 50. The task management information 532 stores the priority, execution time, execution cycle, context information, and the like of the task 52. These tasks 52 and kernel 53 are controlled in cooperation with the device driver 60 as shown in FIG.

The processor 20 is a central processing unit (CPU) that reads and executes a program to be executed from the program area of the main storage device 30, and includes an instruction execution unit 21, a program counter 22, and an interrupt controller 23. ..

The instruction execution unit 21 executes a program (instruction) read from the program area of the main storage device 30. The program counter 22 stores the address of the program executed by the processor 20. The interrupt controller 23 controls interrupt processing for the processor 20.

The main storage device 30 includes a data area 31 and a program area 32. The data area 31 stores variable information of the program. The program area 32 stores the text information of the program (firmware including the RTOS 50). Here, the firmware 71 is stored in the external storage device 70. The external storage device 70 is connected to the real-time system 10 via a communication path such as a LAN (Local Area Network).

The main storage device 30 has two or more memory areas for storing a program being operated or updated as a program area 32. For example, in the present embodiment, the first program area 321 and the second program area 322 are provided, and the firmware 71 to be executed is switched (updated) by switching the reading destination of the program executed by the processor 20. ..

The renewal device 40 has a more preferable configuration than the renewal device 1 of the first embodiment. Here, FIG. 7 is a block diagram showing a configuration of an update device according to the present embodiment. As shown in FIG. 7, the update device 40 includes an update management unit 41 and an update control unit 42. The update management unit 41 includes a scheduling calculation unit 411, a scheduling table 412, an idle time calculation unit 413, and an address storage unit 414.

The update management unit 41 refers to the scheduler 531 of the RTOS 50 and the task management information 532 (that is, real-time scheduling), and records the scheduling contents (that is, the scheduling algorithm) of the future periodic task in the scheduling table 412. Further, when the update management unit 41 receives the update request of the firmware 71 from the external storage device 70, the update management unit 41 calculates the time during which the periodic task, which is the update timing, is idle, and transmits the information indicating the time to the update control unit 42. do. Here, the idle state is the time and period of the idle state, which will be described in detail later.

Specifically, the scheduling calculation unit 411 refers to the scheduling algorithms of the scheduler 531 and the task management information 532, and calculates the execution order of the periodic tasks to be executed in the future by the RTOS 50. The scheduling calculation unit 411 records the calculated information indicating the execution order of the periodic tasks to be executed in the future in the scheduling table 412. The scheduling table 412 records the calculated information indicating the execution order of the periodic tasks to be executed in the future.

The idle time calculation unit 413 refers to the scheduling table 412 and calculates the time during which all the periodic tasks are in the idle state. The idle time calculation unit 413 transmits information indicating the time during which all the calculated periodic tasks are idle to the update control unit 42.

The address storage unit 414 stores a value indicating the start address of the plurality of program areas 32. The address storage unit 414 provides the address switching processing unit 422 of the update control unit 42 with the address of the program area 32 to be switched to. Here, the current offset address 414a and the update destination offset address 414b are stored in the address storage unit 414.

The update control unit 42 includes an aperiodic task control unit 421 and an address switching processing unit 422. The update control unit 42 receives information indicating the time during which all the periodic tasks are idle from the update management unit 41, and controls the update of the firmware 71.

The aperiodic task control unit 421 issues an instruction to temporarily suppress the aperiodic task to the kernel 53, and issues an instruction to temporarily suppress the asynchronous interrupt to the interrupt controller 23 of the processor 20.

The address switching processing unit 422 issues an instruction to switch the address value of the program counter 22 in order to switch the storage destination of the firmware 71. As the switching destination, the address value of the address storage unit 414 is used.

Next, the processing flow of the update management unit 41 of the present embodiment will be described. FIG. 8 is a flowchart showing a processing flow of the update management unit of the present embodiment. First, the update management unit 41 confirms whether or not there is a firmware update request from the network, task 52 of the RTOS 50, or the like (S101). If an update request exists (YES in S101), 1 is assigned to the update request flag (S102).

Next, the update management unit 41 confirms the update request flag (S103), and when 1 is not assigned to the update request flag (NO in S101, NO in S103), as will be described in detail later, of the periodic task. The scheduling information registration process is performed (S108), and the process of the update management unit 41 is terminated.

On the other hand, when 1 is assigned to the update request flag (YES in S103), the update management unit 41 calculates the time during which all the periodic tasks are idle (S104), as will be described in detail later. After that, the update management unit 41 confirms whether or not the update firmware 71 is prepared (S105). When the firmware 71 is not prepared (NO in S105), the update management unit 41 notifies an error, substitutes 0 for the update request flag, registers the scheduling information of the periodic task (S108), and updates the update management unit. The process of 41 is finished.

On the other hand, when the preparation of the firmware 71 for update is completed (YES in S105), the update control unit 42 is informed so that the update process is executed at the time when the periodic task calculated in the process of S104 is in the idle state. Schedule the update process (S107).

Next, the flow of the above-mentioned scheduling information registration process will be described. FIG. 9 is a flowchart showing the flow of the scheduling information registration process. First, the scheduling calculation unit 411 acquires the information of the periodic task from the task management information 532 (S201). Then, the allocation of the periodic tasks up to the execution cycle t + N is calculated based on the information of the periodic tasks and the algorithm of the scheduler 531 (S202).

However, t is the execution cycle of the current periodic task, and N is the upper limit of the execution cycle to be calculated. N is, for example, 100 ticks. 1 tick represents the minimum unit in which the RTOS 50 switches the execution of a periodic task. After that, the information indicating the calculated allocation order of the periodic tasks is stored in the scheduling table 412 (S203).

Next, the flow of the calculation process of the idle state and the calculation process of the update timing will be described. FIG. 10 is a flowchart showing a flow of calculation processing of the idle state. FIG. 11 is a flowchart showing the flow of the update timing calculation process.

First, the idle time calculation unit 413 calculates the time when all the periodic tasks are in the idle state (S301 in FIG. 10). That is, the idle time calculation unit 413 substitutes the value 1 tick after the execution cycle t of the current periodic task into the execution cycle A (S401 in FIG. 11), and confirms the allocation of the periodic task in the execution cycle A from the scheduling table 412. (S402 in FIG. 11).

Next, the idle time calculation unit 413 confirms whether or not all the periodic tasks are in the idle state in the execution cycle A (S403 in FIG. 11). When all the periodic tasks are in the idle state in the execution cycle A (YES in S403 in FIG. 11 (YES in S302 in FIG. 10)), the idle time calculation unit 413 is continuously in the idle state from the beginning of the execution cycle A. The period T is recorded (S404 in FIG. 11), and the preset threshold value is compared with the value of the period T (S405 in FIG. 11). The threshold value can be set with the period required for updating the firmware 71 calculated in advance as the threshold value.

When T is larger than the threshold value (YES in S405 of FIG. 11), the idle time calculation unit 413 notifies the update control unit 42 of the execution cycle A (that is, the time of the idle state) and the period T (FIG. 11). S406). On the other hand, when T is smaller than the threshold value (NO in S405 of FIG. 11), the idle time calculation unit 413 notifies an error and ends (S409 in FIG. 11).

When all the periodic tasks are not in the idle state in the periodic period A (NO in S403 of FIG. 11), the idle time calculation unit 413 further calculates the allocation of the periodic tasks after 1 tick (S407 of FIG. 11). When A exceeds the range recorded in the scheduling table 412 (YES in S408 of FIG. 11), the idle time calculation unit 413 notifies an error and ends (S409 of FIG. 11).

When an error is notified, that is, when the execution cycle in which all the periodic tasks are idle cannot be calculated (NO in S302 in FIG. 10), the idle time calculation unit 413 calculates the idle time only for a random period. It waits (S303 in FIG. 10) and calculates the idle time again (S304). Even if such processing is executed a certain number of times or more (S305 and S306 in FIG. 10 and S408 in FIG. 11), if the time when all the periodic tasks are idle cannot be calculated (YES in S306 in FIG. 10), the update is performed. Notify the management unit 41 of the error (S307 in FIG. 10). On the other hand, when the time at which all the periodic tasks are idle can be calculated (YES in S302 in FIG. 10 and YES in S305 in FIG. 10), the process in S404 in FIG. 11 is executed.

Next, the flow of the firmware 71 update process in the update control unit 42 will be described. FIG. 12 is a flowchart showing the flow of firmware update processing in the update control unit. The aperiodic task control unit 421 issues a pause instruction for the aperiodic task and the asynchronous interrupt when the aperiodic task and the asynchronous interrupt are executed in order to prevent the scheduling from being disturbed during the update (S501). .. After that, the aperiodic task control unit 421 assigns 1 to the flag indicating the completion of the update in order to give an instruction to restart the aperiodic task and the asynchronous interrupt to the updated firmware 71 (S502).

Then, as shown in FIG. 13, the address switching processing unit 422 switches from the first program area 321 currently being executed to the second program area 322 for updating. Specifically, the address switching processing unit 422 points the update destination second program area 322 to the address that points to the first program area 321 before the update stored in the context information included in the task management information 532. The offset address 414b of the update destination is added (S503).

Similarly, the value of the program counter 22 is updated by adding the address value of the memory area in which the update destination firmware 71 is stored to the program counter 22 (S504). As shown in FIG. 13, since the firmware 71 before and after the update refers to the same data area, the operation is not interrupted.

Next, the interval at which the update management process of the firmware 71 is executed and the flow of post-processing after the update will be described. The update management process and the update process of the firmware 71 are repeatedly executed at regular intervals in cooperation with the process of the kernel 53. FIG. 14 is a diagram showing a processing flow of the kernel.

First, the kernel 53 executes the update management process (S601). As a result, internal processing of the kernel 53 such as interrupt management and memory management is performed (S602), and periodic task scheduling is executed (S603). Next, the kernel 53 determines whether or not the update process is scheduled (S604), and if the update process is scheduled (YES in S604), executes the update process (S606). On the other hand, when the update process is not scheduled, that is, when the periodic task is assigned (NO in S604), the periodic task is executed (S605).

Next, the kernel 53 confirms the update completion flag (S607), and confirms whether or not the firmware 71 has been updated. When 1 is assigned to the update completion flag (YES in S607) and the execution of the aperiodic task and the asynchronous interrupt is temporarily stopped in the update process, a restart instruction for the aperiodic task and the asynchronous interrupt is issued (S608). , Notify the outside that the update is completed (S609).

At this time, the notification destination may be, for example, a periodic task being executed by the external storage device 70 or the RTOS 50. Finally, 0 is assigned to the update completion flag and the update request flag (S610), and the post-processing after updating the firmware 71 is completed.

On the other hand, when 0 is assigned to the update completion flag (NO in S607), the process returns to the step of S601. Incidentally, if the execution of the aperiodic task and the asynchronous interrupt is not temporarily stopped in the update process, the step of S608 is omitted.

Since the update device 40, the real-time system 10, and the update method of the present embodiment acquire and refer to the real-time scheduling of a plurality of periodic tasks as in the first embodiment, the real-time scheduling of the plurality of periodic tasks is disturbed. It is possible to update the firmware 71 while suppressing it.

Moreover, the update device 40, the real-time system 10, and the update method of the present embodiment temporarily suppress interrupts of aperiodic tasks in order to prevent the scheduling from being disturbed during the update. Therefore, the firmware 71 can be reliably updated.

Further, the update device 40, the real-time system 10, and the update method of the present embodiment do not update the firmware 71 when the period required for updating the firmware 71 exceeds the period required for updating the firmware 71. Disturbance of real-time scheduling of periodic tasks can be suppressed.

<Embodiment 3>
FIG. 15 is a block diagram showing a configuration of an update device according to the present embodiment. As shown in FIG. 15, the update device 401 of the present embodiment has substantially the same configuration as the update device 40 of the second embodiment, but the update control unit 42 includes an execution adjustment unit 423. The execution adjustment unit 423 adjusts the timing of executing the update process of the firmware 71 so that the real-time scheduling of the plurality of periodic tasks is not disturbed.

FIG. 16 is a flowchart showing a flow of firmware update processing in the update control unit of the present embodiment. As shown in FIG. 16, the flow of the firmware 71 update process in the update control unit 42 of the second embodiment is substantially the same, but after the step S501, the execution adjustment unit 423 of the update control unit 42 executes the periodic task. The cycle adjustment period P is calculated (S505). Here, P is a value obtained by subtracting the period U required for the firmware update process measured in advance from the period T.

Next, the execution adjustment unit 423 determines whether or not the value of the adjustment period P is larger than 1 tick (S506), and when the value of the adjustment period P is larger than 1 tick (YES in S506), the firmware 71 is updated. Makes the firmware 71 wait for update by Ptick so as not to disturb the real-time scheduling of the periodic task (S507).

Here, as shown in FIG. 17, for example, the periodic task A is executed once within 3 cycles, the periodic task B is executed once within 6 cycles, and the periodic task C is executed once within 7 cycles. In the case of real-time scheduling in which the priority is set as periodic task A> periodic task B> periodic task C, the firmware update is waited by Ptick so that the value of the adjustment period P becomes 1 tick.
As a result, it is possible to prevent the real-time scheduling of periodic tasks from being disturbed.

The above embodiment is merely an example relating to the application of the technical idea obtained by the inventor of the present invention. That is, the technical idea is not limited to the above-described embodiment, and it goes without saying that various changes can be made.

For example, as shown in FIG. 18, the firmware including the RTOS 50 may be stored in the program areas 81 and 91 on the removable ROM 80 and 90. At this time, the update management unit cannot determine that the firmware 71 for update has been prepared.

Therefore, the operator of the update device needs to notify the update management unit that the preparation of the firmware 71 for update is completed from the input unit of the update device or the external system. By storing the program in the program areas 81 and 91 of the removable ROMs 80 and 90 in this way, it is not necessary to prepare the external storage device 70.

For example, as shown in FIG. 19, program areas 32, 81, and 91 may be provided in both the main storage device 30 and the ROMs 80 and 90. In order to prepare a plurality of program areas 32, 81, 91, it is necessary to prepare an external storage device 70, but even if either the external storage device 70 or the ROM area fails, the firmware 71 can be updated. can.

The above-mentioned program is stored using various types of non-transitory computer readable medium, and can be supplied to a computer (a computer including an information notification device). Non-transitory computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks). Further, this example includes a CD-ROM (Read Only Memory), a CD-R, and a CD-R / W. Further, this example includes semiconductor memories (eg, mask ROM, PROM, EPROM, flash ROM, RAM). The program may also be supplied to the computer by various types of transient computer readable medium. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

Some or all of the above embodiments may be described as, but not limited to, the following appendices.
(Appendix 1)
An update management unit that acquires and refers to real-time scheduling of multiple periodic tasks of a running real-time operating system and calculates the time during which the plurality of periodic tasks are idle.
An update control unit that executes a firmware update at the above time,
A renewal device.

(Appendix 2)
The update device according to Appendix 1, wherein the update control unit includes an aperiodic task control unit that temporarily suppresses an interrupt of the aperiodic task so that the aperiodic task is not executed at the time.

(Appendix 3)
The update device according to Appendix 1 or 2, wherein the update control unit includes an execution adjustment unit that adjusts the timing of executing the firmware update process so that the real-time scheduling of the plurality of periodic tasks is not disturbed.

(Appendix 4)
The update control unit includes an idle time calculation unit that executes the error notification when the period during which the plurality of periodic tasks are idle exceeds the period required for the firmware update process. The update device according to any one of the above items.

(Appendix 5)
The renewal device according to any one of Appendix 1 to 4 and
A processor that executes the plurality of periodic tasks, and
Real-time system with.

(Appendix 6)
A process of acquiring and referring to real-time scheduling of a plurality of periodic tasks of a running real-time operating system and calculating the time during which the plurality of periodic tasks are idle.
The process of executing the firmware update at the above time and
How to update.

(Appendix 7)
The update method according to Appendix 6, further comprising a step of temporarily suppressing an interrupt of the aperiodic task and preferentially executing the firmware update so that the aperiodic task is not executed at the time.

(Appendix 8)
The update method according to Appendix 6 or 7, further comprising a step of adjusting the timing of executing the firmware update process so that the real-time scheduling of the plurality of periodic tasks is not disturbed.

(Appendix 9)
The update method according to any one of Supplementary note 6 to 8, further comprising a step of executing an error notification when the period during which the plurality of periodic tasks are idle exceeds the period required for the firmware update process. ..

(Appendix 10)
A process of acquiring and referring to real-time scheduling of a plurality of periodic tasks of a running real-time operating system and calculating the time during which the plurality of periodic tasks are idle.
The process of executing the firmware update at the above time and
An update that lets your computer run.

(Appendix 11)
The update program according to Appendix 10, further comprising a process of temporarily suppressing an interrupt of the aperiodic task and preferentially executing a firmware update so that the aperiodic task is not executed at the time.

(Appendix 12)
The update program according to Appendix 10 or 11, further comprising a process of adjusting the timing of executing the firmware update process so that the real-time scheduling of the plurality of periodic tasks is not disturbed.

(Appendix 13)
The update program according to any one of Appendix 10 to 12, further comprising a step of executing an error notification when the period during which the plurality of periodic tasks are idle exceeds the period required for the firmware update process. ..

1 Update device 2 Update management unit 3 Update control unit 10 Real-time system 20 Processor, 21 Instruction execution unit, 22 Program counter, 23 Controller 30 Main memory, 31 Data area, 32 Program area 40 Update device 41 Update management unit, 411 Scheduling Calculation unit, 412 scheduling table, 413 idle time calculation unit, 414 address storage unit 42 update control unit, 421 aperiodic task control unit, 422 address switching processing unit, 423 execution adjustment unit 51 OS management task, 52 task, 53 kernel, 531 Scheduler, 532 Task Management Information 60 Device Driver 70 External Storage, 71 Kernel 401 Updater

Claims (10)

An update management unit that acquires and refers to real-time scheduling of multiple periodic tasks of a running real-time operating system and calculates the time during which the plurality of periodic tasks are idle.
An update control unit that executes a firmware update at the above time,
A renewal device. The update device according to claim 1, wherein the update control unit includes an aperiodic task control unit that temporarily suppresses an interrupt of the aperiodic task so that the aperiodic task is not executed at the time. The update device according to claim 1 or 2, wherein the update control unit includes an execution adjustment unit that adjusts the timing of executing the firmware update process so that the real-time scheduling of the plurality of periodic tasks is not disturbed. The renewal device according to any one of claims 1 to 3 and
A processor that executes the plurality of periodic tasks, and
Real-time system with. A process of acquiring and referring to real-time scheduling of a plurality of periodic tasks of a running real-time operating system and calculating the time during which the plurality of periodic tasks are idle.
The process of executing the firmware update at the above time and
How to update. The update method according to claim 5, further comprising a step of temporarily suppressing an interrupt of the aperiodic task and preferentially executing the update of the firmware so that the aperiodic task is not executed at the time. The update method according to claim 5 or 6, further comprising a step of adjusting the timing of executing the firmware update process so that the real-time scheduling of the plurality of periodic tasks is not disturbed. A process of acquiring and referring to real-time scheduling of a plurality of periodic tasks of a running real-time operating system and calculating the time during which the plurality of periodic tasks are idle.
The process of executing the firmware update at the above time and
An update that lets your computer run. The update program according to claim 8, further comprising a process of temporarily suppressing an interrupt of the aperiodic task and preferentially executing a firmware update so that the aperiodic task is not executed at the time. The update program according to claim 8 or 9, further comprising a process of adjusting the timing of executing the firmware update process so that the real-time scheduling of the plurality of periodic tasks is not disturbed.

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