WO2023116832A1

WO2023116832A1 - Construction method and apparatus for heterogeneous system

Info

Publication number: WO2023116832A1
Application number: PCT/CN2022/141080
Authority: WO
Inventors: 唐兴培; 徐春强
Original assignee: 科东(广州)软件科技有限公司
Priority date: 2021-12-24
Filing date: 2022-12-22
Publication date: 2023-06-29
Also published as: CN114253904A

Abstract

Provided in the embodiments of the present application are a construction method and apparatus for a heterogeneous system. The construction method comprises: installing a real-time running environment system on a non-real-time operating system, which runs on a computer hardware platform; by means of the real-time running environment system, releasing from the non-real-time operating system and allocating a hardware resource, which exclusively belongs to a real-time operating system, in the hardware platform, and constructing a virtual real-time hardware platform on the basis of the hardware resource; and installing and starting, by means of the real-time running environment system, the real-time operating system on the virtual real-time hardware platform, wherein the virtual real-time hardware platform is comprised in a device tree of the real-time operating system. The technical solution of the present application does not require custom modification of a non-real-time operating system, and a constructed virtual real-time hardware platform has exclusive hardware resources thereon and has a relatively strong real-time performance. By running a real-time operating system on the constructed virtual real-time hardware platform, the real-time performance and security of the whole system are improved.

Description

Method and device for constructing a heterogeneous system

technical field

The present application relates to the technical field of operating systems, and in particular to a construction method and device for a heterogeneous system.

Background technique

Taking the linux system as an example, the existing methods for enhancing the real-time performance of non-real-time operating systems are mainly divided into three categories. The first category is based on the linux system to inject real-time patches to enhance the real-time performance of the linux system; the second category is similar to the xenomai system. , by transforming the linux system and adding a real-time scheduling kernel to form a dual-core system, the real-time kernel handles interrupts and scheduling first, thereby improving the real-time performance of the system; the third category, a hypersivor architecture similar to acrn and xen, a virtualization method to enhance linux System real-time performance.

The first and second categories require custom modifications to non-real-time operating systems such as linux systems, which are difficult to adapt. The third category requires the use of hypervisor technology, which will cause a certain loss in system performance, that is, the total computing performance of all virtual machines is less than The computing performance of a system installed on bare metal.

Therefore, a construction method for heterogeneous systems is needed. When implementing the functions of the real-time operating system, it solves the disadvantages of the first and second types of solutions that need to customize and modify the non-real-time operating system, and at the same time solves the system performance loss caused by the third type of solution. .

Contents of the invention

In view of this, the embodiment of the present application provides a heterogeneous system construction method and device, the construction method includes: installing a real-time operating environment system on a non-real-time operating system running on a computer hardware platform; through the real-time The operating environment system releases and allocates hardware resources dedicated to the real-time operating system in the hardware platform from the non-real-time operating system, and builds a virtual real-time hardware platform based on the hardware resources; The real-time operating system is installed and started on the hardware platform, and the device tree of the real-time operating system includes the virtual real-time hardware platform. The technical solution of this application does not require customized modification of the non-real-time operating system, and the constructed virtual real-time hardware platform has dedicated hardware resources and strong real-time performance. Running a real-time operating system on it improves the real-time performance of the entire system and security.

In the first aspect, the embodiment of the present application provides a method for constructing a heterogeneous system, including: installing a real-time operating environment system on a non-real-time operating system running on a computer hardware platform; The non-real-time operating system releases and allocates hardware resources dedicated to the real-time operating system in the hardware platform, and builds a virtual real-time hardware platform based on the hardware resources; the real-time operating environment system is installed and started on the virtual real-time hardware platform The real-time operating system includes the virtual real-time hardware platform in the device tree of the real-time operating system.

From the above, constructing a heterogeneous system through the real-time operating environment system installed on the non-real-time operating system does not require customization and modification of the non-real-time operating system, and the constructed virtual real-time hardware platform has exclusive hardware resources and strong real-time performance , running a real-time operating system on it, which improves the real-time and security of the whole system.

In a possible implementation manner of the first aspect, the hardware resources dedicated to the real-time operating system include at least the following resources: cpu core, memory, and peripherals.

From the above, the hardware resources dedicated to the real-time operating system: cpu core, memory and peripherals are not used by the non-real-time operating system, but are exclusively used by the real-time operating system to improve the real-time performance of the system.

In a possible implementation manner of the first aspect, the real-time operating environment system starting a real-time operating system on the virtual real-time hardware platform includes: starting the real-time operating system on the CPU core, and starting the Each device in the device tree.

From the above, by starting the real-time operating system on the CPU core of the dedicated real-time operating system and starting other devices in the virtual real-time hardware platform according to the device tree, the real-time operating system can monopolize the resources of the virtual real-time hardware platform.

In a possible implementation manner of the first aspect, the interrupt of the peripheral device is directly delivered to the CPU core to be processed by the real-time operating system; the real-time operating system directly accesses the memory through the CPU core and the peripherals.

From the above, by directly delivering the peripheral interrupt of the dedicated real-time operating system to the CPU core of the dedicated real-time operating system, and directly accessing the memory and peripherals of the dedicated real-time operating system through the CPU core, the real-time performance of the real-time operating system is improved.

In a possible implementation manner of the first aspect, a command set is configured in the real-time operating environment system, and the command set includes: a resource release command, a resource allocation command, a system load command, a system start command, and a system stop command; The real-time operating environment system releases the dedicated hardware resources from the non-real-time operating system through a resource release command; the real-time operating environment system provides the real-time The operating environment system allocates exclusive hardware resources; the real-time operating environment system loads the image file of the real-time operating system into the memory of the virtual real-time hardware platform through the system loading command to realize the installation of the real-time operating system; The real-time operating environment system starts the image file installed in the memory of the virtual real-time hardware platform on the virtual real-time hardware platform through the system start command; the real-time operating environment system uses the system stop command Stop the running real-time operating system. The real-time operating environment system releases the dedicated hardware resource from the real-time operating system through a resource release command.

From the above, the dedicated hardware resources of the real-time operating system are built through the command set of the real-time operating environment system, the software of the real-time operating system is mirrored and the real-time operating system is started, and there is no need to customize the non-real-time operating system.

In a possible implementation manner of the first aspect, when the real-time operating environment system releases a peripheral resource from an operating system through a resource release command, the driver program of the peripheral resource is deleted; The allocation command allocates a peripheral resource to an operating system and installs the driver of the peripheral resource in the operating system when releasing the peripheral resource.

From the above, the real-time operating environment system releases/allocates the peripherals by deleting/installing the drivers, so that the interrupt processing and access processing in the new drivers of the peripherals dedicated to the real-time operating system are specially called by the real-time operating system.

In a possible implementation manner of the first aspect, the non-real-time operating system includes a Linux or Windows system.

From the above, the construction method of the present application is suitable for constructing heterogeneous systems with real-time operating systems on various non-real-time operating systems.

In a second aspect, the embodiment of the present application provides a device for constructing a heterogeneous system, which is characterized in that it includes: a first installation module for installing a real-time operating environment system on a non-real-time operating system running on a computer hardware platform ; The first building module is used to release and allocate hardware resources dedicated to the real-time operating system in the hardware platform from the non-real-time operating system through the real-time operating environment system, and build a virtual real-time hardware platform based on the hardware resources; The first starting module is configured to install and start the real-time operating system on the virtual real-time hardware platform by the real-time operating environment system, and the device tree of the real-time operating system includes the virtual real-time hardware platform.

In a possible implementation manner of the second aspect, the hardware resources dedicated to the real-time operating system include at least the following resources: cpu core, memory, and peripherals.

In a possible implementation manner of the second aspect, starting the real-time operating system on the virtual real-time hardware platform by the real-time operating environment system includes: starting the real-time operating system on the CPU core, and starting the Each device in the device tree.

In a possible implementation manner of the second aspect, the interrupt of the peripheral device is directly delivered to the CPU core to be processed by the real-time operating system; the real-time operating system directly accesses the memory through the CPU core and the peripherals.

In a possible implementation manner of the second aspect, a command set is configured in the real-time operating environment system, and the command set includes: a resource release command, a resource allocation command, a system loading command, a system start command, and a system stop command; The real-time operating environment system releases the dedicated hardware resources from the non-real-time operating system through a resource release command; the real-time operating environment system provides the real-time The operating environment system allocates exclusive hardware resources; the real-time operating environment system loads the image file of the real-time operating system into the memory of the virtual real-time hardware platform through the system loading command to realize the installation of the real-time operating system; The real-time operating environment system starts the image file installed in the memory of the virtual real-time hardware platform on the virtual real-time hardware platform through the system start command; the real-time operating environment system uses the system stop command Stop the running real-time operating system. The real-time operating environment system releases the dedicated hardware resource from the real-time operating system through a resource release command.

In a possible implementation manner of the second aspect, when the real-time operating environment system releases a peripheral resource from an operating system through a resource release command, the driver program of the peripheral resource is deleted; The allocation command allocates a peripheral resource to an operating system and installs the driver of the peripheral resource in the operating system when releasing the peripheral resource.

In a possible implementation manner of the second aspect, the non-real-time operating system includes a Linux or Windows system.

From the above, the construction device of the present application is suitable for constructing heterogeneous systems with real-time operating systems on various non-real-time operating systems.

In a third aspect, an embodiment of the present application provides an operating system, including: a heterogeneous system constructed using any one of the implementation manners described in the first aspect of the present application.

In a fourth aspect, an embodiment of the present application provides a computer, including: a heterogeneous system constructed using any one of the implementation manners described in the first aspect of the present application.

In a fifth aspect, the embodiment of the present application provides a computing device, including:

bus;

a communication interface connected to the bus;

at least one processor connected to the bus; and

At least one memory is connected to the bus and stores program instructions, and the program instructions, when executed by the at least one processor, cause the at least one processor to execute any one of the implementation manners of the first aspect of the present application.

In a sixth aspect, the embodiments of the present application provide a computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a computer, the computer executes any one of the implementation manners of the first aspect of the application.

Description of drawings

FIG. 1 is a schematic flowchart of Embodiment 1 of a method for constructing a heterogeneous system of the present application;

FIG. 2A is a schematic diagram of the architecture of the non-real-time operating system of the present application;

FIG. 2B is a schematic diagram of the architecture of the heterogeneous system constructed in Embodiment 1 of a method for constructing a heterogeneous system of the present application;

FIG. 3 is a schematic flowchart of Embodiment 2 of a method for constructing a heterogeneous system of the present application;

FIG. 4 is a schematic diagram of the architecture of the heterogeneous system constructed in Embodiment 2 of a method for constructing a heterogeneous system of the present application;

FIG. 5 is a schematic structural diagram of Embodiment 1 of a device for constructing a heterogeneous system of the present application;

FIG. 6 is a schematic structural diagram of Embodiment 2 of a device for constructing a heterogeneous system of the present application;

FIG. 7 is a schematic structural diagram of a computing device according to various embodiments of the present application.

Detailed ways

In the following description, references to "some embodiments" describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or a different subset of all possible embodiments, and Can be combined with each other without conflict.

In the following description, the terms "first\second\third, etc." or module A, module B, module C, etc. are only used to distinguish similar objects, or to distinguish different embodiments, not Representing a specific ordering for objects, it is understood that the specific order or sequence can be interchanged where permitted, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein.

In the following description, the involved reference numerals representing steps, such as S110, S120, etc., do not mean that this step must be executed, and the order of the previous and subsequent steps can be interchanged or executed simultaneously if allowed.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

The embodiment of the present application provides a method and device for constructing a heterogeneous system. The construction method includes: installing a real-time operating environment system on a non-real-time operating system running on a computer hardware platform; The non-real-time operating system releases and allocates hardware resources dedicated to the real-time operating system in the hardware platform, and builds a virtual real-time hardware platform based on the hardware resources; the real-time operating environment system is installed on the virtual real-time hardware platform And start the real-time operating system, the device tree of the real-time operating system includes the virtual real-time hardware platform. The technical solution of this application does not require customized modification of the non-real-time operating system, and the constructed virtual real-time hardware platform has dedicated hardware resources and strong real-time performance. Running a real-time operating system on it improves the real-time performance of the entire system and security.

Various embodiments of the present application are described below with reference to the accompanying drawings.

Firstly, various method embodiments of the present application are introduced with reference to FIG. 1 to FIG. 4 .

Embodiment 1 of a construction method of a heterogeneous system by releasing and allocating hardware resources dedicated to a real-time operating system in a computing hardware platform from a non-real-time operating system, and constructing a virtual real-time hardware platform based on the hardware resources; on the virtual real-time hardware platform The real-time operating system is installed and started, and the device tree of the real-time operating system includes a virtual real-time hardware platform. The technical solution of this application does not require customized modification of the non-real-time operating system, and the constructed virtual real-time hardware platform has dedicated hardware resources and strong real-time performance. Running a real-time operating system on it improves the real-time performance of the entire system and security.

FIG. 1 shows the flow of Embodiment 1 of a construction method of a heterogeneous system, which includes steps S110 to S140.

S110: Install a real-time operating environment system on a non-real-time operating system running on a computer hardware platform.

Among them, the Real Time Running Environment system (Real Time Running Environment, RTRE) is the system developed by this application, which is a software package on a non-real-time operating system, which can be installed and uninstalled, and is used to divide the resources of the computer hardware platform.

Among them, the non-real-time operating system runs on the hardware platform of the computer. In some embodiments, the non-real-time operating system is a Linux system, and in other embodiments, the non-real-time operating system is a Windows system. Neither Linux nor Windows systems have real-time performance. Still in some embodiments, the non-real-time operating system has a macrokernel, and in other embodiments, the non-real-time operating system has a microkernel.

Wherein, when the non-real-time operating system is Linux, it may be any linux distribution system, for example, such as the ubuntu system or the debian system.

S120: The real-time operating environment system releases and allocates hardware resources dedicated to the real-time operating system from the non-real-time operating system, and builds a virtual real-time hardware platform based on the hardware resources.

Wherein, the virtual real-time hardware platform provides dedicated hardware resources for the real-time operating system system. In some embodiments, it includes a CPU core, memory and peripherals dedicated to the real-time operating system system. The CPU cores are several CPUs on the same processor. The core can also be a CPU core on other processors. The peripherals dedicated to the real-time operating system include hard disks, PCI devices, serial ports, and network ports dedicated to the real-time operating system.

Wherein, the virtual real-time hardware platform also provides a first virtual peripheral for the real-time operating system, and the first virtual peripheral is a virtual device corresponding to a peripheral shared by the real-time operating system and the non-real-time operating system, such as a shared keyboard.

Wherein, in some embodiments, the real-time operating environment system is provided with a command set, the command set includes a resource release command, a resource allocation command, and a virtual peripheral creation command, and the real-time operating environment system uses the resource release command, the resource allocation command, and the virtual peripheral Set the creation command to build a virtual real-time hardware platform.

In some embodiments, when the real-time operating environment system releases a peripheral resource from an operating system through a resource release command, the driver of the peripheral resource is deleted; the real-time operating environment system allocates a peripheral resource to a resource through a resource allocation command. When the operating system releases the peripheral resource, the driver of the peripheral resource in the operating system is installed. In some embodiments, the real-time operating environment system allocates dedicated hardware resources for the real-time operating system from reserved hardware resources through a resource allocation command. The real-time operating environment system creates the first virtual peripheral through a virtual peripheral creation command.

In some other embodiments, the real-time operating environment system strips the dedicated hardware resource of the real-time operating system from the non-real-time operating system through the resource release command, so that the non-real-time operating system no longer uses the hardware resource, and uses the resource allocation command to release the hardware resource The hardware resources are allocated to the real-time operating system and used exclusively by the real-time operating system.

In some embodiments, when constructing multiple real-time operating systems, each real-time operating system has its own dedicated hardware resources and first virtual peripherals, forming a virtual real-time hardware platform for each real-time operating system.

S130: Install and start the real-time operating system on the virtual real-time hardware platform by the real-time operating environment system.

Wherein, the device tree of the real-time operating system system includes a virtual real-time hardware platform. In some embodiments, when the real-time operating environment system starts the real-time operating system on the virtual real-time hardware platform, it starts real-time operation on the dedicated CPU core of the real-time operating system system. system, and start each device in the device tree.

Among them, the real-time operating system is built on the virtual real-time hardware platform. The virtual real-time hardware platform is directly composed of the CPU core, memory and peripherals dedicated to the real-time operating system system. It can be considered that the real-time operating system is built on bare-metal hardware.

In some embodiments, when the real-time operating system and the above application program are running, the interrupt of the peripheral device dedicated to the real-time operating system is directly delivered to the CPU core dedicated to the real-time operating system system to be processed by the real-time operating system, and the interrupt response path is the same as that of the bare metal The same, and the real-time operating system and the above applications directly access the dedicated memory and peripherals of the real-time operating system system through the dedicated CPU core of the real-time operating system system. Therefore, the real-time operating system has high real-time performance.

Wherein, in some embodiments, the command set of the real-time operating environment system also includes a system loading command and a system startup command, and the real-time operating environment system loads the software package image of the real-time operating system into the memory of the virtual real-time hardware platform through the system loading command , start the real-time operating system through the system startup command, so as to build a heterogeneous system including non-real-time operating system and real-time operating system on a computer hardware platform.

Wherein, the real-time operating system includes an embedded operating system, for example, such as the Intelwell RT system.

In some embodiments, when multiple real-time operating systems are constructed, the corresponding real-time operating systems are started on the respective virtual real-time hardware platforms of each real-time operating system.

FIG. 2A shows the architecture of a non-real-time operating system, and the non-real-time operating system runs directly on the hardware platform of the computer. Exemplarily, the non-real-time operating system in FIG. 2A includes Linux and Windows systems.

Figure 2B shows the architecture of the heterogeneous system constructed by the present application, the real-time operating environment system runs in the non-real-time operating system, and the real-time operating system runs on the real-time operating environment system, for example, the real-time operating system in Figure 2B includes Intewell RT system. Although the real-time operating system in Figure 2B runs on the real-time operating environment system, its essence is to run directly on the virtual real-time hardware platform composed of the dedicated CPU core, memory and peripherals of the real-time operating system system, which is equivalent to running directly on the bare hardware. on board. When a problem occurs in the non-real-time operating system, it does not affect the operation of the real-time operating system, which improves the security of the real-time operating system.

From the above, the real-time operating system of the present application is built on the virtual real-time hardware platform, and the virtual real-time hardware platform has hardware resources dedicated to the real-time operating system. Therefore, the real-time operating system of the present application has a strong real-time operating system performance, and Improved security for real-time operating systems.

S140: When the real-time operating system is stopped, the real-time operating environment system releases hardware resources dedicated to the real-time operating system to the non-real-time operating system.

Wherein, in some embodiments, the command set of the real-time operating environment system also includes a system stop command and a resource release command. Dedicated hardware resources are released to non-real-time operating systems.

To sum up, Embodiment 1 of a method for constructing a heterogeneous system installs a real-time operating environment system on a non-real-time operating system, and the real-time operating environment system provides a virtual real-time hardware platform, and the virtual real-time hardware platform includes a real-time operating system to provide dedicated hardware. resources, and install and run a real-time operating system on a virtual real-time hardware platform to build a heterogeneous system. A method for building a heterogeneous system Embodiment 1 The constructed heterogeneous system is realized by the real-time operating environment system on the non-real-time operating system, without customizing and modifying the non-real-time operating system, and the constructed virtual real-time hardware platform has exclusive The hardware resource has strong real-time performance, and the real-time operating system runs on it, which improves the real-time performance and security of the whole system.

Embodiment 2 of a method for constructing a heterogeneous system is an implementation of Embodiment 1 of a method for constructing a heterogeneous system on the ubuntu operating system. FIG. 3 shows the detailed flow of the second method embodiment, which includes steps S310 to S360.

S310: installing the ubuntu operating system on the computer hardware platform.

Wherein, the ubuntu operating system is a Linux distribution system.

S320: installing the software of the real-time operating environment system RTRE on the ubuntu operating system.

Among them, the RTRE is provided with a command set for managing the real-time operating system. The command set includes:

Resource allocation commands, such as cpu alloc, mem alloc and deviceName alloc, where deviceName is the name of the defined peripheral;

Resource release commands, such as cpu free, mem free and deviceName free;

System installation/start/stop commands for RTOS management, such as loadRT/StartRT/StopRT.

Virtual peripheral creation command, such as rt vdeviceName create, where vdeviceName is the name of the defined virtual peripheral.

S330: The RTRE strips out the dedicated hardware resources of the real-time operating system from the ubuntu system through a resource allocation command, and allocates them to the real-time operating system, and creates a first virtual peripheral through a virtual peripheral creation command.

Wherein, the dedicated hardware resources include CPU cores, memory and peripherals dedicated to the real-time operating system.

Among them, RTRE strips the dedicated CPU core of the real-time operating system from the ubuntu system by executing the cpu free command according to the configuration data, and allocates the dedicated CPU core to the real-time operating system through the cpu alloc command. This process can be regarded as a non-real-time The reverse process of the CPU core allocation of the operating system.

Among them, RTRE strips the dedicated memory of the real-time operating system from the ubuntu system by executing the mem free command according to the configuration data, and allocates the dedicated memory to the real-time operating system through the mem alloc command. This process can be regarded as a non-real-time operating system The inverse process of memory allocation.

Among them, RTRE strips the peripherals exclusive to the real-time operating system from the ubuntu system by executing the deviceName free command according to the configuration data, and assigns the exclusive peripherals to the real-time operating system through the deviceName alloc command. This process can be regarded as non-real-time The reverse process of the peripheral allocation of the operating system. The dedicated peripherals include hard disks, PCI devices, and network ports dedicated to the real-time operating system.

Wherein, the RTRE executes rt vdeviceName create according to the configuration data to create the first virtual peripheral, and the first virtual peripheral is a virtual device corresponding to a peripheral shared by the real-time operating system and the non-real-time operating system. Exemplarily, the shared peripheral includes a shared serial port, a shared network port, and the like.

In some embodiments, the above-mentioned configuration data is configured by a non-real-time operating system. In other implementations, the above configuration data is configured through the IDE of the entire heterogeneous system.

S340: RTRE constructs a virtual real-time hardware platform vm1 by using the hardware resources stripped from the ubuntu system and the created first virtual peripheral.

Among them, the virtual real-time hardware platform vm1 provides a hardware platform for the real-time operating system.

S350: Through the loading and starting function of RTRE, the image loads Intewell RT into the memory dedicated to the real-time operating system, and starts Intewell RT.

Among them, load the Intewell RT image into the memory of vm1 through the loadRT command of RTRE, and start the Intewell RT system that has been loaded into vm1 through the startRT command of RTRE.

Among them, at this time, the linux system and the intewell RT system run simultaneously on a hardware platform, and the system has strong real-time performance.

Fig. 4 shows the architecture diagram of the heterogeneous system constructed in the second method embodiment, the non-real-time operating system is the ubuntu system, and the real-time operating system is the intewell RT system.

S360: When the Intewell RT system stops running, release the hardware resources dedicated to the real-time operating system to the ubuntu system through RTRE.

Among them, stop the intewell RT system through the stopRT command provided by RTRE, and then execute the cpu free, mem free, and deviceName free commands provided by RTRE to release the CPU core, memory and peripherals in vm1 to the ubuntu system for use.

To sum up, the second embodiment of a heterogeneous system construction method installs the real-time operating environment system RTRE on the ubuntu system, and RTRE provides a virtual real-time hardware platform vml, and vml includes a real-time operating system to provide dedicated hardware resources, and on vml Install and run the real-time operating system Intewell RT to build heterogeneous systems. In the heterogeneous system constructed in this embodiment, the real-time operating system has dedicated hardware resources and has strong real-time performance. Build an RTRE on the ubuntu system, run the real-time operating system Intewell RT on it to improve the real-time performance of the system, without customizing the ubuntu system, and improve the real-time and security of the entire system.

Various device embodiments of the present application are introduced below with reference to FIG. 5 to FIG. 6 .

Embodiment 1 of an apparatus for constructing a heterogeneous system runs the method of Embodiment 1 of a method for constructing a heterogeneous system.

FIG. 5 shows the structure of Embodiment 1 of a construction device for a heterogeneous system, which includes: a first installation module 510 , a first construction module 520 , a first startup module 530 , and a first release module 540 .

The first installation module 510 is used to install a real-time operating environment system on a non-real-time operating system running on a computer hardware platform. For its working principle and advantages, please refer to step S110 in Embodiment 1 of a method for constructing a heterogeneous system. More details.

The first building block 520 is used to release and allocate hardware resources dedicated to the real-time operating system from the non-real-time operating system by the real-time operating environment system, and build a virtual real-time hardware platform based on the hardware resources. For its working principle and advantages, please refer to a The step S120 of the first embodiment of the heterogeneous system construction method will not be described in detail here.

The first start-up module 530 is used to install and start each real-time operating system on the virtual real-time hardware platform by the real-time operating environment system. For its working principle and advantages, please refer to step S120 in Embodiment 1 of a method for constructing a heterogeneous system. More details.

The first release module 540 is used to release the dedicated hardware resources of the real-time operating system to the non-real-time operating system by the real-time operating environment system when the real-time operating system is stopped. For its working principle and advantages, please refer to a construction method of a heterogeneous system for implementation. Step S140 of Example 1 will not be described in detail here.

Embodiment 2 of an apparatus for constructing a heterogeneous system runs the method of Embodiment 2 of a method for constructing a heterogeneous system.

FIG. 6 shows the structure of the first embodiment of the device, which includes: a second installation module 610 , a first installation module 620 , a first construction module 630 , a first activation module 650 , and a first release module 660 .

The second installation module 610 installs the ubuntu operating system on the computer hardware platform. For its working principle and advantages, please refer to step S310 in the second embodiment of a method for constructing a heterogeneous system, which will not be described in detail here.

The first installation module 620 is used to install the software of the real-time operating environment system RTRE on the ubuntu operating system. For its working principle and advantages, please refer to step S320 in the second embodiment of a method for constructing a heterogeneous system, which will not be described in detail here.

The first building block 630 is used for RTRE to strip the dedicated hardware resource of the real-time operating system from the ubuntu system through the resource allocation command, and allocate it to the real-time operating system, and also create the first virtual peripheral through the virtual peripheral creation command, and its work For the principles and advantages, please refer to step S330 in Embodiment 2 of a method for constructing a heterogeneous system, which will not be described in detail here.

The first building module 630 is also used for RTRE to build a virtual real-time hardware platform vm1 using the hardware resources stripped from the ubuntu system and the created first virtual peripheral. For its working principle and advantages, please refer to a construction method embodiment of a heterogeneous system The second step S340 will not be described in detail here.

The first start-up module 650 is used to mirror load Intewell RT into the memory of vml through the loading and start-up commands of RTRE, and start Intewell RT. For its working principle and advantages, please refer to the steps in the second embodiment of a construction method of a heterogeneous system S350, no more details here.

The first release module 660 is used to use RTRE to release the dedicated hardware resources of the real-time operating system to the ubuntu system when the Intewell RT system does not need to be run. For its working principle and advantages, please refer to the steps in the second embodiment of a construction method of a heterogeneous system S360, no more details here.

The embodiment of the present application also provides an operating system, which includes a heterogeneous system constructed by Embodiment 1 of a method for constructing a heterogeneous system or Embodiment 2 of a method for constructing a heterogeneous system.

The embodiment of the present application also provides a computer embodiment, which includes a heterogeneous system constructed by Embodiment 1 of a method for constructing a heterogeneous system or Embodiment 2 of a method for constructing a heterogeneous system.

The embodiment of the present application also provides a computing device, which will be described in detail below with reference to FIG. 7 .

The computing device 700 includes a processor 710 , a memory 720 , a communication interface 730 , and a bus 740 .

It should be understood that the communication interface 730 in the computing device 700 shown in this figure can be used to communicate with other devices.

Wherein, the processor 710 may be connected to the memory 720 . The memory 720 can be used to store the program codes and data. Therefore, the memory 720 may be a storage unit inside the processor 710, or an external storage unit independent of the processor 710, or may include a storage unit inside the processor 710 and an external storage unit independent of the processor 710. part.

Optionally, computing device 700 may further include a bus 740 . Wherein, the memory 720 and the communication interface 730 may be connected to the processor 710 through the bus 740 . The bus 740 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EFStended Industry Standard Architecture, EISA) bus or the like. The bus 740 can be divided into address bus, data bus, control bus and so on. For ease of representation, only one line is used in this figure, but it does not mean that there is only one bus or one type of bus.

It should be understood that, in this embodiment of the present application, the processor 710 may be a central processing unit (central processing unit, CPU). The processor can also be other general-purpose processors, digital signal processors (digital signal processors, DSPs), application specific integrated circuits (application specific integrated circuits, ASICs), off-the-shelf programmable gate arrays (field programmable gate arrays, FPGAs) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like. Alternatively, the processor 710 adopts one or more integrated circuits for executing related programs, so as to realize the technical solutions provided by the embodiments of the present application.

The memory 720 may include read-only memory and random-access memory, and provides instructions and data to the processor 710 . A portion of processor 710 may also include non-volatile random access memory. For example, processor 710 may also store device type information.

When the computing device 700 is running, the processor 710 executes the computer-implemented instructions in the memory 720 to perform the operation steps of the various method embodiments.

It should be understood that the computing device 700 according to the embodiment of the present application may correspond to a corresponding body executing the methods according to the various embodiments of the present application, and the above-mentioned and other operations and/or functions of the modules in the computing device 700 are for realizing the present invention For the sake of brevity, the corresponding processes of the methods in the embodiments are not repeated here.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes such as U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc. .

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and the program is used to execute the operation steps of each method embodiment when executed by a processor.

The computer storage medium in the embodiments of the present application may use any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include, electrical connections with one or more leads, portable computer diskettes, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through the Internet using an Internet service provider). connect).

Note that the above are only preferred embodiments and technical principles used in this application. Those skilled in the art will understand that the present application is not limited to the specific embodiments described here, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, all of which belong to the present application. Apply for a category of protection.

Claims

A construction method of a heterogeneous system, characterized in that, comprising:

Install a real-time operating environment system on a non-real-time operating system running on a computer hardware platform;

releasing and allocating hardware resources specific to the real-time operating system in the hardware platform from the non-real-time operating system through the real-time operating environment system, and constructing a virtual real-time hardware platform based on the hardware resources;

The real-time operating system is installed and started on the virtual real-time hardware platform by the real-time operating environment system, and the device tree of the real-time operating system includes the virtual real-time hardware platform.
The construction method according to claim 1, wherein the hardware resources dedicated to the real-time operating system at least include the following resources: CPU core, memory, and peripherals.
The construction method according to claim 2, wherein the real-time operating environment system starts a real-time operating system on the virtual real-time hardware platform, including:

Start the real-time operating system on the CPU core, and start each device in the device tree.
The construction method according to claim 2, further comprising: directly delivering the interrupt of the peripheral device to the CPU core to be processed by the real-time operating system;

The real-time operating system directly accesses the memory and the peripherals through the CPU core.
The construction method according to claim 1, wherein a command set is configured in the real-time operating environment system, and the command set includes: a resource release command, a resource allocation command, a system load command, a system start command, and a system stop command ;

The real-time operating environment system releases the dedicated hardware resources from the non-real-time operating system through a resource release command;

The real-time operating environment system allocates dedicated hardware resources for the real-time operating environment system on the computer hardware platform through the resource allocation command;

The real-time operating environment system loads the image file of the real-time operating system into the memory of the virtual real-time hardware platform through the system loading command, so as to realize the installation of the real-time operating system;

The real-time operating environment system runs and starts the image file installed in the memory of the virtual real-time hardware platform on the virtual real-time hardware platform through the system startup command;

The real-time operating environment system stops the running real-time operating system through the system stop command.
The construction method according to claim 4, wherein the real-time operating environment system releases the dedicated hardware resource from the real-time operating system through a resource release command.
The construction method according to claim 6, wherein when the real-time operating environment system releases a peripheral resource from an operating system through a resource release command, the driver of the peripheral resource is deleted;

When the real-time operating environment system allocates a peripheral resource to an operating system to release the peripheral resource through a resource allocation command, it installs the driver of the peripheral resource in the operating system.
The construction method according to any one of claims 1 to 7, wherein the non-real-time operating system includes a Linux or Windows system.
A construction device for a heterogeneous system, characterized in that, comprising:

The first installation module is used to install a real-time operating environment system on a non-real-time operating system running on a computer hardware platform;

The first building module is used to release and allocate hardware resources dedicated to the real-time operating system in the hardware platform from the non-real-time operating system through the real-time operating environment system, and build a virtual real-time hardware platform based on the hardware resources;

The first starting module is configured to install and start the real-time operating system on the virtual real-time hardware platform by the real-time operating environment system, and the device tree of the real-time operating system includes the virtual real-time hardware platform.
An operating system, characterized in that it comprises:

A heterogeneous system constructed using the construction method described in any one of claims 1 to 8.
A computing device, comprising:

bus;

a communication interface connected to the bus;

at least one processor connected to the bus; and

At least one memory, which is connected to the bus and stores program instructions, which when executed by the at least one processor causes the at least one processor to execute the construction method described in any one of claims 1 to 8.
A computer-readable storage medium, on which program instructions are stored, wherein, when the program instructions are executed by a computer, the computer executes the construction method described in any one of claims 1 to 8.