本文關(guān)鍵詞：基于ARM的嵌入式實(shí)時(shí)系統(tǒng)關(guān)鍵技術(shù)的研究　出處：《中國科學(xué)院研究生院（沈陽計(jì)算技術(shù)研究所）》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 嵌入式數(shù)控系統(tǒng) 實(shí)時(shí)操作系統(tǒng) RT-Preempt Xenomai ARM 處理器

【摘要】：隨著ARM處理器計(jì)算能力的提高,該類型的處理器在嵌入式領(lǐng)域的應(yīng)用越來越廣泛的同時(shí),也得到了數(shù)控系統(tǒng)的青睞。比如:德國ECKELMANN公司的E.ENC55和廣州數(shù)控的GSK980TD系列車床CNC都是基于ARM的。本課題依托于國家重大專項(xiàng),以ARM處理器的廣泛應(yīng)用為前提,分別采用RT-Preempt和Xenomai實(shí)時(shí)擴(kuò)展技術(shù)來保證系統(tǒng)的實(shí)時(shí)性,成功實(shí)現(xiàn)了對(duì)基于ARM處理器的Linux系統(tǒng)的實(shí)時(shí)性改造。硬件系統(tǒng)選擇用于工控的TI AM3358處理器平臺(tái)。論文工作包括嵌入式系統(tǒng)的構(gòu)建和Linux系統(tǒng)的實(shí)時(shí)化改造。系統(tǒng)的構(gòu)建主要是系統(tǒng)bootloader、內(nèi)核和根文件系統(tǒng)的構(gòu)建;系統(tǒng)實(shí)時(shí)化改造包括分別采用RT-Preempt實(shí)時(shí)搶占補(bǔ)丁和Xenomai實(shí)時(shí)化擴(kuò)展方案改進(jìn)Linux操作系統(tǒng)的實(shí)時(shí)性能。深入學(xué)習(xí)了RT-Preempt實(shí)時(shí)搶占補(bǔ)丁的實(shí)現(xiàn)原理,研究了其可搶占自旋鎖的實(shí)現(xiàn)、優(yōu)先級(jí)反轉(zhuǎn)問題的解決、中斷線程化、高精度時(shí)鐘等方面的內(nèi)容,解決了TI AM3358平臺(tái)上高精度時(shí)鐘的問題,完成了其到TI AM3358平臺(tái)的移植。深入分析了與Xenomai有關(guān)的Adeos的域管理機(jī)制和中斷管理機(jī)制,解決了TI AM3358平臺(tái)特定時(shí)鐘和中斷處理部分的問題,并完成了其到TI AM3358平臺(tái)的移植。最后對(duì)RT-Preempt實(shí)時(shí)搶占補(bǔ)丁和Xenomai實(shí)時(shí)化擴(kuò)展方案做了部分測(cè)試工作。對(duì)RT-Preempt主要做了任務(wù)調(diào)度延遲測(cè)試、中斷響應(yīng)延遲測(cè)試、內(nèi)存讀寫測(cè)試、優(yōu)先級(jí)反轉(zhuǎn)測(cè)試和用戶空間與內(nèi)核空間間進(jìn)程通信的測(cè)試等;對(duì)Xenomai實(shí)時(shí)擴(kuò)展做了基本的性能測(cè)試。基于TI AM3358和RT-Preempt的嵌入式實(shí)時(shí)數(shù)控系統(tǒng)運(yùn)行穩(wěn)定,在實(shí)驗(yàn)室已經(jīng)做為二次開發(fā)的系統(tǒng)平臺(tái)。本課題的研究對(duì)數(shù)控系統(tǒng)的小型化和經(jīng)濟(jì)化發(fā)展具有重要的參考價(jià)值。
[Abstract]:With the improvement of computing power of ARM processor, this type of processor is more and more widely used in embedded field. Also get the favor of numerical control system. For example:. E.ENC55 of ECKELMANN Company of Germany and CNC of GSK980TD series lathe of Guangzhou NC are all based on ARM. Based on the widespread application of ARM processor, RT-Preempt and Xenomai real-time extension technology are adopted to ensure the real-time performance of the system. The real-time transformation of Linux system based on ARM processor is successfully realized. The TI of hardware system is selected for Industrial Control. AM3358 processor platform. The thesis includes the construction of embedded system and the real-time transformation of Linux system. The system construction is mainly system bootloader. The construction of kernel and root file system; The system real-time transformation includes the use of RT-Preempt real-time preemption patch and Xenomai real-time extension scheme to improve the real-time performance of Linux operating system. The implementation principle of reempt real-time preemption patch. The implementation of preemptive spin lock, the solution of priority inversion problem, interrupt threading, high precision clock and so on are studied. The problem of high precision clock on TI AM3358 platform is solved. The porting of Adeos to TI AM3358 platform is completed, and the domain management mechanism and interrupt management mechanism of Adeos related to Xenomai are deeply analyzed. It solves the problem of specific clock and interrupt processing in TI AM3358 platform. And finished it to TI. Finally, the RT-Preempt real-time preemption patch and the Xenomai real-time extension scheme are partly tested. The RT-Preempt is mainly done. Task scheduling delay testing. Interrupt response delay test, memory read and write test, priority inversion test and process communication between user space and kernel space, etc. The basic performance test of Xenomai real-time extension is done. The embedded real-time NC system based on TI AM3358 and RT-Preempt is running stably. The research of this subject has important reference value for the miniaturization and economical development of numerical control system.
【學(xué)位授予單位】：中國科學(xué)院研究生院（沈陽計(jì)算技術(shù)研究所）
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP316.2;TP332

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