基于实时内核uC/OS-Ⅱ的应用研究
摘要
嵌入式系统作为实现设备小型化、智能化的一个重要元素，目前已经广泛应用于国防、工业、交通、能源、信息技术以及日常生活等各个领域，并发挥着及其重要的作用。嵌入式系统的软件核心是嵌入式操作系统。然而，目前国内在嵌入式系统软件开发上还存在许多困难。首先，国外成熟的嵌入式实时操作系统RTOS大都价格昂贵，动辄百万元，不利于在国内中小型企业特别是大中院校推广应用：其次，因大部分RTOS不公开源码，使开发的产品存在安全隐患，若应用于军工产品，这是不能不考虑的问题；最后，嵌入式系统开发人员多为特定领域的专家，但在一定程序上缺乏计算机理论基础，而用好RTOS要求对操作系统、计算机系统结构等概念有着深刻的理解。
针对以上问题，免费公开源代码的嵌入式操作系统正倍受瞩目，uC／OS-Ⅱ就是其中之一。uC／OS-Ⅱ是面向中小型应用的、基于优先级的可剥夺嵌入式实时内核，其特点是小巧、性能稳定、可免费获得实现代码。本文以基于ARM7TDMI的SOC系统AT91X40为硬件平台对嵌入式实时内核uC／OS-Ⅱ进行了研究与应用设计。文中首先对该实时内核进行了详细的分析，将uC／OS-Ⅱ移植到AT91X40上并编写了应用程序进行了测试；并对uC／OS-Ⅱ存在的不足做出了改进，如内存使用、堆栈和中断等；其次在对嵌入式TCP／IP协议栈LWIP．分析(特别是与操作系统相关的部分)基础上，把LWIP应用到uC／OS-Ⅱ上，成为uC／OS-Ⅱ的网络服务模块，实现了对uC／OS-Ⅱ功能的扩充并在LWIP基础上编写了相关的网络驱动程序。最后编写了简单的网络应用对uC／OS-Ⅱ上的LWIP网络功能进行测试。
As an important element of intelligent and small-size equipment, embedded system has now widely used and plays a very important role in many fields such as national defence , industry control, traffic, energy sources, information technology and civil living. But as a software kernel of the embedded system, the embedded real-time operating system is presently developed with inconvenience in our country. Firstly, most of the external EOS(embedded operation system) is too expensive to popularly be used in minitype corporation especially in academy and university. Secondly because the kernel of most of EOS are not open and free ,it makes the products which are developed on the EOS exist potential security problem. Especially it must be considered if it is used in military production. At last, making good use of the EOS demand the developer has solid background in operation system and computer architect. But most of embedded system software developer are expert of other fields who know few basic theory in computer science.
Because of above problems, more attention has been put on the embedded operation system whose implement code can be gotten freely. uC/OS-II is just one of the best embedded operation system among them. As a embedded realtime kernel based task priority,uC/OS-II has been mainly used in the minitype embedded application, it has many virtue such as small size, stabile performance and free. Therefore, based the hardware platform AT91X40 which is designed based ARM7TDMI, I have a research and application design on uC/OS-II. in this paper, firstly I have analyzed and researched the implement of uC/OS-II, and improved the uC/OS-II's deficiency in memory, interrupt handle ,stack and so on. Then I have ported uC/OS-II on AT91X40 and programmed test code to validate the porting. Secondly, based the research of the tcp/ip protocol stack-LWIP which has been used in the field of embedded system , I make LWIP be a service module of uC/OS-II to realizes expansion of uC/OS-II.Further more I implements the driver for the LWIP. At the end , I programs a simple network application to test the uC/OS-II's network function.
针对以上问题，免费公开源代码的嵌入式操作系统正倍受瞩目，uC／OS-Ⅱ就是其中之一。uC／OS-Ⅱ是面向中小型应用的、基于优先级的可剥夺嵌入式实时内核，其特点是小巧、性能稳定、可免费获得实现代码。本文以基于ARM7TDMI的SOC系统AT91X40为硬件平台对嵌入式实时内核uC／OS-Ⅱ进行了研究与应用设计。文中首先对该实时内核进行了详细的分析，将uC／OS-Ⅱ移植到AT91X40上并编写了应用程序进行了测试；并对uC／OS-Ⅱ存在的不足做出了改进，如内存使用、堆栈和中断等；其次在对嵌入式TCP／IP协议栈LWIP．分析(特别是与操作系统相关的部分)基础上，把LWIP应用到uC／OS-Ⅱ上，成为uC／OS-Ⅱ的网络服务模块，实现了对uC／OS-Ⅱ功能的扩充并在LWIP基础上编写了相关的网络驱动程序。最后编写了简单的网络应用对uC／OS-Ⅱ上的LWIP网络功能进行测试。
As an important element of intelligent and small-size equipment, embedded system has now widely used and plays a very important role in many fields such as national defence , industry control, traffic, energy sources, information technology and civil living. But as a software kernel of the embedded system, the embedded real-time operating system is presently developed with inconvenience in our country. Firstly, most of the external EOS(embedded operation system) is too expensive to popularly be used in minitype corporation especially in academy and university. Secondly because the kernel of most of EOS are not open and free ,it makes the products which are developed on the EOS exist potential security problem. Especially it must be considered if it is used in military production. At last, making good use of the EOS demand the developer has solid background in operation system and computer architect. But most of embedded system software developer are expert of other fields who know few basic theory in computer science.
Because of above problems, more attention has been put on the embedded operation system whose implement code can be gotten freely. uC/OS-II is just one of the best embedded operation system among them. As a embedded realtime kernel based task priority,uC/OS-II has been mainly used in the minitype embedded application, it has many virtue such as small size, stabile performance and free. Therefore, based the hardware platform AT91X40 which is designed based ARM7TDMI, I have a research and application design on uC/OS-II. in this paper, firstly I have analyzed and researched the implement of uC/OS-II, and improved the uC/OS-II's deficiency in memory, interrupt handle ,stack and so on. Then I have ported uC/OS-II on AT91X40 and programmed test code to validate the porting. Secondly, based the research of the tcp/ip protocol stack-LWIP which has been used in the field of embedded system , I make LWIP be a service module of uC/OS-II to realizes expansion of uC/OS-II.Further more I implements the driver for the LWIP. At the end , I programs a simple network application to test the uC/OS-II's network function.
引文
[1] 毛德操，胡希明．嵌入式系统—采用公开源代码和 StrongARM／Xscale处理器．浙江大学出版社，2003，10
[2] LabrosseJean．嵌入式实时操作系统uC／OS—Ⅱ．邵贝贝译．北京航空航天大学出版社，2003：18-30，313-322
[3] DANIEL P. BOVET and MARCO CESATI，深入理解LINUX内核，中国电力出版社，2001，6
[4] W．Richard Stevens，UNIX环境高级编程，尤晋元译．机械工业出版社，2002，1
[5] 戴琪华 uCOS 实时响应问题的解决方法上海理工大学学报，2002，24(1)：28-30
[6] 刘海波等．网卡及底层驱动程序的编写．现代计算机，2001，22(6)：11-15
[7] 王巍．实时操作系统uC／OS-Ⅱ在196KC上的移植．工业控制计算机，2003，6(5)：61-63
[8] Jae-Ho Lee Implementing priorit inheritance semaphore on uC/OS real-time kernel Software Technologies for Future Embedded Systems, 2003. IEEE Workshop on , 15-16 May 2003
[9] 任泰明．如何用数学模型定量评价进程调度算法的性能．兰州石化职业技术学院学报，2001，1(10)：80-81
[10] 王志平等 实时调度算法研究电子科技大学学报，2000，29(4)：51-53
[11] 张惠娟等 一种固定优先级实时调度算法的可行性测定微机发展，2003，13(9)：48
[12] 王涛等 嵌入式系统硬件抽象层的原理与实现电子技术应用，2001，10
[13] 张连栋等 嵌入式实时操作系统uC／OS定时器服务的改进计算机工程与科学，2003，25(5)：91
[14] 翟鸿鸣 单处理器系统的实时调度算法研究微机发展，2003，13(10)：15
[15] Tae Rim Park Reducing OS overhead for real-time industrial controllers with adjustable timer resolution International Symposium on , Volume: 1 , 12-16 June 2001
[16] 杜春雷．ARM体系结构与编程．清华大学出版社，2003
[17] Pappas Implementation and evaluation of (mu)C/OS for the Handy board. Masters Abstracts International 1998
[18] AT91X40 Series. pdf
[19] Adam Dunkels. LwIP source code.
[20] Adam Dunkels. sys_arch, txt in LwIP source code.
[21] Andrew S. Tanenbaum and Albert S. Woodhull. Operating Systems Design and Implementation(Second Edition)．清华大学出版社，1997，9
[22] E．COMER用TCP／IP进行网际互连(第一卷)，电子工业出版社，1998，4
[23] Gary R. Wright and W. Richard Stevens TCP／IP详解(第二卷)，机械工业出版社 2000，7
[24] Maurice J. Bach. UNIX操作系统设计．陈葆珏译．北京大学出版社，1989
[25] W. Richard Stevens. TCP/IP Illustrate, Volume 1:The protocols. Addison Wesley Publishing Company, 1994
[26] 严蔚敏，吴伟民．数据结构．清华大学出版社，2000
[27] Kurt Wall等．GNU／Linux编程指南(第二版)张辉译．北京科海电子出版社，2000
[28] Tan, T.K. Embedded Operating System Energy Analysis and Macro-modeling Computer Design 2002
[29] 弗伯等著．ARM SoC体系结构．北京航空航天大学出版社，2002
[30] 马忠梅．ARM嵌入式处理器结构与应用基础．北京航空航天大学出版社，2002
[31] 郭兴社等译．C语言大全．电子工业出版社，1990，6
[32] 王子恢，等译．最新C语言精华．电子工业出版社，1997，2
[33] 戴建鹏等译．C语言大全．电子工业出版社，1995，2
[34] 探矽工作室．嵌入式系统开发圣经．中国铁道出版社，2003，5
[35] 马鸣锦．基于MCORE微控制器的嵌入式系统．国防工业出版社，2003，4
[36] 陈章龙．嵌入式系统：Intel StrongARM结构与开发．北京航空航天大学出版社，2002，10
[37] 许海燕．嵌入式系统技术与应用．机械工业出版社，2002
[38] Labrosse著．嵌入式系统构件．袁勤勇．机械工业出版社，2002
[39] 孙玉芳译．嵌入式计算系统设计原理．机械工业出版社，2002
[40] 艾克武译．嵌入式系统的C程序设计．机械工业出版社，2002
[41] 于志宏译．C／C++嵌入式系统编程．中国电力出版社，2001，3
[42] 郑宗汉．实时系统软件基础．清华大学出版社，2003．1
[43] 杨涤．系统实时仿真开发环境与应用．清华大学出版社，2002
[44] 张云生．实时控制系统软件设计原理及应用．国防工业出版社，1998，12
[45] 徐波译．C专家编程．人民邮电出版社，2002
[46] 谢希仁．TCP／IP协议族．清华大学出版社，2001
[47] 史蒂文斯．TCP／IP详解．机械工业出版社，2000
[48] COMER．著．用TCP／IP进行网际互连．电子工业出版社，1998，7
[49] ComerDouglas E. Internetworking with TCP/IP Principles ,Protocols, and. Prentice Hall 2001
[50] Farouzan, Behrouz A.;Fegan, Sophia Chung. TCP/IP Protocol SuideBehrouz, A. Forouzan & Sophia Chung Fegan. McGraw-Hill Companies, Inc. 2000
[51] Tanenbaum著．操作系统的设计与实现．电子工业出版社，1998：80-81
[52] Matthew Flint Arnett Inside TCP/IP. IndianapolisNew Riders Publishing, 1995
[53] Moron. Embedded microcontrollers. 科学出版社，2003
[54] Pasetti, Alessandro. Software frameworks and embedded control. Berlin ;Springer,c2002
[55] Henzinger. Embedded software :first international workshop, EMSOFT 2001, Tahoe City, CA, USA, October 8-10, 2001 : proceedings /Thomas A. Henzinger, Christoph M. Kitsch (eds.). Berlin ;Springer, c2001
[56] Alpa Shah. An Instruction-Set Simulator for the ARM processor. Columbia University
[57] Robert P. Dick. Analysis of Power Dissipation in Embedded Systems Using Real-Time Operating Systems. IEEE TRANSACTIONS ON COMPUTER-AIDED DESIGN OF INTEGRATED CIRCUITS AND SYSTEMS, VOL. 22, NO. 5, MAY 2003
[58] Davis William S, Operating System: An Systematic View(Second Edition), Addison-Wesley, 1983
[59] www.kernel.org、www.gnu.org、www.linux.org
[60] W. Richard Stevens. TCP/IP Illustrated, Volume3:TCP for Transactions , HTTP, NNTP, and the UNIX Domain Protocols. Addison
Wesley, 1996
[61] 毛德操著．Linux内核源代码情景分析．浙江大学出版社，2001
[2] LabrosseJean．嵌入式实时操作系统uC／OS—Ⅱ．邵贝贝译．北京航空航天大学出版社，2003：18-30，313-322
[3] DANIEL P. BOVET and MARCO CESATI，深入理解LINUX内核，中国电力出版社，2001，6
[4] W．Richard Stevens，UNIX环境高级编程，尤晋元译．机械工业出版社，2002，1
[5] 戴琪华 uCOS 实时响应问题的解决方法上海理工大学学报，2002，24(1)：28-30
[6] 刘海波等．网卡及底层驱动程序的编写．现代计算机，2001，22(6)：11-15
[7] 王巍．实时操作系统uC／OS-Ⅱ在196KC上的移植．工业控制计算机，2003，6(5)：61-63
[8] Jae-Ho Lee Implementing priorit inheritance semaphore on uC/OS real-time kernel Software Technologies for Future Embedded Systems, 2003. IEEE Workshop on , 15-16 May 2003
[9] 任泰明．如何用数学模型定量评价进程调度算法的性能．兰州石化职业技术学院学报，2001，1(10)：80-81
[10] 王志平等 实时调度算法研究电子科技大学学报，2000，29(4)：51-53
[11] 张惠娟等 一种固定优先级实时调度算法的可行性测定微机发展，2003，13(9)：48
[12] 王涛等 嵌入式系统硬件抽象层的原理与实现电子技术应用，2001，10
[13] 张连栋等 嵌入式实时操作系统uC／OS定时器服务的改进计算机工程与科学，2003，25(5)：91
[14] 翟鸿鸣 单处理器系统的实时调度算法研究微机发展，2003，13(10)：15
[15] Tae Rim Park Reducing OS overhead for real-time industrial controllers with adjustable timer resolution International Symposium on , Volume: 1 , 12-16 June 2001
[16] 杜春雷．ARM体系结构与编程．清华大学出版社，2003
[17] Pappas Implementation and evaluation of (mu)C/OS for the Handy board. Masters Abstracts International 1998
[18] AT91X40 Series. pdf
[19] Adam Dunkels. LwIP source code.
[20] Adam Dunkels. sys_arch, txt in LwIP source code.
[21] Andrew S. Tanenbaum and Albert S. Woodhull. Operating Systems Design and Implementation(Second Edition)．清华大学出版社，1997，9
[22] E．COMER用TCP／IP进行网际互连(第一卷)，电子工业出版社，1998，4
[23] Gary R. Wright and W. Richard Stevens TCP／IP详解(第二卷)，机械工业出版社 2000，7
[24] Maurice J. Bach. UNIX操作系统设计．陈葆珏译．北京大学出版社，1989
[25] W. Richard Stevens. TCP/IP Illustrate, Volume 1:The protocols. Addison Wesley Publishing Company, 1994
[26] 严蔚敏，吴伟民．数据结构．清华大学出版社，2000
[27] Kurt Wall等．GNU／Linux编程指南(第二版)张辉译．北京科海电子出版社，2000
[28] Tan, T.K. Embedded Operating System Energy Analysis and Macro-modeling Computer Design 2002
[29] 弗伯等著．ARM SoC体系结构．北京航空航天大学出版社，2002
[30] 马忠梅．ARM嵌入式处理器结构与应用基础．北京航空航天大学出版社，2002
[31] 郭兴社等译．C语言大全．电子工业出版社，1990，6
[32] 王子恢，等译．最新C语言精华．电子工业出版社，1997，2
[33] 戴建鹏等译．C语言大全．电子工业出版社，1995，2
[34] 探矽工作室．嵌入式系统开发圣经．中国铁道出版社，2003，5
[35] 马鸣锦．基于MCORE微控制器的嵌入式系统．国防工业出版社，2003，4
[36] 陈章龙．嵌入式系统：Intel StrongARM结构与开发．北京航空航天大学出版社，2002，10
[37] 许海燕．嵌入式系统技术与应用．机械工业出版社，2002
[38] Labrosse著．嵌入式系统构件．袁勤勇．机械工业出版社，2002
[39] 孙玉芳译．嵌入式计算系统设计原理．机械工业出版社，2002
[40] 艾克武译．嵌入式系统的C程序设计．机械工业出版社，2002
[41] 于志宏译．C／C++嵌入式系统编程．中国电力出版社，2001，3
[42] 郑宗汉．实时系统软件基础．清华大学出版社，2003．1
[43] 杨涤．系统实时仿真开发环境与应用．清华大学出版社，2002
[44] 张云生．实时控制系统软件设计原理及应用．国防工业出版社，1998，12
[45] 徐波译．C专家编程．人民邮电出版社，2002
[46] 谢希仁．TCP／IP协议族．清华大学出版社，2001
[47] 史蒂文斯．TCP／IP详解．机械工业出版社，2000
[48] COMER．著．用TCP／IP进行网际互连．电子工业出版社，1998，7
[49] ComerDouglas E. Internetworking with TCP/IP Principles ,Protocols, and. Prentice Hall 2001
[50] Farouzan, Behrouz A.;Fegan, Sophia Chung. TCP/IP Protocol SuideBehrouz, A. Forouzan & Sophia Chung Fegan. McGraw-Hill Companies, Inc. 2000
[51] Tanenbaum著．操作系统的设计与实现．电子工业出版社，1998：80-81
[52] Matthew Flint Arnett Inside TCP/IP. IndianapolisNew Riders Publishing, 1995
[53] Moron. Embedded microcontrollers. 科学出版社，2003
[54] Pasetti, Alessandro. Software frameworks and embedded control. Berlin ;Springer,c2002
[55] Henzinger. Embedded software :first international workshop, EMSOFT 2001, Tahoe City, CA, USA, October 8-10, 2001 : proceedings /Thomas A. Henzinger, Christoph M. Kitsch (eds.). Berlin ;Springer, c2001
[56] Alpa Shah. An Instruction-Set Simulator for the ARM processor. Columbia University
[57] Robert P. Dick. Analysis of Power Dissipation in Embedded Systems Using Real-Time Operating Systems. IEEE TRANSACTIONS ON COMPUTER-AIDED DESIGN OF INTEGRATED CIRCUITS AND SYSTEMS, VOL. 22, NO. 5, MAY 2003
[58] Davis William S, Operating System: An Systematic View(Second Edition), Addison-Wesley, 1983
[59] www.kernel.org、www.gnu.org、www.linux.org
[60] W. Richard Stevens. TCP/IP Illustrated, Volume3:TCP for Transactions , HTTP, NNTP, and the UNIX Domain Protocols. Addison
Wesley, 1996
[61] 毛德操著．Linux内核源代码情景分析．浙江大学出版社，2001