基于实时系统的时间追踪验证

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侵权投诉



Master’sthesisinControlEngineering



Trace‐basedTimingVerificationofReal‐

TimeSystems



Tangxuhua



FacultyforOptical‐ElectricalandComputerEngineering

UniversityofShanghaiforScienceandTechnology

incooperationwith

Timing‐ArchitectsEmbeddedSystemsGmbH



1st



assessor



Wanhongpin



2nd



assessor



Wangzhengxiang



Advisors



Dr.MichaelDeubzer



AndreasSailer

Matriculationnumber



127680544



Date



March9,2015



I

Abstract

ThethesisservestopushtheprocessoftheprojectZeloS³:Creatingthemodelwhichcan

reflectthetiming‐behaviorofaspecificrealtimeoperatingsystem(RTOS)withTAToolSuite,

usingOn‐chipanalyzertotraceitsrunningprocessandreconstructitwithTAToolSuite,and

finallyusingthecustomizedJavaapplicationtodothecomparisonabouttherunning

behaviorbetweenthem,andfindingoutthereasonthatcausesthedifferences.

Thethesisbeginswiththeintroductionofbasicknowledgeaboutdebuggingtechnologiesin

themarket,andthendoingthecomparisonamongdifferentkindsofdebugging

technologies.Thesecondchapterisabouttheintroductionofthesoftwareandhardware

platformthatareusedinthethesis.Aftercoveringthefoundationalelements,thecoming

chapterisaboutthecontextswitchingresearching.Thefourthchapterisaboutthetasksin

projectZeloS³,themodelingpartandcomparisonpartwillbeintroducedindetailsinthis

chapter.

Thethesiscloseswithasynopsisofboththeexperiencesandproblemsencounteredduring

therealizationprocessandanoutlooktothefuture.

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Keywords:RealTimeOperatingSystem,DebuggingTechnology,HardwareTracing,Java

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II

Acknowledgments

Bestregardstoallthepeoplewhosupportandhelpmeduringthissixmonths.

Firstandforemost,Iwouldliketogratefullythankmyadvisor,Dr.MichaelDeubzer.Itisyou

thatgivemeachancetofeeltheawesomeandbeautyofGermany.

Furthermore,I’dliketothankmysupervisorAndreassailer,whoisknowledgeableand

patient,givesmehelpsanytimeIneed,givesmedirectionsanytimeIgetlost.

Thankstoallmycolleagues,FelixMartin,MaximilianHempe,andsoon,whogivemehelps

andadvisesintheirbusytime.

Heartfeltthankstomyfamily,youarethereasonwhyIamheretopursuemydream.

Finally,IexpressmydeepappreciationtomygirlfriendAminWangforherencouragement

andlove.TheromantictimeinSwitzerlandwillbeourmutualbeautifulmemoryinourlife.



Tangxuhua

Regensburg,Germany

October2014



III

Contents

1BackgroundKnowledge.......................................................................................................................1

1.1TheIntroductionofEmbeddedSystem........................................................................................1

1.2TheIntroductionofRealTimeOperatingSystem........................................................................1

1.2.1TheMainCharacteristicsofRTOSes......................................................................................2

1.2.2IntroductionofSeveralPopularRTOSProductsOnTheMarket........................................2

1.3TheIntroductionoftheMulti‐CoreSystems...............................................................................3

1.4DebuggingTechnology.................................................................................................................3

1.4.1TheSoftwareDevelopmentEnvironmentinEmbeddedSystem........................................3

1.4.2IntegratedDevelopmentEnvironmentinEmbeddedSoftware.........................................3

1.4.3CommunicationPortsforCrossDebugging.........................................................................4

1.5TheCategroriesofDebuggingStrategies...................................................................................5

1.5.1Software‐basedDebugging...................................................................................................5

1.5.2Hardware‐basedDebugging..................................................................................................7

1.5.3TheComparisonoftheDebuggingTechnologies...............................................................10

2IntroductionoftheSoftwareandHardwarePlatform....................................................................12

2.1IntroductionoftheSoftwarePlatform.......................................................................................12

2.1.1IntroductionofTAToolSuite................................................................................................12

2.1.2IntroductionofOSEK............................................................................................................12

2.1.3IntroductionofErikaOS.......................................................................................................13

2.2IntroductionoftheHardwarePlatform.....................................................................................15

2.2.1IntroductionofExperimentalBoard....................................................................................15

2.2.2IntroductionoftheOn‐chipAnalyzer..................................................................................16

2.3TheComparisonofOn‐chipAnalyzers.......................................................................................19

3DataTracingResearch........................................................................................................................22

3.1DataTracingConfigurationinOS................................................................................................22

3.2IntroductionoftheContextSwitchinginRTOS........................................................................23

3.2.1TheDefinitionofContextSwitching...................................................................................24

3.3DataHandlinginTAInspector....................................................................................................27

3.4SingleTask..................................................................................................................................30

3.4.1RelatedKnowledgeinErikaOS...........................................................................................30

3.4.2CaseStudy.............................................................................................................................31

3.4.3TheComparisonandConclusion........................................................................................33

3.5MultitaskinginNonPre‐emptiveKernel...................................................................................34

3.5.1DataHandling.......................................................................................................................34

3.5.2CaseStudy.............................................................................................................................37

3.5.3TheComparisonandConclusion........................................................................................43

3.6InterruptHandling......................................................................................................................43

3.6.1RelatedKnowledgeinErikaOS...........................................................................................43

3.6.2CaseStudy............................................................................................................................44

3.6.3TheComparisonandConclusion........................................................................................48

3.7TasksinMulti‐coreCondition.....................................................................................................49

3.7.1TaskSchedulingPrincipleinErikaOS..................................................................................49

3.7.2CaseStudy............................................................................................................................49

4ZeloS³Cycle.........................................................................................................................................51



IV

4.1IntroductionofZeloS³andItsObjectives...................................................................................51

4.2TheMainProcessofZeloS³.........................................................................................................51

4.3MyRoleinThisProject................................................................................................................52

4.3.1ModelDesigning...................................................................................................................52

4.3.2JavaProgramming...............................................................................................................56

5Outlook..............................................................................................................................................69

6Conclusion.........................................................................................................................................70

7Appendix.............................................................................................................................................72



1

1BACKGROUNDKNOWLEDGE

Thedebuggingprocessforembeddedsystemsisanimperativestepinasystemdesigning.

Thevastarrayofembeddedsystems,andtheeverincreasingcomplexityofthesystems

structuremakedebuggingagrowingchallenge.Differentdomainsimposedifferent

requirementsonthesystemsandasembeddedsystemspervadeoursociety,

newrequirementsareintroduced.

1.1THEINTRODUCTIONOFEMBEDDEDSYSTEM

Embeddedsystems,refertothededicatedapplication‐orientedcomputersystems,whose

hardwareandsoftwarepartscanbetailoredfortheconsiderationoffunctionality,reliability,

cost,powerconsumption,etc.

Itgenerallyconsistsoffourparts:anembeddedmicroprocessor,peripheralhardware

devices,embeddedoperatingsystemsandapplicationsusedinembeddedoperating

systemstoperformspecificfunctions.Withthedevelopmentofsocialeconomyand

informationtechnology,embeddedsystemshavebeenusedmorewidelyinourlives,and

playamoreandmoreimportantroleinthefieldofmilitary,academicsanddaily

lives.Prospectsfortheembeddedsystemscan’tbeunderestimated.

Comparedtogeneral‐purposecomputersystems,embeddedsystemshavethefollowing

characteristics:

Embeddedsystemsareoftenapplication‐oriented.Thebiggestdifference

betweenembeddedCPUandgeneral‐purposeembeddedCPUisthatembeddedCPUis

normallyforspecificusergroups.Ithascharacteristicssuchaslow‐powerconsumption,small

size,highintegrationandisabletointegratealotoftaskswhichshouldbefinishedby

general‐purposeCPUboardintothechip,itmakesembeddedsystemssmaller,easierfor

mobilecapability.

Anembeddedsystemistheproductofadvancedcomputertechnology,semiconductor

technology,electronictechnologyandspecificApplicationsindifferentindustries.It

determinesthatitisaninnovativeknowledgeintegratedsystems.

Embeddedsystemdoesnothavebootstrappedcapabilityfordevelopment,evenafterthe

designing,theuserusuallycan’tmodifytheprogramfunction,itonlycanbedevelopedwith

thespecificdevelopmenttoolsandenvironment.

1.2THEINTRODUCTIONOFREALTIMEOPERATINGSYSTEM

“Real‐timesystemsarecharacterizedbythesevereconsequencesthatresultiflogicalaswell

astimingcorrectnesspropertiesofthesystemarenotmet.”[2]

RealtimeoperatingsystemsbelongtoRealtimesystem.TherearetwotypesofRTOS:soft

andhard.Thepurposeofthesoftoperatingsystemistogetabalancebetweenthetask

executionspeedandmeetingthetimerequirements.AnRTOSthatcanusually

orgenerallymeetadeadlineisasoftreal‐timeOS,butifitcanmeeta

deadlinedeterministicallyitisahardreal‐timeOS.[2]



1.2.1THEMAINCHARACTERISTICSOFRTOSES

Reliability:Embeddedsystemsmustbereliable.DependingontheApplication,thesystem

mightneedtooperateforlongperiodswithouthumanintervention.Differentdegreesof

reliabilitymayberequired.Forexample,adigitalsolar‐poweredcalculatormightresetitselfif

itdoesnotgetenoughlight,yetthecalculatormightstillbeconsideredacceptable.Onthe

otherhand,atelecomswitchcannotresetduringoperationwithoutincurringhighassociated

costsfordowntime.TheRTOSesintheseApplicationsrequiredifferentdegreesof

reliability.Althoughdifferentdegreesofreliabilitymightbeacceptable,ingeneral,areliable

systemisonethatisavailable(continuestoprovideservice)anddoesnotfail.Acommonway

thatdeveloperscategorizehighlyreliablesystemsisbyquantifyingtheirdowntimeperyear.

Predictability:Becausemanyembeddedsystemsarealsoreal‐timesystems,meetingtime

requirementsisthekeytoensuringproperoperation.TheRTOSusedinthiscaseneedstobe

predictabletoacertaindegree.ThetermdeterministicdescribesRTOSeswithpredictable

behavior,inwhichthecompletionofoperatingsystemcallsoccurswithinknowntimeframes.

Performance:Thisrequirementdictatesthatanembeddedsystemmustperformfastenough

tofulfillitstimingrequirements.Typically,themoredeadlinestobemetandtheshorterthe

timebetweenthemmeansthefasterthesystem'sCPUmustbe.Althoughunderlying

hardwarecandictateasystem'sprocessingpower,itssoftwarecanalsocontributetosystem

performance.Typically,theprocessor'sperformanceisexpressedinmillioninstructionsper

second(MIPS).

Compactness:Applicationdesignconstraintsandcostconstraintshelpdeterminehow

compactanembeddedsystemcanbe.Forexample,acellphoneclearlymustbesmall,

portable,andlowcost.Thesedesignrequirementslimitsystemmemory,whichinturnlimits

thesizeoftheApplicationandoperatingsystem.Insuchembeddedsystems,where

hardwarerealestateislimitedduetosizeandcosts,theRTOSclearlymustbesmalland

efficient.Inthesecases,theRTOSmemoryfootprintcanbeanimportantfactor.Tomeet

totalsystemrequirements,designersmustunderstandboththestaticanddynamicmemory

consumptionoftheRTOSandtheApplicationthatwillrunonit.

Scalability:BecauseRTOSescanbeusedinawidevarietyofembeddedsystems,theymustbe

abletoscaleupordowntomeetApplication‐specificrequirements.Dependingonhowmuch

functionalityisrequired,anRTOSshouldbecapableofaddingordeletingmodular

components,includingfilesystemsandprotocolstacks.

1.2.2INTRODUCTIONOFSEVERALPOPULARRTOSPRODUCTSONTHEMARKET

“VxWorksisaRTOSdevelopedasproprietarysoftwarebyWindRiver.VxWorksisdesigned

foruseinembeddedsystemsrequiringreal‐time,deterministicperformanceand,inmany

cases,safetyandsecuritycertification,forindustries,suchasaerospaceanddefense,medical

devices,industrialequipment,robotics,energy,transportation,networkinfrastructure,

automotive,andconsumerelectronics.”[4]

MicroC/OS‐II(µC/OS‐IIoruC/OS‐II),istheacronymforMicro‐ControllerOperatingSystems

Version2.Itisapriority‐basedpre‐emptivereal‐timemultitaskingoperatingsystemkernelfor

microprocessors,writtenmainlyintheCprogramminglanguage.Itisintendedforuse

inembeddedsystems.μC/OS‐IIcanmanage64tasks,andprovidesthefunctionoftask



schedulingandmanagement,memorymanagement,inter‐tasksynchronizationand

communication,timemanagementandinterruptservice.Thecharacteristicsarehigh

efficiency,smallfootprint,excellentreal‐timeperformanceandscalabilityandsoon.

μClinuxwasaforkoftheLinuxkernelformicrocontrollerswithoutamemorymanagement

unit.Itwasintegratedintothemainlineofdevelopment.Theprojectcontinuestodevelop

patchesandtoolsformicrocontrollers.

ErikaOSwasusedfortheresearchandtheproject.Thus,itwillbeintroducedindetailsinthe

secondchapter.

1.3THEINTRODUCTIONOFTHEMULTI‐CORESYSTEMS

Amulti‐coreprocessorisasinglecomputingcomponentwithtwoormoreindependent

actualcentralprocessingunits(called"cores"),whicharetheunitsthatreadand

executeprograminstructions.[5]Manufacturerstypicallyintegratethecoresontoa

singleintegratedcircuitdie,orontomultiplediesinasinglechippackage.Somulti‐coreCPU

designingrequirelessprinted‐circuit‐boardspacecomparedwithmulti‐chipSMPdesigning.

Multi‐corechipsperformancewellatlowerenergy.Also,thememoryissharedbetween

differentcores.

InfineonAurixTC298TFtri‐corecontrollerwasusedasthehardwareplatformintheresearch

andtheproject,thestructurewillbeintroducedastheexampleofmulti‐coresysteminthe

secondchapter.

1.4DEBUGGINGTECHNOLOGY

Aftertherelatedintroductionbefore,wehavealreadyhadthebasicknowledgeaboutRTOS.

Nowthesoftwaredevelopmentenvironmentandtheimplementmethodofcross‐debugging

andthecharacteristicofsomehardwaredebuggertoolssuchasICE,BDM,andJTAG,which

areusuallyusedinembeddedsystem,willbeintroduced.Andthenallthemethodswillbe

comparedaccordingtotheiradvantagesanddisadvantages.

1.4.1THESOFTWAREDEVELOPMENTENVIRONMENTINEMBEDDEDSYSTEM

Embeddedsystemdevelopingenvironmentismainlycomposedoftwoparts,embedded

operatingsystemsandsoftwaredevelopmenttools.Embeddedoperatingsystemisthecore

inembeddedsoftwaredevelopmentenvironment,andisthedevelopingplatformof

embeddedApplicationsoftware.Softwaredevelopmenttoolsforembeddedsystemmainly

refertothetoolforcompiling,debugging,andsimulatingfortargethardwareplatform.The

diversityofthehardwareenvironmentdeterminesthemulti‐platformnatureofthese

toolsinevitably.Socross‐developmentmodelhasbecomethefirstchoiceforembedded

systemdevelopment.Anddebuggingplaysaveryimportantroleinembeddedsystems

developmentprocess.

1.4.2INTEGRATEDDEVELOPMENTENVIRONMENTINEMBEDDEDSOFTWARE.

Therearetworolesintheembeddedsystemdevelopmentprocess‐hostandtarget

machines:thehostmachineisthecomputerwhichisusedforcompiling,linking,addressing;

thetargetmachinereferstothehardwareplatformwhichisusedforrunningembedded

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摘要：

Master’s thesis in Control Engineering Trace‐based Timing Verification of Real‐Time Systems Tang xuhua Faculty for Optical‐Electrical and Computer Engineering University of Shanghai for Science and Technology in cooperation with Timing‐Architects Embedded Systems GmbH 1st assessor Wan hongpi...

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