cong cu gnu

7/31/2019 Cong cu GNU

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Hiu hnh thigian thc


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Tip cn a tc v Tip cn chng trnh n: mt tc v (lung)

Tip cn gn/tip cn sau: 2 tc v Tng qut ha, a tc v l:

Cng gi l cc quy trnh, lung Mi tc vc x l song song

Khng chim ton b ti nguyn x l Cc tc v tng tc ng thi ti cc phn t bn ngoi

iu khin b cm bin, iu khin c cu truyn ng thng quaDMA, b ngt, I/O.

Thng c x l song song

Yu cu Lp lch cho cc tc v Chia x d liu gia cc tc vng thi

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Cc du hiu ca tc v Cc tc v mi c th khi ng trong khong thi gian

Theo chu k hoc khng theo chu k Tc v c th gm:

Ti nguyn cn thit Cc mc quan trng Quan hu tin Lin kt Gii hn thi gian

Trng thi ca tc v Hot ng

Chun b tc v - ch x l t CPU Hn ch tc v - ch khi c s kin khc tc ng ti qu trnh x l Khng hot ng

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Quyn u tin

Khng c u tin: tc v khi khi ng s chy

n khi dng lai hoc tc ng ti mt s cngvo/ra

u tin: tc v c th dng li chy tc v

khc Chu su tin v s phc tp trong thc thi C qu trnh lp lch v phn tch Trong khng u tin, cc tc v hot ng do b p

buc

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Lp lch cho a tc v K hoch lp lch ng

Cc tc v xy ra ng Qu trnh kim tra lch xy ra mi khi c tc vng c hot

ng Khi c tc v mi, trc khi khi ng

Lp lch hot ng cho tc v trc v sau Nu qu trnh lp lch c li, c phng n thay i

Lch nhn c s quyt nh khi khi to

Kt qut c ca lp lch ng

H thng c gng t c thi hn v thi gian hot ng Khng bit khi no gii hn v thi gian xy ra cho n khi gp

deadline hoc tc v kt thc hot ng

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Thc thi trong hiu hnh thigian thc Nh, nhanh

Ch thi gian thc Nghin cu hiu hnh

Thnh phn ca ngn ng to mi trng Java (embedded real-time Java)

Nhn n hoc nhn nh tch hp Vn chnh

M hnh song song: s kin, lung, lp lch

M hnh b nh: Tnh v ng

Cc m hnh thnh phn khc nu c

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S so snh ca cc RTOS khcnhau: s thc thi tun hon

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Kernel Mode

DeviceDrivers NetworkDrivers

Hardware

I/O Services

TCP/IP Stack

Application Application Application


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S so snh ca cc RTOS khcnhau: nhn n

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User Mode

(protected)

Kernel ModeFilesystems

Device

Drivers

Network

Drivers

Hardware

I/O Managers Graphics

Subsystem

Graphics

Drivers Other.

Application Application Application

Hardware Interface Layer


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S so snh ca cc RTOS khcnhau: nhn nh tch hp

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User Mode

(protected)

Kernel Mode

Device Drivers

Network

Drivers Har

d

w

ar

e

FilesystemManager

Graphics

Drivers

Application

Application

Application

FilesystemDrivers

Device

Manager

Photon

Network

Manager

Kernel (tiny)


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Hiu hnh thi gian thc linux

Vi iu khin:uClinux - Linux nh (nhn < 512KB) vi

TCP/IP

Embedded PC

RTLinux

RTAI (Real-Time Application Interface)

TinyOS

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RTLinux

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Nhn Linux hot ng di ch u tin nh nht Nhn Linux hot ng theo ch u tin Linux nm bt v lm vic theo cc ch ngt, thng qua cc lnh v ngt

Ch thi gian thc v x l thng tin trong Linux thng qua s phn chia b nh v cc giaodin ca chng trnh

Issues

C ch thi gian thc chy trong cng mt khng gian a chging nh nhn Linux Cc device drivers dnh cho c ch thi gian thc khng th s dng chun c ch ca

Linux

Khng cung cp cc qu trnh qun l ti nguyn Linux drivers c ngt trc tip khi xy r a s c


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RTAI (Real Time ApplicationInterface) D n m ngun m xy dng trn tng ca RTLinux, v c tng kh nng

ln ng k Linux kernel lm thay i trong qu trnh nm bt hm ngt v lp lch, v c cu

thnh bi Cc nn thi gian thc vi tr nh v c s don cao V cc nn khng theo thi gian thc nh giao din ngi dng

Tch hp gia lp lch cho cc tc v ca nhn, lung x l v cc tin trnh theo ca

cc tc nhn khc Lung x l c bo v bi cc qu trnh tr trong cc i tng lp lch ca

linux

V c bn, th hm ngt l qu trnh by ca cc s kin bn ngoi v cn thit chocc tin trnh x l khc trong Linux S dng HAL (Hardware Abstraction Layer)

V qu trnh x l ng, th mt lp middleware c dng iu khin cc tintrnh gi th tc ca cc RTAI API

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TinyOS

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Khng hn l mt hiu hnh theo quan nim truyn thng

c cu trc ging nh mt tin trnh x l trong hiu hnh

Application = Scheduler+ Graph ofComponents M hnh song hnh s kin v kin trc iu khin

Chia xn ca ngn xp

Lp trnh trnNesC, mt dng ca C


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S ti cu hnh ca phn mm

Qu trnh cm nhn v hot ng ca networks i hi

mt qu trnh lin tc v hn S pht trin ca phn mm l qu trnh k tha lin tc

Ty bin mi trng h thng

Qu trnh nng cp Sa v loi b li

Ti lp cc bi ton v tin trnh h thng

Ti lp trnh trin khai h thng

iu khin s ti lp trnh l bn cht tt yu ca s bnvng

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Kin trc h thng

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Static Kernel Tru tng ha phn cng v cc tin trnh Thay i sau khi trin khai kh v t Cu trc d liu dnh cho cc module

Dynamic Modules Trnh iu khin, protocols, v cc chng trnh Thay i sau khi trin khai d dng v r C

u trc v v

tr

c l

p

Dynamic

Memory

Message

Scheduler

Dynamic

LinkerKernel

Components

Sensor

Manager

Messaging

I/O

System

TimerRTOS

Services

Radio I2C ADC DeviceDrivers

Tree Routing

Module

Data Collector

Application

Photo-sensor

ModuleDynamically

Loaded modules

Static Small OS Kernel


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B cng c

B cng c sdng trong pht trin ccmc tiu ca phn cng

c sdng trong phm vi xy dngphn mm trn mt h thng sc cit hoc trn mt sh thng khc

c sdng vi cc thit b khc bindch, to thvin, ngn ngmy (compiler, libraries, assembler)

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Li ch ca b cng c Bt k dn no m cn thit trongxl nhng u cn thit phi ccng c pht trin phn mm

em li li ch trong pht trin hthng nhng mi vi b cng cring bit

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Vai tr ca b cng c

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Biu pht trin

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Source Source Source

code code code

compiler compiler compiler

Assembly Assembly Assembly

code code code

Assembler Assembler Assembler

object object objectcode code code

Executable codeLinker

Libraries


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B cng c GNU

GNU l hiu hnh, ging nhUnix(GNUs Not Unix), c pht trintrn 20 nm bi tchc phn mm

tdo (FSF Free SoftwareFoundation) Phn mm GNU c bit ti l tnh

n nh v tin li B cng c GNU l m ngun m

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Thnh phn ca b cng cGNU Bin dch - gccAssembler - binutils : as

Lin kt - binutils : ld Thvin - glibc G li - gdb

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GNU binutils (GNU Binary Utility)

Binutils l tp hp cc cng c xlnh phn nhassembler, lin kt,disassembler .

Binutils sdng to v thao tcvi m nh phn ca file Thnh phn chnh gm

ld - GNU linker.

as - GNU assembler.

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Th vin C trong GNU

Bt k h thng ging Unix no u cn thvin

C, xy dng cc tp lnh, qun l tin trnh, bnh

Thvin C c sdng nhcc thvin C khctrong h thng GNU v trong nhn Linux

Thvin C l skt ni trong m ngun, v chegiu cc chc nng c trng ca nhn.

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GDB GNU Debugger

Cho php xem c tin trnh bntrong ca chng trnh khc trongthc thi

Cho php xem c chng trnhkhc lm g ti thi im dng khncp chng trnh

GDB c thchy trn mi h thngnhUnix v c thtrn Windows

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Thnh phn ngn ng h tr ca GDB

C

C++

Java

Objective C

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Bootloader

Bootloader l thnh phn chnh, quan trng khi khi ng

nhn C nhiu loi bootloaders khc nhau c thsdng vi

Linux trong nhiu cu trc phn cng LOIO

GRUB

LinuxBIOS

Redboot

U-boot

Bootloader ca h thng nhng s lm: Khi to phn cng: b vi xl v b nh Khi ng nhn v thc thi nhn (trong mt strng hp cn phi

truyn tham scho nhn linux)

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V d v bootloader

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Tng quan v Bootloader

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Boot Loader

reset;

;Reset Code;(in assembly)Jmp hw_init

Hw_initMain();Hardware

;Initialization {;(in assembly) /*The C/C++ program start here*/. }Jmp startup

Startup; NoOS/OS Code;startup code;(in assembly)

Call main


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Tin trnh Bootloader Part 1

Nhy ti a ch 0x00900000

Part 2 Khi to thnh phn phn cng Ci t ch cho CPU

Part 3 Hy b tt c cc hm ngt Copy v khi to dliu tROM sang RAM

Cc thnh phn khng c dliu c khi to vi gi tr Zero Tnh ton khng gian cho khi to ngn xp Khi to con tr trong ngn xp To v khi to b nh ng Thc thi cc cu trc cho cc gi tr ton b (C++) Cho php cc hm ngt

Gi hm main Part 4

Chng trnh m C/C++

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Xy dng nhn Linux

C 3 kin trc khc nhau v host/target

c sdng cho pht trin h thnglinux nhng: Ci t lin kt

Ci t thit b lu trdi ng Ci t tng

Qu trnh ci t c thlin quan ti mt

hoc nhiu thnh phn, ph thuc vo yucu v phng php pht trin h thng

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Ci t lin kt ch v ngun c lin kt cnh

vi nhau sdng lin kt vt l Lin kt co ththng qua cng serial hocethernet

Tt c dliu c chuyn qua lin kt

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Host Target

*Bootloader*Cross-platformdevelopment *Kernelenvironment

*Root filesystem


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Ci t lin kt (tip) Nhn c trung chuyn qua ftp cn bng

(TFTP) H thng file gc c thl NFS thay v l

ni lu trti ngun

Lin kt vt l c thsdng cho mcch g li Nhiu h thng nhng cung cp c 2 loi lin kt qua

Ethernet v RS232

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Ci t thit b lu tr di ng

Thit b lu trc vit bi ngunv s chuyn sang ch, v sdnglm thit b khi ng

35V Quang Dng

Host Target

*Cross-platformdevelopment *Bootloader

environment

*Secondary

bootloader *Kernel

*Root filesystem


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Ci t thit b lu tr di ng (tip) ch cha h thng khi ng nh nht

Cc phn cn li c lu trti thit b lu tr nhCompactFlash IDE v mt sloi khc

Thay vi dng chp flash cnh, ngun c thcha socketm cc chip flash c thd dng gn vo v tho ra Chp sc lp trnh bng flash programmer ti ngun v s

gn vo socket ti ch

Ci t ny c sdng nhiu trong cc giai on u capht trin h thng nhng

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Ci t tng

ch c thtcha h thng pht trin vbao gm tt c cc phn mm khi ng,iu khin v pht trin cc phn mmph Ci t ny thng sdng ti cc my workstation, loitrcc phn cng c bn khng phi ca my trm m

la thuc h thng nhng

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Target

*Bootloader *Kernel

*Full rootfilesystem *Nativedevelopment

environment


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Ci t tng

Ci t tng phbin khi pht trin xydng h thng PC mnh trn cu trc cah thng nhng C thsdng chun sn sng sdng ca linux cung

cp cho h thng nhng (off-the-shelf ) Mt khi pht trin xong, h thng hot ng theo trt

txung theo sphn bv mc ch yu cu

i hi xy dng mt h thng gc

filesystems dnh cho n, v c cu hnhkhi h thng khi ng

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Ci t tng (tip) Mt sc im ring bit tphn cng chy h thng

Linux: Linux i hi ti thiu 32-bit CPU cha hiu khin b nh (MMU) dung lng RAM cn thit cho h thng lm vic Nng lc ti thiu ca h thng I/O i hi nu trong qu trnh pht

trin cn phi tach ring ch v ngun d dng cho kim li

C 3 sci t khc nhau c sdng tkhi ng hthng linux nhng: Trng thi lu trvng chc a Mng

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Trng thi lu trvngchc

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Bootparameter

Kernel Root file system

Bootloader


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a

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0xFFFF0(ROM-BIOS)

Initializing

Boot sector

512bytes

LiLo (Linux

Loader)

bzImage

(Kernel

Image)

MBR


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Mng

Nhn linux tp trung vo trng thilu trvng chc hoc a, v hthng filesystem gc NFS

Ch c bootloader c tp trung vothit b lu trcc b. Nhn ccp nht thng qua TFTP, v h

thng filesystem gc NFS

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Nhn linux

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User programs

Libraries

User Level

Kernel Level

System Call Interface

file subsystem IPC

buffer Schedulercache Linux

Memorymanagement

character block

device drivers

Hardware control (HAL )

Kernel Level

Hardware Level


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iu khin thit b c trng ca thit b Khi thit b Giao din mng

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c trng ca thit b c trng c bn ca thit b l c thtruy

nhp nhl mt chui ca byte Siu khin thng thc thi ti thiu

cc chc nng nhm, ng, c, v ghiyu cu h thng

Giao din console (/dev/console) v cngni tip (/dev/ttyS0) l nhng v d cac trng thit b

c trng ca thit b l cc knh dliu,m c thtruy cp lin tip

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Khi thit b

Ging nhc trng thit b,khi thit b l struy cp cafilesystem vo thmc /dev.

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Giao din mng

Bt k sthc hin trn mng ctin hnh thng qua giao din, thitb c thtrao i dliu vi cc hostkhc

Giao din mng c thc nhnnhn nhhng i (Queue)

Unix cung cp struy cp ti giaodin thng qua tn truy cp ringdanh cho chng (nheth0).

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Giao din ngi s dng

QT & QT EmbeddedQt l thvin lp C++ dnh cho pht

trin GUI chy trn Unix, Windows

Qt/Embedded l cng linux nhng caQt, l shon thin ca GUI trn C++v nn pht trin dnh cho Linux nhng

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