Graduate School of Systems and Information Engineering, University of Tsukuba tatsuo, doly

Tatsuo Nakajima

, Midori Sugaya

, Shuichi Oikawa

Ý

Department of Computer Science, Waseda University

Þ

Graduate School of Systems and Information Engineering, University of Tsukuba tatsuo, doly

@dcl.info.waseda.ac.jp, [email protected]

ABSTRACT

!

" #

$%&

""

'""

"

(

) *

)

" )

+$%&

(

1. INTRODUCTION

, " -./

" " ,

" , "

"

-0/ !" *

"1 "

# ,

*

, "

"

"

!

1

# , "

"

"

"

, " *

2&

+ #

* *

3

* " " Æ

"

!

" #

$%& '

""

'""

"

(

) *

)

" )

+$%&

(

0

4 *

5

# $%&

6

2. LINUX AND ITRON

"

( * "

(

! "

( (

"

"

!"

#

$%&

#

'# ()

# !"*

!"#

# !"# !"

!" #

!" #

#

!" +

,

3. A MICROKERNEL-BASED OPERATING SYSTEM FOR BUILDING ROBUST EM- BEDDED SYSTEMS

& &

&

&

- .

/

&

&

+

/

+$ &

&

& /

*

&

!"& &

#0 & 123

!"&4&

!"*153

4& !"*

!"&

,6

TL4 Microkernel

...

ITRON Kernel Application Application Application Protected Domain

Server

Proxies ITRON Kernel

Server Server Server Protected Domain

ITRON Kernel Application Application Application Protected Domain

Server Proxies

¯

/&

+$&

¯

4&

¯ &

4&

&

7

3.1 System Overview

8

&

!"& 9

!"&

!"&

+

4

&

&

$ +

!" &

&

!"&

4/

:

3.2 Design

* & !"&

!" &

& & #0 &

123

!" & & #0

&:

$ "

㱘 ITRON Kernel

Machine Independent Part

Machine Dependent Part

Main Execution Thread

Notification of Scheduling Events

Interrupt Emulation Threads

Device Drivers

Processor Emulator

3.2.1 ITRON Kernel on

Microkernel

!

" #

! ! $

! "

%

&! '

%

(

!

(

!

!

! !

!

3.2.1.1 Controlling Interrupts.

)! Æ

!*+, (

*+,

#

!

!

! ! -!

-!

(

!

-! !

! !

. .

! .

!

! !! #

$ . -!

! ! !

!

!-!

3.2.1.2 Time Management.

! !

(

!

!

/

/

!

.

( !

!

( !

&

!

/ "

!

3.2.1.3 Dealing with External Scheduling Events.

# !

!

. *+,!

!

"

#

$

%

3.2.1.4 Dealing with Idle State.

&

&

%

'

(

%

&

#

%

3.2.2

Microkernel

'

' %

#

"

# )*

+

¯ +

"

¯ +

"

¯ +

"

&

, -

3.2.1.4

3.3 Evaluation

& (%%

/01++23 /0

))! 45 )

06%

& %

%

#

78)9:;/

)* 8 )<==823 *)>

*)>#

?66

3.3.1 Memory Footprints

@ 3

3

=;17

0A17$

0?17

#

/ " %

3

3.3.2 Invocation Latencies

&

B ;,. ,.

%C

# @ : #

@

#@

: @:;

#@ :

! !

" #$ % & %! &

"'( )*+,## & %!! & -% &

"'( )*+,## & %- & %! &

T1: Interrupt Handler T2: Receive Character Application Task 1

㱘ITRON Kernel

Interrupt from a Serial Device

T3: Receive Character Application Task 2

㱘ITRON Kernel

Interrupt from a Serial Device T2: Receive Character Application Task 1

T3: Receive Character Application Task 2

T1:Interrupt Handler

TL4 Microkernel

(a) Original 㱘ITRON Kernel (b)

Microkernel

!

! " # "

*&(.&(&&&&% (*&(.&

/ / & * *)0 ( *( &&0 (

(

(.% (&& & +&(.&((

#0&( 1

0 (# &( (( 21

&*&&( &0.%

(+ )( #( (

&(.&(&& 2*.(.

&&% (& 0(

))&(&&0(&. ( ( 1

# (&& (# ) 3&

*+% (&&&(.((&&

( *

0(+ )( #(%

( 4.0 ))&( #

(5&& #(0(&

) / . # ,## &/ &. ( (

% (&& 0 % & 0

( % & 0

( % ( 2 & (

&& 0 65& &+& # ) ( ( &

& # 0 ( (/ (

&. ( 0 ( # (

( (%

( 4.0 ))&+(1

&. ( 0,## &,## &

& (&#(# )&#) *+(

% ( & 2 ( #(*.

(.&&%& ( ## &&. ( & #1

0 ( ( 0 ( & 0 (

% ( &/(.)/(

2 ( & *. (% ( && 0

%! &0( 1

%- & 0( % (

&## +.

&. ( ( % 7 )& 1

& *#0 ( &&0( &

2%

3.4 Current Status

8+&(&+&*(6

( 6 % (&+&. &#1

# & 0. ) )

0.0 ## &+&& &1

* .+% ( # &+& & & #&& *

*(6 %0## 9 &

)+0&&#&/ *&(#1

# &% (((/ 0## 9 &

& ) & #&/(## &( *

6 %

8& # (1. (# &

0 &0.* & &# )#&%

(#0.*&*+* 1

#+/( &+&&*&

.(&& &#*&0% 8()#

* .# &+&(#0.%

( # &+& & && 0 # 0 #&

&(&&+&#.&+&1

#% ( #& 9 +**.((

# & &(% (# &+&*&&

* **&+&(*)+9 +.(

&+&&& &#*%

4. A LINUX-BASED OPERATING SYSTEM FOR BUILDING ROBUST EMBEDDED SYSTEMS

4.1 Introduction

( 6 (& &) #*& * & 0

0*&+&&% 8( &## #1

&./(# &+1

& 0':;# + 0(&# &1

+#&&&*&(&#&&& )(':;

# +0 +( 1&( &(%

6 2&*(( 1&( &(1

&(% 0(1 #&&&(

( 1 &(/ #&&& ( 1

4.2 Related Work

!"#$

%

% &

'

(

")$

%

*

+%, -

. & % )

/ %0 & 123

/ #234%

Æ

"0$ 5

%

*

.%

& /

67 8 & 5

67 8293

- -

: ;

4.3 Design and Implementation of Accounting System

1<

4.3.1 Accounting Objects

- =

&=

%

.<

& %.2= %

> %

=

=%

䎤䏆䏆䏒䏘䏑䏗䏌䏑䏊䎃䎲䏅䏍䏈䏆䏗 䎤䏆䏆䏒䏘䏑䏗䏌䏑䏊䎃䎲䏅䏍䏈䏆䏗

䎳䏕䏒䏆䏈䏖䏖䏈䏖

䎤䏆䏆䏒䏘䏑䏗䏌䏑䏊䎃䎲䏅䏍䏈䏆䏗 䎤䏆䏆䏒䏘䏑䏗䏌䏑䏊䎃䎲䏅䏍䏈䏆䏗

䎳䏕䏒䏆䏈䏖䏖䏈䏖 䎳䏕䏒䏆䏈䏖䏖䏈䏖

䎦 䎦

䎷 䎷

䎤䎲 䏗

䏓䏕䏒䏆䏈䏖䏖䎃 䎦 䎦

䎷 䎷

䎤䎲 䏗

䏓䏕䏒䏆䏈䏖䏖䎃

= %

%

%

= .%

)1 0 =%

) )

)1 0 ))

%

4.3.2 Binding Accounting Objects

& =

=

% & %

=

% = %

%

4.3.3 Implementation

.?

%

'

=

*= %

% =

9

=

9

5

= % 9 4%

%

=

=%

4.3.4 Controlling Overload Situation

-

Process Management

Process Process

scheduler

Linux䇭Kernel ReplenishmentEnforcement

overload

AO AO Timer

ISR

ISR

Process

Process Process

Accounting System Call Accounting API Library

Process

User Space

Accounting

fork exit

AO

Process Management

Process Process

scheduler

Linux䇭Kernel ReplenishmentEnforcement

overload

AO AO Timer

ISR

ISR

Process

Process Process

Accounting System Call Accounting API Library

Process

User Space

Accounting

fork exit

AO

!

4.3.5 High Resolution Timer

"# $%

$%

&'(

!

)*#

4.3.6 Access Control

+

4.3.7 Kernel Interface

#,

*

-

*

.

!

! .

*

!

/ !

!

4.3.8 An Example of Resource Protection

-

0% $%% -

1

0%2 30% 4 $%% 5 0%26

7

4.3.9 An Example to Improve the Response Time

-

0%% # -

#

0%% 8 '%

0%

# 0% $%

'%

4.4 Evaluation

-

#

9%%:870$;:-

4.4.1 Basic Cost

< = #

#

>

˜§  ¬Ê¼Éw:ʼº€

ºÉ¼¸Ë¼ Š…Š

¹ÀÅ» ŠŒ…ˆ

ÌŹÀÅ» …

»¼ÊËÉÆÐ ‰‹…‡

Ê¼Ë ‹…

¾¼Ë Š…Œ

4.4.2 Improving the Response Time

!

" #$%

!% $%% &#

##

"#

4.4.3 Protecting CPU Resource

# '

(%$%%)

*

#

+

# (%, #

'

4.5 Current Status

) "" # #

-" # .

"/ #

0 / 1 0

# "

# ) # #

#

2

#

5. CONCLUSION

" #

#

# #

345

#0

"' #

6. REFERENCES

6$7 28 9:"99 2#

;

2.9<4..$++ $$!9 $++

6!7 =)< 29.& >2

99 8"1" ##?

) .

9#2!%%%

6(7 <#@<= .A2

= 9 . 4

9#2= 9

. 4 9#$++B

6C7 =3

DEE E

6F7 /04

8 $++F

6B7 5 >#

& 9;?

9" 111

) 4 38

9#!%%!

6G7 9433

3:D2 3 : <

1 &"

1113#2

9#A" /$+++

67 8"9 2"</<

8#.5 /)

" 2 33

9 ( 9#

4 9#8

0 #$+++

6+7 = 345C%9345

2$+++H /I