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BKTP.HCM

2010

  e

ChibiOS/RT

 A Real-time OSwww.chibios.org

by Hoàng Ngọc Tuấn Anh 5!"#

an$ Nguy%n &uang 'inh 5!()!"

http://www.chibios.org/http://www.chibios.org/

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2010

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O*er*iew

 – Authur : Giovanni Di Sirio.

 – ChibiOS/RT (ちびOS/RT) means small Real Time Operating System.

 – Designe !or realtime appli"ations.

 –

#reemptive s"heuling. – $%& priority levels. 'ultiple threas at the

same priority level are alloe.

 – Roun Robin s"heuling !or threas at the

same priority level.

2Embedded system

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2010

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O*er*iew

• An embee real time OS hi"h is: – igh portability* "ompa"t si+e* e,"ient

"onte-t sit"hing

 – Stati" ar"hite"ture

 –

Dynami" e-tensions* ynami" obe"t – 'any obe"ts : threas* semaphores*

mute-es

 – Support many harare abstra"t rivers

 – Support ar"hite"ture: AR'0* AR' Corte-1'2* Corte-1'3* A4R* 'S#532* S'T&

3Embedded system

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O*er*iew

 – #rogramming language : C

 – Coe si+e ( "ompile) about 678 9 $278• 'inimal buil "an reu"e "oe si+e to about

$*678

 – Conte-t sit"h time: %S 9 $2S

 – ;-tensive test suite ith ben"hmar7s

4Embedded system

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+icense,

5Embedded system

• ultile licensing otions e/ist 0or 1hibiOS2RT, –  3ure 43+ license.

• 6or unstable 7alha8 beta9: release

 – 43+ license with +in;ing chibios,commercial

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2010

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System state,

6Embedded system

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?ernel subsystem

7Embedded system

• 4ersion numbers an

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'ersion an$ @n$enti0ication

8Embedded system

• De=ne 7ernel relate in!o – #defne _CHIBIOS_RT_ –   ChibiOS/RT ienti="ation ma"ro.

 – #defne CH_KERNEL_VERSION"2.3.2unstable"

 –   >ernel version string. – #defne CH_KERNEL_M!OR 2

 –   >ernel version maor number.

 – #defne CH_KERNEL_MINOR 3

 –  >ernel version minor number.

 – #defne CH_KERNEL_TCH 2

 –   >ernel version pat"h number.

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1on0iguration

9Embedded system

• De=ne 7ernel settings an hoo7s

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Tyes

10Embedded system

• De=ne system types an ma"ros

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2010

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ase ;ernel ser*ices

11Embedded system

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ase ;ernel ser*ices

12Embedded system

• System anagementchSysIni 7*oi$:

chSysTi!"#H$n%&"#I 7*oi$:

'ORKI()*+R,+ 7Bi$leBthrea$Bwa8@C+

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2010

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ase ;ernel ser*ices

13Embedded system

• Sche$uler  *sch"%-&"#*ini 7*oi$:chSchR"$%yI 7Threa$ Et:

chSch)S&""Ti!"-S 7tstateBt newstate8

systimeBt time:chSch'$"-S 7Threa$ Ent8 msgBt msg:

chSchR"sch"%-&"I 7*oi$:

chSchR"sch"%-&"S 7*oi$:

chSchIsR"scR"-i#"%,I 7*oi$:

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Threa$ state,

14Embedded system

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2010

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ase ;ernel ser*ices

15Embedded system

• Threa$schTh%C#"$"S$ic 7*oi$ Ews8 siFeBt siFe8 trioBt

rio8 t0uncBt 08 *oi$ Earg:

chTh%S"P#i#iy 7trioBt newrio:

chTh%R"s-!" 7Threa$ Et:chTh%T"#!in$" 7Threa$ Et:

chTh%S&"" 7systimeBt time:

chTh%,i 7msgBt msg:

chTh%'$i 7Threa$ Et:

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2010

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ase ;ernel ser*ices

16Embedded system

• Time an$ 'irtual timerschTS"I 7'irtualTimer E*t8 systimeBt time8 *t0uncBt

*t0unc8 *oi$ Ear:

chTR"s"I 7'irtualTimer E*t:

boolBt chTi!"Is'ihin 7systimeBt start8 systimeBten$:

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2010

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SynchroniFation

17Embedded system

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1ounting Semahores

18Embedded system

• S$nal% The semaphore "ounter is in"rease

an i! the result is non1positive then a aitingthrea is remove !rom the semaphore ?ueuean mae reay !or e-e"ution.

• &at% The semaphore "ounter is e"rease

an i! the result be"omes negative the threais ?ueue in the semaphore an suspene.

• Reset% The semaphore "ounter is reset to anon1negative value an all the threas in the

?ueue are release.

1 S

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2010

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1ounting Semahores

19Embedded system

• voi '(Se)Int (Semaphore @sp* "ntt n)

• voi '(Se)Reset (Semaphore @sp* "ntt n)• voi '(Se)ResetI (Semaphore @sp* "ntt n)

• msgt '(Se)&at (Semaphore @sp)

•

msgt '(Se)&atT)e*ut (Semaphore @sp*systimet time)

• voi '(Se)S$nal (Semaphore @sp)

• voi '(Se)S$nalI (Semaphore @sp)

1 ti S h

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1ounting Semahores

20Embedded system

• msgt :

 –RDBO> 

 –RDBR;S;T

 –RDBT

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inary Semahores

21Embedded system

• se the e-isting "ounting semaphores

• Counter o! binary semaphores is notalloe to gro above the value $

• ot implement the priority proto"ol.

• ave only to e=ne states : – Ta7en

 –ot ta7en

t S h

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2010

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ute/s Semahores

22Embedded system

• Same as T7ernel

• De=ne states :

 –Fo"7

 –nlo"7

  e

< t 6l

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2010 emory anagement

25Embedded system

• 1ore emory anager • Heas• emory ools• Cynamic threa$s

2010

  e

1ore emory anager

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2010 1ore emory anager 

26Embedded system

•  The "ore memory manager is a

simpli=e allo"ator that only allos toallo"ate memory blo"7s ithout thepossibility to !ree them'emory pools

2010

  e

Hea

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2010 Hea

27Embedded system

• mallo"()

• !ree()

2010

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emory 3ools

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2010 emory 3ools

28Embedded system

• allo"ate/!ree =-e si+e obe"ts in

'*nstant t)e an reliably ithoutmemory !ragmentation problems

2010

  e

@2O anagement

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0 0 @2O anagement

29Embedded system

• Abstra"t Se?uential Streams – Can be use as base "lass !or high level

obe"t types su"h as =les* so"7ets* serialports* pipes et".

•

Abstra"t Eile Streams• Abstra"t

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Registry

30Embedded system

•  The Threas Registry is a ouble lin7e

list that hols all the a"tive threas inthe system.

•  Threa @ "hRegEirstThrea (voi)

• Threa @ "hRege-tThrea (Threa @ tp)

• Je=ne R;GR;'O4; (tp)

• Je=ne R;G

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Cebug

31Embedded system

•  Tra"e buKer.

• #arameters "he"7.• >ernel assertions.

2010

  e

@nternals

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@nternals

32Embedded system

• Eun"tions manage ThreasLueue an

 ThreasFist• Are not OS A#