VxWorks学习笔记－Real-Time Multitasking

VxWorks 学习笔记

§ Real-Time Multitasking

1.Introduction

Real-Time

• A system is described as being deterministic if its response time is predictable.

• Deterministic response is the key to real-time performance.

单一任务系统

• 缺点：1)各个构件无法按照不同的速率执行；2)没有优先级；3)无法抢占；

• 优点：没有任务切换的开销。

VxWorks如何满足实时要求

• 多任务

• 执行速度快：1) 轻量级的任务，上下文切换快; 2)没有系统调用的开销

• 运行的确定性：基于优先级的抢占式调度确保了高优先级任务的响应速度。

任务的状态

• Ready

• Delay: waiting for a mount of time to pass

• Pend: waiting for an object event

• Pend & Delay

• Suspend

多任务内核

• VxWorks中管理任务的是Wind Kernal；

• 使用TCB跟踪管理任务；

• TCB数据结构定义：WIND_TCB

• 获取TCB指针：函数taskTcb()

• 对每一个Pend的Event，有独立的Queue

上下文切换

• 分为两种类型：Synchronous、Asynchronous

• Asynchronous切换是由ISR引起的任务切换

• Synchronous需要保存的寄存器少，所以速度更快

• ISR的优先级比任务高

优先级调度

• 抢占式调度是基于优先级的，高优先级抢占低优先级的任务

• 重新调度发生的时刻：1) Kernal calls， 2) Interrupts (e.g. System clock ticks)

• 优先级的高低取决于任务计时的要求，而不是任务的重要性

Round-Robin 调度

• 作用于相同优先级的任务

• Round-robin scheduling is disabled by default. To allow equal priority tasks to preempt each other, time slicing must be turned on: kernelTimeSlice (ticks)

• -> clockRate = sysClkRateGet( )

Performance Enhancements

• All tasks reside in a common address space. 1) Makes intertask communication fast and easy. 2) Makes context switch faster (don’t need to save and restore virtual address contexts). 3) A deviant task can corrupt other tasks.

• All tasks run in supervisor (privileged) mode. No system call overhead.

Multitasking Facilities

• Message passing queues for intertask communication within a CPU

• Network routines for intertask communication between CPU’s

• Semaphores to protect data which is shared by tasks

• Timers and other interrupts to trigger task execution

• I/O system facilities to read/write data to hardware devices

2.任务基础

任务的组成

• TCB

• Stack：存储自动变量和函数参数

Creating a Task

• Allocate memory for the stack and TCB from a memory pool.

• Initialize the stack.

• Initialize the TCB.

• Put task into ready queue.

• newTid = taskSpawn (“tMyTask”, 150, 0, 20000, myRoutine, arg1, arg2, 0, 0, 0, 0, 0, 0, 0, 0)

Task ID

• A task id of zero refers to task making call (self).

• 相关函数：taskIdSelf, taskIdListGet, taskIdVerify

Task Name

• 相关函数：taskName, taskNameToId

Task Priority

• Timing requirements rather than hazy ideas about task importance should govern priorities.

• One can manipulate priorities dynamically with:　taskPriorityGet (tid, &priority)，taskPrioritySet (tid, priority)

Task Stack

• Fixed size after creation.

• The kernel reserves some space from the stack, making the stack space actually available slightly less than the stack space requested.

• Each byte in a task’s stack is filled with 0xee when the task is created. The checkStack( ) function searches from the end of the stack for this value in order to find the maximum stack usage.

• VxSim targets add 8000 bytes to the requested stack size, to deal with simulated interrupts, which are handled on the stack of the current task.

Task Option

• taskOptionsGet

• taskOptionsSet

Task Creation

• During time critical code, task creation can be unacceptably time consuming.

• To reduce creation time, a task can be spawned with the VX_NO_STACK_FILL option bit set.

• Alternatively, spawn a task at system start-up which blocks immediately, and waits to be made ready when needed.

Task Deletion

• 相关函数：taskDelete, exit

3.任务控制

Restart

• 相关函数：taskRestart

• 通常用于错误恢复

• 一个任务重起自身时，是由任务tRestart完成

Suspend & Resume

• 相关函数：taskSuspend, taskResume

Delay

• 相关函数：taskDelay(ticks)

• 延迟1/7 秒：taskDelay (sysClkRateGet( ) / 7)

• sysClkRateGet：Get the number of ticks per second of the system clock

Reentrancy and Task Variables

• Use only stack variables in applications.

• Protect the resource with a semaphore.

• Use task variables to make the variable private to a task.

• Task Variables cause a 32-bit value to be saved and restored on context switches, like a register.

Task Hooks

• User-defined code can be executed on every context switch, at task creation, or at ask deletion: taskSwitchHookAdd ( ) , taskCreateHookAdd( ), taskDeleteHookAdd ( )

• VxWorks uses a switch hook to implement task variables.

Task Information

• -> ti

4.错误码的使用

• 全局变量errno用来保存当前执行任务的错误状态；

• 任务上下文切换时，errno会保存到任务的TCB中；

• 底层函数根据情况设置errno，上层调用函数检查errno的值确定函数调用失败的原因；

• 错误码格式：模块编码(16bits)+错误类型(16bits)；

• 由错误码获取描述信息：shell命令printErrno, 函数strerror( )；

• 定义用户自己的错误码；

5.系统任务

• tUsrRoot

• tLogTask

• tExcTask

• tWdbTask