单片机定时中断的精确定时编程方法种种

MCS-51单片机的中断响应延迟时间,取决于其它中断服务程序是否在进行,或取决于正在执行的是什么样的指令。单中断系统中的中断响应时间为3～8个机器周期。无论是哪一种原因引起的误差,在精确定时的应用场合,必须考虑它们的影响,以确保精确的定时控制。根据定时中断的不同应用情况、应选择不同的精确定时编程方法。     

Linux系统中实时仿真程序时间精确性分析

随着Linux操作系统内核的不断改进和升级，其实时性能逐渐能够满足大部分控制系统的需求；同时Linux操作系统免费开放了其内核源代码，因此可以通过对其内核源代码的分析来更加深入、精确掌握Linux定时测量机制。该文详尽介绍了与Linux定时测量相关的各种内核机制，并以具体的仿真程序为例，针对不同的运行环境（是否有网络数据传输，实时仿真程序设置为定时器方式还是单进程方式），逐步分析Linux系统下实现的实时仿真的方法、Linux内核执行仿真进程的步骤以及定时测量的精确性，为Linux系统平台上的实时仿真应用提供精确的参考指标和最优实现方案。     

考虑中断和上下文切换开销的响应时间分析

实时嵌入式系统多采用中断和上下文切换实现多任务间调度,在对此类系统进行可调度性分析时,在任务的最差响应时间计算中必须包含中断和上下文切换开销.现有包含这些开销的方法是将中断作为高优先级任务同时将上下文切换开销加入到任务最差执行时间中进行分析,然而这些方法过于粗略,缺乏对实际系统细节的考虑,计算得到的最差响应时间并不精确.本文首先对中断和上下文切换的机制和时间流程进行详细的阐述,进而分析中断和上下文切换对任务关键性时刻的影响,接着给出包含上述开销的更加精确的响应时间计算方法,最后进行仿真验证.本文扩展了包含系统调度开销的响应时间计算方法,可用于资源受限的硬实时系统中需要精确计算响应时间的场合.     

Win32环境下实时数据采集的串行通信方案

文章介绍了在Win32环境下通过串行通信接口设计的实时数据采集方案，利用多媒体定时中断保证了执行任务的实时性。     

时钟管理功能与实现

<正> 1.引言 MOD 400操作系统的主要设计目标之一是使系统具有对任务或任务组进行实时控制的能力、使系统能及时响应时钟发来的中断、按照任务所规定的时间对其进行实时控制。为此在系统中配置了一个称为RTC(Red TimeClock)外围设备的实时钟装置,它在系统中的中断优先级为4。任务或任务组通过时钟宏调用向系统提出延迟(定时或非定时)时刻(毫     

基于PowerPC的高精度定时器设计与实现

实时系统中定时器的精度直接影响到任务的及时响应和正确执行。普通嵌入式Linux的定时精度较低,无法满足实时需求。通过对高精度定时器的研究,针对PowerPC平台硬件特点实现一种高精度定时器,同时提出基于PowerPC平台的高精度定时器框架,易于进行移植。测试结果表明,改进后的定时器定时精度和延迟时间都达到微秒级,为系统中实时任务的正确执行提供了必要条件。     

保障QoS的实时Linux系统设计

为了在综合业务网络中保障实时多媒体业务的服务质量(QoS),设计了软实时Linux系统。系统中将网络接受中断的推后执行工作校由工作队列来执行,而非传统的由网络接受软中断处理。工作队列是Linux2.6内核的进程调度机制,对实时多媒体任务和数据任务实施不同的优先级调度,以保证实时多媒体任务的优先处理而不是尽力而为(BestEffort),保障其服务质量。通过简单的测试证明本系统运行稳定,能够保障实时多媒体业务的服务质量,尤其对解决延迟抖动问题有明显的效果。     

基于Xenomai的实时测控系统的研究与实现

介绍实时操作系统仿真框架Xenomai和操作系统自适应域环境Adeos(Adaptive Domain Environment for Operating System)的基本原理.分析带有中断屏蔽功能的Adeos中断管道机制,以及用户态下混合执行模式的实时任务被抢占和"优先级反转"问题.应用Xenomai的实时核构建了Xenomai/Linux双内核实时机制;通过Xenomai提供的可插式接口仿真模块实现了基于RTAI API的应用程序编程;结合IPC等具体硬件实现了一套模拟小型电站任务的实时测控系统.运行结果显示系统满足电力系统硬实时的时限要求且运行稳定.     

基于RTX的并口实时中断控制系统

并口实时中断控制系统利用RTX在Windows XP操作系统上进行实时性能扩展,形成与Windows XP并列的实时子系统.利用CPLD分频产生时序作为并口中断输入信号,实时子系统响应中断并执行中断服务程序.将此并口实时中断控制系统应用于飞控软件实时动态仿真监测系统,实验证明该系统满足了监测系统的高实时性和稳定性、可靠性要求.     

精确获取微机系统时间

在微机组成的实际应用系统中,特别是工业PC参与的监控系统和设备智能诊断系统中,经常需要通过精确地获取系统时间来完成一些精确计吋、准确延时等任务,并且这些任务完成的精度直接影响系统的整体性能和整体精度。而通过DOS或BIOS中断调用或高级语言的时间函数,如C语言的gettime()获得的系统时间都无法精确到55mS以上,因此无法利用这些办法完成精确的时间处理任务。本文从PC系列微机定时原理出发,基于系统定时芯片8253/8254实现了精确获取系统时间的方法。     

超宽带系统非理想因素的联合估计算法

分析基于正交频分复用调制技术的超宽带无线通信系统中物理层受到的模拟前端非理想因素,提出一种联合估计算法。该联合估计算法能在存在频率相关性I/Q失配的情形下准确获得载波频率偏差和采样频率偏差的估计,并获得频率相关性I/Q失配和信道冲击响应的联合估计信息。系统仿真证明,该计算法能较好地适用于多载波正交频分复用超宽带系统。     

Real-time task scheduling with fuzzy uncertainty in processing times and deadlines

In real-time systems, scheduling algorithms play the vital role of devising a feasible schedule of the tasks. The scheduling algorithm designer faces uncertainty associated with the timing constrains of the real-time tasks. This paper considers fuzzy timing constraints by modeling the real-time tasks with fuzzy deadlines and fuzzy processing times with different membership functions. Comparative studies and some interesting findings based on simulation experiments are reported.     

Rate-monotonic analysis for real-time industrial computing

Issues of real-time resource management are pervasive throughout industrial computing. The underlying physical processes of many industrial computing applications impose explicit timing requirements on the tasks processed by the computer system. These timing requirements are an integral part of the correctness and safety of a real-time system. It is tempting to think that speed (for example, processor speeds or higher communication bandwidths) is the sole ingredient in meeting system timing requirements, but speed alone is not enough. Proper resource-management techniques also must be used to prevent, for example, situations in which long, low priority tasks block higher priority tasks with short deadlines. One guiding principle in real-time system resource management is predictability, the ability to determine for a given set of tasks whether the system will be able to meet all of the timing requirements of those tasks. Predictability calls for the development of scheduling models and analytic techniques to determine whether or not a real-time system can meet its timing requirements. The author illustrates an analysis methodology, rate monotonic analysis, for managing real-time requirements in a distributed industrial computing situation. The illustration is based on a comprehensive robotics example drawn from a typical industrial application     

Scheduling multiple task graphs with end-to-end deadlines in distributed real-time systems utilizing imprecise computations

In order to meet the inherent need of real-time applications for high quality results within strict timing constraints, the employment of effective scheduling techniques is crucial in distributed real-time systems. In this paper, we evaluate by simulation the performance of strategies for the dynamic scheduling of composite jobs in a homogeneous distributed real-time system. Each job that arrives in the system is a directed acyclic graph of component tasks and has an end-to-end deadline. For each scheduling policy, we provide an alternative version which allows imprecise computations, taking into account the effects of input error on the processing time of the component tasks of a job. The simulation results show that the alternative versions of the algorithms outperform their respective counterparts. To our knowledge, an imprecise computations approach for the dynamic scheduling of multiple task graphs with end-to-end deadlines and input error has never been discussed in the literature before.     

抢占阈值调度的功耗优化

DVS(Dynamic Voltage Scaling)技术的应用使得任务执行时间延长进而使得处理器的静态功耗(由CMOS电路的泄露电流引起)迅速增加.延迟调度(Procrastination Scheduling)算法是近年提出用于减少静态功耗的有效方法,它通过推迟任务的正常执行来尽可能长时间地让处理器处于睡眠或关闭状态,从而避免过多的静态功耗泄露.文中针对可变电压处理器上运用抢占阈值调度策略的周期性任务集合,将节能调度和延迟调度结合起来,提出一种两阶段节能调度算法,先使用离线算法来计算每个任务的最优处理器执行速度,而后使用在线模拟调度算法来计算每个任务的延迟时间,从而动态判定处理器开启/关闭时刻.实例研究和仿真实验表明,作者的方法能够进一步降低抢占阈值任务调度算法的功耗.     

Real-time task scheduling by multiobjective genetic algorithm

Real-time tasks are characterized by computational activities with timing constraints and classified into two categories: a hard real-time task and a soft real-time task. In hard real-time tasks, tardiness can be catastrophic. The goal of hard real-time tasks scheduling algorithms is to meet all tasks’ deadlines, in other words, to keep the feasibility of scheduling through admission control. However, in the case of soft real-time tasks, slight violation of deadlines is not so critical.In this paper, we propose a new scheduling algorithm for soft real-time tasks using multiobjective genetic algorithm (moGA) on multiprocessors system. It is assumed that tasks have precedence relations among them and are executed on homogeneous multiprocessor environment.The objective of the proposed scheduling algorithm is to minimize the total tardiness and total number of processors used. For these objectives, this paper combines adaptive weight approach (AWA) that utilizes some useful information from the current population to readjust weights for obtaining a search pressure toward a positive ideal point. The effectiveness of the proposed algorithm is shown through simulation studies.     

Achieving jitter-free and predictable real-time control by accurately timed computer peripherals

Contemporary real-time computers are unable to manipulate external parallel processes simultaneously, and their response times are generally unpredictable, resulting in jitter of the corresponding sampled data systems. It is shown that these problems can be easily solved by endowing process control computers with input/output facilities, working fully in parallel, and making use of exact time specifications. The required system functions are compiled, the design of the additional hardware components is given, and the real-time operating system support is discussed. As a by-product, the exact timing feature of input/output operations opens a new way of synchronising the access of multiple tasks to shared peripherals, which is based on the dimension time.     

改进变步长算法在实时飞行仿真中的应用

飞行模拟机是民航训练飞行员的重要装备,飞行仿真系统是飞行模拟机的重要系统之一.飞行仿真要建立飞机的全量运动方程,利用数值算法解算运动方程达到仿真飞机飞行状况的目的.采用四元数法表示的飞机欧拉方程能够克服普通欧拉方程奇异性,但用定步长方法解算会产生较大累积误差,所以必须采用变步长方法.实时飞行仿真要求较高的实时性与逼真度,通过仿真试验分析,确定了采用一种改进变步长2阶Runge-Kutta法,该方法具有迭代次数少,解算精度高,实时性强的优点.利用该改进变步长算法,编写了实时飞行系统仿真软件,软件中使用相应算法解决了变步长算法选择步长与系统迭代定时时间不匹配的矛盾,实现了精确的实时仿真.     

强实时环境下调度非周期任务的时限寻优方法

文章提出了强实时环境下调度弱时限非周期任务的时限寻优方法（ＤＯＡ）,该方法在保证周期任务和偶发性任务满足时限要求的前提下,使非周期任务的响应时间达到最优。它还可根据实时应用的需要对算法的执行性能和计算复杂度进行折衷调整。仿真实验表明,ＤＯＡ与现有的动态调度算法相比,使非周期任务响应时间更短,同时它收敛快,额外开销小,计算复杂度低,实现方便,因此是强实时环境下对周期任务与非周期任务进行混合调度的一种较好的方法。     

What is predictability for real-time systems?

Conclusion In summary, predictability in real-time systems has been defined in many ways. For static real-time systems we can predict the overall system performance over large time frames (even over the life of the system) as well as predict the performance of individual tasks. If the prediction is that 100% of all tasks over the entire life of the system will meet their deadlines, then the system is predictable without resorting to any stochastic evaluation. In dynamic real-time systems we must resort to a stochastic evaluation for part of the performance evaluation. Predictability for these systems should mean that we are able to satisfy the timing requirements of critical tasks with 100% guarantee over the life of the system, be able to assess overall system performance over various time frames (a stochastic evaluation), and be able to assess individual task and task group performance at different times and as a function of the current system state. If all these assessments meet the timing requirements, then the system is predictable with respect to its timing requirements.This work was supported by ONR under contract N00014-85-K-0389 and NSF under grants DCR-8500332 and IRI-8908693.