CODESYS Runtime鍦ㄦ帶鍒跺櫒涓婄殑绉绘

鏃犲績椋炴壃 · 鍙戣〃浜� 2019-9-4 16:52:16

鏈枃涓昏璁茶堪CODESYS Runtime鍏蜂綋鐨勭Щ妞嶈繃绋嬶紝鍒嗗埆浠庣‖浠躲€佽蒋浠舵柟闈㈠垎鍒繘琛岄槓杩帮紝鎶涚爾寮曠帀锛岃澶у鏈変釜澶т綋鐨勪簡瑙ｃ€�

1. 绉绘姝ラ

鎼缓纭欢鐜锛屽x86鏉垮瓙
绉绘鎿嶄綔绯荤粺锛屽瀹炴椂Linux
绉绘Qt搴撳苟璁剧疆鐜鍙橀噺
绉绘CODESYS Runtime

2. 鍏蜂綋鎿嶄綔姝ラ

2.1 鎼缓纭欢鐜锛屽x86鏉垮瓙

鍩轰簬x86骞冲彴鐨勬帶鍒跺櫒鍦ㄦ満鍣ㄤ汉琛屼笟鐨勫簲鐢ㄥ満鏅緝涓哄箍娉涳紝濡侷ntel鐨凙tom(鍑屽姩)銆丆eleron(璧涙壃)銆倄86 CPU涓昏鏈変互涓嬬壒鐐癸細涓婚楂樸€佹€ц兘寮恒€佹诞鐐硅繍绠楀揩銆傝嫢涓嶆兂鑷繁璁捐纭欢锛屽厤鍘诲悇绉嶇‖浠舵祴璇曞拰楠岃瘉锛屽彲鑰冭檻璐拱鍙版咕鐮斿崕銆佸▉寮恒€佸瘜澹悍绛夊叕鍙哥殑x86宸ユ帶鏈恒€傝嫢瀵规垚鏈瘮杈冩晱鎰燂紝鍙€冭檻鍥藉唴鐨勫鑻忓窞鍒涘繀杈俱€佹垚閮介樋鏅绛夈€�

鍥藉唴澶ч儴鍒嗙殑鏈哄櫒浜哄叕鍙搁噰鐢ㄦ牳蹇冩澘+搴曟澘鐨勬柟寮忚璁¤嚜涓绘帶鍒跺櫒锛屾牳蹇冩澘閲囪喘锛岃嚜宸辫璁″簳鏉挎潵婊¤冻鎺у埗鍣ㄦ帴鍙ｉ渶姹傘€�

2.2 绉绘鎿嶄綔绯荤粺銆佸瀹炴椂Linux

CODESYS Runtime鏀寔澶氱鎿嶄綔绯荤粺锛屽Linux銆乄indows/RTE銆乂xWorks绛夈€傚洜Windows/RTE鍜孷xworks鎿嶄綔绯荤粺鏈塋icense璐圭敤锛屽浜庡浗鍐呯殑浼佷笟鏉ヨ锛屽厤璐圭殑Linux鎴愪簡涓嶄簩涔嬮€夈€�

Linux瀹樼綉鍙戝竷鐨勬簮鐮佽櫧鏀寔鎶㈠崰锛屼絾骞堕潪瀹炴椂鎿嶄綔绯荤粺銆傛兂瑕佹妸闈炲疄鏃剁殑Linux瀹炴椂鍖栵紝涓昏鏈変互涓�3绉嶆墦瀹炴椂琛ヤ竵鐨勬柟寮忥紝

鑻ユ兂浣跨敤鍏嶈垂鐨勫疄鏃禠inux鎿嶄綔绯荤粺锛屽彧鑳介噰鐢↙inux+PREEMPT_RT鏂规銆傝櫧鐒禠inux+PREEMPT_RT鐩稿浜嶸xWorks鑰岃█锛屽疄鏃舵€ц兘涓€鑸紝鍏朵换鍔″欢鏃朵竴鑸皬浜�30us锛屼絾瀹屽叏鍙互婊¤冻鏈哄櫒浜烘帶鍒跺櫒鐨勮姹傘€�

浠嶭inux瀹樼綉涓嬭浇linux-3.18.91鍐呮牳婧愮爜(linux-3.18.91.tar.xz)鍜屽叾瀵瑰簲鐨凱REEMPT_RT瀹炴椂琛ヤ竵(patch-3.18.91-rt98.patch.xz)銆傚綋鐒讹紝涔熷彲浠ョЩ妞嶅叾瀹冪増鏈殑linux婧愮爜銆�

鍐呮牳婧愮爜缃戝潃锛�https://mirrors.edge.kernel.org/pub/linux/kernel/v3.x/

瀹炴椂琛ヤ竵缃戝潃锛�https://mirrors.edge.kernel.org/pub/linux/kernel/projects/rt/3.18/

杩欓噷璇翠竴涓嬪疄鏃惰ˉ涓侊紝PREEMPT_RT瀹炴椂琛ヤ竵鐢卞寛鐗欏埄澶╂墠绋嬪簭鍛業ngo Molnar璁捐锛屽畬鍏ㄥ紑婧愩€侷ngo Molnar杩樺紑鍙戜簡杩涚▼璋冨害鍣細瀹屽叏鍏钩璋冨害鍣�(Completely Fair Scheduler)锛岃璋冨害鍣ㄨ嚜linux-2.6.23娌跨敤鑷充粖銆傝瀹炴椂琛ヤ竵瀹炴椂瀹炵幇鎶€鏈富瑕佸寘鎷互涓嬪嚑涓柟闈紝

1) 涓柇绾跨▼鍖�

涓柇鏄紓姝ョ殑銆佹槸浼樺厛绾ф渶楂樼殑鐗规畩浠诲姟锛屽彲浠ユ姠鍗犱换浣曡繘绋嬶紱骞朵笖linux鍦ㄨ皟鐢ㄤ腑鏂鐞嗗嚱鏁版椂鏄叧闂湰鍦癈PU涓婄殑鍏ㄥ眬涓柇鐨勶紝鑻ョ郴缁熸湁涓ラ噸鐨勭綉缁滃拰IO璐熻浇锛屼腑鏂皢闈炲父棰戠箒銆備笂杩颁袱鐐逛細寮曡捣CODESYS瀹炴椂杩涚▼琚腑鏂姠鍗犳垨鍏抽棴鍏ㄥ眬涓柇鍚庯紝瀹炴椂浠诲姟闀挎椂闂村緱涓嶅埌鎵ц锛屽鑷村疄鏃朵换鍔″嚭鐜板緢澶у欢鏃跺拰鎶栧姩锛屽彉寰楁鏃犲疄鏃舵€у彲瑷€銆�

涓柇绾跨▼鍖栧悗锛屽皢鐪熸鐨勪腑鏂鐞嗗嚱鏁颁綔涓哄唴鏍哥嚎绋嬭繍琛屽苟涓旇祴浜堢壒瀹氱殑瀹炴椂浼樺厛绾�(SCHED_FIFO, MAX_USER_RT_PRIO/2)锛屼娇鐪熸鐨勪腑鏂鐞嗗嚱鏁拌繍琛屽湪杩涚▼涓婁笅鏂囷紝涓柇浜х敓鍚庤繍琛屼簬涓柇涓婁笅鏂囩殑涓柇澶勭悊鍑芥暟鍙槸鍞ら啋琚嚎绋嬪寲鐨勭湡姝ｇ殑涓柇澶勭悊鍑芥暟绾跨▼銆傚洜鍏充腑鏂殑鏃堕棿闈炲父鐭紝鍐嶅皢瀹炴椂浠诲姟浼樺厛绾ц缃殑姣斾腑鏂嚎绋嬮珮锛岃繖鏍峰疄鏃朵换鍔″彲浠ヤ綔涓烘渶楂樹紭鍏堢骇鐨勬墽琛屽崟鍏冩潵杩愯锛屽嵆浣垮湪绯荤粺楂樿礋杞戒笅浠嶈兘淇濊瘉瀹炴椂鎬с€�

闇€瑕佹敞鎰忕殑鏄紝骞堕潪鎵€鏈夌殑涓柇閮借绾跨▼鍖栦簡锛屽叿鏈塈RQF_NO_THREAD鏍囧織鐨勪腑鏂笉浼氳绾跨▼鍖栵紝姣斿绯荤粺鏃堕挓涓柇(Tick)銆佺骇鑱斾腑鏂€�

2) 浜掓枼閿�(rtmutex)鍙栦唬鑷棆閿�

鑷棆閿佸拰浜掓枼閿侀兘鐢ㄤ簬淇濇姢涓寸晫璧勬簮銆備袱鑰呯殑鍖哄埆鍦ㄤ簬瀹冧滑瀵硅姹傛寔鏈夐攣鐨勮繘绋嬬殑澶勭悊鏂瑰紡銆傝嚜鏃嬮攣浼氬鑷磋姹傝幏鍙栭攣鐨勮繘绋嬩竴鐩存绛夛紝鐩村埌鍏跺畠杩涚▼閲婃斁閿併€備簰鏂ラ攣浼氬皢璇锋眰鑾峰彇閿佺殑杩涚▼鏀惧埌绛夊緟闃熷垪涓紝鐩村埌鍏跺畠杩涚▼閲婃斁閿佸啀鍞ら啋绛夊緟闃熷垪涓殑杩涚▼銆�

鍐呮牳涓娇鐢ㄤ簡澶ч噺鐨勮嚜鏃嬮攣锛岃嚜鏃嬮攣浼氱姝㈠唴鏍告姠鍗狅紝杩樺彲鑳藉叧闂湰鍦颁腑鏂紝瀹冧滑灏嗕弗閲嶅奖鍝嶇潃绯荤粺鐨勫疄鏃舵€с€侾REEMPT_RT瀹炴椂琛ヤ竵浣跨敤浜掓枼閿佷唬鏇胯嚜鏃嬮攣锛屽師鏉ョ殑鑷棆閿佺敤鍘熺敓鑷棆閿�(raw_spinlock_t)鏇挎崲銆傚敖绠′簰鏂ラ攣浠ｆ浛鑷棆閿佷細閫犳垚鎬ц兘涓婄殑鎹熷け锛屼絾杩欎簺鎹熷け鍙互閬垮厤鑷棆閿侀€犳垚鐨勫欢鏃讹紝瀹屽叏鍙互鎺ュ彈銆�

3) 浼樺厛绾х户鎵�

浜掓枼閿佸彇浠ｈ嚜鏃嬮攣锛屽繀鐒朵細閫犳垚浼樺厛绾х炕杞�(Priority Inversion)鐨勬儏鍐点€傚嵆鐢变簬澶氳繘绋嬪叡浜祫婧愶紝鍏锋湁楂樹紭鍏堟潈鐨勮繘绋嬭浣庝紭鍏堢骇杩涚▼闃诲锛屽弽鑰屼娇涓瓑浼樺厛绾х殑杩涚▼鍏堜簬楂樹紭鍏堢骇鐨勮繘绋嬫墽琛屻€傝В鍐充紭鍏堢骇缈昏浆闂閫氬父閲囩敤浼樺厛绾х户鎵跨瓥鐣ワ紝鍗抽珮浼樺厛鏉冪殑杩涚▼琚綆浼樺厛绾ц繘绋嬮樆濉炴椂锛屼复鏃舵彁楂樹綆浼樺厛绾ц繘绋嬬殑浼樺厛绾т笌楂樹紭鍏堢骇杩涚▼鐩稿悓锛屽緟琚彁楂樹紭鍏堢骇杩涚▼鎵ц瀹屾瘯鎭㈠鍏跺師鏉ョ殑浼樺厛绾с€傝嚦姝わ紝楂樹紭鍏堢骇杩涚▼涓嶅啀琚樆濉烇紝涓瓑浼樺厛绾ц繘绋嬩笉浼氭姠鍗犻珮浼樺厛绾ц繘绋嬨€�

鍙墦涓奝REEMPT_RT瀹炴椂琛ヤ竵杩樿繙杩滀笉澶燂紝杩橀渶閰嶇疆浠ヤ笅鍐呮牳閫夐」锛�

a. 璁剧疆CPU棰戠巼璋冭妭绛栫暐涓簆erformance鏂瑰紡

CPU棰戠巼璋冭妭鍗虫垜浠父璇寸殑鐫块鎶€鏈紝鏍规嵁鍦哄悎鍜岄渶姹傜殑涓嶅悓鏈変笉鍚屾槸绛栫暐銆俵inux鍐呮牳鏀寔5绉嶇瓥鐣ワ紝

a) performance锛氭€ц兘妯″紡锛屽皢CPU棰戠巼鍥哄畾宸ヤ綔鍦ㄥ叾鏀寔鐨勬渶楂樿繍琛岄鐜囦笂銆�

b) powersave锛氱渷鐢垫ā寮忥紝灏咰PU棰戠巼鍥哄畾宸ヤ綔鍦ㄥ叾鏀寔鐨勬渶浣庤繍琛岄鐜囦笂銆�

c) userspace锛氱敤鎴锋ā寮忥紝CPU棰戠巼鐢辩敤鎴峰喅瀹氾紝鐢ㄦ埛閫氳繃鎻愪緵鐨勬帴鍙ｈ繘琛岄厤缃€�

d) ondemand锛氬钩琛℃ā寮忥紝CPU棰戠巼鏍规嵁璐熻浇涓嶅悓鍦ㄦ渶澶у拰鏈€灏忛鐜囬棿鑷姩璋冩暣銆�

e) conservative锛氫繚瀹堟ā寮忥紝CPU棰戠巼鏍规嵁璐熻浇涓嶅悓娓愬彉寮忚皟鏁淬€�

b. 璁剧疆鎶㈠崰妯″紡涓哄畬鍏ㄦ姠鍗�

linux鍐呮牳鏀寔5绉嶆姠鍗犳ā寮忥紝

a) No Forced Preemption (Server)锛氫笉鏀寔鎶㈠崰

b) Voluntary Kernel Preemption (Desktop)锛氭敮鎸佽鎶㈠崰

c) Preemptible Kernel (Low-Latency Desktop)锛氭敮鎸佷綆寤惰繜琚姠鍗�

d) Preemptible Kernel (Basic RT)锛氭弧瓒冲熀鏈疄鏃剁郴缁熸姠鍗�

e) Fully Preemptible Kernel (RT)锛氭敮鎸佸畬鍏ㄦ姠鍗狅紝鎶㈠崰鐐瑰浜巇椤�

瀹屾垚涓婇潰鍐呮牳閰嶇疆鍚庯紝缂栬瘧Linux鍐呮牳婧愮爜(make bzImage -j2)锛岀紪璇戝畬鎴愬悗锛屽皢bzImage闀滃儚鏂囦欢鎷疯礉鍒版帶鍒跺櫒鏉垮瓙涓娿€�

涓婄數鍚姩锛屼娇鐢↙inux瀹樼綉鎻愪緵鐨剅t-tests宸ュ叿娴嬭瘯瀹炴椂绯荤粺瀹炴椂鎬э紝涓嬪浘鏄垜鍦↖ntel Celeron J1900澶勭悊鍣ㄤ笂娴嬭瘯缁撴灉锛屼换鍔℃渶澶у欢鏃跺皬浜�30us锛屾弧瓒虫帶鍒跺櫒瀹炴椂鎬ч渶姹傘€�

2.3 绉绘Qt搴撳苟璁剧疆鐜鍙橀噺

浠讳綍鍏徃璐拱CODESYS Runtime鏃讹紝CODESYS鏂逛笉浠呰姹傝喘涔版柟鎻愪緵GCC缂栬瘧鍣ㄦ垨GCC浜ゅ弶缂栬瘧鍣紝杩橀渶鎻愪緵缂栬瘧濂界殑Qt4搴擄紝鍥犱负Runtime榛樿鍖呮嫭TargetVisu License锛孴argetVisu鐨勮繍琛屼緷璧朡t搴撱€俁untime鍏蜂綋鍖呮嫭鍝簺License鍙煡闃呭紑鍙戝寘涓殑3S_INFO.txt鏂囦欢銆�

鑻ユ帶鍒跺櫒涓嶆秹鍙婃湰鍦扮晫闈㈠紑鍙戯紝濡傛樉鎺т竴浣撴満锛屽彲鐩存帴灏嗙紪璇戝ソ鐨凲t搴撴嫹璐濆埌鏍规枃浠剁郴缁熺殑/lib/i386-linux-gnu鐩綍鎴�/usr/lib鐩綍锛屼笉闇€璁剧疆鐜鍙橀噺銆�

鑻ユ帶鍒跺櫒璁捐鏈湴鐣岄潰寮€鍙戯紝鍙弬鑰冨悗缁枃绔犮€�

2.4 绉绘CODESYS Runtime

寮€濮嬬Щ妞嶅墠锛屾垜浠厛浜嗚В涓€涓婥ODESY Runtime寮€鍙戝寘鐩綍缁撴瀯锛�

涓嬮潰寮€濮嬬Щ妞嶅伐浣滐紝鎴戜滑灏嗙敤鍒颁笂琛ㄤ腑绾㈣壊瀛椾綋鐩綍鐨勯儴鍒嗘枃浠讹紝鍒嗗埆涓篊onfiguration鐩綍涓嬬殑3S.dat鏂囦欢浠ュ強Platforms/Linux/Bin鐩綍涓嬬殑codesyscontrol鍜孋ODESYSControl.cfg鏂囦欢銆傚皢涓婅堪涓変釜鏂囦欢鎷疯礉鍒版帶鍒跺櫒锛屾洿鏀筩odesyscontrol涓哄彲鎵ц锛岃繍琛屼箣锛屽惎鍔ㄦ垚鍔熷悗鐨勬墦鍗颁俊鎭涓嬫墍绀猴紝

鍦–ODESYS IDE涓柊寤哄伐绋嬶紝鎵弿鎺у埗鍣ㄣ€傝嫢鎵弿鎴愬姛锛屽涓嬫墍绀猴紝鎭枩浣狅紝涓囬噷闀垮緛缁堜簬杩堝嚭浜嗗潥瀹炵殑涓€姝ャ€�

3. 绉绘鎬荤粨

涓婇潰鐨勭Щ妞嶆暀绋嬪彧鏄捣鍒版彁绾叉寛棰嗕綔鐢紝鍏跺疄杩樻湁澶ч噺鐨勫伐浣滈渶瑕佹垜浠畬鍠勶紝

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