CODESYS Runtime鍦ㄦ帶鍒跺櫒涓婄殑绉绘��

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鏈�鏂囦富瑕佽�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�杩涜�岄槓杩帮紝鎶涚爾寮曠帀锛岃�╁ぇ瀹舵湁涓�澶т綋鐨勪簡瑙ｃ��

1. 绉绘�嶆�ラ��

• 鎼�寤虹‖浠剁幆澧冿紝濡倄86鏉垮瓙
• 绉绘�嶆搷浣滅郴缁燂紝濡傚疄鏃禠inux
• 绉绘�峇t搴撳苟璁剧疆鐜�澧冨彉閲�
• 绉绘�岰ODESYS Runtime
  

2. 鍏蜂綋鎿嶄綔姝ラ��

2.1 鎼�寤虹‖浠剁幆澧冿紝濡倄86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�杈冧负骞挎硾锛屽�侷ntel鐨凙tom(鍑屽姩)銆丆eleron(璧涙壃)銆倄86 CPU涓昏�佹湁浠ヤ笅鐗圭偣锛氫富棰戦珮銆佹�ц兘寮恒�佹诞鐐硅繍绠楀揩銆傝嫢涓嶆兂鑷�宸辫�捐�＄‖浠讹紝鍏嶅幓鍚勭�嶇‖浠舵祴璇曞拰楠岃瘉锛屽彲鑰冭檻璐�涔板彴婀剧爺鍗庛�佸▉寮恒�佸瘜澹�搴风瓑鍏�鍙哥殑x86宸ユ帶鏈恒�傝嫢瀵规垚鏈�姣旇緝鏁忔劅锛屽彲鑰冭檻鍥藉唴鐨勫�傝嫃宸炲垱蹇呰揪銆佹垚閮介樋鏅�濂囩瓑銆�

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�捐�¤嚜涓绘帶鍒跺櫒锛屾牳蹇冩澘閲囪喘锛岃嚜宸辫�捐�″簳鏉挎潵婊¤冻鎺у埗鍣ㄦ帴鍙ｉ渶姹傘��

2.2 绉绘�嶆搷浣滅郴缁熴�佸�傚疄鏃禠inux

CODESYS Runtime鏀�鎸佸�氱�嶆搷浣滅郴缁燂紝濡侺inux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�逛簬鍥藉唴鐨勪紒涓氭潵璇达紝鍏嶈垂鐨凩inux鎴愪簡涓嶄簩涔嬮�夈��

Linux瀹樼綉鍙戝竷鐨勬簮鐮佽櫧鏀�鎸佹姠鍗狅紝浣嗗苟闈炲疄鏃舵搷浣滅郴缁熴�傛兂瑕佹妸闈炲疄鏃剁殑Linux瀹炴椂鍖栵紝涓昏�佹湁浠ヤ笅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�堛�傝櫧鐒禠inux+PREEMPT_RT鐩稿�逛簬VxWorks鑰岃█锛屽疄鏃舵�ц兘涓�鑸�锛屽叾浠诲姟寤舵椂涓�鑸�灏忎簬30us锛屼絾瀹屽叏鍙�浠ユ弧瓒虫満鍣ㄤ汉鎺у埗鍣ㄧ殑瑕佹眰銆�

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�鐨刲inux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�★紝瀹屽叏寮�婧愩�侷ngo Molnar杩樺紑鍙戜簡杩涚▼璋冨害鍣�锛氬畬鍏ㄥ叕骞宠皟搴﹀櫒(Completely Fair Scheduler)锛岃�ヨ皟搴﹀櫒鑷猯inux-2.6.23娌跨敤鑷充粖銆傝�ュ疄鏃惰ˉ涓佸疄鏃跺疄鐜版妧鏈�涓昏�佸寘鎷�浠ヤ笅鍑犱釜鏂归潰锛�

1) 涓�鏂�绾跨▼鍖�

涓�鏂�鏄�寮傛�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�澶勭悊鍑芥暟鏃舵槸鍏抽棴鏈�鍦癈PU涓婄殑鍏ㄥ眬涓�鏂�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�灏嗛潪甯搁�戠箒銆備笂杩颁袱鐐逛細寮曡捣CODESYS瀹炴椂杩涚▼琚�涓�鏂�鎶㈠崰鎴栧叧闂�鍏ㄥ眬涓�鏂�鍚庯紝瀹炴椂浠诲姟闀挎椂闂村緱涓嶅埌鎵ц�岋紝瀵艰嚧瀹炴椂浠诲姟鍑虹幇寰堝ぇ寤舵椂鍜屾姈鍔�锛屽彉寰楁��鏃犲疄鏃舵�у彲瑷�銆�

涓�鏂�绾跨▼鍖栧悗锛屽皢鐪熸�ｇ殑涓�鏂�澶勭悊鍑芥暟浣滀负鍐呮牳绾跨▼杩愯�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�ｇ殑涓�鏂�澶勭悊鍑芥暟杩愯�屽湪杩涚▼涓婁笅鏂囷紝涓�鏂�浜х敓鍚庤繍琛屼簬涓�鏂�涓婁笅鏂囩殑涓�鏂�澶勭悊鍑芥暟鍙�鏄�鍞ら啋琚�绾跨▼鍖栫殑鐪熸�ｇ殑涓�鏂�澶勭悊鍑芥暟绾跨▼銆傚洜鍏充腑鏂�鐨勬椂闂撮潪甯哥煭锛屽啀灏嗗疄鏃朵换鍔′紭鍏堢骇璁剧疆鐨勬瘮涓�鏂�绾跨▼楂橈紝杩欐牱瀹炴椂浠诲姟鍙�浠ヤ綔涓烘渶楂樹紭鍏堢骇鐨勬墽琛屽崟鍏冩潵杩愯�岋紝鍗充娇鍦ㄧ郴缁熼珮璐熻浇涓嬩粛鑳戒繚璇佸疄鏃舵�с��

闇�瑕佹敞鎰忕殑鏄�锛屽苟闈炴墍鏈夌殑涓�鏂�閮借��绾跨▼鍖栦簡锛屽叿鏈塈RQF_NO_THREAD鏍囧織鐨勪腑鏂�涓嶄細琚�绾跨▼鍖栵紝姣斿�傜郴缁熸椂閽熶腑鏂�(Tick)銆佺骇鑱斾腑鏂�銆�

2) 浜掓枼閿�(rtmutex)鍙栦唬鑷�鏃嬮攣

鑷�鏃嬮攣鍜屼簰鏂ラ攣閮界敤浜庝繚鎶や复鐣岃祫婧愩�備袱鑰呯殑鍖哄埆鍦ㄤ簬瀹冧滑瀵硅�锋眰鎸佹湁閿佺殑杩涚▼鐨勫�勭悊鏂瑰紡銆傝嚜鏃嬮攣浼氬�艰嚧璇锋眰鑾峰彇閿佺殑杩涚▼涓�鐩存�荤瓑锛岀洿鍒板叾瀹冭繘绋嬮噴鏀鹃攣銆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�锛岀洿鍒板叾瀹冭繘绋嬮噴鏀鹃攣鍐嶅敜閱掔瓑寰呴槦鍒椾腑鐨勮繘绋嬨��

鍐呮牳涓�浣跨敤浜嗗ぇ閲忕殑鑷�鏃嬮攣锛岃嚜鏃嬮攣浼氱�佹�㈠唴鏍告姠鍗狅紝杩樺彲鑳藉叧闂�鏈�鍦颁腑鏂�锛屽畠浠�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�鏃嬮攣鐢ㄥ師鐢熻嚜鏃嬮攣(raw_spinlock_t)鏇挎崲銆傚敖绠′簰鏂ラ攣浠ｆ浛鑷�鏃嬮攣浼氶�犳垚鎬ц兘涓婄殑鎹熷け锛屼絾杩欎簺鎹熷け鍙�浠ラ伩鍏嶈嚜鏃嬮攣閫犳垚鐨勫欢鏃讹紝瀹屽叏鍙�浠ユ帴鍙椼��

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�璧勬簮锛屽叿鏈夐珮浼樺厛鏉冪殑杩涚▼琚�浣庝紭鍏堢骇杩涚▼闃诲�烇紝鍙嶈�屼娇涓�绛変紭鍏堢骇鐨勮繘绋嬪厛浜庨珮浼樺厛绾х殑杩涚▼鎵ц�屻�傝В鍐充紭鍏堢骇缈昏浆闂�棰橀�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�浣庝紭鍏堢骇杩涚▼闃诲�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�鎻愰珮浼樺厛绾ц繘绋嬫墽琛屽畬姣曟仮澶嶅叾鍘熸潵鐨勪紭鍏堢骇銆傝嚦姝わ紝楂樹紭鍏堢骇杩涚▼涓嶅啀琚�闃诲�烇紝涓�绛変紭鍏堢骇杩涚▼涓嶄細鎶㈠崰楂樹紭鍏堢骇杩涚▼銆�

鍙�鎵撲笂PREEMPT_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�甯歌�寸殑鐫块�戞妧鏈�锛屾牴鎹�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�鎸�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�鎸佺殑鏈�楂樿繍琛岄�戠巼涓娿��

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�鎸佺殑鏈�浣庤繍琛岄�戠巼涓娿��

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�銆�

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�戠巼闂磋嚜鍔ㄨ皟鏁淬��

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�鎸�5绉嶆姠鍗犳ā寮忥紝

a) No Forced Preemption (Server)锛氫笉鏀�鎸佹姠鍗�

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�鎶㈠崰

d) Preemptible Kernel (Basic RT)锛氭弧瓒冲熀鏈�瀹炴椂绯荤粺鎶㈠崰

e) Fully Preemptible Kernel (RT)锛氭敮鎸佸畬鍏ㄦ姠鍗狅紝鎶㈠崰鐐瑰�氫簬d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�鍔�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�鎴戝湪Intel 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�峇t搴撳苟璁剧疆鐜�澧冨彉閲�

浠讳綍鍏�鍙歌喘涔癈ODESYS Runtime鏃讹紝CODESYS鏂逛笉浠呰�佹眰璐�涔版柟鎻愪緵GCC缂栬瘧鍣ㄦ垨GCC浜ゅ弶缂栬瘧鍣�锛岃繕闇�鎻愪緵缂栬瘧濂界殑Qt4搴擄紝鍥犱负Runtime榛樿�ゅ寘鎷琓argetVisu License锛孴argetVisu鐨勮繍琛屼緷璧朡t搴撱�俁untime鍏蜂綋鍖呮嫭鍝�浜汱icense鍙�鏌ラ槄寮�鍙戝寘涓�鐨�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�褰曟垨/usr/lib鐩�褰曪紝涓嶉渶璁剧疆鐜�澧冨彉閲忋��

鑻ユ帶鍒跺櫒璁捐�℃湰鍦扮晫闈㈠紑鍙戯紝鍙�鍙傝�冨悗缁�鏂囩珷銆�

2.4 绉绘�岰ODESYS Runtime

寮�濮嬬Щ妞嶅墠锛屾垜浠�鍏堜簡瑙ｄ竴涓婥ODESY Runtime寮�鍙戝寘鐩�褰曠粨鏋勶紝

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�褰曠殑閮ㄥ垎鏂囦欢锛屽垎鍒�涓篊onfiguration鐩�褰曚笅鐨�3S.dat鏂囦欢浠ュ強Platforms/Linux/Bin鐩�褰曚笅鐨刢odesyscontrol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�岋紝杩愯�屼箣锛屽惎鍔ㄦ垚鍔熷悗鐨勬墦鍗颁俊鎭�濡備笅鎵�绀猴紝

鍦–ODESYS IDE涓�鏂板缓宸ョ▼锛屾壂鎻忔帶鍒跺櫒銆傝嫢鎵�鎻忔垚鍔燂紝濡備笅鎵�绀猴紝鎭�鍠滀綘锛屼竾閲岄暱寰佺粓浜庤繄鍑轰簡鍧氬疄鐨勪竴姝ャ��

3. 绉绘�嶆�荤粨

涓婇潰鐨勭Щ妞嶆暀绋嬪彧鏄�璧峰埌鎻愮翰鎸堥�嗕綔鐢�锛屽叾瀹炶繕鏈夊ぇ閲忕殑宸ヤ綔闇�瑕佹垜浠�瀹屽杽锛�

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b) 搴旇�ュ�筩odesyscontrol鍙�鎵ц�岀▼搴忓仛鍔犲瘑澶勭悊锛岄槻姝㈣��鍒�鏈夌敤蹇冪殑浜哄埄鐢�锛�

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