The Key Technology Research On Embedded Real-time Operating System Based On ARM

With the increase in computing power of ARM processor, this type of processors are used more and more widely in embedded field, at the same time, they are favored by the CNC system. For example, both Germany ECKELMANN’s E.ENC55 and Guangzhou NC’s GSK980 TD series CNC used ARM processor.This dissertation is under the National Science and Technology Major Project. Based on the widely use of ARM processor, we used the real-time preemption patch(RT-Preempt) and the Xenomai real-time subsystem to guarantee Linux’s real-time performance.We got the real-time platform successfully, which is based on ARM. We chose the TI AM3358 processor as the hardware platform which is designed for Industrial areas.The work of this dissertation contains two aspects: on one hand, constructing embedded operation system based on TI AM3358; on the other hand, the real-time transformation of the OS. The first job contains: constructing bootloader, linux kernel and the root file system. Then porting RT-Preempt and Xenomai to the embedded Linux based on TI AM3358 which used to enhance its real-time performance, analysed the implementation principle of RT-Preempt in designer’s perspective, and studied the implementation of preemptive spin lock, the solution of priority inversion problem, threaded interrupt and high solution clock deeply. For Xenomai, the rearch work contains: the domain management mechanism and the interrupt management mechanism. Finally, did some real-time performance testing for RT-Preempt and Xenomai. For RT-Preempt we did task scheduling latency test, interrupt response latency test, memory read and write test, process communication test between user space and kernel space and so on. For Xenomai we did the basic test provided by the official website.Embedded real-time CNC system based on TI AM3358 and RT-Preempt running stablely, and it has become the development platform in our laboratory. The research of this dissertation has important reference value for CNC system’s miniaturization and economic development.