基于实时内核的嵌入式网络通信系统研究与设计
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摘要
嵌入式系统是以应用为中心的硬件设计和面向应用的软件产品开发为基
础的专用计算机系统，广泛应用于制造工业、过程控制、通讯、仪器、仪表、
汽车、船舶、航空、航天、军事装备、消费类产品等领域。典型的嵌入式应用
是以微处理器或者微控制器为核心的硬件设计和基于嵌入式实时操作系统的
软件开发。
嵌入式实时操作系统开发和嵌入式网络技术应用是非常有前景的两个领
域，具有深远的理论研究和实践应用价值。本论文的研究课题——基于实时内
核的嵌入式网络通信系统研究与设计——正是在此背景下提出，开展的工作主
要体现在三个方面：设计嵌入式实时内核、研究实时任务调度算法、设计基于
实时内核的嵌入式网络通信子系统。
嵌入式实时内核ert-kernel（embedded real-time kernel）是本文基于微内核
体系结构进行设计的实时内核，提供最必要的系统服务：内存管理、进程和线
程、任务间通信、信号量机制，实现高效精简的内核服务。其设计目标是在资
源有限的嵌入式系统中保持内核运行开销最小、而性能最佳。因为Intel体系
结构的嵌入式处理器使用很普遍，而且可以在标准计算机平台实现和调试嵌入
式软件，并直接移植到嵌入式环境，所以选择x86微处理器作为开发实时内核
的硬件平台。利用微处理器的硬件特点，本文提出实现内存保护、优化上下文
转换的方法；并重点研究高效、低开销的信号量实现机制，从而节省上下文转
换，降低系统软件开销，保证良好的OS性能。
本文认为基于优先级的抢占式任务调度更适合嵌入式实时多任务环境，对
单调率（RM）调度和最早时限优先（EDF）调度方法进行分析和研究，采用
组合的EDF调度和RM调度（CER）方法，保证任务调度的运行时开销和调
度性开销最小。CER调度根据工作量中任务的时间要求特点，将一部分任务分
配到动态任务队列，采用EDF调度；将另一部分任务分配到静态任务队列，
采用RM调度。因此正确划分任务到调度队列是完成CER调度的关键。本文
研究CER调度开销，并利用调度可行性算法确定工作量中的关键任务。对于
工作量任务数目增多的情况，本文对CER调度算法进行优化：使用两个动态
任务队列、一个静态任务队列对工作量进行调度，从而保证良好的调度性能。
经分析和比较，证明在工作量增加以后，优化的CER调度产生的调度开销更
小。
f。ed，lfgLH／H：NW
＼．．、一／u方xRS 工HS卜
嵌入式设备的iteme连接是嵌人式系统应用的新兴领域，TCPns协议族
是实现此连接的关键技术。本文在对 BSD 4．3 TCP／IP协议原理及其实现代码进
行深入研究和分析的基础上，结合嵌入式通信系统应用的特点，提出基于实时
微小内核的网络通信软件体系结构；对TCPHP协议处理进行优化和简化，将
传统的层次式内核协议栈在用户空间以单一的平面方式实现，从而使应用程序
对网络功能的利用，从传统的系统调用转变为函数调用：使用改善数据接触开
销和非数据接触开销的方法，改善系统开销；并提出报文头预留缓存机制，减
少数据拷贝，实现嵌入式通信软件良好的性能。
随着电子技术和计算技术的发展，嵌人式系统核心一一微处理器或者微控
制器的性价比不断提高，嵌入式系统的功能需求日益复杂，因此嵌入式应用开
发和设计的方式也相应改变，从过去单一模式的前台／后台控制，转变为利用嵌
入式实时操作系统的多任务实时控制。同时，网络技术的迅速发展为嵌入式设
备网络化提供必要的网络基础设施，针对嵌入式设备连接到网络的各种协议标
准已经制定出来，用于组建各种家庭设备网络、个人信息网络、小型办公网络，
网络应用己经成为嵌入式系统的新兴应用领域，在不久的将来连接到网络的嵌
入式产品将提供更广阔的市场和应用前景。
Embedded systems are based on application-centered hardware design and
application specific software product development. Embedded systems are widely
applied in such areas as manufacture, process control, communication, instrument,
automobile, marine vehicle, aviation, military equipment, and consumer product. A
typical embedded application is the integration of hardware design centered on a
microprocessor or microcontroller and software development based on embedded
real-time operating system.
The development of embedded real-time operating system and the application
of embedded networking technology have been prospective areas and have
far-reaching significance in theory and practice. It is under such background that we
present the topic of our work. It is the research and design of embedded network
communication system based on real-time kernel. The work includes designing the
embedded real-time kernel, researching the task scheduling algorithms and
designing embedded network communication subsystem based on the real-time
kernel.
The work presents an embedded real-time kernel with microkernel architecture.
Because the Intel-architecture microprocessors and microcontrollers are popular in
embedded system markets, and they are compatible with most desktop computers, it
is convenient to design, implement and verify the embedded software and port the
codes into embedded environment. So the embedded real-time kernel is designed on
the basis of the advanced x86 family microprocessors. In the kernel, memory
protection and context-switch optimum are deployed in order to ensure OS
efficiency, system calls are provided to manage process and thread, and inter-task
communication is implemented through massage passing mechanism. In the
meantime, standard semaphore mechanism is optimized to keep real-time kernel
efficient and with small size.
The work makes in-depth research on the real-time task scheduling algorithms.
Because the scheduler based on priority is proper in embedded environment, the
work analyses the RM and EDF scheduling algorithms and the source of task
scheduling cost. Based on the different scheduling results produced by scheduling
iii
/
the same workload respectively with RM and EDF, the work deploys combined
EDF and RM (CER) scheduler in real-time task scheduling and analyzes its
schedulability in given workload. Further, the CER scheduler is improved to
maintain good OS performance and high efficiency in more workload. Compared
with the former CER scheduler, the improved scheduler is proved to provide high
performance with low scheduling cost, when the whole workload is increased.
Based on the study and analysis of BSD4.3 TCP/IP, the work concludes the
key techniques deployed in embedded network communication systems. It presents
the network communication software architecture based on the real-time kernel and
deploys protocols optimizing methods to improve the system cost incurred in
handling data touch process and non-data touch process. It simplifies and optimizes
the TCP/IP protocol suits according to the characteristic of embedded systems. It
presents an improved buffer management mechanism to ensure high performance
communication in networked embedded systems.
With the development of electronic technology and computing technology, the
most importa
础的专用计算机系统，广泛应用于制造工业、过程控制、通讯、仪器、仪表、
汽车、船舶、航空、航天、军事装备、消费类产品等领域。典型的嵌入式应用
是以微处理器或者微控制器为核心的硬件设计和基于嵌入式实时操作系统的
软件开发。
嵌入式实时操作系统开发和嵌入式网络技术应用是非常有前景的两个领
域，具有深远的理论研究和实践应用价值。本论文的研究课题——基于实时内
核的嵌入式网络通信系统研究与设计——正是在此背景下提出，开展的工作主
要体现在三个方面：设计嵌入式实时内核、研究实时任务调度算法、设计基于
实时内核的嵌入式网络通信子系统。
嵌入式实时内核ert-kernel（embedded real-time kernel）是本文基于微内核
体系结构进行设计的实时内核，提供最必要的系统服务：内存管理、进程和线
程、任务间通信、信号量机制，实现高效精简的内核服务。其设计目标是在资
源有限的嵌入式系统中保持内核运行开销最小、而性能最佳。因为Intel体系
结构的嵌入式处理器使用很普遍，而且可以在标准计算机平台实现和调试嵌入
式软件，并直接移植到嵌入式环境，所以选择x86微处理器作为开发实时内核
的硬件平台。利用微处理器的硬件特点，本文提出实现内存保护、优化上下文
转换的方法；并重点研究高效、低开销的信号量实现机制，从而节省上下文转
换，降低系统软件开销，保证良好的OS性能。
本文认为基于优先级的抢占式任务调度更适合嵌入式实时多任务环境，对
单调率（RM）调度和最早时限优先（EDF）调度方法进行分析和研究，采用
组合的EDF调度和RM调度（CER）方法，保证任务调度的运行时开销和调
度性开销最小。CER调度根据工作量中任务的时间要求特点，将一部分任务分
配到动态任务队列，采用EDF调度；将另一部分任务分配到静态任务队列，
采用RM调度。因此正确划分任务到调度队列是完成CER调度的关键。本文
研究CER调度开销，并利用调度可行性算法确定工作量中的关键任务。对于
工作量任务数目增多的情况，本文对CER调度算法进行优化：使用两个动态
任务队列、一个静态任务队列对工作量进行调度，从而保证良好的调度性能。
经分析和比较，证明在工作量增加以后，优化的CER调度产生的调度开销更
小。
f。ed，lfgLH／H：NW
＼．．、一／u方xRS 工HS卜
嵌入式设备的iteme连接是嵌人式系统应用的新兴领域，TCPns协议族
是实现此连接的关键技术。本文在对 BSD 4．3 TCP／IP协议原理及其实现代码进
行深入研究和分析的基础上，结合嵌入式通信系统应用的特点，提出基于实时
微小内核的网络通信软件体系结构；对TCPHP协议处理进行优化和简化，将
传统的层次式内核协议栈在用户空间以单一的平面方式实现，从而使应用程序
对网络功能的利用，从传统的系统调用转变为函数调用：使用改善数据接触开
销和非数据接触开销的方法，改善系统开销；并提出报文头预留缓存机制，减
少数据拷贝，实现嵌入式通信软件良好的性能。
随着电子技术和计算技术的发展，嵌人式系统核心一一微处理器或者微控
制器的性价比不断提高，嵌入式系统的功能需求日益复杂，因此嵌入式应用开
发和设计的方式也相应改变，从过去单一模式的前台／后台控制，转变为利用嵌
入式实时操作系统的多任务实时控制。同时，网络技术的迅速发展为嵌入式设
备网络化提供必要的网络基础设施，针对嵌入式设备连接到网络的各种协议标
准已经制定出来，用于组建各种家庭设备网络、个人信息网络、小型办公网络，
网络应用己经成为嵌入式系统的新兴应用领域，在不久的将来连接到网络的嵌
入式产品将提供更广阔的市场和应用前景。
Embedded systems are based on application-centered hardware design and
application specific software product development. Embedded systems are widely
applied in such areas as manufacture, process control, communication, instrument,
automobile, marine vehicle, aviation, military equipment, and consumer product. A
typical embedded application is the integration of hardware design centered on a
microprocessor or microcontroller and software development based on embedded
real-time operating system.
The development of embedded real-time operating system and the application
of embedded networking technology have been prospective areas and have
far-reaching significance in theory and practice. It is under such background that we
present the topic of our work. It is the research and design of embedded network
communication system based on real-time kernel. The work includes designing the
embedded real-time kernel, researching the task scheduling algorithms and
designing embedded network communication subsystem based on the real-time
kernel.
The work presents an embedded real-time kernel with microkernel architecture.
Because the Intel-architecture microprocessors and microcontrollers are popular in
embedded system markets, and they are compatible with most desktop computers, it
is convenient to design, implement and verify the embedded software and port the
codes into embedded environment. So the embedded real-time kernel is designed on
the basis of the advanced x86 family microprocessors. In the kernel, memory
protection and context-switch optimum are deployed in order to ensure OS
efficiency, system calls are provided to manage process and thread, and inter-task
communication is implemented through massage passing mechanism. In the
meantime, standard semaphore mechanism is optimized to keep real-time kernel
efficient and with small size.
The work makes in-depth research on the real-time task scheduling algorithms.
Because the scheduler based on priority is proper in embedded environment, the
work analyses the RM and EDF scheduling algorithms and the source of task
scheduling cost. Based on the different scheduling results produced by scheduling
iii
/
the same workload respectively with RM and EDF, the work deploys combined
EDF and RM (CER) scheduler in real-time task scheduling and analyzes its
schedulability in given workload. Further, the CER scheduler is improved to
maintain good OS performance and high efficiency in more workload. Compared
with the former CER scheduler, the improved scheduler is proved to provide high
performance with low scheduling cost, when the whole workload is increased.
Based on the study and analysis of BSD4.3 TCP/IP, the work concludes the
key techniques deployed in embedded network communication systems. It presents
the network communication software architecture based on the real-time kernel and
deploys protocols optimizing methods to improve the system cost incurred in
handling data touch process and non-data touch process. It simplifies and optimizes
the TCP/IP protocol suits according to the characteristic of embedded systems. It
presents an improved buffer management mechanism to ensure high performance
communication in networked embedded systems.
With the development of electronic technology and computing technology, the
most importa
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