Nucleo multiprocessado para aplicações em tempo-real

AUTOR(ES)
DATA DE PUBLICAÇÃO

1988

RESUMO

This dissertation describes the real-time kernel for a Multiprocessor aimed at Control Systems Applications (MSC for short). The MSC multiprocessor was developed at Instituto de Automação, Centro Tecnológico para Informática. It has features that make it suitable for applications in industrial process control. These applications demand high throughput and prompt response to external events. The MSC can be configured to solve a wide variety of problems in control and automation, from robot controllers up to supervising chores in flexible manufacturing systems. The MSC is built around a VME bus and may have one or more MC 68000 based processors and zero or more Z80 based I/O processors. The VME bus supports the low leveI communication between the processors. Each processor (MC 68000) executes the code (application and KERNEL) stored in its local memory, to which it is connected, by a private bus (VMX bus). The high leveI synchronization and communication between the programs occurs through the global memory, which is accessed by the processors via the VME bus. The I/O processors interface to the VME bus is a dual ported memory: one port is connected to the global bus (mapped as global memory) and the other is connected to the I/O processor s internal bus. The MSC s KERNEL was designed as a layered structure. The logical unit of computation is the process. The interprocess syhchronization mecanism is an extension to semaphores so they can be used in the distribuited MSC s environrnent. The interprocess communication mecanism is message exchange through mailboxes. The loci (in either global or local memory) of the objects supported by the KERNEL is specified only at its creation. All the other operations upon them refer just to their identifiers (which are integers). We call this feature Multiprocessing Transparency. Thanks to it, the MSC s (a multiprocessor) programming presents no more difficulty than that of conventional multitasking systems. Furthermore, if alI the objects needed to a program s execution are created on one process, this program may be ported to a machine with a different number of processors without any changes to its code (except, of course, to the places where the objects are created). The KERNEL supports primitives for the creation and killing of processes (local and remote ones), P and V operations on semaphores, operations on buffer pools (get, release) and message exchange through mailboxes. The semaphores provide simple and effident solutions to mutual exclusion and condition synchronization problems. The mailboxes allow the implementation of many interprocess communication paradigms, such as synchronous and assynchronous communication, pipes and rendezvous

ASSUNTO(S)

processamento eletronico de dados em tempo real multiprocessadores

Documentos Relacionados