嵌入式实时操作系统vxworks实验教程[1]

԰㋏㒳VxWorks偠 ⿟Laboratory Tutorial for Embedded Real ˉtime Operating System VxWorks⥟䷀ 㢍 㓪䞡 䗮 ⿟ 䰶2003 10԰㋏㒳VxWorks 偠 ⿟Ⳃ1 ㋏㒳ὖ䗄 (1)1.1 ㋏㒳 (1)1.2 ԰㋏㒳 (7)2 ⧚ MPC860 (16)3 ԰㋏㒳VxWorks 䲚 ⦃ Tornado (25)3.1 ԰㋏㒳VxWorks (25)3.2 Tornado䲚 ⦃ (43)4 VxWorksⱘBootRom (48)5 偠 (55)5.1 偠ϔǃTornadoⱘՓ⫼ (55)5.2 偠Ѡǃ ㋏㒳ὖ ⱘ ゟ (74)5.3 偠ϝǃ ӏ ⿟ ⱘ㓪 (78)5.4 偠 ǃ䆒 ӊㅵ⧚ (101)5.5 偠Ѩǃ ㋏㒳䕃ӊⱘѸ 㓪䆥 (110)5.6 偠 ǃ ㋏㒳䕃ӊⱘѸ 䇗䆩 (116)䰘 A hwa-xpc860 偠 (120)1 ㋏㒳ὖ䗄㋏㒳䅵ㅫ 催䗳 ⱘҞ ˈ䅵ㅫ 䅵ㅫ 䞣 ⫼ Ӏⱘ ⫳⌏ЁDŽ⦄ҷⱘ䅵ㅫ 䍙 䅵ㅫ ⱘὖ ˈ ⊯ ⫼ⱘ 䅵ㅫ (Embebdded computer) Ёϔ⾡DŽ 䅵ㅫ 㗙 ㋏㒳ˈ⑤Ѣ20Ϫ㑾60 ҷˈ ϔ⾡ϡ㹿⫼ 㾝 ⱘϧ⫼䅵ㅫ DŽ1.1.1 ㋏㒳ⱘὖ㋏㒳ˈ 䲒㒭 ⹂ Нˈ ⏅㮣Ѣ Ϯ㋏㒳ǃ℺ ㋏㒳 ϔѯ ⬉Ҿ㸼䆒 ǃ⍜䌍⬉ ㉏ѻ 䚼ˈ ϔ⾡ ⾡⡍ 㛑ⱘ䅵ㅫ ㋏㒳ˈ 䕃⹀ӊⱘ㋻ 㒧 ԧDŽ㉏ԐϢBIOSⱘ ԰ DŽ 䕃ӊҷⷕ ˈ催 㞾 ˈ 䗳 ㄝ⡍⚍DŽ⡍ 䗖 Ѣ㽕∖ ⱘ ӏ ⱘ ⫼ԧ㋏DŽ䖭ѯϧ⫼䅵ㅫ ㋏㒳䎇ҹ 䅵ㅫ Ў Ḍ ˈ 㒩 ⫼㋏㒳ⱘ 㛑ǃ 䴴 ǃ ǃԧ⿃ǃ 㗫ㄝϹḐ㽕∖ 䆒䅵ⱘDŽ ϔ㠀⬅ ⧚ ǃ ⹀ӊ䆒 ǃ ԰㋏㒳ҹ ⡍ ⱘ ⫼⿟ ㄝ Ͼ䚼 㒘 ˈ⫼Ѣ ⦄ Ҫ䆒 ⱘ (control)ǃⲥ㾚Mointer) ㅵ⧚(Managemet)ㄝ 㛑DŽ1.1.2 ⧚㋏㒳ⱘ⹀ӊḌ ⧚ DŽ1.1.2.1 ⧚ ⱘ⡍⧚ ϔ㠀 ҹϟ4Ͼ⡍ ˖1˅ ӏ ⱘ 㛑 ˈ㛑 ӏ Ϩ 䕗ⷁⱘЁ 䯈ˈҢ㗠Փ 䚼ⱘҷⷕ Ḍⱘ 㸠 䯈 Ԣ䰤 DŽ2˅ ⱘ 㛑DŽ䖭 ⬅Ѣ ㋏㒳ⱘ䕃ӊ㒧 ῵ ˈ㗠Ўњ䙓 䕃ӊ῵ П䯈 ⦄ⱘѸ 䫭䇃ˈ䳔㽕䆒䅵 ⱘ 㛑ˈ Ѣ䕃ӊ䆞 DŽ3˅ ⱘ ⧚ 㒧 ˈҹ㛑䖙䗳 ⒵䎇 ⫼ 催 㛑 ⧚ DŽ4˅ ⧚ 乏 㗫 Ԣˈ ⫼Ѣ ⱘ 㒓 ⿏ ⱘ䅵ㅫ 䗮 䆒 Ё䴴⬉∴կ⬉ⱘ ㋏㒳 ℸˈ 䳔㽕 㗫 mW⫮㟇uW㑻DŽ1.1.2.2 ⧚ ㉏Ϣ⦄⢊㋏㒳ⱘḌ 䚼ӊ ⾡㉏ ⱘ ⧚ ˈⳂ ϡ 㒳䅵ˈ Ϫ⬠ ⧚ ⱘ ⾡ 䞣 㒣䍙䖛1000 ⾡ˈ⌕㸠ԧ㋏㒧 30 Ͼ㋏ ˈЁ8051ԧ㋏ⱘ DŽ⫳ѻ8051 ⠛ ⱘ ԧ 20 Ͼˈ 350 ⾡㸡⫳ѻ ˈҙPhilips 䖥100⾡DŽ⦄ Т↣Ͼ ԧ 䗴 䛑⫳ѻ ⧚ ˈ䍞 䍞 ⱘ 㞾 ⱘ ⧚ 䆒䅵䚼䮼DŽ ⧚ ⱘ ぎ䯈ϔ㠀Ң64KB 16ˉ32MBˈ ⧚䗳 Ң0.1MIPS 2000MIPSˈ ⫼ 㺙Ң8Ͼ 㛮 144Ͼ 㛮DŽḍ ⦄⢊ˈ 䅵ㅫ ҹ ϟ䴶 ㉏DŽ1ǃ ⧚ ˄Embedded Microprocessor Unit ˈEMPU˅⧚ ⱘ ⸔ 䗮⫼䅵ㅫ ЁⱘCPUDŽ ⫼Ёˈ ⧚ 㺙䜡 ϧ䮼䆒䅵ⱘ⬉䏃 Ϟˈ ⬭ ⫼ ⱘ↡ 㛑ˈ䖭ḋ ҹ ㋏㒳ԧ⿃ 㗫DŽЎњ⒵䎇 ⫼ⱘ⡍⅞㽕∖ˈ ⧚ 㱑✊ 㛑Ϟ ⧚ Ϟ ϔḋⱘˈԚ ԰⏽ ǃ ǃ 㗫ǃ 䴴 ǃ ㄝ 䴶 Ϯ 䅵ㅫ Ⳍ↨ˈ ⧚ ԧ⿃ ǃ䞡䞣䕏ǃ Ԣǃ 䴴 催ⱘӬ⚍ˈԚ ⬉䏃 Ϟ 乏 ROMǃRAM ǃ ⾡ 䆒ㄝ ӊˈҢ㗠䰡Ԣњ㋏㒳ⱘ 䴴 ˈ г䕗 DŽ ⧚ ǃ 㒓ǃ 䆒ㄝ 㺙 ϔ ⬉䏃 Ϟˈ⿄Ў 䅵ㅫ DŽ STDˉBUSǃPC104ㄝDŽ䖥 ˈ ǃ ⱘϔѯ њ㉏Ԑ“☿ Ⲧ” ⠛ ⱘ 䅵ㅫ ㋏ OEMѻ DŽ ⧚ Ⳃ Џ㽕 Am186/88ǃ386EXǃSCˉ400ǃPower PCǃ68000ǃMIPSǃARM㋏ ㄝDŽ2ǃ ˄Microcontroller UnitˈMCU˅⿄ ⠛ ˈ乒 Нˈ Ͼ䅵ㅫ ㋏㒳䲚 ϔ 㢃⠛ЁDŽ ϔ㠀ҹ ϔ⾡ ⧚ ḌЎḌ ˈ㢃⠛ 䚼䲚 ROM/EPROMǃRAMǃ 㒓ǃ 㒓䘏䕥ǃ /䅵 ǃWatchDogǃI/OǃІ㸠 ǃ㛝 䇗 䕧 ǃA/DǃD/AǃFlashRAMǃEEPROMㄝ ⾡ 㽕 㛑 䆒DŽЎ䗖 ϡ ⱘ ⫼䳔∖ˈϔ㠀ϔϾ㋏ ⱘ ⠛ ⾡㸡⫳ѻ ˈ↣⾡㸡⫳ѻ ⱘ ⧚ Ḍ䛑 ϔḋⱘˈϡ ⱘ 䆒ⱘ䜡㕂 㺙DŽ䖭ḋ ҹՓ ⠛ 䰤 ⫼䳔∖Ⳍ 䜡ˈ 㛑ϡ ϡ ˈҢ㗠 㗫 DŽ ⧚ Ⳍ↨ˈ ⱘ ⡍⚍ ⠛ ˈԧ⿃ ˈҢ㗠Փ 㗫 ϟ䰡ǃ 䴴 催DŽ Ⳃ ㋏㒳 ϮⱘЏ⌕DŽ ⱘ⠛Ϟ 䆒䌘⑤ϔ㠀↨䕗Є ˈ䗖 Ѣ ˈ ℸ⿄ DŽ Ⳃ ⱘ ⾡ 䞣 ˈ↨䕗 ҷ㸼 ⱘ䗮⫼㋏ 8051ǃP51XAǃMCSˉ251ǃMCSˉ96/196/296ǃC166/167ǃMC68HC05/11/12/16ǃ68300ㄝDŽ 䖬 䆌 䗮⫼㋏ ˖ USB ⱘMCU8XC930/931ǃC540ǃC541˗ I2CǃCANˉBusǃLCD ӫ ϧ⫼MCU ㋏ DŽⳂ MCU ㋏㒳㑺70ˁⱘ 乱DŽ⡍ ⊼ ⱘ 䖥 կX86 ⧚ ⱘ㨫 AMD ˈ Am186CC/CH/CUㄝ ⧚ ⿄ПЎMicrocontrollerˈMOTOROLA ҹPower PCЎ ⸔ⱘPPC505 PPC555Ѻ ⠛ 㸠 DŽTI Ѻ TMS320C2XXX㋏ DSP ЎMCU䖯㸠 DŽ3ǃ DSP ⧚ ˄Embedded Digital Signal ProcessorˈEDSP˅DSP ⧚ ㋏㒳㒧 Ҹ䖯㸠њ⡍⅞䆒䅵ˈՓ 䗖 Ѣ 㸠DSPㅫ⊩ˈ㓪䆥 ⥛䕗催ˈ Ҹ 㸠䗳 г䕗催DŽ Ⓒ⊶ǃFFTǃ䈅 ㄝ 䴶DSP ㅫ⊩ℷ 䞣䖯 乚 ˈDSP ⫼ℷҢ 䗮⫼ ⠛ Ёҹ 䗮 Ҹ ⦄DSP 㛑ˈ䖛⏵ 䞛⫼ DSP ⧚ DŽ DSP ⧚ ϸϾ ⑤ˈϔ DSP ⧚ 㒣䖛 ⠛ ǃEMC 䗴ǃ ⠛Ϟ 䆒 Ў DSP ⧚ ˈTIⱘTMS320C2000/C5000ㄝ Ѣℸ㣗⭈˗Ѡ 䗮⫼ ⠛ SOCЁ DSP ⧚ ˈ՟ IntelⱘMCSˉ296 SiemensⱘTriCoreDŽ DSP ⧚ ⱘ ϔϾ ㋴ ㋏㒳ⱘ 㛑 ˈ՟ ⾡ 㛑䘏䕥ⱘ⍜䌍㉏ѻ ˈ⫳⠽ 䆚 㒜ッˈ 㾷 ㅫ⊩ⱘ䬂ⲬˈADSL ǃ 䇁䷇ 㾷㋏㒳ˈ㰮 ⦄ ⼎ㄝDŽ䖭㉏ 㛑 ㅫ⊩ϔ㠀䛑 䖤ㅫ䞣䕗 ˈ⡍ 䞣䖤ㅫǃ 䩜㒓 ㄝ䕗 ˈ㗠䖭ѯℷ DSP ⧚ ⱘ䭓 DŽ DSP ⧚ ↨䕗 ҷ㸼 ⱘѻ Texas InstrumentsⱘTMS320㋏ MotorolaⱘDSP56000㋏ DŽTMS320㋏ ⧚ ⫼Ѣ ⱘC2000㋏ ˈ⿏ 䗮 ⱘC5000㋏ ˈҹ 㛑 催ⱘC6000 C8000㋏ DŽDSP56000Ⳃ 㒣 ЎDSP56000ˈDSP56100 DSP56300ㄝ Ͼϡ ㋏ ⱘ ⧚ DŽ PHILIPS Ҟ г њ Ѣ 䞡㕂㒧 ǃԢ ǃԢ 㗫 Ϟ 䗴ⱘR.E.A.L.DSP ⧚ ˈ⡍⚍ Harvard㒧 Ь/㌃ ˈ ⫼Ⳃ 䞣⍜䌍㉏ѻ DŽ4ǃ ⠛Ϟ㋏㒳˄System On Chip˅䱣ⴔEDIⱘ VLSI䆒䅵ⱘ ˈ ԧ 㡎ⱘ䖙䗳 ˈ ϔϾ⸙⠛Ϟ ⦄ϔϾ Ў ⱘ㋏㒳ⱘ ҷ Јˈ䖭 System On Chip˄SOC˅DŽ ⾡䗮⫼ ⧚ Ḍ ԰ЎSOC䆒䅵 ⱘ ˈ 䆌 ㋏㒳 䆒ϔḋˈ ЎVLSI䆒䅵Ёϔ⾡ ⱘ ӊˈ⫼ ⱘVHDLㄝ乘㿔 䗄ˈ ӊ ЁDŽ⫼ 䳔㽕 Н Ͼ ⫼㋏㒳ˈӓⳳ䗮䖛 ҹ 䆒䅵 Ѹ㒭 ԧ ԰ḋ DŽ䖭ḋ䰸Ͼ ⊩䲚 ⱘ ӊҹ ˈ Ͼ ㋏㒳 䚼 䲚 ϔ 㢃⠛Ё ˈ ⫼㋏㒳⬉䏃 ㅔ⋕ˈ Ѣ ԧ⿃ 㗫ǃ 催 䴴 䴲 DŽSOC ҹ Ў䗮⫼ ϧ⫼ϸ㉏DŽ䗮⫼㋏ SiemensⱘTriCoreˈMotorolaⱘMˉCoreˈ ѯARM㋏ ӊˈ Echelon Motorola 㘨 ⷨ ⱘNeuron㢃⠛ㄝDŽϧ⫼SOCϔ㠀ϧ⫼Ѣ Ͼ ㉏㋏㒳ЁˈϡЎϔ㠀⫼ ⶹDŽϔϾ ҷ㸼 ⱘѻ PhilipsⱘSmart XAˈ XA ⠛ Ḍ 䍙䖛2048ԡ RSAㅫ⊩ⱘCCU ԰ ϔ ⸙⠛Ϟˈ ϔϾ 䕑JAVAC䇁㿔ⱘϧ⫼ⱘSOCˈ ⫼Ѣ ӫѦ㘨㔥 Internet 䴶DŽ1.1.3 ㋏㒳 㾕ⱘ䕃ӊ㒧㋏㒳 㾕ⱘ䕃ӊ㒧(1) ⦃䕂䆶㋏㒳:(Polling Loop)ㅔ ⱘ䕃ӊ㒧 ⦃䕂䆶,⿟ ձ⃵Ẕ ㋏㒳ⱘ↣ϔϾ䕧 ӊˈϔ ӊ ゟ 䖯㸠Ⳍ ⱘ ⧚ 䗮 ⱘ䕃ӊ㒧 ˖initialize()while(true) { checkfor imputif (condition_1) action_1();if (condition_2) action_2(); do some work......if (condition_n) acition_n();1-1 ⦃䕂䆶㋏㒳Ӭ⚍˖¾ Ѣㅔ ⱘ㋏㒳㗠㿔 Ѣ㓪⿟ ⧚㾷¾≵ Ё ⱘ ⿟ 䖤㸠㡃 ϡӮ ⦄䱣 ⱘ䯂乬㔎⚍˖¾ 䰤ⱘ ⫼乚 ⬅Ѣϡ ⹂¾ Ѣ 䞣ⱘI/O ⱘ ⫼ϡ ⦄¾ ⱘ⿟ ϡ Ѣ䇗䆩ℸ 䗖 Ѣ 䗳 䴲 䗳ⱘㅔ ㋏㒳˄2˅ ㋏㒳(Foreground/Background) Ё 偅 ㋏㒳ϔϾ ⦃䕂䆶㋏㒳ϔⳈ 䖤㸠, ⬅ϔѯЁ ⧚䖛⿟㒘 ⱘ ϔ џӊ( 䚼џӊ) ⫳ 䍋Ё ,Ё 䖤㸠䖯㸠 ⧚, ⧚ (䗮 ⿄Џ⿟ )DŽ䖭⾡㋏㒳ⱘϔϾ ッ ϔϾㅔ ⱘ ⦃ϡ ӏԩџ ԰䛑 ⬅Ё ⧚⿟ ⱘԚ Ё ⧚䙷ѯ䳔㽕 䗳 ⱘџӊ Ϩ I/O䆒 ⱘ ⱘ㓧 Ё, , ⱘ ԰⬅ 䖭ѯ 䖯㸠 ⧚ ⼎ ㄝ䖭⾡㋏㒳ⱘ䕃ӊ䖤㸠ⱘ 1-2 ⼎1-2 ㋏㒳䖭⾡㋏㒳䳔㽕㗗㰥ⱘ Ё ⱘ⦄ Ё Ё ⧚䖛⿟ϢЏ⿟ ⱘ 䇗( ѿ䌘⑤)䯂乬㋏㒳ⱘ 㛑Џ㽕⬅Ё 䖳 䯈(Interrupt latency time), 䯈(response time) 䯈(recovery time) ⬏ 1-3 ⼎Ё 䖳 䯈: ҢЁ ⫳ ㋏㒳㦋ⶹЁ , Ϩ 㸠Ё ⿟ 䳔㽕ⱘ ⒲ 䯈DŽ1-3 ㋏㒳ⱘЁ 䯈˄3˅ ӏ ㋏㒳(Multitasking Multi-thread Program Model-ㅔ⿄RTOS) ѢϔϾ ⱘ ㋏㒳 䇈, 䞛⫼Ё ⧚⿟ ϔϾ Џ⿟ 䖭⾡䕃ӊ㒧 䲒ҹ ⱘ ⹂ⱘ 䴴ⱘ , ϔѯѦϡⳌ ⱘ䖛⿟䳔㽕 ϔϾ䅵ㅫ Ё ⧚ , 䳔㽕䞛⫼ ӏ ㋏㒳DŽ1-4 ӏ ㋏㒳Џ㽕⡍⚍˖Ͼ乎 㸠ⱘ⿟ 㸠䖤㸠㾖Ϟⳟ ⱘ⿟ 䖤㸠↣Ͼ⿟ 䖤㸠 㞾 ⣀ゟⱘCPUϞ 䰙Ϟϡ ⱘ⿟ ѿ ϔϾCPU ⹀ӊ ℸ䳔㽕RTOS䖭ѯ ѿⱘ䆒 䖯㸠ㅵ⧚↣Ͼ⿟ 䛑㹿㓪 䰤 ⦃ⱘ⿟ ㄝ ⡍ ⱘ䕧 㸠Ⳍ ⱘӏ ㄝ䖭⾡⿟ ῵ ㋏㒳 Ⳍ ㅔ ⱘⳌѦ ԰ⱘ῵Џ㽕Ӭ⚍˖ⱘ㋏㒳 㾷ЎⳌ ⣀ゟⱘ Ͼ㒓⿟䖒 㗠 ПⱘⳂⱘҢ㗠䰡Ԣ㋏㒳ⱘ 䆕㋏㒳ⱘ㋏㒳ⱘ῵ 催㋏㒳ⱘ 㓈㔎⚍˖䳔㽕䞛⫼ϔѯ ⱘ䕃ӊ䕃ӊ䆒䅵 ⊩䳔㽕 㛑㒓⿟䯈ⱘ 䇗 ℹ 䗮 㛑䳔㽕 ↣ϔϾ ѿ䌘⑤Ѧ㟈㒓⿟䯈ⱘゲѝ䳔㽕Փ⫼RTOSˈ㽕 ㋏㒳ⱘ 䫔ӏ ㋏㒳 䰙Ϟ ⬅ Ͼӏ ϾЁ ⧚䖛⿟ ԰㋏㒳㒘ⱘⳌѦ䗮 ℹг䳔㽕 ԰㋏㒳ⱘRTOSⱘ䳔∖˖z䎇 ⱘ Ϟϟ ㋏㒳䇗⫼ㄝz ⹂ ⱘ 㛑zӏ 䇗 ѢӬ 㑻ⱘz ⱘЁ 䖳z Ԍ㓽 䜡㕂ⱘԧ㋏㒧z 䴴ӏ ㋏㒳ⱘ ⦄ 乏 ӏ ԰㋏㒳ⱘ ԰㋏㒳Џ㽕ӏ ǃӏ 䇗 ǃӏ 䯈䗮 ℹѦ ǃ 䩳ㅵ⧚ǃЁ ㅵ⧚DŽ1.2 ԰㋏㒳1.2.1 ㋏㒳 ԰㋏㒳԰㋏㒳 ⫼䕃ӊⱘ ⸔ DŽⳂ ⫼䖬 䕑 ⠛ ϞⳈ 䖤㸠ˈ≵ RTOS(Real-time Operating System˗ㅔ⿄RTOS)ˈԚҡ㽕 ϔϾЏ⿟ 䋳䋷䇗 Ͼӏ DŽRTOS ϔ↉ Ⳃ ⿟ Ёⱘ⿟ ˈ㋏㒳 ԡ 佪 㸠ˈⳌ Ѣ⫼ ⱘЏ⿟ ˈ⫼ ⱘ ⫼⿟ 䛑 ゟ RTOS ϞDŽϡҙ ℸˈRTOS䖬 ϔϾ ⱘ Ḍˈ CPU 䯈ǃЁ ǃI/Oǃ ㄝ䌘⑤ 㺙䍋 ˈ⬭㒭⫼ ϔϾ ⱘAPI˄System callˈ㋏㒳䇗⫼˅ˈ ḍ Ͼӏ ⱘӬ 㑻ˈ ⧚ ϡ ӏ П䯈 䜡CPU 䯈DŽRTOS 䩜 ϡ ⧚ 䆒䅵Ӭ 催 ⥛ ӏ ḌˈRTOS ҹ䴶 Ͼ㋏ ⱘ ⧚ MPUǃMCUǃDSPǃSOCㄝ կ㉏ ⱘAPI ˈ䖭 RTOS Ѣ䆒 ⣀ゟⱘ ⫼⿟ ⸔DŽ ℸ ѢRTOSϞⱘC䇁㿔 ⱘ ⿏ỡ DŽ ϧ 乘⌟ˈӬ⾔ⱘRTOSϞ䎼 ⧚ ⱘ⿟ ⿏ỡ 䳔 1ˉ4% DŽ RTOS ⸔Ϟ ҹ㓪 ⾡⹀ӊ偅 ⿟ ǃϧ ǃ㸠Ϯ ǃѻ 䗮⫼ ⱘ ⫼⿟ ϔ䍋ˈ ҹ԰Ўѻ 䫔 ˈ 䖯㸠Ϯⶹ䆚ѻ Ѹ⌕ˈ ℸˈRTOS ϔϾ䕃ӊ DŽRTOSⱘ ˈ㾷 њ 䕃ӊ ⱘ䲒乬DŽ䱣ⴔ ㋏㒳Ё䕃ӊ↨䞡ϡ Ϟ ǃ ⫼⿟ 䍞 䍞 ˈ Ҏ ǃ ⫼⿟ ǃ⿟ ḷḜⱘ㒘㒛ㅵ⧚ ЎϔϾ ⱘ䇒乬DŽ RTOSⳌ Ѣ њϔ⾡ ⱘㅵ⧚῵ ˈ Ѣ ԡ Ҏ 䛑 ϔϾ 催DŽ ѢRTOS ⱘ⿟ 䕗催ⱘ ⿏ỡ ˈ ⦄90ˁҹϞⱘ䆒 ⣀ゟˈϔѯ ❳ⱘ䗮⫼⿟ ҹ԰Ўϧ ѻ ⼒ӮDŽЁ 䅵ㅫ ϮϞ㨑 Ѣ㽓 ˈ ⧚ Ϟг ℸDŽԚ ㋏㒳䴶 ⫼ⱘ⡍⚍ њ ⧚ ⫼ ⱘѻ 㽕 Ͼ Ϯⱘ 䚼 ˈ㗠Ϩ ⧚ ԧ ⫼㒧 䖭⾡ⶹ䆚 ˈ 㛑⬅㊒䗮 ⫼㋏㒳ⱘ⫼ DŽ ℸЁ ㋏㒳 䴶 ⴔⳌ ⱘ ӮDŽЁ 㒣⬅10ϛԭ ⠛ ⿟ ˈ Ё Ҏ䛑 䌘 䰤ⱘ ӊϟ䗮䖛 䏉ˈ㊒䗮њ ⠛ ˈ ⷨ њ㞾 ⱘѻ DŽԚ ⱘ Ⳍ↨ˈ ↉ ∈ Ⳍ 䕗Ԣˈ ⿟ ϡ ˈ䞡 䕗 DŽ䖭ѯ䯂乬Џ㽕 ⬅Ѣ ⠛ Ё㔎У ⿟ ǃ ㅵ⧚ˈ㔎 㸠Ϯ㘨 ˈ RTOS ㋏㒳䕃ӊ ⿟ㅵ⧚ ⱘ ˈ㋏㒳 ѻϮ䍄 Ѡ ϔϪ㑾ⶹ䆚㒣⌢ ҷⱘ 䞡㽕ⱘ㒣⌢ 䭓⚍Пϔˈ䖭 ϔϾϡ ⱘ Ϯˈ Ё ⱘ ѻϮ 䇈 ⒵њ 䘛 DŽ Ϯⱘ ⸔ ҹ ⫼ЎЁ ⱘ㢃⠛䆒䅵 䴶 ⫼ⱘ䕃ӊ DŽ ӏ ԰㋏㒳䖯 Ϯⱘ НˈϡѮѢ Ϟ Ẅ Ϯ䞛⫼ϝ㾚 ⱘ ˈ 䕃ӊⱘ 䗳ⶹ䆚 ϔϾ䞠⿟⹥DŽ1.2.2 ԰㋏㒳ⱘὖ ⡍⚍ⱘ Н 㾘 ⱘ 䰤 㛑 Ӵ䗦ℷ⹂ⱘ㒧 ˈ䖳 ⱘ㒧 䫭䇃DŽ ㋏㒳 䴲 “ 䗳”㋏㒳ˈ ㋏㒳 䰤 ⱘ 䯈ˈҢ㗠Փ㋏㒳 乘⌟ DŽ ㋏㒳 ҹ Ў“⹀ ㋏㒳” “䕃 ㋏㒳”DŽѠ㗙ⱘ Ѣ˖ 㗙 ϡ⒵䎇 䰤ǃ ϡ 䖛 ⱘ ϟ䛑Ӯ 㟈♒䲒 ⱘ ˄ 㟾ぎ㟾 ㋏㒳˅˗㗠 㗙 ϡ⒵䎇 䰤 ˈ㋏㒳 㛑䗔 ˈԚ ϡӮ 㟈♒䲒 ⱘ ˄ Ѹ ㋏㒳˅DŽ԰㋏㒳 ˈ㛑 ԰㋏㒳 ԰ⱘ ԰㋏㒳DŽ ԰㋏㒳ⱘ佪㽕ӏ 䇗 ϔ ⫼ⱘ䌘⑤ ӏ ˈ ⃵ ⴔⴐѢ 催䅵ㅫ ㋏㒳ⱘՓ⫼ ⥛ˈ 䞡㽕⡍⚍ 㽕䗮䖛ӏ 䇗 ⒵䎇 Ѣ䞡㽕џӊ 㾘 ⱘ 䯈 ℷ⹂ⱘ DŽӏ ԰㋏㒳Ϣ ӏ ԰㋏㒳 ⴔ ⱘ DŽ ԧⱘ䇈ˈ Ѣ ԰㋏㒳ˈ䕃ӊⱘ 㸠 䯈Ϟⱘ㽕∖ˈ ϡϹḐˈ 䯈Ϟⱘ 䇃 㗙 Ϟⱘ䫭䇃ˈϔ㠀ϡӮ䗴 ♒䲒 ⱘ DŽ㗠 Ѣ ԰㋏㒳ˈЏ㽕ӏ џӊ䖯㸠 ⱘ ⧚ˈ㱑✊џӊ 㛑 ⊩乘ⶹⱘ 䖒ˈԚ ㋏㒳 䋳㥋ϟˈг ℸ——㋏㒳 䯈 ⱘ䍙 ⴔ㟈 ⱘ 䋹DŽ ˈ ԰㋏㒳ⱘ䞡㽕⡍⚍ ㋏㒳ⱘ ⹂ ˈ ㋏㒳㛑 䖤㸠 ⱘ ㄝⱘ 㛑 ㊒⹂ⱘԄ䅵DŽ1.2.3 RTOSⱘ㒧 ⡍⚍RTOSЁˈϔ㠀䞛⫼ Ḍ˄Microkernel˅㒧 ˈ ԰㋏㒳Ё ǃ ㅔ ⱘ 㛑˄ӏ ⱘㅵ⧚Ϣ䇗 ˅㕂Ѣ Ḍ DŽ㗠 䗝 ⱘ 㛑԰Ў⫼ ⱘ ⿟ 偏⬭ Ḍ ˈ⿄ПЎ㒘ӊ˄Components˅DŽ՟ PSOS ⬅PSOS+ Ḍ PROBE+ǃPNA+ǃPHILE+ㄝ㒘ӊ㒘 DŽ⦄ ⱘ ԰㋏㒳䰸Ӵ㒳 ԰㋏㒳ⱘ 㛑 ˈ䖬 㔥㒰 ⧚ 㛑῵ DŽRTOSⱘ Ḍ ԰㋏㒳 㽕ⱘ 㛑 њ ԰㋏㒳 䚼ˈ Ḍ 䆒ϡ԰ 䆒 ϡ 䆒⫼ Ϟ ⬅ 㒓ҹ ҔМḋⱘ 㒓ˈгϡ 䆒 ⱘ ҹ ԩ ԡˈгϡ 䆒I/O I/Oˈ 䆒ⱘㅵ⧚ 㑻 ˄BSP˅ ⱘDŽRTOSⱘ䖭⾡ ǃ῵ ǃ 㺕 ˈḍ 䳔㽕 䳔῵ 㒧 ˈՓ ԰㋏㒳Ḍ ㊒ ǃ催 ǃ 㸠 њ䆌 乱 䫔ˈ 催њ 䗳 ˈ Ϩ ḌՓ ԰㋏㒳 䇗 ˈՓ 催Ӭ 㑻ӏ Ӭ 㸠ˈՓ ㋻ џӊӬ ⧚ˈ Ϩ Ͼ ⫼⿟ ⫼ ˈ㡖ⳕњFLASH DRAM ぎ䯈ˈ䰡Ԣњ DŽ䗮 ԰㋏㒳 ҹϟ Ͼ䴲 ⱘ⡍ ˖ˈ ㋏㒳 乏 䚼џӊ԰ 䗳 ˈϨ ⱘ 䯈 ⹂ ⱘˈϡㅵ 䚼џӊ 䱣 џӊDŽ ЎRTOS ⫼Ѣ 㽕∖ 催ⱘ ㋏㒳DŽϔ㠀 䇈 RTOSⱘ㋏㒳 䯈Ў ⾦DŽRTOSҹӏ 䯈˄Ϟϟ 䯈˅ Ё 䖳 䯈 䗄RTOSⱘ 㛑DŽӏ 䯈 ⱘ 䖤㸠ӏ ⢊ 䆹ӏ Ёˈ 㽕䖤㸠ⱘӏ ⱘ⢊ Ң Ё ⱘ 䯈DŽЁ 䖳 䯈 ⱘ ҢЁ ⫳ ㋏㒳㦋ⶹЁ ˈ Ϩ 㸠Ё ՟⿟˄ISR˅ⱘ㄀ϔ 䇁 䳔ⱘ ⒲ 䯈DŽ䴴 ˈRTOS ⫼⦃ ⡍ ⱘ䳔㽕ˈ㽕∖ 催ⱘ 䴴 DŽ♉⌏ ˈ ЎRTOSⱘ ⫼乚 ˈRTOS 乏 ⱘ♉⌏ DŽ♉⌏ Џ㽕 RTOS 乏 㺕 ǃ 䜡㕂 ㄝ 䴶ҹ䗖 ⡍ ⱘ⹀ӊ⦃ 䕃ӊ⦃ DŽ1.2.4 ԰㋏㒳ⱘ ㅔ70 ҷ 80 ҷ ˈ䖬≵ ⫼ⱘϧ䮼 ˈ䗮 Џ ˄Host˅Ϟ ⫼∛㓪䇁㿔 ⱘ ⫼ҷⷕⱘ㓪䆥 䫒 ˈ䗮䖛І㸠㒓ϟ㺙 Ⳃ ˈⳂ Ϟϔ㠀㺙 ㅔ ⱘⲥ ˈ㋏㒳ⱘ䇗䆩ձ䴴ⲥ ˈ 䕙Пҹ䘏䕥 Ҿ LED ⼎ㄝ ↉ ⦄DŽ80 ҷ ⦄њҹOS-9 VRTXЎҷ㸼ⱘ㄀ϔҷ ԰㋏㒳ˈ䖭ḋ 㗙 ҹ䲚Ё㊒ Ѣ ⫼ 䕃ӊ ˈ㗠ϡ 㑴㓴Ѣ㾷 䇗 ㄝ䯂乬˗ ⫼⿟ ҹ䞛⫼催㑻䇁㿔㓪 ˗ⲥ ⱘ 㛑 ˈ ҹ⫼ 㾖 ㋏㒳Ё Ͼӏ П䯈ⱘⳌѦ԰⫼ˈԚ 䖭⾡∛㓪㑻䇗䆩 Ѣ㾷 Ͼ⫼催㑻䇁㿔㓪 ⱘӏ ⱘ 䱰ҡ✊ ˈ 㗙 ҹ䴴 ⬉䏃ӓⳳ ˄ICE˅ Ͼӏ 䖯㸠⑤ⷕ㑻 䫭ˈԚ Ѣ 䇗䆩 Ͼӏ ҡ✊ 㛑Ў DŽ80 ҷЁ ˈ ⦄њҹVxWorksЎҷ㸼ⱘ㄀Ѡҷ ԰㋏㒳ˈ ԰㋏㒳 䚼 կ ѢTCP/IP 䆂ⱘ㔥㒰 㛑˗ կ ⱘ⑤ⷕ㑻䇗䆩 ˗կ偏⬭Ⳃ ⱘShell ˈՓ ҹ䖯㸠 䗳 䆒䅵 䗳 DŽ䖯 90 ҷҹ ˈ ⦄ҹTornado/VxWorksЎҷ㸼ⱘ㄀ϝҷ ԰㋏㒳DŽ Џ㽕⡍ ˖˄1˅ կ ⾡ ⧚ ԧ㋏ⱘ ⊯ ˗˄2˅ ⱘ ⦃ ˈ 偏⬭Џ ⱘShell ǃ ѢЏ ⱘⳂ ӓⳳ ˗˄3˅ ⱘ䕃ӊ ˈҹ 㦋 ⊯ⱘ㄀ϝ 䕃ӊ ⱘ DŽⳂ ˈ ԰㋏㒳ℷ ㄀ ҷ ˈ Џ㽕Ⳃ ˖ ⾡ ԰㋏㒳 կ ⱘ ⫼ ˄API˅ǃ偅 䕃ӊ ˗ Ң8ԡ 64ԡ ԧ㋏㒧 կ㒳ϔⱘ DŽ1.2.5䆘Ӌ ԰㋏㒳ⱘ 䬂⬅ѢRTOS ⫼Ёⱘ⡍⅞ ԡˈ RTOSⱘⷨおЁ 㛑 ⱘ㽕∖Ⳍ Ѣ 䗮 ԰㋏㒳 䇈 ↨䕗ϹḐˈ԰Ў ԰㋏㒳ⷨおⱘϔϾ䞡㽕 ˈ Ϣϔ㠀 䗮 ӏ ԰㋏㒳˄ UNIX˄POSIX˅ǃWINDOWS LINUXㄝ˅ Ⳍ П ˄ 䛑㛑 կ ӏ ˅ˈг 䆌 ϡ П DŽ Ѣ 䗮 ӏ ԰㋏㒳ˈ Ⳃⱘ ⫼ ㅵ⧚䅵ㅫ 䌘⑤ˈ䗑∖㋏㒳ⱘ ⫼⥛˗㗠RTOS 䗑∖ⱘ ǃ 䴴 ⹂ ㄝDŽ䆘ӋϔϾ ԰㋏㒳ϔ㠀 ҹҢ䖯⿟ㅵ⧚ǃӏ 䇗 ǃ ㅵ⧚ǃӏ 䗮 ǃ 䫔ǃӏ 䯈 Ё ⽕ℶ 䯈ㄝ䅵 㸵䞣 Ӭ DŽ ӏ 䇗 ㅫ⊩RTOSⱘ ӏ 㛑 ⿟ Ϟ Ѣ ⱘӏ 䇗 ㅫ⊩DŽҢ䇗 ㄪ⬹Ϟ 䆆ˈ ЎӬ 㑻䇗 ㄪ⬹ 䯈⠛䕂䕀䇗 ㄪ⬹˗Ң䇗 Ϟ 䆆ˈ Ў ǃϡ 䗝 䇗 ˗Ң 䯈⠛ ⳟˈ Ў Ϣ 䯈⠛䕂䕀䇗 ϸ⾡ DŽϞϟ 䯈˄&RQWH[W 6ZLWFKLQJ 7LPH˅ӏ ㋏㒳ЁˈϞϟ ⱘ ⧚ ⱘ ⬅䖤㸠ӏ 䕀⿏ ϔϾ 㒾ӏ ⫳ⱘ DŽ 䖤㸠ӏ 䕀Ў 㒾ǃ 䍋 䰸 ˈ ϔϾ㹿䗝 ⱘ 㒾ӏ ⿄Ў ӏ DŽϞϟ 䖬 ⱘ⢊ ˈ 䙷Ͼӏ 䖤㸠ˈ 㽕䖤㸠ⱘ䙷Ͼӏ ⱘ⢊ DŽ Ϟϟ ձ䌪ѢⳌ ⧚ ⱘDŽ ℸˈϞϟ 䯈 RTOS 㛑ⱘϔϾ䞡㽕 DŽ⹂԰㋏㒳Ёˈ ϔ ⱘ ӊϟˈ㋏㒳䇗 䖤㸠ⱘ 䯈 ҹ乘⌟ⱘDŽԚ䖭 ϡ ⴔ ⱘ㋏㒳䇗⫼ 㸠ϔϾ 䭓 ⱘ 䯈ˈ㗠ϡㅵ㋏㒳ⱘ䋳䕑 ԩDŽ㋏㒳䇗⫼ⱘ 㸠 䯈 ⱘDŽㅵ⧚䗮 ㅵ⧚ Ўϸ⾡῵ ˖ ῵ ῵ DŽ䫔RTOSⱘ䆒䅵䖛⿟Ёˈ 䫔 ϔϾ 䞡㽕ⱘ ˈ䖭 Ў Ϯ 乚 Ёⱘ ѯ ˄ Ϟϟԡ ㋏㒳ЁⱘϞϟԡ ˅ˈ⬅Ѣ Ѣ䰡Ԣ ⱘ㗗㰥ˈ ⱘ䜡㕂ϔ㠀䛑ϡ ˈ՟ 5000㋏ 5185 ˈ 䜡㕂ҙЎ256K SRAMˇ128K EPROMˈ㗠 䰤ⱘぎ䯈 ϡҙ㽕㺙䕑 ԰㋏㒳ˈ䖬㽕㺙䕑⫼ ⿟ DŽ ℸˈ RTOSⱘ䆒䅵Ёˈ ⫼ ϔϾ 䞡㽕ⱘ DŽ䖭 RTOS䆒䅵Ϣ ԰㋏㒳䆒䅵ⱘ ⱘ ПϔDŽ Ё ⽕ℶ 䯈RTOS䖤㸠 Ḍ 㸠 ѯ㋏㒳䇗⫼ ˈ ϡӮ Ў 䚼Ё ⱘ 㗠Ё 㸠ⱘDŽ RTOS䞡 ⫼ 䚼Ё 䇋∖ˈ䖭ϔ䖛⿟ 䳔ⱘ 䯈 Ё ⽕ℶ 䯈DŽӏ 䯈⬅Ѣ ѯ ՓϔϾӏ 䗔 㸠 ˈRTOS ⱘ䖤㸠⦄ ǃ Ⳍ 䯳 ǃ ḍ ϔ ⱘ䇗 ㅫ⊩䞡 䗝 ϔϾӏ ՓП 䖤㸠ˈ䖭ϔ䖛⿟ 䳔 䯈⿄Ўӏ 䯈DŽϞ䗄 乍Ёˈ Ё ⽕ℶ 䯈 ӏ 䯈 䆘ӋϔϾRTOS 䞡㽕ⱘϸϾ DŽ1.2.6 ԰㋏㒳ⱘ䗝䗝 ԰㋏㒳 㽕㗗㰥ⱘ ㋴ ˈ Ӏ 䖭䞠ҙ Џ㽕 ⱘ䯂乬 ҹ䅼䆎DŽ䭓 ⊯ⱘ ⫼Ӯ ԩՓ⫼ϔϾ ԰㋏㒳 㛑 ❳㒗 ⫼ ⫼ˈ䳔㽕ϔϾⳌ 䭓ⱘ䖛⿟ˈ 䯈 Ҏ Ϟⱘ 䌘 DŽ ℸϔ 䗝⫼њϔϾ ԰㋏㒳ˈ 㛑 ⫼Ѣ ⾡ ⧚ ㋏㒳 ⾡㾘῵ⱘ㋏㒳DŽг 㽕∖ 䗝ⱘ ԰㋏㒳 ⿏ỡ 㾘῵ Ԍ㓽 ˈ䖭ḋ 㛑䱣ⴔџϮⱘ ˈ䗖 ϡ ⱘ ⫼㽕∖ˈ䭓 Փ⫼ϟ DŽ⧚ ⱘ 䍞 䍞 ˈ 㛑䍞 䍞催ˈ Ѣϡ ㉏ ⱘ ⫼ˈ䆒䅵㗙 㛑㽕䗝⫼ϡ ㉏ ⱘ ⧚ ˈ 㗙 ϔ㉏ ϟ䗝⫼ ⱘ DŽЎњ㛑 䭓 Փ⫼ϔϾ ԰㋏㒳ˈ 㽕∖ ⱘ ⧚ ⱘ㉏ 䍞 䍞 DŽЎњ䖒 䖭Ͼ㽕∖ˈ 㽕∖ ԰㋏㒳 㡃 ⱘ ⿏ỡ ˈ㗠Ўњ 㡃 ⱘ ⿏ỡ ˈ ԰㋏㒳 䆹䞛⫼催㑻䇁㿔˄ϔ㠀䛑 C䇁㿔˅ ⦄DŽ䗮 ↣ ⦄ϔϾ ⱘ ⧚ ˈ Ӯ Ⳍ ⱘC㓪䆥 ˈ䞛⫼C䇁㿔ⱘ ԰㋏㒳 㛑䖙䗳 ⿏ỡ 䖭Ͼ ⧚ ϞDŽϔϾ ԰㋏㒳䞛⫼ⱘ∛㓪䇁㿔䍞 ˈ ⧚ ⱘ⿏ỡ 䍞 䲒⫮ ϡ 㛑ˈ䖭ϔ⚍ ѢRISC ⧚ DŽ ϔҷⱘ԰㋏㒳˄՟ VxWorks˅䞛⫼C䇁㿔 ⦄ˈ⿏ỡ ϔϾ ԧⱘ ⧚ П ˈ 㾚䳔㽕 ѯ 䯈㽕∖㢯 ⱘҷⷕ⫼∛㓪䇁㿔Ӭ DŽ԰㋏㒳㽕⫼Ѣ ⾡ ㋏㒳ˈ ϾҎ ㋏㒳ˈ ⧚ ㋏㒳DŽ䖭 㽕∖ ԰㋏㒳ⱘҷⷕ㾘῵ Ԍ㓽 DŽ ԧ 䇈ˈ 㽕∖㋏㒳 㓽 ˈ Ѣ 㾘῵ 䰤ⱘ ㋏㒳ˈ㽕∖ ԰㋏㒳ⱘҷⷕ䭓 㛑㓽 KB⫮㟇 KB㣗 DŽҷⷕ㾘῵ⱘ Ԍ㓽 Џ㽕 ѢϸϾ ㋴DŽϔ ⫼ⱘ䇁㿔ˈ ѢC䇁㿔ⱘ㋏㒳㚃 ϡ Ѣ∛㓪䇁㿔ⱘ㋏㒳㋻ ˈԚЎњ 䗄ⱘ ⿏ỡ ⱘ⧚⬅ˈ䞛⫼催㑻䇁㿔З 䍟ˈ 㛑 㛑 ҹӬ ˈ㓽 ҷⷕ䭓 DŽ ㋏㒳㾘῵ Ԍ㓽 ⱘ㄀ѠϾ ㋴ ԰㋏㒳 䗝⫼ⱘ㒧 DŽⳂ Ў⌕㸠ⱘ 䗨ⱘ ԰㋏㒳㒧 Ḍ㒧 ˈ䖬 䆌 ԰㋏㒳䞛⫼⿄Ў“㉏ Ḍ”ⱘ῵ 㒧 ˈ䖭⾡㒧 Ѣ㺕 ˈ ҹ ⧚㋏㒳ⱘ㾘῵ Ԍ㓽 䯂乬DŽˈ 䭓 ⫼ ⱘ㽕∖ ✊䖬 ⴔ 䗝 ԰㋏㒳ⱘ⫳ѻ 䆹 ϔϾ Ϟ ⱘ ˈ ⲯⱘ⫳ ˈ㛑 ѻ կ䭓 DŽ ѢՓ⫼ ѢϔϾ ԰㋏㒳 ѢՓ⫼ Ѣ ˈⳈ ㋏ⴔѻ ⱘ 䯈DŽ䖭Џ㽕 ҹϟ 䴶˖˄1˅ Ѣ 㺙ˈ Ѣ䜡㕂DŽ˄2˅⫼ ⱘ ⦃ DŽ 䗮⫼ⱘに ⬠䴶 ⏙ ⌕⬙ⱘ ḷDŽ˄3˅Є ⱘ䇗䆩 ӓⳳ DŽ˄4˅Є ⱘ㋏㒳 㛑DŽ ㋏㒳䇗⫼ 䞣ǃ䇗 ㄪ⬹ Ӭ 㑻 䕀䰆 ǃRMA ㄝDŽ˄5˅ ⱘ DŽ Ё ⬅Ѣ 㓬 ㋏ˈЏ㽕㽕∖䗮䖛㔥㒰ⱘ DŽ㛑㸵䞣 ԰㋏㒳ⱘ 㛑ⱘ ˈ Ё Џ㽕ⱘ ҹϟ Ͼ˖* ӏ 䯈ˈ ㋏㒳 ϸϾ⣀ゟⱘ Ѣ▔⌏ ⱘӏ П䯈 䳔ⱘ 䯈DŽ* Ё ㄝ 䯈ˈ ⧚ Ё 䇋∖ 㸠Ё ⿟ ⱘ㄀ϔ Ҹ 䳔 䯈DŽ* ⅏䫕㾷㜅 䯈DŽ㔥㒰 㛑ⱘ ԰㋏㒳 ϡ 㔥㒰 㛑DŽ✊㗠 Ҟ 㔥㒰ⱘϪ⬠ˈϔϾӬ⾔ⱘ ԰㋏㒳 乏 㔥㒰 㛑ˈ催 䴴 催 ⥛ ⦄TCP/IP NFSㄝ 䆂DŽ⿟䅵ㅫ 乚 Ϟ 䞡ˈ 㛑䙉 ⱘ Ё ⱘџ Ϟⱘ DŽⳂ ԰㋏㒳乚 ↨䕗 䅸ⱘ ҢUNIX㋏㒳 㗠 ⱘPOSIX API DŽPOSIX1003.1 Нњ㋏㒳䇗⫼ˈ㗠POSIX1003.1B Нњ ǃ ♃ǃ⍜ 䯳 ㄝDŽPOSIX Ѣ ԰㋏㒳 ✊ϡ ϔϾ 㕢ⱘ ˈϸ ⬅VITA⡉ ˈ ԰㋏㒳 Ϣ ゟϔϾ⿄ЎESSE˄E mbedded System Software Environment ˅ⱘ ˈESSE НϔϾ Ḍⱘ ⫼ ˄API˅ Ѣ 䚼῵ ՟ ӊ㋏㒳 䇗䆩 ⱘ DŽϔѯ䞡㽕ⱘ ԰㋏㒳 ҹ ⬉ 乚 ⱘ 䛑 ESSEˈԚ 㒜ESSEⱘ ԩˈ 㾖 DŽϔϾ Ёⱘ ㋏㒳ԧ㋏㒧 I2O˄Intelligent I/O˅ˈ ⹀ӊ㋏㒳㒧 ԰㋏㒳ϸϾ 䴶ˈ 䞛⫼ 㛑 ⱘ ⊩ 催I/O ㋏㒳ⱘ 㛑ˈ ⃵ Н ḌϢ䆒 偅 П䯈ⱘ DŽ䖭Ͼ г Џ⌕䅵ㅫ ㋏㒳 ⱘ DŽ%63ⱘЄ ⿟԰㋏㒳 ↣ϔ⾡ ⧚ կϔϾBSP˄Board Support Package˅䕃ӊ,ϔϾ⡍ ⱘ ⧚ њⳌ ⱘBSPˈ 㛑 䆹 ԰㋏㒳ϟ 䖤㸠DŽѢ ϡ CPU 㛑 ⱘӕϮ ˈ䗮 䞛⫼⦄ ⱘ ⧚ ゟ㞾 ⱘ ⫼㋏㒳DŽ⬅Ѣ䗮⫼ⱘ Ў⡍ 乚 䆒䅵ⱘ ⧚ 㒣 Є ˈ ⧚ 㛑 ⱘӕϮˈг 㛑 䞛⫼ ⧚ 㓽ⷁѻ ˈ䰡Ԣ DŽℸˈ ԰㋏㒳 ⧚ 㛑 կⱘBSPⱘ䍞Є ˈ ⫼ 㗙 䍞ФѢ䞛⫼DŽ ✊ˈ ԰㋏㒳䛑 կ㞾㸠 BSPⱘ ˈԚ 㞾㸠 BSP ⫼ ⱘ ѻ ⱘ 䯈DŽ1.2.7 ㋏㒳䕃ӊ㋏㒳 ⱘ䖛⿟ϔ㠀 1ˉ5 ⼎˖Ң Ё ⳟ ˈ ㋏㒳ⱘ 䰙Ϟ 䕃⹀ӊѸ 㸠䆒䅵ⱘ䖛⿟DŽԚ ϔ ㋏㒳ⱘԧ㋏㒧 䆒䅵 ˈ䕃⹀ӊ䆒䅵 ⣀ゟ 㸠 䖯㸠њDŽㄝ ϸ㗙ⱘ䆒䅵 ˈ 䲚 ϔԧ䖯㸠䲚 ⌟䆩DŽ䕃ӊ῵ ゟ ӏ Ⳍ Ѣϔ㠀䕃ӊ䆒䅵䖛⿟Ёⱘὖ㽕䆒䅵䰊↉DŽ῵ ゟ 㛑㒭㋏㒳 ゟϔϾ ῵ DŽӏ 䖭Ͼ ῵ ⸔Ϟˈ ✻ϔ ⱘӏ 䗴 ˈ ㋏㒳 㾷 㛑 ⧚ Ⳃ 䗖ⱘӏ 䲚 DŽӏ 䜡 ӏ ✻ϔѯ㾘 㑺 ˈ Ⳍ ⱘ䅵ㅫ ⧚ ЁDŽӏ ⱘ 㸠˗⬅ӏ 䇗 DŽ1-5 ㋏㒳ⱘҢ乊 ϟⱘ ⌕⿟䇁㿔 ⦄䰊↉ ⫼ ϔ䅵ㅫ 䇁㿔 ⦄ӏ 䰊↉ ⱘ↣Ͼ῵ DŽ ↣Ͼ䰊↉ⱘ㒧 㽕䖯㸠Ⳍ ⱘ 㛑 ˈг 䆘Ԅ↣Ͼ䰊↉ⱘ䆒䅵 ⒵䎇 㛑㽕∖ˈ䖒 ϔ ⱘ DŽ 䰊↉ ⱘ㚃 ˈ ϟϔ䰊↉ ҹ乎 䖯㸠ⱘ 䆕DŽϔ 䕃ӊⱘ Ͼ䚼 㒣 ⦄ˈ 䆹䖯 ⌟䆩䰊↉DŽ䕃ӊⱘ⌟䆩 Ў ⌟䆩 䲚 ⌟䆩ˈ 㗙 㓪ⷕ䰊↉䖯 㗙 ⌟䆩ⱘ䕃ӊ 㒘㺙 ϔϾ ⱘ㋏㒳䖯㸠⌟䆩DŽ䕃ӊ ῵ ˖⬅Ѣ ㋏㒳㞾䑿ⱘ⡍⅞ ˈ 䰤Ѣ ㋏㒳㞾䑿䌘⑤Ϣぎ䯈ⱘ䰤 ˈ 䕃ӊ ϔ㠀䞛⫼ Џ ʊʊⳂ Ѹ ῵ ˈ 1ˉ6 ⼎DŽ ⦃ 䖤㸠 Џ ϞDŽ Џ ҹ ԰キǃPc ㄝˈ䖤㸠ⱘ ԰㋏㒳 Ўunixǃmicrosoft windowsㄝ Є ⬠䴶 ⱘ㋏㒳 DŽⳂ Ӏ㽕 ⱘ ⹀ӊ DŽЏ Ⳃ 䗮䖛І㸠 ǃҹ 㔥ǃӓⳳ Ҫ䗮 ↉Ⳍ㘨㋏DŽ⫼ ⱘ ԰ Џ ⦃ ϟ ˈ 㓪ⷕǃ㓪䆥ǃ㘨 ǃϟ䕑 䇗䆩ㄝ ԰DŽ⫳ Ⳃ ⷕ⬅І㸠 ҹ 㔥 Ҫ䗮 䗨 ϟ䕑 Ⳃ ˈ ⫼⿟ Ⳃ Ϟ 㸠ˈ⫼ ҹՓ⫼ ѢЏ ⱘ ⦃ կⱘ䇗䆩 䇗䆩䖤㸠 Ⳃ Ϟⱘ ⫼⿟ DŽ䖭⾡ ⦃ 䰸㛑 ⧚ ⱘ 䚼 㛑ҹ ˈ䖬 ⫼ ⱘDŽ1-6Ѹ ⦃2 ⧚ MPC860MPC860 ↨䕗⌕㸠ǃ 㛑Ⳍ Ӭ䍞ⱘ ⠛䲚 ⧚ DŽ 䚼䲚 њ ⧚ ϔѯ 乚 ⱘ ⫼ 㒘ӊˈ⡍ 䗖 Ѧ㘨㔥㒰 䗮 DŽMPC860䗮 ⧚ ḍ ⫼ ϡ ⱘ㽕∖ կ2̚4ϾІ㸠䗮 ǃϡ 㾘Ḑⱘ Ҹ cacheˈ ⾡㑻 ⱘ㔥㒰 䆂 DŽ䆹ѻ ϧЎ 䆒 䏃⬅ ǃ 䲚㒓 ǃLAN/WANѸ ǃPBX㋏㒳 STM㔥 ㄝ䆒䅵DŽMotorola860 ⫼䗨 ⠛䲚 䗮 ⧚ ˈ ⴔ㡃 ⱘ 㛑 ˈ ⫼ ⾡ ˈ⡍ ⫼ 䗮 䴶DŽ2.1 MPC860ⱘ ḚMPC860 ϝϾ 㛑῵ 㒘 ˖ PowerPc Ḍǃ㋏㒳 ҹ 䗮 ⧚῵ DŽ 㛑Ḛ 2-1 ϟ ⼎DŽ2-1 PowerPc860 㛑Ḛz ⱘPOWER PC Ḍ˄Embedded PowerPC core˅— Power PC⫼ Ҹ㑻ⱘ32ԡ ⱘPower PC Ḍˈ 㕂32Ͼ32ԡⱘ DŽ— ҹ䖯㸠 Ҹ ⱘ乘⌟ ӊ ˈԚϡ㛑 ӊ 㸠DŽ— CPU 䚼ˈ䲚 2Kⱘ cache˄D-Cache˅ 1Kⱘ Ҹ˄I-cache˅ˈ䖭ѯcache ǃ⠽⧚Ϟ ⱘˈ䞠䴶 ⱘ DŽ— ㅵ⧚ ˄MMU Memory Management Unit˅ 4K,16K,256K,512K,8M Bytes ⱘ ⾡义䴶῵ DŽz 䖯ⱘ 㒓ӓⳳ䇗䆩 DŽz 㒓⬅26 䚼 㒓 ˈ32 㒓 8ԡǃ16ԡǃ32ԡⱘ 㒓ˈ 催ԡ ⱘ῵ Ԣԡ ⱘ῵ DŽz㋏㒳 ˄SIU System interface Unit˅—⹀ӊ 㒓ⲥ㾚—ӾЁ ⲥ㾚—䕃ӊⳟ䮼⢫˄Watchdog˅— Ё— 䩳— 䩳 Power PCⱘ—䞡—IEEE 1149.1 JTAG⌟䆩 ッz ˄Memory Controller˅˄8Ͼ㒘˅— DRAMǃSDRAMǃSRAMǃEPROMǃEEPROMǃFLASHㄝ ⾡— 㓪⿟ⱘ 䞣 䗳 ⱘ— 㢃⠛ 䗝8ԡǃ16ԡǃ32ԡ— ⾡ ⱘ ˄Block˅ˈҢ32KByte 256Mbyte— さ ῵z䗮⫼ ˄General-purpose timers˅—4Ͼ16ԡ 㗙2Ͼ32ԡ—䮼⽕ℶǃՓ㛑῵ 䅵zЁ ˄Interrupts˅—8 䚼Ё 䇋∖˄IRQ˅㒓—12Ͼ Ё 㛑 ⱘㅵ㛮—15Ͼ 䚼Ё ⑤—SCC USBП䯈ⱘ 㓪⿟Ӭ— 㓪⿟ 催Ӭ 䇋∖z䗮 ⧚῵ ˄CPM: Communication Processor Module˅—32ԡⱘRISC䗮 ⧚—䆌 ϧЎ 䆂 Нⱘ Ҹ䲚— І㸠䗮䘧Ϟ䖲㓁 䗕 ῵—催䖒8Kbytesⱘ RAM—14ϾІ㸠DMA(SDMA)䗮䘧—3Ͼ 䞞 㛑 ⱘ 㸠I/Oz4Ͼ⣀ゟ⊶⡍⥛ ⫳ ˄BRG: Baud-rate Generators˅— ҹ㹿䖲 ӏ ⱘSCCǃSMCǃUSB— ԰Ё 䆌㹿—㞾 ⊶⡍⥛z4ϾІ㸠䗮 ˄SCC: Serial Communications Controller˅— IEEE 802.3/Ethernet( ⱘ10Mbits/s)—HDLC/SDLC( ⱘ䗮䘧 2Mbit/s)—HDLC 㒓˄ ѢHDLCⱘ 㔥LAN˅— ℹHDLCҹ PPP˄Point-to-Point Protocol˅—AppleTalk— UART(Universal asynchronous receiver transmitter) ℹUART— ⱘ䗣 ˄ Ѣ↨⡍⌕˅z2ϾІ㸠ㅵ⧚ ˄SMC: Serial Managemennt Controllers˅— UART—䗣—䗮⫼⬉䏃 ˄GCI:General Circuit Interface˅— 䖲 䏃 ⫼(TDM)䗮䘧z1ϾSPI˄Serial Peripheral Interface˅ 1ϾCI22.1.1 Power PCԧ㋏ὖ䗄Power PC䞛⫼њ ⧚ 䆒䅵ˈ կњϔϾ⫼԰ ⫼ⱘ催 㛑 Power PCḌ ϔϾ њϧ⫼ⱘ32ԡ䗮 ⧚ ⱘ䗮 ⧚ ῵ DŽŁ Power PC ⧚ ῵Power PC Ḍ 㸠 ⱘ ԰ˈҪϢ 䚼 㒓 䚼 㒓ⱘ 䛑 32ԡˈ Փ⫼ˎϾ Ҹ 䯳 ǃːϾ 䯳 ǃ˒Ͼ Ҹ 㓧 Ϣ 䆒 Ѹ䘧DŽPower PC 䚼䲚 њ32Ͼ32ԡⱘ䗮⫼ ˈ䖭ѯ 㹿⫼ Ҹ 㸠 䳔ⱘ⑤ ԰ Ⳃⱘ ԰ ㄝ DŽPower PC ⧚ г䲚 њMMUǃˎK ҸCache ˍK CacheDŽł SIU 䞡MPC860ⱘ䜡㕂 䗮䖛SIU ⱘˈSIU ㋏㒳 ǃ ǃ Ҹ ԰ 䚼ⱘ㋏㒳 㒓DŽ㋏㒳䜡㕂 㛑 ⴔ Ͼ㋏㒳ˈ կњ 㒓ⲥ㾚 ǃ䕃ӊⳟ䮼⢫ǃ Ё ǃ ㄝ ⾡ 㛑DŽ 䩳 ℹ⬉䏃㛑ѻ⫳ϢSIU ⱘ 䆒 䳔 䩳 ˈЏ㽕ⱘ㋏㒳 䩳 ҹ ˈԚ⊶⡍⥛ѻ⫳ І Փ⫼ ⱘ 䩳DŽㅵPower PC Ḍ 32ԡⱘˈԚ 䚼 㒓г ҹ⫼ ˔ԡ 16ԡˈ 䆎㋏㒳 䆒 ⱘ㋏㒳 㒓 ԡˈ䛑 ҹ ˄г 䇈˔ԡǃ16ԡǃ32ԡⱘ 䆒 ҹ ㋏㒳 㒓Ϟ ˅DŽ 䖒˔Ͼ 㒘ˈ DRAMǃSRAMǃEPROMǃFLASHǃSDRAMǃEDOㄝ ˈг Ң32Kbytes 256Mbytesⱘ义䴶 DŽ ↣ϔϾ 㒘䛑 կˌˉˍˑϾㄝ ˈг կњːϾ 㡖Փ㛑 ˄AT[0-3]˅ǃˍϾ䕧 Փ㛑 ˄OE˅ǃˍϾ ⱘ⠛䗝 ˄BOOT-CS˅DŽMPC860 ϔϾ䞡 ˈҹϟⱘ 䛑 㛑䗴 860䞡 ˖Ϟ⬉ǃ 䚼⹀ ԡǃ 䚼⹀ ԡ˄ 䫕ǃ䕃ӊⳟ䮼⢫䞡 ǃ䇗䆩 ⹀ ˅ǃJTAG䞡 ǃ 䚼䕃 ǃ 䚼䕃 DŽ2.1.2 MPC860ⱘ⹀ӊMPC860ⱘ 㒓z26ԡⱘ 㒓ǃ32ԡⱘ 㒓z TTLⱘz䗮䖛 ˈ ҹ ⱘ䜡㕂 㒓 Ў˔ԡǃ16ԡǃ32ԡz ⱘ 㒓 䩳ⱘϞ ⊓Ł Clock ⥛MPC860ⱘClock ㋏㒳 䫕Ⳍ⦃䏃 ҹ կMPC860⠛ 䚼䆒 䳔ⱘ ⾡ 䩳 ˈ䫕Ⳍ⦃ 乥⬉䏃 ҹ 䚼ⱘԢ乥 䩳⑤ ⠛ ⱘ催乥 䩳⑤ˈ г ⫼ 乥⬉䏃 催乥 䩳 Ԣ乥 䩳ҹ䗖 ⥛ⱘ㽕∖DŽł㛑 ˔Ͼ 䌂 㒘ˈ䖭ѯ 㒘г ḋ GPCM ˄General-Purpose Chip-select Machine˅ UPMs˄User-Programmable Machines˅ⱘ DŽGPCM⬅Ѣϡ さ ˈ ҹ 㛑䕗ԢˈҪ կⱘ կㅔ ǃԢ 㛑ⱘ ҹ Ў ⱘ䆒 Փ⫼ˈЏ㽕⫼ 䕑 䆒 䴲さ ҹ Ў ⱘ䆒 DŽUPM 䚼 㒓Ϟⱘ ⫼ˈѻ⫳ 㓪⿟ⱘ㸠 DRAMˈ㗠⫼ ѻ⫳DRAM 乏ⱘ DŽ2.1.3䗮 ⧚ ῵ ˄CPM˅Ўњ 催䗳 㗫ˈCPM䞛⫼њ㞾䑿⣀ゟⱘRISC䗮 ⧚ ˈҪ ♉⌏ⱘ 㓪⿟ ӊ ⾡䗮 䆂ˈ Ͼ䲚 ⱘ䗮 䗮䘧ˈ 㸠Ԣ㑻ⱘ 䆂 ⧚ DMADŽCPM⫼ҹϟ Ͼ ⊩ Power PC ḌҢ㐕䞡ⱘ䗮 ⧚ӏ Ё㾷 ˖z Ё ⱘ䗳 ˈ Ḍҙ ǃ 䗕 Ё ˈ㗠ϡ ↣ϔϾBit.z Bufferⱘ 㒧 ҹ Ѣ䕃ӊ㓪⿟CPMs ϢMC68360Ⳍ䖥Ԑˈ ҹϟ⡍ ˖z䗮 ⧚ (CP: Communication Processor)— ッ RAM— 䚼ROM—2Ͼ⠽⧚ⱘІ㸠DMA(SDMA) ⦄14ϾSDMA䗮䘧ˈ↣ϾSCCǃSMCǃUSBǃSPIǃCI2 2Ͼ䗮䘧—2Ͼ⣀ゟⱘDMA(IDMA)⫼Ѣ П䯈ⱘ Ӵ䕧z4Ͼ ⱘІ㸠䗮 ˄SCC1ǃSCC2ǃSCC3 SCC4˅ ҹϟ 䆂—UART 䆂—HDLC 䆂—APPLETALK 䆂— ℹHDLC 䆂—BISYNC 䆂—IrDA—IEEE802.3/Ethernet 䆂z2Ͼ ⱘSMC UART GCI 䆂z USB 4ϾҢ῵ USB㒜ッˈ 䗳⥛Ў12Mbpsz CI2 (Inter-intergrated Circuit) 㒓z CPMЁz䗮⫼I/O2.2 MPC860ⱘ ㅵ㛮 㛑MPC860ⱘㅵ㛮 㛑 ϟ 2-2 ⼎2-2 PowerPc860ㅵ㛮 2.2.1 CPMŁ USBㅵ㛮USBRXD:䕧 ˈҢ 䕧 㒓Ϟ ⱘUSBOE:䕧 ˈ 㒓Ϟ䕧 Փ㛑USBTXN,USBTXP:䕧 ˈ 䕧 01 䘏䕥“0”˗10 䘏䕥“1”˗00 ℶUSBRXP,USBRXN:䕧 ˈD+ D-ⱘ䮼 ˈҹ 䗳 DŽ00 ℶ˗01 䗳˗10Ԣ䗳ł SMC1/2SMRXD1/2:䕧 ˈSMCⱘІ㸠 䕧SMTXD1/2:䕧 ˈSMCⱘІ㸠 䕧SMSYN1/2:䕧 ˈSMC ℹŃ SCC2/3RXD2/3:䕧 ˈІ㸠 䕧 SCCⱘTXD2/3:䕧 ˈІ㸠 䗕ҢSCC䕧 ⱘRTS2/3:䕧 ˈ䇋∖ 䗕ˈҹ㸼 SCC 䗕ACTS2/3:䕧 ˈ⏙䰸 䗕ˈ SCC㸼 䗕 ҹ ⱘ䕧CD2/3:䕧 ˈ䕑ԧẔ⌟ˈ㸼 SCC㽕ń IDMDREQ[1-2]:䕧 ˈ ϔϾIDMA䗮䘧 䗕ⱘ䇋∖ˈ IDMAӴ䕧SDACK[1-2]:䕧 ˈCPM Ӵ䕧 ˈ SDACK 㒓㕂ԡŅ Serial InterfaceL1TXDA:䕧 ˈ 䏃 ⫼(TDM)䗮䘧AІ㸠䕧L1TCLKA:䕧 ˈTDM䗮䘧Aⱘ 䗕 䩳L1TSYNCA:䕧 ˈTDM䗮䘧Aⱘ 䗕 ℹ䕧L1RXDA:䕧 ˈ 䏃 ⫼(TDM)䗮䘧AІ㸠䕧L1RCLKA:䕧 ˈTDM䗮䘧Aⱘ 䗕 䩳䕧L1RSYNCA:䕧 ˈTDM䗮䘧Aⱘ 䗕 ℹ䕧L1ST[1-8]:䕧 ˈІ㸠䆒 䗝䗮䕧 ˈ ⫼Ѣ 䩳䗕 ϡ 䚼 䱭 䜡 (TSA)ⱘ 䆒ˈL1ST[1-4]⫼ѢRXRAM,L1ST[5-8]⫼ѢTXRAML1RQA: ˈ 䗕IDL 䇋∖ˈņ SPISPIMISO: ˈSPIЏ䆒 ⱘІ㸠 䕧 ˈSPIҢ䆒 ⱘІ㸠 䕧 SPIMOSI: ˈSPIЏ䆒 ⱘІ㸠 䕧 ˈSPIҢ䆒 ⱘІ㸠 䕧 SPISEL˖䕧 ˈSPIҢ䆒 ⱘ䗝䗮䕧SPICLK˖ ˈSPIЏ䆒 ⱘ 䩳䕧 ˈSPIҢ䆒 ⱘ 䩳䕧ŇCI2I2ⱘCI2SDA: ˈCC I 2SCL: ˈC I 2ⱘ 䩳2.2.2 䚼 㒓Ł 㒓ӆ㺕BR:䕧 ˈ㸼 ϔϾ 䆒㽕∖ 㒓ӆ㺕BG:䕧 ˈ㸼 㒓 㒧 ˈMPC860䅽 㒓BB:䕧 ˈ⬅ 䆒 ˈ㸼 Ⳃ 㒓ℷ TS:䕧 ˈ⬅ 䆒 ˈ㸼 Ӵ䕧 ł 㒓A[6-31]:26ԡ 㒓ŃӴ䕧ⱘTSIZ[0-1]:㸼 ԭⱘ Ӵ䕧ⱘ 㡖 BURST:㸼 Ⳃ Ӵ䕧ⱘ さ BDIP : 㸼 さ Ⳃ ℷ Ӵ䕧ЁBI: 㸼 㒓ϞⱘҢ䆒 ϡ さ ń Ӵ䕧D[0-31]: 㒓DP[0-3]: 㒓Ϟⱘ 偠ˈ↣ ԡϔϾ 偠ԡRD/WR ˖䇏 㒓CS[0-7]: 8Ͼ⠛䗝㒓ˈԢWE[0-3]: ˈ 㒓Ϟⱘ4Ͼ ԡ OE:䕧 Փ㛑Ņ䗮⫼I/O Ё P A [4-15]: A PB[16-19,22-31]:B PC[4-15]: C PD[3-15]: DIRQ[0-7]: 8ϾЁ 㒓ˈԢ2.3 MPC860ⱘ 䖛⿟2.3.1 MPC860 ⱘ䜡㕂MPC860 ḍ ___RSTCONF ㅵ㛮Ϟⱘ⬉ ⹂ ҹҢD[0..31]Ϟ䞛ḋⱘ 䜡㕂MPC860 ⱘ DŽ Ӏⱘ 㗗䆒䅵Ёˈ___RSTCONF ㅵ㛮Ϟ Ԣ⬉ ˈMPC860 ҢD[0..31]Ϟ䞛ḋˈ⫼䞛 ⱘ ԰Ў“ 䜡㕂 ”˄32ԡ˅ˈ䆹“ 䜡㕂 ”ϢMPC860 ⱘ ԧDŽԧ ↉䜡㕂Ϣ⹀ӊ䆒䅵 ⱘ ISB ↉˄7-8ԡ˅ BPS˄4-5ԡ˅ ↉DŽISB ↉˄Initial internal space base select˅ ⫼ Н ˈMPC860 䚼 㒓䇏 䳔㽕ⱘ ⱘ ˄䆹 ↉ 00ˈг 䇈 MPC860ⱘIMMR ⱘBIT[0..15] 0X00000000, Нњ 䚼 ⱘ ˗䆹 ↉ 01ˈ ⱘ 0x00F00000˗䆹 ↉ 10ˈ ⱘ 0xFF000000˗䆹 ↉ 11ˈ ⱘ 0xFFF00000˗˅DŽBPS ↉˄Boot port size˅ ⫼ Н 䆒 ˄ EPROM FLASH˅ ⱘ ˈ 䆹 ↉ 00 ˈ 32Bit˗ 䆹 ↉ 01 ˈ 8Bit˗ 䆹 ↉ 10 ˈ 16Bit˗ 䆹 ↉ 00 ˈ НDŽMPC860 Ң 䚼 Ё䇏 Ҹˈ㗠䆹 ⱘ +0x100ˈ ⬅ 䗄ⱘ ↉ НⱘDŽ2.3.2 MPC860Ϣ 䚼 ⱘ⠛䗝䖲䚼 ⱘ⠛䗝 ⠛ ⱘ䆒䅵Ё Ⳉ ⱘ催ԡ 㒓Ϟˈ Ͼ催ԡ 䗮䖛 䆥ⷕ 䚼 ⱘ⠛䗝Ϟˈ 㒓ⱘԢԡϢ ⱘ 㒓Ⳍ䖲DŽ䖭ḋ 䗮䖛 㒓ⱘ催ԡ䆥ⷕ ϔⱘ 䚼 ˈ ҢЁ䇏 DŽ㒓2-3 PowerPcϢ ⱘ㗠MPC860 䑿 կњCS[0-7]ϔ 8Ͼ⠛䗝 ˈ䖭8Ͼ⠛䗝 ҹ 8Ͼ ҹ Ў ⸔ⱘ 䆒 ˈ ⱘ⠛䗝 ⬅MPC860ⱘ1Ͼ Ёⱘ3ԡ ⱘDŽ 䆹 䖯㸠 ԰ Ӯ MPC860ⱘCS[0-7]ЁⱘϔϾ⠛䗝 Ԣ⬉ ˈ䗝䗮 䚼ⱘ DŽ 䚼 㒓Ϟⱘ ⠛䗝ϔ䍋 ϔ䗝 њϔϾ ˈ ϞW/E ˈ ҹ 䚼 䖯㸠䇏 ԰DŽ3 ԰VxWorks 䲚 ⦃ Tornado3.1 ԰㋏㒳VxWorks3.1.1 ⫼㚠㋏㒳 ⫼Ёˈ⬅ѢՓ⫼16ԡҹϟⱘCPUⱘ䌘⑤䞣䕗 ˈӏ ↨䕗ㅔ ˈ⿟ ҹ ⫼⿟ Ё㞾 ㅵ⧚CPU䌘⑤ˈϡϔ 䳔㽕ϔϾϧ⫼ⱘ㋏㒳䕃ӊˈㅵ⧚CPUDŽ ㋏㒳↨䕗 㗠䞛⫼32ԡCPU ϡ њˈ32ԡCPUⱘ䌘⑤䞣䴲 ˈ ҹ䖒 4GBぎ䯈ˈ ⧚㛑 г䴲 ˈ ҹ ⦄ ӏ ⧚ˈ ℸ ҡ✊⊓⫼ 㓪 CPUㅵ⧚⿟ ˈ䴶 ⱘ ⫼ˈ 䲒 32ԡCPUⱘ ⧚㛑 ˈ 催 䴴ⱘ ⫼㋏㒳DŽㅵ⧚CPUⱘ㋏㒳䕃ӊ ↣ϔϾ㋏㒳 䳔ⱘˈϡ ⱘCPU ˈ DŽ 䛑㽕 ⫼㋏㒳ⱘ 㗙㞾 ˈ䙷М↣⃵䛑㽕䞡 ˈ䗴 ϡ 㽕ⱘ䌘⑤⌾䌍ˈ 䭓њ ˈ њ DŽ㗠ϨCPUㅵ⧚ Ͼ㋏㒳ⱘ ⸔ˈӏԩ㔎䱋䛑 㛑 䍋Ϲ䞡ⱘ䯂乬ˈ䖭ḋˈ Փ 㗙㗫䌍 䞣ⱘ㊒ Ϣ ⫼ ⱘ㋏㒳ㅵ⧚ϞDŽӀⶹ䘧ˈ⫼ Ⲟ ⱘ32ԡ ⧚ ⱘѻ ˈ䳔㽕ϔϾ⫼ 䖲 ѻ ⫼⿟ ⹀ӊⱘ ԰㋏㒳DŽ⫼ ∖ⱘ ԰㋏㒳 䆹 ⱘ 䞡㽕ⱘ⡍⚍ ˖z 䴴 催ⱘ 㛑z ϟ䕑 㒜ѻ ⱘ Ϟ ⱘЄ ♉⌏ⱘ 㛑῵ 䲚Ϣ㓐 䴶ⱘЏ ⦃ ⱘ ԰DŽ3.1.2 VxWorks ㅔҟVxWorks 㕢 Wind River System ˄ҹϟㅔ⿄亢⊇ ˈ WRS ˅ ⱘϔϾ ԰㋏㒳DŽWRS 㒘 Ѣ1981 ˈ ϔϾϧ䮼Ңџ ԰㋏㒳 Ϣ⫳ѻⱘ䕃ӊ ˈ䆹 ԰㋏㒳乚 㹿Ϫ⬠ 䅸Ў 乚 ԰⫼ⱘ DŽVxWorks ԰㋏㒳 㕢 WindRiver Ѣ1983 䆒䅵 ⱘϔ⾡ ԰㋏㒳˄RTOS˅ˈ TornadoII ⦃ ⱘ 䬂㒘 䚼 DŽ㡃 ⱘ 㓁 㛑 ǃ催 㛑ⱘ Ḍҹ ⱘ⫼ ⦃ ˈ ԰㋏㒳乚 䗤⏤ ϔ П DŽ佪 ˈ ♉⌏ˈ 䖒1800Ͼ 㛑 ⱘ ⫼⿟ ˄API˅˗ ⃵ˈ 䗖⫼ 䴶 ˈ ҹ䗖⫼ѢҢ ㅔ ⱘѻ 䆒䅵˗ ⃵ˈ 䴴 催ˈ ҹ⫼ѢҢ䰆 ⅏ 䔺㋏㒳 䰙 ㋶ⱘ 䬂ӏ ˗ ˈ䗖⫼ ˈ ҹ⫼Ѣ ⱘ⌕㸠ⱘCPU VxWorks ϧ䮼Ў ㋏㒳䆒䅵 ⱘ ԰㋏㒳 ḌˈЎ⿟ կњ催 ⱘ ӏ 䇗 ǃЁ ㅵ⧚ˈ ⱘ㋏㒳䌘⑤ҹ ⱘӏ 䯈䗮 DŽ ⾡CPU Ϟ կњ㒳ϔⱘ㓪⿟ ϔ㟈ⱘ䖤㸠⡍ ˈ 㛑ⱘ 㬑њϡ CPUП䯈ⱘ DŽ ⫼⿟ ҹ 㛑 ⱘ㊒ ⫼⿟ 䑿ˈ㗠ϡ ㋏㒳䌘⑤ⱘㅵ⧚DŽ ѢVxWorks ԰㋏㒳ⱘ ⫼⿟ ҹ ϡ CPU Ϟ䕏 ⿏ỡDŽVxWorks ϔϾ䖤㸠 Ⳃ Ϟⱘ催 㛑ǃ 㺕 ⱘ ԰㋏㒳DŽ ҹ 㡃 ⱘ 䴴 䍞ⱘ 㹿 ⊯ ⫼ 䗮 ǃ џǃ㟾ぎǃ㟾 ㄝ催㊒ 㽕∖ 催ⱘ乚 Ёˈ 䗮䆃ǃ џⓨдǃ 䘧 ǃ亲 㟾ㄝDŽ 㕢 ⱘ F-16ǃFA-18 ǃB-2䱤 䕄⚌ ⠅ 㗙 Ϟˈ1997 4 ☿ 㸼䴶ⱏ䰚ⱘ☿ 䏃㗙ϞгՓ⫼њVxWorksDŽVxWorks ϔ⾡ 㛑 㗠Ϩ↨䕗 ⱘ ԰㋏㒳ˈ њ䖯⿟ㅵ⧚ǃ ㅵ⧚ǃ䆒 ㅵ⧚ǃ ӊ㋏㒳ㅵ⧚ǃ㔥㒰 䆂 ㋏㒳 ⫼ㄝ Ͼ䚼 DŽVxWorks ⫼њ ⱘ ぎ䯈ˈ 催 㺕 ˈ 䆕њ㋏㒳㛑ҹ䕗催ⱘ ⥛䖤㸠DŽ ҹˈҙҙձ䴴Ҏ 㓪⿟䇗䆩ˈ 䲒 ⱘ 㛑 䆒䅵 䴴ǃ催 ⱘ ㋏㒳ˈ 乏㽕 ϢПⳌ䗖 ⱘ DŽTornadoII Ў VxWorks ⫼㋏㒳 կⱘ䲚 ⦃ ˈTornadoIIЁ ⱘ ⿟ㅵ⧚䕃ӊˈ ҹ ⫼ 㞾 ⱘҷⷕϢVxWorksⱘḌ ⱘ㒘 䍋 ˈ ҹ ⫼ ⱘ䳔㽕㺕 䜡㕂VxWorks Ḍ˗vxSim ӓⳳ ҹ䅽⿟ ϡ⫼Ⳃ ⱘ ϟˈⳈ ㋏㒳 ˈ԰ ㋏㒳䆘Ԅ˗ 㛑 ⱘCrossWind䇗䆩 ҹ կӏ 㑻 ㋏㒳㑻ⱘ䇗䆩῵ ˈ ҹ䖯㸠 Ⳃ ⱘ㘨䇗˗Ӭ ҹ ⿟ Ң ⾡ ⳳℷ 㾖 ǃ䎳䏾㋏㒳ⱘ䖤㸠ˈ 䰸䫭䇃ˈӬ 㛑DŽ3.1.3 VxWorksЏ㽕ⱘ ⫼乚VxWorks ⊯ ⫼ ҹϟ ϾЏ㽕 䴶˖⍜䌍⬉z Ϟ⬉㛥z 乊Ⲧz 㾚⬉䆱z≑䔺 㟾㋏㒳㟾ぎ㟾z亲㸠῵z㟾⧁ㅵ⧚㋏㒳z 䎳䏾㋏㒳z㟾ぎ⬉ 䆒 䈵䆒z ǃӴⳳzz Ⳍ䗮䆃㔥㒰zѸz䏃⬅z䖰⿟䆓䯂z ATM Ё㒻Ѹ3.1.4 TornadoII ⱘЏz Sun-4: Sun OS 4.1.x; Solaris 2.4/2.5; Solaris 2.5.1/2.6; Solaris 2.7;zHP 9000/700: HP-UX 9.0.7; HP-UX 10.10; HP-X 10.20;zPC: Win95; Win98; WinNT;Win20003.1.5 VxWorks ⱘⳂ CPUz Motorola 68k:68000; 68010; 68020; 68030; 68040; 68060; CPU32; zMotorola ColdFire: MCF51xx ;MCF52xx ;MF53xx Motorola/IBM Power PC:PPC4xx ;PPC6xx ;PPC7xx ;MPC5xx ;MPC8xx ;MPC82x ;z Motorola M-COREz Intel:i386;i486;Pentium ;Pentium -Pro ;z Intel Strong ARM: SA-110; SA-1100; SA-1110; z ARM:ARM7; ARM7T; ARM8ˈARM9;z i960:KA/KB/CA/JX/RP; RP/RD; z NEC:V85x; V83x; z NEC/LSI MIPS:R3K; R4K; Vr41xx; R4700; CW400x; CW4011; R5K;z HITACHI SH: SH-1; SH-2; SH-3; SH-4; SH-DSP; SH3-DSP; zSUN SPARC: UltraSPARC; SPARC3.1.6 VxWorks ԰㋏㒳ⱘ㒧VxWorks ԰㋏㒳 Ḍwind ǃ催㑻ⱘ㔥㒰 ǃ ⱘ ӊ㋏㒳 I/O ㅵ⧚ǃC++ Ҫ ㄝḌ 㛑DŽ䖭ѯḌ 㛑䖬 ҹϢWindRiver ⱘ Ҫѻ ҹ 320ϾWindRiver ⱘ ԰ӭԈⱘѻ 㘨 Փ⫼DŽVxWorks ԰㋏㒳 њ 㑻 BSP (Board Support Package)ǃ䖯⿟ㅵ⧚ǃ ㅵ⧚ǃ䆒 ㅵ⧚ǃ ӊ㋏㒳ㅵ⧚ǃ㔥㒰 䆂 ㋏㒳 ⫼ㄝ Ͼ䚼 DŽϮ z Ҏz ⌟䆩Ϣ⌟䞣䆒z䖛⿟ ㋏㒳䅵ㅫ 䆒z 㔥㒰䅵ㅫ zX 㒜ッz RAID ㋏㒳zI/O 䆒Ѹ䗮䖤䕧z ≑䔺z Ѹ䗮 z催䗳 䔺⬉ 䆒zPBXs ˈACDs z CD Ѹ ㋏㒳z ⿏ 䗮䆃 キz 㳖ぱ ⬉䆱zCable ModemVxWorks ⫼њ ⱘ ぎ䯈ˈ 催 㺕 ˈ 䆕њ㋏㒳㛑ҹ䕗催ⱘ ⥛䖤㸠DŽVxWorks ԰㋏㒳ⱘ 㒧VxWorks ԰㋏㒳ⱘ 䚼ӊЏ㽕 ҹϟѨϾ䚼 ˖z 㑻 BSP(Board Support Package)z Ḍwindz㔥㒰㋏㒳z ӊ㋏㒳z I/O㋏㒳3-1 VxWorksⱘ㋏㒳㒧1ǃ催 㛑ⱘ ḌWind䆒䅵ѢVxWorks ԰㋏㒳Ḍ ⱘ 催 㛑ⱘ ḌwindDŽ䖭Ͼ Ḍ ⱘ ⡍ ˖ 䗳ӏ ǃЁ ǃ 䯈⠛䕂䕀䇗 ㄝDŽ Ḍ䆒䅵 њ㋏㒳 䫔ˈҢ㗠 䆕њ 䚼џӊⱘ 䗳ǃ⹂ ⱘ DŽ䖤㸠⦃ г կњ ⱘӏ 䯈䗮 ˈ 䆌⣀ゟⱘӏ ㋏㒳ЁϢ 㸠 Ⳍ 䇗DŽ 㗙 ⫼⿟ ҹՓ⫼ ⾡ ⊩˖⫼Ѣㅔ ѿⱘ ѿ ǃ⫼Ѣ CPUⱘ ӏ 䯈 Ѹ ⱘ⍜ 䯳 ㅵ䘧ǃ ǃ⫼Ѣ㔥㒰䗮 ⱘ䖰⿟䖛⿟䇗⫼ǃ⫼Ѣ ⧚ џӊⱘ ㄝDŽЎњ 䬂ⱘ㋏㒳䌘⑤ˈ կњϝ⾡ ♃˖Ѡ䖯 ǃ䅵 ǃ Ӭ 㑻㒻 ⡍ ⱘѦ ♃DŽVxWorks ⱘḌ ˈ㹿⿄԰ windˈ ӏ 䇗 ˄䞛⫼Ӭ 㑻 ˅ˈӏ 䯈ⱘ ℹ 䖯⿟䯈䗮 ҹ Ё ⧚ˈⳟ䮼⢫ ㅵ⧚ DŽϔϾ ӏ ⦃ 䆌 ⫼⿟ ҹϔ ⣀ゟӏ ⱘ ㄥˈ↣Ͼӏ ⣀ゟⱘ 㸠㒓⿟ 㞾 ⱘϔ ㋏㒳䌘⑤DŽ䖯⿟䯈䗮 Փ 䖭ѯӏ ⱘ㸠Ў ℹǃ 䇗DŽwindՓ⫼Ё 偅 Ӭ 㑻ⱘ DŽ 㓽ⷁњϞϟ 䕀 ⱘ 䯈 䫔 Ё ⱘ DŽ VxWorks Ёˈӏԩ՟⿟䛑 ҹ㹿 ЎϔϾ ⣀ⱘӏ ˈ 㞾 ⱘϞϟ DŽ䖬 ϔѯ ⱘӏ ҹՓӏ 䍋ǃ㒻㓁ǃ 䰸ǃ Ӭ 㑻DŽwindḌ կ 䞣԰Ўӏ 䯈 ℹ Ѧ ⱘ DŽ wind ḌЁ ⾡㉏ ⱘ 䞣ˈ Ӏ 䩜 ϡ ⱘ ⫼䳔∖˖Ѡ䖯 䞣ǃ䅵 䞣ǃѦ 䞣 POSIX 䞣DŽ ⱘ䖭ѯ 䞣 䗳 催 ⱘˈ Ӏ䰸њ㹿 ⫼ 䆒䅵䖛⿟Ё ˈ䖬㹿 ⊯ ⫼ VxWorks 催 ⫼㋏㒳ЁDŽ Ѣ䖯⿟䯈䗮 ˈwindḌг կњ䇌 ⍜ 䯳 ǃㅵ䘧ǃ ㄝ DŽ2ǃ 㑻 BSP˄Board Support Package˗Hardware Layer Abstract˅ 㑻 ⾡ ⱘ⹀ӊ 㛑 կњ㒳ϔⱘ䕃ӊ ˈ ⹀ӊ ǃЁ ⱘѻ⫳ ⧚ǃ⹀ӊ 䩳 䅵 ㅵ⧚ǃ 㒓 ǃ 䜡ㄝㄝDŽ↣Ͼ 㑻 ϔϾ ROM ˄Boot ROM˅ DŽ3ǃ㓐 ⱘ㔥㒰VxWorks ㄀ϔϾ Ϯ TCP/IPⱘ ԰㋏㒳DŽ ⱘӴ㒳Ԉ䱣ⴔVxWorks TCP/IP 䆂 ˈ ⱘBerkeley㔥㒰⡍ ˈ ˖z IP, IGMP, CIDR, TCP, UDP, ARPz RIP v.1/v.2z Standard Berkeley sockets and zbufsz NFS client and server, ONC, RPCz Point-to-Point Protocolz BOOTP, DNS, DHCP, TFTPz FTP, rlogin, telnet, rsh3-2 VxWorksⱘTCP/IP 䆂WindRiverг 䗝ⱘWindNetѻ ˖SNMP v.1/v.2c, OSPF v.2, STREAMSDŽWindRiver䖬䗮䖛 կ Ϯ㑻 ⊯ⱘ㔥㒰 ⦃ 䖭ѯḌ ˈ䖭Џ㽕 䗮䖛WindLink for TornadoIIӭԈ䅵 ⦄ⱘDŽ催㑻ⱘ㔥㒰㾷 Ḝ䖬 ˖z ATM, SMDS, frame relay, ISDN, SS7, X.25, V5 㔥㔥㒰 䆂z IPX/SPXˈAppleTalkˈSNA 㔥㔥㒰 䆂z 㔥㒰ㅵ⧚ⱘRMONˈCMIP/GDMOˈ ѢWeb㔥ⱘ㾷 Ḝz CORBA 䅵ㅫ ⦃4ǃ ӊ㋏㒳VxWorks կⱘ 䗳 ӊ㋏㒳䗖 Ѣ ㋏㒳 ⫼DŽ ⾡ Փ⫼ 䆒 ˄ ⺕Ⲭ˅ⱘ ӊ㋏㒳DŽ䖭ѯ䆒 䛑Փ⫼ϔϾ ⱘ Ң㗠Փ ӊ㋏㒳㛑 㹿♉⌏ 䆒 偅 ⿟ Ϟ⿏ỡDŽVxWorks г SCSI ⺕ 䆒 ⱘ ӊ㋏㒳DŽVxWorks I/O ԧ㋏㒧 ⫮㟇䖬 ϔϾ ⣀ⱘ VxWorks ㋏㒳Ϟ Ͼϡ ⱘ ӊ㋏㒳DŽVxWorks ⾡ ӊ㋏㒳˖z dosFsz rt11Fsz rawFsz tapeFsDŽϔ 䴶ˈ 䗮 ӊˈ 䚼䆒 䛑㒳ϔ԰Ў ӊ ⧚DŽ Ӏ ⫼ 䴶 Ⳍ ⱘ䇁⊩ НˈՓ⫼Ⳍ ⱘ DŽ䖭ḋ ㅔ њ㋏㒳䆒䅵 Ѣ⫼ Փ⫼DŽ5ǃI/O㋏㒳VxWorks կњϔϾ 䗳♉⌏ⱘϢ A NSI C ⱘ I/O ㋏㒳ˈ z UNIX ⱘ㓧 I/Oz POSIX ⱘ ℹ I/OVxWorks ҹϟ偅 ⿟ ˖z㔥㒰偅zㅵ䘧偅z RAMⲬ偅z SCSI偅z䬂Ⲭ偅z ⼎偅z⺕Ⲭ偅z 偅3.1.7 VxWorks ԰㋏㒳Џ㽕⡍⚍1ǃ Ḍ(wind microkernel)ⱘЏ㽕⡍⚍z催 ⱘӏ ㅵ⧚˖¾ 䰤 Ⳃ ӏ ˈ 256ϾӬ 㑻¾ Ӭ 㑻 䯳 䯈⠛䕂䕀䇗¾ 䗳ⱘǃ⹂ ⱘϞϟz 䗳♉⌏ⱘӏ 䯈䗮䆃˖¾ϝ⾡ ♃˖Ѡ䖯 ǃ䅵 ǃ Ӭ 㑻㒻 ⡍ ⱘѦ ♃¾POSIXㅵ䘧ǃ䆄 䞣ǃ⍜ 䯳 ǃ 䇗¾¾ ѿ (shared memory)z催 ⱘ 㺕z 䞣䖲 䚼ӊ 䕑z 䗳 ⱘЁ џӊ ⧚zӬ ⱘ⍂⚍z ㅵ⧚z㋏㒳 䩳 䅵2ǃ㔥㒰 䴶z BSD 4.4 TCP/IPz IP, IGMP, CIDR, TCP, UDP, ARPz RIP v.1/v.2z Berkeley ,zbufs(zero-copy socket)z SLIP, CSLIP, PPPz BOOTP, DNS, DHCP, TFTPz NFS, ONC, RPCz FTP, rlogin, rsh, telnetz SNTPz MIB㓪䆥 ⱘWindNet SNMP v.1/v.2c ( 䗝)z WindNet OSPF v.2 ( 䗝)z WindNet STREAMS SVR4( 䗝)3ǃ 䗳♉⌏ⱘI/O ӊ㋏㒳z POSIX ℹI/O Ⳃ ㅵ⧚z SCSIz MS-DOC ӊ㋏㒳z Raw disk ӊ㋏㒳z TrueFFS䮾 ӊ㋏㒳z ISO 9660 CD-ROM ӊ㋏㒳z PCMCIA4ǃⳂ ⡍z ANSI C C++ⱘ ⧚ ῵z POSIX 1003.1, .1bzⳂ shellϞⱘѸѦ C㾷䞞zヺ 䇗䆩 ∛㓪z ⱘ 㛑ⲥ㾚 㛑z ⱘ Ḍǃӏ ǃ㋏㒳z 䖲 㺙䕑z䍙䖛1800Ͼ ⫼՟⿟z♉⌏ⱘ ˈ ҹҢROMǃ ⺕Ⲭ 䗮䖛㔥㒰 z催 㺕 䆒䅵 ҹ䗖⫼Ѣ ⊯ⱘ ⫼z䗮䖛ҹ 㔥ǃІ㸠㒓ǃICE ROMӓⳳ ⱘ㋏㒳㑻䇗䆩3.1.8 VxWorks ԰㋏㒳 Ḍⱘ ԰ ⧚VxWorks Ḍ˄wind˅ⱘ 㛑 ҹ Ў ϟ ㉏˖ӏ ㅵ⧚˗џӊ ℹ ˗䞣 ˗⍜ 䯳 ˗ㅵ⧚˗Ё ⿟ ˗䩳ㅵ⧚ ˗䫭 ⧚DŽҹϟ 㡖Ё VxWorks Ḍⱘ ㉏ 㛑 䖯㸠 䗄DŽӏ ㅵ⧚ӏ ҷⷕ䖤㸠ⱘϔϾ 䈵ˈҢ㋏㒳ⱘ㾦 ⳟˈӏ ゲѝ㋏㒳䌘⑤ⱘ 䖤㸠 DŽӏ ҹՓ⫼ ㄝ CPUǃI/O䆒 ぎ䯈ㄝ㋏㒳䌘⑤ˈ ⣀ゟѢ ӏ ˈϢ Ӏϔ䍋 䖤㸠˄ 㾖Ϟ ℸ˅DŽVxWorks ḌՓӏ 㛑 䗳 ѿ㋏㒳ⱘ㒱 䚼 䌘⑤ˈ ⣀ゟⱘϞϟ Ͼ 㒓⿟ⱘ 㸠DŽ3.1.8.1.1ӏ 㒧ӏ 䆒䅵㛑䱣 ℷ 㸠ⴔⱘӏ ˈ 䚼 䚼 ⫳ⱘџӊ ⹂ ⱘ 䯈䞠԰ DŽVxWorks ḌWind կњ ⱘ ӏ ⦃ DŽҢ㸼䴶Ϟ ⳟˈ Ͼӏ ℷ 㸠ˈ 䰙Ϟˈ㋏㒳 Ḍḍ ϔ䇗 ㄪ⬹䅽 ӀѸ 䖤㸠DŽ㋏㒳䇗 Փ⫼ӏ ⱘ 㒧 ˄ㅔ䆄ЎTCB˅ ㅵ⧚ӏ 䇗 㛑DŽӏ ⫼ 䗄ϔϾӏ ˈ↣ϔӏ 䛑ϢϔϾTCB 㘨DŽTCB њӏ ⱘ ⢊ ǃӬ 㑻ǃ㽕ㄝ ⱘџӊ 䌘⑤ǃӏ ⿟ ⷕⱘ䍋 ǃ 䩜ㄝ DŽ䇗 ӏ 㹿▔⌏ ҹ Ңӥ⳴ 䞡 㹿▔⌏ ˈ㽕⫼ 䖭ѯ DŽℸ ˈTCB䖬㹿⫼ ӏ ⱘ"Ϟϟ "˄context˅DŽӏ ⱘϞϟ ϔϾ 㸠Ёⱘӏ 㹿 ℶ ˈ 㽕 ⱘ DŽ ӏ 㹿䞡 㸠 ˈ 乏㽕 Ϟϟ DŽ䗮 ˈϞϟ 䅵ㅫ ⱘ⢊ ˈг Ͼ ⱘ DŽ ⫳Ё 㽕 ⱘ ϔḋDŽ ⫳ӏ ˈ 䖤㸠ⱘӏ ⱘϞϟ 㹿 TCBˈ 㽕㹿 㸠ⱘӏ ⱘϞϟ Ң ⱘTCBЁ ˈ Ͼ ЁDŽѢ 䕀㗠 㸠䖭Ͼӏ ˈ 㸠ⱘ䍋⚍ ⃵ 䖤㸠 㹿Ёℶⱘԡ㕂DŽVxWorksЁˈ ぎ䯈ϡ ӏ Ϟϟ ⱘϔ䚼 DŽ ⱘҷⷕ䖤㸠 ϔ ぎ䯈DŽ ↣ϔӏ 䳔 㞾ⱘ ぎ䯈ˈ䳔 䗝ѻ VxVMIⱘ DŽ3.1.8.1.2ӏ ⢊ ⢊ 䖕⿏㋏㒳ⱘϔϾӏ ⾡⢊ ˈ Ё ⱘ⢊ ⾡˖㒾 ˖ӏ ㄝ ㋏㒳 䜡CPU䌘⑤˗㕂 ˖ӏ 䳔ㄝ ѯϡ ⫼ⱘ䌘⑤㗠㹿䰏 ˗ӥ⳴ ˖ ㋏㒳ϡ䳔㽕 ϔϾӏ ԰ˈ 䖭Ͼӏ Ѣӥ⳴⢊ ˗䖳 ˖ӏ 㹿 䖳 ⢊ ˗㋏㒳 ϔӏ 䖯㸠 ԰ ˈӏ Ңϔ⾡⢊ 䖕⿏ ϔ⢊ DŽ Ѣӏϔ⢊ ⱘӏ 䛑 㹿 䰸DŽ催Ӭ 㑻ӏ ℷ 㸠3-3 VxWorksӏ ⢊ 䎗䖕⢊ 䖕⿏䇗⫼㒾 ----> 㕂 semTake()/msgQReceive() 㒾----> 䖳 taskDelay()㒾 ----> ӥ⳴ taskSuspend()㕂 ----> 㒾 semGive()/msgQSend()㕂 ----> ӥ⳴ taskSuspend()䖳 ----> 㒾 expired delay䖳 ----> ӥ⳴ taskSuspend()ӥ⳴ ----> 㒾 taskResume()/taskActivate()ӥ⳴ ----> 㕂 taskResume()ӥ⳴ ----> 䖳 taskResume()3.1.8.1.3ӏ 䇗 ㄪ⬹ӏ 䇗 乏䞛⫼ϔ⾡䇗 ㅫ⊩ 䜡CPU㒭 㒾 ӏ DŽWind Ḍ䞛⫼ ѢӬ 㑻ⱘ 䇗 ⊩԰Ў ⱘ㔎ⳕㄪ⬹ˈ г կњ䕂䕀䇗 ⊩DŽ ѢӬ 㑻ⱘ 䇗 ˈ Ӭ⚍DŽ䖭⾡䇗 ⊩Ў↣Ͼӏ ϡ ⱘӬ 㑻DŽ≵ Ѣ 㕂 ӥ⳴ ⱘ 催Ӭ 㑻ӏ ϔⳈ䖤㸠ϟ DŽ 催Ӭ 㑻ⱘӏ ⬅ 㒾 䖯 䖤㸠 ˈ㋏㒳 Ḍゟ ӏ ⱘϞϟ ˈ 催Ӭ 㑻ⱘӏ DŽWind Ḍ Ӭ 㑻Ў256㑻˄0~255˅DŽӬ 㑻0Ў 催Ӭ 㑻ˈӬ 㑻255Ў ԢDŽ ӏ 㹿 ˈ㋏㒳ḍ 㒭 䜡ӏ Ӭ 㑻DŽ✊㗠ˈӬ 㑻г ҹ ⱘˈ Ӏ㛑 ㋏㒳䖤㸠 㹿⫼ Փ⫼㋏㒳䇗⫼taskPrioritySet() ҹ ˈԚϡ㛑 䖤㸠 㹿 ԰㋏㒳 DŽ3-4 ѢӬ 㑻ⱘ 䇗䕂䕀䇗 ⊩ 䜡㒭 Ѣ 㒾 ⱘ↣Ͼ Ӭ 㑻ⱘӏ ϔϾⳌ ⱘ 㸠 䯈⠛DŽ 䯈⠛ⱘ䭓 ⬅㋏㒳䇗⫼KernelTimeSlice()䗮䖛䕧 DŽ ˈ↣Ͼӏ 䛑 ϔ䖤㸠 䯈䅵 ˈӏ 䖤㸠 ↣ϔ 䯈Ⓢㄨ 1DŽϔϾӏ ⫼ 䯈⠛П ˈ 䖯㸠ӏ ˈ ℶ 㸠 䖤㸠ⱘӏ ˈ 䯳 䚼ˈ 䖤㸠 䯈䅵 㕂䳊ˈ 㸠 㒾䯳 ЁⱘϟϔϾӏ DŽ 䖤㸠ӏ 㹿 催Ӭ 㑻ⱘӏ ˈℸӏ ⱘ䖤㸠 䯈䅵 㹿 ˈⳈ 䆹ӏ ϟ⃵䖤㸠 DŽ3-5Ѣ 䯈⠛䕂䕀䇗3.1.8.1.4 ⽕ℶWind Ḍ 䗮䖛䇗⫼taskLock() taskUnlock ˄˅ Փ䇗 䍋԰⫼ DŽ ϔϾӏ 䇗⫼taskLock()Փ䇗 ˈӏ 䖤㸠 ≵ ѢӬ 㑻ⱘ ⫳DŽ✊㗠ˈ ӏ 㹿䰏 㕂 ˈ䇗 Ң 㒾䯳 Ё 催Ӭ 㑻ⱘӏ 䖤㸠DŽ 䆒㕂 ⽕ℶⱘӏ 㾷䰸䰏 ˈ ⃵ 䖤㸠 ˈ 㹿⽕ℶDŽ䖭⾡ ⽕ℶ䰆ℶӏ ⱘ ˈԚ Ё ⧚ϡ䍋԰⫼DŽ3.1.8.1.5 ⧚催Ԣ催Ԣ⊼˖㸼⼎ ˈ㸼⼎ӏ DŽ⿟ ҷⷕ ⱘ 䫭ˈ 䴲⊩ Ҹǃ 㒓 䫭䇃ǃ㹿䳊䰸ㄝDŽVxWorks ⧚ ˈϔ㠀 䍋 ⱘӏ ӥ⳴ˈ ӏ 䫭 ⱘ⢊ DŽ Ḍ ӏ 㒻㓁 㸠DŽ⫼ Tornado ˈ ⳟ ӏ ⢊ ˈҢ㗠⹂ 㹿ӥ⳴ⱘӏ DŽ3.1.8.1.6ӏ ㅵ⧚ⱘ㋏㒳䇗⫼VxWorks Ḍⱘӏ ㅵ⧚ կњ ǃ 䰸 ӏ ⱘ 㛑ˈ ԧ ⦄䗮䖛 ϟϔѯ㋏㒳䇗⫼˖taskSpawn() ˄ѻ⫳ ▔⌏˅ ӏ taskInit() ϔϾ ӏ taskActivat e () ▔⌏ϔϾ ⱘӏ taskNam e() ⬅ӏ ID ӏtaskNameToId ˄˅⬅ӏ ӏ ID taskPriorityGe t()㦋 ӏ ⱘӬ 㑻taskIsSuspended()Ẕ ӏ 㹿 㕂taskIsR e ady() Ẕ ӏ 䖤㸠taskTcb() ϔϾӏ ⱘ 䩜taskD e l e t e() Ёℶ ӏ 䞞 ˄ҙӏ ˅taskSaf e () 㹿䇗⫼ӏ taskSusp end() 㕂ϔϾӏ taskR e sum e () ϔϾӏ taskRestart() 䞡 ϔϾӏ taskD elay() 䖳ϔϾӏ 䗮 ǃ ℹ ѦVxWorks ⾡ӏ 䯈䗮 ˈ կњ ḋⱘӏ 䯈䗮 ˈЏ㽕 ϟ ⾡˖y ѿ ˈЏ㽕 ⱘ ѿ˗y 䞣ˈ⫼Ѣ ⱘѦ ӏ ℹ˗y ⍜ 䯳 ㅵ䘧ˈ CPU ⱘ⍜ Ӵ䗕˗y Socket 䖰⿟䖛⿟䇗⫼ˈ⫼Ѣ㔥㒰䯈ӏ ⍜ Ӵ䗕˗yѠ䖯 ˈ⫼Ѣ ⧚DŽ⧚ П䯈ⱘӏ г 䞛⫼ ѿ 䈵 ⦄ӏ 䯈䗮 , ㋏㒳䜡㕂Ϟ ϡ .3.1.8.2.1 ѿӏ 䯈䗮 ⱘ ㅔ ⱘ ⊩ 䞛⫼ ѿ ˈг Ⳍ ⱘ Ͼӏ ѿ Ѣ Ӏⱘ ぎ䯈ⱘ ϔ DŽ Ў ӏ 䛑 Ѣ ϔⱘ㒓 ぎ䯈ˈӏ 䯈 ѿ DŽ 䞣ǃ㒓 䯳 ǃ⦃ 䯳 ǃ䫒㸼ǃ 䩜䛑 㹿䖤㸠 ϡ Ϟϟ ⱘҷⷕ DŽ3.1.8.2.2Ѧϔ ぎ䯈⫼Ѣ Ѹ ˈЎњ䙓 さˈ Ѣ ⱘ䫕 䴲 䞡㽕ⱘDŽϸϾ Ͼӏ 䇏 ѯ ѿ ˈ ⱘ㒧 Ѣӏ 䖤㸠ⱘ㊒⹂ ˈ 㛑 䫭䇃 ˈ䖭ḋ 乏ҹ ⾡ ↉⹂ ϔϾӏ Փ⫼ϔϾ ѿ 䞣 ӊ ˈ Ҫӏ ϡ㛑 ḋⱘ ԰DŽЏ㽕 Ё ǃ ⽕ℶ ⫼ 䞣䫕 䌘⑤ㄝ ⊩DŽϔ㠀 䇈ˈ Ё ⱘ㾷 Ѧ ⱘ ⊩DŽԚ䖭 Ѣ ⫼ 䇈ˈ 䰏ℶ㋏㒳 䚼џӊⱘ ˈ ⊩⒵䎇 ⱘ㽕∖DŽ ḋˈЁ 䖳г ϡ㛑 DŽ3.1.8.2.3 䞣VxWorks 䞣 կ 䗳ⱘӏ 䯈䗮 ˈ Џ㽕⫼Ѣ㾷 ӏ 䯈ⱘѦ ℹDŽ䩜 ϡ ㉏ ⱘ䯂乬ˈ ҹϟϝ⾡ 䞣˖y Ѡ䖯 䞣Փ⫼ ǃ ⊯ˈЏ㽕⫼Ѣ ℹ Ѧ ˗y Ѧ 䞣Џ㽕⫼ѢӬ 㑻㒻 ǃ 䰸 ⒃˗y䅵VxWorks 䖬 կPOSIX 䞣 ⧚ Ϟ 䞣ⱘ ⫼DŽ3.1.8.2.4⍜ 䯳⦄ ⱘ ⫼⬅ϔ㋏ ѦⳌ⣀ゟ ԰ⱘӏ 㒘 DŽ 䞣Ўӏ 䯈 ℹ 䗮 կњ催 ⊩DŽ ⧚ Ёӏ 䯈⍜ ⱘӴ䗕䞛⫼⍜ ⍜ 䯳 DŽ⍜ Փ⫼ϔϾ㹿 䖯⿟ ѿⱘ⍜ 䯳 ˈӏ П䯈㒣⬅䖭Ͼ⍜ 䯳 䗕 ⍜ DŽ3-6ӏ 䯈Փ⫼⍜ 䯳 䖯㸠 䗮2䯳3.1.8.2.5ㅵ䘧ㅵ䘧⫼VxWorks ⱘI/O ㋏㒳 կϔ⾡♉⌏ⱘ⍜ Ӵ䗕 ˈ 偅 pipeDrv ˄VxWorks կ˅ㅵ⧚ⱘ㰮 I/O 䆒 DŽӏ 㛑䇗⫼ ⱘI/O ǃ䇏 ǃ ㅵ䘧DŽ ӏ 䆩 ҢϔϾぎⱘㅵ䘧Ё䇏 ˈ ϔϾ⒵ⱘㅵ䘧Ё ˈӏ 㹿䰏 DŽ ⍜ 䯳 ㉏ԐˈISR 㛑 ㅵ䘧Ё ˈԚϡ㛑ҢЁ䇏 DŽ䈵I/O 䆒 ϔḋˈㅵ䘧 ϔϾ⍜ 䯳 ≵ ⱘӬ ----䇗⫼select()ˈӏ ㄝ ϔ㋏ I/O 䆒 Ϟⱘ DŽ3.1.8.2.6 ⫼ⱘ㋏㒳䇗⫼Wind 䞣 Ѣ ⾡㉏ ⱘ 䞣ⱘ կњ ϔ㾘㣗 ⱘ ˈҙ 㽕⡍ 䞣㉏ DŽs e mBCr e at e() ˄ѻ⫳ ▔⌏˅ϔϾѠ䖯 䞣s e mMCr e at e () ˄ѻ⫳ ▔⌏˅ϔϾѦ 䞣s e mCCr e at e () ˄ѻ⫳ ▔⌏˅ ϔϾ䅵 䞣s e mD e l e t e () Ёℶ 㞾⬅ 䞣semTake ˄˅ 㦋 䞣s e mGiv e () 㒭 䞣s emFlush() 㾷䫕 ℷㄝ ϔ 䞣ⱘӏ Wind ⍜ 䯳 ㅵ⧚˖msgQCr e at e() ˄ѻ⫳ ▔⌏˅⍜ 䯳 msgQD e l e t e() Ёℶ 㞾⬅ 䞣msgQS e nd() ⍜ 䯳 䗕⍜ msgQR e c e iv e() Ң⍜ 䯳 ⍜ 3.1.8.2.7㔥㒰䗮VxWorks կњ ⱘ㔥㒰 㛑ˈ㛑Ϣ 䆌 Џ ㋏㒳䖯㸠䗮 DŽ㔥㒰 4.3BSD ˈг SUN ⱘNFS DŽ䖭⾡ ⊯ⱘ 䆂 Џ VxWorksh Ⳃ П䯈 կњ 㓱ⱘ ԰⦃ ,ӏ 䗮䖛㔥㒰 ㋏㒳ⱘЏ ӊˈ 䖰⿟ ӊ ˈг 䖰⿟䖛⿟䇗⫼DŽ䗮䖛ҹ 㔥ˈ䞛⫼TCP/IP UDP/IP 䆂 ϡ Џ П䯈Ӵ䗕 DŽ3-7 VxWorks ⱘTCP/IP 䆂VxWorks կњ ϟϔѯ㔥㒰 Ӵ䗕˖y Sockets䖤㸠 VxWorks ㋏㒳 ㋏㒳П䯈ӏ ⱘ⍜ Ӵ䗕˗y 䖰⿟䖛⿟䇗⫼˄RPC ˅䆌ӏ 䇗⫼ ϔЏ ˄䖤㸠ⱘ㋏㒳ЎVxWorks ˅Ϟⱘ䖛⿟DŽy 䖰⿟ ӊVxWorks ӏ 䞛⫼NFS ǃRSH ǃFTP ǃTFTP ㄝ 䖰⿟ Џ ӊDŽy ӊ䕧y 䖰⿟ 㸠 ҸVxWorks ӏ 䗮䖛㔥㒰▔⌏Џ ㋏㒳Ёⱘ ҸDŽVxWorks 㔥㒰㒘ӊ㒧 ϟ˖Vxworks ㋏㒳 㔥㒰 䆂ⱘ 䴴 ˄sockets ˅ ⦄ⱘDŽSockets 㾘㣗 ⊯ ⫼ⱘǃ ⱘǃ ⾡ 䆂ⱘ㔥㒰㓪⿟ DŽ䗮䆃ⱘ ⷇ ˈϔϾ䗮䆃 ⱘϔッˈ 䖭ϔッϞԴ ҹ ⱘϔϾ DŽϔϾℷ 㹿Փ⫼ⱘ 䛑 ⱘ㉏ Ϣ Ⳍ ⱘӏ DŽ Ѣ䗮䆃 ЁDŽ䗮䆃 Ўњ ⧚ϔ㠀ⱘ㒓⿟䗮䖛 䗮䆃㗠 䖯ⱘϔ⾡ 䈵ὖ DŽ rlogin telnet SourceDebuggerNFS RSH FTP TFTP X Windows ProtocolRPCZbufi'face Sockets SNMPv1/v2TCPUDP IP+ICMPEthernetBackplane Custom Interface SLIP/CSLIPPPP netDrv䖰⿟ 㸠 Ҹ䖰⿟ ӊ䖰⿟ⱏ䗮 ϔϾ Ёⱘ Ѹ ˄ Ѹ г 㛑こ䍞 ⱘ⬠䰤ˈԚ䖭 ϔ 㽕 㸠 ⾡㾷䞞⿟ ˅DŽ Ͼӏ Փ⫼䖭Ͼ ѦⳌП䯈⫼Internet 䆂 䖯㸠䗮䆃DŽҹḍ 䗮䆃 䋼 ㉏DŽ ⫼⿟ ϔ㠀ҙ ϔ㉏ⱘ 䯈䗮䆃DŽϡ䖛 㽕 ⱘ䗮 䆂 䆌ˈϡ ㉏ ⱘ 䯈г✻ḋ ҹ䗮 DŽ⫼ Ⳃ Փ⫼ϸ⾡ ˈ ⌕ ˄䞛⫼TCP 䆂˅ ˄䞛⫼UDP 䆂˅DŽ⌕ կњ ⱘǃ ⱘǃ 䞡 Ϩ 䆄 䖍⬠ⱘ ⌕ DŽ ⱘ ⌕ˈԚ ϡ 䆕 䴴ǃ ǃ 䞡 ⱘDŽг 䇈ˈϔϾҢ ⱘӏ 㛑 ⦄ 䞡 њˈ 㗙 ⱘ乎 ϡ DŽ ⱘϔϾ䞡㽕⡍⚍ ⬭њ䆄 䖍⬠DŽ Ѣ䖭ϔ⡍⚍ˈ 䞛⫼њϢ⦄ 䆌 Ѹ 㔥㒰˄՟ ҹ 㔥˅䴲 ㉏Ԑⱘ῵ DŽ˄socket ˅䗮 ⱘ Ӭ⚍ ˖䖛⿟䯈ⱘ䗮 ㄝⱘˈϡㅵ㔥㒰Ё䖛⿟ⱘ ԡ Џ 䖤㸠ⱘ ԰㋏㒳DŽϔ㠀 䇈ˈ⌕ կњ 䴴ⱘ䴶 䖲 ⱘ ˈ ⫼䕗 ⊯DŽ ⫼⿟ ϟ˖3-8 䗮 ⱘ ⦄socket()bind()listen()accept()䰏 ˈㄝread()write()close()close()read()write()connect()socket() ⧚ 䇋∖ゟ䫒 䇋∖ ㄨ。