Vol. 27 No. 4 Nov RTOS RTOS RTOS Windows RTOS Windows RTOS RTOS Windows COM RTOS RTOS RTOS RTOS RTOS ISS(Instruction Set Simuator ) Windows (
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1 24 OS ISS (Instruction Set Simuator: ) ISS ISS (1) (2) (3) (4) OS ISS This paper presents an open source simulator corresponding multiprocessors for embedded systems. The purpose of the simulator is to effectively develop a real-time OS and application for multiprocessors. To realize the multiprocessor simulation environment, an ISS (Instruction Set Simulators) for a single processor is extended with few modifications and cooperate with other ISSes. There are four newly-developed mechanisms between ISSes as follows: (1) a shared memory mechanism, (2) an exclusion control mechanism, (3) an interrupt mechanism, and (4) a synchronism mechanism. Moreover, the method of reducing simulation time to use the idle time of the real-time OS is proposed. It is possible to adapt this environment to other kinds of ISSes. Open Source Simuator for Embedded System Extended Multiprocessor. Takuya Azumi, Hiroyuki Tomiyama,, Graduate School of Information Science, Nagoya University. Presently with Ritsumeikan University. Takashi Furukawa, R&D, Graduate School of Information Science, Nagoya University. Presently with Kyocera Corporation Yokohama R&D Center. Seiya Shibata, /, Research fellow of the Japan Society for the Promotion of Science/Graduate School of Information Science, Nagoya University. Hiroshi Aiba, Shinya Honda, Hiroaki Takada,, Graduate School of Information Science, Nagoya University., Vol.27, No.4(2010), pp [ ] RTOS(Real-Time Operating System OS) RTOS RTOS RTOS RTOS [4] [10]
2 Vol. 27 No. 4 Nov RTOS RTOS RTOS Windows RTOS Windows RTOS RTOS Windows COM RTOS RTOS RTOS RTOS RTOS ISS(Instruction Set Simuator ) Windows (TISE:TOPPERS Integrated Simulation Enviroment) 1 RTOS ( ID) () 2 ISS SkyEye[14] (SkyEye-MP) 1 ISS (1) (2) (3) (4) SkyEye-MP RTOS RTOS ISS RTOS RTOS TISE (HDL) SystemC [2] ISS RTOS 2 SkyEye 3 RTOS ISS 7 RTOS (RTOS ) ISS SkyEye
3 SoC 1 RTOS RTOS /RTOS RTOS RTOS RTOS RTOS µitron4.0 [17] [19] RTOS [11] API API (/) I/O RTOS API OS OS RTOS RTOS OS OS RTOS / COM (HDL) SystemC 2. 2 SkyEye SkyEye GDB/ARMulator ARM ISS SkyEye 1 ARM ARM 1 SkyEye GDB 2 SkyEye
4 Vol. 27 No. 4 Nov cpu: arm7tdmi 2 mach: at91 3 mem_bank: map=m, type=rw, addr=0x , size=0x mem_bank: map=i, type=rw, addr=0xf , size=0x SkyEye 2 1 CPU ARM7TDMI map=m RAM ROM map=i I/O type=r type=rw addr size 3 RTOS TISE RTOS RTOS ITRON TOPPERS/FDMP [21](FDMP ) 3. 1 FDMP RTOS RTOS µitron4.0 µitron4.0 3 FDMP AMP 3. 2 FDMP ( ) A 2 B A B B ( 2) FDMP
5 28 4 RTOS FDMP 4. 1 (1) (2) (3) ( ID) RTOS (4) ( ) 3. 1 (5) 2 RTOS ( ) ( ) 2 (6) RTOS (A) RTOS (B) ISS (C) ISS 3 RTOS RTOS RTOS RTOS RTOS RTOS (A) RTOS (2) OS OS
6 Vol. 27 No. 4 Nov (2) FDMP RTOS (B) (C) ISS (A) RTOS (B) (C) (B) (C) ISS ISS (B) ISS ISS (C) ISS ISS TISE TISE (C) (A) (2) RTOS (B) (C) (C) ISS (C) ISS (TISE) 4 TISE ISS ISS ISS 1 ISS ISS/ OS SkyEye-MP SkyEye ISS COM 4. 1 SkyEye ID 5 SkyEye-MP 5. 1 (2) OS Windows SkyEye-MP SkyEye-MP SkyEye-MP SkyEye-MP SkyEye API ISS
7 30 4 // 1 mem_bank: map=m, type=rw, addr=0x , size=0x mem_bank: map=s, type=rw, addr=0x , size=0x , devm_addr=0x mem_bank: map=i, type=rw, addr=0xf , size=0x // 4 devm_mutex_cont: base=0xffffff00 5 devm_mutex_obj: id=0 6 devm_mutex_obj: id=1 // 7 devm_int_id: 0x01 8 devm_int_out: base=0xffffff40 9 devm_int_in: subid=0x01, IRQ=0 10 devm_int_in: subid=0x00, IRQ=1 // ID 11 prc_id: base=0xffffffa0, id=1 12 cycle_counter: base=0xffffffc0 // 13 prc_affinity: id=0 // 14 perf_time: base=0xffffff80 5 SkyEye-MP COM API 6 CreateSharedMemory() ReleaseSharedMemory() ISS SkyEye SkyEye-MP CreateSharedMemory(unsigned long address, unsigned long size, BSTR lpname) 2 ReleaseSharedMemory(BSTR lpname) 6 COM API map=m map=s 0x x x x x SkyEye-MP (CreateSharedMemory()) SkyEye-MP SkyEye-MP SkyEye-MP SkyEye-MP ReleaseSharedMemory()
8 Vol. 27 No. 4 Nov Map(unsigned long id) 2 Unmap(unsigned long id) 8 ID COM API 7 (2) SkyEye-MP SkyEye-MP 7 SkyEye () SkyEye-MP 5. 2 ID (3) SkyEye-MP RTOS (SkyEye-MP) API SkyEye-MP ID ID / Map()/UnMap() ( 8) SkyEye RTOS SkyEye-MP ID ID ID RTOS ID ( ID ) SkyEye-MP 5 11 ID 0xffffffa0 ID (4) ID ID SkyEye-MP API 10 1 RaiseInterrupt() inhno inhno ID OnInterruptRequest() ID SkyEye-MP SkyEye RTOS SkeEye RTOS 16 ID 16 SkyEye-MP SkeEye-MP COM COM ( 10
9 RaiseInterrupt(unsigned long inhno) 2 OnInterruptRequest(unsigned long inhno) 10 COM API 1 RaiseInterrupt()) ID SkyEye-MP ( 10 2 OnInterruptRequest()) SkyEye-MP COM SkyEye-MP (IPR) IPR SkyEye-MP IPR 5 7 ID 1 8 0xffffff CreateMutex(unsigned long number, BSTR * lpname) 2 CloseMutex(unsigned long number) 3 AcquireLock(unsigned long address, unsigned long size) 4 ReleaseLock(unsigned long address, unsigned long size) 12 COM API 5. 4 (5) SkyEye-MP RTOS SkyEye-MP OS API 12 1 Create- Mutex() 12 2 CloseMutex() Acquire- Lock()/ReleaseLock()( ) COM SkyEye SkyEye-MP ( 11 1 CreateMutex) SkyEye-MP SkyEye-MP RTOS SkyEye RTOS / SkyEye-MP / SkyEye-MP SkyEye-MP RTOS RTOS 5 4 0xffffff ID 0 1
10 Vol. 27 No. 4 Nov SkyEye SkyEye ARM ( I/O) / mem bank map=i TISE / mem bank map=d COM /COM / ( 13 Read()/Write()) () SkyEye ARM 1 Read(unsigned long address, unsigned long size, byte data []) 2 Write(unsigned long address, unsigned long size, byte data []) 13 COM API xffffffc SkyEye SkyEye-MP 1 ID xffffff80 SkyEye- MP ( 5 13 ) SkyEye mem bank / /
11 SkyeEye-MP SkyEye RTOS SkyEye-MP ISS 2 ISS ISS ISS 6 ISS ISS SkyEye-MP ISS ISS ISS ISS ISS ( ) 6. 1 ISS 3 1 ISS ISS ISS 2 ISS SkyEye GDB GDB 1 ISS ISS ISS ISS 3 ISS ISS 6. 2 ISS ISS 1 ISS COM OS SkyEye ISS ( ) sync: num=[iss ], cycles=[ ] COM COM ISS ISS ( ) ISS ISS ISS ISS
12 Vol. 27 No. 4 Nov COM 15 ISS COM 14 COM 2 ISS. ISS1 ISS2 ISS COM OS ISS ISS ISS ISS ISS ISS ISS ISS ISS ISS ISS ISS 15 2 ISS. ISS1 ISS2 ISS ISS ,000 for ISS for 1,302, COM ( 1) ( 2) ISS 2 COM FDMP 17( ) 18() GTKWave [7] FDMP
![TASK2 17 ISS FDMP 3(PE1.MAIN TASK[3]) PE2.](/docs-images/93/113004620/images/13-1.jpg "TASK2 18 MAIN TASK 3")
13 ( 2 ISS 2) ( 17 18) 1 1 ( ) ( PE1.MAIN TASK[1]) ([1]) 3 MAIN TASK ISS PE2.TASK2 17 ISS FDMP 3(PE1.MAIN TASK[3]) PE2.TASK2 18 MAIN TASK 3 TASK2 ISS ISS () (10000) 10 Windows ISS ISS ISS RTOS ISS PC ISS ISS 19
14 Vol. 27 No. 4 Nov ISS ISS Windows ISS ISS 7 RTOS RTOS RTOS 20 ISS ISS RTOS OS API SkyEye-MP ISS ISS ISS API ISS ISS ISS API ISS 21 RTOS1 ISS1 21 ISS1 ISS2 21 ISS1 RTOS
15 38 1 mem bank: map=i, type=rw, addr=0xf , size=0x idle base: base=0xffffff88 22 RTOS 21 ISS RTOS ISS RTOS ISS ISS RTOS ISS FDMP runtsk ( ) NULL ISS RTOS ISS RTOS ISS ISS SkyEye skyeye.conf RTOS RTOS ISS RTOS ISS RTOS ISS ISS OS ISS RTOS ISS RTOS idle_base: base=[ ] ( 22) MPEG4 23 ISS 1msec 1 90
16 Vol. 27 No. 4 Nov MPEG4 1 2 ISS API ISS ISS MPEG (1) (2) (ISS) (1) (RTOS ) RTOS [8] [18] [15] [8][18] RTOS RTOS RTOS RTOS [15] SystemC[16] SystemC SystemC SystemC RTOS SystemC SystemC RTOS
17 40 SystemC RTOS [8] [18] RTOS [10][2] µitron RTOS µitron µitron RTOS RTOS (2) (1) [1] RTOS RTOS ISS ISS ( ) / / [6] SystemC SystemC ISS RTOS [5][3] RTOS RTOS QEMU[13] QEMU QEMU 9 TISE TISE RTOS TISE 9. 1 TOPPERS/FMP TOPPERS RTOS TOPPERS/FMP [22](FMP ) FMP ( ) FMP TISE API TISE 9. 2 TECS(TOPPERS Embedded Component System)[23] TECS 2
18 Vol. 27 No. 4 Nov TISE TECS RPC [24] 9. 3 SystemBuilder [20] [9] TISE SystemBuilder SystemBuilder SystemBuilder ( ) C SystemBuilder API SystemBuilder System- Builder API ( ) FPGA FPGA TISE 9. 4 NEP (NCES Education Program) [12] TISE TISE PC NEP 9. 1 RTOS FMP 2 TISE gcov SkyEye-MP 10 (TISE) TISE OS SkyEye
19 42 ISS (1) (2) (3) (4) RTOS ISS ISS SkyEye ISS [ 1 ] Bacivarov, I., Bouchhima, A., Yoo, S. and Jerraya, A. A.: ChronoSym: a new approach for fast and accurate SoC cosimulation, International Journal of Embedded Systems, Vol. 1, No. 1/2(2005), pp [ 2 ] Chikada, S., Tomiyama, H., Honda, S. and Takada, H.: Cosimulation of ITRON-Based Embedded Software with SystemC, in Proc.ofInternational High Level Design Validation and Test Workshop (HLDVT), Nov. 2005, pp [ 3 ] Design, I. S., Yoo, S., Nicolescu, G., Gauthier, L. and Jerraya, A. A.: Automatic Generation of Fast Timed Simulation Models for Operating Systems, in Proc. of the Design, Automation and Test in Europe (DATE), May 2002, pp [ 4 ] Furukawa, T., Honda, S., Tomiyama, H. and Takada, H.: A Hardware/Software Cosimulator with RTOS Supports for Multiprocessor Embedded Systems, in Proc. of the 3rd international conference on Embedded Software and Systems, May 2007, pp [5] Gauthier,L.,Yoo,S.andJerraya,A.A.: Automatic Generation and Targeting of Application Specific Operating Systems and Embedded Systems Software, in Proc.oftheDesign,Automationand Test in Europe (DATE), May 2001, pp [ 6 ] Gerin, P., Yoo, S., Nicolescu, G. and Jerraya, A. A.: Scalable and Flexible Cosimulation of SoC Designs with Heterogeneous Multi-Processor Target Architectures, in Proc. of the Conference on Asia South Pacific Design Automation (ASP-DAC), Jan. 2001, pp [ 7 ] GTKWave: gtkwave/index.html. [ 8 ] Haobo, A. G., Gerstlauer, A., Yu, H. and Gajski, D. D.: RTOS Modeling for System Level Design, in Proc. of the Design, Automation and Test in Europe (DATE), May 2000, pp [ 9 ] Honda, S., Tomiyama, H. and Takada, H.: RTOS and codesign toolkit for multiprocessor systems-on-chip, in 12th Asia and South Pacific Design Automation Conference, ASP-DAC 2007, Yokohama, Japan, Jan. 2007, pp [10] Honda, S., Wakabayashi, T., Tomiyama, H. and Takada, H.: RTOS-Centric Cosimulator for Embedded System Design, IEICE Trans. Fundamentals, Vol. E87-A, No. 12(2004), pp [11] µitron4.0 :. device-j.html. [12] NEP: index.html. [13] QEMU: [14] SkyEye: [15] Snchez, H. P., Herrera, F., Posadas, H., Sanchez, P. and Villar, E.: Systematic Embedded Software Generation from SystemC, in Proc.oftheDesign, Automation and Test in Europe (DATE), May 2003, pp [16] SystemC: [17] Takada, H. and Sakamura, K.: µitron for small-scale embedded systems, IEEE Micro, Vol. 15, No. 6(1995), pp [18] Yu, H., Gerstlauer, A. and Gajski, D.: RTOS Scheduling in Transaction Level Models, in Proc. of International Conference on Hardware/Software Codesign and System Synthesis (CODES+ISSS), Oct. 2003, pp [19] ( ), ( ): µitron4.0 Ver , [20],, : SystemBuilder,, Vol. J88-D-I, No. 2(2005), pp [21], : ITRON OS, D, Vol. 91, No. 4(2008), pp [22],,,, : RTOS, 14, Jul [23],,,,,, :,, Vol. 26, No. 4(2009), pp [24],, : RPC,, Vol. 2, No. 2(2009), pp
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TOPPERS Toppers_ASP Scilab ( ) Toppers_ASP _SkyEye Cygwin (32bit ) Eclipse3.6_Helios(+ Zylin Embedded ) VisualC++2010Express (SkyEye devicemanager COM DLL ) Scilab5.5.0( ) / 2013 JSP ASP 2 1 3 1.1.......................................................
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