Outline. Introduction. Survey of Device Driver Management in Real-Time Operating Systems

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1 Survey of Device Driver Management in Real-Time Operating Systems Sebastian Penner Outline Introduction What is a device driver? Commercial systems General Description Interface Interrupt handling Academic Solutions IPC Interrupts and Devices Summary 2 Introduction Survey of device driver management in RTOS s Three commercial real-time operating systems Spectra, OSE, LynxOS Covers general description, device driver interface and interrupt handling Five academic solutions Timix, MARS, Spring, HIC, Hartik Covers general description, Inter Process Communication model, and interrupts and devices Definition of and motivation for device drivers, types of drivers, sample code 3 1

2 Device Drivers Definition? A device driver is a piece of code that perform low level I/O operations towards a dedicated piece of hardware on behalf of applications and operating system. Provides a logical abstraction of a device, or category of devices, on which applications and OS works. 4 Device Drivers Motivation Portability The same interface can be used on several types of devices Reduced debugging effort Applications do not need to implement low level I/O, which eliminates a source for errors Shortened development cycle See above 5 Device Drivers System Layout 6 2

3 Device Drivers Types Block Transfers data in blocks of fixed sizes (disc & tape drives) Character Transfers data on a per byte basis (serial & parallel ports) Polled Passive/silent devices (force/torque sensors) Interrupting Actively inform software of state changes (keyboard) 7 Device Drivers Types Polled devices must be read regularly Robust and real-time friendly May waste execution time Interrupting devices asserts signals that unconditionally interrupt current execution Processed by an ISR/interrupt handler Priorities solve contention between simultaneous signals and overlapping execution of handlers Interrupts below a given priority can be prevented by masking them 8 Device Drivers Interrupt handlers Interrupt handlers perform processing specific to the event that caused the interrupt to fire Pointers to handlers are stored in a table The pointers are called vectors The table is called Interrupt/Exception Vector Table (Intel & Motorola) Should be as short as possible (time) Invoked as soon as possible 9 3

4 Device Drivers Polled vs. Interrupting Interrupts allow passive waiting Interrupts disrupt normal execution flow Interrupts are expensive if they occur often Polling may waste processor time Polling make full determinism possible Polling is robust and does not cause unpredictable overload 10 Presentation of the candidates Spectra Product of Mentor Graphics used in BSP development OSE Product of Enea used in mobile phones and medical equipment LynxOS Product of LynxWorks is a hard RTOS, which is Linux-compatible and POSIX-conformant 11 General Description Spectra logio Intermediate layer through which devices are accessed Defines the device driver interface Drivers are registered in order to be made accessible Manages interrupts 12 4

5 General Description OSE BIOS Intermediary layer through which drivers are accessed Required if caller executes in user mode Can be avoided if already in supervisor mode Registers device drivers Does NOT dictate the device driver interface 13 General Description Lynx Driver interface provided by OS kernel Kernel maintains driver mapping DRM layer below device driver layer Provides service routines used by drivers Bus layer below DRM layer Provides low level bus access routines used by the DRM services 14 Interface A set of functions provided by the OS through which the caller can issue requests to and gather information from peripheral devices Device identification though logical handles or unique identification numbers Driver mapping handled by OS or dedicated driver manager after registration of driver 15 5

6 Interface Spectra Seven general functions for working with a device init, read, write, control, poll, getmsg, putmsg read and write are stream based getmsg and putmsgare block based Seven interrupt related functions Main use is to catch interrupts and to retrieve and modify interrupt vectors 16 Interface OSE Divided into public and static functions Public functions can be called directly, or through the BIOS Used for initialisation, calling through BIOS and as Interrupt Service Routine Static functions must be called through the BIOS if caller is not in supervisor mode Thirteen functions all together open, close, read, write 17 Interface OSE Device client must implement five callback functions Two are used for dynamic memory management Three are used for asynchronously receiving notifications from ISR (error, data received, data sent) 18 6

7 Interface Lynx Six functions that are always required install, open, close, ioctl, select, mmap Four additional functions whose presence depends on driver type Character read, write Block strategy Dynamic uninstall 19 Interrupts Spectra logio drivers must handle interrupt sources (events), rather than interrupt vectors Drivers must supply one event handler (test function) for each event on a vector Event handlers processes the event if it is valid and returns true, otherwise false logio default interrupt handler iterates over all event handlers on the interrupt s vector and calls a handler-associated callback function 20 Interrupts Spectra 21 7

8 Interrupts OSE 22 Interrupt handlers respond to hardware and software events OSE drivers must handle interrupt vectors The sending of software events or signaling of a process fast semaphore counts as software interrupts A special purpose function called wake_up() is used to resolve why interrupt handler was invoked Interrupts Lynx ISR s are registered with the interrupt dispatcher to respond to interrupts on a specified vector If multiple ISR s share the same vector, the driver must retain a pointer to the previous ISR, and the handler itself passes the interrupt along the chain of ISR s until the correct one is reached 23 Interrupts Lynx ISR s run at hardware priority In comes kernel threads Runs at software priority Can be scheduled like all other threads One per interrupting device Performs all interrupt processing Awakened by the ISR through semaphore 24 8

9 Interrupts Lynx Priority tracking is introduced to make sure kernel threads do not preempt normal threads that are more important than the interrupts they service Priority tracking dynamically adjusts a kernel thread s priority to one half step above the priority level of the most important thread interested in the interrupt 25 Academic solutions Five academic solutions have been examined (Timix, Spring, MARS, HIC, HARTIC) Unfortunately, information about device drivers was generally very limited Different device driver approach Drivers are treated like any other process in the system Less complexity in OS kernel Thus the IPC system is used instead of a dedicated device driver interface 26 Academic solutions Inter Process Communication Majority implements primitive IPC for producer/consumer configurations Semantics similar to global variables Typically one producer & multiple consumers Arriving message overwrites previous HIC and HARTIK implement protection against inconsistency by reserving and releasing buffers MARS associates TTL value to messages 27 9

10 Academic solutions Inter Process Communication Timix implements asynchronous messages that are queued at the receiver Spring provides synchronous / asynchronous (based on user) ports Hard real-time, soft real-time, non real-time Messages can have deadlines 28 Academic solutions Interrupts and devices Two approaches No interrupts allowed at all (MARS) Poll hardware at regular time intervals Spawns a new schedulable entity in response to the interrupt Use IPC to share information with other threads Both approaches must rely on low-level techniques to interface with hardware 29 Summary Commercial systems define device drivers as separate special purpose software Require API, internal data and logic to handle and resolve device requests from applications Typical API: open, close, read, write, control/ioctl Data structures bind logical handles, drivers, ISR s and devices together Logic resolves application s device requests by following directions indicated by the data structures 30 10

11 Summary LynxOS Many layers Built in mechanisms for safe handling of interrupts (kernel threads and priority tracking) Spectra and OSE Similar internal design (logio and BIOS) Schedulable event handlers are possible with use of signaling mechanisms (semaphores) 31 Summary 32 Academic solutions does not distinguish between device drivers and other threads No device drivers, no driver API No special purpose data and logic in kernel Interaction between I/O threads and normal threads is handled through IPC Interrupts give rise to new schedulable threads that can safely perform processing No priority tracking Summary Differences in API and interrupt handling IPC instead of dedicated driver API is plausible due to similar primitives (get/read, put/write) Scheduling of IPC messages can further enhance the realtime characteristics Can introduce some additional overhead Differences in interrupt handling Schedulable interrupt handlers in all academic systems except MARS, which is static Only LynxOS goes full length with priority tracking 33 11

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