vxWorks RTP功能应用案例

最新推荐文章于 2025-06-08 16:50:04 发布

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最新推荐文章于 2025-06-08 16:50:04 发布 · 5.3k 阅读

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#vxworks #RTP

RTP作为vxWorks从6.0版本引入的功能，旨在平衡内核保护性和实时性。RTP进程间内存独立，避免通过禁用MMU访问其他模块导致的畸形程序设计。调度方面，WindRiver引入了POSIX和VxWorks Scheduler，基本保持传统调度器的行为。在了解这些差异后，开发者能更好地利用RTP提升工作效率。

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WindRiver提出RTP这个功能，想必也是从Linux中汲取了精华。次功能从vxWorks6.0出现，可以兼顾内核保护性和实时性。对于从5.5一路走来的研发人员来说，如何使用该功能，又多了份新的研究方向。且看WindRiver给出的RTPdemo，看它如何展现它新的特征，对大家的工作有何帮助。

从Memory Space角度讲，RTP彼此独立，同时也与kernel独立。虽然可以disable MMU，使之在Flat memory mode下访问其它模块，但这违背了RTP设计的初衷，会使程序变得畸形。

从sheduling角度说，为了在RTP中调度thread，WR引入的POSIX and VxWorks Scheduler.该Scheduler在内核态下，功能与traditional的Scheduler一致。仅存少许差异。

In all other cases, the POSIX thread scheduler schedules pthreads and tasks in the same (non-POSIX) manner as the traditional VxWorks scheduler. (There is a minor difference between how it handles tasks and pthreads whose priorities have been lowered; see Differences in Re-Queuing Pthreads and Tasks With Lowered Priorities.)

PS.

3.2 Comparing Kernel Applications with RTP Applications

The primary difference between kernel applications and RTP applications is that RTP applications execute in separate, protected memory environments, while kernel applications do not. There are also differences in the features available in each environment, as well as differences in performance, footprint, and memory use.