RTOSs ( + # :/ μitron, μtkernel, μc/os-ii, EmbOS, FreeRTOS, SharcOS, XMK OS, ecos, Erika, Hartik, KeilOS

Transcript

1 ارائه شده توسط: سايت ه فا مرجع جديد مقا ت ه شده از ن ت معت

2 !"# CPU 53;( 8 9"#% 5 / :% / 7 (./01)() *%+ :$%&' ;1 ) (@ <>1 A % 1 B :&4 5 C =; >.@ 4< + # 40 H/ 5!:/.( A % 1 G1 ( ) ; (deadline) >D EF L /> J!; ( B/ K: ) ( + CPU " ( ' I&/ " OP > H/.) $( N" CPU ) M ( pipeline L "( 5 // 5N%7 H%1 " (/Q) &% /( $@ $( N" N/ 7 / NA (( C V" $@ $( N" U 5(/ ( B/ 5 40 $@ "@RS T"@ RW4 40"( H/.9%) + ) 4% 3;( M") % / JA ( K ) %O48 H/ ) N%7 () *% :/.(@ $( N" (/ L :/' 4 N%7 3 4 $@ $( N" C 40"( 8 ' 3 / :/1 ) 8 ' H/.( #% (/ 8 '1.5 <1 Y Q H/ (> X "(.;@ "S X; ( ; > 8 (< 9#%; & > 9"#% 3;( 9"#% 5 1%I )&% $;(Q&% 5 :Z@ 8 $@!.1 X; 5$@ > 9"#% (RTOSs);) B1 %" 3;( 8 9"#% $( N" NA ((( $<0 NA ) 1\%<#1 / O/ H/) RW"( &/ ) (.) ( B/ $48 O[# ( $@ $( N" (/ 4 ] 14; N%7 H/ ) ) :/ ( 5((

3 4 %1 5 M W% 5(/ :%'.(@ L RST"@ @ :// 9'Q 5 = %Q 5(es!" VG;) " 4O) $;(Q 5(semaphores) B X // $)M")&% ( ) ;@ RTOSs ( + # :/ : 1 8 ) %Q RTOSs ) / M ^.;@ > X μitron, μtkernel, μc/os-ii, EmbOS, FreeRTOS, SharcOS, XMK OS, ecos, Erika, Hartik, KeilOS / JS O. PC, IFID- 40"( J) 40"( / JS O nmpra 40.1 &@ MEM/WB X -"JS :"@; O 5EX/MEM >-X O 5ID/EX 40"( (jitter)a N1 9X ; ) 5$@ %1 NA `/ ( 8 /> $( N" CV 5O[# :% :&4 :/.@ 3;( 9"#% 4< a> H/ 5 &J G K 5&/ %(.@ :/.@ ) > :" / U"#S 5O[# :%(.(@ (deadline) >D EF! B &/ ( Z%J1 RTOS ; (API) #/; ; L1 Q(Q $( N" 5# N%7 JA / JA () *%+ RTOS1 bp 5W/( 9< cf.(@( B/ D (/ $\0.((( ( / %; RTOS 1 $@ = B; %O48 H/ 5JA ) M!"; %; $;(Q S CV 5;@ $) bv 5 API L 1 ;@ $( N" $@ > 9"#% ;) $X 4 $;((Q.@ "@( `&0 / 7 ;

4 :%' %Q X.) ( B/ K ) ; d; bp 4"G%e (&O48 %( 1\&J ;1 <;K %# (g]) =OQ ;1 K: :/.(@ f 1 :&4 /; "G K: 51\&J :/ $( N" 5B%"; H/ 0.@ /@ :/1 G1 h " ( A ) ) ( B/ S 0A Si/ $@ > 9"#% <;K $() (G /RQ( ) 5 $;(Q A (FPGA) /K $ W"( 5j% 5W/( b."# h ; :%/ Q d; bv F!1 /.;@ $("#S (%O% k%)!] ( M( 0 %7 1 ) U % / ;.9%(( <J%Q FPGA 9"#% %"JQ H/ %( :/ (4; (b) $K "%B/( m] (b)scpui l].(a).nhse 40.2 &@ )O ;$; L &1 H/ ) 9%) + " ; 40 H/ 40.;$@ 6/0176L> ( &; ' (CPU$X 4 5(pipeline) 5(PC) C ] (MIPS) $@ NA 9 ( 40 &% $;(Q 4 84B H K.@ f 1 KCPU J 0 %O48 ; %"JQ /.( & ;@ $( N" CPU> M ( 40"( <W; ) N%7 J!; ( B/ $( N" S( 5% / JA L/ () *%+ h> :/.(@ &1 ) / N%7

5 / ' 40 7L> ( ) 5 40 > M 0 % / JA (B J!; ( B/ 9"/W (stack saving) "JQ $%f U $% ; ( multipipeline) 0 8 ' /> N%7 c@ > ( A 9"/W :/ ) :/W/ > ( remapping)/>.@ :(@ ZJ / P /> 40 6/ 7 H%1 " (/Q) H% /( $@ $( N" " OP $( %Q K 9 "@RS T"@ L "( K 5@ NA (/ // ( A K 5@ ( ) %O48 H/ :/ ) 9 6/ 7 NA M V1 $@ $( N" U :%4n ).) ( B/ 3;( F!1 / % / ( o (&O8.@ RTOSs $)M")&% (&O48 (< 5/> b :"# ( /Q) H% /( / 4 (b) H%1 " (a) O).3 &@

6 1 3 4 > 5 NA " 5> (/ Y Q 56/ 7 () *%+ ($%e (" $;(Q)es!" VG;5 = %Q 5 (/) ;H/ % P 8 (IPC) / ( :(@ ; / V! :/ + IIIk ( RTOSs \%<#1 = 41 O4> nhse 40 (@ + II k ( 5nMPRA V k.( + ( <J%Q g / 40 $( %Q ( J/ K H/ IV k.(@.(@ $(K VIk ( p/ "; / <; (.@ nmpra 40 #/! ]1 ) nmpra 40 II 1 5$@ %01 ) ( () 9% nmpra 0"J%Q 40. $@ $(( J; 1 &@ ( nmpra.(nhse)@ $% ; N%7n scpui) 4%; CPU 5CPU ^ H/ :() 9% 6/01 / ( 4; 5g 6%P1 c@ A / 5 5( 5 M ^ :%'.@ $% ;(in%7 mutexes $( %Q (e)-(b) NA $( %Q (a).4 &@

7 = 41.) > (i = 0,..., n 1) i N%7 40"( :%n4 K.@ ( (B 9%X1 0M 0 <1 ) 5sCPU0a> ;(Q > / 5sCPUi k L X; %N) ( #% nmpra X; &%Q 5sCPU0 <1. #&/.( 5H%1 " / H%1 ".(@ + H%1 " H% /( ( /> nmpra / (/ &/ ( ( () *%+ %O48 ;1 5S 1 H/ 0.@ VG; :(@ nmpra C :/ ) ( = B; L/ -M 0 1 5intertaskO( N%7 5( deadline) >D EF5!" VG;5 <W; 4/ 15NA 5 :/ H/./ % $( RW4 40"( H/ $( N" ;1 (/ :/ E ";.> & /Q / H% /( 5 JSi/ :/.;@ M 0%e / M 0 5M") m/ ;1 (/.( H/ M") G1 N%7 / %%q1 ) (scpu0 ^" ) scpui 5H% /( >1 / 5N%7 V" (/ = 41.(((> M") H/ 5) #% (/Q)H% /( 9"/W H/ 5g (; (> P $)M") *% B/ ( 5 NA.; r /> 5NA :/ (.( #% N%7 NA M V1 ) (( /$@ L/1 g ER /.5 &@

8 0 %" (/ )( %1.6 d "; NA 5K) (4; A % 1 G1 6/ 7 % / JA WRITE %O48 $( N" W/( N%7 $ ( :&4 NA H/ 5 M ( 5$\0 ()4; ( ; 3;( (/ 0% $(G Y Q nmpra.(@ L/15 H/ H1 H/ 0.@ ( ] H/ M( 0 ( J H/ M( 0 ) >D EF ( ( 53;( ;1 ) 9%( J; >DEF c; ( 9%; /> Si/

9 EPR ;.7 M 0 %e/m 0.8 &@

10 CAM P Eri "G ;.9 &@ "@RS T"@ L M") "( X.) H4) >DEF % 9"/W!" VG; / H/ ( 5!" VG;.) > (!" VG; 5nMPRA5$@ (0 % (!" VG; ) / H/ / :/ ;@ $S (MRF).(@ %&J1 "# / :/1:%/ Q % ( $@ $%f P V" N%7 (ID) ( H/ "0/ 5!" VG; H/ (K 5H1 RW4 40"( H/ ) :/ g :/ /.(@ $( N" =; ( $@ > RTOS ( APIL 1 :/1\ ( ( %0F 5 :/.(@ + (ERs) H/ 5ICP >1 0 % 5;( W; ) M 0 (/ ) /N%7 ID 0 %.) $%f % %0A = %Q % H/ 0 K % / <; ( ;( W; (@ :%%01 ( &/ V! N%7 ID /N%7 mo0" 5$@ %" ( S.(@ "S & ;1 / ; ) ;@ $( N" $( N" 5g / 9.(@ = B; 0 8 ' ( %./01 48 H/ 5@ / :/1D $@ > RTOS ( APIL 1 "0/ (/ H/ # 0 H1 RW4 40"( '3-1) (@ L/ %# /> N%7./01 ; 5@ D / S B%"; (.@ =; H/ ( H/ 1 i ( S.) br %" ( B"#> %; ( = 41 ( :/.($;(Q 5L :"/ (ERF) ER / B"#>.(@ 9< (/ :/ L () %Q 5(@ $(( SK ( %SO>.) f 1 A %e! H/ :&4

11 nmpra$;(q &1 L X.1M> D (&O48 /! $)M")&% ) X.2M> > e (/ ( o 1 ( $@ "#> / :/1D /N%7 A N1 ) 4X ; 10 &@ ( $) M W% X ) / :/1D /N%7

12 X P $;(Q ' H/ ( B"#> 5(@ > READ 40"( ) ; 5 &J :/.(@ = B; (CAM) "G ( (K A IF/ID, ID/EX, )!"# 84B H/ 5CPU /( 1 1 &@ ( ) ]; 4 / nhse ( ) ) C /84B H/ / H/ 5PC H/ 5 (EX/MEM, MEM/WB ( ) /84B 5/N%7 )!%! :/ >1.(( (> (;@ (/ H/ Y Q (@ = B; H1 8 ' H/ ( (1 N%7 %./01 5(( O) b L/ %# 40 ) 9%) MD" 9%;1 %(:/.(@ $(K '1.5 0 ;1 > % 1 ^) H/ $;(Q ' 1.5 / 1 % 1 A H/./01 ( A 6/ 7 5K &; ' T"@ 6/ 7 = 41 1 W/( L.( ( ) M ( X 40"( )$;(Q ' 3 5 :/.;@ > scpu0 ( ( scpui (run) %11 1 $; 4@.;@ "@RS 9"/W =; ( > M 4" 5E "; :/.( #% >DEF /$( m%a( /.(%S X; ( / :/1D $@ $(( C V" jd40 5sCPU0( /Q / H% /( cr C N%7 "( l] M") :9%) 6/01 / ( 5nMPRA + ( J ))(_gr) O) 5(@ scpui PV t J )) (_lr) OG 5sCPUi )) (_mr) 1 X; (@ "( AsCPU= 41 1 "# nmprao) (K t.(;@ "( A scpu0 1 <1 ;1 nhse 40III 4/ 1 5 >DEF 5 NA ; (((/ / ( ) " :%@ H/ (2a &@) nhse ;1 / M W%nHSE$\0.( &% j "A) $@ N) (> = %Q 5!" VG; 5 4/ 1 5 $/( RS $%f 40"( > 1 $@ %1 M W% (( H% /( H%1 " :%' H/ <1.@ nhse 1 $@ %1 scpus M 0 M W% 5 >.) %SO>

13 oi en_ pi $/( 2a &@ ( ) ]; M 0 $@ $(( X H/ ( ;1 > 5H%1 " m] $4 scpu ( O) k/ 4;))O (4;.(Pui (8 H/ M ^ ) (( ( VG ID 5sCPU.@ (/ o TO H% /( H/ ( ( M 0 scpu 5ID.9/( ID n=4 S.@ n l%gp %e) 1 ( 9"#% 5@ ; M 0 (/ *% S.) (/ 4 %e (/ H/ "# Y Q.11 &@ 4 %e ( H/ HSE =; Y Q.12 &@

14 (/ V" scpu S (@ M 0 9"#% ( u (/ ).@ (idle)(m 0 2b &@) $@ N) ( (/ / scpu5(@ $(( ( > S.@ $@ N) ( 5N%7 $ W;K 5).) M 0 5$(( u &@K A (2c ) 0 R :/ 5sCPUi ID J 5@ i 5sCPUi /.@ SN%7 5H%1 " 5H%1 " 5 V" d; L H/ $;(Q ) ;."# 6/ 7 > M ( /. (@ + i = 1,..., n-15 sc Pui (PR) / H/ H% /(. M 0 %e :/1:%/ Q n-1 ) / "@( n %! ( / H/ :&4 scpui 5 :/.@ / $( N" ;1 scpu0 /.) %%q1 ;14; (@ :%%01 (0) / :/1D jd40 scpu0 %%q1 &% /( V 5 ( 9 5sCPU0l] ( 5=; ( 9 $@ > /Q 9"/W <1 5 :/ (. M 0 %e H% /( 5 V" d; L H/ $;(Q ) ;.) S.(@ $(( J; scpu0h/ G] ( 5(@ "0 S) (/ H/ (.; A M 0 scpu0 59"#% 9 5 :/ (.() "0 k/> 5 5@ "@( / :/1D scpu0 5$\0.;@ 6A" br 1:%/ Q / W/( scpu9 (@ v ((M 0 %e) (idle) &%.9%) + nhse (/ %1 %+> H%1 ".A M (.( M1 CPU (&O48 5 ) ;() k; &4 Nakano ". $@ CPU o 1 ( 5h/ 0 :/ = 41 :"S X; ( 40 5F = ] 5. $@ $(( J; 2b &@ ( (nhse!] TO ( $@ %01) scpui mo0" 5(Tevi) 4/ 1 NA :"#scpui 4" (/.) X; ;@ $4sCPU ) / (/ NA 5(D1Evi and D2Evi) >DEF (M W% $@ $( N" NA ( 5(WDEvi) $/( 4/ 1

15 N%7 1 (/ 3 4 5(MutexEvi)!" VG; 5(IntEvi) $@ V".(lr_run_sC Pui) ;) scpui N) ( > (SynEvi)O( ( CPUM") :&4 ;) scpui5(@ &@K NA H/ / (/ H/ %1 L H/ ) lr_end1i, lr_end2i, 5lr_enTi, lr_enwdi M W% $( N" ;1 w (/.( / M W% :/.@ lr_run_scpui 5 ^" <1.;@ "0lr_enSyni,lr_enInti, lr_enmutexi (/ H/ ( M W% ) scpuievi M W%.(@ $%f (TR) $( = ; N%7 5$i/ H/ ( 1 X; H/ J :/.(@ M 0 mr_stopcpui M W% $( N" 5(@ $( N" X"; (.@ "(( scpu0 <1 ) 3 4.@ ( ) W/( scpui () 6A" ( A ) /> <1 5sCPU0 CPU k/ (pending) m%o01 M ( (/ H/ ( ( 8\ ) 9%) $( N" D y\ z%o :/.@ (scpui_id) scpui ID = 41 ( M") ) 5m%O01 M ( scpui M W%.) $%f /N%7 *% 5 B/ ( 5(@ = B; B%"; ( ) $ SRS (! :"@; $( N" 48 sc PU_Ev0 / M W% $( N" 48 :/.scpui #; 1D / :"@( 5@ "@; (> > ( $(( J; 2c &@ ( j\a 5OG $( )O $/ 4; H/.(@ ZJ.../sC PU_Evi 1. $@ TO 53a &@ ( $@ $(( J; g.( J; H%1 " O) 53a &@ / JS H/ ) $%f / :/1D scpui ID) 1 5($@ + j\a) scpui_ready (&O48 ( ) "# M 0 ; 5g Dy\z%O AND.@ ) M 0 / :/1D scpui ) d; $%f ;1 $48 ] en_cpum W%.@ "@; (> W/( M 0 scpui *% B/.(@ $( N"

16 M W% m/ 5en_pipe_sCPU0 ;1 scpui L # 0 %e / # 0 (@ $( N" H%1 " ;1 ( <J%Q 4@ 5B%"; (.(@ = B; en_pipe_scpun-1 6/ 7 ID 1 5 H%1 " / 5 :/ (.(@ > scpui H/ ( N%7 ( /Q) H% /(.B 9"/W 5((@ $( N" H% /( % H/ S M ^ ) 5C /@ G1 () 9%X1 & 53c 3b &@ ( $@ $(( J; H% /(.;@ (&O48 (< B ;1 :/.)4; > P 9"/W *% ) 9 scpui ;1 $.(@ $( & 15-8 L> ( [@ + $ ;1 40 > (% $;(Q /1 %4&1 $@ $;(Q&%) ( $;(Q H4)) $;(Q) scpu / :/1D K ) 5(( 0 / jd40 ) 9/( scpu0 %) 1 / %;."# on-die scpui/ ) 9%) $( N" (_PRIsCPUi ) C H/ %!.( 9"#% &/ %1 (3b &@) (@ / JS 5 JS H/ $( N" /.) $%f i = 1 to n 1 NP "NS j\a ) ]; 4.en_pri_sC PUi_1,..., en_ pri_sc PUi_n 1 M W% $( N" 3 b &@ MUX $)9%<#1 > E "; 5 J >.; {NG scpu0 / E "; (3c &@) OR.) KL4> &@ 4 / g B%"; ) (@ y\-z%o ( "0 C / H/ 5AND.( #% scpui (i = 1,..., n) ID) scpui_id_ts! 5$) 9%<#1 >.(@ $( N" 9"#% D " $@ $(( l%f1 3a &@ ( j\a J ID.( ID ( ( scpui.(@ $( N" H% /( J &%Q ( 3c &@

17 en_cpu.) %k%q (/ 5sCPUiS <1 M 0 scpu_evi M W% 1 5/ B "8 $( N" ( M 0 %e scpu0 a> scpui = 41 ) 1 X; J 5 O) M W% H/ 0 PRIsCPUi.( J; :&4n 1 / 4 5pri_1,..., pri_n 1 M W%.(@ "(.;@ "( (i=0) scpui OG 0 ;1 5) $%f / ).#/ / ( ;1 scpu057 ; ( /(@ / ;1 scpui ( ;1 :/.;@ $(( J; 3 b &@ ( 5PRsV" ] 5PRIsCPUi ) 59%( ( <J%Q X"; RjM") 40"( 5 :/ $( N" X.;@ / scpu0 a> TR )( V Rj.(;@ 9%X1 1 ( / )J) X"; Rj ( (/ ( $(( u (/ Rj5(@ > $ ( 5 X"; 40"( H/ 0 5 scpui H/ ).(@!" D( " / C V" (mnemonic) ( / H/ $( N" 5"0/ 1 ) U H/.() %f X"; ( (/.) $%f 5 X"; Rj (/ 5! H/ 0 ( ) ) Rj ( ( :/ 5(@ $( N" $ ( 5N%7 ) ;.(@ RS TR ( 5 X"; 40"( M W% ; :/ 59%( k/er= ; /> H/ 0 :/ ).(@ RS 5 %" V scpui V" $((u (/ 5:/.( #% 2b &@ ( $@ $(( J; :"# :/ ( <J%Q 40"(.( :&4 (TR ; ) <;K L movcr Ri, TRj movcr EV, Rj; movcr Ri, EV;movcr TR, Rj movcr PR, Rj; movcr :() 9% $( N" / 40"( 5PR 5/ J U (.@ scpui ( $@ LA M") 5TR EV. Rj, PR =; M") ;1 (/ :/.( #% (/ :/' > X"; 40"( -T"@ ( / O( 94#%; & 5 RTOSs ^).;@ &@K scpui 1 $@ $(( / >1 (G /L1 (functionality)%0 1 5;( 3 4 O( N%7 1 5L RS

18 ;14; 5= %Q H/ ( 5semaphore( :% 5NA H/ 5M ^.) > 9#%; & ) (@.) X; m%a( O[# :/ 5! :/ 1 $@ ( <J%Q $ :/.;@ X" 4 ] NA (/.C %O48 1 (/ $)Q 5/$( %e 5/$( > ) "# 41A %# 9#%; & 5 NA / ON-chip; > = $( N" (/ :/. ; #% CPU (handlers) $)M") 5H%\) U >1.;@ "; $ ; H/ > / (OFF-chip) ;( 3;( N%7 #; "J% / :"%#S A %e jd40 NA 9"#% :/.;@ +16L> ( #/ V 5( "() handles NA ) :/ $ H/ $( N" NA.@ H1 M H/ ( NA #/ &/ + Sun Solaris 8 :&4 (kernel) ( H1 3 4 M H/ 5:/.;@ /1 #/ (G 8\ H/.( :/ (.@ #/ U ; NA J 4 a &@ ( $@ 6%P1 5! :/ ( $@ ( <J%Q M V" <;K :%J; > / :/ 3;( 6/ 7 ) ) " (/ ; NA 5/> (> %N % n DECODER 5(4a (_INT_IDi)O) H/ B/ ( 5 <;K H/ (( p NA 9"#%.;@ &@)INTiNA M 0. ) $%f (@ "%Q NA &/ N%7ID) (( (4 a &@) OR.) M 0 I NT _i0,..., I NT _in 1 M W% &/ ) ) %/ 1 "@; i! ( i = 0,..., p 1)_p INT_IDi = 41 S.) KL4> 9"#% NA = 41 ;1 i = 0,...,)_p INT_IDi H/ *% S 5m/ :%4.;@ V" scpui ;1 <;K 5(@ <7 3 4 D y\-z%o k!;.(@ V" ;14; /NA *% 5;J; "@; i! H/ (p 1 9"#% 8 M1 ( 5:/.@ (4a 2b &@) IntEvi $) %1 INTi NA (/ ( V1.(@ G

19 / V A h > Si/ ;1 N%7 H/.(; r 6/ 7 / 5 NA 4; V%V1 K V" NA / :%41 ( A `/; ; H/.(@ V" 9"#% NA p= 41 " :/' 5H/ 5*% w0 1:%%Q / N%7 H/ ;1 N%7 H/ $@ V" NA H/.@ J N%7 $@ NA.(@ V" 1D / N%7 H/ 5K &/ ) w0 N%7 > ;14; K 5) H1 N%7 H/ ;1 NA = 415$\0.(@ V" H1 N%7 H/ ;1 /(@ N%7 H/ ;1 / $%f 40 :/.(4; A % 1 G1 scpui / 5 NA.;@ V" ;@ H% /( ;1 NA / ;@ 1 ( 1 ;1 NA.)4; D( /% *% ;(S.(;@ V" &/ 6/ 7 / %%q1 1 / W/( N%7 (B M V1 $( N" )! / 5sCPUs(01 (G 5:&4 1 ( 1 g] (G (01; / 0 ( ( <J%Q $ (@:%%01 =; 1 M") 1 5;@ V"sCPU &/ NA "J% S.NA M") (.(@ F % 1 B ;1 :/ o (.D %k%q (:(( (> o ( c; 3 B/ ( 5 $@ $(( J; 2 b &@ ( &; ' J H/ M( 0 D1Evi) >DEF ((3 (WDEvi) $/( 4/ 1 ( -2 (Tevi) TEvi, $)#/! 35 <;K &/.(( P V" 4/ 1 ( 5sCPUi 5>.(Z!; H/ M( 0D2Evi $/( S.(( WDEvi $@ $( N" $)#/! H/ <1 W/( ) ( (( D2Evi,D1Evi 54/ 1 (.(@ M 0 S)) 9%X1 $ ( scpui ;1 WDEvi (/ 5(J; /B1 /$( ] X "( 40"( $@ > scpui OG X ( ) (( OG 5 40 ;1 ) ;@ $/( 1 X; 0 :&4 :/ $\0.((@ "( ( 0% / M ;.;@ "( ( 50% X "( 40"( scpu0 $( N"

20 ( O) 9"/W G O) 9"/W 9 scpui OG 9"/W H/ 9 >DEF /(! m%o01 M ( / > M ( N%7 H/ ) ;. (@ > 1 ( %)1 H/ (/ / scpu0 H/ > ;1 =; L 1 H/ :/ 5@ CPU ' U 4@ 4/ @ j\a / 4/ 1 J U ( ;1 $; 4@ :/ "(.) /( scpui ( N%7.;@ 0 (!" VG;) Mutexes.E %"JQ.@ $@ "@RS T"@ L o 1 ( 9< cf H/ 5 ( > $@ $(( J; $ >. $@ &@ ( 5 1 $@ ( <J%Q 5!" VG; 5M ^ ) ) + L/ "( O) 84B H/ ) 9%) ( <J%Q 4b-e &@ ( %&J1 % n+1 M E m c4b H/ MRF (.(@ > EX > O ( ;1 "( - % :/1:%/ Q ( P V" N%7 ID % :/1>1 A (!" K.(@ scpui = 41 "@RS T"@ L <;K :/ (@ "( A scpu MRF.@ MutexEvi ( ) $@ 6%P1 4c &@ ( &; ' (( TO H/ 5sCPUi."# ( mutex o 9%4V1 5sCPUi.(@ J" $@ TO mutexh/ ) ; ) %1 ;1 M W%.(@ " lr_en_m0,..., lr_en_mm 1 M W% 5$@ "S X; "# EMRi :/' / H/ B/ (.;@ $%f (EMR) M 0 mutex = ; OG ( $( N" CPU D y\ z%o.(( (> MRF ( $@ > mutex % (01 4d &@ ( ) ]; 4.(@ "@( W; 9&G CPU 8 J/ ( 5V8 ( 8\ (@ %O48 H/ H1 $;(Q ' H/ ( mutex J"; ((#;)TO %O48 $(( J; /(! (Address_i in_tasm_wr 5 TAS M W% 84B 40"( #1 H/.;@ = B; 41 1( Mutex_i % S.; Mutex_i% 84B (Mutex_i) MRF mutex % 4/A

21 ID (Address_i M W%) MRF K % n.(@ "S X; ( "( A mutex 5(@ 9%X1 Mutex_i Address_i,in_tasm_wr W% $( N" :/.( J; mutex $;( 40"( ) scpuiid (@ 9%X11( K $ W;K 5@ NPmutex% S./ %44e &@.(mutex% `I N"MRF % 4e &@)(@ "@; h MRF ( 5) > $@$;! 5(J; :%%01 N%7 H/ K 1 40"( 1 $@ $; mutex S -M W% $( N" 0! Mutex_i5() T Q 40"(.( J; mutex $;( ID5ID.( B%"; (4d &@) Address_i mutex Rd:;@ $( N" ;1 / 40"( 5mutexes ) ( 5movmr Rd (@ mutex Ri)clrm Ri 5(@ $@ E "; mutex 1 Rs -( ) mutex K) Rs 5movcr Ri (#/; EMRi ( Ri K ) Ri 5movcr EMRi (@! RS% 1 MRF $4 ;@ > scpui = 41 ;1 40"( :/(#/; Ri ( EMRi K) EMRi.; :[] mutexes= 41 O) "( X"; 40"( O( N% F 84B H/.@ RTOSs C 9< > ( 5O( N% n + k 2) 84B H/ ERF.(@ $( N" (/ 9#%; & $( %Q L/ "( O) $%f %0A :/1D % ( (/ O 5 :/.(@ %&J1 5 &@ ( $@ $(( J; % (+ 1 N%7 ID 5 0 % n () M 0 (/ ) ) $%f L N%7 ID 5/ % N.) H %Q % "( A 0 / <"; % k 5/ <; ( ;( W; (@ X; ( &/ V! (@ M 0(/ H/ ) ; (@ $( N" C " H/ ;1ERF ;@ $( N" b (.; $@ $( " %Q ' > / <; 6J) X (/ 5V! N%7) ; 5W/( &/

22 1 8\ K 5 (/ M 0 5N%7 H/ ) ;.;@ $( N" 6O" 40"( ( 5B%"; 5M 0 N%7 :/.) > X"; 40"( ER H/ J ) ) $( K.;%S > ERF(/ (K () ZJ %; (/ :% (0 c@ ) (K 5 )( ] $@ $(( J; 6 &@ ( ((#;) TO ( () 9%X1)@ M 0 (/ = 41 S )O M W% :/ $\0.) %1 %" > NP in_rdev_rd M W% 5 X"; 40"( H/ M 0 0.(1 $%f! ) Event_0 S. $@ $(( J; 6 &@ ( H%1 4@ ] ( &; ' (@ M 0Dy\ z%o z%o ( $@ "@; 6/ 7 (( 1m]!Event_0/ M W% $ W;K 5@ NP (n+k2% ( ER0( $@ 1m]! Event_0$ W;K (@ 9%X1 NP ( Event_0 S.;%S > Event_0 o 1 ( Dy\ y\ z%o ( (1 m]!) Event_0!.(6 &@) (@ < D y\z%o W/( ( :"@; (( 0!.() M 0 3 () 8 $)9%<#1 m/ M W% :/.(@ $%fd "@( 1 m]! Event_0 S.) M 0 0 (K ) DEMUX > ( $ W;K 35@ "@; NP u)9%<#1 8 0Dy\ z%o 5@ $;(Q RTOS 40.3M>

23 #/!.4M>

24 NA $)M") #%!.5 M>! H/ 5D y\z%o :%( ).() M 0%e 0 (K () < 1 M W% = 41 J U.() "0 Event_1 %OG1 /B1 5Event_0 1!].(@ $( N" s 1 ( () %1 "0 M W% H/ KDy\ z%o AND ( 5"# M 0 (/ = 41 :/ ( %1 a gr_en_mem_full5 :/ ( (@4; T1 (free) %" (/ *% ) 0 :/ ) n4) (@ $( N" WRITE READ 40"( 1 :%n4 gr_en_mem_full.(@."# MqJ ( % ) W% X.($@ $(( J; 7 &@ ( in_wrev_wr, Address_i and M W%) WRITE %; ( 48 M W% = 41 7 &@.( J; Eri (bit_ij) W/( % :%n4 Dy\z%O oi( (/gr_ev_mem_full D y\ z%o )( ] hit in_wrev_wr, Address_i M W% M 0 5 A READ %O48 %! ; 5 3 :/ "8.5(@ (/ H/ o ) () ( 9%X1 (B.@ Eri J ) ( #% W/( bit_ij ERF.) b %" ( H/ B"#> =D = 41 5(/ M 0 U :/."# scpui = 41 /$@ $(RST"@ L <;K ;@ "( ( scpui ;1 -M W% %1 ).( $@ $(( J; 8 &@ ( &; ')(( Nhse ( TO H/ scpui M W% H4).(@ $( N" (@ M 0 X"; ( ( H/ ) (2b &@) SynEvi :/.(@ "S A X; ( ( ) (%S 9%4V1 scpui 5lr_en_Evi0,..., lr_en_evis 1 ;1 EERi :/' / H/ B/ (.;@ $%f OG (EER) M 0 ( ( M W% CPU D y\z%o H/.@ "@( (> ERF ( $@ > (/ (01 "#.(@ $%f CPU8 J/ 8\.(@ $( N"

25 9< ( L K 5(@ % (/ H/ $( N" (scpui))i N%7 H/ S :/ %Q.(%W A "( A %e ; $( H/ :&4 L :" / ERF B"#> P H/ B"#> 5(@ $;ERF Eri ; READ 40"( ) ; 5%0F &/ (K :% ( c@0(k B"#>.(@ $ J9 &@ ( ) ]; 4 (@ = B;CAM 5READ 40"( H/./ / Q (( (> ;) N%7 ID V! N%7 ID:% w ]; H/ B; ( /"G ; $( N" S( ) (/ N%7 &@K 5w ]; ;1. $@ M = %Q =) ) /( ERF Dest I D_0,.. V! /(! 40"( /N%7 $)9%<#1 TO "@( (> w ]; B/ ( S.(in_rdev_rdM W% $( N" ) ) >., Dest I D_s 1 U :/ ) / (#; "S (01 ( = @ M 0 (/ () B in_rdev_rd M W%.6 &@ (.( $@ $(( J; 6 &@ ( ) %' K J :/ a>.(%; O) ) (@ $( N" Hiti OR gr_rdi! $( N" $)9%<#1 G%F1.@ $(( l%f1 j\a ) ]; 4 ) M ( 6 &@ ( $@ $(( J; H%1 4@ $ S/( 54%4F.;@ M ;( / %; 6 &@ o VA N%7 ID 5L N%7 Ri) (@ $( N" ;1 (/ Ri 40"( 5 (/ ) A 5> 0.(@ (@ $%f K % kk( ) %Q #&@ E (/ # 0 5@ "@( 1! % :/ S.( % %0A :/1:%/ Q ( 5 40"( > w ]; H/ &/ ERF :% /"G 5Ri5 40"( > 0 clrev Ri.(@ #%.@ 4; M 0 (/ ) 0 :/ 5@ "@( 0!]! 5(/ % S.(( W; (@ = 41 " :/.;@ &@K (/ L = 41 ) ; 1 (@ :& "JS ] ;1 (/ ) ) Rs 5mover Rd:/ 40"(."# ; S' (/ (W; / M") M ( ) N/ 7

26 Rd-$@ M 0 gr_rdi ) ; -@ (/ o / > 5ER (#/; EERi ( Ri K )Ri 5movcr EERi 5(@ K! RS -$@ E "; ERF 40"( $4.@ "( A scpui = 41 (#/; Ri ( EERi K )EERi 5movcr Ri.; :[4] 6/ 7 :% = %Q 8 5 (/ "( ;1 <;K 5 X"; "J% X\.G.) M 0 %e W/( scpui = 41 ) M 0 scpu0 5 nmpra 5;$ ( 5RESET0 > ; H/ c@ ( ) / ;) startup 1 () h A =; = scpu0 NA o nmpra %0 1 = 41 ;1sCPU0.@ (i=1, n-1) W/( scpui = 41 ((@ H/ (K scpui PCs.( A 48 ((@ HO< ] B :&4 ) ;1 ; 5X; ]!; :/.(@!" M") ) / RS (trap loop)o1!o.(@ ;1 scpui C %0 1 ;1 / k<> =; > X 6O" ) &. / "( > X H/ $(( X 9 OG / ) 9;1 scpui H/ ( 40.;@ " & nmpra nmpra 40 "8 >.IV "8 k/ K <) ) 6%P1 1 %O48 5k :/ 6%P1 ( $;(Q ) /. $@ "8 > Kit Xilinx / Virtex-6 FPGA ML605 nmpra$;(q. $@ 6%P1 (VHDL) (; " D %# 8 'I&/ H/ % 606c4B ( 45nMPRA 40.@ > MHz50 ) `; ) H/.) %; ( RAM KB N%7 16 L $( N" 1 ) %# K / 5) "@RS T"@ L ) 40 H/ nmpra 5'S h 6/ 7!0 (01 H/ > :%' ) () >1 /. W/( B1 40

27 ]5 D J"; m] h%)1 %( 5 <>1 A % `; ) 5} (01 H/.@. / k/ ;D!0 %e b ( M> :/.( + scpus " > %; ( X 1M> %( II I M> $(( :"S X; (.@ / <; > #; X bv k/ 4; ) 9//RI 0]A ] :&4 ) $( N" RAM KB P M")&% $ &/ Renesas M")&% M ^.@ 1"( A nmpra$;(q > %; ( X X :"S X; ( 5(( O) $( N" RAM 2.6 MB) SuperH R5S72681W266FP Virtex- (.9/() f 1 $@ = e( > / $;(Q > %; scpu @ @ (016 FPGA ML605.@ scpu @ (01 / :%n4=; :/.9/(( 01 RW4 $;(S H/ 5 $;(Q :/(&O48 k/ K X / ( $;(S 1 $@ $( N" :/.) $( N" 40"( )Q ( "8 VHDL <1 :&4 ) H/ 5;) %0A (.) %< VHDL / /> 40"( () F "@; / H/ 8 :%@ ) (9>" /)$;(S ) ( (@ "@; (9>" ;) RW4 ( ( <J%Q 40 ) F!%! :/ %( /> ; H/ 01.() %1 VHDL $@ K(S 5$;(Q %O 8 k/ K 0.( # MIPS $;(Q 40"( 84B 5 48 X %G m/ $(( S.;@ $( N" 3;( ; 01 ;1 " MIPS ( 5 :/ ( <1.(@ = B; d "; ( RS $%f 40"( t /( 5 / M( 1 $(( $ > %./01 (&O48 ( HSE) "( :/ > M %/ 1 ) 9%) + / k/ K 5% :/ (.;@ $(( %4 ] $(( :/ )(@4;.(@ 8 ' -./01' :/1D B 5%0F :/ )

28 ) ek 50 1N%7 0N%7 V $@ "@; N%7 ; k/ K /$( NA H/)(@ X"; (/ H/ ) 9%X1 H/ ( I/O (:%Q) 4@ H/ NP! I/O 0N%7 5 ( ( ) ;.((@ %1 4/ 1 H/ O% X"; K ) 9%X1 1! :%Q K ) 9%X1 (NO) 1 %O48*% ) (@ (!O H/ ( (@ ek / A 51 N%7.((S 4/ 1 $@ %1 (/.@ sw c 40"( l%f1 10 &@ jitter m%a( ] ) (( (> NA ( :"@ 4S & /D / H/ B/ ( ( MPRA ) ; 5 10 &@ &; ' (:%@ ' -%; ; ; 60 BEF ^) H/ )( (@ &@ ( `; 60 ns >DEF ^) 5 ) )50 Hz #; ) M ;) 8.@ 9"#% 8 $( ) ( (@ $( N"HSE () M ;) 8 (@ $( N" X ().(240 8 ) $@ $( N" 5 ; :/ (.( J; > NA H/ 9"#% Y@ Q 11 &@ 5p ; 1M ;) ( 4 %e > (/12 &@.;@ (B 9%X1 / 9%X1 5:%Q H/ 9%X1 B%"; ( ) 5 Y Q.) %1 ML 60"1 H/ $( N" (/ 5 :/ (.( J; 9%X1 :%Q ) =; Y Q ) (. $@ $(( J; 12 &@ ( 3M ;) ( 5N%7 *%+ /./01 ;1 4 %e (/ H/ Y Q 550 HZ`; ) H/ (.(@ $(( J; 2M ;) ( 5) 1 % 6.7 ns "J% HSE O(!] TO.(D (/( "# 26.7 ns 1.(12 &@).(; %; % (B 40"( > 40 ns( ) X\ A.(@( B/ N%7./ ns( =; Y Q ) 9%) $( N" $@ Q c; H/ 5 ; Y Q X; $\0.;@ %;(ORSW

29 $) ( D y\ z%o :/.) $( N" $%f O( D y\z%o H/ NA M W% 58 X; X.@ % 1 =( %( 5 :/.(@ "@; 0 8 _8 :/ ) 0 :/ :/.9/() $( N" $J; P5 5P65P7 Q 5Y Q ; 5 4 ; 1 > 5 <;K &/ )4; $( N" $%f F O( D y\ z%o *% Q 5 Q c; :/.;@ "@; Q /(! 5() %1 9%!"#!] /(! -3 4 $@ B%"; % 1 ;S ( :% ; Y Q ; % LA / H/ %.9/() $( N" Q :"@; ( 9"#% 8 1 ).V ; > L/#1 "@RS ( ( ( $K ( p/ "; V" %OG1 /B1 k :/ ( $dq.9%) + ( (0A - ) 3;( "# % <O&@ 9"/W ( nondeterminism(> %e) L.9%) c@1991m ( [17] ( $@ ( <J%Q FASTCHART :/ t %( 6O" 40"( >' 153;( ($@ %01)$@ > 9"#% 6/ 7 (01 5RTOS %O48 %q" > 5 4 %e > NA 5 <Q X 5 =<N 5:/. / k ) ( RTOS %O48 (( ) ;1 </ 4.;@ $(( L B/ (.) // 6O" / J 6/ 7 64 FASTCHART.@ FASTCHART.(; (> ($%e 5 4 5mutexes) L ; %"JQ = B; $(( $%f / 5 40"( 5 5NA 5 RISC $;(Q H/ P $( %Q 5[17] OAFASTCHART$dQ [9] FASTHARD.@ 0]A 40"( ' 5:/ 5(; " X H/ $( N".) ; %"JQ $X 4 $;(Q ) "# H/ K c@ 5> NA 5( rendezvous)$ SK %A 51 ;& 5K.(@ $(( / (K $ SRS g FASTHARD 0.) %"JQ CPU ( 56/ 7 ((41 M 0 56/ 7 /$(

30 8 (RTU) 3;( H/ [18] k; &4 Adomat 5[9] 6/ 7 5/ l] J 5N%7 64 5:/.;() 6%P1 " (0A )3;( "# K 5) ; %JQ NA 57 ; 5(/ 9'Q 5/ 1( 4 5#; % 1 /$(.(@ // (VME) Q `&0 Md $ SRSH/ V" :W4 $;(Q 1 4 ) 5;() 6%P1 (SARA) (3;()0A ; /RQ %! 40 H/ [19] &4 % X V@ $;(Q ) ) 5 01 A 9"#% H/ 5SARA.(@ $( N" RTU ;1.(@ V"$(J PCI $( N" (( H/ $) M") :/ ) $( N" $ SRS $)M") Nordstrom.;() = e( RTOS / SoC ) [21] 9"#%-δ RTU [20] k; &4 $;(Q H1 #; H/ μc / OS-II RTOS =; "# [22] k; &4.;() F $;(Q H1 #; RTU &%Q <;K [23] ( ;(( m 5(&O48 (< X 5RTU 9X ; )k ) / Q RTOS 9"#% 8 k/[8] (Stron) TRON&%O% :/ b VJ CV 5TRON $dq 501.@ m%a( %k%q X A N1 $@ > Stron = ; "# H/ ( k/ Si/ 5RTOSs μitron.@ > NA// p 4 5 9'Q 5N%7 $;(Q. "#.(@ S X; ( $;(Q H4) H/ 8 5 K (@ > X K RTOS 0% 1 N" j\ ) (&/ ) (@ $(( g@ 01 [24] ( SPRING $( N" J") 9"/W 0J; B"#> [1 /Q SPRING "#.((.) g H/ 5 9"/W 5/ /(G L 5 B0 EF 56/ 7 > :"@( X; ( (.; L X"; :% ( 5(#; B0EF ) N/ 7 = 41 H4) ; spring $;(Q H4) H/ 8 $( %Q H/ 5[25]

31 D $48 % 1 5 /Q 9"/W.(@ 6%P1.[24] ( $@ + =; "# ; M\!" + N%7 H/ E "; = W ( / G k ).;( RTOSs 6%P1 [27] [26] ( ) ]; 4 5@ > FPGA ( /Q $;(Q H4) H/ 56/ 7 (01 (.@ $(( 01 5 ; #4 1 $( N" 5 $( E "@ H/ 8 5K. $@ g@ 5(ELLF) " / k/ A(laxity) "# :% ) / 9"/W&%Q %# ;1 :/ [10] k; &4 Vetromille. :/1"J%Q [26] ( $@ $(( H/ / $;(Q H4) 5H1 $;(Q H/ ) / 9"#% :% (&O48 #1 H/.;() ( B/ ) $( N" ; > P V" >.;( % *%+ (01 5 B0 EF! (01 5CPU $( N" J/ K " Q ( ) =; ; $;(Q H4)-$;(Q C 1 >1 F :%n4 S#/; 5 " " $( N".;(( A G ( $@ > ; S> $;(Q H/ B%"; ( 5ECOS RTOS API POSIX L HW-RTOS )( %1 W;W' [28] k; &4 ; ' $@ C $;(Q H/ [29] "#-H.;() 6%P1 ) H/ 8 9"#% (&O48 k/ k/ 60 5K.(( $(( C V" RTOSH/ N%7 84B ) ) $( N" "#-H.3; / 1' P U(Q ; 5 C ( ) H/ (&O48 ( 3;.) > // 56P 5(/ TO 5 NA // 5/ // 6/ 7 (< (&O48 H/ % ;1 ) ;() 6%P1 $;(Q " $ H/ [29] k; &4.(@ C ( ) H/ HW / SW FPGA ) $( N" " / K : $@ $(( g@[30] ( (ARPA-MT) "J%Q "@ ' 3;( $;(Q 40 ( 1 $;(Q :/.) $( N" 9%X1 A % k%q A $;(Q H/ % FPGA X ] 5.(@ $4 Cop2-OSC Cop0-MEC $;(Q H4)

32 H/ T.) //.RTOS (; " Si/ = 41 =( ) ( ) // 5NA M!"; `Q $K ( (&O48 p/ "; 5 5$%W; 5[31] (.@.++ C( $@ "@; 3;( "# RTOS H/ [32] ARTESSO. (&O48 > (< 5 b.(@ + "# %O A = 41 (@ "%W; ARTESSO.@ C TCP / IP Md $\8 5 ( $@ > 1 (K ( ; S %; ( 5$@ %01 D / ) $;(Q H/ )!%! :/ $( N" $@ + 40.@ %; "J% / MB / s $((.( ) TCP / IP($;<W;) k%' 5X I) 5") G 5"# 5`/)' %# X 5 /#/ G] ( H/ ) $@( <J%Q 5[5] ( h > :/.) $( N" % k%q A %S A X (&O48 ( DRAM $)M") H/.( #% 4 ( <;K ƒn 5;) #/; ; $ > 9"#% 9%X1 %O A ; [11] k; &4 Kuacharoen.proprieties :) ; %"JQ 9"/W 5 9%X1 %O A ;.;(( J; H/ :%n4 ;.OA B0EF :% (3 &/ u; (2 %PV " (1 )4; >5$%e 5 4 5mutexes ; / 40"( 5K.) > NA C $) M") ) ;() 6%P1 hthread[33] k; &4 ;.@ $@ $(( $( %Q =; k <;K &; ' /#/ #/; ; M H/ J 5"# :/.@ =; / /#/ ' "# RTOSH/!"# =;!"# /> %)1 9"#% " / 01/% M 0 =; #/ "#.(@ 4 P 5;%WJ%Q / 5 / 1( k'- NA 4645(#; / )O 4645M 0 #/2565 = ; /> NA $) M") "#.) ; %"JQ FIFO 9"/W 5:% ( 5 M") A ; 0 8 $ SRS NA ;

33 " 89"#% > =;.) 4>1 / " #/ (.;( "( v 5 :"%Q 5( B/ ; API m/ 5X k ) : 1 8 ( K / k / 5 RTOS > OP /D( ) 9/%S B%"; RTOSL 1 ; (%(./01)3%n%+ ) L11 $@ (( D >k ) 8 NA) " <;K " & NA Y Q (< A N1 9X; ; )5bR / k ) 5 RTOS $( E "@( ; ( ) %) >1 %;1 :%n4.(6/ 7 5[17] FASTCHART :$i/ $;(Q 5+> &/ :(( (> 5coprocessors ( $;(Q H4)) $( N" 5OP "@ H/ 5 $dq [30] ARPA 5[29] "#-H 5[28] HW-ECOS 5[21] E' '-δ 5Stron [8] 5[23] 5[22] 5[20] - [RTU [18 5FASTHARD [9] ; M!; _ELLF; 5 $( E "@ / ; / 5[33] hthreads5ar-tesso [32] 5OReK_ COP [31].[11] Kuacharoen / [27] 5[26] g@.= <' k ( ) / <;K! :/ ( ( <J%Q $ F M ( 5/ bs Q (.9%) #/! $@ $(( 5 $@ $(( J; III M> ( ) ]; 4 5M #/! K '.@ =;- / $( %Q N%7 o 1 8 5L &1 %0 &1 :%4t1 <1 nmpra 5 X; $( $ H/ ; :&4 ID IF&1 <15 ARPA-MT 40.@ N%7 () *%+ 8 ( ) 5MA EX-5 Kl] 5K 5M :/.( = B; ;4; N%7 K 5 4%A S $ H/ 5 / &1 $ ' S.(@ A ( RB ) "%0A 5@ :%@ ' 3 1:%./01 8 H/ % 4 W4 ") H/ :%n4 $;(Q H/ " 5/( M> ( gf 1 ) ]; 4./ % nmpra ( ;1 <1

34 > H/ S( nmpra 5 J (. NS 60 6/ 7./ W 50 `; ) B " ] ) "# =;- %)1 ) W/( $( %Q b\ 5 #% =; N%7 H/ 6/ 7 4 > 5 40.(@ 1;D./01 ; $.( $@ #/! $.(@ 6%P1 IV M> ( ; Si/ =( #/! ; <1 > 5 $@ > H% /( H%1 "; % 1 5 9%!"# 8\ KL4> ( A $;(Q l] ( $@ > 5 $ = W/( $@ "S X; ( $ " &; :&4 $ SRS o 1 *%+ = B; ) B;K.) ( <J%Q H%1 " 9"/W ( <J%Q N%7 H/ K) :/1L/nMPRA ) ;/RI 9%;1 5( = B; #/ / :/1D 4 o /Q 9"/W $( %Q ) B;K 1.() *%+ $ W"( ' 3-1 % 1 W/( <;K &; ' 5;@ "J%Q "J% [11] k; &4 Kuacharoen $ [30] ARPA-MT 5(@ K &; ' 5(; /Q $@ > 9"/W H/ nmpra5f M (.@ $@ > $(( J; 5B-= k ( \A ) ]; 4.(@ %<1 /Q ; $( N" /Q / / 4 m/ ; % 0.9%( + VV1 " ( /> $ 5$;(Q H4) ; M 0 5W/( $ &; '.(@ > $(( C V" nmpra.(@ E# =; O " %; ( $ SRS M!"; ' [11] #/ ( NA =<N. $@ + V M> ( (( NA 9"#% = #/! (.(; > B/ ( NA // G/P L> *% 5[30] ARPA-MT ;.9/" /(.[33] NA.) ; "JQ NA l] J 5 K ) (@ $(( g@ V" NA $)M")5[11] 8 :&4 o 1 ( NA 1 g] // $@ RS 5N%7 H/ ;1

35 =K NA H/ / (@ O0 ) ( m%o01 NA M") ;) L/ NA H/ L]A 5W/( $( %Q b\.((@ $(( A / / Q ( N%7 M")) ;1 NA H/ ) 5(@ $(( C V" ) ] nmpra NA 9"#% $48 /.( <;K 4 ") (@ V" "J% NA;1 ) H/ ) ( 5(@ V"N%7 H/ <1 $%f K NOR 5 (; % 1 *% K ) (@ $/ :/ 1 nmpra L/1 %@ 59"#% ( W/( (/ ; ( 5 NA 5 $\8.( %; (.;@ % <O&@ > $@ $(( J; VI M> ( K #/! <O&@5;$@+ F M ( ) / <;K % ( 5 40 <1nMPRA.(( 6/ 7 %( K S ;@ 6%P1 5F-= k ( ) / <;K ; 5( u (/ H/ S.) > ( % $4 O0 N%7 #; 1D / N%7 H/ = 41 4 :&4 nmpra.( u ' 3-1 % 1 H/./01 N%7 $ W;K 5@ ) X";( L/ A H/.(@; %"JQ X"; 40"( H/! $( N" 5 = W4 r( % 9%;1 5B%"; H/ 8.(@ / :/1D K ) W ) ek N%7 / ) M 0.)4; > N%7 D NORN%7 M") TO $ 6P nmpra) 9%) %SB%"; nmpra 40 OP /> Si/ 6/01 576L> ( $@ + % $/ 5!:/ ( S ; 5NA5 >D EF 5 <W; 4/ 154/ 1) (/ $( N" 40. / 01nHSE / IDK ( ) H%1 " &/ :(@( <J%Q " (.;@ ; %"JQ ((/ ; > ( K ( H% /( W/( c;.@ / :/1:%/ Q 0 n-1 / :/1D 0 0 )

36 > 5 :/.(@ / ; scpu ( ( ;1 / B/ (."#%; J j ID /.( #%H% /( </ 9"/W 6/ 7 " / 5 NA 5% :/ (.( + NA 9#%; & &" $ H/! :/ A 3;( ; % ( NA H/ " 5U :/ $( N".; r (@ V" &/.((@ L]A ;1 "# V" 1D / N/ 7 ) / NA $( N" <1 ) H/) %k%q.@ $(( l%f1 III-Ck ( ) (( 41A h > Si/ 5( <J%Q 40 scpus )"@ L "( 5 ( $@ > (es!" VG;)!" S ; H/.@ )( K (@ = B; H1 CPU ' H/ ( 5!" VG; "(.;$@ %( " (5 ) ; 1 ( () 6A" 5!" VG; H/ ( ) ( #% ) 5( <J%Q U $@ > (/ H/. X"; M ( (@(KRTOS / =; D *%!" VG; #%; & ' I&/ /N%7 :% o 1 H/ J $( N" X 5 ERF H/ 0 X; ( scpui = 41 $@ "@RS T"@ L 0 :%n4 ERF.;$@ %( 40 ( 5 *% B/ () (@4; $( N" (/ H/ (K L> 0 5(/ H/ = B; "(.(@ "S (.(; (> %"(/ /B"#> %O48 (/ :/' 3 4 5K / 41A %# X"; UK 5@ + II-A k ( ) ]; 4 %4G1 scup 6/ 7 1 ) / M ;( =; M") G1 ;1 (/ :/.( 9 %# 40 H/ 5/ > nmpra 40 ) 9/%W B%"; 9%;1 5= B;.;@ &@K (@ : 41A ;.(@ = B; 8 ' ^) ( 8 ' H/ ( jd40 56/ 7 :% ( (./01) *%+.1.) ) O) X CPU)

37 / ) H/ (/ ) 1P ( )4; B1 8 '1.5 5> (/ H/ 9"#% k).2.(@ V" ;) ) 1D -.@ 4; % 9%1 / ;(S %;*% B/ 4; (B ;$ 5pipeline.3.;@ $(( E "@ 84B /> J!; ( B/ )( " Q I) m/ 5SubroutineM/ stack"jq "-D 8 O( X.4 0. intertasko( ) L RS T"@ 41A 40"(.5 #/! X /> 40 C % K 9/( VA 9%( = B; 9% $/K( ) ) ;@ > ( <J%Q 40 ( ;14; (> % K 5F M () 9%) ( B/ 9X $;(Q $@ + 9% N 9/( VA :%n4.(9%) 0 nhse$( N" /> 40"( /.9/ & (ARM) M% " "J%Q RISC 9#%; & (! :/ (

38 ا مقا از ی مقا ت اختيار عز ان قرار سا مقا ت ه گرفته است. شده راي ن سايت ه فا ميباشد كه فرمت PDF ن استفاده اييد: در در صورت ايل ميتوانيد يک روی د ه های ز از سايت ه فا مرجع جديد مقا ت ه شده از ن ت معت خار