Análise e implementação de suporte a SMP (multiprocessamento simétrico) para o sistema operacional eCos com aplicação em robótica móvel

• Main Author: Bueno, Maikon Adiles Fernandez
• Other Authors: Marques, Eduardo
• Format: Others
• Language: pt
• Published: Biblioteca Digitais de Teses e Dissertações da USP 2007
• Subjects: eCos and Nios II; eCos e Nios II; Multiprocessamento simétrico; Operating systems; Sistemas operacionais; Symmetric multiprocessing
• Online Access: http://www.teses.usp.br/teses/disponiveis/55/55134/tde-21062007-150831/

Technological development has significantly reduced the distance between the performance of systems designed using reconfigurable computing and dedicated hardware. The main sources of performance are the high density level of the FPGAs and the resources? improvement offered by manufacturers, who make more its use more attractive in a variety of applications, emphatically in systems that demand a high degree of flexibility. In this context, the objective of this work consists on the exploration of the resources offered by FPGAs for the development of a multiprocessed platform with the purpose of parallel execution of tasks. In this way, the eCos operating system was modified, with the addition of new characteristics to support of the Symmetric Multiprocessing model, using three soft-Core Altera Nios II processors. On this operating system, all parallelism is directly related to execution of the threads. This platform was analyzed and validated through the execution of parallel algorithms, emphasizing aspects of performance and flexibility compared to other architectures. This work contributes for reaching better results in the execution of tasks in robotics area, which belongs to a domain that demand great competition of tasks, mainly in modules that involve interaction with the external environment === Technological development has significantly reduced the distance between the performance of systems designed using reconfigurable computing and dedicated hardware. The main sources of performance are the high density level of the FPGAs and the resources? improvement offered by manufacturers, who make more its use more attractive in a variety of applications, emphatically in systems that demand a high degree of flexibility. In this context, the objective of this work consists on the exploration of the resources offered by FPGAs for the development of a multiprocessed platform with the purpose of parallel execution of tasks. In this way, the eCos operating system was modified, with the addition of new characteristics to support of the Symmetric Multiprocessing model, using three soft-Core Altera Nios II processors. On this operating system, all parallelism is directly related to execution of the threads. This platform was analyzed and validated through the execution of parallel algorithms, emphasizing aspects of performance and flexibility compared to other architectures. This work contributes for reaching better results in the execution of tasks in robotics area, which belongs to a domain that demand great competition of tasks, mainly in modules that involve interaction with the external environment