4. SoC Dual-Core System and Inter-Core Multi-Task Communication Design

This chapter details the design of the SoC core system under AMP architecture and the implementation methods for inter-core task communication. First, the dual-core system is set up, and device drivers are ported. Then, a communication module based on shared memory is designed. Finally, a multi-task communication solution is proposed to meet the requirements of different communication tasks within the system.

4.1 Dual-Core System Design and Implementation

4.1.1 Linux Real-time System Setup

(1) Xenomai Real-time Patch Installation

Robot control systems require strong real-time capabilities, ensuring real-time processing and response for motion control-related task scheduling and data communication during operation. Due to mechanisms such as kernel preemption, interrupt masking, and priority preemption scheduling, the Linux system cannot provide strict hard real-time performance. There are two methods for optimizing Linux system real-time performance: Linux kernel source code improvement and Linux dual-kernel extension. Among these, the kernel improvement method facilitates performance optimization in specific directions for users but involves a large workload and high modification difficulty.

Therefore, this paper extends the Linux system with Xenomai to achieve a dual-kernel real-time system, which meets system requirements and improves development efficiency. Xenomai uses Adeos (Adaptive Domain Environment for Operating System) technology to ensure hard real-time extension. The dual-kernel architecture is shown in Figure 4.1.

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