EP1639454A2 - Verfahren zur umschaltung zwischen wenigstens zwei betriebsmodi einer prozessoreinheit sowie entsprechende prozessoreinheit - Google Patents
Verfahren zur umschaltung zwischen wenigstens zwei betriebsmodi einer prozessoreinheit sowie entsprechende prozessoreinheitInfo
- Publication number
- EP1639454A2 EP1639454A2 EP04738748A EP04738748A EP1639454A2 EP 1639454 A2 EP1639454 A2 EP 1639454A2 EP 04738748 A EP04738748 A EP 04738748A EP 04738748 A EP04738748 A EP 04738748A EP 1639454 A2 EP1639454 A2 EP 1639454A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- operating mode
- processor unit
- execution units
- memory area
- programs
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1629—Error detection by comparing the output of redundant processing systems
- G06F11/1641—Error detection by comparing the output of redundant processing systems where the comparison is not performed by the redundant processing components
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/30181—Instruction operation extension or modification
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/30181—Instruction operation extension or modification
- G06F9/30189—Instruction operation extension or modification according to execution mode, e.g. mode flag
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/38—Concurrent instruction execution, e.g. pipeline or look ahead
- G06F9/3836—Instruction issuing, e.g. dynamic instruction scheduling or out of order instruction execution
- G06F9/3851—Instruction issuing, e.g. dynamic instruction scheduling or out of order instruction execution from multiple instruction streams, e.g. multistreaming
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/30—Arrangements for executing machine instructions, e.g. instruction decode
- G06F9/38—Concurrent instruction execution, e.g. pipeline or look ahead
- G06F9/3885—Concurrent instruction execution, e.g. pipeline or look ahead using a plurality of independent parallel functional units
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/16—Error detection or correction of the data by redundancy in hardware
- G06F11/1629—Error detection by comparing the output of redundant processing systems
- G06F11/165—Error detection by comparing the output of redundant processing systems with continued operation after detection of the error
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2201/00—Indexing scheme relating to error detection, to error correction, and to monitoring
- G06F2201/845—Systems in which the redundancy can be transformed in increased performance
Definitions
- the invention is based on a method for switching between at least two
- Such processor units with at least two integrated execution units are also known as dual-core or multi-core architectures.
- dual-core or multi-core architectures are proposed according to the current state of the art for two main reasons:
- an increase in performance that is to say an increase in performance
- the two execution units or gores process different programs or tasks. This enables an increase in performance, which is why this configuration is referred to as performance mode.
- the second reason for realizing a dual-core or multi-core architecture is an increase in security in that the two execution units redundantly process the same program.
- the results of the two execution units or CPUs, that is Cores are compared and an error can be identified in the comparison for a match.
- this configuration is referred to as safety mode.
- Multi-core architecture included d. H. the computer with the at least two execution units is in principle only operated in one mode, the performance mode or the safety mode.
- the object of the invention is to combine operation of such a dual or multi
- the invention is based on a method for switching between at least two operating modes of a processor unit with at least two execution units and a corresponding processor unit.
- the switchover from a first to a second operating mode is advantageously achieved by accessing a predetermined memory address which acts as a switch trigger.
- Hardware components such as switching means (mode selector) or comparison means and a corresponding method are presented, such as in operation between safety-critical programs, which are therefore executed redundantly in safety mode, and non-safety-critical programs, which are executed independently of one another on both execution units in performance mode can.
- the same programs are processed synchronously in the first operating mode by the at least two execution units and checked by means of comparison means provided that the states of the execution units which arise when the same programs are processed match.
- Deviations in this regard are then conceivable different error reactions from an error display to an emergency operation to the shutdown of the faulty unit.
- the first operating mode corresponds to
- a switchover from the second operating mode to the first operating mode is expediently carried out by an interrupt request, in particular triggered by an interrupt means, the interrupt request being triggered on the one hand by a time condition or also by a condition condition, i.e. a certain condition of at least one of the two execution units or also the Corresponds to the occurrence of a certain event.
- a special division into at least three separate memory areas advantageously takes place, the execution units depending on the respective one
- Operating mode have access to a first memory area or a second memory area, or are connected to it.
- each of the at least two execution units is expediently assigned a first memory area on the processor unit with which the latter is used in the first operating mode, that is to say in particular
- both execution units In the second operating mode, both execution units only have access to or are connected to a second memory area assigned to both execution units.
- Monitoring means in particular the switching means themselves, are expediently provided in such a way that monitoring is carried out so that only the corresponding memory areas are accessed in the respective operating mode or the corresponding connection to the memory areas exists. I.e. grab in the second operating mode the evaluation means only to the second memory area and not to the first memory areas, and in the first operating mode the access is only to the respective first memory areas and not to the second memory area, which is checked by the aforementioned monitoring means and possibly in corresponding error reactions such as error messages, emergency operation or shutdown is sanctioned.
- Each of the three memory areas mentioned is provided in a separate memory module, so that at least three memory modules are available on the processor unit.
- the safety-critical programs are expediently stored in a first memory area, and the non-safety-critical programs are stored in the second memory area, the predetermined memory address which has the aforementioned trigger function with regard to the switchover being expediently contained in the second memory area.
- a further advantage is obtained if explicit comparison means are provided on the processor unit for comparing the states of the execution units in the first operating mode and these comparison means are only functional in the first operating mode and are deactivated during the transition to the second operating mode, so that in the non-redundant manner , non-safety-critical operation, no comparison and therefore no possibly provoked error reaction.
- FIG. 1 shows a processor unit according to the invention with at least two execution units and the hardware components according to the invention.
- Figure 2 discloses switching from safety mode to power mode, whereas
- Figure 3 illustrates a switch from power mode to safety mode.
- control applications in particular in the field of motor vehicle control, such as engine control, brake control or steering and transmission, etc., but also in industrial applications such as automation or in
- the processor unit of the system according to the invention consists of a dual-core architecture according to FIG. 1, that is to say a processor unit 100 with at least two execution units 101 and 102 (CPU1 and CPU2).
- the two execution units 101, 102, ie CPU1 and CPU2 are each assigned a working memory 110 or 111, also referred to as RAM1 and RAM2. Both execution units 101 and 102 are with one
- Comparison means a comparator 170 connected.
- Each execution unit also has a connection to a switching means, a mode selector 130 or 131, to which the comparison module, the comparison means 170, also has connections.
- the respective volatile working memory is via a bus 140 or 141 110 and 111 as well as the switching means 130 and 131 are each connected to a first storage means 150 and 151 and a second storage means 180.
- two operating systems are used, one for the safety-critical programs or tasks and one for the non-safety-critical ones
- OSEKtime OS for example, is used as the operating system for the safety-critical programs
- OSEK OS for example, is used as the operating system for the non-safety-critical tasks.
- the application software is divided into security-critical ones
- the safety-relevant, that is to say the safety-critical, tasks or programs are executed redundantly on both execution units 101 and 102, that is to say both CPUs, CPU1 and CPU2. These programs are processed under the control of the first operating system, here OSEKtime OS.
- the non-volatile memory area 150 and 151 shown in FIG. 1 is doubled in two parts, so that there are two first memory areas 150 and 151, corresponding to two execution devices.
- the safety-critical programs or tasks are doubled in these first memory areas, ie redundant. I.e. each of the security-critical tasks is located on the one hand in the memory area 150 and on the other hand in the memory area 151.
- the first operating system itself can be classified as security-critical and is therefore also stored in both memory areas.
- the operating system OSEKtime OS is stored on the one hand in the memory area 150 and on the other hand in the memory area 151.
- the first two memory areas are each in a special design as their own non-volatile Memory module ROM1 or ROM2 executed, which can be executed as ROM, PROM, EPROM, EEPROM, Flash-EPROM etc.
- Double storage of the security-critical programs or tasks is not absolutely necessary. These can also be achieved by using an ECC code (Error Code and
- Such methods for error detection in a memory are diverse, the basic requirement being security with an error detection or error correction code, ie a signature.
- this signature can only consist of a signature bit, for example a parity bit.
- protection can also be provided by more complex ED codes (error
- Detection such as a Berger code or a Bose-Lin code, etc., or also by a more complex ECC code, such as a Hamming code, etc., in order to enable more reliable error detection using the corresponding number of bits.
- a code generator for example a generator table (hard-wired or in software) to match certain input patterns
- the programs or tasks which are not safety-relevant or safety-critical are calculated in a distributed manner on both execution units, that is to say CPUs, and are executed under the control of the respective sub-operating system, in this case the OSEK subsystem.
- an independent operating system runs here on each of the two execution units, here an independent OSEK system.
- the second memory area 180 in which the non-safety-critical programs or tasks are located, is simply present. He is from both
- this second memory area can also be designed as a separate non-volatile memory module ROM3 and as a ROM, PROM, EPROM, EEPROM, Flash-EPROM etc.
- the memory areas that is to say the first and second memory areas, can be designed such that the first memory areas or the first memory area (in the case of ECC protection), for example between 0 and X in relation to the addresses and the second memory area from X + 1 to Y also in relation to which addresses are trained.
- a doubled first memory area is assumed, whereby, as previously explained, only a single first secured memory area can be used. Then, as already mentioned, the first memory area from 0 to X is present twice in a first memory area.
- Each first memory area is specifically assigned to an execution unit.
- the safety-critical programs or tasks run redundantly and in particular synchronously on both execution units, that is to say both CPUs 101 and 102.
- the respective CPU states are compared with one another in the comparison means, the comparator 170.
- Certain program phases can be assigned to certain program phases, which can then be compared in a time-uncritical manner, that is to say at any time, provided that these are stored temporarily and can be compared, for example, by an identifier.
- the safety-critical programs or tasks are not only processed redundantly, but synchronously, so that a comparison of the respective states of the execution units can be carried out directly during operation.
- the new commands and / or data are then correspondingly loaded and processed from the respectively assigned first memory area 150 or 151.
- the CPU states are checked for agreement, and errors are identified if the states, which should correspond, deviate.
- An error response is, on the one hand, an error display with regard to the respective system in which the processor unit is installed, and, on the other hand, error responses such as an emergency operation, i.e. the operation of the system in which the processor unit resides, in a secured emergency operation, for example with specially provided programs and / or data. It can also with a more extensive error evaluation, for. B.
- n and m are natural numbers and n> 2 and m>n> m / 2 or also a 1 from k code, where k corresponds to a natural number> 1. If, for example, an execution unit is clearly identified as faulty by such a test, it can be used as a further fault reaction - 3 -
- the execution units are only permitted access to addresses or data in the first memory areas. I.e. in the first operating mode, the respective execution unit may only access the first memory area, in particular its associated memory area. This is checked by monitoring means, in particular the switching means or mode selectors 130 or 131 or monitoring means in the mode selectors 130 and 131. If errors occur here, a comparable error reaction, as described above, is conceivable and foreseeable with regard to a comparison error when the CPU states match. I.e. but also that the switchover means, in this case the mode selectors 130 or 131 for this case of the first operating mode, establish a connection to the associated first memory area 150 or 151 via bus 140 or 141 or monitor a corresponding access violation.
- the non-safety-critical programs or tasks are processed.
- Various non-safety-critical programs run on both execution units, that is to say CPUs 1 and 2 (101, 102). This includes, for example, the operating system itself for the second operating mode, i.e. the OSEK subsystem.
- the two execution units or CPUs thus share a non-volatile second memory area which, as described above, can be designed.
- each CPU has its own volatile memory area RAM1 and RAM2, 110, respectively
- the power mode according to our exemplary embodiment, no access to an address in the first memory area is permitted.
- the checking is carried out by checking means, in particular by the switching means, the mode selectors, or else the checking means are carried out separately in the mode selectors.
- an incorrect access is detected in the second operating mode, a corresponding error reaction can also be initiated here.
- an error response corresponding to the first operating mode is conceivable and can be predetermined. This is particularly useful because, in the event of incorrect access, security-critical memory areas may be accessed. On the one hand, this can be realized in that a connection to the second memory area is only established in the second operating mode and the connection to the first memory areas is capped in this operating mode or access to the first memory area is prevented in some other way and only allowed in the second memory area.
- Address can appear in the first memory area during program execution or can be appropriately supplied from the outside. I.e. in the first operating mode or security mode, only addresses or a program in the first memory area may be accessed; if in this security mode to another address e.g. is accessed in the second memory area, there is an error with a possible corresponding error response, as described above. This is illustrated once again in FIG. In block 200, both execution units 101 and 102 are in the first operating mode, that is to say the safety mode. In query 210 it is checked whether the address of the next command is equal to the trigger address of the corresponding excellent changeover address. If not, both are
- Processing units continue to be in the first operating mode and thus each access the first memory areas 150, 151. However, if the address of the next command and / or date corresponds to the trigger address, then in block 220 there is a switchover or change to the second operating mode, the performance or performance Fashion. Each execution unit also receives an address in the second memory area at which processing in the second operating mode is to be continued. In this case, the comparison unit or the comparison means 170 is switched off, ie deactivated (disabled). In block 230, the first processing unit 101 is thus in the second operating mode and in block 231 the second execution unit 102 is also in the second operating mode, the performance mode. I.e.
- the safety mode to the performance mode is in the specific example, for example, to call a special OSEKtime task T r jgg er such as the ttidle task of the OSEKtime operating system or the one contained therein, as the trigger address, especially the address
- the T ⁇ rj gg er task like ttidle is, for example, a call to the OSEK scheduler, which is located in the second memory area 180.
- the switchover devices that is to say the mode selectors 130, 131
- this corresponding address is set as the trigger address in order to switch to the power mode.
- this is checked in block 210, that is to say the mode selectors, the switching means. This means that future address accesses may only take place in the ROM area 180, that is to say the non-volatile second memory area, until another change to the security mode.
- FIG. 3 now shows the switchover or change from the power mode, that is to say the performance mode, in particular back to the first operating mode, the safety mode or safety mode.
- execution unit 101 that is CPU 1 in the second operating mode, is the performance mode.
- the performance mode is the performance mode.
- an interrupt request an interrupt, is triggered for each execution unit, which causes a switchover in block 330 from both execution units 101 and 102 to the first operating mode, the safety mode.
- the comparator 170 is switched on again, and in block 340 both execution units then run again in the safety mode, the first operating mode.
- the interrupt request can be triggered on the one hand by a time condition, that is to say a timer interrupt, or by a condition or event condition be triggered. This means that in order to switch from performance mode to security mode, an interrupt request from the first operating system OSEKtime is generated.
- This timer interrupt of the OSEKtime operating system which has higher priority than the OSEK operating system, is programmed in the same way in both CPUs, since the same OSEKtime system is running on both CPUs. Especially when OSEKtime-
- Interrupt requests also put the comparison means 170 back into function, that is, switched to the first operating state, the safety mode, and the execution units in particular run again redundantly.
- Event interrupt are used to accomplish the above-mentioned change of operating mode from the second to the first operating mode.
- a certain state of the execution units can trigger a high-priority interrupt, for example, which is then valid for both execution units.
- This can be, for example, a state generated by the processing of the programs in ROM 180 in a CPU, which triggers such a high-priority interrupt request, which also applies to the second CPU.
- an event in particular also an event supplied externally to the processor unit, can trigger such an interrupt and thus the change in operating mode.
- the first variant with the timer interrupt is preferred, but the status or event interrupt as described is also conceivable and is hereby disclosed.
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- General Physics & Mathematics (AREA)
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Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10328208 | 2003-06-24 | ||
DE10332700A DE10332700A1 (de) | 2003-06-24 | 2003-07-18 | Verfahren zur Umschaltung zwischen wenigstens zwei Betriebsmodi einer Prozessoreinheit sowie entsprechende Prozessoreinheit |
PCT/DE2004/001299 WO2005003962A2 (de) | 2003-06-24 | 2004-06-22 | Verfahren zur umschaltung zwischen wenigstens zwei betriebsmodi einer prozessoreinheit sowie entsprechende prozessoreinheit |
Publications (1)
Publication Number | Publication Date |
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EP1639454A2 true EP1639454A2 (de) | 2006-03-29 |
Family
ID=33566007
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04738748A Ceased EP1639454A2 (de) | 2003-06-24 | 2004-06-22 | Verfahren zur umschaltung zwischen wenigstens zwei betriebsmodi einer prozessoreinheit sowie entsprechende prozessoreinheit |
Country Status (7)
Country | Link |
---|---|
US (1) | US20070277023A1 (de) |
EP (1) | EP1639454A2 (de) |
JP (1) | JP4232987B2 (de) |
KR (1) | KR20060026884A (de) |
BR (1) | BRPI0411824A (de) |
RU (1) | RU2006101719A (de) |
WO (1) | WO2005003962A2 (de) |
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2004
- 2004-06-22 RU RU2006101719/09A patent/RU2006101719A/ru not_active Application Discontinuation
- 2004-06-22 US US10/560,962 patent/US20070277023A1/en not_active Abandoned
- 2004-06-22 EP EP04738748A patent/EP1639454A2/de not_active Ceased
- 2004-06-22 JP JP2006515276A patent/JP4232987B2/ja not_active Expired - Fee Related
- 2004-06-22 BR BRPI0411824-3A patent/BRPI0411824A/pt not_active IP Right Cessation
- 2004-06-22 KR KR1020057024653A patent/KR20060026884A/ko not_active Application Discontinuation
- 2004-06-22 WO PCT/DE2004/001299 patent/WO2005003962A2/de active Application Filing
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JP4232987B2 (ja) | 2009-03-04 |
KR20060026884A (ko) | 2006-03-24 |
RU2006101719A (ru) | 2007-07-27 |
BRPI0411824A (pt) | 2006-08-08 |
US20070277023A1 (en) | 2007-11-29 |
JP2007507015A (ja) | 2007-03-22 |
WO2005003962A2 (de) | 2005-01-13 |
WO2005003962A3 (de) | 2006-01-26 |
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