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RTOS1-Introduction To RTOS

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EEE499 - Real-Time Embedded

System Design

Introduction to Real-Time Operating


Systems
Outline

• Operating Systems VS Real-time Operating


Systems ?

• Basic Requirements of an RTOS


• Characteristics of RTOS

• Examples of RTOS
Operating Systems?
OS is set of system software that manages
hardware and software resources and provides
common services for other applications.
Why Operating Systems?
• Operating system provides a layer of
abstraction between the users and the system
– it hides the complexities of the system’s resources
from the programmer
– Free the applications programmer from writing
code for task scheduling and dispatching and etc.
– it allows the computer to be treated as a virtual
machine
Real-Time OS
• An RTOS is a class of operating systems that are
designed to meet real time-applications
requirement. It means it must be predictable and
guarantees the timing constraints.
• RTOS usually directly deals with hardware, whereas
the general purpose OS which use drivers to access
the hardware.
Typical Requirements of a OS
• multi-tasking
– single processor -> quasi-concurrent tasks
– typical # of tasks - 32, 64, 128, 256 or unlimited
• scheduling
– creation/deletion and scheduling policy of tasks
– time slice/round robin (equal priority)
– static priority versus dynamic priority
• multiprocessor support
– more advanced features
– non-traditional
Typical Requirements of a OS
• control of shared resources
– mutual exclusion mechanisms
– semaphores, monitors
• inter-task communication/synchronization
– synchronous and asynchronous data transfer
– mailboxes and queues
• memory management
– minimal for diskless systems
Typical Requirements of a RTOS
• ROMable
– embed into product
• scalable
– conditional compilation, optimization
– add-ons, plug-ins
• reliable
– robust, well established, well tested
• deterministic
– execution time of all services and functions known and
published
Typical Requirements of a RTOS
• source code support
– traditionally Assembly, C, Ada
– today C++, Java
• target support
– micro-controller market versus DSP versus PC
– 60k, PowerPC, … / TI DSPs … / x86, SPARC
• tool support
– debuggers, compilers, linkers, 3rd party
– visibility tools (MicroC- Probe)
• TCP/IP support
– distributed RTS support
Characteristics of RTOS
• small kernel footprints (this varies a lot)
– 2.5k - 400k ROM / 0.5k - 30k RAM
• RAM per thread / queue
– 50/30 bytes - 1k/200 bytes
• scheduling policies
– round-robin, fixed priority, dynamic priority
– priority inversion support
• thread switching times
– 10µsec - 1000 clock cycles (~350 nsec on a 2.8GHz processor)
• costs (US$)
– $69.95 (source included) - $25,000 per seat
Advantages & Disadvantages
of using a RTOS
• Advantages
– Simplifies design
– Facilitates application expansion (scalability)
– Provides a set of commonly used “built-in” services
– Deterministic (hopefully)
• Disadvantages
– Extra overhead (2-4% is typical)
– Cost
– Potential increased complexity
• There are cases where an RTOS is “over-kill”
RTOS Examples - VxWorks
• It is commercial
• 1.5 billion embedded devices use it
– world’s most widely deployed proprietary RTOS
• Supports lots of CPU architectures: ARM, PowerPC, Intel, etc
• Support for equal priority
• Uses both priority-based preemption or round-robin scheduling
• Basic set of task communication
• No memory protection
RTOS Examples - QNX
• Commercial, was acquired by BlackBerry in 2010
• Supports lots of CPU architectures: ARM, PowerPC,
Intel, etc
• QNX was one of the first commercially
successful microkernel operating systems used in
cars and mobile phone.
• Small memory footprint
• Dynamically start & stop filesystems, network, serial,
etc.
• Bootable from ROM
RTOS Examples- RTLinux
– Is Linux
– Runs on anything, even toasters
– Hardware support for anything
– Isn’t technically real-time, but can be
RTOS Examples - FreeRTOS
• Leading open source RTOS
• Key features:
– Preemptive and co-operative scheduling,
Multitasking, Services, Interrupt management, MMU;
Supports stacks for TCP/IP, USB, & basic file systems
• Highly portable C, 24 architectures supported, Ports are
freely available in source code
• Scalable:
– Only use the services you need by specifying in
FreeRTOSConfig.h
– Minimum footprint = 4KB
References
[1] Cooling, J.E., “Software Design for Real-time
Systems”, Chapters 1 & 9.
[2] Labrosse, J.J., “MicroC/OS-II”, Chapter 2.
[3] Furht et al, “Real-Time UNIX Systems”,
Chapter 2.
[4] Greenfiled J.D., “The 68HC11 Microcontroller”
Chapter 3.
[5] http://www.realtime-info.be/encyc/...

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