Unit.

5
Tasks
In an RTOS (Real-Time Operating System), a task is a fundamental unit of work or a sequence of
operations that the RTOS schedules.

Tasks are essential components in an RTOS because they allow the system to handle multiple activities,
events, or routines concurrently while ensuring that each task meets its timing and priority
requirements.
 PROCESS : In RTOS, a process refers to an independent program in execution with its own memory space,
resources, and execution context.

Features of processes in RTOS:

1.Time-Bounded Execution:
2.Task Scheduling:
3. Preemptive Multitasking:
4.Minimal Latency:
5.Inter-Process Communication
6.Resource Management:
THREAD : a thread is the smallest unit of execution within a process, allowing for more granular
control over task scheduling and execution.

Threads in RTOS are typically lightweight and share resources within a process, making them
well-suited for time-sensitive applications that require quick responses to events.

Multithreading refers to the concurrent execution of multiple threads within one or more processes.

Multithreading in RTOS enhances task efficiency and responsiveness, allowing systems to handle
multiple tasks in parallel and meet strict timing constraints
Difference between Process and Thread

Process and threads are the basic components in OS.

Process is the program under execution whereas the thread is part of process.
RTOS: Scheduling Policies-I
SCHEDULING CRITERIA
(pdf)
SCHEDULING
ALGORITHMS (pdf)
Evaluating operating system (OS) performance

Evaluating operating system performance in a Real-Time Operating System (RTOS) environment focuses on not
only traditional OS metrics but also on meeting strict timing and predictability requirements essential for real-
time applications.

By focusing following metrics, RTOS performance evaluation ensures that it can meet the stringent timing
requirements of real-time applications, maintain predictability under load, and handle system resources efficiently.

RTOS Performance Metrics:

 Interrupt latency
 Task switching and context-switching time
 Scheduling latency
 Jitter
 CPU utilization and memory footprint
 Priority inversion and resource sharing efficiency
 Power management effectiveness
1. Determinism and Predictability

•Determinism is a fundamental requirement in RTOS, as tasks must execute within predictable time bounds.
•Evaluation focuses on the consistency of task execution and response times, especially under varying loads.

2. Interrupt Latency

•Interrupt latency is the time taken for the RTOS to respond to an interrupt. It includes the time from the
interrupt signal until the interrupt service routine (ISR) starts executing.
•Minimal interrupt latency is essential for high-priority tasks that need immediate attention. This metric is crucial
for applications like embedded control systems.

3. Task Switching and Context-Switching Time

•Context-switching time is the time required for the RTOS to switch between tasks, which impacts how quickly
tasks with higher priority can take control.
•Low context-switching overhead ensures efficient task management, especially in systems with frequent priority
changes.
4. Jitter

Jitter measures the variability in task execution timing, particularly periodic tasks.
•In an ideal RTOS, tasks should execute at precise intervals without deviation.
•Low jitter is essential for applications needing consistent timing, such as signal processing.

5. Scheduling Latency: It refers to the time from when a task is ready to run until it actually starts executing.

This metric evaluates the efficiency of the RTOS scheduler, especially under heavy task loads, ensuring tasks are
executed in a timely manner based on priority.

6. CPU Utilization

Like general-purpose OS performance, CPU utilization is crucial in RTOS for efficient resource use..

•For RTOS, this also involves ensuring critical tasks always have CPU availability when required.
7. Memory Footprint and Management

•The memory footprint of an RTOS should be minimal to allow more memory allocation for application-specific
needs, especially in embedded systems with limited memory.

8. Response Time and Task Execution Time

•Response time in RTOS is the time from a task trigger to the task’s completion.
•Short and predictable response times ensure tasks can meet deadlines, essential for applications with real-time
constraints.

9. Task Prioritization and Priority Inversion Handling

An RTOS must manage task priorities effectively and mitigate priority inversion, where a higher-priority task is
delayed by lower-priority ones.
10. Resource Sharing and Synchronization Efficiency:

Synchronization mechanisms (e.g., semaphores, mutexes) are evaluated for their efficiency in preventing
deadlock and reducing contention.

11. Scalability and Real-Time Performance Under Load: The RTOS should maintain predictable timing
behavior, ensuring that all real-time tasks still meet their deadlines as load increases.

12. Power and Energy Efficiency: Power consumption is a concern in RTOS for battery-operated or energy-
sensitive applications.

13. Reliability and Fault Tolerance: Reliability is key in RTOS for critical applications like automotive or
medical systems, where failures can be costly.
Power optimization in Real-Time Operating Systems

The RTOS and system architecture can use static and dynamic power management mechanisms to help manage
the system’s power consumption

1. Dynamic Voltage and Frequency Scaling (DVFS)

DVFS reduces power consumption by adjusting the CPU’s voltage and frequency based on current
workload demands.

2. Dynamic Power Management (DPM)

DPM involves putting system components, like CPU, peripherals, or I/O devices, into low-power or idle
states when they are not in active use.

3. Task-Based Power Management

RTOS tasks can be prioritized based on their power requirements. For example, non-critical tasks can be
scheduled in low-power states or deferred to periods of low CPU demand.
4. Idle and Sleep Modes
Many microcontrollers and processors offer different idle and sleep modes that vary in power consumption and
wake-up latency.

5. Tickless Idle Mode

In tickless mode, the RTOS suspends the periodic timer tick during idle periods, preventing unnecessary CPU wake-
ups that consume power.

6. Power-Aware Scheduling
Power-aware scheduling strategies consider both task priority and power efficiency.

7. Minimizing Peripheral Usage

Many peripherals consume power even when the CPU is in a low-power state. An RTOS can disable or power down
unused peripherals and wake them only when necessary.
8. Reducing Context Switching
Context switching in RTOS can consume significant energy, especially in systems with high task-
switching rates

9. Adaptive Timeout Mechanisms: Adaptive timeouts adjust the system’s response to events based on
power availability or remaining battery life.

10. Efficient Use of Memory and Cache: Memory access consumes power, so optimizing task memory
allocation, minimizing memory usage, and effectively using cache can reduce the need for frequent
power-consuming memory accesses.