Real-time Operating Systems. VO Embedded Systems Engineering Armin Wasicek
|
|
- Avis Charles
- 8 years ago
- Views:
Transcription
1 Real-time Operating Systems VO Embedded Systems Engineering Armin Wasicek
2 Overview Introduction OS and RTOS RTOS taxonomy and architecture Application areas Mixed-criticality systems Examples: UAV, Synthetic vision The RTOS Market Implementation Linux as RTOS Conclusion Real-time Operating Systems 2
3 Computer system classification Transformational systems compute output values from input values, then stop. numerical computations, compiler Interactive systems constantly interact with their environment. The system delivers a service to the user. operating systems, databases Reactive systems continuously react to stimuli from the environment. Reaction time is dictated by the environment. signal processors, process controllers
4 Real-Time Systems In a real-time computer system the correctness of the system behavior depends not only on the logical results of the computations, but also on the physical instant at which these results are produced. Hard Real-Time deadline miss can have catastrophic results Soft Real-Time result has utility after the deadline Utility Utility deadline reaction time reaction time
5 Determinism A system behaves deterministically if given a set of initial conditions at time t 0 a sequence of inputs always produces the same sequence of outputs at any future instant t. Key difference between reactive and interactive systems Compare e.g. a process controller and a compiler Excurs: Predictability A deterministic system is not necessarily predictable Is our (timing) model a precise characterisation of the system? Can we predict e.g. context switch delay, execution times? Temporal behavior of many non-rt systems in unpredictable
6 OS and RTOS Real-time Operating Systems 6
7 Operating Systems Operating System (OS): abstracts from hardware provides access to I/O, memory management, sharing of the resources of the computer provides system calls to access low level functions Input devices System calls Registers User Application Hardware Output devices Signals Operating system Interrupts Embedded system is a hardware/software artifact.
8 Common OS Services Task management Scheduling and Timers Memory Management Memory Protection and Error Handling Hardware Abstraction and I/O interface Inter Process Communication Synchronization (mutual exclusion) Message passing Shared Memory
9 Real-Time Operating Systems (RTOS) Real-Time (RT) requirements for OS + features for timing constraints guaranteed max. execution time of system calls guaranteed OS response time to external events guaranteed max. execution time of OS functions (ISRs, drivers, context switches,...) Determinism and Predictability Efficiency Fast context switch Minimize intervals during which the interrupts are disabled
10 Scheduling created dead ready running Scheduling Decision: Which task in ready state can execute? blocked Scheduler uses a scheduling strategy e.g., fixed priorities, dynamic priorities, round-robin (time-slicing), rate monotonic, cooperative How does scheduler get CPU? called by application system timer interrupt Real-time Operating Systems 10
11 Schedulability Analysis In a hard real-time system, we need to a high confidence that no deadline will be missed during operation. Offline Scheduling Timing analysis is much easier without preemption Online Scheduling Static Priority Scheduling (e.g., RMS) Dynamic Priority Scheduling (e.g., EDF) Need to know timing characteristics of runtime system (e.g., OS, uc) and of all tasks (WCET) for real-time scheduling Real-time Operating Systems 11
12 priority Mutual Exclusion Priority Inversion Realized using e.g. semaphores Increases response times Priority inversion due to locking must be avoided in real-time systems! T 1 4. T 2 runs before T 3 1. T 3 starts with resource R 6. T 1 preempts T 3 2. T 1 attempts to lock R T 2 T 3 3. T 3 preempted by T 2 5. T 3 unlocks R Real-time Operating Systems 12
13 Is a scheduler absolutely necessary? No, you can meet deadlines without any RTOS (generate offline schedule, implement it): inefficient (regularly poll infrequent events, reserve max. time for interrupts) long schedule cycle time (least common multiple of all task periods) or unnecessary overhead (shorten task periods) hard to change and maintain (use tools!) Real-time Operating Systems 13
14 RTOS Taxonomy and Architecture Real-time Operating Systems 14
15 RTOS taxonomy (1) Small, fast, proprietary kernels (μc-os II, QNX, WinCE) Highly specialized to specific applications Real-Time extensions (RT-Linux, Xenomai, RT-Posix, RT-MACH, RT-WinNT) Compliant kernels Existing OS is modified such that non-rtos binaries run without modification Dual kernels Thin RT-kernel stay below the native OS Core kernel modification Changes are made in the core of OS The resource kernel approach Kernel is extended to provide support for resource reservation Real-time Operating Systems 15
16 RTOS taxonomy (2) Component based kernels OS components can be selectively included to compose an RTOS Selection depends on the target and application Construction of OS through composition ecos PURE - embedded applications MMLite - dynamic reconfiguration of components Real-time Operating Systems 16
17 RTOS taxonomy (3) Quality-of-Service (QoS) based kernels Used for soft real-time systems Research kernels Developed at university research projects to study research aspects of RTOS MARS SPRING HARTOS time-triggered, distributed admission control, reservation distributed communication Real-time Operating Systems 17
18 Monolithic Kernels All basic system services run in kernel space Provide rich and powerful abstractions of the hardware Amount of context switches and messaging involved are low Runs faster than microkernel Examples: Linux, Windows User space Applications Libraries Kernel space File systems IO/Device management Process management Interprocess comm. Memory management Hardware Real-time Operating Systems 18
19 Microkernels Software User space Server Applications File systems Kernel restricted to a minimum Improves maintainability, predictability, security Hypervisor vs. Microkernel Isolates hard real-time tasks Libraries IPC, Resource Allocation (not scheduling), I/O Example: OKL4 Used in e.g. Mobile Phones for the Android Platform Virtual Environment for other paravirtualized RTOSs IPC Process server Drivers Kernel space Microkernel Hardware Real-time Operating Systems 19
20 Exokernels User space Applications Two basic principles: Exokernel safely exports resources Anyone can manage resources Libraries liboses Kernel space Exokernel Low-level interface to hardware provided by liboses (e.g., for networking, disk access, memory management) Hardware Real-time Operating Systems 20
21 Partioning RTOS RTOS can partition resources in time and space Spatial Partitioning: Memory protection: one partition cannot corrupt the memory of the software in another partition Temporal Partitioning: Shared resources: each partition enjoys a certain amount of time on the resource, regardless of what other software is doing. Enables the ability to run mixed-criticality applications
22 Mixed Criticality Systems
23 Definition: Mixed criticality A mixed-critical system is an integrated suite of hardware, operating system and middleware services and application software that supports the execution of safety-critical, mission-critical, and noncritical software within a single, secure compute platform. Applications at different levels of criticality can interact and coexist on the same computational platform. Mixed criticality systems realize the principle of non-interference Real-time Operating Systems 23
24 Safety Integrity Levels (SIL) SIL provide rigorous requirements concerning Design, Verfication, Certification, Dependability, Security SIL are a qualitative measure of the required protection against software or system failure SILs provide guidance in selecting appropriate techniques and measures for safety related software development. Standards: e.g., IEC Safety Integrity Levels (SIL) SIL Failures per hour MTTF (years) to to to to to to to to 10 Verification Technique SIL1 SIL2 SIL3 SIL4 Formal Proof R R HR Probabilistic testing R R HR Static analysis R HR HR HR Dynamic analysis and testing R HR HR HR Armin Wasicek Software complexity metrics R R R R 24
25 Benefits of Mixed-criticality systems Integrated platforms use less physical components Reduction in Cost Weight Power Wiring Common interface for multiple software providers "For size, weight, and power (SWaP) reasons, avionics manufacturers were including more and increasingly complex functions; instead of having a new box on the aircraft every time they added something like that, they wanted to integrate different types of applications onto the same central processing unit (CPU) Real-time Operating Systems 25
26 APPLICATION A APPLICATION B APPLICATION B APPLICATION B APPLICATION C Possible system architecture Mix applications with different levels of criticality on the same computing platform Segregate subsystems in execution compartments Use e.g. a partitioned OS to shield compartments in time and space (PARTITIONED) RTOS COMPUTING PLATFORM Real-time Operating Systems 26
27 Mixed Criticality Challenges Certification of reusable components: Construct a system from components with known levels of certifiability. Develop a certification process and composition framework Certification by Design: Identify and assess the certifiability of a component, even before it is implemented, Formal and analytical methods to define a design process for certifiability Reconfigurable Systems: It is inherently difficult to bind the decision space of a reconfigurable system under a certain fault model Fault Tolerant Systems: Generic approaches to implement fault tolerance are extremely hard It is even harder to define an approach to certify such systems.
28 Example 1: UAV UAVs are software-centric: Flight control system Ground control system Multiple Criticality levels in flight software: Common CPU(s) due to size, weight, and power (SWAP) constraints Increasing certification requirements would drive separating criticalities Demand for demonstration of higher assurance for more critical functions Real-time Operating Systems 28
29 UAV criticality levels (examples) Level Flight Critical Mission Critical Maintenance Critical Required to prevent Unintended loss of life. Unintended reduction of public safety. Substantial damage to the vehicle or its support structure. Loss of vehicle Unintended event (e.g., crash) into politically sensitive area Unintended loss of the vehicle s function (mission sensors or other effectors). Unintended loss of support structure function (e.g., ability of operator to use on-board UAV sensors). Inefficient use of the vehicle s resources. Inefficient use of ground support structure Real-time Operating Systems 29
30 Example 2 ARINC 653 An Avionics Standard for Safe, Partitioned Systems ARINC 653 defines a standardized Real-Time Operating System (RTOS) interface for avionics equipment Called: APplication EXecutive (APEX) for space and time partitioning ARINC 653 approach allocates a predefined faction of CPU time and memory of the whole system to each partition Key enabler in the development of Integrated Modular Avionics (IMA). It recognizes the RTOS as key component of an IMA system. Products: PikeOS, INTEGRITY, VxWorks, LynxOS, etc-
31 Real-time Operating Systems
32 Real-time Operating Systems
33 Real-time Operating Systems
34 Example 3: Synthetic Vision Real-time Operating Systems
35 The RTOS Market
36 Cost-Benefit ratio of an RTOS Average number of software developers per project is 25.7 Average cost per engineer is about $150,000 per year Average cost for each month of delay is $321,250 In average 42% of embedded designs are behind schedule by an average of 4.1 months Average expected loss due to design delays per project: ($321,250) * 0.42 * 4.1 = $553,200 Cost of a commercial RTOS ~$1k-20k
37 Comparison RTOS No OS
38 RTOS market shares Trend towards commercial RTOS Roll their own" has steadily declined In-house OS projects decline Increase of commercial RTOS is fueled by the rise of 32-bit microprocessors Ratio drops from 55% for 32-bit users to 19% for 8-bit controllers Real-time Operating Systems 38
39 Market data for 2004 on tools and services Characteristics Market (2004) Embedded OSs, bundled tools, related services SW development tools, related services Design automation tools, related services Test automation tools, related services Market volume in million Market growth Largest consuming region and its share % Americas 52.7% % Americas 48.2% n.a. Americas n.a % Americas 50.8% Largest consuming sector and its share Consumer Electronics 41.7% n.a. Military / Aerospace, n.a. Military / Aerospace, 27.6% 1, % (weighted average)
40 Linux as RTOS Real-time Operating Systems 40
41 Linux as real-time operating system (1) Predictability of real-time task execution Pre-2.6 scheduling algorithm was O(n), so it could delay a even a high priority task s start time. (Since 2.6 O(1) scheduler introduced: time to schedule is both fixed and deterministic regardless of the number of active tasks) Kernel cannot always be preempted. Sometimes it requires exclusive access to resources and internal data structures in order to maintain their consistency Interrupts from hardware may delay a task
42 Linux as real-time operating system (2) Virtual memory management introduces indeterministic delays (jitter). Real-Time applications may not use the virtual memory Clock granularity of 1ms insufficient for most real-time apps (e.g., a typical control loop task executes with 100 Hz = every 10ms)
43 The Real-Time Preemption Patch Makes Linux better suited to real-time systems Real-Time Scheduling In the RTPreempt, RT-Posix fixed priority scheduling. There is also an EDF patch for Linux. Critical sections in kernel are preemptable They now use real-time mutexes, including a priority inheritance protocol Interrupt handlers are interruptable kernel threads High-precision timer support Not suitable for safety-critical hard real-time [SCHED_DEADLINE,
44 The Dual-kernel Approach Solutions to run hard-real time tasks and Linux: Real Time Linux (RTLinux) Real-Time Application Interface (RTAI) Xenomai Real-time Operating Systems 44
45 RTLinux & RTAI Dual-kernel approach, two schedulers are in operation Supports hard real-time (deterministic) operation through interrupt control between the hardware and the operating system. (Adeos Event Pipeline) Linux runs as its lowest-priority process Real-time applications specifically written for the non- Linux kernel using an associated real-time API Can exchange data with Linux applications (LXRT)
46 RTLinux & RTAI Tasks are executed inside kernel memory space, which prevents threads to be swapped-out and also the number of TLB misses is reduced. Threads are executed in processor supervisor mode (i.e. ring level 0 in i386 arch), have full access to the underlying hardware. Since the RTOS and the application are linked together in a "single" execution space, system call mechanism is implemented by means of a simple function call (default is software interrupt which produces higher overhead).
47 Xenomai RTAI spin-off, designed for extensibility portability maintainability Task can switch transparently Primary mode (hard RT) Secondary mode (soft RT) Skins can emulate RTOS APIs Real-time Operating Systems 47
48 Conclusion Real-time Operating Systems 48
49 RTOS Trends Mil-aero systems require more and more functionality often found in traditional desktop operating systems rather than traditional real-time operating systems, including graphical user interfaces (GUIs) and graphics, advanced networking, and disk and SSD storage Robert Day, vice president of marketing at LynuxWorks Inc. Security of network, security of information and data, and access controls and secure logins are now often specified as part of the functionality of the RTOS and its associated stacks. Separation kernels, partitioned operating systems, and secure operating systems are now being mandated for programs. Robert Day, vice president of marketing at LynuxWorks Inc. Real-time Operating Systems
50 Conclusion RTOS provide guarentees for embedded application developers RTOS can significantly reduce effort for embedded software development RTOS act as means to implement mixed-criticality systems Are readily available as open source, research or commercial products Real-time Operating Systems 50
51 ENDE Danke für die Aufmerksamkeit! Real-time Operating Systems 51
52 Demonstration: PWM signal generation See Real-time Operating Systems 52
Embedded Systems. 6. Real-Time Operating Systems
Embedded Systems 6. Real-Time Operating Systems Lothar Thiele 6-1 Contents of Course 1. Embedded Systems Introduction 2. Software Introduction 7. System Components 10. Models 3. Real-Time Models 4. Periodic/Aperiodic
More informationReal-Time Operating Systems. http://soc.eurecom.fr/os/
Institut Mines-Telecom Ludovic Apvrille ludovic.apvrille@telecom-paristech.fr Eurecom, office 470 http://soc.eurecom.fr/os/ Outline 2/66 Fall 2014 Institut Mines-Telecom Definitions What is an Embedded
More informationEmbedded & Real-time Operating Systems
Universität Dortmund 12 Embedded & Real-time Operating Systems Peter Marwedel, Informatik 12 Germany Application Knowledge Structure of this course New clustering 3: Embedded System HW 2: Specifications
More informationReal-Time Component Software. slide credits: H. Kopetz, P. Puschner
Real-Time Component Software slide credits: H. Kopetz, P. Puschner Overview OS services Task Structure Task Interaction Input/Output Error Detection 2 Operating System and Middleware Applica3on So5ware
More informationModule 8. Industrial Embedded and Communication Systems. Version 2 EE IIT, Kharagpur 1
Module 8 Industrial Embedded and Communication Systems Version 2 EE IIT, Kharagpur 1 Lesson 37 Real-Time Operating Systems: Introduction and Process Management Version 2 EE IIT, Kharagpur 2 Instructional
More informationRTAI. Antonio Barbalace antonio.barbalace@unipd.it. (modified by M.Moro 2011) RTAI
Antonio Barbalace antonio.barbalace@unipd.it (modified by M.Moro 2011) Real Time Application Interface by Dipartimento di Ingegneria Aereospaziale dell Università di Milano (DIAPM) It is not a complete
More informationHard Real-Time Linux
Hard Real-Time Linux (or: How to Get RT Performances Using Linux) Andrea Bastoni University of Rome Tor Vergata System Programming Research Group bastoni@sprg.uniroma2.it Linux Kernel Hacking Free Course
More informationControl period can have high frequency (short control frame) ex: 0.1kHz - 1kHz in robot controllers
Meccanica dei robot Real-time systems A really short introduction Advanced automation digital control of motors Reliable control a computer must periodically give a setpoint to motors Control period can
More informationWhat is best for embedded development? Do most embedded projects still need an RTOS?
RTOS versus GPOS: What is best for embedded development? Do most embedded projects still need an RTOS? It is a good question, given the speed of today s high-performance processors and the availability
More informationPredictable response times in event-driven real-time systems
Predictable response times in event-driven real-time systems Automotive 2006 - Security and Reliability in Automotive Systems Stuttgart, October 2006. Presented by: Michael González Harbour mgh@unican.es
More informationA Data Centric Approach for Modular Assurance. Workshop on Real-time, Embedded and Enterprise-Scale Time-Critical Systems 23 March 2011
A Data Centric Approach for Modular Assurance The Real-Time Middleware Experts Workshop on Real-time, Embedded and Enterprise-Scale Time-Critical Systems 23 March 2011 Gabriela F. Ciocarlie Heidi Schubert
More informationEnhancing the Monitoring of Real-Time Performance in Linux
Master of Science Thesis Enhancing the Monitoring of Real-Time Performance in Linux Author: Nima Asadi nai10001@student.mdh.se Supervisor: Mehrdad Saadatmand mehrdad.saadatmand@mdh.se Examiner: Mikael
More informationREAL TIME OPERATING SYSTEMS. Lesson-10:
REAL TIME OPERATING SYSTEMS Lesson-10: Real Time Operating System 1 1. Real Time Operating System Definition 2 Real Time A real time is the time which continuously increments at regular intervals after
More information10.04.2008. Thomas Fahrig Senior Developer Hypervisor Team. Hypervisor Architecture Terminology Goals Basics Details
Thomas Fahrig Senior Developer Hypervisor Team Hypervisor Architecture Terminology Goals Basics Details Scheduling Interval External Interrupt Handling Reserves, Weights and Caps Context Switch Waiting
More informationReal-Time Systems Prof. Dr. Rajib Mall Department of Computer Science and Engineering Indian Institute of Technology, Kharagpur
Real-Time Systems Prof. Dr. Rajib Mall Department of Computer Science and Engineering Indian Institute of Technology, Kharagpur Lecture No. # 26 Real - Time POSIX. (Contd.) Ok Good morning, so let us get
More informationPerformance Comparison of RTOS
Performance Comparison of RTOS Shahmil Merchant, Kalpen Dedhia Dept Of Computer Science. Columbia University Abstract: Embedded systems are becoming an integral part of commercial products today. Mobile
More informationevm Virtualization Platform for Windows
B A C K G R O U N D E R evm Virtualization Platform for Windows Host your Embedded OS and Windows on a Single Hardware Platform using Intel Virtualization Technology April, 2008 TenAsys Corporation 1400
More informationLinux A multi-purpose executive support for civil avionics applications?
August 2004 Serge GOIFFON Pierre GAUFILLET AIRBUS France Linux A multi-purpose executive support for civil avionics applications? Civil avionics software context Main characteristics Required dependability
More informationSYSTEM ecos Embedded Configurable Operating System
BELONGS TO THE CYGNUS SOLUTIONS founded about 1989 initiative connected with an idea of free software ( commercial support for the free software ). Recently merged with RedHat. CYGNUS was also the original
More informationWhite Paper. Real-time Capabilities for Linux SGI REACT Real-Time for Linux
White Paper Real-time Capabilities for Linux SGI REACT Real-Time for Linux Abstract This white paper describes the real-time capabilities provided by SGI REACT Real-Time for Linux. software. REACT enables
More informationNotes and terms of conditions. Vendor shall note the following terms and conditions/ information before they submit their quote.
Specifications for ARINC 653 compliant RTOS & Development Environment Notes and terms of conditions Vendor shall note the following terms and conditions/ information before they submit their quote. 1.
More informationExperience with the integration of distribution middleware into partitioned systems
Experience with the integration of distribution middleware into partitioned systems Héctor Pérez Tijero (perezh@unican.es) J. Javier Gutiérrez García (gutierjj@unican.es) Computers and Real-Time Group,
More informationWhat is an RTOS? Introduction to Real-Time Operating Systems. So what is an RTOS?(contd)
Introduction to Real-Time Operating Systems Mahesh Balasubramaniam What is an RTOS? An RTOS is a class of operating systems that are intended for real time-applications What is a real time application?
More informationLecture 3 Theoretical Foundations of RTOS
CENG 383 Real-Time Systems Lecture 3 Theoretical Foundations of RTOS Asst. Prof. Tolga Ayav, Ph.D. Department of Computer Engineering Task States Executing Ready Suspended (or blocked) Dormant (or sleeping)
More informationPOSIX. RTOSes Part I. POSIX Versions. POSIX Versions (2)
RTOSes Part I Christopher Kenna September 24, 2010 POSIX Portable Operating System for UnIX Application portability at source-code level POSIX Family formally known as IEEE 1003 Originally 17 separate
More informationARINC 653. An Avionics Standard for Safe, Partitioned Systems
ARINC 653 An Avionics Standard for Safe, Partitioned Systems 1 Courtesy of Wind River Inc. 2008 IEEE-CS Seminar June 4 th, 2008 Agenda Aerospace Trends IMA vs. Federated ARINC 653 Main concepts Safety
More informationQuality of Service su Linux: Passato Presente e Futuro
Quality of Service su Linux: Passato Presente e Futuro Luca Abeni luca.abeni@unitn.it Università di Trento Quality of Service su Linux:Passato Presente e Futuro p. 1 Quality of Service Time Sensitive applications
More informationLinux 2.4. Linux. Windows
Linux 2.4 Non-preemptible kernel A system call might take long time to complete Coarse timer resolution Tasks can be released only with 10ms precision Virtual memory Introduces unpredictable amount of
More informationReal Time Operating Systems. Tajana Simunic Rosing Department of Computer Science and Engineering University of California, San Diego.
Real Time Operating Systems Tajana Simunic Rosing Department of Computer Science and Engineering University of California, San Diego. 1 Software components Operating systems schedulers Middleware Standard
More informationOperating Systems Concepts: Chapter 7: Scheduling Strategies
Operating Systems Concepts: Chapter 7: Scheduling Strategies Olav Beckmann Huxley 449 http://www.doc.ic.ac.uk/~ob3 Acknowledgements: There are lots. See end of Chapter 1. Home Page for the course: http://www.doc.ic.ac.uk/~ob3/teaching/operatingsystemsconcepts/
More informationHIPEAC 2015. Segregation of Subsystems with Different Criticalities on Networked Multi-Core Chips in the DREAMS Architecture
HIPEAC 2015 Segregation of Subsystems with Different Criticalities on Networked Multi-Core Chips in the DREAMS Architecture University of Siegen Roman Obermaisser Overview Mixed-Criticality Systems Modular
More informationMicrokernels, virtualization, exokernels. Tutorial 1 CSC469
Microkernels, virtualization, exokernels Tutorial 1 CSC469 Monolithic kernel vs Microkernel Monolithic OS kernel Application VFS System call User mode What was the main idea? What were the problems? IPC,
More informationCOS 318: Operating Systems. Virtual Machine Monitors
COS 318: Operating Systems Virtual Machine Monitors Andy Bavier Computer Science Department Princeton University http://www.cs.princeton.edu/courses/archive/fall10/cos318/ Introduction Have been around
More informationSystem Software Integration: An Expansive View. Overview
Software Integration: An Expansive View Steven P. Smith Design of Embedded s EE382V Fall, 2009 EE382 SoC Design Software Integration SPS-1 University of Texas at Austin Overview Some Definitions Introduction:
More informationDeeply Embedded Real-Time Hypervisors for the Automotive Domain Dr. Gary Morgan, ETAS/ESC
Deeply Embedded Real-Time Hypervisors for the Automotive Domain Dr. Gary Morgan, ETAS/ESC 1 Public ETAS/ESC 2014-02-20 ETAS GmbH 2014. All rights reserved, also regarding any disposal, exploitation, reproduction,
More informationReal- Time Scheduling
Real- Time Scheduling Chenyang Lu CSE 467S Embedded Compu5ng Systems Readings Ø Single-Processor Scheduling: Hard Real-Time Computing Systems, by G. Buttazzo. q Chapter 4 Periodic Task Scheduling q Chapter
More informationEmbedded & Real-time Operating Systems Communication Libraries
Embedded & Real-time Operating Systems Communication Libraries Jian-Jia Chen (Slides are based on Peter Marwedel) TU Dortmund, Informatik 12 Germany Springer, 2010 2014 年 11 月 18 日 These slides use Microsoft
More informationIndustrial Application of MultiPARTES
Industrial Application of MultiPARTES January 21st, 2012 HiPEAC Workshop 2013 Integration of mixed-criticality subsystems on multi-core processors David Gonzalez (dgonzalez@ikerlan.es) 1 Definitions and
More informationReal-Time Operating Systems With Example PICOS18. What is an Operating System?
Real-Time Operating Systems With Example PICOS18 Sebastian Fischmeister 1 What is an Operating System? A program that acts as an intermediary between a user of a computer and the computer hardware Operating
More informationChapter 3 Operating-System Structures
Contents 1. Introduction 2. Computer-System Structures 3. Operating-System Structures 4. Processes 5. Threads 6. CPU Scheduling 7. Process Synchronization 8. Deadlocks 9. Memory Management 10. Virtual
More informationChapter 19: Real-Time Systems. Overview of Real-Time Systems. Objectives. System Characteristics. Features of Real-Time Systems
Chapter 19: Real-Time Systems System Characteristics Features of Real-Time Systems Chapter 19: Real-Time Systems Implementing Real-Time Operating Systems Real-Time CPU Scheduling VxWorks 5.x 19.2 Silberschatz,
More informationEECatalog SPECIAL FEATURE
Type Zero Hypervisor the New Frontier in Embedded Virtualization The hypervisor s full control over the hardware platform and ability to virtualize hardware platforms are beneficial in environments that
More informationExample of Standard API
16 Example of Standard API System Call Implementation Typically, a number associated with each system call System call interface maintains a table indexed according to these numbers The system call interface
More informationTechnical Data Sheet SCADE R17 Solutions for ARINC 661 Compliant Systems Design Environment for Aircraft Manufacturers, CDS and UA Suppliers
661 Solutions for ARINC 661 Compliant Systems SCADE R17 Solutions for ARINC 661 Compliant Systems Design Environment for Aircraft Manufacturers, CDS and UA Suppliers SCADE Solutions for ARINC 661 Compliant
More informationSystem Software and TinyAUTOSAR
System Software and TinyAUTOSAR Florian Kluge University of Augsburg, Germany parmerasa Dissemination Event, Barcelona, 2014-09-23 Overview parmerasa System Architecture Library RTE Implementations TinyIMA
More informationHypervisors. Introduction. Introduction. Introduction. Introduction. Introduction. Credits:
Hypervisors Credits: P. Chaganti Xen Virtualization A practical handbook D. Chisnall The definitive guide to Xen Hypervisor G. Kesden Lect. 25 CS 15-440 G. Heiser UNSW/NICTA/OKL Virtualization is a technique
More informationCOS 318: Operating Systems. Virtual Machine Monitors
COS 318: Operating Systems Virtual Machine Monitors Kai Li and Andy Bavier Computer Science Department Princeton University http://www.cs.princeton.edu/courses/archive/fall13/cos318/ Introduction u Have
More informationsel4: from Security to Safety Gernot Heiser, Anna Lyons NICTA and UNSW Australia
sel4: from Security to Safety Gernot Heiser, Anna Lyons NICTA and UNSW Australia 1 OS Trade-Offs Usability Minix Android Linux Trustworthiness Minix Android L4 sel4 Performance Linux L4 sel4 2015 Gernot
More informationTools Page 1 of 13 ON PROGRAM TRANSLATION. A priori, we have two translation mechanisms available:
Tools Page 1 of 13 ON PROGRAM TRANSLATION A priori, we have two translation mechanisms available: Interpretation Compilation On interpretation: Statements are translated one at a time and executed immediately.
More informationPartition Scheduling in APEX Runtime Environment for Embedded Avionics Software
Partition Scheduling in APEX Runtime Environment for Embedded Avionics Software Yang-Hang Lee CISE Department, University of Florida Gainesville, FL 32611 Phone: (352) 392-1536 Fax: (352) 392-1220 Email:
More informationAda Real-Time Services and Virtualization
Ada Real-Time Services and Virtualization Juan Zamorano, Ángel Esquinas, Juan A. de la Puente Universidad Politécnica de Madrid, Spain jzamora,aesquina@datsi.fi.upm.es, jpuente@dit.upm.es Abstract Virtualization
More informationBASIC CONCEPTS OF REAL TIME OPERATING SYSTEMS
Chapter 2 BASIC CONCEPTS OF REAL TIME OPERATING SYSTEMS Franz Rammig, Michael Ditze, Peter Janacik, Tales Heimfarth, Timo Kerstan, Simon Oberthuer and Katharina Stahl Abstract Keywords: Real-time applications
More informationTasks Schedule Analysis in RTAI/Linux-GPL
Tasks Schedule Analysis in RTAI/Linux-GPL Claudio Aciti and Nelson Acosta INTIA - Depto de Computación y Sistemas - Facultad de Ciencias Exactas Universidad Nacional del Centro de la Provincia de Buenos
More informationReal-Time Scheduling 1 / 39
Real-Time Scheduling 1 / 39 Multiple Real-Time Processes A runs every 30 msec; each time it needs 10 msec of CPU time B runs 25 times/sec for 15 msec C runs 20 times/sec for 5 msec For our equation, A
More informationOperating System Organization. Purpose of an OS
Slide 3-1 Operating System Organization Purpose of an OS Slide 3-2 es Coordinate Use of the Abstractions he Abstractions Create the Abstractions 1 OS Requirements Slide 3-3 Provide resource abstractions
More informationTrends in Embedded Software Engineering
Trends in Embedded Software Engineering Prof. Dr. Wolfgang Pree Department of Computer Science Universität Salzburg cs.uni-salzburg.at MoDECS.cc PREEtec.com Contents Why focus on embedded software? Better
More informationComparison between scheduling algorithms in RTLinux and VxWorks
Comparison between scheduling algorithms in RTLinux and VxWorks Linköpings Universitet Linköping 2006-11-19 Daniel Forsberg (danfo601@student.liu.se) Magnus Nilsson (magni141@student.liu.se) Abstract The
More informationOperating System Structures
Operating System Structures Meelis ROOS mroos@ut.ee Institute of Computer Science Tartu University fall 2009 Literature A. S. Tanenbaum. Modern Operating Systems. 2nd ed. Prentice Hall. 2001. G. Nutt.
More informationMixed-Criticality: Integration of Different Models of Computation. University of Siegen, Roman Obermaisser
Workshop on "Challenges in Mixed Criticality, Real-time, and Reliability in Networked Complex Embedded Systems" Mixed-Criticality: Integration of Different Models of Computation University of Siegen, Roman
More informationFull and Para Virtualization
Full and Para Virtualization Dr. Sanjay P. Ahuja, Ph.D. 2010-14 FIS Distinguished Professor of Computer Science School of Computing, UNF x86 Hardware Virtualization The x86 architecture offers four levels
More informationChapter 2 System Structures
Chapter 2 System Structures Operating-System Structures Goals: Provide a way to understand an operating systems Services Interface System Components The type of system desired is the basis for choices
More informationAperiodic Task Scheduling
Aperiodic Task Scheduling Jian-Jia Chen (slides are based on Peter Marwedel) TU Dortmund, Informatik 12 Germany Springer, 2010 2014 年 11 月 19 日 These slides use Microsoft clip arts. Microsoft copyright
More informationLecture Outline Overview of real-time scheduling algorithms Outline relative strengths, weaknesses
Overview of Real-Time Scheduling Embedded Real-Time Software Lecture 3 Lecture Outline Overview of real-time scheduling algorithms Clock-driven Weighted round-robin Priority-driven Dynamic vs. static Deadline
More informationWeighted Total Mark. Weighted Exam Mark
CMP2204 Operating System Technologies Period per Week Contact Hour per Semester Total Mark Exam Mark Continuous Assessment Mark Credit Units LH PH TH CH WTM WEM WCM CU 45 30 00 60 100 40 100 4 Rationale
More informationPikeOS: Multi-Core RTOS for IMA. Dr. Sergey Tverdyshev SYSGO AG 29.10.2012, Moscow
PikeOS: Multi-Core RTOS for IMA Dr. Sergey Tverdyshev SYSGO AG 29.10.2012, Moscow Contents Multi Core Overview Hardware Considerations Multi Core Software Design Certification Consideratins PikeOS Multi-Core
More informationImprovement of Scheduling Granularity for Deadline Scheduler
Improvement of Scheduling Granularity for Deadline Scheduler Yoshitake Kobayashi Advanced Software Technology Group Corporate Software Engineering Center TOSHIBA CORPORATION Copyright 2012, Toshiba Corporation.
More informationOperating Systems 4 th Class
Operating Systems 4 th Class Lecture 1 Operating Systems Operating systems are essential part of any computer system. Therefore, a course in operating systems is an essential part of any computer science
More informationIntroduction to Operating Systems. Perspective of the Computer. System Software. Indiana University Chen Yu
Introduction to Operating Systems Indiana University Chen Yu Perspective of the Computer System Software A general piece of software with common functionalities that support many applications. Example:
More informationThread-based analysis of embedded applications with real-time and non real-time processing on a single-processor platform
Thread-based analysis of embedded applications with real-time and non real-time processing on a single-processor platform Dietmar Prisching AVL List GmbH Graz AUSTRIA dietmar.prisching@avl.com Bernhard
More informationDOWNLOAD COURSE PRESENTATIONS. Scan to download course presentations
DOWNLOAD COURSE PRESENTATIONS 2 Scan to download course presentations ZYNQ OS SUPPORT 3 AGENDA 4 > OS/Ecosystem Overview > Xilinx Petalinux/OSL > AMP Reference Design Information > Linux Partial Reconfiguration
More informationKernel Types System Calls. Operating Systems. Autumn 2013 CS4023
Operating Systems Autumn 2013 Outline 1 2 Types of 2.4, SGG The OS Kernel The kernel is the central component of an OS It has complete control over everything that occurs in the system Kernel overview
More informationARINC Specification 653 Based Real-Time Software Engineering
e-informatica Software Engineering Journal, Volume 3, Issue, 2009 ARINC Specification 653 Based Real-Time Software Engineering Sławomir Samolej Faculty of Electrical and Computer Engineering, Rzeszow University
More informationOperatin g Systems: Internals and Design Principle s. Chapter 10 Multiprocessor and Real-Time Scheduling Seventh Edition By William Stallings
Operatin g Systems: Internals and Design Principle s Chapter 10 Multiprocessor and Real-Time Scheduling Seventh Edition By William Stallings Operating Systems: Internals and Design Principles Bear in mind,
More informationCS 377: Operating Systems. Outline. A review of what you ve learned, and how it applies to a real operating system. Lecture 25 - Linux Case Study
CS 377: Operating Systems Lecture 25 - Linux Case Study Guest Lecturer: Tim Wood Outline Linux History Design Principles System Overview Process Scheduling Memory Management File Systems A review of what
More informationFlight Processor Virtualization
National Aeronautics and Space Administration Flight Processor Virtualization Alan Cudmore / Code 582 9/11/2013 www.nasa.gov 1 Agenda Introduction to Virtualization Benefits of Virtualization for Satellite
More informationtheguard! ApplicationManager System Windows Data Collector
theguard! ApplicationManager System Windows Data Collector Status: 10/9/2008 Introduction... 3 The Performance Features of the ApplicationManager Data Collector for Microsoft Windows Server... 3 Overview
More informationA Survey of Fitting Device-Driver Implementations into Real-Time Theoretical Schedulability Analysis
A Survey of Fitting Device-Driver Implementations into Real-Time Theoretical Schedulability Analysis Mark Stanovich Florida State University, USA Contents 1 Introduction 2 2 Scheduling Theory 3 2.1 Workload
More informationPage 1 of 5. IS 335: Information Technology in Business Lecture Outline Operating Systems
Lecture Outline Operating Systems Objectives Describe the functions and layers of an operating system List the resources allocated by the operating system and describe the allocation process Explain how
More informationProcess Description and Control. 2004-2008 william stallings, maurizio pizzonia - sistemi operativi
Process Description and Control 1 Process A program in execution (running) on a computer The entity that can be assigned to and executed on a processor A unit of activity characterized by a at least one
More informationQoS and Communication Performance Management
Using a Real-Time, QoS-based ORB to Intelligently Manage Communications Bandwidth in a Multi-Protocol Environment Bill Beckwith Objective Interface Systems, Inc. OMG Embedded Workshop The Nature of CORBA
More informationHow do Users and Processes interact with the Operating System? Services for Processes. OS Structure with Services. Services for the OS Itself
How do Users and Processes interact with the Operating System? Users interact indirectly through a collection of system programs that make up the operating system interface. The interface could be: A GUI,
More informationVirtualization for Hard Real-Time Applications Partition where you can Virtualize where you have to
Virtualization for Hard Real-Time Applications Partition where you can Virtualize where you have to Hanspeter Vogel Triadem Solutions AG Real-Time Systems GmbH Gartenstrasse 33 D-88212 Ravensburg Germany
More informationMulti-core Programming System Overview
Multi-core Programming System Overview Based on slides from Intel Software College and Multi-Core Programming increasing performance through software multi-threading by Shameem Akhter and Jason Roberts,
More informationVirtualization. Dr. Yingwu Zhu
Virtualization Dr. Yingwu Zhu What is virtualization? Virtualization allows one computer to do the job of multiple computers. Virtual environments let one computer host multiple operating systems at the
More informationMethods and Tools For Embedded Distributed System Scheduling and Schedulability Analysis
Methods and Tools For Embedded Distributed System Scheduling and Schedulability Analysis Steve Vestal Honeywell Labs Steve.Vestal@Honeywell.com 18 October 2005 Outline Background Binding and Routing Scheduling
More informationSolving Real-World Real-Time Scheduling Problems With RT_PREEMPT and Deadline-Based Scheduler Xi Wang Broadcom Corporation Questions, Comments: xiwang@broadcom.com peknap@yahoo.com Introduction Higher
More informationA Predictable and IO Bandwidth Reservation Task Scheduler
A Predictable and IO Bandwidth Reservation Task Scheduler By HAO CAI B.S., Nan Kai University, 1992 A Project Submitted in Partial Fulfillment of the Requirements for the Degree of MASTER OF SCIENCE In
More informationReducing Cost and Complexity with Industrial System Consolidation
WHITE PAPER Multi- Virtualization Technology Industrial Automation Reducing Cost and Complexity with Industrial System Consolidation Virtualization on multi-core Intel vpro processors helps lower overall
More informationReal Time Operating System for Embedded DSP Applications
Real Time Operating System for Embedded DSP Applications By P.S.Dey Lecturer Computer Science & Engg. Dept. I.I.T. Kharagpur Organization of the Talk 1. Real Time Systems an Overview. 2. Key Features of
More informationThe Microsoft Windows Hypervisor High Level Architecture
The Microsoft Windows Hypervisor High Level Architecture September 21, 2007 Abstract The Microsoft Windows hypervisor brings new virtualization capabilities to the Windows Server operating system. Its
More informationChapter 2: OS Overview
Chapter 2: OS Overview CmSc 335 Operating Systems 1. Operating system objectives and functions Operating systems control and support the usage of computer systems. a. usage users of a computer system:
More informationOperating Systems. III. Scheduling. http://soc.eurecom.fr/os/
Operating Systems Institut Mines-Telecom III. Scheduling Ludovic Apvrille ludovic.apvrille@telecom-paristech.fr Eurecom, office 470 http://soc.eurecom.fr/os/ Outline Basics of Scheduling Definitions Switching
More informationReal Time Programming: Concepts
Real Time Programming: Concepts Radek Pelánek Plan at first we will study basic concepts related to real time programming then we will have a look at specific programming languages and study how they realize
More informationHow To Compare Real Time Scheduling To A Scheduled Scheduler On Linux On A Computer System With A Visualization System
MS project proposal: A comparison of real-time scheduling algorithms using visualization of tasks and evaluation of real-time extensions to Linux Kevin Churnetski Computer Science-RIT 8/21/2003 Abstract:
More informationReal-time KVM from the ground up
Real-time KVM from the ground up KVM Forum 2015 Rik van Riel Red Hat Real-time KVM What is real time? Hardware pitfalls Realtime preempt Linux kernel patch set KVM & qemu pitfalls KVM configuration Scheduling
More informationIntroduction to the NI Real-Time Hypervisor
Introduction to the NI Real-Time Hypervisor 1 Agenda 1) NI Real-Time Hypervisor overview 2) Basics of virtualization technology 3) Configuring and using Real-Time Hypervisor systems 4) Performance and
More informationBuilding Embedded Systems
All Rights Reserved. The contents of this document cannot be reproduced without prior permission of the authors. Building Embedded Systems Chapter 2: Building Operating Systems Andreas Knirsch andreas.knirsch@h-da.de
More informationTHE RTOS AS THE ENGINE POWERING THE INTERNET OF THINGS
THE RTOS AS THE ENGINE POWERING THE INTERNET OF THINGS By Bill Graham and Michael Weinstein INNOVATORS START HERE. EXECUTIVE SUMMARY Driven by the convergence of cloud technology, rapidly growing data
More informationArchitectures for Distributed Real-time Systems
SDP Workshop Nashville TN 13 Dec 2001 Architectures for Distributed Real-time Systems Michael W. Masters NSWCDD Building Systems for the Real World What is the Problem? Capability sustainment Affordable
More informationAchieving Real-Time Performance on a Virtualized Industrial Control Platform
White Paper Virtualization Technology Industrial Automation Achieving Real-Time Performance on a Virtualized Introduction Good for many applications down to the 100 microsecond cycle time range A mainstay
More information