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    RTOS

    Uploaded by

    Mayank Singh
    The document discusses real-time operating systems (RTOS), which are optimized for use in embedded systems with limited resources. It describes the key components of an RTOS, including the kernel, tasks, memory management, timers, I/O, inter-process communication, and device drivers. The kernel is responsible for scheduling tasks, allocating memory, handling timers and interrupts, enabling communication between tasks, and managing device drivers. An RTOS must meet strict timing constraints to ensure processes are completed within deadlines while using minimal resources. Examples of widely used RTOS include VxWorks, pSOS, Nucleus, and RTLinux.

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    © All Rights Reserved
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    RTOS

    Uploaded by

    Mayank Singh
    159 views34 pages
    The document discusses real-time operating systems (RTOS), which are optimized for use in embedded systems with limited resources. It describes the key components of an RTOS, including the kernel, tasks, memory management, timers, I/O, inter-process communication, and device drivers. The kernel is responsible for scheduling tasks, allocating memory, handling timers and interrupts, enabling communication between tasks, and managing device drivers. An RTOS must meet strict timing constraints to ensure processes are completed within deadlines while using minimal resources. Examples of widely used RTOS include VxWorks, pSOS, Nucleus, and RTLinux.

    Original Description:

    Real Time Operating System

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    The document discusses real-time operating systems (RTOS), which are optimized for use in embedded systems with limited resources. It describes the key components of an RTOS, including the kernel, tasks, memory management, timers, I/O, inter-process communication, and device drivers. The kernel is responsible for scheduling tasks, allocating memory, handling timers and interrupts, enabling communication between tasks, and managing device drivers. An RTOS must meet strict timing constraints to ensure processes are completed within deadlines while using minimal resources. Examples of widely used RTOS include VxWorks, pSOS, Nucleus, and RTLinux.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    159 views34 pages

    RTOS

    Uploaded by

    Mayank Singh
    The document discusses real-time operating systems (RTOS), which are optimized for use in embedded systems with limited resources. It describes the key components of an RTOS, including the kernel, tasks, memory management, timers, I/O, inter-process communication, and device drivers. The kernel is responsible for scheduling tasks, allocating memory, handling timers and interrupts, enabling communication between tasks, and managing device drivers. An RTOS must meet strict timing constraints to ensure processes are completed within deadlines while using minimal resources. Examples of widely used RTOS include VxWorks, pSOS, Nucleus, and RTLinux.

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    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    of 34

    RTOS

    Design & Implementation


    Swetanka Kumar Mishra & Kirti Chawla

    Introduction
    Introduction
    Structure of RTOS

    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    A variant of OS that operates in


    constrained environment in which
    computer memory and processing
    power is limited. Moreover they often
    need to provide their services in
    definite amount of time.
    Hard, Soft & Firm RTOS
    Example RTOS: VxWorks, pSOS,
    Nucleus, RTLinux

    Structure of a RTOS
    Introduction
    Structure of RTOS
    Components of RTOS

    Applications

    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers

    RTOS-kernel
    BSP

    Expectations
    Examples

    Custom-Hardware

    Components of RTOS
    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    The most important


    component of RTOS is its
    kernel (Monolithic & Microkernel).
    BSP or Board Support
    Package makes an RTOS
    target-specific (Its a processor specific

    code onto (processor) which we like to have our


    RTOS running

    ).

    RTOS KERNEL
    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    RTOS KERNEL: Tasks(1)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    A task is basic unit of


    execution in RTOS.
    RTOS scheduler needs to be
    deterministic ~ O(1) or O(n).
    Scheduling policies that are
    available in a RTOS are:

    Clock

    driven
    Priority driven (RMS & EDF)

    RTOS KERNEL: Tasks(2)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks

    TID
    SAVED_TASK_STATE
    Resource 1 (signals)

    Memory
    Timers

    Resource 2 (events)

    I/O
    IPCs

    Resource 3 (shared memory)

    Device Drivers
    Expectations
    Examples

    .
    .
    System Variables
    Task Control Block

    RTOS KERNEL: Tasks(3)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    RTOS KERNEL: Tasks(4)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    RTOS KERNEL: Tasks(5)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    RMS, EDF

    RTOS KERNEL: Tasks(6)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    XXX_CreateTask
    XXX_AddtoProcessQueue
    XXX_ChangePriority
    XXX_KillTask
    XXX_CreateTaskQueues

    RTOS KERNEL: Memory(1)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    Memory is premium in
    environments where RTOS
    work.
    Supports Virtual Memory
    (MMU) and Memory
    Protection (MPU) models.
    User space and Kernel space
    memory.

    RTOS KERNEL: Memory(2)


    Introduction

    Physical Address

    Structure of RTOS

    Virtual Address

    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    PHY1

    VIRT1

    PHY2

    VIRT2

    PHY3

    VIRT3

    PHY4

    VIRT4

    .
    .
    .
    .
    .
    Virtual Memory Concept

    RTOS KERNEL: Memory(3)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    Virtual Memory Concept

    RTOS KERNEL: Memory(4)


    Introduction
    Structure of RTOS
    Components of RTOS

    Participation of User space programs with kernel for


    services and as a central pool of memory for
    specialized applications.

    RTOS Kernel
    Tasks
    Memory
    Timers

    P1

    User Space memory

    P2

    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    M1

    M2
    Kernel Space Memory

    RTOS KERNEL: Memory(5)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    XXX_Kmap
    XXX_PassToUserSpace
    XXX_Mmap
    XXX_PurgeMemory/Kfree
    XXX_Kmalloc

    RTOS KERNEL: Timer(1)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    Timer is software entity


    derived from hardware clock.
    Timer provides mechanism to
    introduce task-delays and/or
    to help synchronize and
    provide time off-course.
    Watchdog Timers,
    Programmable Timers

    RTOS KERNEL: Timer(2)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    RTOS KERNEL: Timer(3)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    Based upon these hardwareprogrammable timers, RTOS


    kernel can use to create
    software structures of timers
    associated with tasks.
    Scheduling, Synchronization,
    time-stamping

    RTOS KERNEL: Timer(4)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    XXX_SetTimer
    XXX_AddtoTimerQueue
    XXX_isExpired
    XXX_RunAtExpiry
    XXX_PurgeTimerQueue

    RTOS KERNEL: I/O(1)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    I/O is slow as compared to


    CPU.
    I/O: Interrupt-driven, Polling,
    DMA.
    I/O map: Memory Space & IO
    Space.

    RTOS KERNEL: I/O(2)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    RTOS KERNEL: I/O(3)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    RTOS KERNEL: I/O(4)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    DMA driven I/O

    RTOS KERNEL: I/O(5)


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    XXX_IORead/IOWrite
    XXX_IOMap/Unmap
    XXX_BindInterrupt

    RTOS KERNEL:
    Inter-process Communication(1)
    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    Most of the time tasks cannot


    run in isolation. They require
    to talk to each other.
    Synchronization, Protection
    and Sharing are goals of IPC.

    RTOS KERNEL:
    Inter-process Communication(2)
    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel

    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers

    Expectations

    Examples

    Semaphores
    (Binary, Mutual)
    Message Queues
    Pipes/Named
    Pipes
    Shared Memory
    Signals/Slots
    Mail slots
    Sockets/XTI

    RTOS KERNEL:
    Inter-process Communication(3)
    Introduction
    Structure of RTOS

    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    A common
    shared datastructure
    residing in
    kernel or user
    space.
    Mechanism to
    access it.

    RTOS KERNEL:
    Device Drivers(1)
    Introduction
    Structure of RTOS

    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    A piece of software that enables


    devices connected to particular
    processor, via various
    interfaces.
    Controls, manages and
    configures devices connected to
    system.

    RTOS KERNEL:
    Device Drivers(2)
    Introduction
    Structure of RTOS
    Components of RTOS

    Client Drivers

    RTOS Kernel
    Tasks
    Memory
    Timers

    Protocol Layers

    I/O
    IPCs
    Device Drivers
    Expectations

    Host Controller Drivers

    Examples

    Hardware

    RTOS KERNEL:
    Device Drivers(3)
    Introduction
    Structure of RTOS

    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    A host controller driver enables


    system to accept a particular type of
    device.
    Client drivers are device specific.
    Protocol layer converts device
    request to form that is understood
    by corresponding host controllers
    through their drivers.

    Expectations from RTOS


    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    Deadline-driven
    Work with Dearth of Resources
    Intricate I/O interfaces (Touch
    panels, Push buttons )
    Fail-safe and Robust
    Availability

    An Example RTOS
    Introduction
    Structure of RTOS
    Components of RTOS
    RTOS Kernel
    Tasks
    Memory
    Timers
    I/O
    IPCs
    Device Drivers
    Expectations
    Examples

    EMERALDS architecture

    Relevant books and


    websites

    http://www.intelinfo.com/it_training_materials_and_books/free_real_time_
    operating_systems_training_materials.html
    Linux Device Drivers Alexander Rubini, Oreilly publications
    http://www.ddjembedded.com : Dr. Dobbs Journal
    http://www.embedded.com

    Some RTOS based Embedded Systems

    http://www.ll.mit.edu/HPEC/agendas/proc02/abstracts/ahlander.pdf

    http://www.cs.berkeley.edu/~culler/cs294-f03/papers/emeralds.pdf

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