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$ rtlinux start my-program

$ rtlinux stop my-program
$ rtlinux status my-program
Creating RT Linux POSIX Threads
A real time program generally consists of a number of threads. Each thread
share a common address space. Pthread_create () function is used to create a new
real-time thread. The corresponding header file is
# include <pthread.h>
To achieve real time performance, the various POSIX compliant API function
calls are used. There function calls are related to create and cancel semaphores.
To implement mutex, we have to include the header file <rtl-mutex.h) in the C
program.
To cancel a thread, the system call is pthread cancel.
Timer Management
A number of internal clocks are available in RT Linux to manage the timers. The
current clock reading is obtained using command is:
Clock-set time ( ) function
Clock-id gives the identification of the clock to be read.

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UNIT-5
EMBEDDED SYSTEM APPLICATION DEVELOPMENT
PART-A(2 marks)
1. What is Multi-state system?
A system that can exist in multiple states (one-state at a time) and transition from one
state to another state is known as multistate system. There are 3 types of multi state
system:
 Timed multi state system
 Input – based multi state system
 Input – based / Timed multi state system
2. What is a motor driver?
A motor driver is a little current amplifier. The function of motor drivers is to take a low
current control signal and then turn it into a higher current signal that can drive a motor.
3. Define RTC
A real time clock is a computer clock that keeps track of the current time even when
the computer is turned off. Real Time Clock (RTC) runs on a special battery that is not
connected to the normal power supply.
4. Write in brief about the PIC microcontroller.
PIC (Peripheral Interface Controller) is a family of Harvard Architecture
microcontrollers made by Microchip Technology. It has an in built PWM generator,
which is very useful to control the motors
5. What is Smart Card?
Smart Card stores and process information through electronic circuits embedded in
the silicon in a plastic substrate body. It is portable and tamper resistant computer. It
carries both processing power and information.
6. Define class and objects.
Class: A class is a user defined type or data structure declared with keyword class that
has data and functions as its members whose access is governed by the three
accesses specifies private, protected or public. Class is a collection of data member and
member function
Object: Object is a class type variable, objects are also called instance of the class.
Each object contains all members declared in the class.
7. What is synchronization in RTOS?

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To let each section of codes, tasks and ISRS run and gain access to the CPU one after
the other sequentially or concurrently, following a scheduling strategy, so that there is a
predictable operation at any instance.
8.List the characteristics of multi – state system.
The system will operate in two or m ore states.
Each state may be associated with one or more function calls.
Transitions between states may be controlled by the passage of time, by
system inputs or by a combination of time and inputs.
Transition between states may also involve function calls.
9. What is an adaptive control algorithm?
An adaptive control algorithm refers to algorithm parameters which adapt to the present
status of the control inputs in place of a constant set of mathematical parameters in
algorithmic equations.
10. What are the task functions for a smart card?
resetTask
task_Read Port
task_PW
task_Appl
UNIT – 5
PART-B(16 marks)

1. Discuss in deeply about the case study of washing machine design.

Automatic washing machine is a Multi-state Input/Timed system. The characteristics of
multi state system are:
The system will operate in two or more states.
Each state may be associated with one or more functional calls.
Transitions between states may be controlled by the passage of time, by system
Inputs or by a combination of time and inputs.
Transitions between states may also involve function calls.

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Outline design of inputs and outputs:

Start
Water
Switch
Value
Water
Selector Heater
Dial
Washing Water
Machine Pump
Water
Controller
level
Sensor Drum
Motor
Temperature
sensor Detergent LED or LCD
Hatch indicators

Figure: Outline Design

Microcontroller based washing machine design:
PIC18F series microcontroller acts as a washing machine controller. Single
phase motor is considered for the design. Front panel consists of a keypad and LCD
display. Keypad provides automatic and manual wash options to the user. LCD display
is convenient to convey machine information to user. Modern washing machines are
designed with BLDC motors owing to efficiency and energy conversation. But in his
case, single phase universal motor has been used to design prototype.
Design Specifications:
This include both hardware and software specifications.
1. The system should provide fully automatic mode, semi automatic mode and
manual mode. Modes should be selected by a keypad.
2. Under fully automatic mode, user intervention requirement should be zero.
Once the system is started in this mode, it should perform its work independently and
after the completion of work it should notify the user about the completion of work. This
mode instantaneously should sense cloth quality and requirement of water, water
temperature, detergent, load, wash cycle time and perform operation accordingly.
3. In semi – automatic mode also, user requirement should be nil. But user has to
choose any one of the semi automatic mode in which washing conditions are
predefined. Once the predefined mode is started, the system should perform its job and
after completion, it should inform the user.
4. In manual mode, continuous intervention of user is required. For example, a
user needs to choose wash mode, wash time, amount of water and the load. After these
data are entered, the user should start the machine.
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5. When the lid is open, system should not work. If door is accidently opened in
between wash operation, then the system should stop working in minimum possible
time.
6. The system should provide all the basic features of a washing machine like
washing, rinsing, spinning, drying, cold wash, hot wash etc.
7. The system should provide easy option for upgrading the new features.
8. The system should work on single phase AC from 190V AC to 250V AC. The
system should protect itself from power supply voltage variations.
9. In the event of power failure, the washing machine should automatically start
its cycle from the point of interruption when power is resumed.
Hardware Design:
PIC18F452 is a heart of the system. Most of the peripheral features have been
utilized to implement the design. Controlling the motor is very crucial part of the design.
The PWM feature of the microcontroller controls motor speed. PWM output is feed to
driver circuit and then to motor.
To rotate the motor in two different directions forward and reverse direction,
control blocks are used. Motor speed sensor is interfaced to microcontroller.
Microcontroller reads the speed of the motor and approximately controls the speed of
the motor in different phases of washing using PWM output. Door sensor, pressure
sensor, keypad are also interfaced to microcontroller. EEPROM and RTC are interfaced
to MSSP module of controller. In-circuit serial programming facility is provided for quick
and easy programming and debugging.

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Washing machine parameters are stored in external EEPROM and internal

EEPROM of the PIC.
RTC (Real Time Clock) is interfaced to SPI (Serial Peripheral Interface) port of the
microcontroller. It is used as a timing reference for all timing calculation of machine.
Door sensor is connected to external interrupt 0. High priority is assigned to this
interrupt. Thus opening of the door causes triggering of INT0 and INT0 ISR
immediately to stop the machine and informs the user.
All the sensor outputs are connected to the analog pins of PIC (AN0, AN1, AN2 etc.)
Keypad is connected to port D. when any of the keys is pressed; output becomes
high and INT1 triggers. Int1 ISR does a keypad scan and approximately performs
the operation.
Motor speed sensor is given to T1, CLK which is an external clock input to timer 1 /
timer 3. Timer is configured in counter mode for calculating the speed. Speed is
calculated by counting pulse output from the sensor for one second.
Motor driver circuit determines the direction of the motor corresponding to the output
obtaining from the microcontroller.
Speed of the motor is controlled by the PWM generation from the microcontroller.
The duty cycle of PWM pulses are changed according to the output obtained from
the speed sensor to maintain the desired response during wash cycles.
Dedicated LCD with 3 wire interface is used, which consist of data line, clock and
chip select. Backlight control is also provided.

Software Design:
A provisional list of functions that could be used to develop a washing machine
are:
Read_Select_Dial ( )
Read_Start_Switch ( )
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Read_Water_Level ( )
Read_Water_Temperature ( )
Control_Detergent_Hatch ( )
Control_Door_Lock ( )
Control_Motor ( )
Control_Pump ( )
Control_Water_Heater ( )
Control_Water_Valve ( )
Frame Work:
1. System states – Initialization, start, fill drum, heat water, Wash 1, Wash 2,
Error.
2. User defined data – a) Maximum Fill duration – 1000 seconds. b) Maximum
water heat duration – 1000 seconds. c) Maximum wash 1 duration – 3000 seconds.
3. Functions involved in each state or function call
Initialization:
 Control_Motor (OFF)
 Control_Pump (OFF)
 Control_Water_Heater (OFF)
 Control_Water_Valve (OFF)
 Read_Select_Dial (ON)
Now switch on to start state.
Start:
 Control_Door_Lock (ON)
 Control_Water_Valve (ON)
 Control_Detergent_Hatch (ON)
Now switch on to fill drum state.
Fill Drum:
 Read_Water_Level (ON)
 Control_Water_Heater (ON)
Now switch on to either heat water state or Wash 1 state depends upon the
condition.
Heat Water:
Read_Water_Temperature (ON)
Now switch on to Wash 1 state.

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Wash 1:
 Control_Motor (ON)
After the completion of duration, the system switches to the wash 2 state.
Wash 2:
In Wash 2 state, the system performs the washing operation until its duration is expired.
Error:
In any crash or error happens between the states, the system goes to the
default state called error state. It restarts the particular state, where the error occurs.
4. Function definitions:
Thus the software design is clearly explained with states and functions.

2) Explain the case study of an embedded system for an automotive application.

Present day automobiles have many embedded systems. A car contains many
control systems. One among them is ACC(Adaptive Cruise Control) which automatically
controls the car speed.
Requirements
1. Purpose
2. Inputs
3. Signals, events and notifications
4. Outputs
5. Control panel
6. Functions of the system
7. Design metrices
a. Power source and dissipation
b. Resolution
c. Performance
d. Process deadlines
e. User interfaces
f. Extendibility
g. Engineering cost
h. Manufacturing cost
8. Test and validation conditions
ACC (Adaptive Cruise Control)

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This control method is used to maintain constant speed in cruise mode and to
decelerate when a vehicle comes in front at a distance less than safe and to accelerate
again to cruise mode by using adaptive control algorithm.
Adaptive Control algorithm
An adaptive control algorithm refers to an algorithm parameters in which adapt to
the present status of the control inputs in place of a constant set of mathematical
parameters in the algorithmic equations. Parameters adapt dynamically.
For an ACC system, an adjustable-system subunit generates output control
signal for throttle valve.
The desired preset cruise velocity vt,desired preset distance dset and safe preset
distance dsafe are the inputs to measuring subunit.
The measured velocity v and distance d are inputs to computing unit.
The comparison and decision subunit sends outputs which are inputs to
adjustable systems.

Fig : Model for an adaptive control algorithm adaption and functions

Class diagram
ACC system measurements of front end car range, distance and error estimations and
adaptive control can be modeled by two class diagrams of abstract classes, Task_ACC
and Task_Control

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.
1.Task_ACC is an abstract class from which extended classes like
Task_Align,Task_Signal,Task_ReadRange, Task_RangeRate and Task_Algorithm are
derived to measure range and errors.
2.Task_Control is an abstract class from which extended classes like
Task_Brake,Task_Throttle and Task_Speed are derived to measure range and errors.
3.There are two ISR objects ISR_ThrottleControl and ISR_BrakeControl
ACC Hardware Architecture
ACC embeds the following hardware units:
Microcontroller-Runs the service routines and tasks except task_Algorithm.CAN
port interfaces with the CAN bus at the car.
Processor with RAM/ROM- To execute task_Algorithm
Speedometer
Stepper motor-based alignment unit.
Stepper motor-based throttle control unit.
Transceiver –For transmitting pulses through an antenna hidden under the
plastic plates.
Display panel
Port devices-Five port devices are
Port_Align,Port_Speed,Port_ReadRange,Port_Throttle and Port_Brake

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ACC Software Architecture

For the ACC systems Basic Conformance Class I (BCCI) is used.The following table
lists the BCCI tasks,functions and IPCs

BCC 1 Task BCC 1 Action IPCs pending

function Priority
task_Align 101 Starts an event and send signal to Reset
Port_Align and Port_Ranging
task_Read 103 Disable interrupts,gets signal from Align
Range Port.Finds the time difference and
enable interrupts
task_Speed 105 Start a timer,wait for 10 counts and ---
outputs deltaT from port
task_RangeRa 107 Get preset cruising speed Speed
te compare it with current speed
task_Algorithm 109 Get errors of speed and range, ACC
errors of other vehicles, other
vehicles brake status,present
throttle position.Send throttle
adjust output,signal to Port_Brake
in case of emergency braking
action.Port_Brake transmits the
action needed to other vehicles
also.
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Synchronization Model
1.The task,task_Align sends the signal to a stepper motor port Port_Align and
Port_Ranging.The stepper motor moves by one step clockwise or anticlockwise.
2.A task,task_ReadRange is for measuring front-end car range.
3.task_Speed gets the port reading at a port Port_Speed.Task sends v, using the
countN and count() interval between the initial and Nth rotation.
4.task_RangeRate sends the rangeNow.Calculates both range and rate errors and
transmits both rangeNow and speedNow.
5.task_Algorithm runs the main adaptive algorithm.It gets inputs from task_RangeRate
and outputs are events to Port_Throttle and brake.Port_Throttle attaches to the vacuum
actuator stepper motor.

3. Write about the design and interface of smart card system.

Smart Card Basics:
Smart card stores and process information through electronic circuits embedded in the
silicon in a plastic substrate body. It is portable and tamper resistant computer. It carries
both processing power and information.
Smart card has an embossed area on one face and magnetic stripe on other, it defines
by ISO7816 standard. To communicate with the outside world, Smart card is placed
inside a card Acceptance device.

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Requirements:
Assume a contact less smart card for bank transactions. Let it not be magnetic.
Requirements of Smart card communication system with a host are.
1. Purpose:
Enabling authentication and verification of card and card holder by a host and enabling
GUI at host machine to interact with the card holder / user for the required transactions:
for example, financial transactions with a bank or credit card transaction.
2. System Functioning:
1. The cards inserts at host machine. The radiations from the host activate a charge
pump at card.
2. On power up, system reset signals reset task to start. The reset task sends the
messages - request Header and request start for waiting task. task_ReadPort.
3. task_Read Port sends requests for host identification and reads through the
port_IO the host - identification and reads the request start from host for card
identification.
4. The task_PW sends through Port_IO the requested card identification after
system receives the host identity through Port_IO
5. The task_Appl then runs required API. The request Appl close message closes
the application.
6. The card can now be withdrawn and all transactions between card holder user
now takes place through GUIs using at the host control panel.
3. Inputs:
Receives header and messages at IO Port_IO from host through the antenna.
4. Signals and Events and Notifications:
1. On power up by radiation powered charge - pump supply of the card, a signal to
start the system boot program at reset task.
2. Card start request header message to task - Read Port from reset Task.
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3. Host authentication request start message to task_Read Port from reset Task to
enable request for Port_IO
4. User PW verification message (notification) through Port_IO from host.
5. Card application close request Applcase message to Port_IO
5. Outputs:
Transmitted headers and messages at port_IO through antenna.
6. Control Panel:
No control panel is at the card. The control panel and GUIs activate at the host
machine.
7. Design Metrics:
1. Power source and dissipation: Radiation powered contact - less operation.
2. Code Size: Code size generated should be optimum. The card system memory
needs should not exceed 64 KB Memory.
3. File System(s): Three layered file system for the data. One file for the master file
to store all file headers. A header has strings for file status, access conditions and
file-lock. The second file is a dedicated file to hold a file grouping and heads. The third
file is the elementary file to hold the file header and file data.
4. File Management: There is either a fixed length file management or variable file
length management with each file with a predefined offset.
5. Micro controller hardware: Generates distinct coded physical addresses for the
program and data logical addresses. Protected once writable memory space.
6. Validity: System is embedded with expiry date, after which the card
authorizations through the hosts disable.
7. Extendibility: The system expiry date is extendable by transactions and
authorization of master control unit.
8. Performance: Less than 1s for transferring control from the card to host machine
9. Process Deadlines: None.
10. User Interfaces: At host machine, graphic at LCD or touch screen display on LCD
and commands for card holder (card user) transactions.
11. Engineering Cost: US $ 50,000 (assumed)
12. Manufacturing Cost: US $ 1 (assumed)
Test and Validation Conditions:
 Tested on different host Machine versions for fail proof card-host communication.
Class Diagram:
An abstract class is Task Communication. The figure shows the class diagram of
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Task_Card communication. A cycle of actions and card - host synchronization in the

card leads us to the model Task_Card communication for system tasks. Card system
communication to host for identifying host and authentication itself to the host.
ISR1_Port_IO, ISR2_Port_IO and ISR3_Port_IO are interfaces to the tasks. The
task_Appl, taskPW, taskRead port and reset_Task are the objects of Task_appl,
Task_PW, Task_Read Port and Task_Reset, respectively. These classes are extended
classes of abstract class Task_Card communication.

Task_card communication is an abstract class from which extended is class

derive to read port and authenticate. The tasks are the instances of the classes
Task_Appl, Task_Reset, Task_Read Port and Task_Reac Range.
Task_Read Port interfaces ISR1_Port_IO
The task_PW is object of Task_PW and interfaces ISR2_Port_IO. Task_Appl
interfaces ISR3-Port_IO
Hardware and Software Architecture:

Software using Java card provides one solution. JVM has thread scheduler built in. No
separate multitasking OS in thus needed when using Java because all Java byte codes
run in JVM environment. Java provides the features to support (i) security using class
java.lang. Security Manager, (ii) cryptographic needs. Java provides support to
connections, datagrams, IO streams and network sockets.
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Java mix is a new technology in which the native applications of the card run in C or
C++ and downloadable applications run in Java Card. The system OS and JVM both.
Smart OS in an assumed hypothetical OS in this example, as RTOS in the card.
Remember that a similar OS function name is used for understanding purpose identical
to MUCOS but actual smart OS has to be different from MUCOS. Its files structure in
different. It has two function as follows.
The function unsigned than ( ) smart OS encrypy (unsigned char * applstr, EnType type)
encrypts as per encryptes method, EnType = "RSA" or "DES" algorithm chosen and
returns the encrypted string.

List of Task functions and IPCs:

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Synchronization Model:
Following are the actions on the card places near the host machine antenna in a
machine slot.
Step 1: Receive from the host, on card installation, the radiation of carrier frequency or
clock signals in case of contact with the card. Extract charge for the system power
supply for the modem, processor, memories and port IO device.
Step 2: Execute codes for a boot up task on reset resetTask. Let us code in a similar
way as the codes for First task. The codes begin to execute from the main and the main
creates and initiates this task and starts the smart OS.

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