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    Vxworks and Embedded Linux

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    Lalith Krishnan
    VxWorks is a real-time operating system that provides multitasking, scheduling, interrupt handling, intertask communication, and support for applications with strict timing constraints. It uses a microkernel architecture with layers for real-time applications, libraries, and a core operating system. VxWorks allows prioritized preemptive multitasking and uses techniques like dynamic stack variables and guarded global variables to enable shared code to be reentrant and thread-safe. It provides intertask communication methods like shared memory, message queues, pipes, and semaphores. VxWorks is commonly used in embedded systems that have real-time requirements like industrial control, medical devices, avionics, and more.

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    Vxworks and Embedded Linux

    Uploaded by

    Lalith Krishnan
    365 views26 pages
    VxWorks is a real-time operating system that provides multitasking, scheduling, interrupt handling, intertask communication, and support for applications with strict timing constraints. It uses a microkernel architecture with layers for real-time applications, libraries, and a core operating system. VxWorks allows prioritized preemptive multitasking and uses techniques like dynamic stack variables and guarded global variables to enable shared code to be reentrant and thread-safe. It provides intertask communication methods like shared memory, message queues, pipes, and semaphores. VxWorks is commonly used in embedded systems that have real-time requirements like industrial control, medical devices, avionics, and more.

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    VxWorks is a real-time operating system that provides multitasking, scheduling, interrupt handling, intertask communication, and support for applications with strict timing constraints. It uses a microkernel architecture with layers for real-time applications, libraries, and a core operating system. VxWorks allows prioritized preemptive multitasking and uses techniques like dynamic stack variables and guarded global variables to enable shared code to be reentrant and thread-safe. It provides intertask communication methods like shared memory, message queues, pipes, and semaphores. VxWorks is commonly used in embedded systems that have real-time requirements like industrial control, medical devices, avionics, and more.

    Copyright:

    © All Rights Reserved
    Download as PPT, PDF, TXT or read online from Scribd
    Download as ppt, pdf, or txt
    365 views26 pages

    Vxworks and Embedded Linux

    Uploaded by

    Lalith Krishnan
    VxWorks is a real-time operating system that provides multitasking, scheduling, interrupt handling, intertask communication, and support for applications with strict timing constraints. It uses a microkernel architecture with layers for real-time applications, libraries, and a core operating system. VxWorks allows prioritized preemptive multitasking and uses techniques like dynamic stack variables and guarded global variables to enable shared code to be reentrant and thread-safe. It provides intertask communication methods like shared memory, message queues, pipes, and semaphores. VxWorks is commonly used in embedded systems that have real-time requirements like industrial control, medical devices, avionics, and more.

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    of 26

    VxWorks

    Topics Covered
    What is Real Time Operating System (RTOS)
    Standard for RTOS
    VxWorks Features as RTOS
    Layer Structure
    Microkernal Functions:
    Multitasking
    Scheduling
    Interrupt Service Code
    Shared Code and Reentrancy
    Intertask Communications
    Applications for VxWorks

    What is Real Time OS (RTOS)


    RTOS Characteristics
    Processing must be done within a time constraint or the
    system will fail.
    All delays in the system will be bounded; from the retrieval of
    stored data to the time RTOS finishes the request.

    Types of RTOS
    Hard RTOS
    Soft RTOS

    Standard for RTOS

    Standard requirement for RTOS


    POSIX 1003.1b by ISO/IEEE chapter.
    POSIX interfaces:
    Asynchronous I/O

    Queued signals

    Semaphore

    Scheduling

    Message queues

    Clocks and timers

    Memory management

    Layer Structure

    Real-Time Embedded Application

    Graphics
    Java Support

    Multiprocessing

    Internet

    POSIX Library

    File System

    WindNet Networking
    Core OS:

    Wind Microkernal

    Multitasking

    S
    Suspended used primarily for debugging

    Ready wait for CPU,


    a single primitive=create+activate
    Pended blocked, wait t time for recourses. After
    t - Error.
    Delay asleep for t time, after t goes to ready state.
    On a context switch, a tasks context is saved in TCB. All code
    executes in a single common space. Memory isnt saved.6

    Scheduling, One CPU

    Priority-based preemptive scheduling


    Each task has priority (from 0 - highest to 255 lowest). Each priority has its own queue.
    If two tasks are in the ready state, a lower priority task
    would be pre-empted by one of a higher priority.
    Round-robin scheduling
    After time slice for a task expires, another task with the
    same priority will execute during the given time slice.
    Preemption locks
    These locks prevent task context switching, but do not
    prevent interrupt handling.

    Interrupt Service Code

    Via interrupts, the system is informed of external


    events.
    Interrupt Service Routines (ISRs) run outside any
    task context.
    Interrupt handling involves no task context switch.
    Limitations of ISR:
    All ISRs share the same stack
    ISR has no context that can be suspended
    Cannot take the semaphore, but can give the
    semaphores, releasing any task waiting on them.
    Cannot perform I/O through drivers except pipe.

    Shared Code and Reentrancy

    Shared Code - a single copy of code executed by multiple


    tasks.
    Shared Code must be reentrant. A subroutine is reentrant if a
    single copy of the routine can be called simultaneously from
    several task contexts without conflict.
    Reentrancy Techniques:
    Dynamic Stack Variables
    Global and Static Variables Guarded by Semaphores
    Task Variables

    Shared Code and Reentrancy, Continued

    Dynamic Stack Variables


    Tasks
    Task1( ){ ..

    Task Stacks

    Common Function

    myData1

    comFun(myData1)
    }

    comFun(yourData){
    }

    Task2( ){ ..
    comFun(myData2)
    }

    myData2

    10

    Shard Code and Reentrancy, Continued

    Guarded Global and Static Variables


    Mutual-exclusion mechanism - only one task at a time
    can be in a critical section of the code.
    Task Variables
    Four byte variables are added to the task context
    block (TCB).

    11

    Intertask Communications, One CPU

    Types of Intertask Communications:


    Shared Data
    Message Queue
    Pipes - Virtual I/0
    Network Intertask Communication
    Sockets
    Remote Procedure Call

    12

    Intertask Communication, Shared Data

    Tasks
    1.

    Access SharData

    2.

    Access SharData

    3.

    Access SharData

    Memory

    SharData

    13

    Semaphores
    Semaphore - mechanism for mutual exclusion and intertask
    communication.
    Binary Semaphore
    Semaphore
    available
    YES

    NO

    TimeOut=
    No_Wait

    NO

    Task is
    pended for
    timeOut

    YES

    Task cont.

    Task cont.

    Semaphore
    taken

    Semaphore
    not taken

    14

    Semaphores, Continued
    Counting Semaphore
    Every time is semaphore is given count ++
    Every time is semaphore is taken count - If count=0, task that tried to take semaphore is blocked
    If semaphore is given and task is blocked, task is
    unblocked
    Is semaphore is given and no tasks are
    blocked, count ++
    Special Semaphore Option (Not in POSIX)
    Timeout
    Time the task is willing to wait (time in ticks) in pended
    state. If time > timeout, ERROR occurs.
    15

    Intertask Communication, Message


    Queue
    Allows a variable number of messages to be queued
    Any task or ISR can send a message to a queue.
    Multiple tasks can send and receive from the same
    message queue.
    Timeout Parameter:
    Send message: how long to wait for buffer space
    to place message.
    Receive message: how long to wait to obtain
    message.

    16

    Applications for VxWorks

    Some usage of RTOS


    Flight simulators

    Printers

    Radio and optical telescopes

    Digital cameras

    Navigation systems

    Hand-held computing
    devices

    Deep sea instrumentation


    Traffic control systems

    Routers, switches, and


    other network devices

    Modems
    any systems where rigid time requirement have been
    placed on the operation of a processor or the flow of the data.

    17

    Commercial Embedded Linux


    Neoware NeoLinux
    Red Hat derived for information
    appliances
    PalmPalm Tynux
    Internet appliuance and multimedia
    Red Hat Embedded Linux
    general purpose embedded solution
    RedSonic Red-Ice Linux
    runs from DiskonChip or
    CompactFlash

    Commercial Embedded Linux


    RidgeRun DSP Linux
    for multimedia, wireless, RT on DSP
    TimeSys Linux GPL
    low latency enhanced kernel
    Tuxia TASTE
    distro targets Internet appliances
    Vital Systems vLinux
    for ARM based embedded apps

    Open Source Embedded Linux


    Embedded Debian Project
    convert Debian to an embedded OS
    ETLinux
    for PC104 SBCs
    uCLinux
    for microprocessors that dont have MM
    uLinux (muLinux)
    distro fits on a single floppy

    Commercial Linux RTOS


    FSMLabs - Open RT Linux
    Lineo - Embedix Realtime
    LynuxWorks - BlueCat RT
    MontaVista Software - Real Time
    Extensions
    REDSonic - REDICE Linux
    TimeSys - Linux/Real-Time

    Open Source Linux RTOS


    ART Linux - real time extension based on
    RTLinux
    KURT - event schedules with 10us resolution
    Linux-SRT - for soft real time apps like
    multimedia
    Qlinux - provides Quality of Service guarantees
    RTAI - hard Real Time Application Interface

    RTLinux
    A hard real-time mini operating system
    runs Linux as its lowest priority execution
    thread
    Linux thread completely preemptible
    Real time threads and interrupt handlers
    never delayed by non-realtime operations
    Supports user level programming
    MiniRTL implementation fits on a floppy

    Whats so special about Linux?


    Multiple choices vs. sole source
    Source code freely available
    Robust and reliable
    Modular, configurable, scalable
    Superb support for networking
    and Internet
    No runtime licenses
    Large pool of skilled developers

    Whats so special about Linux?

    Whats special about Open Source?

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