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Real Time Versions Of Linux Operating System: Present By Trnduythnh Ầ Ị Quách Phát Tài

This document summarizes real-time versions of the Linux operating system. It discusses how standard Linux was modified to become real-time through techniques like adding preemption, reducing interrupt latency and jitter. Open-source distributions like KURT, RTAI, RTLinux and ADEOS are described that implement microkernels or POSIX extensions to enable real-time functionality. Commercial distributions from companies like RedHawk, MontaVista and TimeSys that provide real-time Linux with support are also outlined. The key real-time mechanisms used include microkernels, preemptable kernels and POSIX timers/scheduling.

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Dâu Đen
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52 views29 pages

Real Time Versions Of Linux Operating System: Present By Trnduythnh Ầ Ị Quách Phát Tài

This document summarizes real-time versions of the Linux operating system. It discusses how standard Linux was modified to become real-time through techniques like adding preemption, reducing interrupt latency and jitter. Open-source distributions like KURT, RTAI, RTLinux and ADEOS are described that implement microkernels or POSIX extensions to enable real-time functionality. Commercial distributions from companies like RedHawk, MontaVista and TimeSys that provide real-time Linux with support are also outlined. The key real-time mechanisms used include microkernels, preemptable kernels and POSIX timers/scheduling.

Uploaded by

Dâu Đen
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© © All Rights Reserved
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1

Real Time Versions of


Linux Operating System

Present by
Trn Duy Thnh
Quch Pht Ti

Content
Implement core real-time Linux

1. Standard Linux
Memory
Management
Memory
Protection
Scheduling and
Task Management
Hardware
Interfaces
File Management

2. Real-time Linux kernel


Modifications that make Linux Real Time
Real-Time Patches to the Standard Kernel

2. Real-time Linux kernel


Modifications that make Linux Real Time

2.1 Modification that make Linux


Real-time
Interrupt processing in standard kernel: 2 halves
The bottom-half task is the interrupt handler and reads data
from the physical device into a memory buffer.
The top-half task reads from the memory buffer and passes the
data to a kernel accessible buffer

In the standard kernel: without preemption, all interrupts


are disabled when the bottom-half task is running.
All variants of real-time Linux have introduced modifications
at the kernel level
reduce both the interrupt latency and jitter between periodic
interrupts
faster response to external events and higher resolution timing

2.1 Modification that make Linux Real-time


Standard kernel
preemption
Higher priority kernel
processes can preempt
lower priority
Linux version 2.5.4
latency and jitter is
around 1 millisecond

2.2 Real-time Patches to the Standard


Kernel
adding a second, highly efficient, kernel to handle real-time
tasks
Micro Kernel: RTLinux, RTAI
Nano Kernel
Resource Kernel Extension

making changes directly to the standard kernel


POSIX Real-Time Extensions: implement the timers, signals,
semaphores, process memory locking, shared memory,priority
scheduling, synchronized and asynchronized I/O specied in IEEE
1003.1d
KURT
TimeSys Linux

2.2.1 Micro Kernel


Victor Yodaiken controls
the execution of real-time
tasks
runs the standard Linux
kernel as a
background task
RTLinux New Mexico
Tech
RTAI - Politecnico di
Milano

10

2.2.2 Nano Kernel


Adaptive Domain
Environment for
Operating Systems
(ADEOS)
similar to the micro
kernel
many operating
systems
can be run in parallel
on top of the nanokernel layer

11

2.2.3 Resource Kernel Extension


provides a gateway to
resources such as file
systems, serial and parallel
ports, and network
interfaces for both the
normal kernel and also for
user processes
control the interrupt
preemption issues for the
standard kernel
User-space can
communicate directly

12

2.2.4 POSIX Real-time Extensions


Modify directly to the standard kernel
Implement the timers, signals, semaphores, process memory
locking, shared memory,priority scheduling, synchronized and
asynchronized I/O specied in IEEE 1003.1d
Two different approaches:
KURT: The Kansas University Real-Time Linux (KURT)
distribution,
high resolution timers,
real-time scheduling improvements

TimeSys Linux
making the standard kernel preemptable
including a kernel scheduler that provides scheduling for the bottomhalf kernel interrupt processing and for interrupts themselves

13

2.3 Performance Comparison

14

Real-time versions of Linux


Open-Source Distributions:
Provide the source code and build scripts so the
user can understand, modify, and build the code
Documentation may be sparse and technical
support nonexistent

Commercial Distributions
Make a profit to stay in business.
Support and documentation.

15

3. Open-Source Distribution

ADEOS
KURT
RTAI
RTLinux
TimeSys Linux GPL

16

Open-Source: ADEOS
Adaptive Domain Environment for Operating
Systems
2002
Is a hardware abstraction layer
Allow a real-time kernel and a general purpose
kernel to co-exist
Real-Time Mechanism nano-kernel

17

Open-Source: KURT
Kansas University
1997
Implement the POSIX real-time extensions to
Linux
The patches implement the queued real-time
signals and the high-resolution timers.
Real-Time Mechanism: POSIX timers and
scheduling.
10s of microseconds of latency and jitter

18

Open-Source: RTAI (Linux-RT)

Politecnico di Milano, Italy.


2000
Originally based on RTLinux
Evolved as a unique favor of real-time Linux.
Real-Time Mechanism: micro kernel
< 10 microseconds latency and jitter

19

Open-Source: RTLinux
Victor Yodaiken, New Mexico Institute of
Technology
1996
Covers the logic of running standard Linux as a
background thread to the real-time tasks
Real-Time Mechanism: micro kernel
< 10 microseconds latency and jitter

20

Open-Source: TimeSys Linux GPL


TimeSys
1998
Provides a preemptable kernel and an improved
task scheduler
Real-Time Mechanism: Preemptable Kernel
< 100 microseconds of latency and jitter

21

4. Commercial Distribution

RedHawk Linux
FSMLabs RTLinux
MontaVista Linux
QRTS
REDICE-Linux
Linux SMP
TimeSys

22

Commercial: RedHawk Linux


Concurrent Computer Corporation
Packaged hardware/software solutions
Targeting the real time data acquisition, videoon-demand, and simulation markets
Real-Time Mechanism Kernel: preemption
enhancements

23

Commercial: FSMLabs RTLinux


Finite State Machine Labs
RTLinux version 3.0 offers developers the option
of using either Linux or netBSD as their general
purpose OS, using the identical POSIX threads
API
Real-Time Mechanism: Micro kernel

24

Commercial: MontaVista Linux


MontaVista Software Inc.
Tailor to the needs of embedded software
developers.
Real-Time Mechanism: Kernel pre-emption
enhancements

25

Commercial: QRTS
Quality Real Time Systems
Develops applications for real-time control and
simulation.
Real-Time Mechanism: RTLinux micro kernel

26

Commercial: REDICE-Linux
REDSonic Inc.
Integrates the dual kernel approach and the
preemptable kernel to provide a hybrid solution
Real-Time Mechanism: Micro kernel and Kernel
Preemption.

27

Commercial: Linux SMP


Synergy Microsystems Inc.
Support RTLinux as the operating system on
their PowerPC single-board computers.
Real-Time Mechanism: RTLinux micro kernel

28

Commercial: TimeSys Linux/RealTime,


TimeSys Linux/Net, TimeSys Linux/CPU
TimeSys Corporation
Adds three proprietary components into an
open-source preemptable kernel
High-resolution timers and priority inheritance.
Guaranteed access to CPU resources,
Guaranteed access to network resources.

Real-Time Mechanism: Preemptable Kernel.

29

Thank you!

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