Real Time Operating System II

8/4/2019 Real Time Operating System II

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REAL TIMEOPERATING SYSTEMPROGRAMMING-II

COS AND VXWORKSBY

N.SRG PERUMALAP,HoD ECE

SUDHARSAN ENGINEERING COLLEGE


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DeveloperO Developed by Jean J. Labrosse

Jean J. Labrosse designed it in 1992

C/OS-II name derives from Micro-Controller Operating System


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Characteristics Multitasking Deterministic Portable as ROM image

Scalable Preemptive RTOS Different Platforms supportO Full source code availabilityO www.micrium.com Elegantly and very well documented in

the book by its designer


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Basic FeatureO Scalable OS only needed OS functions

become part of the application codes

O Configuration file includes the userdefinitions for needed functions

O Multitasking preemptive scheduler

O Elegant code


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Basic FeatureO It has a pre-certifiable software component

for safety critical systems, including

avionics system clockA DO-178B and

EUROCAE ED-12B, medical FDA 510(k),

and IEC 61058 standard for transportation

and nuclear systems, respectively

O Source code has been certified by

Department of Defense, USA for use inAvionics and in medical applications.


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Applications

O Automotive,

O avionics,

O consumer electronics,O medical devices,

O military,

O aerospace,

O networking, and

systems-on-a-chip.


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MUCOS real time kernel

additionalsupport C/BuildingBlocks [an embedded system

building blocks (software components) for

hardware peripherals, for example clock

(C/Clk) and LCD (C/LCD)]

C/FL (an embedded flesh memory loader)

C/FS (an embedded memory file system) C/GUI (an embedded GUI platform),

C/Probe (a real time monitoring tool),


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continued.O C/TCP-IP (an embedded TCP/IP stack),

O C/CAN (an embedded Controller Area

O Network bus)O C/MOD (an embedded Modbus ) and

O C/USB device and C/USB host (an

O embedded USB devices framework).


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Code Language

O C and CPU Specific Codes inAssembly


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Source Files

O Master Header file, which has the #includes andProcessor dependent source files and ucos.ii.h anducos.ii.c files

O os_cfg.h for Kernel building configuration file andO os_cpu.h a header file for preprocessor definitionsO os_tick.c timer related codes fileO os_cpu_c. c preprocessor C Codes

O os_cpu_a.s12 An example of assembly codes filefor 68HC12

O os_mem.c for memory functionsO os_sem.c, os_mbox.c and os_q.c for semaphores,

mailbox and queues


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Macros

O OS_NO_ERR a MUCOS macro that

returns true in case no error is reported

from a functionO OS_MAX_TASKS user definable

constant for specifying maximum

number of tasks in user application


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MUCOS Basic FunctionsO System Level OS initiate, start, system

timer set, ISR enter and exit

Task Service Functions create, run,suspend, resume, ..

Task delay

Memory allocation, partitioning


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Continued.

O IPCs Semaphore, Queue and Mailbox

O Same Semaphore function usable as

O event flag, resource key and countingO semaphore

O Mailbox one message pointer per

O mailbox

O Queue permit array of message-pointers


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VxWorksO 1. VxWorks Features

O WindRiver

High-performance, Unix-like,multitaskingEnvironment scalable and hierarchical RTOS

Host and target based development approach

Supports Device Software Optimization

a new methodology that enablesdevelopment and running of device softwarefaster, better and more reliably


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VxWorks RTOS Kernel

O VxWorks 6.x processor abstractionlayer

The layer enables application design

for new versions later by just changingthe layer-hardware interface

Supports advanced processorarchitectures ARM, ColdFire, MIPS,Intel


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VxWorks RTOS Kernel

O Hard real time applications

Supports kernel mode execution of

tasks Supports open source Linux and TIPC

(transparent inter process communication)protocol


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VxWorks RTOS Kernel

O Provides for the preemption points at kernel

Provides preemptive as well as round robin scheduling,

Support POSIX standard asynchronous IOs Support UNIX standard buffered I/Os

O Separate context for tasks and ISRs [Each task has aseparate TCB, while ISRs a common stack]


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O Schedules the ISRs separately and hasspecial functions for interrupt handling

O Watchdog timersO Virtual I/O devices including the pipes

and sockets (Sections 7.14 and 7.15)

O Virtual Memory Management functions


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VxWorks RTOS Kernel

O Power management functions thatenhance the ability to control power

consumptionO Automatic detection and reporting of

common memory and other errors

O Interconnect functions that support large

number of protocolsO APIs for IPv4/IPv6 dual mode stack


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Host-Target Development

Approach Host Windows, Linux or Unix forEmbedded Development and cross

compiled for target system processorO RTOS ROM resident code downloaded to

the using TCP/IP or serial port to a targetboard

O

Target has no virtual memory support andneeded kernel functions are at the targetROM


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ScalabilityO Scalable OS only needed OS functions

become part of the application codes

O Configuration file includes the userdefinitions for the needed IPC functionsneeded


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Protected EnvironmentO Protection features for example, if a task

is expecting a message from another task,

which is being deleted by using the task-delete function, then RTOS inhibits thedeletion

No priority inversion problem

the task gets an inherited priority whenoption of priority inheritance selected


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Header Files VxWorks.h header file

kernelLib.h kernel library functions

header file taskLib.h tasks library functions headerfile

sysLib.h system library functions header

file


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VxWorks Basic FunctionsO System Level OS initiate, start, system

timer clock rate set, ISR enter and exit,

enable and disable Task Service Functions initiate,resume,

activate, run, suspend, (now or after

delay)

Task control functions


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VxWorks Basic Functions

O IPCs Semaphore, Queue andPipes,POSIX IPCs

No Mailbox Queue permit array of messages

Network Functions

IO Functions

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Real Time Operating System II

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