WP1 - RTOS State of the Art Analysis

Deliverable D1.1 - RTOS Analysis

Ismael Ripoll

DISCA, Universidad Politecnica de Valencia

e-mail: [email protected]

Pavel Pisa

e-mail: [email protected]

Luca Abeni

ReTiS Lab --- Scuola Superiore S. Anna

e-mail: [email protected]

Paolo Gai

ReTiS Lab --- Scuola Superiore S. Anna

e-mail: [email protected]

Agnes Lanusse

CEA

e-mail: [email protected]

Sergio Saez

DISCA, Universidad Politecnica de Valencia

e-mail: [email protected]

Bruno Privat

Table of Contents

I. Introduction

1. Introduction

2. POSIX Standard

Introduction
XSI System Interfaces and Extensions

3. OSEK/VDX

Introduction
Architecture of the OSEK/VDX operating system
Task Management
Application modes and system startup
Interrupt processing
Events
Scheduling
Resource Management
Miscellaneous
OSEK COM
OSEK NM
OSEKTime

4. Analyzed features

5. Summary

II. RTOS Analysis

6. Realtime Support in Linux

Scheduling
Virtual Memory
Shared Memory
High Resolution POSIX Timers (HRT)
Realtime Signals
POSIX Asynchronous I/O
POSIX Threads
Quality of Service
Compatibility

7. Low-Latency Patches for Linux

Kernel Latency
Possible Solutions
Evaluation

8. RTLinux/GPL

Architecture overview
Hardware characteristics
Process management
Memory management
Inter-Process communication
Time and timers
Driver programming
Quality of Service
Network
Filesystems
Trace and debug
Miscelanea

9. RTAI

Architecture overview
Hardware characteristics
Process management
Memory management
Inter-Process communication
Time and timers
Driver programming
Quality of Service
Network
Filesystems
Trace and debug
Miscelanea

10. RTEMS 4.5+

Hardware characteristics
Process management
Memory management
Inter-Process communication
Time and timers
Driver programming
Quality of Service
Network
Filesystems
Trace and debug
Miscellaneous

11. QNX

Architecture overview
Hardware characteristics
Process management
Memory management
Inter-Process communication
Time and timers
Driver programming
Quality of Service
Network
Filesystems
Trace and debug
Miscelanea

12. VxWorks 5.x

Hardware characteristics
Process management
Memory management
Inter-Process communication
Time and timers
Driver programming
Quality of Service
Network
Filesystems
Trace and debug
Miscelaneous

13. LynxOS

Hardware characteristics
Process management
Memory management
Inter-Process communication
Time and timers
Driver programming
Quality of Service
Network
Filesystems
Trace and debug
Miscelanea
Modularity

Bibliography

A. GNU Free Documentation License

PREAMBLE
APPLICABILITY AND DEFINITIONS
VERBATIM COPYING
COPYING IN QUANTITY
MODIFICATIONS
COMBINING DOCUMENTS
COLLECTIONS OF DOCUMENTS
AGGREGATION WITH INDEPENDENT WORKS
TRANSLATION
TERMINATION
FUTURE REVISIONS OF THIS LICENSE
How to use this License for your documents

List of Tables
1. Project Co-ordinator
2. Participant List
3. Document Version
10-1. Thread Creation and Deletion calls
11-1. Thread creation and deletion calls
11-2. Synchronization Services
11-3. Communication Services
11-4. Semaphore management primitives
11-5. Mutexes management primitives
11-6. Atomic Operations
11-7. Message Passing API
11-8. Signals range
11-9. Interrupt Handling API

List of Figures
6-1. Network Subsystem
6-2. Traffic Control configuration
7-1. Latency in the Standard Kernel
7-2. Latency in the Low Latency Kernel
7-3. Latency in the Preemptable Kernel
7-4. Latency in the Preemptable Lock-Breaking Kernel
7-5. PDF of the Latency in the Low-Latency Kernel
7-6. PDF of the Latency in the Lock-Breaking Kernel
8-1. RTLinux layer architecture
11-1. QNX architecture
11-2. QNX message passing model