RealTimeAndEmbeddedSystems - Part3 Mathhoang Vietnam - Hoangminhnguyen

Real-Time and Embedded
Systems
Nam Ho
Dr. Anh-Vu Dinh-Duc
Module Outline
 Introduction to Real-Time Systems

 Real-Time Task Scheduling
 Real-Time Operating Systems (RTOS)
 Measuring Execution Time and Real-Time
Performance
 Development of Embedded Systems
 Our Research Results in Embedded
Systems
8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 2
What is a Real-Time
Operating Systems (RTOS)?
 OS provides
 Task management (scheduling, communication, synchronization)
 Hardware abstract (device drivers)
 Resource allocation (memory management)
 Time control
 Error control
 …
 RTOS
 Provides some basic functionalities like regular OS
 But, involves real-time task scheduling
 The need for "deterministic" timing behavior
 A ideal platform for developing applications that require precise
timing (time bonded)
 Allows the designer to manage both soft and/or hard real time
requirements
Components in RTOS

RTOS supports Multitasking
Memory Map
FLASH
TASK1’s TASK2’s
Segments Segments
Code Code
Data kernel system call Data
Stack Stack
SRAM
Heap Heap
Shared Data Shared Data
Shared Code Shared Code
kernel

 Task uses Task Control
Block (TCB) to remember its
context
 Task ID
 Task Name
 Status
 Priority (if part of a preemptive
scheduling plan)
 Task Stack
 Task Program Counter
 …
 RTOS updates TCB when
task is switched
Stack Stack
TASK 1 TASK n
TCB TCB
Task_Rountine() Task_Rountine()
status {
status {
while(1)
pc while(1) pc
{ {
sp ….. sp …..
} }
priority priority }
}
Memory … … …
CPU
sp
Context
pc
CPU register
Task Context Switch
Affect the schedulability test
The entire task set is feasible by RMS if and only if

( e j 2. )
L max{1 i n} min{t S } j 1 i . t / pj 1,
i t
where Si {k . p j | j 1, ..., i; k 1, ..., p / p }
i j

Non – preemptive RTOS
 Higher priority
tasks only gain
control of the CPU
when the current
tasks gives up
control of the CPU
 Most important
drawback is low
responsiveness

Preemptive RTOS
 Used when system
responsiveness is
important
 The highest priority task
ready to run is always
given control of the
CPU. The lower priority
task is suspended
 Most commercial real-
time kernels are
preemptive

Task State – Clock-Driven
Based
k Task Start time

(T(tk)) (tk)
0 T1 1
1 T2 2
2 T1 4
3 I 5
4 T2 6
5 T1 7
6 T2 8
9 I 9
10 T1 10
11 T2 11
Task State – Event-Driven
Based
 Blocked state: The task is waiting for an event to occur.

 A semaphore/mutex token for which a task is waiting is released
 An Arriving message from message queue
 A time delay imposed on the task expires

Scheduler Implementation
pre-computed schedule
 Table-driven scheduler k Task Start time
(T(tk)) (tk)
Input: stored schedule (tk, T(tk)) for k = 0, 1, n – 1.
Task SCHEDULER: 0 T1 1
set the next scheduling point i = 0 and table entry k = 0; 1 T2 2
set the timer to expire at tk; 2 T1 4
do forever: 3 I 5
accept timer interrupt;
4 T2 6
if an aperiodic task is executing, preempt the task;
current task T = T(tk); 5 T1 7
increment i by 1; Idle 6 T2 8
Timer compute the next table entry k = i mod n; 9 I 9

set the timer to expire at [i / n] * M + tk;
interrupt if the current task T is I,
10 T1 10
11 T2 11
let the task at the head of the aperiodic queue
execute;
else
let the task T execute;
sleep;
end do.
End SCHEDULER.
Scheduler Implementation
 Cyclic Scheduler ?
 The concept implementation is the same
as table-driven scheduler„s
 Priority-Based Scheduler ?
 Complex
 Using several queues or link lists in each
of task states
 Case study: cOS-II
Scheduler Implementation –
Priority Scheduler

Inter-Task Communication and
Synchronization
 Semaphore
 Controls access to a
shared resource
 Signal the occurrence of
an event
 Allows two tasks to
synchronize their
activities
 Mutex
 Event
Inter-Task Communication and
Synchronization
 Message Queue
 A message queue is
used to send one or
more messages to a
task
 Reader gets
message in FIFO or
LIFO order
 Mailbox
 Pipe
Interrupt Timing Issues
 Interrupt
 An interrupt is a hardware mechanism used to inform the
CPU that an asynchronous event has occurred.
 ISR involve in disabling interrupts and enabling interrupts.
In a real-time environment, interrupts should be disabled
as little as possible
 Interrupt Latency
 Maximum amount of time interrupts are disabled + time to
start executing the first instruction in the ISR
 Lower latency is desired
 Interrupt Response
 Interrupt Recovery
 ISR Processing Time
Interrupt Timing Issues

Timer Services
 In developing real-time applications, clearly it is desirable to have
facilities to “set” and “get” the time
 Time services are among some of the basic facilities provided to
programmers by every RTOS
 Embedded processors are usually equipped with a timer circuit (on-
chip timer)
 RTOS maintains a number of “ticks” or system clocks based on the
interrupt received from hardware timers
 The finer the resolution of the clock, the more frequent need to be the
time service interrupts and larger is the amount of processor time the
kernel spends in responding to these interrupts (low performance)
 Timer services supported by cOS-II
 OSTimeDly()
 OSTimeDlyHMSM()
 OSTimeDlyResume()
 OSTimeGet()
 OSTimeSet()
Requirement for a good RTOS
 Short Interrupt Latency

 Fast Context Switch
 Proper scheduling
 Fine granularity Timer Services
 Rich set of Inter-Task Communication
Mechanism
 Small size (Footprint)
 …
Reference
 Qing Li and Carolyn Yao, Real-Time Concepts for
Embedded Systems, CMP Books, 2003
 http://nptel.iitm.ac.in/courses/Webcourse-
contents/IIT%20Kharagpur/Embedded%20systems/
New_index1.html
 http://csperkins.org/teaching/rtes/
 Phillip A. Laplante, Real-Time System Design and
Analysis An Engineers Handbook, John Wiley &
Sons, Inc., Third Edition, 2004
 Jean Labrosse, μC/OS, The Real-Time Kernel,
Newnes Publisher, Second Edition

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Real-Time and Embedded

 Introduction to Real-Time Systems

8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 4

8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 5

Affect the schedulability test

The entire task set is feasible by RMS if and only if

8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 8

8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 9

8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 10

k Task Start time

 Blocked state: The task is waiting for an event to occur.

8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 12

Timer compute the next table entry k = i mod n; 9 I 9

8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 15

8/20/2010 Embedded Systems Course: Real-Time Operating Systems - 2010 19

 Short Interrupt Latency

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