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Table Of Contents

Course Outline
Coursework
Resources
Language Prerequisites
Language Prerequisites (2)
Jargon used in these lectures
Lecture 1: Introduction
Multitasking vs true concurrency
Task States
Multi-tasking issues for RTOS
A Simple real-time system
Task pseudocode
Execution Trace
Real-Time Task Structure
Real-Time System Design: Summary
Summary
FreeRTOS
FreeRTOS tasks
Stack use in RTOS
Stack sizing for ARM7/Keil port
FreeRTOS API –Task Control in Detail
Creation
Task delay -vTaskDelay
Task delay in detail
Task Delay –xTaskDelayUntil()
Kernel Control
Nesting critical sections
Task priorities & scheduling
Determining task priorities
Lecture 2: Summary
Review Questions 2
Lecture 3: The Shared Data Problem
Task execution interleaving
Error Counting
Curse of the infrequent error
Atomic operations
Assignment statements are not atomic
Re-entrant Functions
Is printfre-entrant?
Inconsistent Data Structures
Case study: Best Fit Memory Allocation
Memory Allocation (2)
Memory allocation (3)
Sequential code to allocate memory
Data Sharing Issues
Concurrent code to allocate memory
Free list node insertion
Lecture 3: Summary
Review Questions 3
Semaphore introduction
Semaphore Implementation
Semaphore Usage
Signal & Wait Paradigm
One to Many Synchronisation Paradigm
Mutual Exclusive Access Paradigm
Recursive (nested) semaphore use
When to create semaphores
Semaphore Problems
Summary of Semaphore Features
Lecture 4: Summary
Lecture 4: Review Questions
What is a Message Queue?
Implementation
Interlocked one-way communication
Interlocked one-way communication (2)
Queue Features
Lecture 5: Summary
Lecture 5: Review Questions
Synchronisation Objects
Barrier Synchronisation
Solution 1: Helper Task & Semaphores
Alternative solutions
Rendezvous synchronisation
Event Flag Registers
Event Flag Example
Cf Event Flags & Semaphore
Solution 2: Mutex Variable & Event Flag
Solution 3: Multiple event flags
Solution 4: Multiple event flags
Lecture 6 Summary
Lecture 7: Scheduling Theory
Scheduling
Whento schedule?
Co-routine scheduling
Co-routine scheduling (cont'd)
Preemptive scheduling
Time-slice (round-robin) Scheduling
Whichtask to schedule?
Deadlines
Job modelfor tasks in an RTOS
Round-robin scheduling
Rate Monotonic Analysis
Example
RMA discussion
Extended RMA
Estimating blocking Bi
Further reading on scheduling
Lecture 7: Summary
Anatomy of problems
Deadlock
A simple example
Discussion
The Classic problem
Conditions for Deadlock
Strategies
Deadlock Detection & Recovery
Deadlock Avoidance
Deadlock Prevention
Starving Philosophers
Deadlock vs Starvation
Pseudo-Livelock
Real Livelock
Priority Inversion
Priority Ceiling Protocol (PCP)
PCP example
PCP Analysis
Blocking under PCP
Lectures 8 & 9: Summary
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RTOSlec

RTOSlec

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Published by Anubhav Rohatgi

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Published by: Anubhav Rohatgi on Dec 22, 2010
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11/10/2011

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