Real-Time Operating Systems and Programming Languages for Embedded Systems

In this chapter, we present the different alternatives that are available today for the development of real-time embedded systems. In particular, we will focus on the programming languages use like C++, Java and Ada and the operating systems like Linux-RT, FreeRTOS, TinyOS, etc. In particular we will analyze the actual state of the art for developing embedded systems under the WORA paradigm with standard Java [1], its Real-Time Specification and with the use of Real-Time Core Extensions and pico Java based CPUs [5]. We expect the reader to have a clear view of the opportunities present at the moment of starting a design with its pros and cons so it can choose the best one to fit its case.Fil: Orozco, Javier Dario. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto de Investigaciones en Ingeniería Eléctrica "Alfredo Desages". Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras. Instituto de Investigaciones en Ingeniería Eléctrica "Alfredo Desages"; Argentina. Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras. Laboratorio de Sistemas Digitales; ArgentinaFil: Santos, Rodrigo Martin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto de Investigaciones en Ingeniería Eléctrica "Alfredo Desages". Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras. Instituto de Investigaciones en Ingeniería Eléctrica "Alfredo Desages"; Argentina. Universidad Nacional del Sur. Departamento de Ingeniería Eléctrica y de Computadoras. Laboratorio de Sistemas Digitales; Argentin

Time-predictable parallel programming models

Embedded Computing (EC) systems are increas-ingly concerned with providing higher performance in real-time while HPC applications require huge amounts of information to be processed within a bounded amount of time. Addressing this convergence and mixed set of requirements needs suitable programming methodologies to exploit the massively parallel computation capabilities of the available platforms in a pre-dictable way. OpenMP has evolved to deal with the programma-bility of heterogeneous many-cores, with mature support for fine-grained task parallelism. Unfortunately, while these features are very relevant for EC heterogeneous systems, often modeled as periodic task graphs, both the OpenMP programming interface and the execution model are completely agnostic to any timing requirement that the target applications may have. The goal of our work is to enable the use of the OpenMP parallel programming model in real-time embedded systems, such that many-cores architectures can be adopted in critical real-time embedded systems. To do so, it is required to guarantee the timing behavior of OpenMP applications

A Hardware Time Manager Implementation for the Xenomai Real-Time Kernel of Embedded Linux

Nowadays, the use of embedded operating systems in different embedded projects is subject to a tremendous growth. Embedded Linux is becoming one of those most popular EOSs due to its modularity, efficiency, reliability, and cost. One way to make it hard real-time is to include a real-time kernel like Xenomai. One of the key characteristics of a Real-Time Operating System (RTOS) is its ability to meet execution time deadlines deterministically. So, the more precise and flexible the time management can be, the better it can handle efficiently the determinism for different embedded applications. RTOS time precision is characterized by a specific periodic interrupt service controlled by a software time manager. The smaller the period of the interrupt, the better the precision of the RTOS, the more it overloads the CPU, and though reduces the overall efficiency of the RTOS. In this paper, we propose to drastically reduce these overheads by migrating the time management service of Xenomai into a configurable hardware component to relieve the CPU. The hardware component is implemented in a Field Programmable Gate Array coupled to the CPU. This work was achieved in a Master degree project where students could apprehend many fields of embedded systems: RTOS programming, hardware design, performance evaluation, etc.Comment: Embed With Linux (EWiLi) workshop, Lorient : France (2012

The Voluntary Adjustment of Railroad Obligations

Automatic memory management techniques eliminate many programming errors that are both hard to find and to correct. However, these techniques are not yet used in embedded systems with hard realtime applications. The reason is that current methods for automatic memory management have a number of drawbacks. The two major ones are: (1) not being able to always guarantee short real-time deadlines and (2) using large amounts of extra memory. Memory is usually a scarce resource in embedded applications. In this paper we present a new technique, Real-Time Reference Counting (RTRC) that overcomes the current problems and makes automatic memory management attractive also for hard real-time applications. The main contribution of RTRC is that often all memory can be used to store live objects. This should be compared to a memory overhead of about 500% for garbage collectors based on copying techniques and about 50% for garbage collectors based on mark-and-sweep techniques

Hash Tables for Embedded and Real-time systems

Common collection objects such as hash tables are included in modern runtime libraries because of their widespread use and efficient implementation. While operating systems and programming languages continue to improve their real-time features, common implementations of hash tables and other collection objects are not necessarily suitable for real-time or embedded-systems. In this paper, we present an algorithm for managing hash tables that is suitable for such systems. The algorithm has been implemented and deployed in place of Java’s Hashtable class. We present evidence of the algorithm’s performance, experimental results documenting our algorithm’s suitability for real-time, and lessons learned from migrating this data structure to real-time and embedded platforms

On undecidability results of real programming languages

Original article can be found at : http://www.vmars.tuwien.ac.at/ Copyright Institut fur Technische InformatikOften, it is argued that some problems in data-flow analysis such as e.g. worst case execution time analysis are undecidable (because the halting problem is) and therefore only a conservative approximation of the desired information is possible. In this paper, we show that the semantics for some important real programming languages – in particular those used for programming embedded devices – can be modeled as finite state systems or pushdown machines. This implies that the halting problem becomes decidable and therefore invalidates popular arguments for using conservative analysis

Embedded Systems Courses at RIT

A three-course sequence of cross-disciplinary real-time and embedded systems courses has been introduced at RIT ¢. We are teaching these courses in a studio-lab environment teaming computer engineering and software engineering students. The courses introduce students to programming both microcontrollers and more sophisticated targets, use of a commercial real-time operating system and development environment, modeling and performance engineering of these systems, and their interactions with physical systems

From Java to real-time Java : A model-driven methodology with automated toolchain

Real-time systems are receiving increasing attention with the emerging application scenarios that are safety-critical, complex in functionality, high on timing-related performance requirements, and cost-sensitive, such as autonomous vehicles. Development of real-time systems is error-prone and highly dependent on the sophisticated domain expertise, making it a costly process. There is a trend of the existing software without the real-time notion being re-developed to realise real-time features, e.g., in the big data technology. This paper utilises the principles of model-driven engineering (MDE) and proposes the first methodology that automatically converts standard time-sharing Java applications to real-time Java applications. It opens up a new research direction on development automation of real-time programming languages and inspires many research questions that can be jointly investigated by the embedded systems, programming languages as well as MDE communities

Building real-time embedded applications on QduinoMC: a web-connected 3D printer case study

Single Board Computers (SBCs) are now emerging with multiple cores, ADCs, GPIOs, PWM channels, integrated graphics, and several serial bus interfaces. The low power consumption, small form factor and I/O interface capabilities of SBCs with sensors and actuators makes them ideal in embedded and real-time applications. However, most SBCs run non-realtime operating systems based on Linux and Windows, and do not provide a user-friendly API for application development. This paper presents QduinoMC, a multicore extension to the popular Arduino programming environment, which runs on the Quest real-time operating system. QduinoMC is an extension of our earlier single-core, real-time, multithreaded Qduino API. We show the utility of QduinoMC by applying it to a specific application: a web-connected 3D printer. This differs from existing 3D printers, which run relatively simple firmware and lack operating system support to spool multiple jobs, or interoperate with other devices (e.g., in a print farm). We show how QduinoMC empowers devices with the capabilities to run new services without impacting their timing guarantees. While it is possible to modify existing operating systems to provide suitable timing guarantees, the effort to do so is cumbersome and does not provide the ease of programming afforded by QduinoMC.http://www.cs.bu.edu/fac/richwest/papers/rtas_2017.pdfAccepted manuscrip