Experience in programming device drivers with the Ravenscar profile.

The Ravenscar profile defines a subset of Ada tasking that can be statically analysable for real-time properties. The implications of the Ravenscar profile and other commonly used high-integrity restrictions for developing device drivers are analysed in the paper, and some guidelines are provided based on the analysis. The technical content of the paper is based on the authors' experience in developing communication drivers for the Open Ravenscar real time Kernel (ORK) that are well suited for space onboard applications. A reference architecture for device drivers is proposed, and two instances of drivers based on it are described

Safe Parallelism: Compiler Analysis Techniques for Ada and OpenMP

There is a growing need to support parallel computation in Ada to cope with the performance requirements of the most advanced functionalities of safety-critical systems. In that regard, the use of parallel programming models is paramount to exploit the benefits of parallelism. Recent works motivate the use of OpenMP for being a de facto standard in high-performance computing for programming shared memory architectures. These works address two important aspects towards the introduction of OpenMP in Ada: the compatibility of the OpenMP syntax with the Ada language, and the interoperability of the OpenMP and the Ada runtimes, demonstrating that OpenMP complements and supports the structured parallelism approach of the tasklet model. This paper addresses a third fundamental aspect: functional safety from a compiler perspective. Particularly, it focuses on race conditions and considers the fine-grain and unstructured capabilities of OpenMP. Hereof, this paper presents a new compiler analysis technique that: (1) identifies potential race conditions in parallel Ada programs based on OpenMP or Ada tasks or both, and (2) provides solutions for the detected races.This work was supported by the Spanish Ministry of Science and Innovation under contract TIN2015-65316-P, and by the FCT (Portuguese Foundation for Science and Technology) within the CISTER Research Unit (CEC/04234).Peer ReviewedPostprint (author's final draft

Ada User Guide for LEGO MINDSTORMS NXT

The purpose of this guide is to introduce the robotics kit LEGO MINDSTORMS NXT to the Ada community. All the steps required to complete a working Ada application running under the LEGO MINDSTORMS NXT are covered.

The ASSERT Virtual Machine Kernel: Support for preservation of temporal properties.

The ASSERT Project1 is aimed at defining new software engineering methods and tools for the development of critical embedded real-time systems in the aerospace domain. One of its main achievements is a new model-driven software process, which is based on the concept of property-preserving model transformations. Functional models developed with appropriate tools for the application domain are embedded in containers defining component interfaces and non-functional (e.g. timing) properties in a platform-independent set of notations. The resulting model is then automatically transformed to a platform-specific model using deployment information on target computer nodes, communication channels, and software platforms. Finally, source code for each computer node is automatically generated from the platform-specific model. The key element of the ASSERT process is that non-functional properties must be preserved during all phases of model transformations. In order to ensure that properties are preserved in model transformations and that the different views of each model are consistent with each other, a common meta-model has been defined which provides a formal basis to the whole process. This meta-model is called the Ravenscar Computational Model (RCM)

A platform for real-time control education with LEGO MINDSTORMS.

A set of software development tools for building real-time control systems on a simple robotics platform is described in the paper. The tools are being used in a real-time systems course as a basis for student projects. The development platform is a low-cost PC running GNU/Linux, and the target system is LEGO MINDSTORMS NXT, thus keeping the cost of the laboratory low. Real-time control software is developed using a mixed paradigm. Functional code for control algorithms is automatically generated in C from Simulink models. This code is then integrated into a concurrent, real-time software architecture based on a set of components written in Ada. This approach enables the students to take advantage of the high-level, model-oriented features that Simulink oers for designing control algorithms, and the comprehensive support for concurrency and real-time constructs provided by Ada

On real-time partitioned multicore systems

Partitioning is a common approach to developing mixed-criticality systems, where partitions are isolated from each other both in the temporal and the spatial domain in order to prevent low-criticality subsystems from compromising other subsystems with high level of criticality in case of misbehaviour. The advent of many-core processors, on the other hand, opens the way to highly parallel systems in which all partitions can be allocated to dedicated processor cores. This trend will simplify processor scheduling, although other issues such as mutual interference in the temporal domain may arise as a consequence of memory and device sharing. The paper describes an architecture for multi-core partitioned systems including critical subsystems built with the Ada Ravenscar profile. Some implementation issues are discussed, and experience on implementing the ORK kernel on the XtratuM partitioning hypervisor is presented

ARINC-653 Inter-partition communications and the ravenscar profile

The ARINC-653 standard is often used to build mixed-criticality systems, using a partitioned architecture. Inter-partition communication is carried out by means of a message-passing mechanism based on ports. The standard includes an API for Ada, but the implementation semantics of operation ports is not fully defined. Furthermore, the API was defined for the Ada 95 standard, and therefore does not take into account the enhancements to the real-time features of the language that have been incorporated in the 2005 and 2013 standards, most notably the Ravenscar profile. This paper is aimed at clarifying the implementation of ARINC communication ports in Ada and the Ravenscar profile. ARINC communication ports are analysed, and their compatibility with the Ravenscar profile is assessed. A new API that can be used with the profile is defined, and a pilot implementation is introduced

Leveraging Ada 2012 and SPARK 2014 for assessing generated code from AADL models

Modeling of Distributed Real-time Embedded systems using Architecture Description Language provides the foundations for various levels of analysis: scheduling, reliability, consis- tency, etc.; but also allows for automatic code generation. A challenge is to demonstrate that generated code matches quality required for safety-critical systems. In the scope of the AADL, the Ocarina toolchain proposes code generation towards the Ada Ravenscar profile with restrictions for High- Integrity. It has been extensively used in the space domain as part of the TASTE project within the European Space Agency. In this paper, we illustrate how the combined use of Ada 2012 and SPARK 2014 significantly increases code quality and exhibits absence of run-time errors at both run-time and generated code levels

The design and implementation of the Open Ravenscar Kernel

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