Real Time Operating Systems
RTOS
Dr.R.Sundaramurthy
Department of EIE
Pondicherry Engineering College
[email protected]
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
RTOS
Operating
RTOS = Real Time + System
RTOS is a multitasking operating system for Embedded
System Applications to meet
1. Time deadlines
2. Functioning with real time constraints
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Operating System
• An Operating system (OS) is nothing but a collection of system
calls or functions which provides an interface between
hardware and application programs.
Application Software
Operating System
Hardware
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Real Time
• Real-time systems are those systems in which
the correctness of the system depends not
only on the logical result of computation, but
also on the time at which the results are
produced.
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Types of Real Time Systems
• Two types exist
– Soft real-time
• Late completion of jobs is undesirable but not fatal.
• System performance degrades as more & more jobs
miss deadlines
• Example: Online Databases
– Hard real-time
• Tasks have to be performed on time
• Failure to meet deadlines is fatal
• Example : Flight Control System
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
RTOS
• RTOS is an operating system that supports
real-time applications by providing logically
correct result within the deadline required.
• Basic Structure is similar to regular OS but, in
addition, it provides mechanisms to allow real
time scheduling of tasks.
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Single Tasking Vs MultiTasking
• a task is a program running on the CPU
core of a microcontroller.
• Without a multitasking kernel (an
RTOS), only one task can be executed by
the CPU at a time. This is called a single-
task system.
• A real-time operating system allows the
execution of multiple tasks on a single
CPU. All tasks execute as if they
completely own the entire CPU.
• The tasks are scheduled for execution,
meaning that the RTOS
can activate and deactivate each task
according to its priority.
• Always the highest priority task being
executed in general.
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D.,
[email protected] Single-task systems (superloop)
while(1)
{
void myISR() __irq
task1();
{
task2();
interrupttask();
task3();
}
task4();
}
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Single Task Systems
• "superloop design" is the classic way of designing
embedded systems does not use the services of an
RTOS.
• no real time kernel is used, so interrupt service
routines (ISRs) are used for the real-time parts of the
application(critical operations ).
• This type of system is typically used in small, simple
systems or if real-time behavior is not critical.
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Nature of Single Tasking Systems
• Typically, because no real-time kernel and only one stack is
used
• Both ROM and RAM size for simple applications are smaller
when compared to using an RTOS.
• There are no inter-task synchronization problems with a
superloop application.
• However, superloops can become difficult to maintain if the
program becomes too large or uses complex interactions.
• As sequential processes cannot interrupt themselves, reaction
times depend on the execution time of the entire sequence,
resulting in a poor real-time behavior.
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Multitasking Systems
In a multitasking system, the CPU time is distributed amongst different tasks.
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Scheduling in RTOS
• scheduling is the process of distributing the CPU time
amongst different tasks.
• To schedule the tasks, More information about the
tasks should be known
– Number of tasks
– Resource Requirements
– Execution time
– Deadlines
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Scheduling Algorithms in RTOS
• Non-Priority based Scheduling
– Cyclic executive
– Shortest Task First
– Round Robin
• Priority Scheduling
– Cooperative Scheduling
– Preemtive Scheduling
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Cyclic executive
• Tasks are arranged in Cyclic Fashion.
• Each Task has to wait until the completion of
previous task.
Task - 1 Task - 2 Task - 3 Task - 4
Time
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Shortest Task First
• Tasks with shortest Execution time are
executed first.
• It requires precise knowledge of how long a
task will run
Task - 1 Task - 2 Task - 3 Task - 4
Time
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Round Robin Scheduling
• Equal Time share of the CPU is given for all the Tasks.
• CPU is given to the next task if
– The current task completes before time slice
– The current task uses the full time slice
Task-1 Task-2 Task-3 Task-4
Time
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Coperative Scheduling
• Tasks are Prioritized.
• Always High Priority Executes First.
• In the event of a High Priority Task interrupting a Low Priority
Task (Which is currently running), the Low Priority Task First
Completes itself before giving the control to High Priority
Task.
Priority
2
1
0
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Coperative Scheduling
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Preemtive Scheduling
• Tasks are Prioritized.
• Always High Priority Executes First.
• In the event of a High Priority Task interrupting a Low Priority
Task (Which is currently running), the High Priority Task
Preemts the Low Priority Task and takes the control.
Priority
2
1
0
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
Preemtive Scheduling
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
List of RTOS
Open Source RTOS Properitary RTOS
• Linux • QNX
• eCos • VxWorks
• uClinux
• INTEGRITY
• FreeRTOS
• RTAI • ThreadX
• coscox • MicroC/OS2
• Rocket OS • embOS
• SafeRTOS
Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
End of Session
[email protected]Department of EIE / PEC Dr.R.Sundaramurthy.,M.E.,Ph.D., [email protected]
