‫‪Real-Time Operating Systems‬‬

‫إعداد‪ :‬م‪ .‬مي سقور‬ ‫إشراف ‪ :‬د‪ .‬غادي محمودي‬

‫‪1‬‬ ‫‪ 05‬نيسان‪23 ،‬‬

Main Functions of General-Purpose Operating Systems
 (OS) is the software that’s its between the hardware of acomputer and software
applications.
 An OS is a resource allocator and manager.
 An OS is composed of multiple software components, and the core components in the
OS form its kernel.
 The kernel of an OS always runs in system mode.
 Kernel functions are implemented with protection mechanisms.
 The OS also provides an application programming interface (API)
 User processes can request kernel services through system call or by message passing.

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Process Management
 A process is an instance of a program in execution.
 A program is a passive entity , a process is an active entity
 A process needs resources(CPU, memory, I/O devices, files)
 Processes are used for more heavyweight tasks
 A thread is a path of execution within a process
 Threads are used for small tasks
 Threads within the same process share the same address space
 A thread managed independently by the scheduler
 Processes may create other processes through appropriate system calls
 A process can be single-threaded or multithreaded.

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The process that does the creating is called parent of the other process ,called child
Each process is assigned a unique integer identifier
interprocess communication (IPC)
mechanisms to support IPC. Files, sockets, message queues, pipes, semaphores, shared
memory, and message passing

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Memory Management
 The kernel of an OS is responsible for all system memory .
Entities in memory are data and instructions.
Each memory location has a physical address.
memory is byte-addressable data
only system software such as Basic Input/output System (BIOS) and OS can address physical
memory
Most application programs do not have knowledge of physical addresses
The virtual memory technique, can ensure that each process is running in its own
dedicated address space.
Before a program is loaded into memory by the loader, part of the OS, It must be converted
into a load module and stored on disk.

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The compiler produces an object module
Header records the size of each of the sections that follow.
Machine code section contains the executable instructions
compiled by the compiler.
Initialized data contains all data used by the program that require
initialization
The symbol table contains all external symbols used in the program.
Relocation information is used by the linker to
combine several object modules into aload module.

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When a process is started, the OS allocates
memory to the process.
To avoid loading big executable files into
memory, modern OS provides two services:
dynamic loading and dynamic linking
single contiguous allocation such as MS-DOS
system
Paged allocation divides memory into fixed-size
units called page frames and The program’s virtual
address space into pages of the same size

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Interrupts Management
An interrupt is a signal from a device
The processor responds by suspending its current activity, saving
its state, and executing a function called an interrupt handler
Modern OSs are interrupt-driven.
Incoming interrupts are disabled while another interrupt is being processed.

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Multitasking
Multitasking refers to the capability of an OS that supports multiple independent programs
running on the same computer.
Each task has a context, which is the data indicating
its execution state andstored in the task control block (TCB)
context switch :The process of storing and
restoring the context of a task during a task
switch

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File System Management
file system is an important component of an OS
file is created and there is not an area of contiguous space available for its initial allocation
A file system stores information for each file, size of data, the time the file was last
modified , user ID and group ID, and access permissions
File access control can be realized using a two-dimensional matrix
Role-based access control (RBAC) is an access control method where access to data is
performed by authorized users

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I/O Management
Communication between the I/O device and the processor is enabled through physical
memory locations in the I/O address space
The OS communicates with the I/O device through the device controller.
all device controllers have direct memory access (DMA)capability
I/O operations often have high latencies .
The latency can be alleviated by having one or more input and output buffers associated
with each device.

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Characteristics of RTOS Kernels
There are three key requirements of RTOS design
 Firstly, the timing behavior of the OS must be predictable.
 Secondly, the OS must manage the timing and scheduling, and the scheduler must be
aware of task deadlines
 Thirdly, the OS must be fast.

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Clocks and Timers
The RTOS works by setting up a hardware timer to interrupt periodically
The timer is often called a heartbeat timer , the interrupt is also called clock interrupt
In the POSIX standard, each tick is equal to 10 milliseconds
At each clock interrupt, an ISR increments tick count, checks to see if it is
now time to unblock or wake up a task.
POSIX specified several timer-related routines, including the following:
oTimer _ create()
o timer _ delete()
oTimer _ gettime()
oTimer _ getoverrun()
oTimer _ settime()
oNanosleep()

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Priority Scheduling
real-time tasks have deadlines
Tasks with shorter deadlines , should be scheduled for execution sooner than those with
longer deadlines.
preemptive

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Real Time Operating system
tasks exchange information through message passing or memory sharing
access to shared data using real-time signals, mutex , or semaphore objects.
Real-Time Signals :Signals are similar to software interrupts
Signals are also used for many other synchronous and asynchronous notifications
Semaphores are counters used for controlling access to resources shared among processes
or threads
There are two basic operationson semaphores:
1. One is to atomically increment the counter.
2. The other is to wait until the counter is nonnull and atomically decrement it
A semaphore tracks only how many resources are free

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Message Passing
tasks can share data by sending messages in an organized message passing scheme
Message contents can be anything that is mutually comprehensible between the two
parties in communication.
Two basic operations are send and receive.
Message passing can be direct or indirect
Message passing can also be synchronous or asynchronous

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Shared Memory
A method that an RTOS uses to map common physical space into independent process-
specific virtual space.
Shared memory is used to share information between different processes or threads.
it is necessary to use mutex or semaphores to protect the memory area.
A side effect in using shared memory is that it may cause priority inversion.

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Asynchronous I/O
There are two types of I/O synchronization :
 synchronous I/O
Synchronous I/O is desirable when the I/O operation is fast
 asynchronous I/O
used to improve throughput , latency, and/or responsiveness.

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Memory Locking
Memory locking is a real-time capability specified by POSIX .
allows fine-grained control of which part of the application must stay in physical memory
to reduce the overhead associated with transferring data between memory and disk.
When the process exits, the locked memory is automatically unlocked.
Defined mlock() and munlock() functions to lock and unlock memory.
 More than one process can lock the same or overlapping region, and in that
case
 the memory region remains locked until all the processes have unlocked it

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Types of Real time operating system
 Hard Real Time
 In a hard RTOS, deadlines are so tight that the execution of specific tasks must start at a
specific scheduled time and be completed within the allotted time. Suppose the task is
to be completed at the 5th second, then it should not be completed before or after the
5th second and instead on the exact 5th second.
 example of an airbag that a car

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 Soft Real Time
A soft real-time RTOS tolerates operating system delays. This type of RTOS gives deadlines to
certain jobs but can tolerate small-time delays. Therefore, this type of RTOS handles deadlines
gracefully. But yes, if the deadline is missed multiple times, that can lead to system failure.
Examples:
 A video game is an example of a soft real-time system.
 Automated teller machine (ATM)

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Features of RTOS
Here are important features of RTOS:
Occupy very less memory
Consume fewer resources
Response times are highly predictable
Unpredictable environment
The Kernel saves the state of the interrupted task ad then determines which task it should
run next.
Disadvantages of RTOS
RTOS system can run minimal tasks together
Plenty of resources are used by RTOS, which makes this system expensive.
It uses complex algorithms which is difficult to understand.

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RTOS Examples
 LynxOS

 OSE

 QNX

 VxWorks

 Windows Embedded Compact

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