Real-Time Systems Development with RTEMS and Multicore Processors

Chapter 1 Introduction

PART I Operating System Basics
Chapter 2 Cross-Compilation Toolchain
2.1 From Source Code to the Executable Image
2.2 Linker Scripts
2.3 GNU Make and Makefiles
2.4 Basic Description of RTEMS and its Configuration System
2.5 Summary

Chapter 3 Concurrent Programming and Scheduling Algorithms
3.1 Foundations of Concurrent Programming
3.2 Scheduling Policies, Mechanisms, and Algorithms
3.3 Summary

Chapter 4 Scheduling Analysis and Interrupt Handling
4.1 Basics of Real-Time Scheduling Analysis
4.2 Practical Considerations on Interrupt Handling
4.3 Summary

PART II Task Management and Timekeeping
Chapter 5 Task Management and Timekeeping, Classic API
5.1 Task Management Basics
5.2 Scheduler Manager and Single-Core Scheduling Algorithms
5.3 RTEMS Classic and POSIX API
5.4 Task Management
5.5 The Rate Monotonic Manager
5.6 Timekeeping: Clocks and Timers
5.7 Preemption and Interrupt Management
5.8 Summary

Chapter 6 Task Management and Timekeeping, POSIX API
6.1 Attribute Objects
6.2 Thread Creation and Termination
6.3 Thread Scheduling
6.4 Forced Thread Termination (Cancellation)
6.5 Signal Handling
6.6 Timekeeping
6.7 Summary

PART III InterTask Synchronization and Communication
Chapter 7 Inter-Task Synchronization and Communication (IPC) Based on Shared Memory
7.1 Race Conditions and Mutual Exclusio
7.2 Semaphores
7.3 Monitors
7.4 RTEMS API for Shared-Memory IPC
7.5 Barriers
7.6 Events
7.7 Summary

Chapter 8 IPC, Task Execution, and Scheduling
8.1 Priority Inversion
8.2 Deadlock
8.3 Summary

Chapter 9 IPC Based on Message Passing
9.1 Unified Synchronization and Data Exchange
9.2 Message Passing Synchronization Models
9.3 Direct and Indirect Naming
9.4 RTEMS API for Message Passing
9.5 Summary

PART IV Network Communication
Chapter 10 Network Communication in RTEMS
10.1 Internal Structure of the RTEMS Networking Code
10.2 Protocol Stack Organization
10.3 Main Data Structures
10.4 RTEMS Port and Adaptation Layer
10.5 Summary

Chapter 11 POSIX Sockets API
11.1 Main Features
11.2 Communication Endpoint Management
11.3 Local Socket Address
11.4 Connection Establishment
11.5 Connectionless Sockets
11.6 Data Transfer
11.7 Socket Options
11.8 Non-Blocking I/O and Synchronous I/O Multiplexing
11.9 Summary

PART V Multicores in Realtime Embedded Systems
Chapter 12 Multicores in Embedded Systems
12.1 Motivation
12.2 Multiprocessors and Multicores
12.3 Software Challenges Introduced by Multicores
12.4 Summary

Chapter 13 Multicore Concurrency: Issues and Solutions
13.1 Classes of Multicore Scheduling Algorithms
13.2 Multicore Scheduling Algorithms in RTEMS
13.3 Schedulers Configuration
13.4 Multicore Synchronization Devices
13.5 Lock-Free and Wait-Free Communication
13.6 Spinlocks and Interrupt Handling Synchronization
13.7 Summary

References
Index

Biography

Gedare Bloom works at the Department of Computer Science at University of Colorado, Colorado Springs as an Assistant Professor. Since 2011 Professor Bloom has been a maintainer for the RTEMS open-source hard real-time OS, which is used in robotics frameworks, unmanned vehicles, satellites and space probes, automotive, defense, building automation, medical devices, industrial controllers, and more.

Joel Sherrill joined On-Line Applications Research Corporation in 1989 and is currently the Director of Research and Development. He is one of the original developers of the free real-time operating system RTEMS and current project lead.

Tingting Hu works as a research scientist in the University of Luxembourg with the Faculty of Science, Technology and Medicine. She also works as industrial consultant for leading national industries in the provision of software design solutions for real-time embedded systems, in the domain of industrial ovens, building automation and motion control.

Ivan Cibrario Bertolotti is associated with the Istituto di Elettronica e di Ingegneria dell’Informazione e delle Telecomunicazioni (IEIIT), Turin, Italy.