Real-Time Systems Development with RTEMS and Multicore Processors
The proliferation of multicore processors in the embedded market for Internet-of-Things (IoT) and Cyber-Physical Systems (CPS) makes developing real-time embedded applications increasingly difficult. What is the underlying theory that makes multicore real-time possible? How does theory influence application design? When is a real-time operating system (RTOS) useful? What RTOS features do applications need? How does a mature RTOS help manage the complexity of multicore hardware?
Real-Time Systems Development with RTEMS and Multicore Processors answers these questions and more with exemplar Real-Time Executive for Multiprocessor Systems (RTEMS) RTOS to provide concrete advice and examples for constructing useful, feature-rich applications. RTEMS is free, open-source software that supports multi-processor systems for over a dozen CPU architectures and over 150 specific system boards in applications spanning the range of IoT and CPS domains such as satellites, particle accelerators, robots, racing motorcycles, building controls, medical devices, and more.
The focus of this book is on enabling real-time embedded software engineering while providing sufficient theoretical foundations and hardware background to understand the rationale for key decisions in RTOS and application design and implementation. The topics covered in this book include:
- Cross-compilation for embedded systems development
- Concurrent programming models used in real-time embedded software
- Real-time scheduling theory and algorithms used in wide practice
- Usage and comparison of two application programmer interfaces (APIs) in real-time embedded software: POSIX and the RTEMS Classic APIs
- Design and implementation in RTEMS of commonly found RTOS features for schedulers, task management, time-keeping, inter-task synchronization, inter-task communication, and networking
- The challenges introduced by multicore hardware, advances in multicore real-time theory, and software engineering multicore real-time systems with RTEMS
All the authors of this book are experts in the academic field of real-time embedded systems. Two of the authors are primary open-source maintainers of the RTEMS software project.
Table of Contents
Chapter 1 Introduction. PART I Operating System Basics. Chapter 2 Cross-Compilation Toolchain. Chapter 3 Concurrent Programming and Scheduling Algorithms. Chapter 4 Scheduling Analysis and Interrupt Handling. PART II Task Management and Timekeeping. Chapter 5 Task Management and Timekeeping, Classic API. Chapter 6 Task Management and Timekeeping, POSIX API. PART III InterTask Synchronization and Communication. Chapter 7 Inter-Task Synchronization and Communication (IPC) Based on Shared Memory. Chapter 8 IPC, Task Execution, and Scheduling. Chapter 9 IPC Based on Message Passing. PART IV Network Communication. Chapter 10 Network Communication in RTEMS. Chapter 11 POSIX Sockets API. PART V Multicores in Realtime Embedded Systems. Chapter 12 Multicores in Embedded Systems. Chapter 13 Multicore Concurrency: Issues and Solutions. References. Index.
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.