VxWorks 5.
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Group A3: Wafa Jaffal Kathryn Bean
Topics Covered
What is Real Time Operating System (RTOS)
Standard for RTOS
VxWorks Features as RTOS Layer Structure
Microkernal Functions:
Multitasking Scheduling Interrupt Service Code Shared Code and Reentrancy Intertask Communications Applications for VxWorks
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What is Real Time OS (RTOS)
RTOS Characteristics Processing must be done within a time constraint or the system will fail. All delays in the system will be bounded; from the retrieval of stored data to the time RTOS finishes the request.
Types of RTOS
Hard RTOS
Soft RTOS
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Standard for RTOS
Standard requirement for RTOS
POSIX 1003.1b by ISO/IEEE chapter. POSIX interfaces: Asynchronous I/O Semaphore Queued signals Scheduling Clocks and timers
Message queues
Memory management
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VxWorks OS as RTOS
Layer Structure
Real-Time Embedded Application Internet File System
Graphics Java Support
Multiprocessing POSIX Library
WindNet Networking
Core OS: Wind Microkernal
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Multitasking
P R
S
Suspended used primarily for debugging
Ready wait for CPU,
a single primitive=create+activate Pended blocked, wait t time for recourses. After t - Error. Delay asleep for t time, after t goes to ready state. On a context switch, a tasks context is saved in TCB. All code executes in a single common space. Memory isnt saved. 7
Scheduling, One CPU
Priority-based preemptive scheduling Each task has priority (from 0 - highest to 255 lowest). Each priority has its own queue. If two tasks are in the ready state, a lower priority task would be pre-empted by one of a higher priority. Round-robin scheduling After time slice for a task expires, another task with the same priority will execute during the given time slice. Preemption locks These locks prevent task context switching, but do not prevent interrupt handling.
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Interrupt Service Code
Via interrupts, the system is informed of external events.
Interrupt Service Routines (ISRs) run outside any task context. Interrupt handling involves no task context switch. Limitations of ISR: All ISRs share the same stack
ISR has no context that can be suspended
Cannot take the semaphore, but can give the semaphores, releasing any task waiting on them. Cannot perform I/O through drivers except pipe.
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Shared Code and Reentrancy
Shared Code - a single copy of code executed by multiple tasks. Shared Code must be reentrant. A subroutine is reentrant if a single copy of the routine can be called simultaneously from several task contexts without conflict. Reentrancy Techniques: Dynamic Stack Variables Global and Static Variables Guarded by Semaphores Task Variables
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Shared Code and Reentrancy, Continued
Dynamic Stack Variables Tasks
Task1( ){ .. comFun(myData1) }
Task Stacks myData1
Common Function
comFun(yourData){
}
Task2( ){ .. comFun(myData2) }
myData2
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Shard Code and Reentrancy, Continued
Guarded Global and Static Variables Mutual-exclusion mechanism - only one task at a time can be in a critical section of the code. Task Variables Four byte variables are added to the task context block (TCB).
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Intertask Communications, One CPU
Types of Intertask Communications: Shared Data Message Queue Pipes - Virtual I/0 Network Intertask Communication Sockets Remote Procedure Call
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Intertask Communication, Shared Data
Tasks
1. Access SharData
Memory
2.
Access SharData
SharData
3.
Access SharData
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Semaphores
Semaphore - mechanism for mutual exclusion and intertask communication. Binary Semaphore
Semaphore available YES Task cont. Semaphore taken NO TimeOut= No_Wait YES Task cont. Semaphore not taken
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NO
Task is pended for timeOut
Semaphores, Continued
Counting Semaphore Every time is semaphore is given count ++ Every time is semaphore is taken count - If count=0, task that tried to take semaphore is blocked If semaphore is given and task is blocked, task is unblocked Is semaphore is given and no tasks are blocked, count ++ Special Semaphore Option (Not in POSIX) Timeout Time the task is willing to wait (time in ticks) in pended state. If time > timeout, ERROR occurs.
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Intertask Communication, Message Queue
Allows a variable number of messages to be queued Any task or ISR can send a message to a queue. Multiple tasks can send and receive from the same message queue. Timeout Parameter: Send message: how long to wait for buffer space to place message.
Receive message: how long to wait to obtain message.
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Applications for VxWorks
Some usage of RTOS Flight simulators Radio and optical telescopes Printers Digital cameras
Navigation systems
Deep sea instrumentation Traffic control systems
Hand-held computing devices
Routers, switches, and other network devices
Modems
any systems where rigid time requirement have been placed on the operation of a processor or the flow of the data.
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Thank You
Any Questions ?
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Bibliography
VxWorks 5.4 Programmer Guide
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