The goal of this subject is to give students basic knowledge in area of software design for embedded systems with real-time operating system (RTOS) with emphasis to practical experience. Students will solve several simple tasks in order to get both basic knowledge about RTOS VxWorks and measure the timing parameters of the RTOS and hardware, which are necessary when choosing a platform for a given application. Then a more complicated task (motor control) will be solved, which will fully utilize means of RTOS VxWorks. During lectures, students will be familiarized with real-time systems theory, which can be used to formally prove the timing correctness of the applications. Moreover, some software engineering techniques, which help with increasing of quality of safety-critical systems will be discussed.
1. Real-Time operating systems, requirements, properties
2. VxWorks OS
3. POSIX API
4. Advanced use of C language, GNU C compiler
5. Coding standards, version control systems, certifications
6. Memory access timing; dynamic memory management
7. Clock driven scheduling
8. Dynamic priority scheduling
9. Static priority scheduling
10. Problems in analysis of real-time systems
11. Shared resource management
12. Shared resource management II.
13. Other real-time operating systems; interrupt subsystem; support for different HW platforms (BSP)
14. Combining real-time tasks with non-real-time tasks
1. Introduction to VxWorks OS and its IDE. Compilation, debugging, event viewer.
2. Task 1: VxWorks API: mutexes, semaphores.
3. Task 2: VxWorks API: fronty zpráv, časovače
4. Task 3: VxWorks API: procesy, sdílená paměti
5. Task 4: Benchmark latencí rozvrhovače OS.
6. Task 5: Vliv přístupu k paměti na dobu běhu (cache, prefetching, ...)
7. Task 6: Měření latence při komunikaci přes ethernet
8. Task 7: Měření času blokování na mutexu, dědění priorit
9. Test; assignment of task 8 - motor control
10. Solving of task 8
11. Solving of task 8
12. Solving of task 8
13. Delivery of task 8