Real -Time Systems Programming

The goal of this course is to provide students with basic knowledge about software development for real-time systems, for example in control and embedded applications. The main focus is on embedded systems equipped with a real-time operating system (RTOS). Lectures will cover real-time systems theory, which can be used to formally verify timing correctness such systems. Another set of lectures will introduce methods and techniques used for development of safety-critical systems, whose failure may have catastrophic consequences. During labs, students will first solve a few simple tasks to familiarize them with basic components of VxWorks RTOS and to benchmark the used OS and hardware (Xilinx Zynq). The obtained metrics represent the typical criteria for assessing the suitability of a given platform for the given application. After the simple tasks, students will solve complex task of time-critical motion control application which will require full utilization of RTOS features. All the tasks at the labs will be implemented in C (or C++) language.

Form of study
Assessment + Examination
Lectures contents

1. Introduction to real-time systems, requirements, properties, applications
2. VxWorks operating system (OS)
3. POSIX 1003.1b - portable real-time OS interface
4. Reference model of real-time system
5. Off-line (clock-driven) scheduling
6. Fixed priority scheduling and analysis
7. Dynamic priority scheduling and analysis
8. Shared resource management
9. Combining real-time and non-real-time task, temporal isolation
10. Development of safety critical applications, functional safety standards, safety integriti level (SIL)
11. Techniques for increasing reliability of safety-critical software (redundancy, information coding, decomposition)
12. HAZOP study, software HAZOP, example
13. Multi-core systems and real-time, overview of RTOSes

Tutorials contents

1. VxWorks IDE basics: creating applications, VxWorks simlator, documentacion, debugging
2. VxWorks API: Mutexes, semaphores
3. VxWorks API: Real-Time processes and shared memory
4. Blocking on mutex, priority inheritance
5. Cyclic executive, worst-case execution time (WCET) measurement
6. Scheduler latency measurement
7. Ethernet communication latency measurement
8. Semestral work - distributed real-time motor controller (steer-by-wire) + visualisation with an in-application web server