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Abstract. Modern embedded OS are designed to be used in control solutions in various hardware contexts. Control computers may differ in the architecture of the CPU, the structure of communication channels, supported communication protocols, etc. Embedded OS are often statically configured to create an OS image, which intended to be executed on some specific control computer. System integrator usually performs this configuration. Embedded OS are often developed by many companies. Joint development and integration is very complex if OS doesn't support modularity. Support of modularity and component assembly reduces the need of communication among companies during development and integration. This allows customers to create minimal solutions that are optimally adapted to the particular task and hardware platform. Furthermore, customers may be interested in adding their own low level components without OS modification. In this article, we present an approach to building modular embedded solutions from heterogeneous components based on the RTOS JetOS. The mechanism of components binding developed by us allows uniting heterogeneous components from different manufacturers within the same section of the address space. This mechanism allows component developer to independently develop their components. And system integrator can independently from developers configure what component he likes to see in OS image and how components should interact.

In this paper, we report on the work in progress on the debugger project for real-time operating system JetOS for civil airborne systems. It is designed to work within Integrated Modular Avionics (IMA) architecture and implements ARINC 653 API specification. This operating system is being developed in the Institute for System Programming of the Russian Academy of Sciences and next step in developing this system is to create a tool to debug userspace applications on it. We also discuss the major requirements to such a debugger and show the difference between it and typical debugger, used by desktop developers. Moreover, we review a number of debuggers for various embedded systems and study their functionality. Finally, we present our solution that works both in emulator QEMU, which we use to emulate environment for our system, and on the target hardware. The presented debugger is based on GDB debugging framework but contains a number of extensions specific for debugging embedded applications. However, the implementation of the debugger is not complete yet and there is a number of features that can improve debugger usability, but it is already more functional than common GDB debugger for QEMU and, in contrast to other systems and their debuggers, where developers can use some functions to debug applications, but not all we need, our debugger meets the majority of our requirements and restrictions.

Elaboration of modern airplane cockpit has tendency to use large displays instead of a lot of separate indicators. The large display should combine information about flight navigation and state of plane equipment. Information coming from a wide variety of devices should be displayed simultaneously. Therefore multi-windows rendering is vitally important here. Its implementation must be embedded in real-time operating system which controls the aircraft. Development of a Safety Critical Compositor for multi-windows rendering for OpenGL SC 1.0.1 software is considered in the paper. It works under the real-time operating system JetOS newly designed for aircraft. Development is based on the use of extensions designed to work in multi-core systems in addition to standard JetOS partitioning services.

This paper presents further development of Sevigator hypervisor-based security system. Original design of Sevigator confines users' applications in a separate virtual machine that has no network interfaces. For trusted applications Sevigator intercepts networkrelated system calls and routes them to the dedicated virtual machine that services those calls. This design allows Sevigator protect networking from malicious applications including highlevel intruders residing in the kernel. Modern microkernel-based hypervisors opened the door to redesign of Sevigator. Those hypervisors are small operating systems by nature, where management of virtual machines as well as most of hardware operations are isolated in processes with low priority level. Compromising such a process does not result in compromising the whole hypervisor. In this paper we present an experimental design of Sevigator based on NOVA hypervisor where system calls of trusted applications are serviced by a dedicated process in the hypervisor rather than a separate VM. The experiment shows about 25% performance gain due to reduced number of context switches.