An Analysis of a Hard Real-Time Execution Environment Extension for FreeRTOS

Stangaciu, Cristina S.; Micea, Mihai V.; Creţu, Vladimir

doi:10.4316/aece.2015.03011

Cited by 6 publications

(4 citation statements)

References 2 publications

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“…Table 1 summarizes some of the most relevant works that have performed a timing analysis of an OS or a virtualized environment in embedded systems, including a brief description of the works, the hardware platform, the SW environment where the analysis was carried out, and the tool used for the analysis. Some make a timing analysis of virtualized environments [8,24,25], others analyze the interrupt latency on an OS [26,27], and others analyze the interrupt latency on virtualized environments [28][29][30][31][32][33]. Finally, some propose new tools for analyzing latencies in embedded systems [34][35][36][37][38].…”

Section: Related Workmentioning

confidence: 99%

“…Stangaciu et al[26] propose an extension for FreeRTOS to guarantee the absence of task execution jitter. They also present a detailed analysis of this extension, including an analysis of interrupt latency and jitter.EFM32_G890 _STK boardFreeRTOS zlgLogic and Keil uVision Liu et al[27] propose RTLinux-THIN, a hybrid OS based on two-level hardware interrupts, and analyze and model the worst-case real-time interrupt latency for a Real-Time Application Interface (RTAI); they identify the key component for its optimization.…”

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confidence: 99%

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Interrupt Latency Accurate Measurement in Multiprocessing Embedded Systems by Means of a Dedicated Circuit

Alonso,

Muguira,

Garate

et al. 2024

Electronics

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Modern multiprocessing embedded applications require, in many cases, two different environments on the same platform: one that meets real-time requirements and another one with a general purpose operating system. Although several technologies can be used, two of the most popular are virtualization based on hypervisors and asymmetric multiprocessing software. However, using these tools introduces latency, which must be measured to verify compliance with real-time requirements. With the aim of facilitating these measurements, this work provides a hardware tool that is more precise and easier to use than other existing software solutions. The paper also studies the interrupt latency generated by different hypervisors and asymmetric multiprocessing frameworks in a Zynq UltraScale+ platform. This research work facilitates the accurate study of the temporal response of multiprocessor embedded systems, which allows for evaluating their suitability for applications with real-time requirements.

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Section: Related Workmentioning

confidence: 99%

mentioning

confidence: 99%

Interrupt Latency Accurate Measurement in Multiprocessing Embedded Systems by Means of a Dedicated Circuit

Alonso,

Muguira,

Garate

et al. 2024

Electronics

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“…There are a variety of path planning algorithms inside the package integrated path planning [14] in ROS, but because the map information of this system is a low-density map, the package integrated by ROS used is too much overhead for the system, so this system path planning uses breadth-first (BFS) search method for path planning on the data structure map [15]. Breadth-first search process is shown in Figure 7, first the initial point into the first queue, then search the first queue of the node's neighboring points, and add the unvisited neighboring points to the second queue, and then search the second queue of the node's neighboring points, and add the unvisited neighboring points to the third queue to loop the process until the target node is found, find the node of the first neighboring point of the previous layer into the path stack The first neighbor of the previous layer is added to the path stack, and the process is repeated until the starting point is added to the stack.…”

Section: Path Planningmentioning

confidence: 99%

Courier Path Planning System Based on Automated Guided Vehicles

Lin,

He,

et al. 2024

Advances in Transdisciplinary Engineering

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With the arrival of the digital era, the logistics industry pressure surge, the traditional logistics industry, high cost, low efficiency has been unable to meet the needs of modern logistics. There is an urgent need for intelligent logistics equipment to improve the efficiency of express operation. Automated Guided Vehicles (Automated Guided Vehicles, AGV) as one of the key equipments in the intelligent logistics system, plays an important role in reducing cost and improving efficiency. In this paper, this paper design a sorting system based on AGV path planning, adopting algorithms such as sliding filter, Kalman filter, breadth-first (BFS) search method, etc., and obtaining its own state through encoding motors, gyroscopes, ultrasonic arrays and feeding back to the upper computer ROS system, which obtains images to recognize the express delivery information through the camera, confirms its own position through machine vision and multi-sensor fusion, and makes automatic Navigation trolley AGV path planning to achieve automatic identification of courier information, automatic classification and transportation to the target location, and automatic return to the starting point. Through testing, it is proved that this design can complete the recognition of the target QR code and AGV path planning within the range of 1 meter.

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“…In a special category of safety-critical applications which run in a time-triggered environment, perfectly periodical (i.e., jitterless) scheduling for certain critical tasks is needed. This need can appear from message synchronization problems [1], from signal processing applications [2][3][4][5], or simply from conditions imposed by different types of certifications [6]. Moreover, jitterless execution is desired for certain tasks in any embedded control system, as jitter only introduces difficulties in control loops [6].…”

Section: Introductionmentioning

confidence: 99%

Towards Fully Jitterless Applications: Periodic Scheduling in Multiprocessor MCSs Using a Table-Driven Approach

et al. 2020

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In mixed criticality systems (MCSs), the time-triggered scheduling approach focuses on a special case of safety-critical embedded applications which run in a time-triggered environment. Sometimes, for these types of MCSs, perfectly periodical (i.e., jitterless) scheduling for certain critical tasks is needed. In this paper, we propose FENP_MC (Fixed Execution Non-Preemptive Mixed Criticality), a real-time, table-driven, non-preemptive scheduling method specifically adapted to mixed criticality systems which guarantees jitterless execution in a mixed criticality time-triggered environment. We also provide a multiprocessor version, namely, P_FENP_MC (Partitioned Fixed Execution Non-Preemptive Mixed Criticality), using a partitioning heuristic. Feasibility tests are proposed for both uniprocessor and homogenous multiprocessor systems. An analysis of the algorithm performance is presented in terms of success ratio and scheduling jitter by comparing it against a time-triggered and an event-driven method in a non-preemptive context.

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An Analysis of a Hard Real-Time Execution Environment Extension for FreeRTOS

Cited by 6 publications

References 2 publications

Interrupt Latency Accurate Measurement in Multiprocessing Embedded Systems by Means of a Dedicated Circuit

Interrupt Latency Accurate Measurement in Multiprocessing Embedded Systems by Means of a Dedicated Circuit

Courier Path Planning System Based on Automated Guided Vehicles

Towards Fully Jitterless Applications: Periodic Scheduling in Multiprocessor MCSs Using a Table-Driven Approach

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