PtidyOS: A Lightweight Microkernel for Ptides Real-Time Systems

Jia Zou, Slobodan Matic, Edward A. Lee
2012 2012 IEEE 18th Real Time and Embedded Technology and Applications Symposium  
Ptides, a programming model for distributed realtime embedded systems, was proposed previously. In this work, we focus on a workflow that applies Ptides in a single-CPU environment using model-based design techniques. Our workflow starts with a programming environment where a real-time application is expressed as a Ptides model. The model captures both the functionality of the system and the desired timing of interactions with the environment. The Ptides simulator supports simulation of both of
more » ... these aspects. Once the designer is satisfied with the design, a code generator can be used to glue together the application code with a real-time operating system called PtidyOS. To ensure the responsiveness of the real-time program, PtidyOS's scheduler combines Ptides semantics with the earliestdeadline-first policy. To minimize scheduling overhead associated with context switching, PtidyOS uses a single stack for event scheduling and execution, while still enabling event preemptions. We demonstrate the Ptides workflow through a motion control application. The automatically generated code running on PtidyOS is compared with a manual C implementation running on bare silicon. We discuss the tradeoffs in functionality and performance between these two implementations.
doi:10.1109/rtas.2012.28 dblp:conf/rtas/ZouML12 fatcat:fnrjxoqy6barnjxyoim5radepa