PEMP ESD2531
ESD2531- Embedded RTOS
Module Leader
Deepak V.
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Module Aims and Summary
PEMP ESD2531
• This module intends to prepare students to design and develop the
embedded software using Real-Time Operating System (RTOS).
Students will be taught to apply RTOS concepts like multi tasking,
memory protection, sharing & managing of resources,
schedulability, Inter-process communication, deadlocks, timers,
I/O and interrupt handling for developing embedded software; in
addition, porting RTOS on embedded target and fault tolerance
will be discussed. Students will be trained on the IDE of open
source & commercial RTOS’s for developing embedded
applications
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Intended Module Learning Outcomes
PEMP ESD2531
After undergoing this module, students will be able to:
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Describe real-time system and different RTOS features for
developing embedded software
Design and implement time critical applications using RTOS
Reconfigure and port RTOS (open source & commercial RTOS
- VxWorks/QNX/MicroC OS- II/OSEK) based applications on
embedded target
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Indicative Contents
PEMP ESD2531
• Overview of RTOS and VxWorks – Need for RTOS, RTOS for embedded
applications, Issues & challenges, Key concepts in real-time computing, POSIX
1003.13 standard for real-time operating systems and Operating systems
specifically targeted for embedded systems, Multiprocessor support and Fault
tolerance & Redundancy management
• Real-Time Multitasking - Multitasking, Scheduling basics, Real-time task
models, Performance metrics and Pre-emptive priority scheduling
• Schedulability of Real-Time Applications – Basic rate monotonic analysis,
Extended rate monotonic analysis, Blocking time, Scheduling overhead,
Interrupt overhead, Timer overhead, Consideration of aperiodic events, Earliest
deadline first and Implementation methods of multitasking in open source &
commercial RTOS (VxWorks/QNX/MicroC OS- II/OSEK)
• Inter-Process Communication - Shared memory, Pipes, Message passing,
Binary & counting semaphores, Priority inversion, Bounded priority inversion,
Unbounded priority inversion, Solution to the unbounded priority inversion like
priority inheritance & priority ceiling, Mutual exclusion with optional priority
inheritance, Local or global event flags and open source & commercial RTOS
(VxWorks/QNX/MicroC OS- II/OSEK) semaphores, message queues & pipes
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Indicative Contents
PEMP ESD2531
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Deadlocks – Deadlock scenario, Resource allocation graph, Necessary
conditions for deadlock, Dealing with deadlocks, Deadlock prevention,
Deadlock avoidance, Deadlock detection and Deadlock recovery
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Memory Management - Multiple memory areas with both fixed- & variablesized blocks allocation policies, No memory protection, Application runs in
privileged (supervisor) mode, System executable size and Memory
requirements are major constraints
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Timer – Need of timer support, System time, Clock ticks, Timeouts on all
blocking services in units of clock ticks, Watchdog timers and Timer
implementation in open source & commercial RTOS (VxWorks/QNX/MicroC
OS- II/OSEK)
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Interrupt Handling - Hardware interrupt control, User interrupt handlers,
Signals and Exception handling
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Indicative Contents
PEMP ESD2531
• I/O Systems - Files, Devices, Drivers, Methods of data transfer between device
driver & I/O device, Typical APIs available for I/O operations, Typical device
driver responsibilities, Support for serial I/O lines, Installable user device drivers,
Memory mapped I/O minimal synchronous I/O interface, Debugger interface,
I/O subsystem in open source & commercial RTOS (VxWorks/QNX/MicroC
OS- II/OSEK)
• Local File System - Hierarchical file-system (directories), Contiguous preallocation of disk space, Media compatibility with another file-system (e.g. MSDOS or RT-11) and File systems in open source & commercial RTOS
(VxWorks/QNX/MicroC OS- II/OSEK)
• Network Communications - Compatibility with a protocol stack (e.g. TCP/IP),
Applications support such as FTP, TELNET & TFTP, Sockets, Remote
Procedure Call (RPC) and Network communication in open source &
commercial RTOS (VxWorks/QNX/MicroC OS- II/OSEK)
• RTOS Initialization and Starting - Booting, Board Support Packages (BSP) for
RTOS and Reconfiguration, making kernel image & porting of open source &
commercial RTOS (VxWorks/QNX/MicroC OS- II/OSEK) on the embedded
target
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Laboratory Practice
PEMP ESD2531
• IDE for open source & commercial RTOS - VxWorks/MicroC
OS- II/OSEK
• Real-time multitasking for time critical application
• Inter-process communication (semaphore, Message queues, pipes)
for time critical application
• Interrupts handling
• Signals
• Timers for time critical application
• I/O systems
• Network programming
• Reconfiguration and porting of RTOS on embedded target
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Teaching and Learning Methods
PEMP ESD2531
• Lecture Sessions
• Demonstrations using VxWorks, MicroC OS, OSEK operating
systems and WindRiver Workbench
• Practical Sessions using
– VxWorks operating systems and WindRiver Workbench
– Programming assignments
• Self-study
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Evaluation
PEMP ESD2531
• Written Examination: 100 marks (50% weightage)
– Presentations (04/07/2014) 20 marks
– Laboratory (14/07/2014) 20 marks
– ICT (11/07/2014) 60 marks
• Assignments: 100 marks (50% weightage)
– Submission Date (26/07/2014)
• Pass requirement: 40%
– A minimum of 40 % marks in the written examination and a minimum of
40% marks in the assignment are required for a pass
– A student failing in any one of the components or both is considered as FAIL
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Module Resources
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PEMP ESD2531
Essential Reading
1. Module Notes
Recommended Reading
1. Penumuchu, C. V. (2007) Simple Real-time Operating System: A Kernel Inside View for a
Beginner, Trafford Publishing.
2. Jane, W. S. and Liu. (2000) Real-Time Systems, Prentice-Hall.
3. Burns. (2005) Real-Time Systems and Their Programming Language, 4th edn, AddisonWesley.
4. Shaw, A. C. (2001) Real-Time Systems and Software, John Wiley.
5. Laplante, P. A. (2001) Real-Time Systems Design and Analysis - An Engineers Handbook,
IEEE Press/PHI.
Journals
1. IEEE Transactions on Consumer Electronics
2. Transactions on Design Automation of Electronic Systems, TODAES
Magazines
1. IEEE Internet Computing Magazine
2. Embedded Systems Engineering
Internet Sites
1. https://computing.llnl.gov/tutorials/pthreads/ (accessed on 18th January 2012)
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Software and Manuals
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PEMP ESD2531
Tornado tool
Pentium Target Board
Tornado manuals
MPLAB IDE
PIC Microcontroller
FreeOSEK
ARM Processor
 M.S Ramaiah School of Advanced Studies - Bengaluru
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Module Delivery
PEMP ESD2531
Theory & Laboratory:
Mr. Deepak V.
Dept of Computer Engineering
MSRSAS
deepak@msrsas.org
 M.S Ramaiah School of Advanced Studies - Bengaluru
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