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2022-05-25 - 18:40

Dates and Events:

OSADL Articles:

2022-01-13 12:00

Phase #3 of OSADL project on OPC UA PubSub over TSN successfully completed

Another important milestone on the way to interoperable Open Source real-time Ethernet has been reached

2021-02-09 12:00

Open Source OPC UA PubSub over TSN project phase #3 launched

Letter of Intent with call for participation is now available

2016-11-12 12:00

Raspberry Pi and real-time Linux

Let's have a look at the OSADL QA Farm data

2016-09-17 12:00

Preemption latency of real-time Linux systems

How to measure it – and how to fix it, if it's too high?

Real Time Linux Workshops

1999 - 2000 - 2001 - 2002 - 2003 - 2004 - 2005 - 2006 - 2007 - 2008 - 2009 - 2010

Eighth Real-Time Linux Workshop on October 12 to 15, 2006, in Lanzhou, Gansu, P.R.China

Embedded RTLinux: A New Stand-Alone RTLinux Approach

Miguel Masmano, Apolinar Gonzalez, Ismael Ripoll, and Alfons Crespo
Universidad Politecnica de Valencia, Spain
Universidad de Colima (Mexico)

Ismael Ripoll, Jorge Real, and Alfons Crespo
Technical University of Valencia
Camino de Vera 1, Valencia, Spain
(iripoll, jorge, alfons)

RTLinux is a hard Real-Time OS (RTOS) which uses an original approach to develop complex hard real-time applications in a fairly easy way: Executing a hard RTOS (RTLinux itself) jointly with Linux in the same box. This approach enables splitting up a hard real-time application according to its criticality, the part with deadline requirements is run on the RTOS while the part with no ``special'' time requirements is executed on Linux.

However, this approach presents two drawbacks. Firstly, Linux has a big footprint, especially in the 2.6 series, which is unsuitable for system with low resources. On the other hand, it is possible for a Linux application to directly disable interrupts, disrupting the real-time properties of RTLinux.

Several years ago, people from our department developed Stand-Alone RTLinux (SA-RTL), a RTLinux-compatible standalone kernel which was able to execute RTLinux applications in a bare machine. However, this approach was not completely optimum since was built cutting and pasting code from RTLinux, being rather difficult to maintain. Besides, it did not provide binary compatibility with RTLinux applications.

In this paper we present Embedded RTLinux (ERTL), our second approach of what a Stand-Alone RTLinux system should be. This second kernel, unlike SA-RTL, just replaces Linux with a minimal set of drivers, allowing to execute the original RTLinux jointly with a RTLinux application on a bare machine.


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