DOCSLIB.ORG

D2.1 Report on the Reference Hardware Development Platforms Project: Open Framework for Embedded Robot Applications

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text

Load more

D2.1 Report on the reference hardware development platforms Project: Open Framework for Embedded Robot Applications June 2018 1 D2.1 Report on the reference hardware development platforms Contents 1 Introduction 6 1.1 Summary ................................................... 6 1.2 Purpose of document ............................................. 6 1.3 Partners involved ............................................... 6 2 Acronyms and keywords 6 3 Reference platform selection 7 3.1 Introduction .................................................. 7 3.1.1 Architectural context ........................................ 8 3.2 Selection Criteria ............................................... 8 3.3 Options .................................................... 9 3.3.1 Olimex STM32-E407 ......................................... 9 3.3.2 STM32L1 Discovery ......................................... 10 3.3.3 Hercules TMS570LS04x/03x LaunchPad Development Kit .................... 10 3.3.4 Bosch XDK110 ............................................ 11 3.3.5 DEVKIT-MPC5744P ........................................ 11 3.3.6 Robotis OpenCR 1.0 ......................................... 12 3.4 Selection .................................................... 12 4 Reference platform validation 13 4.1 Olimex LTD STM32-E407 .......................................... 13 4.1.1 Introduction ............................................. 13 4.1.2 Memory usage ............................................ 14 4.1.3 Power Consumption Measurements ................................. 15 4.2 5.2 STM32L1 Discovery ........................................... 15 4.2.1 Introduction ............................................. 15 4.2.2 Memory usage ............................................ 15 4.2.3 Power Consumption ......................................... 16 4.3 TI Hercules LaunchPad TMS57004 ..................................... 17 5 Reference Hardware Development Platform selection 17 6 Reference Hardware Development Platform development 18 6.1 General development resources ....................................... 19 6.1.1 NuttX shell .............................................. 19 6.1.2 GPIO ................................................. 19 6.1.3 I2C .................................................. 20 6.1.4 SPI .................................................. 20 2 D2.1 Report on the reference hardware development platforms 6.1.5 UART ................................................. 20 6.1.6 ADC .................................................. 20 6.1.7 SD Card ................................................ 20 6.1.8 Ethernet ................................................ 20 6.1.9 802.15.4 protocol support ...................................... 20 6.1.10 6LOWPAN protocol support .................................... 20 6.1.11 Zigbee protocol use .......................................... 21 6.1.12 Power Consumption and Management ............................... 21 6.2 RHDP development: Olimex LTD STM32-E407 .............................. 22 6.3 RHDP development: STML1 Discovery .................................. 24 7 RTOS analysis 25 7.1 Microcontroller RTOS overview ....................................... 25 7.2 Additional RTOS test ............................................ 31 7.2.1 Olimex STM32-E407 ......................................... 31 7.2.2 STM32-L1 Discovery ......................................... 31 7.2.3 TI LaunchPad TMS570LS04 .................................... 31 7.3 Conclusion .................................................. 32 8 ROS2 RIOT prove of concept 32 8.1 ROS2 NuttX test ............................................... 32 9 Supporting tools 32 9.1 Introduction .................................................. 32 9.2 RHDP development containers ....................................... 32 9.2.1 Olimex LTD STM32-E407 Docker file ............................... 33 9.2.2 STML1 Discovery Docker file .................................... 33 9.2.3 TI LaunchPad TMS57004 Docker file ............................... 33 9.3 Development guides ............................................. 33 10 Appendix A: NuttX guide 34 10.1 NuttX basic concepts ............................................. 34 10.1.1 Introduction ............................................. 34 10.1.2 NuttX structure ........................................... 34 10.1.3 Uploading firmware ......................................... 35 10.2 Creating a new application ......................................... 36 10.3 Adding Drivers ................................................ 41 10.3.1 Driver implementation ........................................ 41 10.4 How to use serial communication ...................................... 47 10.4.1 Menuconfig .............................................. 47 3 D2.1 Report on the reference hardware development platforms 10.4.2 Using serial at code ......................................... 48 10.5 How to use I2C ................................................ 49 10.5.1 Configuration ............................................. 49 10.5.2 Driver’s code ............................................. 49 10.5.3 Write ................................................. 50 10.5.4 Read .................................................. 51 10.6 How to use SD Card ............................................. 51 10.6.1 Using SD Card within an application ................................ 52 10.7 How to use ADC ............................................... 52 10.7.1 Board initialization (Advance/Optional) .............................. 52 10.7.2 Configuration ............................................. 53 10.7.3 ADC use under NuttX application (Beginner/Required) ..................... 53 10.7.4 Debugging ............................................... 53 10.8 How to use UDP under 6LoWPAN ..................................... 53 10.8.1 NuttX Driver ............................................. 54 10.8.2 Board initialization .......................................... 54 10.8.3 NuttX configuration ......................................... 55 10.8.4 Application use ............................................ 57 10.8.5 Debugging ............................................... 57 10.9 Using SPI at driver level ........................................... 58 10.9.1 Hardware ............................................... 58 10.9.2 Driver ................................................. 58 10.9.3 Write functions ............................................ 58 10.9.4 Read functions ............................................ 59 10.9.5 Configuration function ........................................ 61 10.9.6 Initialization function ........................................ 61 10.9.7 NuttX configuration ......................................... 61 10.9.8 Application .............................................. 61 10.9.9 Debugging ............................................... 61 11 Appendix B: Running FreeRTOS 61 4 D2.1 Report on the reference hardware development platforms Concept Description Grant agreement no. 780785 Project acronym OFERA Project full title Open Framework for Embedded Robot Applications Dissemination level Public Date of delivery 30/06/2018 Deliverable number 2.1 Deliverable name Report on Reference Hardware Development platforms Keywords Microcontroller, ROS2, ROS, DDS, Robot, Open-Source Abstract The micro-ROS project aims to bring resource-constrained devices, such as microcontrollers, as first-class participants of the robot ecosystem. In particular, it aims to offer support to the Robot Operating System (ROS) on its second version: ROS 2.0. In an attempt to maximize the impact of our work, to concentrate and align our efforts, we will propose a set of Open Source and Open Hardware Reference hardware development platforms 5 D2.1 Report on the reference hardware development platforms 1 Introduction 1.1 Summary In this document, we introduce and analyze hardware platforms that will be used to conduct research over this time. We also offer support for them as a consortium, during the duration of the project. The openness of these hardware platforms facilitates the adoption and reuse of our work. In addition, it enhances contributions and matches the existing philosophy of the ROS ecosystem. Firstly, hardware selection criteria are presented, stating the points we consider relevant for picking RHPDs. Sec- ondly, development platform candidates are introduced, showing their technical characteristics and stating why they could be appropriate for the project. Once the hardware platforms are presented, a preliminary selection is made. Then, validation work of the pre-selected board is described, explaining how we have obtained the data that has allowed us to validate candidates. After reasoning the chosen Reference Hardware Development Platforms, each platform development status under default RTOS is shown, describing, porting and testing the performed work. This development process fits with the technical requirements for micro-ROS devices we have detected in the project. Once the default platforms have been tested, we proceed to analyze additional RTOSes that complement the project. Under those new platforms, an analysis of the selected RHDPs is performed. We also present a novel approach that allows the use of ROS2 code under MCUs with the use of a modified ament tool-chain. This tool has been analyzed and tested. Additionally, we introduce a prove of concept using NuttX. Finally, we describe the work performed to support other partners in
Recommended publications
  • UG1046 Ultrafast Embedded Design Methodology Guide

    UG1046 Ultrafast Embedded Design Methodology Guide

    UltraFast Embedded Design Methodology Guide UG1046 (v2.3) April 20, 2018 Revision History The following table shows the revision history for this document. Date Version Revision 04/20/2018 2.3 • Added a note in the Overview section of Chapter 5. • Replaced BFM terminology with VIP across the user guide. 07/27/2017 2.2 • Vivado IDE updates and minor editorial changes. 04/22/2015 2.1 • Added Embedded Design Methodology Checklist. • Added Accessing Documentation and Training. 03/26/2015 2.0 • Added SDSoC Environment. • Added Related Design Hubs. 10/20/2014 1.1 • Removed outdated information. •In System Level Considerations, added information to the following sections: ° Performance ° Clocking and Reset 10/08/2014 1.0 Initial Release of document. UltraFast Embedded Design Methodology Guide Send Feedback 2 UG1046 (v2.3) April 20, 2018 www.xilinx.com Table of Contents Chapter 1: Introduction Embedded Design Methodology Checklist. 9 Accessing Documentation and Training . 10 Chapter 2: System Level Considerations Performance. 13 Power Consumption . 18 Clocking and Reset. 36 Interrupts . 41 Embedded Device Security . 45 Profiling and Partitioning . 51 Chapter 3: Hardware Design Considerations Configuration and Boot Devices . 63 Memory Interfaces . 69 Peripherals . 76 Designing IP Blocks . 94 Hardware Performance Considerations . 102 Dataflow . 108 PL Clocking Methodology . 112 ACP and Cache Coherency. 116 PL High-Performance Port Access. 120 System Management Hardware Assistance. 124 Managing Hardware Reconfiguration . 127 GPs and Direct PL Access from APU . 133 Chapter 4: Software Design Considerations Processor Configuration . 137 OS and RTOS Choices . 142 Libraries and Middleware . 152 Boot Loaders . 156 Software Development Tools . 162 UltraFast Embedded Design Methodology GuideSend Feedback 3 UG1046 (v2.3) April 20, 2018 www.xilinx.com Chapter 5: Hardware Design Flow Overview .
  • AMNESIA 33: How TCP/IP Stacks Breed Critical Vulnerabilities in Iot

    AMNESIA 33: How TCP/IP Stacks Breed Critical Vulnerabilities in Iot

    AMNESIA:33 | RESEARCH REPORT How TCP/IP Stacks Breed Critical Vulnerabilities in IoT, OT and IT Devices Published by Forescout Research Labs Written by Daniel dos Santos, Stanislav Dashevskyi, Jos Wetzels and Amine Amri RESEARCH REPORT | AMNESIA:33 Contents 1. Executive summary 4 2. About Project Memoria 5 3. AMNESIA:33 – a security analysis of open source TCP/IP stacks 7 3.1. Why focus on open source TCP/IP stacks? 7 3.2. Which open source stacks, exactly? 7 3.3. 33 new findings 9 4. A comparison with similar studies 14 4.1. Which components are typically flawed? 16 4.2. What are the most common vulnerability types? 17 4.3. Common anti-patterns 22 4.4. What about exploitability? 29 4.5. What is the actual danger? 32 5. Estimating the reach of AMNESIA:33 34 5.1. Where you can see AMNESIA:33 – the modern supply chain 34 5.2. The challenge – identifying and patching affected devices 36 5.3. Facing the challenge – estimating numbers 37 5.3.1. How many vendors 39 5.3.2. What device types 39 5.3.3. How many device units 40 6. An attack scenario 41 6.1. Other possible attack scenarios 44 7. Effective IoT risk mitigation 45 8. Conclusion 46 FORESCOUT RESEARCH LABS RESEARCH REPORT | AMNESIA:33 A note on vulnerability disclosure We would like to thank the CERT Coordination Center, the ICS-CERT, the German Federal Office for Information Security (BSI) and the JPCERT Coordination Center for their help in coordinating the disclosure of the AMNESIA:33 vulnerabilities.
  • 1921 Tulsa Race Riot Reconnaissance Survey

    1921 Tulsa Race Riot Reconnaissance Survey

    1921 Tulsa Race Riot Reconnaissance Survey Final November 2005 National Park Service U.S. Department of the Interior CONTENTS INTRODUCTION 1 Summary Statement 1 Bac.ground and Purpose 1 HISTORIC CONTEXT 5 National Persp4l<live 5 1'k"Y v. f~u,on' World War I: 1896-1917 5 World W~r I and Postw~r ( r.: 1!1t7' EarIV 1920,; 8 Tulsa RaCR Riot 14 IIa<kground 14 TI\oe R~~ Riot 18 AIt. rmath 29 Socilot Political, lind Economic Impa<tsJRamlt;catlon, 32 INVENTORY 39 Survey Arf!a 39 Historic Greenwood Area 39 Anla Oubi" of HiOlorK G_nwood 40 The Tulsa Race Riot Maps 43 Slirvey Area Historic Resources 43 HI STORIC GREENWOOD AREA RESOURCeS 7J EVALUATION Of NATIONAL SIGNIFICANCE 91 Criteria for National Significance 91 Nalional Signifiunce EV;1lu;1tio.n 92 NMiol\ill Sionlflcao<e An.aIYS;s 92 Inl~ri ly E~alualion AnalY'is 95 {"",Iu,ion 98 Potenl l~1 M~na~menl Strategies for Resource Prote<tion 99 PREPARERS AND CONSULTANTS 103 BIBUOGRAPHY 105 APPENDIX A, Inventory of Elltant Cultural Resoun:es Associated with 1921 Tulsa Race Riot That Are Located Outside of Historic Greenwood Area 109 Maps 49 The African American S«tion. 1921 51 TI\oe Seed. of c..taotrophe 53 T.... Riot Erupt! SS ~I,.,t Blood 57 NiOhl Fiohlino 59 rM Inva.ion 01 iliad. TIll ... 61 TM fighl for Standp''''' Hill 63 W.II of fire 65 Arri~.. , of the Statl! Troop< 6 7 Fil'lal FiOlrtino ~nd M~,,;~I I.IIw 69 jii INTRODUCTION Summary Statement n~sed in its history.
  • Performance Study of Real-Time Operating Systems for Internet Of

    Performance Study of Real-Time Operating Systems for Internet Of

    IET Software Research Article ISSN 1751-8806 Performance study of real-time operating Received on 11th April 2017 Revised 13th December 2017 systems for internet of things devices Accepted on 13th January 2018 E-First on 16th February 2018 doi: 10.1049/iet-sen.2017.0048 www.ietdl.org Rafael Raymundo Belleza1 , Edison Pignaton de Freitas1 1Institute of Informatics, Federal University of Rio Grande do Sul, Av. Bento Gonçalves, 9500, CP 15064, Porto Alegre CEP: 91501-970, Brazil E-mail: [email protected] Abstract: The development of constrained devices for the internet of things (IoT) presents lots of challenges to software developers who build applications on top of these devices. Many applications in this domain have severe non-functional requirements related to timing properties, which are important concerns that have to be handled. By using real-time operating systems (RTOSs), developers have greater productivity, as they provide native support for real-time properties handling. Some of the key points in the software development for IoT in these constrained devices, like task synchronisation and network communications, are already solved by this provided real-time support. However, different RTOSs offer different degrees of support to the different demanded real-time properties. Observing this aspect, this study presents a set of benchmark tests on the selected open source and proprietary RTOSs focused on the IoT. The benchmark results show that there is no clear winner, as each RTOS performs well at least on some criteria, but general conclusions can be drawn on the suitability of each of them according to their performance evaluation in the obtained results.
  • Operating in a New Environment

    Operating in a New Environment

    EMBEDDED DESIGN OPERATING SYSTEMS lthough the concept of the IoT was Ioated around the turn of the Millennium, it is A only recently that the approach has gathered significant momentum. But, because it is a blanket term, IoT is not only being applied to large and small applications alike, it is also being applied in a wide range of end markets. With such a spread, it will come as no surprise to discover that one size does not fit all when it comes to operating systems. At the high end of the market, companies like Intel are vying to provide a complete solution. Alongside its processor technology, Intel can integrate Wind River’s VxWorks operating system and McAfee security software to create a system capable of handling high levels of complexity. But those developing wearable devices, for example, may not want to take advantage of such a system; they may well be looking for an OS that runs in a very small footprint but, nonetheless, offers a range of Operating in a new necessary features while consuming minimal amounts of power. ARM has had its eyes on the sector for some time and, last year, rolled out environment a significant extension to its mbed programme. Previously, mbed was an embedded development community The Internet of Things is posing challenges to OS developers. with ambitions similar to those of Arduino and Raspberry Pi. But mbed How are they responding? By Graham Pitcher. now has a much bigger vision – the IoT. As part of this approach, it is creating mbed OS (see fig 1).
  • RIOT: an Open Source Operating System for Low-End Embedded Devices in the Iot Emmanuel Baccelli, Cenk Gundo¨ Gan,˘ Oliver Hahm, Peter Kietzmann, Martine S

    RIOT: an Open Source Operating System for Low-End Embedded Devices in the Iot Emmanuel Baccelli, Cenk Gundo¨ Gan,˘ Oliver Hahm, Peter Kietzmann, Martine S

    This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/JIOT.2018.2815038, IEEE Internet of Things Journal 1 RIOT: an Open Source Operating System for Low-end Embedded Devices in the IoT Emmanuel Baccelli, Cenk Gundo¨ gan,˘ Oliver Hahm, Peter Kietzmann, Martine S. Lenders, Hauke Petersen, Kaspar Schleiser, Thomas C. Schmidt, and Matthias Wahlisch¨ Abstract—As the Internet of Things (IoT) emerges, compact low-end IoT devices. RIOT runs on minimal memory in the operating systems are required on low-end devices to ease devel- order of ≈10kByte, and can run on devices with neither MMU opment and portability of IoT applications. RIOT is a prominent (memory management unit) nor MPU (memory protection free and open source operating system in this space. In this paper, we provide the first comprehensive overview of RIOT. We cover unit). The goal of this paper is to provide an overview of the key components of interest to potential developers and users: RIOT, both from the operating system point of view, and from the kernel, hardware abstraction, and software modularity, both an open source software and ecosystem point of view. conceptually and in practice for various example configurations. We explain operational aspects like system boot-up, timers, power Prior work [28], [29] has surveyed the space of operating management, and the use of networking. Finally, the relevant APIs as exposed by the operating system are discussed along systems for low-end IoT devices.
  • B.Tech. CSE CBCS W.E.F. July, 2019

    B.Tech. CSE CBCS W.E.F. July, 2019

    The Curriculum Book BACHELOR OF TECHNOLOGY I tn COMPUTER SCIENCE AND ENGINEERING FOUR YEAR PROGRAMME Choice Based Credit System vy. e. f. JuIy ZAlg (70:30) . ,_i 1 .I DEPARTMENT OF COMPUTER SCIENCE AI\D BNGINEERING GURU JAMBHESHWAR UNIVERSITY OF SCIENCE & TECHNOLOGY tr j HISAR.125OO1, HARYANA scheme & syllabi2019 GURU JAMBHESHWAR UNIVERSITY OF SCIENCE & TECHNOLOGY, HISAR (Established by state Legistature 'A',Grade,. Act 17 of lggs) NA.AC Accreditid state Govt. university Acad /AC-ilt,tFqc_1 Vot. 3DAlgJf 7 7 Dated: Ulfr:f To The Controller of Examinations GJUS&T, Hisar. sub: Approval of scheme of examination & syllabi of various B.Tech. progralle(sJ being run in university Teachiig Departments as welt as affil iated En g i neeri ng c oilege(s)/r nstitutelsy. AND Recommendations of Faculty Engineering open & Technology regarding Elective, Format of Minor Quu.ti;;-of papei Mooc strength for programme courses, minimum Erective, semester Registration etc. Sir, I am directed to inform you that the vice-chancellor, on the recommendations of the Faculty of Engineering & Technology, vide resolutions no. 2to 13 in its meeting held on 1B 07'2a19, is pleased to approve . the following scheme & syllabi of B.Tech. programme(s) w'e'f' the academic session batch / mentioned against each being run in University Teaching Departments as well as affiliated colleges/institutions and recommendations of Faculty of Engineering & Technolcgy, regarding open Elective, format of Minor Question Paper, Mooc courses, minimum strength for programme Elective' semester Registration etc under sectio n 11(5) in anticipation of approvat of the Acadenric councir of the University Act, 1995.- 1' B'Tech (Printing Technology), B Tec.h (Packaging Technology) (Printing & Packaging i""r'norogD-ath ""un',i""o,,,& B.Tech.
  • OPERATING SYSTEMS.Ai

    OPERATING SYSTEMS.Ai

    Introduction Aeroflex Gaisler provides LEON and ERC32 users with a wide range of popular embedded operating systems. Ranging from very small footprint task handlers to full featured Real-Time Operating System (RTOS). A summary of available operating systems and their characteristics is outlined below. VxWorks The VxWorks SPARC port supports LEON3/4 and LEON2. Drivers for standard on-chip peripherals are included. The port supports both non-MMU and MMU systems allowing users to program fast and secure applications. Along with the graphical Eclipse based workbench comes the extensive VxWorks documentation. • MMU and non-MMU system support • SMP support (in 6.7 and later) • Networking support (Ethernet 10/100/1000) • UART, Timer, and interrupt controller support • PCI, SpaceWire, CAN, MIL-STD-1553B, I2C and USB host controller support • Eclipse based Workbench • Commercial license ThreadX The ThreadX SPARC port supports LEON3/4 and its standard on-chip peripherals. ThreadX is an easy to learn and understand advanced pico-kernel real-time operating system designed specifically for deeply embedded applications. ThreadX has a rich set of system services for memory allocation and threading. • Non-MMU system support • Bundled with newlib C library • Support for NetX, and USBX ® • Very small footprint • Commercial license Nucleus Nucleus is a real time operating system which offers a rich set of features in a scalable and configurable manner. • UART, Timer, Interrupt controller, Ethernet (10/100/1000) • TCP offloading and zero copy TCP/IP stack (using GRETH GBIT MAC) • USB 2.0 host controller and function controller driver • Small footprint • Commercial license LynxOS LynxOS is an advanced RTOS suitable for high reliability environments.
  • A Comparative Study Between Operating Systems (Os) for the Internet of Things (Iot)

    A Comparative Study Between Operating Systems (Os) for the Internet of Things (Iot)

    VOLUME 5 NO 4, 2017 A Comparative Study Between Operating Systems (Os) for the Internet of Things (IoT) Aberbach Hicham, Adil Jeghal, Abdelouahed Sabrim, Hamid Tairi LIIAN, Department of Mathematic & Computer Sciences, Sciences School, Sidi Mohammed Ben Abdellah University, [email protected], [email protected], [email protected], [email protected] ABSTRACT Abstract : We describe The Internet of Things (IoT) as a network of physical objects or "things" embedded with electronics, software, sensors, and network connectivity, which enables these objects to collect and exchange data in real time with the outside world. It therefore assumes an operating system (OS) which is considered as an unavoidable point for good communication between all devices “objects”. For this purpose, this paper presents a comparative study between the popular known operating systems for internet of things . In a first step we will define in detail the advantages and disadvantages of each one , then another part of Interpretation is developed, in order to analyze the specific requirements that an OS should satisfy to be used and determine the most appropriate .This work will solve the problem of choice of operating system suitable for the Internet of things in order to incorporate it within our research team. Keywords: Internet of things , network, physical object ,sensors,operating system. 1 Introduction The Internet of Things (IoT) is the vision of interconnecting objects, users and entities “objects”. Much, if not most, of the billions of intelligent devices on the Internet will be embedded systems equipped with an Operating Systems (OS) which is a system programs that manage computer resources whether tangible resources (like memory, storage, network, input/output etc.) or intangible resources (like running other computer programs as processes, providing logical ports for different network connections etc.), So it is the most important program that runs on a computer[1].
  • Operating Systems & Virtualisation Security Knowledge Area

    Operating Systems & Virtualisation Security Knowledge Area

    Operating Systems & Virtualisation Security Knowledge Area Issue 1.0 Herbert Bos Vrije Universiteit Amsterdam EDITOR Andrew Martin Oxford University REVIEWERS Chris Dalton Hewlett Packard David Lie University of Toronto Gernot Heiser University of New South Wales Mathias Payer École Polytechnique Fédérale de Lausanne The Cyber Security Body Of Knowledge www.cybok.org COPYRIGHT © Crown Copyright, The National Cyber Security Centre 2019. This information is licensed under the Open Government Licence v3.0. To view this licence, visit: http://www.nationalarchives.gov.uk/doc/open-government-licence/ When you use this information under the Open Government Licence, you should include the following attribution: CyBOK © Crown Copyright, The National Cyber Security Centre 2018, li- censed under the Open Government Licence: http://www.nationalarchives.gov.uk/doc/open- government-licence/. The CyBOK project would like to understand how the CyBOK is being used and its uptake. The project would like organisations using, or intending to use, CyBOK for the purposes of education, training, course development, professional development etc. to contact it at con- [email protected] to let the project know how they are using CyBOK. Issue 1.0 is a stable public release of the Operating Systems & Virtualisation Security Knowl- edge Area. However, it should be noted that a fully-collated CyBOK document which includes all of the Knowledge Areas is anticipated to be released by the end of July 2019. This will likely include updated page layout and formatting of the individual Knowledge Areas KA Operating Systems & Virtualisation Security j October 2019 Page 1 The Cyber Security Body Of Knowledge www.cybok.org INTRODUCTION In this Knowledge Area, we introduce the principles, primitives and practices for ensuring se- curity at the operating system and hypervisor levels.
  • Real-Time Operating System Modelling and Simulation Using Systemc

    Real-Time Operating System Modelling and Simulation Using Systemc

    Real-Time Operating System Modelling and Simulation Using SystemC Ke Yu Submitted for the degree of Doctor of Philosophy Department of Computer Science June 2010 Abstract Increasing system complexity and stringent time-to-market pressure bring chal- lenges to the design productivity of real-time embedded systems. Various System- Level Design (SLD), System-Level Design Languages (SLDL) and Transaction- Level Modelling (TLM) approaches have been proposed as enabling tools for real-time embedded system specification, simulation, implementation and verifi- cation. SLDL-based Real-Time Operating System (RTOS) modelling and simula- tion are key methods to understand dynamic scheduling and timing issues in real- time software behavioural simulation during SLD. However, current SLDL-based RTOS simulation approaches do not support real-time software simulation ade- quately in terms of both functionality and accuracy, e.g., simplistic RTOS func- tionality or annotation-dependent software time advance. This thesis is concerned with SystemC-based behavioural modelling and simu- lation of real-time embedded software, focusing upon RTOSs. The RTOS-centric simulation approach can support flexible, fast and accurate real-time software tim- ing and functional simulation. They can help software designers to undertake real- time software prototyping at early design phases. The contributions in this thesis are fourfold. Firstly, we propose a mixed timing real-time software modelling and simula- tion approach with various timing related techniques, which are suitable for early software modelling and simulation. We show that this approach not only avoids the accuracy drawback in some existing methods but also maintains a high simu- lation performance. Secondly, we propose a Live CPU Model to assist software behavioural timing modelling and simulation.
  • Debugging Threadx RTOS Applications Using Tracex Contents

    Debugging Threadx RTOS Applications Using Tracex Contents

    Application Note Renesas Synergy™ Platform R20AN0404EJ0112 Debugging ThreadX RTOS Applications Rev.1.12 Using TraceX Sep 10, 2018 ThreadX® is an RTOS from Express Logic which is based on a high-performance embedded kernel. This application note provides procedures to check ThreadX thread and object states (referred to as resources) during the development of applications in e2 studio for Renesas Synergy™. The procedure for starting TraceX® is also explained. For the ThreadX specifications and functions, visit the Express Logic (http://rtos.com/) website. For TraceX specifications and functions, visit the Synergy Software (https://www.renesas.com/us/en/products/synergy.html) page. Under the Development Tools tab, select TraceX. This application note explains examples using a project called Blinky with ThreadX that is available after installing the Renesas Synergy™ Software Package (SSP). For procedures covering operations with Blinky with ThreadX, see the Renesas Synergy™ e2 studio v6.2 or Greater Getting Started Guide available on the Synergy Solutions Gallery (https://www.renesas.com/us/en/products/synergy/gallery.html). This document describes general usage of e2 studio. This application note supports SSP version 1.4.0 and later and e2 studio version 6.2.0 and later. Target Environment The operations covered in this document were confirmed in the following environment. • Renesas SynergyTM Software Package (SSP) v1.4.0 or later • e2 studio for Renesas Synergy™ v6.2.0 or later • ThreadX (requires development/production license, see section 5.1, Licenses for ThreadX) • Development Kit for DK-S7G2 Synergy MCU Group R20AN0404EJ0112 Rev.1.12 Page 1 of 23 Sep 10, 2018 Renesas Synergy™ Platform Debugging ThreadX RTOS Applications Using TraceX Contents 1.