PSA Firmware Update API 0.7
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An Event-Driven Embedded Operating System for Miniature Robots
This is a repository copy of OpenSwarm: an event-driven embedded operating system for miniature robots. White Rose Research Online URL for this paper: http://eprints.whiterose.ac.uk/110437/ Version: Accepted Version Proceedings Paper: Trenkwalder, S.M., Lopes, Y.K., Kolling, A. et al. (3 more authors) (2016) OpenSwarm: an event-driven embedded operating system for miniature robots. In: Proceedings of IROS 2016. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 09-14 Oct 2016, Daejeon, Korea. IEEE . ISBN 978-1-5090-3762-9 https://doi.org/10.1109/IROS.2016.7759660 © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reuse Items deposited in White Rose Research Online are protected by copyright, with all rights reserved unless indicated otherwise. They may be downloaded and/or printed for private study, or other acts as permitted by national copyright laws. The publisher or other rights holders may allow further reproduction and re-use of the full text version. This is indicated by the licence information on the White Rose Research Online record for the item. Takedown If you consider content in White Rose Research Online to be in breach of UK law, please notify us by emailing [email protected] including the URL of the record and the reason for the withdrawal request. -
What Are the Problems with Embedded Linux?
What Are the Problems with Embedded Linux? Every Operating System Has Benefits and Drawbacks Linux is ubiquitous. It runs most internet servers, is inside Android* smartphones, and is used on millions of embedded systems that, in the past, ran Real-Time Operating Systems (RTOSes). Linux can (and should) be used were possible for embedded projects, but while it gives you extreme choice, it also presents the risk of extreme complexity. What, then, are the trade-offs between embedded Linux and an RTOS? In this article, we cover some key considerations when evaluating Linux for a new development: ■ Design your system architecture first ■ What is Linux? ■ Linux vs. RTOSes ■ Free software is about liberty—not price ■ How much does Embedded Linux cost? ■ Why pay for Embedded Linux? ■ Should you buy Embedded Linux or roll-your-own (RYO)? ■ To fork or not to fork? ■ Software patching ■ Open source licensing ■ Making an informed decision The important thing is not whether Linux or an RTOS is “the best,” but whether either operating system—or both together—makes the most technical and financial sense for your project. We hope this article helps you make an informed decision. Design Your System Architecture First It is important to design your system architecture first—before choosing either Linux or an RTOS—because both choices can limit architectural freedom. You may discover that aspects of your design require neither Linux nor an RTOS, making your design a strong candidate for a heterogeneous approach that includes one or more bare-metal environments (with possibly a Linux and/or RTOS environment as well). -
Co-Optimizing Performance and Memory Footprint Via Integrated CPU/GPU Memory Management, an Implementation on Autonomous Driving Platform
2020 IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS) Co-Optimizing Performance and Memory Footprint Via Integrated CPU/GPU Memory Management, an Implementation on Autonomous Driving Platform Soroush Bateni*, Zhendong Wang*, Yuankun Zhu, Yang Hu, and Cong Liu The University of Texas at Dallas Abstract—Cutting-edge embedded system applications, such as launches the OpenVINO toolkit for the edge-based deep self-driving cars and unmanned drone software, are reliant on learning inference on its integrated HD GPUs [4]. integrated CPU/GPU platforms for their DNNs-driven workload, Despite the advantages in SWaP features presented by the such as perception and other highly parallel components. In this work, we set out to explore the hidden performance im- integrated CPU/GPU architecture, our community still lacks plication of GPU memory management methods of integrated an in-depth understanding of the architectural and system CPU/GPU architecture. Through a series of experiments on behaviors of integrated GPU when emerging autonomous and micro-benchmarks and real-world workloads, we find that the edge intelligence workloads are executed, particularly in multi- performance under different memory management methods may tasking fashion. Specifically, in this paper we set out to explore vary according to application characteristics. Based on this observation, we develop a performance model that can predict the performance implications exposed by various GPU memory system overhead for each memory management method based management (MM) methods of the integrated CPU/GPU on application characteristics. Guided by the performance model, architecture. The reason we focus on the performance impacts we further propose a runtime scheduler. -
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. -
Our Tas Top 11 Technologies of the Decade Tinyos and Nesc Hardware Evolu On
Our TAs Top 11 Technologies of the Decade Mo Sha Yong Fu 1.! Smartphones 7.! Drone Aircra • [email protected]" •! [email protected]" •! TinyOS tutorial." •! Grade critiques." 2.! Social Networking 8.! Planetary Rovers •! Help students with projects." •! Office Hour: by appointment." 3.! Voice over IP 9.! Flexible AC •! Manage motes." •! Bryan 502D Transmission •! Grade projects." 4.! LED Lighng •! Office Hour: Tue/Thu 5:30-6." 5.! Mul@core CPUs 10.!Digital Photography •! Bryan 502A 6.! Cloud Compung 11.!Class-D Audio Chenyang Lu 1 Chenyang Lu 2 TinyOS and nesC Hardware Evoluon ! TinyOS: OS for wireless sensor networks. ! Miniature devices manufactured economically ! nesC: programming language for TinyOS. ! Microprocessors ! Sensors/actuators ! Wireless chips 4.5’’X2.4’’ 1’’X1’’ 1 mm2 1 nm2 Chenyang Lu 4 Chenyang Lu 3 Mica2 Mote Hardware Constraints ! Processor ! Microcontroller: 7.4 MHz, 8 bit Severe constraints on power, size, and cost ! Memory: 4KB data, 128 KB program ! slow microprocessor ! Radio ! low-bandwidth radio ! Max 38.4 Kbps ! limited memory ! Sensors ! limited hardware parallelism CPU hit by many interrupts! ! Light, temperature, acceleraon, acous@c, magne@c… ! manage sleep modes in hardware components ! Power ! <1 week on two AA baeries in ac@ve mode ! >1 year baery life on sleep modes! Chenyang Lu 5 Chenyang Lu 6 Soware Challenges Tradional OS ! Small memory footprint ! Mul@-threaded ! Efficiency - power and processing ! Preemp@ve scheduling ! Concurrency-intensive operaons ! Threads: ! Diversity in applicaons & plaorm efficient modularity ! ready to run; ! Support reconfigurable hardware and soJware executing ! execu@ng on the CPU; ! wai@ng for data. gets CPU preempted needs data gets data ready waiting needs data Chenyang Lu 7 Chenyang Lu 8 Pros and Cons of Tradional OS Example: Preempve Priority Scheduling ! Each process has a fixed priority (1 highest); ! Mul@-threaded + preemp@ve scheduling ! P1: priority 1; P2: priority 2; P3: priority 3. -
Building for I.MX Mature Boards
NXP Semiconductors Document Number: AN12024 Application Notes Rev. 0 , 07/2017 Building for i.MX Mature Boards 1. Introduction Contents The software for mature i.MX boards is upstreamed into 1. Introduction ........................................................................ 1 the Linux Kernel and U-Boot communities. These 2. Mature SoC Software Status .............................................. 2 boards can use the current Linux Kernel and U-Boot 3. Further Assistance .............................................................. 2 4. Boards Supported by the Yocto Project Community ......... 2 community solution. NXP no longer provides code and 4.1. Build environment setup ......................................... 3 images for these boards directly. This document 4.2. Examples ................................................................ 3 describes how to build the current Linux kernel and U- Boot software using the community solution for mature boards. The i.MX Board Support Packages (BSP) Releases are only supported for one year after the release date, so developing mature SoC projects using community solutions provides more current software and longer life for software than using the static BSPs provided by NXP. Community software includes upstreamed patches that the i.MX development team has provided to the community after the BSPs were released. Peripherals on i.MX mature boards such as the VPU and GPU, which depend on proprietary software, might be limited to an earlier version of the i.MX BSP. Supported i.MX reference boards should use the latest released i.MX BSPs on i.MX Software and Tools. Community solutions are not formally validated for i.MX. © 2017 NXP B.V. Boards Supported by the Yocto Project Community 2. Mature SoC Software Status The following i.MX mature SoC boards are from the i.MX 2X, 3X, and 5X families. -
Enhancing Plug and Play Capabilities in Body Area Network Protocols
Enhancing Plug and Play Capabilities in Body Area Network Protocols A Major Qualifying Project Report: Submitted to the Faculty Of the WORCESTER POLYTECHNIC INSTITUTE In partial fulfillment of the requirements for the Degree of Bachelor of Science By: ____________________________ Ryan Danas ____________________________ Douglas Lally ____________________________ Nathaniel Miller ____________________________ John Synnott Date: March 10, 2014 Approved: ____________________________ Prof. Krishna Kumar Venkatasubramanian, Advisor ____________________________ Prof. Craig A. Shue, Co-Advisor 1 Abstract This project aimed to create a plug-and-play protocol for Body Area Networks (BANs). This protocol enables communication between a diverse number of devices and a base station, regardless of equipment manufacturer. Previous BANs rely on either proprietary software, or protocols that are specialized to the physical device. This protocol takes a more universal approach, allowing any arbitrary device to participate in a BAN without introducing any significant overhead or running cost to the operation of that BAN. Unlike previous approaches, any existing motes and the base station will not have to be updated. Only new devices being added to the BAN will have to implement the protocol before connecting. Our protocol introduces overhead that reduced the performance and lifetime of the motes used in our BAN. 2 Table of Contents Contents Abstract ........................................................................................................................................................ -
Timing Comparison of the Real-Time Operating Systems for Small Microcontrollers
S S symmetry Article Timing Comparison of the Real-Time Operating Systems for Small Microcontrollers Ioan Ungurean 1,2 1 Faculty of Electrical Engineering and Computer Science; Stefan cel Mare University of Suceava, 720229 Suceava, Romania; [email protected] 2 MANSiD Integrated Center, Stefan cel Mare University, 720229 Suceava, Romania Received: 9 March 2020; Accepted: 1 April 2020; Published: 8 April 2020 Abstract: In automatic systems used in the control and monitoring of industrial processes, fieldbuses with specific real-time requirements are used. Often, the sensors are connected to these fieldbuses through embedded systems, which also have real-time features specific to the industrial environment in which it operates. The embedded operating systems are very important in the design and development of embedded systems. A distinct class of these operating systems is real-time operating systems (RTOSs) that can be used to develop embedded systems, which have hard and/or soft real-time requirements on small microcontrollers (MCUs). RTOSs offer the basic support for developing embedded systems with applicability in a wide range of fields such as data acquisition, internet of things, data compression, pattern recognition, diversity, similarity, symmetry, and so on. The RTOSs provide basic services for multitasking applications with deterministic behavior on MCUs. The services provided by the RTOSs are task management and inter-task synchronization and communication. The selection of the RTOS is very important in the development of the embedded system with real-time requirements and it must be based on the latency in the handling of the critical operations triggered by internal or external events, predictability/determinism in the execution of the RTOS primitives, license costs, and memory footprint. -
Rootfs Made Easy with Buildroot
Kernel Recipes 2013 Rootfs made easy with Buildroot How kernel developers can finally solve the rootfs problem. Thomas Petazzoni Bootlin [email protected] - Kernel, drivers and embedded Linux - Development, consulting, training and support - https://bootlin.com 1/1 Thomas Petazzoni I CTO and embedded Linux engineer at Bootlin I Embedded Linux development: kernel and driver development, system integration, boot time and power consumption optimization, consulting, etc. I Embedded Linux training, Linux driver development training and Android system development training, with materials freely available under a Creative Commons license. I We're hiring! I http://bootlin.com I Contributing the kernel support for the new Armada 370 and Armada XP ARM SoCs from Marvell (widely used in NAS devices). I Major contributor to Buildroot, an open-source, simple and fast embedded Linux build system I Living in Toulouse, south west of France - Kernel, drivers and embedded Linux - Development, consulting, training and support - https://bootlin.com 2/1 Doing kernel development is awesome, but... - Kernel, drivers and embedded Linux - Development, consulting, training and support - https://bootlin.com 3/1 A kernel without a root filesystem is kind of useless input: ImExPS/2 Generic Explorer Mouse as /devices/fpga:07/serio1/input/input1 Root-NFS: no NFS server address VFS: Unable to mount root fs via NFS, trying floppy. VFS: Cannot open root device "(null)" or unknown-block(2,0) Please append a correct "root=" boot option; here are the available partitions: Kernel panic - not syncing: VFS: Unable to mount root fs on unknown-block(2,0) - Kernel, drivers and embedded Linux - Development, consulting, training and support - https://bootlin.com 4/1 Solutions often used by kernel dev I A complete Linux distribution + Readily available - Large (can hardly be used as an initramfs) - Not available for all architectures - Not easy to customize. -
Comparing Embedded Linux Build Systems and Distros
Comparing embedded Linux build systems and distros Drew Moseley Solutions Architect Mender.io Session overview ● Review of embedded Linux development challenges. ● Define build system and criteria. ● Discuss a few popular options. ● Give me an opportunity to learn about some of the other tools. Goal: Help new embedded Linux developers get started About me Drew Moseley Mender.io ○ 10 years in Embedded Linux/Yocto development. ○ Over-the-air updater for Embedded Linux ○ Longer than that in general Embedded Software. ○ Open source (Apache License, v2) ○ Project Lead and Solutions Architect. ○ Dual A/B rootfs layout (client) [email protected] ○ Remote deployment management (server) https://twitter.com/drewmoseley https://www.linkedin.com/in/drewmoseley/ ○ Under active development https://twitter.com/mender_io Challenges for Embedded Linux Developers Hardware variety Storage Media Software may be maintained in forks Cross development Initial device provisioning Simple Makefiles don't cut it (anymore) Facts: ● These systems are huge ● Dependency Hell is a thing ● Builds take a long time ● Builds take a lot of resources ● Embedded applications require significant customization ● Developers need to modify from defaults Build System Defined _Is_ _Is Not_ ● Mechanism to specify and build ● An IDE ○ Define hardware/BSP ● A Distribution components ● A deployment and provisioning ○ Integrate user-space tool applications; including custom ● An out-of-the-box solution code ● Need reproducibility ● Must support multiple developers ● Allow for parallel -
The Simple Firmware Interface
The Simple Firmware Interface A. Leonard Brown Intel Open Source Technology Center [email protected] Abstract Moorestown cannot run in ACPI mode because its chipset does not include the required ACPI hardware, The Simple Firmware Interface (SFI) was developed as and it cannot run in legacy mode because the PC- a lightweight method for platform firmware to commu- compatible elements of the system simply do not exist. nicate with the Operating System. Intel’s upcoming “Moorestown” hand-held platform will be deployed using SFI. 3 SFI vs. ACPI Here we summarize the motivation for SFI, summarize the contents of the SFI specification, and detail choices System platforms are either “SFI-platforms” support- made in the Linux kernel implementation. ing SFI firmware tables, or “ACPI-platforms” support- ing ACPI tables. 1 Introduction An Operating System (OS) kernel that supports SFI is an “SFI-OS.” An OS that supports ACPI is an “ACPI- The SFI project home page is http:// OS.” simplefirmware.org. An SFI-platform requires an SFI-OS to boot and run op- This paper starts by briefly summarizing the site’s con- timally. An ACPI-platform requires an ACPI-OS to boot tent, including the content of the SFI specification. Then and run optimally.2 we describe the implementation of SFI on Linux. For more details, readers are encouraged to look over the A single OS binary can boot and run optimally on both specification, to read and participate on sfi-devel@ SFI-platforms and ACPI-platforms. It simply includes simplefirwmare.org, and to review and suggest the capabilities of the SFI-OS and ACPI-OS, making an enhancements to the source code. -
Firmware for IA240 Series (Linux) Release Notes
Firmware for IA240 Series (Linux) Release Notes Version: v1.10 Build: Build_19010911 Release Date: Jan 09, 2019 Applicable Products IA240 Series Supported Operating Systems Linux Kernel 2.6.x New Features N/A Enhancements • Includes cfi_cmdset_0001.c MTD device driver in the kernel to support both the Micron and MXIC NOR flash memories. Bugs Fixed • The gethostbyname_r() command returns an error. Changes N/A Notes N/A Firmware for IA240 Series (Linux) Release Notes Page 1 of 11 Version: v1.9 Build: Build 18033016 Release Date: Mar 30, 2018 Applicable Products IA240-LX, UC-7112-LX, IA240-T-LX, UC-7112-LX Plus Supported Operating Systems Linux 2.6.x New Features N/A Enhancements • Web server supports both HTTP and HTTPS services. • The SSH host key is generated at first system bootup. • Supports the MXIC NOR flash. Bugs Fixed • The iptables external module link path issue. • Busybox v1.13.3 issues: stty support for 921600, empty option issue (modprobe fixes empty option). • Login timeout leads to system reset. • Timezone configuration change is not applied. Changes N/A Notes N/A Firmware for IA240 Series (Linux) Release Notes Page 2 of 11 Version: v1.8 Build: Build 17060512 Release Date: Jul 07, 2017 Applicable Products IA240-T-LX, IA240-LX, UC-7112-LX, UC-7112-LX Plus Supported Operating Systems Linux 2.6.x New Features N/A Enhancements N/A Bugs Fixed • The vfork issue in the cron daemon. • Links to non-existent libraries /lib/libstdc++.so and /lib/libstdc++.so.5. • The sshd configuration is missing after firmware is upgraded from v1.4 to v1.5.