Operating System Concepts in Embedded Computing
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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. -
Chapter 1: Introduction What Is an Operating System?
Chapter 1: Introduction What is an Operating System? Mainframe Systems Desktop Systems Multiprocessor Systems Distributed Systems Clustered System Real -Time Systems Handheld Systems Computing Environments Operating System Concepts 1.1 Silberschatz, Galvin and Gagne 2002 What is an Operating System? A program that acts as an intermediary between a user of a computer and the computer hardware. Operating system goals: ) Execute user programs and make solving user problems easier. ) Make the computer system convenient to use. Use the computer hardware in an efficient manner. Operating System Concepts 1.2 Silberschatz, Galvin and Gagne 2002 1 Computer System Components 1. Hardware – provides basic computing resources (CPU, memory, I/O devices). 2. Operating system – controls and coordinates the use of the hardware among the various application programs for the various users. 3. Applications programs – define the ways in which the system resources are used to solve the computing problems of the users (compilers, database systems, video games, business programs). 4. Users (people, machines, other computers). Operating System Concepts 1.3 Silberschatz, Galvin and Gagne 2002 Abstract View of System Components Operating System Concepts 1.4 Silberschatz, Galvin and Gagne 2002 2 Operating System Definitions Resource allocator – manages and allocates resources. Control program – controls the execution of user programs and operations of I/O devices . Kernel – the one program running at all times (all else being application programs). -
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. -
What We Know About Testing Embedded Software
What we know about testing embedded software Vahid Garousi, Hacettepe University and University of Luxembourg Michael Felderer, University of Innsbruck Çağrı Murat Karapıçak, KUASOFT A.Ş. Uğur Yılmaz, ASELSAN A.Ş. Abstract. Embedded systems have overwhelming penetration around the world. Innovations are increasingly triggered by software embedded in automotive, transportation, medical-equipment, communication, energy, and many other types of systems. To test embedded software in a cost effective manner, a large number of test techniques, approaches, tools and frameworks have been proposed by both practitioners and researchers in the last several decades. However, reviewing and getting an overview of the entire state-of-the- art and the –practice in this area is challenging for a practitioner or a (new) researcher. Also unfortunately, we often see that some companies reinvent the wheel (by designing a test approach new to them, but existing in the domain) due to not having an adequate overview of what already exists in this area. To address the above need, we conducted a systematic literature review (SLR) in the form of a systematic mapping (classification) in this area. After compiling an initial pool of 560 papers, a systematic voting was conducted among the authors, and our final pool included 272 technical papers. The review covers the types of testing topics studied, types of testing activity, types of test artifacts generated (e.g., test inputs or test code), and the types of industries in which studies have focused on, e.g., automotive and home appliances. Our article aims to benefit the readers (both practitioners and researchers) by serving as an “index” to the vast body of knowledge in this important and fast-growing area. -
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. -
Personal-Computer Systems • Parallel Systems • Distributed Systems • Real -Time Systems
Module 1: Introduction • What is an operating system? • Simple Batch Systems • Multiprogramming Batched Systems • Time-Sharing Systems • Personal-Computer Systems • Parallel Systems • Distributed Systems • Real -Time Systems Applied Operating System Concepts 1.1 Silberschatz, Galvin, and Gagne Ď 1999 What is an Operating System? • A program that acts as an intermediary between a user of a computer and the computer hardware. • Operating system goals: – Execute user programs and make solving user problems easier. – Make the computer system convenient to use. • Use the computer hardware in an efficient manner. Applied Operating System Concepts 1.2 Silberschatz, Galvin, and Gagne Ď 1999 Computer System Components 1. Hardware – provides basic computing resources (CPU, memory, I/O devices). 2. Operating system – controls and coordinates the use of the hardware among the various application programs for the various users. 3. Applications programs – define the ways in which the system resources are used to solve the computing problems of the users (compilers, database systems, video games, business programs). 4. Users (people, machines, other computers). Applied Operating System Concepts 1.3 Silberschatz, Galvin, and Gagne Ď 1999 Abstract View of System Components Applied Operating System Concepts 1.4 Silberschatz, Galvin, and Gagne Ď 1999 Operating System Definitions • Resource allocator – manages and allocates resources. • Control program – controls the execution of user programs and operations of I/O devices . • Kernel – the one program running at all times (all else being application programs). Applied Operating System Concepts 1.5 Silberschatz, Galvin, and Gagne Ď 1999 Memory Layout for a Simple Batch System Applied Operating System Concepts 1.7 Silberschatz, Galvin, and Gagne Ď 1999 Multiprogrammed Batch Systems Several jobs are kept in main memory at the same time, and the CPU is multiplexed among them. -
Embedded Sensors System Applied to Wearable Motion Analysis in Sports
Embedded Sensors System Applied to Wearable Motion Analysis in Sports Aurélien Valade1, Antony Costes2, Anthony Bouillod1,3, Morgane Mangin4, P. Acco1, Georges Soto-Romero1,4, Jean-Yves Fourniols1 and Frederic Grappe3 1LAAS-CNRS, N2IS, 7, Av. du Colonel Roche 31077, Toulouse, France 2University of Toulouse, UPS, PRiSSMH, Toulouse, France 3EA4660, C3S - Université de Franche Comté, 25000 Besançon, France 4 ISIFC – Génie Biomédical - Université de Franche Comté, 23 Rue Alain Savary, 25000 Besançon, France Keywords: IMU, FPGA, Motion Analysis, Sports, Wearable. Abstract: This paper presents two different wearable motion capture systems for motion analysis in sports, based on inertial measurement units (IMU). One system, called centralized processing, is based on FPGA + microcontroller architecture while the other, called distributed processing, is based on multiple microcontrollers + wireless communication architecture. These architectures are designed to target multi- sports capabilities, beginning with tri-athlete equipment and thus have to be non-invasive and integrated in sportswear, be waterproofed and autonomous in energy. To characterize them, the systems are compared to lab quality references. 1 INTRODUCTION electronics (smartphones, game controllers...), in an autonomous embedded system to monitor the Electronics in sports monitoring has been a growing sportive activity, even in field conditions. field of studies for the last decade. From the heart rate Our IMU based monitoring system allows monitors to the power meters, sportsmen -
Operating System
OPERATING SYSTEM INDEX LESSON 1: INTRODUCTION TO OPERATING SYSTEM LESSON 2: FILE SYSTEM – I LESSON 3: FILE SYSTEM – II LESSON 4: CPU SCHEDULING LESSON 5: MEMORY MANAGEMENT – I LESSON 6: MEMORY MANAGEMENT – II LESSON 7: DISK SCHEDULING LESSON 8: PROCESS MANAGEMENT LESSON 9: DEADLOCKS LESSON 10: CASE STUDY OF UNIX LESSON 11: CASE STUDY OF MS-DOS LESSON 12: CASE STUDY OF MS-WINDOWS NT Lesson No. 1 Intro. to Operating System 1 Lesson Number: 1 Writer: Dr. Rakesh Kumar Introduction to Operating System Vetter: Prof. Dharminder Kr. 1.0 OBJECTIVE The objective of this lesson is to make the students familiar with the basics of operating system. After studying this lesson they will be familiar with: 1. What is an operating system? 2. Important functions performed by an operating system. 3. Different types of operating systems. 1. 1 INTRODUCTION Operating system (OS) is a program or set of programs, which acts as an interface between a user of the computer & the computer hardware. The main purpose of an OS is to provide an environment in which we can execute programs. The main goals of the OS are (i) To make the computer system convenient to use, (ii) To make the use of computer hardware in efficient way. Operating System is system software, which may be viewed as collection of software consisting of procedures for operating the computer & providing an environment for execution of programs. It’s an interface between user & computer. So an OS makes everything in the computer to work together smoothly & efficiently. Figure 1: The relationship between application & system software Lesson No. -
COSC 6385 Computer Architecture - Multi-Processors (IV) Simultaneous Multi-Threading and Multi-Core Processors Edgar Gabriel Spring 2011
COSC 6385 Computer Architecture - Multi-Processors (IV) Simultaneous multi-threading and multi-core processors Edgar Gabriel Spring 2011 Edgar Gabriel Moore’s Law • Long-term trend on the number of transistor per integrated circuit • Number of transistors double every ~18 month Source: http://en.wikipedia.org/wki/Images:Moores_law.svg COSC 6385 – Computer Architecture Edgar Gabriel 1 What do we do with that many transistors? • Optimizing the execution of a single instruction stream through – Pipelining • Overlap the execution of multiple instructions • Example: all RISC architectures; Intel x86 underneath the hood – Out-of-order execution: • Allow instructions to overtake each other in accordance with code dependencies (RAW, WAW, WAR) • Example: all commercial processors (Intel, AMD, IBM, SUN) – Branch prediction and speculative execution: • Reduce the number of stall cycles due to unresolved branches • Example: (nearly) all commercial processors COSC 6385 – Computer Architecture Edgar Gabriel What do we do with that many transistors? (II) – Multi-issue processors: • Allow multiple instructions to start execution per clock cycle • Superscalar (Intel x86, AMD, …) vs. VLIW architectures – VLIW/EPIC architectures: • Allow compilers to indicate independent instructions per issue packet • Example: Intel Itanium series – Vector units: • Allow for the efficient expression and execution of vector operations • Example: SSE, SSE2, SSE3, SSE4 instructions COSC 6385 – Computer Architecture Edgar Gabriel 2 Limitations of optimizing a single instruction