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Survey and performance evaluation of real-time operating systems (RTOS)…
Survey and performance evaluation of real-time operating systems (RTOS) for small microcontrollers
Introduction
Differences between RTOS and Generic OS
Predictability in task synchronization
Deterministic Behaviors
Preemptive, priority-based scheduling
Preemptive scheduling
Round robin scheduling
RTOS for small embed systems
Optimizing software development
Better and safer synchronization
Resource management
Time can be easily managed by RTOS
RTOS benchmarking
Based on applications
Based on used system services
Task switch time
Preemption time
Interrupt latency time
Semaphore shuffling time
Deadlock breaking time
Datagram throughput time
RTOS features and comparison
Criteria for comparison
Design objetive
Author
Scheduling scheme
Real-time capability and performance
Memory footprint
Language support
System call/API richness
OS-awareness debugging support
License type
Documentation
Comparison results
Priority-based scheduling is adopted by most of the RTOS
The main language is C
Few RTOS have OS-awareness support
Performance and Memory Footprint Benchmarking
Benchmarking results: Each RTOS present a different behavior in each metric, meaning that each application must consider which one will use according to its design
Benchmarking methods
Comprehensive and Mature APIs
Memory Footprint and design concepts are suitable for small microcontrollers