how to select your rtos?cimsol-mc.sourceforge.net/files/docs/howto choose rtos.pdf...
TRANSCRIPT
GS – Jan 29th 2004 © – 1How to select your RTOS?
How to select your RTOS?
Bits&Chips Micro-event: Embedded Operating Systems
Jan 29th 2004Ger Schoeber
GS – Jan 29th 2004 © – 2How to select your RTOS?
Overview
• Resumé of the speaker• Operating System• Real-Time• A use case• The selection method explained
– Application areas & characteristics– RTOS characteristics– “musts & wants”, weighing factors (Kepner Tregoe)– Devils advocate
• Is there a new future for the method?
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 3How to select your RTOS?
Ger Schoeber
• 1984 Philips I&E• 1989 High Tech Automation
(since 2000: Ordina TA)
• 2001®
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 4How to select your RTOS?
1984 – 1989: Philips I&E
DistributedReal-timeMulitprocessorOperating System
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 5How to select your RTOS?
1989 – 2001: High Tech Automation
• Philips Telecom & Data Systems
• Océ Research & Technology
• Pepperl & Fuchs (currently Honeywell)
• Dräger Medical Electronics
• Alcatel
• Vanderlande Industries
• High Tech Automation
• Philips Semiconductors
Philips Medical SystemsPhilips SemiconductorsSiemens VDO Car SystemsFEI Electron OpticsOcé TechnologiesStork PMTHeidelberg ContiwebPhilips ED&TPhilips CE CDSPhilips IA (Jabil)
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 6How to select your RTOS?
2001 – today: Task SwitchHogeschool van Utrecht Guest lectures
Philips DN Softworks Mgt support / Prj control
Philips Centre for Technical Training Lecturer System Architecting
Ordina Technical Automation Coaching Architect
Dräger Medical Coaching Architect
ALVA Nederland BV Project Evaluation / Improvement Workshop
Philips Semiconductors BL-Storage Mgt supp / SA supp / Prj control
Philips Digital Systems Lab Project Evaluation Workshops
PT Embedded, Computable, LAC, Bits&Chips Articles, Presentations
Philips Semiconductors ICE Management Presentation
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 7How to select your RTOS?
Services:• Personal Coaching (Architects, Managers, Engineers)• Evaluation and Improvement Workshops• System / Software Architect -interim• Project Management -interim
Market:• Technical Automation, Embedded Systems
Task Switch
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 8How to select your RTOS?
Why using an OS?
• Interface: application � hardware• Offering services to the application(s)
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Hardware abstraction
• File and device I/O
• Communication and network I/O
• Hardware control, graphics
Services
• Scheduling
• Communication
• Synchronisation
GS – Jan 29th 2004 © – 9How to select your RTOS?
What makes an OS Real-Time?
• Deterministic
• Guaranteed worst case interrupt latency• Guaranteed worst case context switch time
• Hard / firm / soft real-time:catastrophic / quality reduction / acceptable
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 10How to select your RTOS?
Deterministic
The worst-case execution time of each of the system calls is calculable.Needs:
– Mininum, average, maximum number of clockcycles required by each system call.
Numbers might differ per processor type.
Worst case performance of the application software canbe analysed using Rate Monotonic Analysis (RMA).
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 11How to select your RTOS?
Rate Monotonic Scheduling
• Assign the priority of each task according to itsperiod:the shorter the period the higher the priority.
• Works for fixed-priority pre-emptive RTOS.• The worst-case schedulable bound is about
69.3 % (= ln 2). ( Wn = n * (2^(1/n) - 1) )
• Maximum utilisation is reached when all tasksare harmonic.
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 12How to select your RTOS?
Interrupt latency
From interrupt arriving at the processor until the start of the associoated interrupt service routine(ISR).
– Processor must finish executing the currentinstruction.
– The interrupt type must be recognised (hardware).– The CPU’s context must be saved.– The ISR associated with the interrupt is started.– If interrupts are disabled (e.g. during a system call),
the worst-case interrupt latency increases by the maximum amount of time that they are turned off.
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 13How to select your RTOS?
Context switch
From suspending one process fromexecution by the CPU until another processis started.
– The context of the process must be saved.– The process administration within the
kernel is updated (scheduling ).– Possibly control MMU (hardware).– The context of the next process must be
loaded.
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 14How to select your RTOS?
A use case 1/2Context:• Consumer product• Multi-processor architecture• High volume• Low BOM• Short market introduction window• Contains pSOS+
Issue:
pSOS+ end of life
Fact:• pSOS+: ISI�WindRiver• WindRiver supports VxWorks• � Boldly go for VxWorks?
Analysis: ∆∆∆∆ pSOS+ / VxWorks?• SDE• HW support• Licences• API – syntax/semantics• Footprint• Performance
Other OS’s in the market?• Which?• Characteristics:
� Leaflets / sales� Benchmarking
– Technical– Usage/introduction– Costs (development seat,
run-time licenses)• Fit for purpose:
� Now (short term)� Future (long term)
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 15How to select your RTOS?
A use case 2/2
Technology versus Requirements driven:
Adapt product toknown technical
solution
Find technicalsolution that best fits your product
Starting point
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 16How to select your RTOS?
RTOS selection method
I II III IV V
o oa
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Application areas
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RTOS 2
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730 540Res
1
2
3 4A method that starts from the application
point of view
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 17How to select your RTOS?
High Tech Automation (Ordina TA):– Organisations struggle finding the right RTOS– Started a study comparing characteristics of available RTOS– Results presented to large group of organisation representatives
Philips CFT + High Tech Automation:– Initiative to develop a selection method based on Kepner Tregoe– Additional effort in benchmarking RTOSes– 2 Reports available on the method & evaluated RTOSes
Task Switch:– Ideas to update method data + benchmarking courant RTOSes– Ordina TA showed interest– Others ? ���� [email protected]
1993-1994
1995-1997
2004
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
History, evolution and future (?) of the selection method
GS – Jan 29th 2004 © – 18How to select your RTOS?
The complete method
I II III IV V
o oa
o o ob
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Application areasC
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Characteristics
RT
OS
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a
o o o
o
o
o
o
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o o7
weightfactors
1
502
Must3
154
355
Must / Want
RT
OS
cri
teri
a
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
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4
5
RT
OS
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RTOS 3
rank
1
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RT
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RTOS 2
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1
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3
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5
RT
OS
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a
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7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505
RT
OS
cri
teri
a
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 19How to select your RTOS?
Application areas
I II III IV V
o oa
o o ob
o o o oc
od
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Application areasC
har
acte
rist
ics
a b c c d
o1
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o o o4
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Characteristics
RT
OS
cri
teri
a
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RT
OS
cri
teri
a
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
RTOS 3
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505
RT
OS
cri
teri
a
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
Consumer products:
Professional systems:
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 20How to select your RTOS?
Application characteristics
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areasC
har
acte
rist
ics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RT
OS
cri
teri
a
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RT
OS
cri
teri
a
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
RTOS 3
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505
RT
OS
cri
teri
a
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
QuantityDevelopment costs
Product priceUpgradability
Life spanLevel of optimisation
Successive generationsLevel of standardisation
Hard real-time constraintsData communication
ControlDatabase
MonitoringDevice interfacingData acquisition
Signal processingLevel of robustness
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 21How to select your RTOS?
Application areasx
Application characteristics
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areasC
har
acte
rist
ics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RT
OS
cri
teri
a
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RT
OS
cri
teri
a
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
RTOS 3
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505
RT
OS
cri
teri
a
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
GS – Jan 29th 2004 © – 22How to select your RTOS?
ConsumerProducts
Application areasx
Application characteristics
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Area
CharacteristicsQuantity ++ ↑ ++ ↓ ++ ↑ ++ ↑ - ↑↑Development costs +++ ↑ ++ ↓ ++ ↑↑ ++ ↑ +++ ↑Product price + ↑↑ ++ ↑ + ∼ + ∼ o ∼Upgradability -- ~ - ↑ -- ~ -- ↑ + ↑Life span -- ↓ -- ↓ - ↓ -- ∼ - ↓Level of optimisation +++ ↓ +++ ↓ +++ ↓ ++ ↓ o ∼Succesive generations + ↑ ++ ↑ o ∼ o ↑ + ↑↑Level of standardisation ++ ↑ ++ ↑ - ↑ + ↑ + ↑↑User interfacing + ↑ ++ ↑ + ↑ o ↑ + ↑↑Real-time response time (µs) 1000 ↑ 2000 ↑ 1000 ↑ 10 ↑ 100 ↑Level of concurrency - ↑ - ↑ - ↑ + ↑ + ↑↑Hard real-time constraints - ~ - ~ - ~ ++ ↑↑ + ↑Data communication + ~ o ↑ o ~ o ↑ + ↑↑Control - ~ - ~ o ↑ + ↑ - ~Monitoring - ~ - ~ + ~ + ↑ - ~Device interfacing - ~ - ~ - ~ + ↑ + ↑Data acquisition, signal processing + ↑ + ∼ - ↑ + ↑ + ↑Level of robustness - ~ - ~ - ~ ++ ~ - ~Database - ~ - ~ -- ~ + ~ + ↑
Multimedia
Consumer products
Telephony Audio/VideoDomestic
appliances Automotive
+++ very important ↑↑ strong positive trend--- very unimportant ↓↓ strong negative trendo none ~ stableLE
GE
ND
GS – Jan 29th 2004 © – 23How to select your RTOS?
ProfessionalProducts
Application areasx
Application characteristics
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
Area
CharacteristicsQuantity + ↑ - ↑ o ↑ o ↑ - ∼ -- ∼ ++ ↑ - ↑↑ -- ↑ o ↑Development costs o ↑ ++ ~ + ↑ o ↑ + ↑↑ - ↑ + ∼ ++ ↑ +++ ↑ + ↑Product price - ~ --- ↑ + ∼ ++ ∼ +++ ↑ o ∼ + ∼ o ∼ +++ ∼ + ↑Upgradability ++ ~ o ~ ++ ↑ + ↑ + ↑ +++ ∼ o ↑ ++ ↑ + ∼ o ↑Life span ++ ↑ ++ ~ ++ ∼ ++ ∼ + ↓ + ∼ + ↓ ++ ∼ ++ ∼ + ∼Level of optimisation - ~ --- ~ -- ∼ - ∼ -- ∼ --- ∼ o ∼ -- ∼ - ∼ + ∼Succesive generations -- ↑ --- ~ + ∼ --- ∼ + ↑ -- ∼ -- ↑ -- ↑ -- ∼ - ∼Level of standardisation -- ↑ --- ~ + ↑ ++ ↑ - ↑↑ -- ∼ + ↑ ++ ↑ - ↑ - ↑User interfacing -- ↑ + ↑ + ↑ + ↑ o ↑ o ↑ - ↑ - ↑ ++ ↑ -- ∼Real-time response time (µs) 1000 ↑ 1 ↑ 10 ↑ 100 ↑ 500 ↑ 100 ↑ 100 ↑ 10 ↑ 10 ↑ 1 ↑Level of concurrency - ~ + ↑ + ↑ + ↑ + ↑ - ∼ + ↑ + ↑ + ↑ + ↑Hard real-time constraints - ~ ++ ↑ + ~ + ∼ + ↑ o ∼ + ~ + ~ + ∼ ++ ↑Data communication + ↑ + ↑ ++ ↑ + ↑ + ↑ o ∼ + ~ ++ ~ o ∼ ++ ↑Control - ↑ ++ ↑ ++ ↑ ++ ↑ ++ ↑ - ~ - ~ - ~ + ↑ - ~Monitoring + ↑ + ↑ + ~ + ↑ + ↑ + ↑ + ~ + ~ + ↑ + ↑Device interfacing + ↑ + ↑ + ↑ + ↑ + ↑ + ↑ + ↑ - ~ + ↑ + ↑Data acquisition, signal processing o ~ + ↑ - ↑ + ↑ + ↑↑ + ↑ + ↑ + ↑ + ~ +++ ~Level of robustness + ~ ++ ~ + ~ + ~ ++ ~ - ~ + ~ + ~ + ~ + ~Database + ~ + ~ + ↑ + ~ + ↑ + ↑ o ~ + ↑ o ~ o ~
Dat
aac
quis
ition
Professional products
Sec
urity
syst
ems
Mili
tary
equi
pmen
t
Pro
duct
ion
equi
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t
Pro
cess
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Med
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Tra
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Com
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Sim
ulat
ions
+++ very important ↑↑ strong positive trend--- very unimportant ↓↓ strong negative trendo none ~ stableLE
GE
ND
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 24How to select your RTOS?
ConsumerProducts
Application areasx
Application characteristics
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
Area
CharacteristicsQuantity ++ ↑ ++ ↓ ++ ↑ ++ ↑ - ↑↑Development costs +++ ↑ ++ ↓ ++ ↑↑ ++ ↑ +++ ↑Product price + ↑↑ ++ ↑ + ∼ + ∼ o ∼Upgradability -- ~ - ↑ -- ~ -- ↑ + ↑Life span -- ↓ -- ↓ - ↓ -- ∼ - ↓Level of optimisation +++ ↓ +++ ↓ +++ ↓ ++ ↓ o ∼Succesive generations + ↑ ++ ↑ o ∼ o ↑ + ↑↑Level of standardisation ++ ↑ ++ ↑ - ↑ + ↑ + ↑↑User interfacing + ↑ ++ ↑ + ↑ o ↑ + ↑↑Real-time response time (µs) 1000 ↑ 2000 ↑ 1000 ↑ 10 ↑ 100 ↑Level of concurrency - ↑ - ↑ - ↑ + ↑ + ↑↑Hard real-time constraints - ~ - ~ - ~ ++ ↑↑ + ↑Data communication + ~ o ↑ o ~ o ↑ + ↑↑Control - ~ - ~ o ↑ + ↑ - ~Monitoring - ~ - ~ + ~ + ↑ - ~Device interfacing - ~ - ~ - ~ + ↑ + ↑Data acquisition, signal processing + ↑ + ∼ - ↑ + ↑ + ↑Level of robustness - ~ - ~ - ~ ++ ~ - ~Database - ~ - ~ -- ~ + ~ + ↑
Multimedia
Consumer products
Telephony Audio/VideoDomestic
appliances Automotive
+++ very important ↑↑ strong positive trend--- very unimportant ↓↓ strong negative trendo none ~ stableLE
GE
ND
Context:• Consumer product• Multi-processor architecture• High volume• Low BOM• Short market introduction window• Contains pSOS+ / End-of-life
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 25How to select your RTOS?
RTOS characteristics
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areasC
har
acte
rist
ics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RT
OS
cri
teri
a
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RT
OS
cri
teri
a
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
RTOS 3
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505
RT
OS
cri
teri
a
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
GS – Jan 29th 2004 © – 26How to select your RTOS?
Real-TimeOperating Systems
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 27How to select your RTOS?
RTOS characteristics
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areasC
har
acte
rist
ics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RT
OS
cri
teri
a
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RT
OS
cri
teri
a
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
RTOS 3
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505
RT
OS
cri
teri
a
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
TunabilityScalabilitySecurity
Multi-processor supportMemory management
File device I/O managementInterprocess communication
Synchronisation mechanismesProcess / thread support
Resource schedulingInterrupt handling
Fine-grained performanceApplication-oriented performance
Re-entrancyApplication Programming Interface (API)
Time managementError / exception handling
ROM-abilityData communication support
Peripheral driver supportUser interface support
Database supportCompiler quality / efficiency
SupplierPrice / performance ratio
Development environmentPlatform dependenciesAdherence to standards
Installed baseQuality of documentation
Product stabilityAvailable expertiseG
EN
ER
AL
TE
CH
NIC
AL
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 28How to select your RTOS?
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
RTOS characteristicsx
Application characteristics
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areasC
har
acte
rist
ics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RT
OS
cri
teri
a
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RT
OS
cri
teri
a
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
RTOS 3
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505
RT
OS
cri
teri
a
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 29How to select your RTOS?
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
RTOS characteristicsxApplication characteristics
From:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
RTOS criteria Qua
ntity
Dev
elop
men
t co
sts
Pro
duct
pric
e
Upg
rada
bilit
y
Life
spa
n
Leve
l of
optim
isat
ion
Suc
cesi
ve
gene
ratio
nsLe
vel o
fst
anda
rdis
atio
n
Use
r in
terf
acin
g
Rea
l-tim
e re
spon
se t
ime
Leve
l of
conc
urre
ncy
Har
d re
al-t
ime
cons
trai
nts
Dat
a co
mm
unic
atio
n
Con
trol
Mon
itorin
g
Dev
ice
inte
rfac
ing
Dat
a ac
quis
ition
, si
gnal
pro
cess
ing
Leve
l of
robu
stne
ss
Dat
abas
e
General criteriaSupplier + + o o + o o + o o o o o o o + o o oPrice / performance ratio + - + o o o o o o - - - o o o o o o oDevelopment environment o + + + + + + + + o o o + + + + + o +Platform dependencies o + o o + + + + o + + + o o o o o o oAdherence to standards o + o + + - + + + o o o + o o + + o +Installed base o o o o o o o + + o o o o o o + o o -Quality of documentation o + o + + + + + + o o o + o o + + o +Product stability + + o + + + + o o o o o + + + + + + oAvailable expertise o + o + + + + + + + + + + + + + + + +Technical criteriaTunability o + o + + + + o o + + + + + + + + o +Scalability + - + + + + + o + o o o + o o o o + oSecurity o o o o o o o o o o o o + + - o o + +Multi-processor support - o o + + + + - o + + + o o o o + + -Memory management + o + o o + o o o o + o o o o o o + +File device I/O management o + o + + + + + o + o + o o o + o o -Interprocess communication o o o o o o o o + + + o + + + + + o +Synchronisation mechanismes o o o o o o o o + + + + + + o + o o +Process / thread support o + o + + o o o + + + + + + + + + + +Resource scheduling o o o + + + o o o + + + + + + + + + oInterrupt handling o o o o o o o o o + o + + - o + + - -Fine-grained performance o o o + + + o o o + + + + + o o + o oApplication-oriented performance o o o + + + o o + + + + + + o + + + oRe-entrancy o o o + o + + o o + + o + o o o o + oApplication Programming Interface (API) o + o + + o o + + o o o + + o + o o +Time management o o o o o o o o + + + + + + + + + o -Error / exception handling o + o o o o o o + o + + + + o + + + oROM-ability + o o - o o o o o o o o - o o o o o -Data communication support o + o + + o + o o + + o + + + o o + oPeripheral driver support o + o + o o + + + o o o o o + + + o -User interface support o + o o o o o o + o o o o o + o o + -Database support o + o + o o o + o o o - o o + o o o +Compiler quality / efficiency o + o o o + o o o + + o o o o o + + o
Application Characteristics
+ positive relationo no relation- negative relationLE
GE
ND
Context:• Consumer product• Multi-processor architecture• High volume• Low BOM• Short market introduction window• Contains pSOS+ / End-of-life
GS – Jan 29th 2004 © – 30How to select your RTOS?
Kepner Tregoe
• Define the “musts”• Distribute 100 % over remaining “wants”• Both:
– Now
– E.g.: 3 years time
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 31How to select your RTOS?
Musts & Wants
RTOS criteria Musts % Musts %Supplier 1 2Price / performance ratio 2 13Development environment M 3Platform dependencies M MQuality of documentation 12 1Product stability M MAvailable expertise 10 17Tunability 20 12Scalability M MMulti-processor support M 7Memory management 17 9File device I/O management 4 11Interprocess communication M MProcess / thread support 6 4Resource scheduling 5 5Interrupt handling M MFine-grained performance 15 6Re-entrancy M MError / exception handling 5 10ROM-ability M MPeripheral driver support 3 MCompiler quality / efficiency M M
Sum: 100 Sum: 100
Now 3 years
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
GS – Jan 29th 2004 © – 32How to select your RTOS?
Score results
RTOS criteria Now 3 Yrs BM Sc N Sc 3Y BM Sc N Sc 3YSupplier 1 2 7 7 14 7 7 14Price / performance ratio 2 13 4 8 52 4 8 52Development environment M 3 9 27 9 27Platform dependencies M M 10 10Quality of documentation 12 1 3 36 3 6 72 6Product stability M M 10 10Available expertise 10 17 10 100 170 2 20 34Tunability 20 12 8 160 96 6 120 72Scalability M M 9 9Multi-processor support M 7 9 63 5 35Memory management 17 9 8 136 72 9 153 81File device I/O management 4 11 8 32 88 8 32 88Interprocess communication M M 10 10Process / thread support 6 4 6 36 24 10 60 40Resource scheduling 5 5 9 45 45 8 40 40Interrupt handling M M 10 7Fine-grained performance 15 6 8 120 48 8 120 48Re-entrancy M M 10 10Error / exception handling 5 10 7 35 70 9 45 90ROM-ability M M 10 10Peripheral driver support 3 M 5 15 7 21Compiler quality / efficiency M M 10 7
Sum: 730 772 Sum: 698 627
pSOS+ VxWorksWeighing F
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Benchmarks from:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
GS – Jan 29th 2004 © – 33How to select your RTOS?
Devils advocate
RTOS criteria Now 3 Yrs BM Sc N Sc 3Y BM Sc N Sc 3YSupplier 1 2 7 7 14 7 7 14Price / performance ratio 2 13 4 8 52 4 8 52Development environment M 3 9 27 9 27Platform dependencies M M 10 10Quality of documentation 12 1 3 36 3 6 72 6Product stability M M 10 10Available expertise 10 17 10 100 170 2 20 34Tunability 20 12 8 160 96 6 120 72Scalability M M 9 9Multi-processor support M 7 9 63 5 35Memory management 17 9 8 136 72 9 153 81File device I/O management 4 11 8 32 88 8 32 88Interprocess communication M M 10 10Process / thread support 6 4 6 36 24 10 60 40Resource scheduling 5 5 9 45 45 8 40 40Interrupt handling M M 10 7Fine-grained performance 15 6 8 120 48 8 120 48Re-entrancy M M 10 10Error / exception handling 5 10 7 35 70 9 45 90ROM-ability M M 10 10Peripheral driver support 3 M 5 15 7 21Compiler quality / efficiency M M 10 7
Sum: 730 772 Sum: 698 627
pSOS+ VxWorksWeighing F
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Benchmarks from:“Real Time Operating Systems – An evaluation method and results”Philips CFT and High Tech Automation
Statement Probability Seriousness
In the long term pSOS+ will disappear HIGH MEDIUM
Limited VxWorks experience of development team-> increase development costs
MEDIUM LOW
GS – Jan 29th 2004 © – 34How to select your RTOS?
Is there a new futurefor the method?
www.task-switch.nl
Resumé of the speakerOperating System
Real-TimeA use case
The selection method explainedApplication areas & characteristics
RTOS characteristics“musts & wants”, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areas
Ch
arac
teri
stic
s
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RT
OS
cri
teri
a
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RT
OS
cri
teri
a
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
RTOS 3
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5
RT
OS
cri
teri
a
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505
RT
OS
cri
teri
a
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4