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GS Jan 29th 2004 1How to select your RTOS?
How to select your RTOS?
Bits&Chips Micro-event: Embedded Operating Systems
Jan 29
th
2004Ger Schoeber
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GS Jan 29th 2004 2How to select your RTOS?
Overview
Resum 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?
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)Devils advocate
Is there a new future for the method?
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GS Jan 29th 2004 3How to select your RTOS?
Ger Schoeber
1984 Philips I&E 1989 High Tech Automation
(since 2000: Ordina TA)
2001
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)Devils advocate
Is there a new future for the method?
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GS Jan 29th 2004 4How to select your RTOS?
1984 1989: Philips I&E
Distributed
Real-timeMulitprocessorOperating System
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)Devils advocate
Is there a new future for the method?
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GS Jan 29th 2004 5How to select your RTOS?
1989 2001: High Tech Automation
Philips Telecom & Data Systems
Oc Research & Technology
Pepperl & Fuchs (currently Honeywell)
Drger Medical Electronics
Alcatel
Vanderlande Industries
High Tech Automation
Philips Semiconductors
Philips Medical SystemsPhilips SemiconductorsSiemens VDO Car SystemsFEI Electron OpticsOc Technologies
Stork PMTHeidelberg ContiwebPhilips ED&TPhilips CE CDSPhilips IA (Jabil)
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)Devils advocate
Is there a new future for the method?
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GS Jan 29th 2004 6How to select your RTOS?
2001 today: Task SwitchHogeschool van Utrecht Guest lectures
Philips DN Softworks Mgt support / Prj controlPhilips Centre for Technical Training Lecturer System Architecting
Ordina Technical Automation Coaching Architect
Drger 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
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)Devils advocate
Is there a new future for the method?
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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
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)Devils advocate
Is there a new future for the method?
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GS Jan 29th 2004 8How to select your RTOS?
Why using an OS?
Interface: application hardware Offering services to the application(s)
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocate
Is 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
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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
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocate
Is there a new future for the method?
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GS Jan 29th 2004 10How to select your RTOS?
Deterministic
The worst-case execution time of each of thesystem 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).
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocate
Is there a new future for the method?
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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 about69.3 % (= ln 2). ( Wn = n * (2^(1/n) - 1) )
Maximum utilisation is reached when all tasksare harmonic.
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocate
Is there a new future for the method?
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GS Jan 29th 2004 12How to select your RTOS?
Interrupt latency
From interrupt arriving at the processor until thestart of the associoated interrupt service routine(ISR).
Processor must finish executing the current
instruction. The interrupt type must be recognised (hardware). The CPUs 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 themaximum amount of time that they are turned off.
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
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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.
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
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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 OSs in the market? Which? Characteristics:
Leaflets / sales
Benchmarking Technical Usage/introductionCosts (development seat,
run-time licenses) Fit for purpose:
Now (short term) Future (long term)
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
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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
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
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GS Jan 29th 2004 16How to select your RTOS?
RTOS selection method
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areas
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteria
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4A method that startsfrom the application
point of view
From:Real Time Operating Systems An evaluation method and resultsPhilips CFT and High Tech Automation
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
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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
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
History, evolution and future (?)
of the selection method
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GS Jan 29th 2004 18How to select your RTOS?
The complete method
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areas
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteria
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
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 resultsPhilips CFT and High Tech Automation
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
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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
o o oe
Application areas
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteria
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
Consumer products:
Professional systems:
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
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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 areas
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteria
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
Quantity
Development costsProduct priceUpgradability
Life span
Level of optimisationSuccessive generations
Level of standardisation
Hard real-time constraintsData communicationControl
Database
MonitoringDevice interfacing
Data acquisitionSignal processing
Level of robustness
From:Real Time Operating Systems An evaluation method and resultsPhilips CFT and High Tech Automation
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
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GS Jan 29th 2004 21How to select your RTOS?
Application areas
xApplication characteristics
I II III IV V
o oa
o o ob
o o o oc
od
o o oe
Application areas
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteria
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS 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 resultsPhilips CFT and High Tech Automation
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GS Jan 29th 2004 22How to select your RTOS?
ConsumerProducts
Application areas
xApplication characteristics
From:Real Time Operating Systems An evaluation method and resultsPhilips CFT and High Tech Automation
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Area
Characteristics
Quantity ++ ++ ++ ++ - 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 (s) 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/Video
Domestic
appliances Automotive
+++ very important strong positive trend
--- very unimportant strong negative trendo none ~ stableLE
GEND
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GS Jan 29th 2004 23How to select your RTOS?
ProfessionalProducts
Application areas
xApplication characteristics
From:Real Time Operating Systems An evaluation method and resultsPhilips CFT and High Tech Automation
Area
Characteristics
Quantity + - 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 (s) 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 ~
Data
acquisition
Professional products
Security
systems
Military
equipme
nt
Production
equipme
nt
Process
industry
Medical
equipme
nt
Laborato
ry
equipme
nt
Transport
sector
Commun
ications
Simulations
+++ very important strong positive trend
--- very unimportant strong negative trend
o none ~ stableLEGEND
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
R f h k
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GS Jan 29th 2004 24How to select your RTOS?
ConsumerProducts
Application areas
xApplication characteristics
From:Real Time Operating Systems An evaluation method and resultsPhilips CFT and High Tech Automation
Area
Characteristics
Quantity ++ ++ ++ ++ - 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 (s) 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/Video
Domestic
appliances Automotive
+++ very important strong positive trend
--- very unimportant strong negative trendo none ~ stableLE
GEND
Context: Consumer product Multi-processor architecture High volume Low BOM Short market introduction window Contains pSOS+ / End-of-life
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Resum of the speaker
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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 areas
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteria
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS 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 resultsPhilips CFT and High Tech Automation
Resum of the speaker
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GS Jan 29th 2004 26How to select your RTOS?
Real-Time
Operating Systems
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Resum of the speaker
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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 areas
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteria
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
TunabilityScalabilitySecurity
Multi-processor support
Memory managementFile device I/O managementInterprocess communication
Synchronisation mechanismesProcess / thread support
Resource scheduling
Interrupt handlingFine-grained performance
Application-oriented performanceRe-entrancy
Application Programming Interface (API)Time management
Error / exception handlingROM-ability
Data communication supportPeripheral driver supportUser interface support
Database support
Compiler quality / efficiency
SupplierPrice / performance ratio
Development environmentPlatform dependenciesAdherence to standards
Installed baseQuality of documentation
Product stabilityAvailable expertiseG
ENER
AL
TECHNICAL
From:Real Time Operating Systems An evaluation method and resultsPhilips CFT and High Tech Automation
Resum of the speaker
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
RTOS h t i ti
Resum of the speaker
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GS Jan 29th 2004 28How to select your RTOS?
From:Real Time Operating Systems An evaluation method and resultsPhilips 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 areas
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteri
a
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1
x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
p
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Resum of the speaker
RTOS characteristics
Application Characteristics
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GS Jan 29th 2004 29How to select your RTOS?
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
RTOS characteristics
xApplication characteristics
From:Real Time Operating Systems An evaluation method and resultsPhilips CFT and High Tech Automation
RTOS criteria Quantity
De
velopment
costs
Productprice
Up
gradability
Lifespan
Levelof
optimisation
Su
ccesive
generations
Levelof
sta
ndardisation
Us
erinterfacing
Re
al-time
res
ponsetime
Levelof
concurrency
Ha
rdreal-time
constraints
Da
ta
communication
Co
ntrol
Mo
nitoring
De
viceinterfacing
Da
taacquisition,
sig
nalprocessing
Levelof
rob
ustness
Da
tabase
General criteria
Supplier + + o o + o o + o o o o o o o + o o o
Price / performance ratio + - + o o o o o o - - - o o o o o o o
Development environment o + + + + + + + + o o o + + + + + o +
Platform dependencies o + o o + + + + o + + + o o o o o o o
Adherence 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 + + + + + + o
Available expertise o + o + + + + + + + + + + + + + + + +
Technical criteria
Tunability o + o + + + + o o + + + + + + + + o +
Scalability + - + + + + + o + o o o + o o o o + o
Security 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 + + + + + + + + + o
Interrupt handling o o o o o o o o o + o + + - o + + - -
Fine-grained performance o o o + + + o o o + + + + + o o + o o
Application-oriented performance o o o + + + o o + + + + + + o + + + o
Re-entrancy o o o + o + + o o + + o + o o o o + o
Application 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 + + + o
ROM-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 + o
Peripheral 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
pp
+ positive relation
o no relation
- negative relationLEGEND
Context: Consumer product Multi-processor architecture High volume
Low BOM Short market introduction window Contains pSOS+ / End-of-life
Resum of the speaker
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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
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Resum of the speaker
O ti S t
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GS Jan 29th 2004 31How to select your RTOS?
Musts & WantsRTOS criteria Musts % Musts %
Supplier 1 2
Price / performance ratio 2 13
Development environment M 3Platform dependencies M M
Quality of documentation 12 1
Product stability M M
Available expertise 10 17
Tunability 20 12
Scalability M M
Multi-processor support M 7
Memory management 17 9
File device I/O management 4 11
Interprocess communication M M
Process / thread support 6 4
Resource scheduling 5 5
Interrupt handling M M
Fine-grained performance 15 6
Re-entrancy M M
Error / exception handling 5 10
ROM-ability M M
Peripheral driver support 3 M
Compiler quality / efficiency M M
Sum: 100 Sum: 100
Now 3 years
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)
Devils advocateIs there a new future for the method?
Resum of the speaker
Operating System
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GS Jan 29th 2004 32How to select your RTOS?
Score resultsRTOS criteria Now 3 Yrs BM Sc N Sc 3Y BM Sc N Sc 3Y
Supplier 1 2 7 7 14 7 7 14
Price / performance ratio 2 13 4 8 52 4 8 52
Development environment M 3 9 27 9 27
Platform dependencies M M 10 10
Quality of documentation 12 1 3 36 3 6 72 6
Product stability M M 10 10
Available expertise 10 17 10 100 170 2 20 34
Tunability 20 12 8 160 96 6 120 72
Scalability M M 9 9
Multi-processor support M 7 9 63 5 35
Memory management 17 9 8 136 72 9 153 81
File device I/O management 4 11 8 32 88 8 32 88
Interprocess communication M M 10 10
Process / thread support 6 4 6 36 24 10 60 40
Resource scheduling 5 5 9 45 45 8 40 40
Interrupt handling M M 10 7
Fine-grained performance 15 6 8 120 48 8 120 48
Re-entrancy M M 10 10
Error / exception handling 5 10 7 35 70 9 45 90
ROM-ability M M 10 10
Peripheral driver support 3 M 5 15 7 21
Compiler quality / efficiency M M 10 7
Sum: 730 772 Sum: 698 627
pSOS+ VxWorksWeighing F
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS 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 resultsPhilips CFT and High Tech Automation
Resum of the speaker
Operating System
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GS Jan 29th 2004 33How to select your RTOS?
Devils advocateRTOS criteria Now 3 Yrs BM Sc N Sc 3Y BM Sc N Sc 3Y
Supplier 1 2 7 7 14 7 7 14
Price / performance ratio 2 13 4 8 52 4 8 52
Development environment M 3 9 27 9 27
Platform dependencies M M 10 10
Quality of documentation 12 1 3 36 3 6 72 6
Product stability M M 10 10
Available expertise 10 17 10 100 170 2 20 34
Tunability 20 12 8 160 96 6 120 72
Scalability M M 9 9
Multi-processor support M 7 9 63 5 35
Memory management 17 9 8 136 72 9 153 81
File device I/O management 4 11 8 32 88 8 32 88
Interprocess communication M M 10 10
Process / thread support 6 4 6 36 24 10 60 40
Resource scheduling 5 5 9 45 45 8 40 40
Interrupt handling M M 10 7
Fine-grained performance 15 6 8 120 48 8 120 48
Re-entrancy M M 10 10
Error / exception handling 5 10 7 35 70 9 45 90
ROM-ability M M 10 10
Peripheral driver support 3 M 5 15 7 21
Compiler quality / efficiency M M 10 7
Sum: 730 772 Sum: 698 627
pSOS+ VxWorksWeighing F
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)Devils advocate
Is there a new future for the method?
Benchmarks from:Real Time Operating Systems An evaluation method and resultsPhilips 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
Resum of the speaker
Operating System
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GS Jan 29th 2004 34How to select your RTOS?
Is there a new future
for the method?
www.task-switch.nl
Operating SystemReal-Time
A use caseThe selection method explained
Application areas & characteristicsRTOS characteristics
musts & wants, weighing factors (Kepner Tregoe)Devils advocate
Is 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
Characteristics
a b c c d
o1
o o o2
o o o o3
o o o4
o o o5
Characteristics
RTOScriteria
o o o
o
o
o
o
o6
o o7
weightfactors
1
502
Must3
154
355
Must / Want
RTOScriteria
now
v
v
v
v
40
55
5
Must
3 years
6
7
100 100Sum
rank
1
2
3
4
5RTOScriteria
6
7
RTOS 3
rank
1
2
3
4
5RTOScriteria
6
7
4
x
4
8
RTOS 2
rank
1
2
3
4
5RTOScriteria
6
7
7
x
2
10
RTOS 1x
RTOS (now)
1
3502
Must3
304
3505RTOScriteria
RTOS 1
v
v
v
v
200
Must
60
280
RTOS 2
6
7
730 540Res
1
2
3 4
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