Долго пытаясь доработать ртоси под свои нужды, понял, что ничего адекватного на рынке просто не существует и решил написать свою. Вот что получилось:
MKernel is embedded RTOS, based on microkernel architecture.
It's designed for ARM microprocessors, however, can be easily ported to any
32bit MCU.
Features:
- BSD License, royalty free, open source.
- Tickless. For system scheduling used 1 HPET timer and RTC. If RTC is
unavailable, another HPET timer can be used for RTC emulation (with full RTC
functionality)
- Hardware abstraction.RTOS is providing common interface for drivers.
- Standart microkernel syncronization: mutexes, events, semaphores, queues.
- Nested mutex priority inheritance
- Embedded dynamic memory manager, with ability of nested memory pools for
threads, dedicated system pool. Aligned malloc calls inside of any pools
- Safe and MPU ready. All supervisor-specific calls are wrapped around
swi/svc calls for context rising.
- Embedded libraries:
* printf/sprintf. Around 1k of code.
* time routines. POSIX-light
* single-linked list, double linked list, ring buffer, block ring buffer
* random number generation: hardware (if supported) or software
- Error handling:
* kill thread on system error, print error, if configured
* restart system on critical error, memory dump if configured
* handle error exceptions, decode address (if supported) and exception code
- Lot of debug features:
* memory dumps
* object marks
* thread profiling: name, uptime, stack allocated/current/used
* memory profiling: red-markings, pool free/allocated size, objects fragmentation
* stack profiling: supervisor allocated/current/used. Plus for arm7 - irq, fiq, abt
* configurable debug console
- Supported hardware:
* ARM7
* cortex-m3, drivers for:STM32 F2 (gpio, uart, rcc, timer, dma, rand)
Cortex-M3 features:
- Native SVC and pendSV support
ARM7 features:
- Nested interrupts
- FIQ support
- pendSV emulation, when returning to user/system context
И сразу из минусов: документация еще пока в стадии разработки, надеюсь, к концу сентября управлюсь. Примеры, надеюсь, на этой неделе будут готовы. На данный момент поддерживается только gcc.
Ссылка на проект на github:
https://github.com/alexeyk13/mkernel
mkernel, новая ртось для ARM
Aug 8 2012, 06:47
