Here are several excellent
Real-Time Linux Tutorials at
isd.mel.nist.gov that
introduce and demonstrate a version of the Linux operating system which
interacts and communicates with users in real time. These Real-Time
Linux Tutorials cover the basics of real time Linux followed by the
communication in FIFO (First In First Out) mode. They also explain how
tasks are prioritized in a real time operating system; explain the
concept of shared communication and semaphores. Examples of real time
systems are explained using a servomotor and an LED wand clock.
Real-Time Linux Tutorials:
The
Basics
This subdirectory describes about the Linux Task, Kernel Modules and
Linux programs. It also tells us that C is the preferred language for
Linux programming.
A
Single Periodic Task
This example demonstrates a single fixed-period task to read and write
I/O address.
Two
Periodic Tasks
This example explains about the way two periodic tasks that use shared
variables where one task changes the variable and the other one uses
this variable.
A
Variable-Period Task
This example demonstrates how to set the varying frequency to a single
task using timer.
FIFO
Communication
FIFO (first-in, first out) is a mechanism of storing data in the using
data queue. This example explains how to set up a FIFO data queue to
share data between application and tasks.
Interrupt
Service Routines
This example shows how to call the functions when an interrupt is
triggered from hardware such as timer chips, printers, disk drives,
Ethernet controllers, etc.
Shared
Memory Communication
Shared Memory is an efficient means of passing data between programs.
This example explains how the RT Linux tasks and normal Linux processes
pass data using the Shared Memory.
Semaphores
To restrict the simultaneous access to the resources we can use
Semaphores. This example explains how to achieve this.
RC
Airplane Servomotor Control
This example demonstrates how to control a pair of radio-controlled
(RC) airplane servomotors via the parallel port using the GUI.
LED
Wand Clock
This Fantazein LED wand clock example demonstrates the implementation
of tasking, FIFO and interrupt service routines.
Determining
Stack Size
This example demonstrate how to determine the stack size, this helps to
allocate the stack size efficiently.
Measuring
Timing Jitter
In real time code it is important to quantify timing uncertainty and
derive its impact. This example describes that with a pure periodic
task, using the Pentium's built-in Time Stamp Counter (TSC).
Floating
Point in RT Tasks
This example demonstrates the use of floating-point math in real time
tasks.
Data
Consistency Techniques
This supplementary material describes various data consistency
techniques used to protect the shared data structures. In this
supplementary material talks about data consistency techniques such as
Dekker's- and Peterson's Algorithms, N-Process Mutual Exclusion using
Hardware, N-Reader, 1-Writer Mutual Exclusion using Head/Tail Flags,
Semaphores, Mutexes etc.
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