SimuLinuxRT is a realtime interface to the SIMULINK package that allows one to run realtime code right from the SIMULINK diagram. It runs under RTLinux developed by FSM Labs. Simply draw a Simulink diagram and click Build. Click Run — the process will run in realtime at a specified rate up to 50 kHz. (more…)

The rt_com module provides a standard serial port driver for Real-Time Linux. It defines a API to access the generic PC-architecture serial ports from Real-Time space. rt_com works with NMT RT-Linux as well as RTAI. This talk gives an outline of the programming interface as well as of the internal structure of the driver. (more…)

Comedi is a collection of drivers, common core, and high-level programming interface for data acquisition hardware, including A/D converters, D/A converters, digial I/O, and timer/counters. Comedi is somewhat unique among Linux drivers in that it equally supports real-time and non-real-time applications. (more…)

Techniques allowing kernel tasks and user space processes to share large blocks of memory are presented. In particular, “mbuff/” device driver is introduced. Simple examples of synchronizing producer and consumer threads using only shared memory are given. (more…)

This paper presents the design decisions made and architecture used in developing a real time system to control a two-axis positioning gimbal. This system is interesting in that it includes several real-time to non-real-time interfaces for user interaction and network communications. (more…)

Robot control software is a typical application applying real-time Linux as a hard real-time operating system. The author's software was originally running under MS-DOS. Problems of adapting it for real-time Linux are presented. This paper describes internal structure of the software as it had to be divided into a hard real-time part (a kernel module) and a standard Linux process part. (more…)

GPS, or Global Positioning System, is a key technology for both the civilian and scientific research markets. GPS provides users with precise geodetic positioning and time determination. Most GPS receivers require specialized hardware and complex software to operate. One receiver, known as GPSBuilder-2 originally designed by GEC Plessy, takes a novel approach. (more…)

In this paper a remote data acquisition system for Mössbauer Spectroscopy based on RT-Linux is presented. More precisely, a kernel module is in charge of collecting the data from the data acquisition card which is self-made based on ISA, sharing the data with the normal Linux process through the module of mbuff, carrying out the remote control and returning the results to the client by building a simple… (more…)

Telemetry requires only soft realtime, i.e. receiving data at a fixed high rate without loss . These data must be processed in time and delivered to several different applications. The requirement for being real time is weak, as seen by human eye. Therefore standard LINUX is used with a special driver. (more…)

This paper demonstrates the possibility of executing wide band hard real time application in user space under Linux. Such a possibility is demonstrated through examples of its implementation at DIAPM of three digital active control systems, that require relatively high (up to 12 KHz) control frequencies: an active noise control of an acoustic duct using feed-forward techniques, an application of active… (more…)

Analyzing and understanding the behavior of real-time embedded systems is a complex task. Often, developers resort to ad-hoc methods in order to understand the behavior of their systems and isolate bugs. Answering this need, some commercial RTOS vendors have made available different types of tools to understand their product's behavior. (more…)

This paper describes a testing stage based on real time linux for characterizing rotating micro mechanical devices in terms of their performance, quality and power consumption. In order to accomplish this, a kernel module employs several real time threads. One thread is used to control the speed of a master rotating up to 40000rpm by means of an incremental coder and a PCI counter board with the… (more…)

We present a temporal debugger, capable of examining temporal behavior of operating systems. The debugger is based on a simulator modeling an entire workstation at the instruction level. Unlike traditional debuggers, which need to interfere with program execution, a simulation-based debugger can operate without disturbing time flow of the simulated system. (more…)

This paper discusses the different benchmarking tools used to evaluate the performance of Linux and their suitability for evaluating Real Time system Performance. The importance of using Statistical Methods as well as defining absolute hard limits is presented. The author will then present an Open Source Test and Evaluation Suite toolkit which rapidly allows system performance to be monitored and… (more…)

This paper presents an architecture and design methods for rapid development of real-time control systems such as CNC or robot controllers. PICARD (Port-Interface Component Architecture for Real-time system Design) is a software architecture and environment which is aimed to reduce development time and cost of real-time control system. (more…)