PaRTiKle's web site

PaRTiKle is currently being used to develop robot control applications.
Specifically the LPC2000 (arm7) port of PaRTiKle is being used to
control and program the µBiro robot developed by the
Robotic's group of the AI2 Institute.

Some videos of µBiro in action:

URL:

http://www.e-rtl.org/partikle/fileshare/files/5/partikle-lpc.pdf

Abstract:

This paper describes the work performed to port PaRTiKle, a hard-real time operating system presented in the RTLWS 2007, to the Philips (NXP) LPC2000 systems, more specically to the LPC2136 model used by the humanoid robot MicroBIRO, which has been developed by the AI2 Robotics Group. The main goal of this work has been to be able to use the PaRTiKle RTOS on the MicroBIRO robot, in order to replace the bare machine programming approach which was previously used for developing robot control applications. This project was divided in two milestones: 1) Porting PaRTiKle to the LPC2000 system. 2) Migrating the existing robot control application to PaRTiKle. This papers discusses all the aspects introduced above explaining the problems encoutered, the solutions given and assests the results obtained.

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URL:

http://www.e-rtl.org/partikle/fileshare/files/5/lpcug.pdf

Abstract:

En este texto se describe la puesta a punto desde cero del entorno de progra- mación para desarrollar aplicaciones que se ejecuten sobre los sistemas LPC2000 con el SOTR PaRTiKle [1]. Dentro del entorno de programación se contempla tanto la parte hardware como la parte software: Hardware El sistema LPC2000 y los dispositivos necesarios para tener acceso desde una terminal serie (host) hasta el LPC2000 (target). Software El sistema operativo de tiempo real para sistemas empotrados PaRTiKle [1], las herramientas de compilación (toolchain) y el cargador por puerto se- rie utilizado para cargar código en el LPC2000.

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PaRTiKle is a new open source real-time kernel for embedded systems,
distributed under the terms of the GNU Public License. It is important
to note that applications that use PaRTiKle system calls are not
considered as derived work; therefore, PaRTiKle applications
do not need to be GPL or even GPL compatible 1.

It is also royalty and buyout free. In short, PaRTiKle license schema
is the same that the one used in the Linux kernel. If you can write Linux
applications then you can write PaRTiKle applications.

It is a full-featured, flexible, configurable, real time embedded
kernel. The kernel provides thread scheduling, synchronization, timer,
and communication primitives. It handles hardware resources such as
interrupts, exceptions, memory, timers, etc.

PaRTiKle was designed to be POSIX compatible. The native API is ``C''
POSIX threads. But also, provides support for C++, Ada and Java
(tasking, synchronisation, protected objects, exception handling,
etc.). Besides POSIX compatibility, PaRTiKle also provides the
RTLinux/GPL non-portable POSIX extensions; therefore, it should be
possible to compile RTLinux/GPL applications on PaRTiKle to get all
the benefits.

PaRTiKle has been initially developed by the Real-Time Systems
Group 2 of the Universidad Politecnica de Valencia 3, Spain.

1: Although we recomend to use GPL.
2: http://www.gii.upv.es
3: http://www.upv.es