10 Salvador Peiró Miguel Masmano 2008 Real-Time Systems Group, Polytechnic University of Valencia 12 23/7/2008 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. http://www.e-rtl.org/partikle/fileshare/files/5/lpcug.pdf 10 S. Peiro M. Masmano I. Ripoll A. Crespo 2008 10th Real-Time Linux Workshop Valencia Universidad Politécnica de Valencia 8 30/10/2008 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. http://www.e-rtl.org/partikle/fileshare/files/5/partikle-lpc.pdf 10 M. Masmano I. Ripoll A. Crespo 2007 Valencia Real-Time Systems Group, Polytechnic University of Valencia 13 http://www.e-rtl.org/partikle/fileshare/files/5/partikle_usermanual.pdf 10 S. Peiro M. Masmano I. Ripoll and A. Crespo 2007 9th Real Time Llinux Workshop Linz, Austria Real-Time Systems Group, Polytechnic University of Valencia 6 20/11/2007 RTLinux-GPL is a RTOS which uses a dual-kernel approach, that is, executing a real-time kernel (RTLinux-GPL itself) jointly with a general purpose OS (Linux). By using this approach, complex real-time application with both, hard and soft real-time requirements can be implemented easier. However, after several years of applying patches, the core of RTLinux is getting bloated and hard to maintain, with several out-of-date and not-working features. This fact forced us to consider either to _reengage_ its code or to start a new kernel from scratch to replace it. Although the first option seems to be more suitable, since RTLinux is a mature and stable code, important design flaws (specifically, problems when a RTLinux application deals with signals and system calls) has headed us towards the second one. In this paper we present this new core, called PaRTiKle. PaRTiKle was designed keeping in mind the following premises: be as portable and easily maintainable as possible. PaRTiKle implements POSIX PSE.51 (Minimal Real-time System Profile). Besides, this kernel also includes support for several of the most important RTLinux's non-POSIX features. Unlike RTLinux, PaRTiKle has been designed to be run under different execution environments. So far, it is possible to execute PaRTiKle up to three different execution environments: a bare machine, as a linux standard process and as a XtratuM's domain. Where the latest alternative gives the ability to develop RT systems with mixed requirements (hard/soft real-time). Although PaRTiKle has been completely written in C and Assembly, it also supports the following languages' run-times: C++, Ada and Java (GCJ, currently out-of-date). http://www.e-rtl.org/partikle/fileshare/files/5/PaRTiKle-OS.pdf