Open Source Real Time Operating Systems Overview

TL;DR

This paper provides an overview of open source real-time operating systems, specifically RTLinux and RTEMS, highlighting their architecture, features, and performance metrics relevant to control systems.

Contribution

It offers a comparative overview of RTLinux and RTEMS, detailing their architecture, APIs, and performance, aiding in informed selection for control system applications.

Findings

RTLinux and RTEMS support most popular CPUs.

Both systems offer multiple APIs including Posix.

Performance metrics show their interrupt latency and context switching delays.

Abstract

Modern control systems applications are often built on top of a real time operating system (RTOS) which provides the necessary hardware abstraction as well as scheduling, networking and other services. Several open source RTOS solutions are publicly available, which is very attractive, both from an economic (no licensing fees) as well as from a technical (control over the source code) point of view. This contribution gives an overview of the RTLinux and RTEMS systems (architecture, development environment, API etc.). Both systems feature most popular CPUs, several APIs (including Posix), networking, portability and optional commercial support. Some performance figures are presented, focusing on interrupt latency and context switching delay.