2009년 12월 29일 화요일

Free Embedded RTOS - ChibiOS/RT

STM32에서 사용 가능한 가벼운 RTOS를 찾는중 ChibiOS/RT라는 RTOS를 발견하였다. 간단한 소개는 다음과 같다.

  • 개요

ChibiOS/RT is designed for deeply embedded real time applications where execution efficiency and tiny code size are desiderable features.

The system is implemented as a library to be linked with the application code, the OS and the application code together form the image to be loaded on the target device.


  • 특징

The kernel provides a rich features set, it offers: preemptive multithreading, 128 priority levels, optional round-robin support, unified interrupts handling, support for preemptable interrupt handlers, virtual timers, semaphores, mutexes, condition variables,synchronous messages, mailboxes, event flags, Abstract Channels, I/O queues, heapand memory pools allocators.

Of course, the above mechanisms are not always required in most applications, it is possible to selectively exclude the unused subsystems reducing the total code size.


  • 코드 사이즈

The kernel is very compact, on a reference Cortex-M3 (STM32) platform the kernel size ranges from 1.2KiB minimum up to 5.2KiB maximum size. Size metrics are available for all platforms, as test reports, into the source distribution.


  • 성능

On a reference STM32 platform clocked at 72MHz the kernel is capable of context switching in1.41 microseconds, taking/releasing a semaphore takes 1.21 microseconds, spawning a thread (the whole create-execute-terminate cycle) takes 4.64 microseconds.

The timings are measured using the internal test suite, it is possible to inspect the benchmarking methodology and replicate the results by simply running the included demos. Performance metrics are available for all platforms, as test reports, into the source distribution.


  • 링크

http://chibios.sourceforge.net/

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