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Abstract Timers and their Implementation onto the ARM Cor tex-M family of MCUs
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Orientador(es)
Resumo(s)
Real-Time For the Masses (RTFM) is a set of languages andto ols b eing develop ed to facilitate emb edded
software development and provide highly efficient implementations gearedto static verification. The RTFM-kernel is an architecturedesigned to provide highly efficient and predicable Stack Resource Policy based scheduling, targeting bare metal (singlecore) platforms.We contribute b eyond prior work by intro ducing a platform independent timer abstraction that relies on existingRTFM-kernel primitives. We develop two alternative implementations for the ARM Cortex-M family of MCUs: ageneric implementation, using the ARM defined SysTick-/DWT hardware; and a target sp ecific implementation, using the match compare/free running timers. While sacrificing generality, the latter is more flexible and may reduceoverall overhead. Invariants for correctness are presented,and metho ds to static and run-time verification are discussed. Overhead is b ound and characterized.
In b oth casesthe critical section from release time to dispatch is less than2us on a 100MHz MCU. Queue and timer mechanisms aredirectly implemented in the RTFM-core language and canb e included in system-wide scheduling analysis.
Descrição
Presented at Embed with Linux Workshop (EWiLi 2015). 4 to 9, Oct, 2015. Amsterdam, Netherlands.