Transcript INtime Real-time OS for Windows

real-time virtualization experts
INtime
Real-time for Windows
Time-critical Applications
On Windows Platforms
 What are your options?
 Loosely coupled RTOS…
 Costly HW & SW solutions
 Limited & slow IPC options
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INtime 3.0
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Time-critical Applications
On Windows Platforms
 What are your options?
 Loosely coupled RTOS…
 Costly HW & SW solutions
 Limited & slow IPC options
 Kernel-mode driver…
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Restricted extensibility
Never intended for large apps
Difficult to debug and test
Real-time bugs crash Windows
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Time-critical Applications
On Windows Platforms
 What are your options?
 Loosely coupled RTOS…
 Costly HW & SW solutions
 Limited & slow IPC options
 Kernel-mode driver…
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Restricted extensibility
Never intended for large apps
Difficult to debug and test
Real-time bugs crash Windows
 …there is a better way
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Tightly Coupled is the Superior
Real-time Windows Solution
 Simpler inexpensive hardware
 Unified development tool set
 Windows-like API for real-time
 Superior IPC options & tools
 Simplified integration
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INtime Overview
 Two OS environments share a single hardware platform
 Integrated development with Microsoft Visual Studio
 INtime kernel is a full real-time operating system (RTOS)
 Not a clever device driver
 Windows applications have access to INtime objects
 Many IPC options between Windows and RT processes
 Mailboxes, semaphores, shared memory, and TCP/IP
 Broad real-time I/O device support
 Ethernet, TCP/IP, USB, SCSI, multi-channel serial
 CAN, Profibus, DeviceNet, GPIB, EtherCAT
 Delta Tau and MEI motion controllers
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Virtual Machine Architecture
Normal Processes
 Start with
standard Windows
Win32 API
Windows OS
Windows Kernel
Standard HAL
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Virtual Machine Architecture
Normal Processes
Real-time Processes
INtime
Real-time API
Win32 API
INtime
Real-time Kernel
Windows OS
 Start with
standard Windows
 Partition memory and
I/O resources
 Add a full-featured
real-time OS
 Virtual machine
isolates dual OSes
Windows Kernel
Standard HAL
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Virtual Machine Architecture
INtime Real-time Windows Application
Normal Processes
INtime
NTX API
Win32 API
Real-time Processes
INtime
Real-time API
INtime
Real-time Kernel
Windows OS
NTX DLL and VM Interface
 Start with
standard Windows
 Partition memory and
I/O resources
 Add a full-featured
real-time OS
 Virtual machine
isolates dual OSes
 Bridge INtime and
Windows with NTX
Windows Kernel
Standard HAL
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Proven History of
Real-time for Windows
 Long history of reliable real-world use
 Millions of world-wide installations
 RTOS market presence for over 25 years
 iRMX III in 1980
 iRMX for Windows in 1992
 INtime 1.0 launched in 1997
 Trusted Intel and Microsoft partner
 Embedded Microsoft partner since 1998
 Microsoft Partner of the Year ‘04, ‘05, and ‘06
 Intel Communications Alliance
Member of the Year in 2006
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Performance and Reliability
 Hard real-time performance
 Interrupt latency <4 µsec worst case (dual-core)
 System clock rates down to 50 µsec (dual-core)
 Dependable inter-process (application) isolation
 User-mode application space (ring 3) for real-time apps
 No real-time performance penalty for ring 3 operation
 Priority inversion protection for real-time threads
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Direct access to I/O and non-paged (physical) memory
Real-time network stacks, drivers, and interfaces
Distinct real-time safe C and C++ libraries
Non-destructive real-time fault handling
Minimal impact on Windows performance
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System Performance Data
2GHz Core Duo, Intel evaluation
motherboard (dual-core CPU)
interrupt handler
interrupt thread
idle system
mean
std. dev.
3.3 µsec
0.2 µsec
8.8 µsec
0.3 µsec
busy system
mean
std. dev.
3.3 µsec
0.2 µsec
9.1 µsec
0.5 µsec
2.8GHz P4D, Intel 955X, Asus P5WD2
motherboard (dual-processor module)
interrupt handler
interrupt thread
idle system
mean
std. dev.
3.7 µsec
0.2 µsec
9.2 µsec
0.3 µsec
busy system
mean
std. dev.
3.7 µsec
0.3 µsec
9.7 µsec
1.0 µsec
2.66GHz Xeon MP, Super X5DA8
motherboard (dual-socket motherboard)
interrupt handler
interrupt thread
idle system
mean
std. dev.
3.5 µsec
0.4 µsec
8.3 µsec
0.8 µsec
busy system
mean
std. dev.
3.9 µsec
0.8 µsec
10.0 µsec
2.5 µsec
2.4GHz Celeron, Intel D865GVHZ
motherboard (single-core CPU)
interrupt handler
interrupt thread
idle system
mean
std. dev.
6.8 µsec
0.8 µsec
12.1 µsec
1.2 µsec
busy system
mean
std. dev.
17.7 µsec
4.4 µsec
29.0 µsec
6.7 µsec
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INtime Real-time Applications
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Industrial Control
Robotics
Motion Control
Medical Imaging
Test & Measurement
CNC Machining
Material Handling
Process Control
Radar & Avionics
Simulation
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X-Ray Equipment
 Major supplier of medical X-ray systems
 Mission critical application for real-time
 TenAsys technology used throughout
 INtime & Windows control system console
 Remote INtime nodes running autonomously
 CANbus connects real-time INtime nodes
 Philips Medical Eleva series:
 EasyDiagnost
 MultiDiagnost
 OmniDiagnost
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X-Ray Equipment
“We use INtime for those areas of the system where
movements are controlled and where radiation is
controlled.”
“Those are two areas where we need
the most reliable software.”
Sven Kuehl
Software Project Leader
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Test and Measurement
 World leader in power train engineering
 PUMA test bed
 Utilizes INtime remote nodes
 High performance data acquisition system
 IEEE 1394 (real-time) backbone
 Up to 5 kHz continuous sampling rate
 AVL real-time research paper
 “Thread-based analysis of embedded applications with
real-time and non real-time processing on a single platform”
 Graz University of Technology
http://www.iti.tu-graz.ac.at/download/publications/prisching03.pdf
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Test and Measurement
“We already use Windows for visualization and database
management. Why not use the same platform for critical
real-time constraints?”
“Plus, this would mean
no additional hardware system costs
for our customers.”
Bernhard Hochstrasser
Software Development Engineer
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Industrial Control
 Largest supplier of Soft PLC systems
 Lowers cost to customers by using industrial grade PC
 Exceeds performance of hard PLC systems
 Steeplechase VLC is used in:
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Steel mills
Automotive assembly
Packaging
Materials handling
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Industrial Control
“The fact that the TenAsys product was a solid platform
was very important. It had a history before we started
looking at it.”
“TenAsys is proven technology.”
Jeff Fisher
Global Product Manager
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CNC Machining
 World leading CNC tool vendor
 Two generations of machine tools on INtime since 2000
 Servicing automotive, medical device, special tool grinding,
gear grinding, and aerospace markets
 High-precision and high-speed
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5-axis direct drive systems
3 microns precision
12,000 RPM spindle
3D preview and display
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CNC Machining
“We ported from QNX to INtime using a ‘shim’ to
maximize preservation of existing control code.”
“That code was up and running relatively quickly and
continues to work today.”
Gerard Cullen
CNC Software Developer
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TenAsys Real-time Customers
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INtime 3.0 Key Features
 Microsoft Visual Studio integration
 Integrated real-time debugger
 NTX object for all .NET languages
 Multi-core processor support
 Intel Core Duo CPUs
 All standard Windows SMP platforms
 Breadth of real-time device drivers
 Real-time USB, Ethernet, and industrial I/O devices
 Fault and spin managers
 Fault manager directs real-time faults to VS debugger
 Spin detector suspends threads that monopolize CPU cycles
 Windows 2000, Windows XP, and Windows Vista
 Windows XP Embedded and variants (POS, etc.)
 Windows 2003 Server
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Why Choose INtime?
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Deterministic real-time control for Windows
Reliable and secure run-time environment
Integration with Visual Studio for development and debug
Support for all standard Windows hardware platforms
Management of real-time faults without machine lockups
Connection via real-time TCP/IP, USB, and fieldbus
Persistent application execution for fail-safe operation
Practical use of hardware and software resources
Field-proven kernel, libraries, drivers, and applications
Trusted Microsoft and Intel embedded partner
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Real-time for Windows
Details
Multi-Processor Support
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Operate on all Microsoft multi-processor HALs
Validated on P3, P4, Xeon, and Core™ CPU platforms
Windows multi-processor SMP and multi-core systems
Intel Core™ and Hyper-Threading processors
Multi-core operating modes:
 Real-time performance (exclusive) mode
 INtime RTOS is dedicated to a single core
 Remaining CPU cores are dedicated to Windows
 Windows performance (shared) mode
 INtime shares one CPU core with Windows
 Remaining CPU cores are dedicated to Windows
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Multi-Core Processor Benefits
 Dedicate a single CPU core to real-time processes
 Complete isolation of real-time interrupts
 Minimal impact on Windows performance
 Maximize performance of real-time processes
 Or share CPU cycles between INtime and Windows
 Optimize Windows’ use of multiple CPU cores
 Maximize CPU cycles available to Windows
 Both modes include enhancements to determinism
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Better isolation of real-time interrupts
Significant decrease in real-time interrupt delays
Independent real-time clock (more precise timer ticks)
Minimal interaction with Windows HAL
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Visual Studio Integration
 Develop real-time code in Visual Studio environment
 C/C++ and x86 assembly
 INtime Wizards generate
real-time code templates
 VS 2003 and VS 2005
 Real-time source-level debugging
 No simulation step required
 Simultaneously debug real-time
and Windows applications
 Windows apps use NTX interface
 Either .h files or .NET object
 Visual Studio solutions contain
INtime and Windows projects
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Visual Studio Debugging
 Integrated real-time debugger
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Use Visual Studio to debug real-time processes and threads
Not possible with device driver solutions
Display and modify variables
Breakpoints, single-step, etc.
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Visual Studio Debugging
 Integrated real-time debugger
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Use Visual Studio to debug real-time processes and threads
Not possible with device driver solutions
Display and modify variables
Breakpoints, single-step, etc.
 Real-time process fault manager
 Fault in real-time thread:
 suspends thread and process
 launches VS debug session
 or launches Spider debugger
 Log trace on deployed systems
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INtime Device Drivers
 Partial list of available real-time device drivers:
 RS-232 serial, SCSI, VGA, USB serial, IEEE-488 (GPIB)
 Intel, 3Com, NE2000, and Realtek Ethernet controllers
 Hilscher CIF/COM fieldbus controllers
 Communication interfaces
 DeviceNet, PROFIBUS, CANopen, ControlNet
 EtherCAT deterministic fieldbus
 Real-time TCP/IP and USB stacks
INtime Process
INtime Process
 TCP/IP stack on real-time kernel
 No Windows overhead
 Standard sockets API
INtime Process
Sockets API
TCP
ARP
INtime Process
UDP
IP
raw
ICMP
NIC Driver
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Real-time Configuration Tools
 Interrupt Device Configurator
 Simplifies assignment of
IRQ to real-time
environment
 Warns of conflicts re shared
Windows interrupts
 INtime configuration utility
 Windows control panel
 Configure remote nodes
 Manage interrupt resources
 Memory extensions
 Pre-allocate memory
external to Windows
 Reach > 4GBytes memory
(using paging techniques)
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INtex (INtime Explorer)
Real-Time Object Browser
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INScope (Software Scope)
Performance Analysis Tool
 Time stamp
entry and exits
of major API
calls and
interrupt
handlers
 Determine
exact sequence
and precise
timing of realtime code
execution
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Scalable and Extendable
 Stand-alone RTOS solutions
 INtime remote nodes
on embedded hardware
 Easily scale using XP Embedded tools
 Detailed SLD included
 Highly extensible platform
 No system too complex
 Motion
 Vision
 Discrete I/O
 All with predictable
and reliable results!
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Reliable Isolation
Windows Segment
INtime Real-Time Processes
(lowest priority real-time segment)
(multiple real-time segments)
0000.0000
0000.0000
Contains
Windows
kernel,
drivers,
memory,
applications,
etc.
CODE
CODE
CODE
DATADATA
DATA
STACK
STACK
STACK
HEAPHEAP
HEAP
thread2thread2
code code
thread2 code
thread2 data
thread2
thread2
data data
thread2 stack
thread2
thread2
stack stack
thread2 heap
thread2
thread2
heap heap
threads3-n
threads3-n
threads3-n
arranged
as
arranged
as
arranged
as
above
aboveabove
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non-allocated areas
(page fault if entered)
}
additional threads
allocated as above
Virtual Segment limit
(GP fault if crossed)
Real-time for Windows
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Virtualization Details
 CPU-enforced isolation between INtime and Windows
 Two distinct, parallel, and isolated environments
 INtime processes and drivers run in user mode
 Windows encapsulated as lowest priority INtime task
 Windows’ priorities and processes run unchanged
 “Everything Windows” is encapsulated:
 kernel, drivers, I/O, page tables, memory management,
 interrupts, processes, threads, user interface, file system…
 User-mode enforces reliable applications
 Full speed, no performance penalty
 Superior real-time debugging tools
 INtime user-mode includes:
 Direct access to I/O and memory
 Memory protection for reliability
 Paging turned off to insure determinism
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Continuous Operation
 Fault and spin managers prevent lockups
 Fault manager directs real-time faults to GPF handler
 Spin detector suspends threads that monopolize CPU cycle
 Unaffected processes continue to operate
 STOP manager detects BSOD notifications
 Real-time threads continue, unimpeded by a blue screen
 Continuous operation means INtime applications can:
 Operate without Windows, indefinitely
 Gracefully shutdown or restart
 Send a signal via an INtime communication interface
(e.g., serial or Ethernet) that attention is required
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INtime Kernel Features
(part 1)
 Multi-tasked, multi-threaded applications
 Preemptive priority-based scheduling algorithm
 255 real-time priority task levels
 Windows is lowest priority real-time task
 Event-driven scheduling for interrupts and alarms
 Round-robin scheduling for equal priority threads
 Priority inheritance to avoid deadlocks
 Periodic and one-shot timer events
 50 µsec minimum interval (dual-core systems)
 Interrupt service routines (ISR)
and interrupt service threads (IST)
 Real-time interrupts always preempt Windows
 ISRs for very fast and simple interrupt processing
 ISTs for complex, full-featured interrupt processing
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INtime Kernel Features
(part 2)
 Memory management and data sharing
 Shared memory and mailboxes (message passing)
 Static and dynamic memory pools and heaps
 C library malloc() and free() functions
 C++ new and delete operators
 Synchronization mechanisms
 Mailboxes (wait on messages)
 Semaphores (single or multi-count)
 Regions (a.k.a. critical regions or mutexes)
 IPC between Windows and INtime (NTX)
 Mailboxes, semaphores, and shared memory
 IPC (NTX) managed by real-time kernel insures reliability
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INtime Kernel Features
(part 3)
 Exception handling for:
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Programming errors (invalid parameters)
Invalid or insufficient resource errors (memory)
Floating point errors (numeric processor)
Hardware faults (page faults, segment faults…)
 Multiple unique real-time APIs
 INtime  native real-time API
 iRMX  transition API for iRMX apps
 iWin32  transition API for Win32 apps
 RSL (real-time shared libraries)
 Similar to Windows DLL, runs in user mode (ring 3)
 Ideal for implementing real-time device drivers
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Proven Technology
“Intel® Virtualization Technology is a key
component of our platform approach to enable
new levels of performance and features for a
broad range of applications. TenAsys is utilizing
this technology to help bring those benefits to
embedded application developers.”
Doug Davis, VP and General Manager
Communications Infrastructure Group
Intel Corporation
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TenAsys Software
Quietly Running the World
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Industrial Control & Robotics
Air & Ground Traffic Control
Medical Imaging
Test & Measurement
CNC Machining
Material Handling
Process Control
Radar & Avionics
Simulation
Mail & Check Sorting
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