A real-time embedded kernel for nonvisual robotic sensors

Authors:
Enzo Mumolo;Massimiliano Nolich;Kristijan Lenac
Affiliations:
DEEI, Università degli Studi di Trieste, Trieste, Italy;DEEI, Università degli Studi di Trieste, Trieste, Italy;DEEI, Università degli Studi di Trieste, Trieste, Italy and AIBS-Lab S.r.l., Trieste, Italy
Venue:
EURASIP Journal on Embedded Systems - Operating System Support for Embedded Real-Time Applications
Year:
2008

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Abstract

We describe a novel and flexible real-time kernel, called Yartek, with low overhead and low footprint suitable for embedded systems. The motivation of this development was due to the difficulty to find a free and stable real-time kernel suitable for our necessities. Yartek has been developed on a Coldfire microcontroller. The real-time periodic tasks are scheduled using nonpreemptive EDF, while the non-real-time tasks are scheduled in background. It uses a deferred interrupt mechanism, andmemory ismanaged using contiguous allocation. Also, a design methodology was devised for the nonpreemptive EDF scheduling, based on the computation of bounds on the periodic task durations. Finally, we describe a case study, namely, an embedded system developed with Yartek for the implementation of nonvisual perception for mobile robots. This application has been designed using the proposed design methodology.