Subject description - B3M35PSR

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B3M35PSR Real -Time Systems Programming
Roles:PV, PO Extent of teaching:2P+2C
Department:13135 Language of teaching:CS
Guarantors:Sojka M. Completion:Z,ZK
Lecturers:Sojka M. Credits:6
Tutors:Klapálek J., Sojka M. Semester:Z

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The goal of this course is to provide students with basic knowledge about software development for real-time systems, for example in control and embedded applications. The focus is on embedded systems equipped with a real-time operating system (RTOS). Lectures will cover real-time systems theory, which can be used to formally verify timing correctness of such systems. Another set of lectures will introduce methods and techniques used for development of safety-critical systems, whose failure may have catastrophic consequences. During labs, students will first solve a few simple tasks to familiarize themselves with basic components of VxWorks RTOS and to benchmark the used OS and hardware (Xilinx Zynq). The obtained metrics represent the typical criteria for assessing the suitability of a given platform for the given application. After the simple tasks, students will solve a complex task of time-critical motion control application which will require full utilization of RTOS features. All the tasks at the labs will be implemented in C (or C++) language.

Course outlines:

1. Introduction to real-time systems, requirements, properties, applications
2. VxWorks operating system (OS)
3. POSIX 1003.1b - portable real-time OS interface
4. Reference model of real-time system
5. Off-line (clock-driven) scheduling
6. Fixed priority scheduling and analysis
7. Dynamic priority scheduling and analysis
8. Shared resource management
9. Combining real-time and non-real-time task, temporal isolation
10. Development of safety critical applications, functional safety standards, safety integriti level (SIL)
11. Techniques for increasing reliability of safety-critical software (redundancy, information coding, decomposition)
12. HAZOP study, software HAZOP, example
13. Multi-core systems and real-time, overview of RTOSes

Exercises outline:

1. VxWorks IDE basics: creating applications, VxWorks simlator, documentacion, debugging
2. VxWorks API: Mutexes, semaphores
3. VxWorks API: Real-Time processes and shared memory
4. Blocking on mutex, priority inheritance
5. Cyclic executive, worst-case execution time (WCET) measurement
6. Scheduler latency measurement
7. Ethernet communication latency measurement
8. Semestral work - distributed real-time motor controller (steer-by-wire) + visualisation with an in-application web server


Buttazzo, Giorgio C, Hard Real-Time Computing Systems, Predictable Scheduling Algorithms and Applications, Springer, 2011 Burns A. and Wellings A.: Real-Time Systems and Programming Languages (Fourth Edition), Ada 2005, Real-Time Java and C/Real-Time POSIX, Addison Wesley Longmain, 2009 Redmill F., Morris Ch. et al, System Safety: HAZOP and Software HAZOP, Wiley, April 1999


Attendee must be capable of writing basic C programs and understand principles of multithreaded programming. It is an advantage (but not requirements) to finish B0B36APO and B4B35OSY before taking this course.

Subject is included into these academic programs:

Program Branch Role Recommended semester
MPKYR5_2016 Cybernetics and Robotics PV 1
MPEK4_2018 Technology of the Internet of Things PV 3
MPEK8_2021 Communication and information processing PV 3
MPKYR4_2016 Aerospace Systems PV 3
MPKYR3_2016 Systems and Control PV 3
MPKYR2_2016 Sensors and Instrumentation PV 3
MPKYR1_2016 Robotics PO 1
MPKYR_2021 Common courses PV 1

Page updated 18.6.2024 17:51:23, semester: Z,L/2023-4, Z/2024-5, Send comments about the content to the Administrators of the Academic Programs Proposal and Realization: I. Halaška (K336), J. Novák (K336)