IMPLEMENTATION OF HARD REAL-TIME EMBEDDED CONTROL-SYSTEMS

Although the domain of hard real-time systems has been thoroughly elab orated in the academic sphere, embedded computer control systems -bein g an important component in mechatronic designs -are seldom dealt with consistently. Often, off-the-shelf computer systems are used, with no guarantee that they will be able to meet the requirements specified. In this paper, a design for embedded control systems is presented. Par ticularly, the paper deals with the hardware architecture and design d etails, the operating system, and high-level real-time language suppor t. It is shown how estimates of process run-times necessary for schedu labiiity analysis can be acquired on the basis of deterministic behavi or of the hardware platform.