TinyTimber, reactive objects in C for real-time embedded systems
2008 (English)In: Proceedings, Design, Automation and Test in Europe: DATE '08 ; Munich, Germany, 10 - 14 March 2008 / [ed] Donatella Sciuto, New York: ACM Digital Library, 2008, 1382-1385 p.Conference paper (Refereed)
Embedded systems are often operating under hard real-time constraints. Such systems are naturally described as time-bound reactions to external events, a point of view made manifest in the high-level programming and systems modeling language Timber. In this paper we demonstrate how the Timber semantics for parallel reactive objects translates to embedded real-time programming in C. This is accomplished through the use of a minimalistic Timber Run-Time system, TinyTimber (TT). The TT kernel ensures state integrity, and performs scheduling of events based on given time-bounds in compliance with the Timber semantics. In this way, we avoid the volatile task of explicitly coding parallelism in terms of processes/threads/semaphores/monitors, and side-step the delicate task to encode time-bounds into priorities. In this paper, the TT kernel design is presented and performance metrics are presented for a number of representative embedded platforms, ranging from small 8-bit to more potent 32-bit micro controllers. The resulting system runs on bare metal, completely free of references to external code (even C-lib) which provides a solid basis for further analysis. In comparison to a traditional thread based real-time operating system for embedded applications (FreeRTOS), TT has tighter timing performance and considerably lower code complexity. In conclusion, TinyTimber is a viable alternative for implementing embedded real-time applications in C today.
Place, publisher, year, edition, pages
New York: ACM Digital Library, 2008. 1382-1385 p.
, ACM Conference Proceedings Series, 1575
Research subject Embedded System; Dependable Communication and Computation Systems
IdentifiersURN: urn:nbn:se:ltu:diva-32814DOI: 10.1109/DATE.2008.4484933Local ID: 76b3d470-7335-11dc-86ab-000ea68e967bISBN: 978-3-9810801-3-1OAI: oai:DiVA.org:ltu-32814DiVA: diva2:1006048
Design, automation and test in Europe : 10/03/2008 - 14/03/2008
ProjectsCASTT - Centre for Automotive Systems Technologies and Testing
Godkänd; 2008; 20071005 (pln)2016-09-302016-09-30Bibliographically approved