Abstract
This chapter covers embedded real-time operating systems (RTOS). It introduces the concepts and requirements of real-time systems. It covers the various kinds of task scheduling algorithms in RTOS, which include RMS, EDF and DMS. It explains the problem of priority inversion due to preemptive task scheduling. It describes the schemes to prevent priority inversion by priority ceiling and priority inheritance. It includes case studies of several popular real-time OS and presents a set of general guidelines for RTOS design. It shows the design and implementation of a UP_RTOS for uniprocessor (UP) systems. Then it extends the UP_RTOS to a SMP_RTOS, which supports nested interrupts, preemptive task scheduling, priority inheritance and inter-processor synchronization by SGI.
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