JSS Academy of Technical Education, Bengaluru-560060

Department of CSE

Semester: 3
Branch: Computer Science and Engineering
Academic Year: 2024-25
Subject: Operating system
Subject code: BCS303
Title: Insight Into the Real-Time Operating System (RTOS)
Presented By: Mohammed Khalid Anwar Badal
Name: Shriram Byrappa
USN: 1JS23CS162
Name: Skandan S Bharadwaj
USN: 1JS23CS165
Faculty in charge: Signature of
Faculty:
Mrs. Ranjitha S R

Introduction:
Real-Time Operating Systems (RTOS) are tailored operating systems
built to perform tasks within precise timing requirements. Unlike
general-purpose operating systems, RTOSs focus on ensuring timely and
predictable task execution, making them essential for fields such as
industrial automation, healthcare devices, automotive systems, and
aerospace technology. These systems utilize sophisticated scheduling
techniques, optimized resource allocation, and robust communication
methods between tasks. RTOSs are designed for deterministic
operation, meaning they provide consistent and reliable execution
timelines, often including fault-tolerant capabilities to boost overall
system dependability.

The key characteristics of Real-Time Operating Systems (RTOS) include:

1. Deterministic Behavior
o Ensures predictable task execution within strict deadlines,
making them reliable for time-sensitive applications.
2. Real-Time Scheduling
o Employs priority-based or deadline-driven scheduling
algorithms to manage tasks effectively, ensuring high-priority
tasks are executed first.
3. Minimal Latency
o Offers low interrupt and task switching latency, enabling
quick and efficient responses to real-time events.
4. Concurrency and Multitasking
o Supports the execution of multiple tasks simultaneously
using preemptive or cooperative multitasking.
5. Efficient Inter-Task Communication
o Provides mechanisms like message queues, semaphores, and
shared memory for reliable and fast communication between
tasks.
6. Resource Optimization
o Manages CPU, memory, and other hardware resources
efficiently to meet real-time requirements with minimal
overhead.
7. Scalability
o Adaptable to different hardware configurations and capable
of scaling from simple embedded systems to complex multi-
core architectures.
8. Fault Tolerance
o Incorporates features like error detection, redundancy, and
recovery mechanisms to enhance system reliability and
robustness.
9. Small Footprint
o Typically lightweight, making them suitable for resource-
constrained embedded systems.
Types of RTOS:

1. Hard Real-Time
o Missing deadlines is unacceptable (e.g., medical devices,
aerospace).
2. Soft Real-Time
o Occasional missed deadlines are tolerable but affect
performance (e.g., multimedia, video streaming).
3. Firm Real-Time
o Deadlines are critical; missed deadlines make output useless
(e.g., radar systems, industrial automation).
4. Event-Driven
o Tasks triggered by external events or interrupts (e.g., alarms,
sensors).
5. Time-Shared
o Uses time slices for task scheduling, balancing workloads
(e.g., mixed real-time/non-real-time systems).

Key Features of RTOS:

• Task Scheduling: RTOSs employ advanced scheduling algorithms
to prioritize and execute tasks efficiently. Common scheduling
algorithms include:
o Fixed-Priority Scheduling: Tasks are assigned fixed
priorities, and the highest-priority task is executed first.
o Rate Monotonic Scheduling: Tasks are assigned priorities
based on their execution period, with higher-priority tasks
having shorter periods.
 o Earliest Deadline First Scheduling: Tasks are executed
based on their deadlines, with the task having the earliest
deadline being executed first.

• Preemption: High-priority tasks can interrupt low-priority tasks to

ensure timely execution of critical operations.
• Inter-Task Communication: RTOSs provide mechanisms for tasks
to communicate and synchronize with each other, such as
semaphores, message queues, and mutexes.
• Real-Time Clock: An accurate real-time clock is essential for
timingcritical operations.
• Interrupt Handling: RTOSs efficiently handle interrupts, ensuring
timely responses to external events.
Structure of RTOS:
An RTOS is typically composed of the following core components:

1. Kernel:
o Task Management: Handles the creation, deletion, and
scheduling of tasks.
o Inter-Task Communication: Provides mechanisms for tasks
to communicate and synchronize, such as semaphores,
message queues, and mutexes.
o Memory Management: Manages system memory, allocating
and deallocating memory as needed.
o Interrupt Handling: Handles hardware interrupts and
software interrupts.

2. Task:
o A unit of work within the RTOS.
o Has its own stack, program counter, and register
set.
o Can be in various states: running, ready, blocked, or
suspended.
 3. Scheduler:
o Responsible for selecting the next task to execute based on
its priority and scheduling algorithm.
o Common scheduling algorithms include:
▪ Fixed-priority scheduling
▪ Rate monotonic scheduling (RMS)
▪ Earliest deadline first (EDF)

4. Clock:
o A high-precision clock that provides accurate timekeeping for
scheduling and timing-related operations.
Working of RTOS:
1. Task Creation and Scheduling:
• Task Creation: The RTOS allows developers to define and create
tasks, which are essentially independent units of work.
• Task Scheduling: The RTOS's scheduler assigns priorities to tasks
and determines which task to execute at a given time. This
ensures that critical tasks are executed promptly.
2. Task Execution:
• Context Switching: When a task is scheduled to run, the RTOS
switches the processor's context from the currently running task
to the newly scheduled task. This involves saving the current
task's state (registers, program counter, etc.) and loading the new
task's state.
• Task Execution: The scheduled task then executes until it's either
completed, blocked (waiting for a resource), or pre-empted by a
higher-priority task.
3. Inter-Task Communication:
• RTOSs provide mechanisms for tasks to communicate and
synchronize with each other, such as:
o Semaphores: Used to control access to shared resources.
o Message Queues: Used for asynchronous communication
between tasks.
o Mutexes: Used to protect shared data from concurrent
access.
4. Interrupt Handling:
• RTOSs efficiently handle interrupts, which are signals generated
by hardware devices or software events.
• When an interrupt occurs, the RTOS saves the current task's state
and transfers control to an interrupt service routine (ISR).
• The ISR handles the interrupt and then returns control to the
RTOS, which may resume the previously running task or switch to
a higher-priority task.
5. Real-Time Clock:
• RTOSs rely on a real-time clock to accurately measure time and
trigger time-based events.
• The clock is used to schedule tasks, timeouts, and other
timesensitive operations.
Scheduling Algorithms in RTOS:
A critical component of any RTOS is its scheduling algorithm, which
determines which task to execute at a given time. The choice of
scheduling algorithm significantly impacts the overall performance and
predictability of a real-time system. Here are some common scheduling
algorithms used in RTOS:
1. Fixed-Priority Scheduling
• How it works: Each task is assigned a fixed priority, and the
highestpriority ready task is always executed.
• Advantages: Simple to implement, efficient, and predictable.
• Disadvantages: Can lead to priority inversion, where a low-priority
task blocks a high-priority task.

2. Rate Monotonic Scheduling (RMS)

• How it works: Tasks are assigned priorities based on their periodic
execution rates. Higher-rate tasks have higher priorities.
• Advantages: Analytically provable schedulability tests exist.
• Disadvantages: Less flexible than other algorithms, especially for
aperiodic tasks.
3. Earliest Deadline First (EDF)
• How it works: Tasks are executed based on their deadlines. The
task with the earliest deadline is executed first.
• Advantages: Optimal for systems with varying task deadlines.
• Disadvantages: Requires more complex scheduling algorithms and
can be less predictable.
4. Round-Robin Scheduling
• How it works: Tasks are executed in a round-robin fashion, with
each task getting a fixed time slice.
• Advantages: Fair scheduling, suitable for non-critical tasks.
• Disadvantages: Not ideal for real-time systems with strict timing
constraints.
5. Multilevel Feedback Queue Scheduling
• How it works: Multiple queues are used to prioritize tasks. Tasks
are dynamically moved between queues based on their behavior.
• Advantages: Flexible and adaptable to changing workload
conditions.
• Disadvantages: More complex to implement and analyse.

Applications of RTOS:
Industrial Automation:
• Robotics: Controlling robotic arms and other robotic systems.
• Process Control: Monitoring and controlling industrial processes
like chemical plants, refineries, and power plants.
• Machine Control: Operating CNC machines and other automated
machinery.

Medical Devices:
 • Pacemakers: Regulating heart rate.
• Ventilators: Controlling breathing.
• Insulin Pumps: Delivering insulin.
• Medical Imaging Equipment: Processing and displaying medical
images.
Automotive Systems:
• Engine Control Units (ECUs): Managing engine performance and
emissions.
• Anti-lock Braking Systems (ABS): Preventing wheel lockup during
braking.
• Electronic Stability Control (ESC): Improving vehicle stability.
• Advanced Driver Assistance Systems (ADAS): Enabling features
like adaptive cruise control and lane departure warning.
Aerospace and defence:
• Flight Control Systems: Controlling aircraft flight parameters.
• Missile Guidance Systems: Guiding missiles to their targets.
• Satellite Control Systems: Controlling satellite orbits and
operations.
• Radar Systems: Processing and analysing radar signals.
Telecommunications:
• Network Switches and Routers: Routing network traffic efficiently.
• Base Stations: Managing cellular network operations.
 • VoIP Systems: Enabling voice over IP communication.

Advantages of RTOS:
Real-Time Operating Systems (RTOS) are specifically designed to handle
tasks that require timely execution. They offer several advantages that
make them indispensable for a wide range of applications:
1. Deterministic Behavior:
• Predictable Response Times: RTOSs ensure that tasks are
executed within specific timeframes, making them ideal for
critical applications.
• Reliable Performance: This predictability leads to more reliable
and consistent system performance.
2. Efficient Resource Management:
• Optimal Resource Utilization: RTOSs efficiently allocate system
resources like CPU time and memory, maximizing system
performance.
• Reduced Overhead: By minimizing overhead, RTOSs can handle a
large number of tasks.
3. Real-Time Performance:
• Time-Critical Task Handling: RTOSes are designed to handle
timecritical tasks with precision.
• Quick Response Times: They ensure that tasks are executed
promptly, leading to faster response times.
4. Scalability:
• Adaptability: RTOSs can be scaled to accommodate different
levels of complexity and resource requirements.
• Flexibility: They can be easily adapted to new features and
functionalities.
5. Reliability and Fault Tolerance:
• Robustness: RTOSs are designed to be highly reliable and
faulttolerant.
• Error Handling: They often include mechanisms to handle errors
and recover from failures.
6. Security:
• Enhanced Security: Many RTOSs provide security features to
protect against unauthorized access and cyberattacks.
• Data Protection: They can help safeguard sensitive data and
system integrity.

Disadvantages of RTOS:
• Complexity: RTOSes can be complex to design, implement, and
maintain.
• Limited Task Capacity: RTOSes are typically designed to handle a
limited number of tasks simultaneously.
• Resource Intensive: RTOSes can consume significant system
resources, especially in terms of memory and processing power.
• Specialized Hardware: RTOSes often require specialized hardware
for optimal performance.
 • Developer Expertise: Developing RTOS-based applications
requires specialized knowledge and skills.
• Higher Development Cost: The complexity and specialized
hardware can increase development costs.

Conclusion:
Real-Time Operating Systems (RTOS) are specialized operating systems
engineered to handle tasks with strict timing requirements. They are
vital for applications where prompt and predictable responses are
crucial, such as in industrial automation, healthcare devices, automotive
technologies, and aerospace systems.

RTOS provide numerous benefits, including predictable behavior,

optimized resource utilization, a modular architecture, high real-time
performance, scalability, reliability, and enhanced security. Nonetheless,
they have certain drawbacks, such as increased complexity, limited
capacity for tasks, higher resource consumption, specific hardware
needs, and the necessity for skilled developers.

By weighing these considerations and choosing the right RTOS for the
specific application, developers can design efficient, reliable, and high-
performing systems that meet the demanding needs of real-time
scenarios.