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Real-time virtualization experts INtime Real-time for Windows.

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Presentation on theme: "Real-time virtualization experts INtime Real-time for Windows."— Presentation transcript:

1 real-time virtualization experts INtime Real-time for Windows

2 real-time virtualization experts INtime 3.0Real-time for Windows 2 Time-critical Applications On Windows Platforms What are your options? Loosely coupled RTOS… Costly HW & SW solutions Limited & slow IPC options

3 real-time virtualization experts INtime 3.0Real-time for Windows 3 Time-critical Applications On Windows Platforms What are your options? Loosely coupled RTOS… Costly HW & SW solutions Limited & slow IPC options Kernel-mode driver… Restricted extensibility Never intended for large apps Difficult to debug and test Real-time bugs crash Windows

4 real-time virtualization experts INtime 3.0Real-time for Windows 4 Time-critical Applications On Windows Platforms What are your options? Loosely coupled RTOS… Costly HW & SW solutions Limited & slow IPC options Kernel-mode driver… Restricted extensibility Never intended for large apps Difficult to debug and test Real-time bugs crash Windows …there is a better way

5 real-time virtualization experts INtime 3.0Real-time for Windows 5 Tightly Coupled is the Superior Real-time Windows Solution Simpler inexpensive hardware Unified development tool set Windows-like API for real-time Superior IPC options & tools Simplified integration

6 real-time virtualization experts INtime 3.0Real-time for Windows 6 INtime Overview Two OS environments share a single hardware platform Integrated development with Microsoft Visual Studio INtime kernel is a full real-time operating system (RTOS) Not a clever device driver Windows applications have access to INtime objects Many IPC options between Windows and RT processes Mailboxes, semaphores, shared memory, and TCP/IP Broad real-time I/O device support Ethernet, TCP/IP, USB, SCSI, multi-channel serial CAN, Profibus, DeviceNet, GPIB, EtherCAT Delta Tau and MEI motion controllers

7 real-time virtualization experts INtime 3.0Real-time for Windows 7 Windows Kernel Windows OS Normal Processes Standard HAL Virtual Machine Architecture Start with standard Windows Win32 API

8 real-time virtualization experts INtime 3.0Real-time for Windows 8 Windows Kernel Windows OS INtime Real-time Kernel Real-time Processes Normal Processes Standard HAL Virtual Machine Architecture Start with standard Windows Partition memory and I/O resources Add a full-featured real-time OS Virtual machine isolates dual OSes Win32 API INtime Real-time API

9 real-time virtualization experts INtime 3.0Real-time for Windows 9 Windows Kernel INtime Real-time Windows Application Windows OS INtime Real-time Kernel Real-time Processes Normal Processes Standard HAL Virtual Machine Architecture Start with standard Windows Partition memory and I/O resources Add a full-featured real-time OS Virtual machine isolates dual OSes Bridge INtime and Windows with NTX INtime NTX API NTX DLL and VM Interface Win32 API INtime Real-time API

10 real-time virtualization experts INtime 3.0Real-time for Windows 10 Proven History of Real-time for Windows Long history of reliable real-world use Millions of world-wide installations RTOS market presence for over 25 years iRMX III in 1980 iRMX for Windows in 1992 INtime 1.0 launched in 1997 Trusted Intel and Microsoft partner Embedded Microsoft partner since 1998 Microsoft Partner of the Year 04, 05, and 06 Intel Communications Alliance Member of the Year in 2006

11 real-time virtualization experts INtime 3.0Real-time for Windows 11 Performance and Reliability Hard real-time performance Interrupt latency <4 µsec worst case (dual-core) System clock rates down to 50 µsec (dual-core) Dependable inter-process (application) isolation User-mode application space (ring 3) for real-time apps No real-time performance penalty for ring 3 operation Priority inversion protection for real-time threads Direct access to I/O and non-paged (physical) memory Real-time network stacks, drivers, and interfaces Distinct real-time safe C and C++ libraries Non-destructive real-time fault handling Minimal impact on Windows performance

12 real-time virtualization experts INtime 3.0Real-time for Windows 12 System Performance Data

13 real-time virtualization experts INtime 3.0Real-time for Windows 13 INtime Real-time Applications Industrial Control Robotics Motion Control Medical Imaging Test & Measurement CNC Machining Material Handling Process Control Radar & Avionics Simulation

14 real-time virtualization experts INtime 3.0Real-time for Windows 14 X-Ray Equipment Major supplier of medical X-ray systems Mission critical application for real-time TenAsys technology used throughout INtime & Windows control system console Remote INtime nodes running autonomously CANbus connects real-time INtime nodes Philips Medical Eleva series: EasyDiagnost MultiDiagnost OmniDiagnost

15 real-time virtualization experts INtime 3.0Real-time for Windows 15 X-Ray Equipment We use INtime for those areas of the system where movements are controlled and where radiation is controlled. Those are two areas where we need the most reliable software. Sven Kuehl Software Project Leader

16 real-time virtualization experts INtime 3.0Real-time for Windows 16 Test and Measurement World leader in power train engineering PUMA test bed Utilizes INtime remote nodes High performance data acquisition system IEEE 1394 (real-time) backbone Up to 5 kHz continuous sampling rate AVL real-time research paper Thread-based analysis of embedded applications with real-time and non real-time processing on a single platform Graz University of Technology http://www.iti.tu-graz.ac.at/download/publications/prisching03.pdf http://www.iti.tu-graz.ac.at/download/publications/prisching03.pdf

17 real-time virtualization experts INtime 3.0Real-time for Windows 17 Test and Measurement We already use Windows for visualization and database management. Why not use the same platform for critical real-time constraints? Plus, this would mean no additional hardware system costs for our customers. Bernhard Hochstrasser Software Development Engineer

18 real-time virtualization experts INtime 3.0Real-time for Windows 18 Industrial Control Largest supplier of Soft PLC systems Lowers cost to customers by using industrial grade PC Exceeds performance of hard PLC systems Steeplechase VLC is used in: Steel mills Automotive assembly Packaging Materials handling

19 real-time virtualization experts INtime 3.0Real-time for Windows 19 Industrial Control The fact that the TenAsys product was a solid platform was very important. It had a history before we started looking at it. TenAsys is proven technology. Jeff Fisher Global Product Manager

20 real-time virtualization experts INtime 3.0Real-time for Windows 20 CNC Machining World leading CNC tool vendor Two generations of machine tools on INtime since 2000 Servicing automotive, medical device, special tool grinding, gear grinding, and aerospace markets High-precision and high-speed 5-axis direct drive systems 3 microns precision 12,000 RPM spindle 3D preview and display

21 real-time virtualization experts INtime 3.0Real-time for Windows 21 CNC Machining We ported from QNX to INtime using a shim to maximize preservation of existing control code. That code was up and running relatively quickly and continues to work today. Gerard Cullen CNC Software Developer

22 real-time virtualization experts INtime 3.0Real-time for Windows 22 TenAsys Real-time Customers

23 real-time virtualization experts INtime 3.0Real-time for Windows 23 INtime 3.0 Key Features Microsoft Visual Studio integration Integrated real-time debugger NTX object for all.NET languages Multi-core processor support Intel Core Duo CPUs All standard Windows SMP platforms Breadth of real-time device drivers Real-time USB, Ethernet, and industrial I/O devices Fault and spin managers Fault manager directs real-time faults to VS debugger Spin detector suspends threads that monopolize CPU cycles Windows 2000, Windows XP, and Windows Vista Windows XP Embedded and variants (POS, etc.) Windows 2003 Server

24 real-time virtualization experts INtime 3.0Real-time for Windows 24 Why Choose INtime? Deterministic real-time control for Windows Reliable and secure run-time environment Integration with Visual Studio for development and debug Support for all standard Windows hardware platforms Management of real-time faults without machine lockups Connection via real-time TCP/IP, USB, and fieldbus Persistent application execution for fail-safe operation Practical use of hardware and software resources Field-proven kernel, libraries, drivers, and applications Trusted Microsoft and Intel embedded partner

25 real-time virtualization experts Real-time for Windows Details

26 real-time virtualization experts INtime 3.0Real-time for Windows 26 Multi-Processor Support Operate on all Microsoft multi-processor HALs Validated on P3, P4, Xeon, and Core CPU platforms Windows multi-processor SMP and multi-core systems Intel Core and Hyper-Threading processors Multi-core operating modes: Real-time performance (exclusive) mode INtime RTOS is dedicated to a single core Remaining CPU cores are dedicated to Windows Windows performance (shared) mode INtime shares one CPU core with Windows Remaining CPU cores are dedicated to Windows

27 real-time virtualization experts INtime 3.0Real-time for Windows 27 Multi-Core Processor Benefits Dedicate a single CPU core to real-time processes Complete isolation of real-time interrupts Minimal impact on Windows performance Maximize performance of real-time processes Or share CPU cycles between INtime and Windows Optimize Windows use of multiple CPU cores Maximize CPU cycles available to Windows Both modes include enhancements to determinism Better isolation of real-time interrupts Significant decrease in real-time interrupt delays Independent real-time clock (more precise timer ticks) Minimal interaction with Windows HAL

28 real-time virtualization experts INtime 3.0Real-time for Windows 28 Visual Studio Integration Develop real-time code in Visual Studio environment C/C++ and x86 assembly INtime Wizards generate real-time code templates VS 2003 and VS 2005 Real-time source-level debugging No simulation step required Simultaneously debug real-time and Windows applications Windows apps use NTX interface Either.h files or.NET object Visual Studio solutions contain INtime and Windows projects

29 real-time virtualization experts INtime 3.0Real-time for Windows 29 Visual Studio Debugging Integrated real-time debugger Use Visual Studio to debug real-time processes and threads Not possible with device driver solutions Display and modify variables Breakpoints, single-step, etc.

30 real-time virtualization experts INtime 3.0Real-time for Windows 30 Visual Studio Debugging Integrated real-time debugger Use Visual Studio to debug real-time processes and threads Not possible with device driver solutions Display and modify variables Breakpoints, single-step, etc. Real-time process fault manager Fault in real-time thread: suspends thread and process launches VS debug session or launches Spider debugger Log trace on deployed systems

31 real-time virtualization experts INtime 3.0Real-time for Windows 31 INtime Device Drivers Partial list of available real-time device drivers: RS-232 serial, SCSI, VGA, USB serial, IEEE-488 (GPIB) Intel, 3Com, NE2000, and Realtek Ethernet controllers Hilscher CIF/COM fieldbus controllers Communication interfaces DeviceNet, PROFIBUS, CANopen, ControlNet EtherCAT deterministic fieldbus Real-time TCP/IP and USB stacks TCP/IP stack on real-time kernel No Windows overhead Standard sockets API

32 real-time virtualization experts INtime 3.0Real-time for Windows 32 Real-time Configuration Tools Interrupt Device Configurator Simplifies assignment of IRQ to real-time environment Warns of conflicts re shared Windows interrupts INtime configuration utility Windows control panel Configure remote nodes Manage interrupt resources Memory extensions Pre-allocate memory external to Windows Reach > 4GBytes memory (using paging techniques)

33 real-time virtualization experts INtime 3.0Real-time for Windows 33 INtex (INtime Explorer) Real-Time Object Browser

34 real-time virtualization experts INtime 3.0Real-time for Windows 34 INScope (Software Scope) Performance Analysis Tool Time stamp entry and exits of major API calls and interrupt handlers Determine exact sequence and precise timing of real- time code execution

35 real-time virtualization experts INtime 3.0Real-time for Windows 35 Scalable and Extendable Stand-alone RTOS solutions INtime remote nodes on embedded hardware Easily scale using XP Embedded tools Detailed SLD included Highly extensible platform No system too complex Motion Vision Discrete I/O All with predictable and reliable results!

36 real-time virtualization experts INtime 3.0Real-time for Windows 36 Reliable Isolation INtime Real-Time Processes (multiple real-time segments) DATA CODE STACK HEAP thread2 data thread2 code thread2 stack thread2 heap threads3-n arranged as above Windows Segment (lowest priority real-time segment) 0000.0000 DATA CODE STACK HEAP thread2 data thread2 code thread2 stack thread2 heap threads3-n arranged as above DATA CODE STACK HEAP thread2 data thread2 code thread2 stack thread2 heap threads3-n arranged as above 0000.0000 non-allocated areas (page fault if entered) additional threads allocated as above Virtual Segment limit (GP fault if crossed) Contains Windows kernel, drivers, memory, applications, etc. }

37 real-time virtualization experts INtime 3.0Real-time for Windows 37 Virtualization Details CPU-enforced isolation between INtime and Windows Two distinct, parallel, and isolated environments INtime processes and drivers run in user mode Windows encapsulated as lowest priority INtime task Windows priorities and processes run unchanged Everything Windows is encapsulated: kernel, drivers, I/O, page tables, memory management, interrupts, processes, threads, user interface, file system… User-mode enforces reliable applications Full speed, no performance penalty Superior real-time debugging tools INtime user-mode includes: Direct access to I/O and memory Memory protection for reliability Paging turned off to insure determinism

38 real-time virtualization experts INtime 3.0Real-time for Windows 38 Continuous Operation Fault and spin managers prevent lockups Fault manager directs real-time faults to GPF handler Spin detector suspends threads that monopolize CPU cycle Unaffected processes continue to operate STOP manager detects BSOD notifications Real-time threads continue, unimpeded by a blue screen Continuous operation means INtime applications can: Operate without Windows, indefinitely Gracefully shutdown or restart Send a signal via an INtime communication interface (e.g., serial or Ethernet) that attention is required

39 real-time virtualization experts INtime 3.0Real-time for Windows 39 INtime Kernel Features (part 1) Multi-tasked, multi-threaded applications Preemptive priority-based scheduling algorithm 255 real-time priority task levels Windows is lowest priority real-time task Event-driven scheduling for interrupts and alarms Round-robin scheduling for equal priority threads Priority inheritance to avoid deadlocks Periodic and one-shot timer events 50 µsec minimum interval (dual-core systems) Interrupt service routines (ISR) and interrupt service threads (IST) Real-time interrupts always preempt Windows ISRs for very fast and simple interrupt processing ISTs for complex, full-featured interrupt processing

40 real-time virtualization experts INtime 3.0Real-time for Windows 40 INtime Kernel Features (part 2) Memory management and data sharing Shared memory and mailboxes (message passing) Static and dynamic memory pools and heaps C library malloc() and free() functions C++ new and delete operators Synchronization mechanisms Mailboxes (wait on messages) Semaphores (single or multi-count) Regions (a.k.a. critical regions or mutexes) IPC between Windows and INtime (NTX) Mailboxes, semaphores, and shared memory IPC (NTX) managed by real-time kernel insures reliability

41 real-time virtualization experts INtime 3.0Real-time for Windows 41 INtime Kernel Features (part 3) Exception handling for: Programming errors (invalid parameters) Invalid or insufficient resource errors (memory) Floating point errors (numeric processor) Hardware faults (page faults, segment faults…) Multiple unique real-time APIs INtime native real-time API iRMX transition API for iRMX apps iWin32 transition API for Win32 apps RSL (real-time shared libraries) Similar to Windows DLL, runs in user mode (ring 3) Ideal for implementing real-time device drivers

42 real-time virtualization experts INtime 3.0Real-time for Windows 42 Proven Technology Intel ® Virtualization Technology is a key component of our platform approach to enable new levels of performance and features for a broad range of applications. TenAsys is utilizing this technology to help bring those benefits to embedded application developers. Doug Davis, VP and General Manager Communications Infrastructure Group Intel Corporation

43 real-time virtualization experts INtime 3.0Real-time for Windows 43 TenAsys Software Quietly Running the World Industrial Control & Robotics Air & Ground Traffic Control Medical Imaging Test & Measurement CNC Machining Material Handling Process Control Radar & Avionics Simulation Mail & Check Sorting


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