2. ©FSMLabs 2000-2003 New markets release FSMLabs Hard Real-Time RTLinuxPro 2.0 RTCoreBSD 2.0 FSMLabs Technology and Business

3. ©FSMLabs 2000-2003 RTLinux ® & RTCore BSD 2.0 RTLinux and RTCoreBSD consist of a POSIX threads based hard real-time kernel, RTCore, and a general purpose operating system, Linux or BSD, that runs when the real- time system is inactive This system has been in production for 8 years The 2.0 release is a major technology upgrade Hardware RTCore Kernel RT threads RTCoreVirtual Machine Layer Linux/BSD General purpose apps code Memory protected RT threads

4. ©FSMLabs 2000-2003 The competitive advantages Real time performance is industry leading Worst case latencies and jitter in the low microseconds: typical or average mean nothing for hard real-time Just works – no wasteful configuration cycle Standard POSIX API Runs a solid and high performance UNIX (Linux and BSD) not some niche substitute Programming model is modular, reliable, simple to use Pratt & Whitney Use RTLinux for Joint-Strike fighter Engine test.

5. ©FSMLabs 2000-2003 FSMLabs 2.0 products hard real-time components RTCore Hard real-time kernel RTLinuxPro RTCore + Ruggedized Embedded Linux RTCoreBSD LNet real-time Networking Ethernet & 1394 PSDD memory Protected threads in process space Controls Kit XML/RPC Universal interface

6. ©FSMLabs 2000-2003 2.0 Advances New application build system for simplifying development and deployment NetBSD 1.6 and Linux 2.4.19+ support Improved POSIX I/O with shared memory and FIFO communications between RTCore and Linux/BSD Fujitsu uses RTLinux For its humanoid robot

7. ©FSMLabs 2000-2003 2.0 Build System RTCore applications look like POSIX threaded programs RTCore executables can be run from the command line of BSD or Linux like ordinary applications RTCore executables have standard I/O and can use UNIX command line I/O redirection Enable real-time by Running the RTCore program. Run a RT executable and pipe its output to a graphical plot Program – it is as simple as that. %rtcore & %sample_signal | plot

8. ©FSMLabs 2000-2003 2.0 Build System Programmers who know C can produce simple working applications in minutes The build system creates an executable that automatically loads into the RTCore environment when run /*RTCore application */ main(){ printf(Hello from RTCore\n); return; }

9. ©FSMLabs 2000-2003 2.0 Build System Programmers who know POSIX threads can start writing real-time code with no learning curve /*RTCore application */ main(){ … pthread_create(rtthread,func,t,.) … return; }

10. ©FSMLabs 2000-2003 2.0 Build System The UNIX model of connecting components is extended to hard real-time %cat videofile | play.rtl & %sense_rt_data | netcat 10.0.0.3:log Henson Creature Shop builds Puppets and graphics with RTLinux.

11. ©FSMLabs 2000-2003 2.0 Base OS Embedded Linux 2.4.19+ BSPs Selected per architecture to provide best mix of features and stability Provided with embedded file system and utilities As usual, many architectures and full SMP support PC/104 and VME system support NetBSD 1.6+ with SMP support Extensive QA and testing Free and Open Source software at a professional level Simple, effective leverage of standard technology

12. ©FSMLabs 2000-2003 2.0 Connections The power of the system is from the combination of off the shelf UNIX and a cutting edge performance RTOS RTCore provides FIFOs, shared memory, and device I/O using UNIX standard read/write/open/ioctl Real-time device drivers are simple and there is a framework that supports namespace and simplifies synchronization Memory and FIFOs can be shared with Linux/BSD processes using standard POSIX APIs, but the interface is designed for real-time so real-time components are never forced to wait for non-real-time components

13. ©FSMLabs 2000-2003 No limits SMP. We have been running on Quads for 5 years RTCore threads run where the programmer specifies RTCore processor reservation allows the Platform OS to be suspended to dedicate processors for RT Careful design to reduce inter-cpu synchronization Memory protection. PSDD offers POSIX API memory protected RT threads PSDD threads run in user process space – sharing memory with the host process Sophisticated slot scheduler available for simulations Memory can be shared with other RT processes or not, based on need

14. ©FSMLabs 2000-2003 Capabilities SynergyMicro Dual CPU VME VYFD runs RTLinuxPro Embedded Planet 405GPr boots Linux and runs real-time code in under 200ms Standard off the shelf x86 hardware Provides sub-20us worst case jitter

15. ©FSMLabs 2000-2003 Memory Protection Process Space Development Domain (PSDD) RTCore Component that permits creation of real-time threads inside the address space of user programs. Uses the same lean POSIX API SMP capable Shared memory access to RT and other process space Supports X86 and PowerPC Integrates well with large scale, machine-in-loop simulations

16. ©FSMLabs 2000-2003 No limits: Connections LNet real-time networking for Ethernet and IEEE 1394 FireWire provides hard real-time connectivity ControlsKit XML/RPC interface for snap-together connections of control and data variables with browsers, spreadsheets, Java, and anything else that speaks XML

17. ©FSMLabs 2000-2003 Customers Current Hamilton Sundstrand – Jet Engine manufacturing test NASA and Sandia Labs – satellites Siemens – factory automation NDA – network switches Mitsubishi Heavy Industries – robots …. Next Cell phone handsets and back-end – reduce part count Replace PLCs in factories Network and wireless …

18. ©FSMLabs 2000-2003 Competitors MontaVista: soft real-time Linux platform. Soft real-time = fails under load but MV kernels can run with RTCore Windriver VxWorks. Old niche technology - expensive because WindRiver has to support everything. Costs add rapidly No SMP support Timings are not as good as RTCore No Linux, no standard API Integrity, etc – see above, but worse Other Linux related – GPL, support, and performance questions

19. ©FSMLabs 2000-2003 Thanks! FSMLabs, Inc. 115-D Abeyta Ave. Socorro, NM 87801 USA Business@fsmlabs.com Sales@fsmlabs.com Telephone: 1-505-838-9109 Fax: 1-505-838-9112

20. ©FSMLabs 2000-2003 RTCore RTCore is a hard real-time operating system that runs a non-real-time operating system as a pre-emptible task. RTLinux is RTCore + Linux. RTCoreBSD is RTCore + BSD UNIX Hard real-time for non-negotiable deadlines. (Soft real- time means fails under load). Low microsecond jitter and interrupt latency. For applications from engine control to data acquisition to … A full UNIX system for non-real-time components

21. ©FSMLabs 2000-2003 RTCore & Standards The RTCore real-time kernel is POSIX 1003.13 PSE51+ -a light weight low overhead real-time kernel with a POSIX threads API Linux or BSD UNIX offers standard UNIX API and all the standard UNIX applications: networking, GUIs, databases etc. The non-real-time system cannot degrade real-time performance.