The performance and energy consumption of three embedded real-time operating systems

ABSTRACT

This paper presents the modeling of embedded systems with SimBed, an execution-driven simulation testbed that measures the execution behavior and power consumption of embedded applications and RTOSs by executing them on an accurate architectural model of a microcontroller with simulated real-time stimuli. We briefly describe the simulation environment and present a study that compares three RTOSs: &mgr;C/OS-II, a popular public-domain embedded real-time operating system; Echidna, a sophisticated, industrial-strength (commercial) RTOS; and NOS, a bare-bones multi-rate task scheduler reminiscent of typical "roll-your-own" RTOSs found in many commercial embedded systems. The microcontroller simulated in this study is the Motorola M-CORE processor: a low-power, 32-bit CPU core with 16-bit instructions, running at 20MHz.

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INDEX TERMS

Primary Classification:
  C. Computer Systems Organization
  C.4 PERFORMANCE OF SYSTEMS
      Subjects: Modeling techniques

Additional Classification:
  C. Computer Systems Organization
  C.3 SPECIAL-PURPOSE AND APPLICATION-BASED SYSTEMS
      Subjects: Real-time and embedded systems
  C.4 PERFORMANCE OF SYSTEMS
      Subjects: Reliability, availability, and serviceability

General Terms:
Design, Measurement, Performance