Real-time operating systems market survey

Дата канвертавання25.04.2016
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Real-time operating systems market survey


The goal of this market survey is to provide for a list of real-time operating systems (RTOS), with their main characteristics and links to the vendor.

Classification of real-time operating systems

The RTOS are classified into three main categories:

  • Commercial: the RTOS has to be paid and there exist a vendor which gives support.

  • Open source / freeware / research: the RTOS is developed by volunteers, universities, etc. As a consequence the RTOS is free, but there is limited support (e.g.: via mail or newsgroups)

  • Not further investigated: this is an extensive list of links which we collected. It can serve as a starting point in the search for a particular product.

Each investigated RTOS is documented according to the following properties:

  • Kernel  the kernel architecture, scheduling policies, synchronisation primitives, standard API, etc.

  • Networking  what is the support to enable networking: protocol stacks, standard networking tools, etc.

  • I/O  what is the support to communicate with the environment: file support, device drivers, supported standards, etc.

  • Target development  what is the support to do development: IDE, debuggers, etc.

  • Java support  does the vendor provide support for Java: port of a Virtual Machine, compilers, Java libraries, …

  • Targets  kind of processor architectures the RTOS runs on.

Note: there is no intention to provide for a complete list of RTOS. This list is the result of an intensive Web search: all information is provided as is, further information can always be obtained by the vendor.

Commercial RTOS (13)

OS Name




Wind River Systems



  • Efficient task management

  • multitasking, unlimited number of tasks

  • preemptive and round-robin scheduling

  • fast, deterministic context switching

  • 256 priority levels

  • Fast, flexible intertask communications

  • binary, counting, and mutual exclusion semaphores with priority inheritance

  • message queues

  • POSIX pipes, counting semaphores, message queues, signals and scheduling

  • control sockets

  • shared memory

  • High scalability Incremental linking and loading of components

  • Fast, efficient interrupt and exception handling

  • Optimized floating-point support

  • Dynamic memory management

  • System clock and timing facilities


  • BSD 4.4 TCP/IP networking IP


  • RIP v.1/v.2

  • Standard Berkeley sockets, zbufs (a.k.a., zero-copy sockets)




  • FTP, rlogin, rsh, telnet

  • SNTP

  • WindNet SNMP v.1/v.2c with MIB compiler – optional

  • WindNet OSPF v.2 – optional

  • WindNet STREAMS SVR4 – optional

  • POSIX asynchronous I/O and directory handling

  • SCSI support

  • MS-DOS compatible file system

  • Raw disk file system

  • TrueFFS flash file system – optional

  • ISO 9660 CD-ROM file system

  • PCMCIA support

Target development

  • Full ANSI C compliance and enhanced C++ features for exception handling and template support

  • Extensive POSIX 1003.1, .1b compatibility

  • Interactive C interpreter target shell

  • Symbolic debugging and disassembly

  • Powerful performance monitoring

  • Extensive kernel, task, and system information utilities

  • Dynamic linking loader

  • Libraries of over 1800 utility routines

  • Flexible booting from ROM, local disk, or over the network

  • Highly scalable design allows for wide range of applications

  • System-level debugging via Ethernet, serial line, ICE, or ROM emulator

  • Personal JWorks™ 3.0.2 implements Sun Microsystems Personal Java 3.0 API

  • Multiple Java threads operate as separate VxWorks tasks, allowing full concurrency and control

  • Runs PersonalJava applications and applets in embedded systems

  • Turnkey binary for rapid startup

  • Full VxWorks hard real-time capability

  • Provides complete VxWorks control over Java threads

  • Enables VxWorks tasks and Java threads to interoperate, synchronize, and communicate

  • Can execute out of ROM

  • optimized graphics support

  • Available for numerous CPU architectures

  • Uses the Tornado development environment Instrumented for use with the WindView system visualizer

  • PowerPC

  • 68K, CPU 32

  • ColdFire


  • 80x86 and Pentium

  • i960

  • ARM and StrongARM

  • MIPS

  • SH


  • NEC V8xx

  • M32 R/D

  • RAD6000

  • ST 20

  • TriCore
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