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Nowadays, the use of embedded operating systems in different embeddedprojects is subject to a tremendous growth. Embedded Linux is becoming one ofthose most popular EOSs due to its modularity, efficiency, reliability, andcost. One way to make it hard real-time is to include a real-time kernel likeXenomai. One of the key characteristics of a Real-Time Operating System (RTOS)is its ability to meet execution time deadlines deterministically. So, the moreprecise and flexible the time management can be, the better it can handleefficiently the determinism for different embedded applications. RTOS timeprecision is characterized by a specific periodic interrupt service controlledby a software time manager. The smaller the period of the interrupt, the betterthe precision of the RTOS, the more it overloads the CPU, and though reducesthe overall efficiency of the RTOS. In this paper, we propose to drasticallyreduce these overheads by migrating the time management service of Xenomai intoa configurable hardware component to relieve the CPU. The hardware component isimplemented in a Field Programmable Gate Array coupled to the CPU. This workwas achieved in a Master degree project where students could apprehend manyfields of embedded systems: RTOS programming, hardware design, performanceevaluation, etc.

A Hardware Time Manager Implementation for the Xenomai Real-Time Kernel of Embedded Linux