Proper timed I/O: High-Accuracy real-Time control for conventional operating systems

Yogev Vaknin, Sivan Toledo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

We propose a novel high-level abstraction for real-Time control, called Proper Timed I/O (PTIO). The abstraction allows user-space programs running on a stock operating system (without real-Time extensions) to perform high-resolution real-Time digital I/O (setting pins high or low, responding to input transitions, etc.). PTIO programs express their realtime I/O behavior in terms of a timed automaton that can communicate with the user-space program. Simple behaviors are encoded in the timed automaton; complex behaviors are implemented by the user-space program.We present two implementations of the PTIO abstraction, both for Linux. One utilizes a deterministic co-processor that is available on some ARM-based system-on-A-chip processors. This implementation can achieve timing accuracy of 100ns or better and can perform millions of finite-state transitions per second. The other implementation uses hardware timers that are available on every system-on-A-chip; it achieves a timing accuracy of 6μs or better, but it is limited to about 2000 state transitions per second. Both implementations guarantee that the PTIO never fails silently: if the mechanism missed a deadline, the user space program is always notified. In many cases, PTIOs eliminate the need for bare-metal programming or for specialized real-Time operating systems.

Original languageEnglish
Title of host publicationSYSTOR 2016 - Proceedings of the 9th ACM International Systems and Storage Conference
PublisherAssociation for Computing Machinery, Inc
ISBN (Electronic)9781450343817
DOIs
StatePublished - 6 Jun 2016
Event9th ACM International Systems and Storage Conference, SYSTOR 2016 - Haifa, Israel
Duration: 6 Jun 20168 Jun 2016

Publication series

NameSYSTOR 2016 - Proceedings of the 9th ACM International Systems and Storage Conference

Conference

Conference9th ACM International Systems and Storage Conference, SYSTOR 2016
Country/TerritoryIsrael
CityHaifa
Period6/06/168/06/16

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