Skip to main content
Springer Nature Link
Log in

Multirate Feedback Control Using the TinyRealTime Kernel

  • Conference paper
Computer and Information Sciences - ISCIS 2004 (ISCIS 2004)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 3280))

Included in the following conference series:

  • 829 Accesses

Abstract

Embedded microcontrollers are often programmed in plain C and lack support for multithreading and real-time scheduling. This can make it very cumbersome to implement multirate feedback control applications. We have developed the TinyRealTime kernel for the Atmel ATmega8L AVR to show that it is feasible to use high-precision, deadline-based scheduling even in a tiny 8-bit processor with 1 KB of RAM. The kernel is demonstrated in a multirate control application, where six periodic real-time tasks (four control tasks and two pulse width modulation tasks) are used to control two ball-and-beam processes.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. Henriksson, D., Cervin, A.: TinyRealTime–An EDF Kernel for the Atmel ATmega8L AVR. Technical report ISRN LUTFD2/TFRT–7608–SE, Department of Automatic Control, Lund Institute of Technology, Sweden (2004)

    Google Scholar 

  2. Atmel: AVR 8-Bit RISC (2004), http://www.atmel.com/products/AVR

  3. Baker, T.P.: Stack-Based Scheduling of Real-Time Processes. Journal of Real-time Systems 3, 67–99 (1991)

    Article  Google Scholar 

  4. Evidence: ERIKA Enterprise (2004), http://www.evidence.eu.com/Erika.asp

  5. Gai, P., Lipari, G., Di Natale, M.: A Flexible and Configurable Real-Time Kernel for Time Predictability and Minimal RAM Requirements. Technical report RETIS TR 2001-02, ReTiS Lab, Scuola Superiore S. Anna, Pisa, Italy (2001)

    Google Scholar 

  6. Carlini, A., Buttazzo, G.C.: An Efficient Time Representation for Real-Time Embedded Systems. In: Proceedings of the 2003 ACM Symposium on Applied Computing, Melbourne, Florida, pp. 705–712. ACM, New York (2003)

    Chapter  Google Scholar 

  7. Sha, L., Rajkumar, R., Lehoczy, J.P.: Priority Inheritance Protocols: An Approach to Real-Time Synchronization. IEEE Transactions on Computers 39, 1175–1185 (1990)

    Article  Google Scholar 

  8. Abeni, L., Buttazzo, G.: Integrating Multimedia Applications in Hard Real-Time Systems. In: Proc. 19th IEEE Real-Time Systems Symp., Madrid, Spain, pp. 4–13. IEEE Computer, Los Alamitos (1998)

    Google Scholar 

  9. Cervin, A., Eker, J.: Control-Scheduling Codesign of Real-Time Systems: The Control Server Approach. Journal of Embedded Computing (2004) (to appear)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Automatic Control, Lund Institute of Technology, Box 118, SE-221 00, Lund, Sweden

    Dan Henriksson & Anton Cervin

Authors
  1. Dan Henriksson
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Anton Cervin
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Computer Engineering, Bilkent University, TR-06800, Bilkent, Ankara, Turkey

    Cevdet Aykanat

  2. No Affiliation,  

    Tuǧrul Dayar

  3. Department of Computer Engineering, Bilkent University, 06800, Bilkent, Ankara, Turkey

    İbrahim Körpeoğlu

Rights and permissions

Reprints and permissions

Copyright information

© 2004 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Henriksson, D., Cervin, A. (2004). Multirate Feedback Control Using the TinyRealTime Kernel. In: Aykanat, C., Dayar, T., Körpeoğlu, İ. (eds) Computer and Information Sciences - ISCIS 2004. ISCIS 2004. Lecture Notes in Computer Science, vol 3280. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30182-0_86

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-30182-0_86

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-23526-2

  • Online ISBN: 978-3-540-30182-0

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics