Real-Time and Embedded Guide(pdf)下载

linux以其良好的稳定性、灵活的可裁剪性、强大的功能，在嵌入式领域有着广泛的应用。然而linux是一个软实时的操作系统，对于对实时性能要求很高的工控领域，实时性不能满足硬实时的要求。这篇文档介绍了硬实时系统在进程调度、内存管理等方面的要求。是硬实时嵌入式linux不可多得的资料。在文档中还介绍了RTAI的编程实例以及RTAI的实现细节。 This Guide covers the fundamentals of (i) real-time and embedded operating systems (focusing mostly on the differences with general purpose operating systems such as Linux), and (ii) real-time programming. The emphasis is on Free Software and Open Source Software examples: RTAI, RTLinux, eCos, RT-EMS, uCLinux, . . . , with a more than proportional focus on RTAI. This text also talks about design issues, software patterns and frameworks for real-time applications. That is, the “high-level” aspects of these software projects. These higher levels are often poorly dealt with in publications on real-time programming, which leads to the unfortunate situation that still too many real-time programmers use only the powerful but dangerously unstructured API of their RTOS. Missing the chance to develop more structured, and, hence, more deterministic and more portable software systems.