t-kernel/itron - tronshow · itron/t-kernel is chip-agnostic, ... andescore, arc 600, arm mpcore,...
TRANSCRIPT
T-Kernel/ITRON
Ken Sakamura
Professor at the University of Tokyo
Chair of T-Engine Forum
1Copyright © 2014 by T-Engine Forum., All Rights Reserved.
What is ITRON/T-Kernel?
2Copyright © 2014 by T-Engine Forum., All Rights Reserved.
Embedded Systems
Computers are not just PCs “Embedded systems”
– Software systems “embedded” inside consumer electronics,
automobiles, sensors/actuators, …, etc.
In fact, 98% of computing devices are embedded systems
– By 2020, over 40 billion embedded processors are predicted to be
sold annually [ARTEMIS Joint Undertaking (EU)]
3Copyright © 2014 by T-Engine Forum., All Rights Reserved.
What is “Real-Time”?
(Hard) Real-Time Computer must process the given jobs within a specific amount
of time (referred to as “deadline”)
PCs are NOT hard real-time systems Users can wait until to disappear for practically indefinite
amount of time
Embedded systems ARE real-time systems E.g., Automobile must cause its brakes to work immediately
– The time MUST be assured to be upper-bounded; otherwise, …
Same for other embedded systems
– Because embedded systems interact with physical environments
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Real-Time OS
Real-Time Operating System (RTOS) Operating system with real-time assurance
Multi-task (multi-thread) model
– Simplifies programming of operation workflows
Task switching with real-time assurance
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Response time not bounded
Real-Time OS
Is RTOS really needed? Is it practical for application programmers to write application
codes to assume real-time behavior on multiple tasks by hand?
Apparently too complex to handle The use of event-driven OS is thus limited to extremely-
constrained devices & simple application scenarios
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Real-Time OSThen, why not Linux or Android?
Too heavy to ensure hard real-time, even when real-time
scheduler is selected
Let’s compare the boot sequence
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Linux (typically boots with 10~ secs) T-Kernel 2.0 + T2EX (boots instantly)
TRON Project
TRON Project Started in 1984 to build an ideal computer architecture
The vision we pursue has been HFDS (highly functional
distributed system)
– a.k.a. “IoT” (Internet of Things), Ubiquitous Computing, M2M, …
One of the most important contributions is the
standard embedded real-time OS (RTOS)
ITRON (Industrial TRON) family (1987~)
T-Kernel family (2002~)
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ITRON
ITRON Features Real-time operating system
– TRON sub-framework for embedded devices
Open architecture
– Specification made publicly available without any fee
Chip Agnostic
– Not restricted to a specific hardware nor chip
Efficient
– Equipped with abundant synchronization/communication API
– No virtualization, no processes
Optimization
– Allows chip-dependent optimizations
– Relaxed specifications of chip-dependant functions (like interrupts)
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The Birth of T-Kernel
Evolution of OS never ends As long as the computer evolves
– e.g. 64-bit address space → space-efficient page tables
– e.g. higher clock frequency → low-power (clock/power-gating, etc.)
– e.g. multi-core, virtualization → …
Embedded technology advanced a lot since ITRON in 1987
T-Kernel is the ITRON for the 21st century Based on the ITRON, industrial-proven for long since 1980s
But with major revision to be adopted for computing technology
of the 21st century
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T-Kernel
Additional T-Kernel Features Open source
– The source code for T-Kernel is distributed for free
– Anyone can use it, alter them, and sell them
Higher compatibility
– Achieved by the reference source code
– The original source code defines the specification, with no
ambiguity
Middleware and applications made reusable
– High compatibility makes software no longer strongly tied to
specific board or chip
– Minimize the cost to develop richer embedded application systems
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Acceptance of ITRON/T-Kernel
ITRON/T-Kernel as a de facto standard Due to the successful concept and cooperation, ITRON/T-
Kernel is now one of the de facto standards in the world RTOS
According to a survey, ITRON/T-Kernel has had the topmost
share for 18 consecutive years
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TRON Ecosystem
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Maturity of ITRON/T-Kernel
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Maturity
ITRON/T-Kernel is a mature technology, having
almost 30 years of industrial experience
Thus accepted by mission critical applications Artificial satellites, spacecrafts, …
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Space Ships
Hayabusa Launched in May 2013, and returned to the Earth in June 2010
Has continued to work for 7 years in space
Space Ship “Hayabusa” CPU: SH-3(SH7708) with triple redundancy
OS: μITRON
Space Probe “MINERVA” CPU: SH-3 (SH7708)
OS: μITRON
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Artificial Satellites
Space Ship “Akatsuki” and Solar Power Sail “IKAROS” Launched in May 2010
Controlled by T-Kernel– Camera control for Venus
atmosphere observation
– Expansion and control of solar sail
– Processing photographs
Space Telescope “Hisaki” (SPRINT-A) Launched in September 2013
Controlled by T-Kernel
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Proven Performance
μT-Kernel performance proved to perform the best
in IEEE-authorized, third-party paper In both context-switching and interrupt-handling
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Source: T.Nguyen, B. Anh, S. Tan: “Real-time operating systems for small microcontrollers,”
IEEE Micro Sept./Oct. 2009, pp-30-45
Evolution of ITRON/T-Kernel
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Evolving T-KernelAgain, evolution of OS never ends
As long as the computer evolves
T-Kernel has continued to evolve to meet the
demands of the era T-Kernel Standard Extension
μT-Kernel
MP T-Kernel (SMP/AMP)
T-Kernel 2.0
T-Kernel 2.0 Extension (T2EX)
μT-Kernel 2.0
…20Copyright © 2014 by T-Engine Forum., All Rights Reserved.
Evolving T-Kernel
T-Kernel Standard Extension Extension to add PC-like rich OS functionalities to RTOS
– File systems, processes, standard I/O, …
Accepted in informational devices
– Car navigation systems, …
μT-Kernel Compacted version of T-Kernel
– Can be used with 8KB ROM and 4KB RAM
Suitable for 16-bit/32-bit processors with less ROM/RAM
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Evolving T-Kernel
MP T-Kernel Multi-processor and Multi-core support for T-Kernel
Support for two models: AMP and SMP
– AMP (Asymmetric multi-processing)
・ Each OS instance for each processors/cores
・ Suitable for I/O-intensive applications,
especially when tasks works with little dependencies
– SMP (Symmetric multi-processing)
・ One OS instance works on multi-processors
・ No need to define which task on which CPU
・ Suitable for CPU-intensive applications
・ Tend to lose real-time behavior by locks for resource protection
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Evolving T-Kernel
T1 to T2 After 10 years of T-Kernel, embedded computer systems have
drastically changed
At the same time, network, communication, and server-side
technologies have evolved
– e.g., IPv6, WPAN, Cloud Computing, …
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Now is the time for major update of T-Kernel:
“T-Kernel 2.0 (T2)”― the new RTOS for the age of IoT(Internet of Things)
Evolving T-Kernel 2.0
T-Kernel 2.0 Major update of T-Kernel for the next decades
Real-time support beyond RTOS
– Microsecond API (e.g., tk_dly_tsk_u)
– Physical-timer functions
– Fast locks (FastLock, FastMLock, …)
– Microwaits (WaitUsec, WaitNsec, …)
Support for large-capacity devices
– Embedded systems now handles large-capacity disks
– e.g. Digital camera with MicroSD card > 4GB
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Evolving T-Kernel 2.0
Is Microsecond API really needed? Not always, but YES
e.g. engines and motors
– When they rotate with 6,000 times per minute (6,000rpm), they
rotate 36 degrees in 1 millisecond
e.g. network communications
– Inter-frame gap of Ethernet (10Mbps): 9.6μs
– Initial retransmit time of data-link layer protocols
(incresed by exponential backoff): 10μs~200μs
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Evolving T-Kernel
T-Kernel 2.0 Extension (T2EX) RTOS Extension with no extra abstraction layers on RTOS
– Realized the extension in the best way for T-Kernel 2.0
Added network communication functions
– For network-connected appliances, and of course, for the IoT
Security-conscious design
– Memory protection, thread safety, …
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Evolving T-Kernel
μT-Kernel 2.0 The successor of μT-Kernel 1.0, but with major improvements
Service profiles– Machine-readable description on how T-Kernel API is provided
– Allows applications/middleware to work on different μT-Kernels
Optimization– Addition of CONST specifier
• Let compilers to place immutable data on .rodata (ROM) instead of .data
(both ROM+RAM)
– Relaxed task priority upperbound: 140 (μT1) → 16 or more (μT2)
• Accelerate task scheduling speed, save ROM code space, etc.
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New Release
μT-Kernel 2.0 Software Package (Ver.2.00.00) Target CPU: Cortex-M3 (Contributed by UC Technology Corporation)
Target Board:SK-FM3-48PMC-USBSTICK(Spansion FM3)
μT-Kernel 2.0 Specifications are updated μT-Kernel 2.0 Specification (Ver.2.00.02/ja)
μT-Kernel 2.0 Specification (Ver.2.00.02/en)
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Released by T-Engine Forum at this TRONSHOW
Copyright © 2013 by T-Engine Forum., All Rights Reserved. 29
Chip-Agnostic
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Chip-Agnostic
ITRON/T-Kernel is chip-agnostic, open specification One of the major reasons ITRON/T-Kernel is accepted from
companies and organizations of the world
How many chips supported? We don’t know for sure, but have a look at the ones we know
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MCU Supported by ITRON
38000, 68000, 68010, 7700, 78K, 78K0, 78K0R, 78K4, 7900, 8086,AndesCore, ARC 600, ARM MPCore, ARM11, ARM1136, ARM296, ARM7,ARM7TDMI, ARM9, ARM9E, Atom/IA-32, Blackfin, Cortex-A MPCore,Cortex-A, Cortex-A5, Cortex-A8, Cortex-A9, Cortex-M, Cortex-M0, Cortex-M0+, Cortex-M3, Cortex-M4, Cortex-R4, CPU32, F2MC-16, F2MC-8, F2MC-8L, F32, FR, FR20, H32/200, H8/300, H8/300H, H8/500, H8S, H8SX,H8Tiny, i386, i386DX, i486, i960, LX4180, M16, M16/80, M16C/10,M16C/20, M16C/30, M16C/50, M16C/60, M16C/70, M16C/80, M16C/Tiny,M32, M32C/80, M32R, M32R/D, M32R/E, M32R/ECU, MC68000, MC68020,MELPS7700, MicroBlaze, microSPARC-Iiep, MIPS R3000, MIPS32,MN10300, MPC82xx, MPC8xx, MPC98k, Nios II, Nios, PC/AT, Pentium,PowerPC 405, PowerPC, PowerQUICC/QorIQ, PPC860, R32C/100, R4000,R8C, R8C/10, RH850, RL78, RX, RX100, RX200, RX600, RX78K/0,RX78K/II, SH, SH1, SH2, SH2A, SH2A-DUAL, SH2A-FPU, SH2-DSP,SH2E, SH3, SH3-DSP, SH4, SH4A Dual, SH4A, SH4AL-DS, SH4AL-DSP,SPARC lite, SPC900, SR320, StrongARM, TLCS-90, TLCS-900, TLCS-R3900, TMS470R1x, TX19, TX39, TX49, V20, V25, V33A, V55PI, V810,V830, V850, V850e, V850E1, V850E2, V850E2M Dual Core, V850E2MDualCore, V850ES, VR, VR4100, VR4300, XScale, Z80, ...
32Copyright © 2014 by T-Engine Forum., All Rights Reserved.
MCU Supported by T-Kernel/μT-KernelARM7(AT91M55800A/S1C38000/AT91SAM3S4C), ARM9(i.MX1/i.MX21/MB8701), ARM11(EMMA Mobile1), Cortex-A8(i.MX50),Cortex-A9(i.MX6/Cyclone V/Zynq-7000), Cortex-M0(NUC120/NUC122/NUC130/STM32F0), Cortex-M3(STM32F1/STM32F2/ FM3 / TX03 / LM3S / LPC1700 / LPC1300 / STM32L1 /LM3S3748 / LM3S9B92 / STM32W1), Cortex-M4(STM32F3 /STM32F4/FM4/TX04/K70/K60/K40/K22/K64/K10/Vybrid/Tiva C), FPGA(Xtensa), FR(MB9), H8(H8S/H8/300H),M16(M16C), M32(M32C/M32R), MIPS(TX49/VR4000/VR5000/VR5701A/HR5000), Nios(Cyclone), PowerPC(PowerPC 405),RX(RX210 / RX62N / RX63N), SH2(SH7145 / SH7619 /SH72544RB), SH2A(SH7211/SH7670), SH2-FPU(SH7254R), SH3-DSP(SH7720/SH7727), SH4(SH7760/SH7751R/SH7750R/SH7751R/SH7760), SH4A(SH7786/SH7776/SH7723/SH7780/SH7775), SH4AL-DSP(SH7722), V850(V850E/MA3/V850E1/V850ES), x86(Atom/PC/AT compatibles), Xscale(PXA270), ...
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Chip-Agnostic
Q: Recent Chips or Boards with ITRON/T-Kernel?
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技術本部 ソフトウェア開発センターシステムソフトウェア開発部部長
西田文昭
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スパンション・イノベイツ株式会社
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IoTに最適なエナジーハーベスティング技術
~ Spansion がお届けします ~電源IC
&
FM3
LCD照度センサ・温度センサ
メモリ
MCU:FM3
MB39C811
2.4GHz
ENERGY HARVESTING PMIC STARTER KIT
太陽電池
圧電素子
ペルチェ素子
32bitMCUFM3
温度センサ
照度センサ
LCD
コネクタ コネクタ
RF拡張センサ
I2C SPI
コネクタ PMIC
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エナジーハーベスティングスタータキット
~ Spansion がお届けします ~
LCD照度センサ・温度センサ
メモリ
MCU:FM3
MB39C811
2.4GHz
太陽電池
圧電素子
ペルチェ素子
32bitMCUFM3
温度センサ
照度センサ
LCD
コネクタ コネクタ
RF拡張センサ
I2C SPI
コネクタ PMIC
エナジーハーベスティングを使ったワイヤレスセンサネットワークをすぐに試せるスタータキット.2台セットで無線送受信が可能.MB39C811/831 各1台があり,いずれも送信/受信設定が可能.
■ 受信側:USB給電.PCと接続することでデータ受信が可能■ 送信側:発電素子で電力供給.照度,温度センサ付き
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電池レス Bluetooth(R) Smart Beacon スターターキット
~ Spansion がお届けします ~電池レス Bluetooth(R) Smart Beacon
■ Energy Harvesting Starter Kit for MB39C811 Buck PMICwith Bluetooth(R) Smart (Low Energy) Beacon
NFC: 13.56MHz Radio Energy
Solar Energy
Vibration Energy
Coin Battery for Hybrid
AC85V~265V
USB Bus Power
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FM3スターターキット SK-FM3-48PMC-USBSTICK
~ Spansion がお届けします ~
※ 購入はこちら↓↓から
USB 経由で PC と接続してデバッグ可能
■ 特長- マイコン FM3 MB9AF312K- オンボード JTAG- USBコネクタ × 2(マイコン用)- USBコネクタ(オンボードJTAG用)- LED × 3(赤 緑 青)- ユーザーボタン- リセットボタン- タッチスライダー- 照度センサ- USB電源- RoHS/CE
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FM4スターターキット SK-FM4-120PMC-9B560
~ Spansion がお届けします ~
オンボード JTAG 搭載
USB 経由で PC と接続してデバッグ可能
■ 特長- マイコン FM4 MB9BF568R- オンボード JTAG(CMSIS-DAP)- USBコネクタ(マイコン用)- USBコネクタ(オンボードJTAG用)- LED × 3(赤 緑 青)- ユーザーボタン × 2- リセットボタン- 120p ヘッダ- 20p ヘッダ- USB電源- RoHS/CE
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FM0+スターターキット SK-FM0-V48-S6E1A1
~ Spansion がお届けします ~
オンボード JTAG 搭載
USB 経由で PC と接続してデバッグ可能
■ 特長- マイコン FM0+ S6E1A12C0A- オンボード JTAG(CMSIS-DAP)- USBコネクタ(オンボードJTAG用)- LED- ユーザーボタン × 2- リセットボタン- タッチスライダー- 20p JTAGヘッダ- USB電源- コインバッテリ- RoHS/CE
第一ソリューション事業本部
石倉 知己
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ルネサスエレクトロニクス株式会社
ルネサスのマイコンラインアップITRON・T-Kernelを全面的に採用
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ルネサスの産業向けマイコンITRONをハードウェア化
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イーソル株式会社
エンベデッドプロダクツ事業部技術部OS課
坂本 裕和
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eT-Kernelの対応CPU
ARM シングルコア: ARM9、ARM11、Cortex-A8、Cortex-R4/R4F
マルチコア: ARM11 MPCore、Cortex-A9/A5/A7/A15
– Cortex-A7/A15ではARMの物理アドレス拡張機能(LPAE)上での対応実績あり
Renesas、XILINX、ALTERA、Freescale、Texas Instruments、他
x86 Intel ATOM、Pentium、Core
SH SH4 (SH7760)、SH4A (SH7780、SH7723(SH-MobileR2))、SH2A-FPU
(SH7263)
MIPS
メニーコア対応OS (eMCOS)ではT-Kernel仕様APIをサポート
TILERA社(TILE-Gx8036 )
ルネサスエレクトロニクス社(RH850ベースMCU)
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eT-Kernelの対応ボード
半導体メーカ様、ボードベンダ様の各種評価ボードに標準対応 Renesas、XILINX、ALTERA、Freescale他
x86ではPC/AT互換のボードをサポート
その他、お客様のカスタムボードへの移植実績多数
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http://japan.xilinx.com/products/
boards-and-kits/ek-z7-zc702-g.html
http://www.altera.co.jp/products/
devkits/altera/kit-cyclone-v-soc.html
http://japan.renesas.com/products/
tools/introductory_tools/
starterkits_evaluation_boards/
genmai_cpu/index.jsp
http://www.freescale.com/ja/webapp/
sps/site/prod_summary.jsp?
code=RDIMX6SABREPLAT
株式会社富士通コンピュータテクノロジーズ
組み込みシステム技術統括部第一ファームウェア技術部
飯田 康志
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μT-Kernelの1チップマイコン対応アーキテクチャ ベンダ マイコン ボード
Cortex-M4 スパンション FM4ファミリ SK-FM4-U120-9B560
フリースケール Kinetis K60/K22/K64/K10 TOWER System TWR-K60N512 他
STマイクロエレクトロニクス STM32F4/F3シリーズ STM32F4 DISCOVERY 他
テキサス・インスツルメンツ Tiva Cシリーズ EK-TM4C123GXL
Cortex-M3 スパンション FM3ファミリ SK-FM3-48PMC-USBSTICK 他
NXP LPC LPCXpresso LPC1769
STマイクロエレクトロニクス STM32F1シリーズ STM32L100CDISCOVERY 他
テキサス・インスツルメンツ Stellaris LM3Sシリーズ EK-LM3S9B92
Cotex-M0 Nuvoton NuMicro NuTiny-SDK-120 他
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開発環境:IARシステムズ社IAR Embedded Workbench - EWARM
Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
株式会社日立超LSIシステムズ
組込プラットフォーム設計部
豊山祐一
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■ オープンなT-Kernel 2.0 & μT-Kernel 2.0 のソリューション・ 最新の各種プロセッサへの移植、展開・ オープンソースのライセンスT-License2.0で使用可能・ ドライバ、ミドルウェア、開発環境Eclipseを提供
■ 対応プロセッサの例
OS 種別 対応CPU
T-Kernel2.0 ARM Cortex-A Cyclone V SoCSitara AM335x
RZ/A1L
SHマイコン 各種 SH3, SH4A
μT-Kernel2.0 ARM Cortex-M Kinetis K60STM32
RXマイコン RX63N, RX64M
SHマイコン 各種SH2A
パーソナルメディア株式会社
代表取締役社長
松為彰
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PMC T-Kernelの動くCPUチップ
x86 Intel: Atom, Core, Pentium, Celeron,
AMD: Athlon, Geode, VIA: Eden など
ARM
アーキテクチャ: ARM7, ARM9, ARM11, Cortex-A8など
ベンダー: Renesas, Spansion, Freescale, Samsung,
Texas Instruments, FUJITSU, NXP, ATMELなど
SH
アーキテクチャ: SH3-DSP, SH-4, SH-4Aなど
MIPS、V850、PowerPC、NiosII など
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PMC T-Kernelの動くボード
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上記のほか、半導体メーカー様の評価ボードや機器メーカー様の多くの組込み機器にPMC T-Kernelを移植
産業用パソコン(x86ボード) μTeaboard 2.0
Teamacaron T-Engineリファレンスボード
FM3 USBスティックボード
ユーシーテクノロジ株式会社
開発部部長
由良修二
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UCT T-Kernel対応CPU
UCT μT-Kernel 2.0対応CPU freescale Kinetis (K70, K60)
Spansion FM4, FM3
Toshiba TX04, TX03
STMicro STM32F4, STM32F2
TI Stellaris
UCT μT-Kernel 1.0対応CPU Renesas RX600, RX200
Cadence Xtensa
UCT T-Kernel 2.0対応CPU Renesas SH4, SH2-FPU, SH2
HIREC MIPS64 5Kf
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UCT μT-Kernel対応CPU/ボード
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CPUメーカ CPU分類 CPU型番 評価ボード型番
freescale K40 MK40X256VMD100 TWR-K40X256
(Kinetis) K60 K60N512VMD100 TWR-K60N512
MK60DN512VMD10 TWR-K60D100M
MK60FN1M0VLQ12 TWR-K60F120M
K70 MK70FN1M0VMJ12 TWR-K70F120M
STMicro STM32F2 STM32F217IGH6 STM3221G-EVAL
(STM32) STM32F4 STM32F437IIH6 STM32437I-EVAL
STM32F439NIH6 STM32439I-EVAL2
Spansion FM3 MB9AF312K SK-FM3-48PMC-USBSTICK
(FM) MB9AFB44NA MB9AFB44NPMC
MB9BF506 MCB9BF500
MB9AF156M ―
FM4 MB9BF568R SK-FM4-U120-9B560
UCT μT-Kernel対応CPU/ボード
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CPUメーカ CPU分類 CPU型番 評価ボード型番
Toshiba TX03 TMPM362F10FG MCBTMPM362
(TX) TMPM369FDFG TMPM369-SK
TX04 TMPM440FEXBG TMPM440-SK
TMPM440F10XBG EBDTMPM440
TI(Stellaris) LM3S LM3S9B92 EK-LM3S9B92
Renesas RX62N F562N8BDFP HSBRX62N-A
(RX) R5F562N8BDFB AP-RX62N-0A
F562N8BDFB 竹ASURA
RX63N R5F563NEDDFB AP-RX63N-0A
R5F563NBDDFP GR-SAKURA
RX210 R5F52108CDFP MK3EN63239
Cadence Xtensa (Custom Core) ML605
UCT μT-Kernel対応評価ボード
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freescale TWR-Kxx
東芝×IAR TMPM440-SK
STMicro STM3221G-EVAL
Spansion SK-FM3-48PMC-USBSTICK
KEIL MCBTMPM362
AP AP-RX63N-0ACadence ML605
Development Environments
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Development Support
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Embedded systems are hard to develop Resource constraints
– MPU speed, ROM/RAM size, batteries, …
Deep understanding of computer required
– e.g., Interrupts, memory architecture (cache, attributes, I/O, …)
And of course, real-time constraints
We are professionals, therefore need assistance Development boards, compilers, debuggers (ICE/JTAG
Emulators), profilers, technical supports, …, etc.
Development Support
Q: Are there any good development support
for ITRON/T-Kernel?
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技術本部 ソフトウェア開発センターシステムソフトウェア開発部部長
西田文昭
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スパンション・イノベイツ株式会社
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初心者向けuT-Kernel導入環境の提供~ T-Engine Forum と Spansion がお届けします ~
http://www.t-engine.org/ja/
けど...カスタマイズって必要じゃないのw
それに...uT-Kernelのことよくわからないw
そんなあなたに!
ちょっとまったぁ!
そのまま動くソースをお届け
そのまま載るボードをお届け
FM3 USBスティックボードにおけるμT-Kernelの利用方法http://www.t-engine4u.com/support/fm3_usbstick/install_utkernel.html
PERSONAL MEDIA CORP.http://www.t-engine4u.com/products/fm3_usbstick.html
uT-Kernel教育をお届け
http://www.t-engine.org/ja/sympo
※ 購入はこちら↓↓から
第一ソリューション事業本部
石倉 知己
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ルネサスエレクトロニクス株式会社
ルネサスの開発環境ITRON・T-Kernelをサポート
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ルネサスブース展示のご紹介アプリケーションデバッグ機能をご体感ください
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イーソル株式会社
エンベデッドプロダクツ事業部技術部OS課
坂本 裕和
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開発環境 (eBinder)
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eBinder eT-Kernel用開発スイート
システムレベルデバッガICE等を使用し、システム全体を停止するデバッグ
タスクレベルデバッガアタッチしたタスクのみ停止
マルチコアであってもコアを意識しないデバッグが可能
EvenTrek
プログラム動作の可視化ツール
コアごとに色分け・フィルタ
開発環境 (eBinder)
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RealTime Profiler
関数単位でのCPU使用率を表示
PartScope
ソフトウェア部品の状態を表示
コンフィギュレータ・ビルダソフトウェア部品のコンフィギュレーション
ソースファイルのコンパイル・リンク
ミドルウェアPOSIX APIサポート
eT-Kernel/POSIX
LFS (論理ファイルシステム)
ファイルシステム PrFILE2
– FAT12/16/32、VFAT
PrFILE2 exFAT
– FAT12/16/32、exFAT
PrFILE2 FatSafe
– FATファイルシステム向け電源断対応機能
PrFILE2 Unicode Interface
PrFILE2 Disk Utilities
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ネットワーク PrCONNECT/Pro
– 高速TCP/IPスタック
– 各種プロトコルもサポート
USB PrUSBホスト
– USBホスト側スタック
PrUSBデバイス
– USBデバイス側スタック
PrUSBホスト用クラスドライバ
デバイスドライバ SD、SATA/ATA、CF
Ethernet
株式会社富士通コンピュータテクノロジーズ
組み込みシステム技術統括部第一ファームウェア技術部
飯田 康志
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μT-KernelのIoT対応拡張機能 超小型TCP/IP
予兆監視機能
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DNS*1 DHCP*1 BSDソケットライクAPI
UDP TCP
IPv4 / IPv6
*1 開発計画中超小型TCP/IPIARシステムズの EWARMで測定
構成 ROM RAM
基本構成(IPv4,UDP,TCP) 8KB 3KB
最小構成(IPv4,UDP) 2KB 3KB
*2 動作異常の予兆検知およびシステム安定化処理はアプリケーションによる作り込みとなります
タスク管理
メモリプール管理
リソース使用状況
タスク動作状況
システム監視タスク*2
μT-Kernel
アプリケーション
システム安定化処理
予兆監視機能
システム内のリソースの使用状況等の監視
により、主にソフトウェアを原因とする動作異
常の予兆を検知
⇒ 無停止運用のためのシステム安定化
⇒ リモート監視センターへの通報
Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
Memory Protection Unit対応
μT-KernelにMPUを活用する機能を独自追加
スタックオーバーフローの検知
アクセス許可領域外への不正アクセス防止
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システムの異常動作を検知・暴走を抑止
※Freescale社製 Kinetisシリーズにて対応Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
株式会社日立超LSIシステムズ
組込プラットフォーム設計部
豊山祐一
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■ マルチコア対応・ 各種マルチコアへT-Kernelを移植・ T-Kernelと汎用OS(Linux, Android)を協調動作させる技術“リアルタイム・オーガナイザ”の提供
汎用OSアプリケーション
T-Kernelアプリケーション
リアルタイムOS(T-Kernel)
★リアルタイム性能★高速起動 ★安定性★従来資産の活用
汎用OS(Linux/Android)
★ネットワーク機能★リッチなユーザーインタフェース★豊富なアプリケーション
汎用OST-Kernelマルチコア・マルチOSソリューション
リアルタイム・オーガナイザ
パーソナルメディア株式会社
代表取締役社長
松為彰
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PMC T-Kernelの開発環境Eclipse for PMC T-Kernel
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
統合開発環境
ICE不要
PC上の仮想環境
での開発も可能
ITRONラッパー(I-right/TK) タスクトレーサ
PMC T-Kernelのミドルウェアファイルシステム
T-Kernel Extension
exFAT for PMC T-Kernel
T2EX
OpenCV (画像処理)
EtherCAT (フィールドバス)
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ネットワーク通信(TCP/IP) PMC版tcpipmgr
NetBSD版TCP/IP
T2EX
デバイスドライバ USB(ホスト、ファンクション)
LAN(Gigabit Ethernetなど)
ディスク(SATA、IDE)、CF、SD
NAND Flash, NOR Flash、など
ユーシーテクノロジ株式会社
開発部部長
由良修二
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UCT μT-Kernel対応開発環境KEIL μVision4
IAR EWARM
GCC+Eclipse
CubeSuite+
HEW
XIDE
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UCT μT-Kernel 2.0用ミドルウェア
UCT 6LoWPAN開発キット 6LoWPANを利用したIoTシステム構築のための統合開発キット
6LoWPAN無線モジュールと6LoWPANボーダールータを同梱し、LAN(IPv6)と無線PAN(6LoWPAN)の相互接続が可能
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UCT 6LoWPAN開発キット
UCT μT-Kernel 2.0用ミドルウェア
FatFs for UCT μT-Kernel 2.0
小規模な組込み向けの超軽量のファイルシステム
オープンソースのFatFsをUCT μT-Kernel 2.0に移植して提供
lwIP for UCT μT-Kernel 2.0
組込み向けの軽量で高機能なTCP/IPプロトコルスタック
オープンソースのlwIPをUCT μT-Kernel 2.0に移植して提供
サンプル: HTTP server, SNTP client, SMTP client, etc...
uIP for UCT μT-Kernel (サンプル提供) 小型のTCP/IPプロトコルスタック
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Application Fields
Q: How is T-Kernel/ITRON used in reality?
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第一ソリューション事業本部
石倉 知己
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ルネサスエレクトロニクス株式会社
ルネサスのマイコンは様々な製品に応用いただいてます
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ルネサスブース展示のご紹介ITRONの応用事例
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イーソル株式会社
エンベデッドプロダクツ事業部技術部OS課
坂本 裕和
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採用事例車載情報機器、医療機器、プリンタ、デジタルカメラ、人工衛星システムなど 弊社 Webサイトに多数掲載
– http://www.esol.co.jp/successstory/rtos_middleware.html
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株式会社富士通コンピュータテクノロジーズ
組み込みシステム技術統括部第一ファームウェア技術部
飯田 康志
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μT-Kernel 応用事例
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スマートシティを実現するための機器に適用Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
パーソナルメディア株式会社
代表取締役社長
松為彰
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PMC T-Kernelの応用アプリケーション事例
業務用ハンディターミナル、産業用カメラ、船舶搭載型通信監視装置、医療向け業務用機器、ポータブル測定器、など
93Copyright © 2014 by T-Engine Forum., All Rights Reserved.
ユーシーテクノロジ株式会社
開発部部長
由良修二
94Copyright © 2014 by T-Engine Forum., All Rights Reserved.
応用アプリケーション事例T-Kernel / μT-Kernel
RFID読み取り装置 デジタルカメラ 自動販売機 医療支援機器 インフラ監視システム ゲーム機 放送機器 人工衛星
6LoWPAN センサー監視システム 公共物制御システム
スマートハウス u-home
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The Future
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TRON Project Vision (1987)
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Our Vision (2014)
Still the same, but with concrete technologies
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Towards an IoT Architecture
Integration of T2 and u2 (uID Architecture 2.0) Embedded systems are no longer separate devices
– In the IoT age, they are to be inter-connected
Now, we are merging our two main architectures: T2 and u2
– T2: Device-side architecture
– u2: Server-side IoT information architecture
e.g., device-control architecture
– Semantic control of houses/buildings (e.g., “set room temperature to 20℃)
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6LoWPAN
One of the key component in T2+u2 is IPv6 “The Internet” is the only-one, world-wide open-ended network
IPv6 is crucial for IoT, when billions/trillions are connected
– IPv4 address is not sufficient for end-to-end connectivity in IoT
6LoWPAN “IPv6 over Low-power Wireless Personal Area Networks”
Enable IPv6 communication over resource constrained nodes
– Including simple sensors/actuators
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Marriage of T-Kernel & 6LoWPAN
T2 and 6LoWPAN is the best combination for IoT Internet of Things needs lightweight system and network
– For the network, 6LoWPAN is a promising solution
– For the system, lightweight framework is needed
Embedded systems need RTOS (real-time OS)
– For practical embedded systems, RTOS cannot be omitted
– Can handle simple sensors/actuators with event-driven OS, but not
the usual consumer electronics, etc.
101Copyright © 2014 by T-Engine Forum., All Rights Reserved.
YRPユビキタス・ネットワーキング研究所
先端技術研究部
矢代武嗣
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IoT Framework on “T2”
μT-Kernel 2.0+
6LoWPAN Node
Framework
T-Kernel 2.0 +T2EX +
6LoWPAN
uID 2.0 Framework
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Realizing the total architecture for the IoT
6LoWPAN Protocol Stack6LoWPAN Protocol Stack for μT-Kernel
Realize both KADEN control (RTOS) and IoT communication
(6LoWPAN) on a single MCU
– Low-cost
– IoT-control collaboration made easier
Low-power, and compact
– System size: RAM: 13KB, ROM: 42KB(including RTOS, protocol stack, and buffers)
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RAM: 80%
and ROM: 92%
can be used
6LoWPAN Border Router6LoWPAN Border Router (6LBR)
Router that connects IoT (6LoWPAN) and the Internet
Made with T-Kernel 2.0 + T2EX
– Fast, responsive, and real-time
– Boots very fast (from SD card in less than 0.3 seconds)
• In contrast to Linux-based 6LBR from other company, which takes more
than 30 seconds
• An they often swaps to microSD card, causing seconds of no response
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6LoWPAN Border Router
Using T2EX, 6LBR was implemented efficiently Basic parts implemented in 2.5 man months
Richer functions implemented with ease using T2EX
– Web Administration, CoAP/HTTP Conversion, etc.
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Demonstration
Application Demo Our 6LoWPAN technology accepted in the UCT IoT solutions
– Smart agriculture
– Smart house
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?
The Future
Q: What do you expect for the future of
ITRON/T-Kernel?
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イーソル株式会社
エンベデッドプロダクツ事業部技術部OS課
坂本 裕和
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TRONプロジェクトに望むこと
組込み技術の社会的な認知度の向上
T-Kernel、ITRONの世界への普及
これからも夢のある未来を語り続けていただきたいです。
110Copyright © 2014 by T-Engine Forum., All Rights Reserved.
株式会社富士通コンピュータテクノロジーズ
組み込みシステム技術統括部第一ファームウェア技術部
飯田 康志
111Copyright © 2014 by T-Engine Forum., All Rights Reserved.
TRONプロジェクトに望むこと
より一層のオープン化 コミュニティ活動が活発化するように
ミドルウェア流通活性化のための取組み
112Copyright © 2014 by T-Engine Forum., All Rights Reserved.
エコシステムの拡大と強化
Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
パーソナルメディア株式会社
代表取締役社長
松為彰
113Copyright © 2014 by T-Engine Forum., All Rights Reserved.
TRONプロジェクトに望むこと
組込み技術の重要性の認知度向上
組込み技術のリテラシーの向上 教育も機能のひとつ
プロジェクトの末永い継続
114Copyright © 2014 by T-Engine Forum., All Rights Reserved.
ユーシーテクノロジ株式会社
開発部部長
由良修二
115Copyright © 2014 by T-Engine Forum., All Rights Reserved.
TRONプロジェクトに望むこと
新しいHFDSのビジョンの提示 現時点で既に実現されている技術 と、
今後進展が期待される技術 を融合した新しいビジョン
次世代の組込み開発のフレームワーク
– 超小型のRTOS仕様、開発環境、ミドルウェア、etc...
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