| Company name | Product name | Multi-tasking scheduling policy | Method used to handle priority inversion | Typical task switching time | Non-pre-emptive processes | Resource locking | Guarenteed maximum interrupt latency | MMU support | Languages supported | Standards supported |
Components available | Communication specific support |
| Accelerated Technology Mobile | Nucleus Real-Time Software | round robin, time slice, proprietary | proprietary | 30 us | Yes | Yes | Yes | -- | Ada, Assembler, C, C++, Java | -- | floating point support, communication protocols, network support, file support | -- |
| Brainstorm Engineering Co. Palm Harbor | Object eXecutive | dynamic, proprietary, no centralized kernel: scheduling built-in objectime slice | n/a | n/a | Yes | Yes | -- | -- | Assembler, C, C++ | -- | communication protocols, network support, file support | RIX |
| Byte-BOS Integrated Systems | Byte-BOS Multitasking Operating System | fixed priority, round robin, time slice, dynamic | proprietary | 100 clock cycles | -- | Yes | 50 clock cycles | -- | Assembler, C, C++ | -- | UART drivers | -- |
| CMX Co. Framingham | CMX-RTX, CMX-Tiny+ | round robin, time slice, dynamic, preemptive | priority inheritance | target dependent | Yes | Yes | Yes | Yes | Assembler, C, C++ | -- | floating point support, communication protocols, network support, math library, file support, PCMCIA | CAN |
| Chorus Systems Campbell | Chorus/ClassiX r3.1 | fixed priority, round robin, time slice, dynamic, proprietary | priority inheritance | -- | Yes | Yes | -- | Yes | Assembler, C, C++, Java | POSIX
.1 / .1b /.1c / .1g, ANSI |
floating point support, communication protocols, cache support, network support, math library, file support | Chorus IPC, TCO/IP, sockets, CORBA |
| Concurrent Computer Corp. | PowerMax OS | fixed priority, round robin, time slice, dynamic, deadline monotonic scheduling | priority inheritance | 25 us | Yes | Yes | 8us | Yes | Ada, C, C++, FORTRAN | POSIX
.1 / .1b / .1c, Unix, SVID release 4, XPG4 |
floating point support, communication protocols, cache support, network support, math library, file support | EDDI, Ethernet, TCP/IP, NFS, x.25 |
| DDC-I, Inc. Phoenix | DDC-I Ada Compiler Systems (DACS) | round robin, time slice, deadline monotonic scheduling | priority inheritance | 400 clock cycles | -- | Yes | -- | -- | Ada, Assembler, JOVIAL | Unix, OMF | floating point support, communication protocols, network support, file support | TCP/IP |
| Embedded Performance | VRTX 32/29K | proprietary | -- | 16ms | -- | -- | -- | -- | Assembler, C, C++ | -- | -- | -- |
| Embedded System Products | RTXC | fixed priority, round robin, time slice, dynamic, automatic resolution | -- | -- | -- | Yes | Yes | -- | Assembler, C, C++ | -- | FP, communication protocols, cache support, network support, math library, file support | -- |
| Encore Computer Corp. | Real Time Software | fixed priority, round robin, time slice, dynamic, earliest deadline scheduling | -- | 40us | Yes | Yes | 6us | Yes | Ada, Assembler, C, C++, Java | POSIX
. 1a / .1b, Unix |
floating point support, communication protocols, cache support, network support, math library, file support | E+AV22DDI, reflective memory, ATM, Ethernet |
| Enea OSE Systems AB Taby | OSE | fixed priority, round robin, time slice | messages | 250 clock cycles | -- | -- | 156 clock cycles | Yes | Assembler, C, C++, Java | -- | floating point support, communication protocols, cache support, network support, file support, runtime program loader, supervision mechanisms | TCP/IP (+UDP), CAN-bus, SNMP, PPP |
| Etnoteam S.P.A. Milano | -- | fixed priority, round robin, time slice, dynamic, proprietary | -- | -- | Yes | Yes | Yes | -- | Assembler, C | cross - processor | floating point support, communication protocols, network support, configuration tool | scalable TCP/IP, Ethernet, sockets, SNMP |
| Express Logic, Inc. San Diego | ThreadX | fixed priority, round robin, time slice, dynamic, proprietary, preemption-threshold | preemption-threshold, priority change, avoidance | 223 clock cycles | Yes | Yes | 303 clock cycles | -- | C | -- | communication protocols, network support, file support | -- |
| Eyring Corp. Midvale | PDOS, PXROM, PDOS pro | fixed priority, round robin, time slice, user-definable | semaphores | 1us | Yes | Yes | -- | -- | Ada, Assembler, BASIC, C, C++, FORTRAN, Pascal | POSIX | floating point support, communication protocols, cache support, network support, math library, file support | TCP/IP, FTP, Telnet |
| Forth, Inc. Manhattan Beach | ChipFORTH | round robin | n/a | 200 clock cycles | Yes | Yes | Yes | -- | Assembler, FORTH | -- | math library, file support | -- |
| General Software, Inc. Bellevue, WA (206) 454-5755 | Embedded DOS 6-XL | round robin, time slice | up to application | target dependent | Yes | Yes | target dependent | -- | Ada, Assembler, C, C++, FORTH, Java, any supported in DOS | MS-DOS | cache support, network support, file support, third party DOS libaries | embedded LAN |
| Green Hills Software | Integrity, VelOSity | fixed priority, round robin, time slice, earliest deadline scheduling, proprietary, guaranteed percentage | can't happen | 50 to 100 clock cycles | Yes | Yes | 0 over hardware latency | Yes | Ada, Assembler, C, C++, FORTRAN | -- | floating point support, communication protocols, cache support, network support, math library | -- |
| Hewlett-Packard Co. Sunnyvale | HP-RT Real-Time Operating System | round robin, time slice, FIFO, run to completion | priority inversion semaphores (temporary priority boost) | 30us to 50us | -- | Yes | 100us | Yes | Ada, Assembler, C, C++, FORTRAN | POSIX.1 / .4 draft 9 / .4a draft 4 / .1b, Unix, BSD, System V, HP-RT proprietary | floating point support, communication protocols, cache support, network support, math library, file support | BSD networking, TCP/IP, sockets, RPL, NFS |
| IBM Microelectronics RTP | OS Open Real-Time Operating System | fixed priority, round robin, dynamic, deadline monotonic scheduling | priority inheritance, priority ceiling | 200 clock cycles | -- | Yes | Yes | Yes | Assembler, C, C++ | POSIX
.1b / .1c |
floating point support, communication protocols, network support, math library, file support | TCP/IP, SLIP, Ethernet, NFS, RPC |
| Industrial Programming, Inc. | MTOS-UX | fixed priority, round robin, dynamic | -- | 200 clock cycles | -- | Yes | Yes | Yes | Assembler, C, C++ | -- | floating point support, communication protocols, cache support, network support, math library, file support | -- |
| Integrated Systems, Inc. | pSOSystem | fixed priority, round robin, time slice, dynamic | mutex | 1000 clock cycles | Yes | Yes | 1000 clock cycles | Yes | Assembler, C, C++ | POSIX. 1c |
floating point support, communication protocols, cache support, network support, math library, file support, http server, file manager, ISO 9660, browser | NFS, Streams, SNMP, RMON, TCP/IP, RIP, x.25, HDLC |
| JMI Software Systems, Inc. | C Executive, PSX | fixed priority, time slice, dynamic, proprietary | automatic | 50 clock cycles | Yes | Yes | 50 clock cycles | -- | Assembler, C, C++ | POSIX. 1 (60%), Unix |
floating point support, communication protocols, cache support, network support, file support | TCP/IP, SNMP |
| Kadak Products, Ltd. | AMX Real-Time Multitasking Kernel | fixed priority, time slice, dynamic, | proper application design | varies | Yes | Yes | varies | -- | Assembler, C, C++ | -- | communication protocols, cache support, network support, file support | -- |
| Keil Software, Inc. | RTX-51, RTX-251, RTX-166 | fixed priority, round robin, time slice | n/a | 500, 100, 40 | Yes | Yes | -- | -- | C | -- | floating point support, communication protocols | Bitbus, CAN |
| Linden Technologies, Inc. | VERSAdos Real-Time Operating System | round robin, time slice | -- | 20 to 30 clock cycles | Yes | Yes | -- | Yes | Assembler | -- | floating point support, math library, file support | -- |
| Lynx Real-Time Systems | LynxOS | fixed priority, round robin, time slice, dynamic, deadline monotonic scheduling, Edynamic, FIFO, run to completion | priority inheritance | 4us to 19us | -- | Yes | 14us | Yes | Ada, Assembler, C, C++, Forth, Java, YACC, LEX, AWK, others | POSIX. 1 / .1b / .1c / .2, Unix BSD 4.3 |
floating point support, communication protocols, cache support, network support, math library, file support, others | many |
| Micro Digital, Inc. | SMX | round robin, time slice, dynamic, preemptive | none | 600 clock cycles | Yes | Yes | 14 clock cycles | -- | Assembler, C, C++ | -- | communication protocols, network support, file support, C++ class library, dynamic load modules, DOS emulator | integrated UART driver |
| Microtec Santa Clara | VRTX Real-Time Operating System+B35 | fixed priority, round robin, time slice, dynamic | priority inheritance | <400 clock cycles | Yes | Yes | 279 clock cycles | Yes | Assembler, C, C++, Java | Streames, sockets, TLI, PC file system, ANSI C libraries | floating point support, communication protocols, cache support, network support, math library, file support | TCP/IP, SNMP, OSI, CMIP, TMN, http server |
| Microware Systems Corp. | OS-9 | fixed priority, round robin, time slice, dynamic, proprietary | under application control | 3us | Yes | Yes | 3us | Yes | Assembler, C, C++ | POSIX.1 | floating point support, communication protocols, cache support, network support, math library, file support | SPF for TCP/IP, ATM, x.25, RSA |
| Modcomp Fort Lauderdale | Real/IX, Real/IX Px | fixed priority, round robin, time slice, dynamic, deadline monotonic scheduling | system call | 6us | Yes | Yes | 50us | Yes | Assembler, C, C++ | POSIX.1, Unix | floating point support, communication protocols, cache support, network support, math library, file support, real-time extensions | TCP/IP |
| Motorola | RTEK | fixed priority, round robin, time slice, dynamic | priority inheritance | 140 clock cycles | Yes | Yes | 32 clock cycles | -- | C, C++ | -- | -- | -- |
| On Time Setanker | RTKernel, RTKernel-32 | fixed priority, round robin, time slice, dynamic | resource semaphore with priority inheritance | 160 clock cycles | Yes | Yes | Yes | Yes | C, C++, Pascal | Win32, MS-DOS | floating point support, communication protocols, network support, file support | RS-232 serial I/O driver |
| PharLap Software, Inc. | TNT Embedded Tool Suite | fixed priority, round robin, time slice, dynamic | proprietary | 2 clock cycles | -- | -- | 30us | -- | Ada, Assembler, C, C++, Java | Win32 | floating point support, communication protocols, network support, file support | web server, HTML-on-the-fly |
| Precise Software Technologies, Inc. | Precise/MQX | round robin, time slice, dynamic, preemptive | priority inheritance | -- | Yes | Yes | Yes | Yes | Assembler, C, C++, Smalltalk | POSIX.1b, ANSI C | floating point support, communication protocols, cache support, network support, file support | TCP/IP, SNMP, LAPB, LAPD, SDLC, CAN, 1553, PCMCIA |
| QNX Software Systems Ltd. | QNX Real-Time Operating System | fixed priority, round robin, time slice, dynamic, proprietary, adaptive | priority inheritance | 1.2us | Yes | Yes | 3.3us (typical) | Yes | Assembler, C, C++ | POSIX. 1 / .1b / .1c / .1d,.2, Unix, APIW |
floating point support, communication protocols, cache support, network support, math library, file support, embedded GUI, graphical application builder, ISO9660, other | TCP/IP, NFS, x.25, ATM, FLEET networking, PCMCIA |
| RTMX Inc. | RTMX O/S | fixed priority, round robin, time slice, dynamic, earliest deadline scheduling | kernel context process inheritance | -- | Yes | Yes | Yes | Yes | Assembler, C, C++ | POSIX. 1 / .1b / .1c / .2 |
floating point support, communication protocols, cache support, network support, math library, file support, X11, GUI-builder, database | PPP, SLIP, HTML, FTP, TCP/IP, UDP, NFS |
| Seltek Software LAH | RTxDOS | fixed priority, time slice, dynamic | -- | 200 clock cycles | -- | Yes | -- | -- | C, C++ | -- | floating point support, communication protocols, network support | -- |
| Spectron Microsystems | SPOX, SPOX-MP | round robin, time slice, dynamic, priority | software interrupts | 196 clock cycles | -- | -- | Yes | -- | Assembler, C | Unix, Solaris 7.3 | floating point support, communication protocols, network support, math library, file support, peripheral device driver support | -- |
| Tics Realtime | -- | dynamic | -- | -- | -- | -- | -- | -- | C, C++ | -- | -- | RS-232 |
| US Software Portland | SuperTask! | fixed priority, round robin, time slice, dynamic, deadline monotonic scheduling | -- | 200 clock cycles | Yes | Yes | 50 clock cycles | -- | Assembler, C, C++ | ANSI C | floating point support, communication protocols, cache support, network support, math library, file support | serial stream IP, PIPES |
| VenturCom Cambridge | RTX4.1 | fixed priority, round robin, time slice, dynamic | priority inheritance | <1ns | Yes | Yes | 50us | Yes | Ada, Assembler, C, C++, Forth, Java | Win32 | floating point support, communication protocols, cache support, network support, math library, file support | TCP/IP, NetDevi, IPX |
| Wind River Systems Alameda | Tornado with VxWorks | round robin, dynamic | -- | -- | -- | -- | -- | -- | Ada, Assembler, C, C++, Java | POSIX.1b, Unix | floating point support, communication protocols, cache support, network support, math library, file support | SNMP, STREAMS, OSI, SS7, ATM, Frame Relay, CORBA, ISDN, x.25, CMIP/GDMO, PPP, http server |
Informacije www.embedded.com
Zadnjič
posodobljeno 18.11.99
Posodobil Roman Gumzej
E-pošta roman.gumzej@uni-mb.si