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Multirate Feedback Control Using the TinyRealTime Kernel

  • Cevdet Aykanat
  • Tugrul Dayar
  • Ibrahim Korpeoglu
Publiceringsår: 2004
Språk: Engelska
Sidor: 855-865
Publikation/Tidskrift/Serie: Computer and Information Sciences - ISCIS 2004 19th International Symposium, Proceedings (Lecture Notes in Computer Science)
Volym: 3280
Dokumenttyp: Konferensbidrag
Förlag: Springer


Embedded microcontrollers are often programmed in plain C and lacksupport for multithreading and real-time scheduling. This can makeit very cumbersome to implement multirate feedback controlapplications. We have developed the TinyRealTime kernel forthe Atmel ATmega8L AVR to show that it is feasible to usehigh-precision, deadline-based scheduling even in a tiny 8-bitprocessor with 1 KB of RAM. The kernel is demonstrated in amultirate control application, where six periodic real-time tasks(four control tasks and two PWM tasks) are used to control twoball-and-beam processes.



  • Technology and Engineering


  • ISSN: 0302-9743
  • ISBN: 978-3-540-23526-2

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