ART-Linux 2.6 for Single CPU: Design and Implementation

Abstract

This paper describes design and implementation of ART-Linux 2.6 for single CPU that is modified from Linux 2.6 kernel. This realtime operating system provides realtime (periodic) task execution system call in user space. In order to achieve predictable latency for wakeup, following mechanisms are introduced: (1) mutual-exclusive execution realized by virtual processor number, (2) transfer queue to avoid mutex-locked mutual-exclusive execution, (3) multi-level priority inversion function. Therefore, user can utilize entire system calls, user space libraries, as well as device drivers. Experimental results with our humanoid robot HRP-2 No.12 and future work are also denoted.