This thesis is focused on a firmware for robotic vehicle based on the ARM Cortex-M3 architecture that is running a real-time operating system (RTOS). Theoretical part describes available solutions of embedded RTOS and concrete HW implementation of the robotic vehicle. There is also comparison of the three selected RTOS with their measurements. Result of this thesis is base firmware compounded by a program modules that controls HW parts. There is also a sample PC and firmware application that extends base firmware. This sample application is able to communicate with robotic vehicle, control wheel motion and measure process data.

Today, the effect of the most common ways to improve the performance of embedded systems and real-time operating systems is stagnating. Therefore it is interesting to examine new ways to push the performance boundaries of embedded systems and real-time operating systems even further. It has previously been demonstrated that the hardware-based real-time operating system, Sierra, has better performance than the software-based real-time operating system, FreeRTOS. These real-time operating systems have also been shown to be similar in many aspects, which mean that it is possible for Sierra to accelerate FreeRTOS. In this thesis an implementation of such acceleration has been carried out. Because existing real-time operating systems are constantly in development combined with that it was several years since an earlier comparison between the two real-time operating systems was per-formed, FreeRTOS and Sierra were compared in terms of functionality and architecture also in this thesis. This comparison showed that FreeRTOS and Sierra share the most fundamental functions of a real-time operating system, and thus can be accelerated by Sierra, but that FreeRTOS also has a number of exclusive functions to facilitate the use of that real-time operating system. The infor-mation obtained by this comparison was the very essence of how the acceleration would be imple-mented. After a number of performance tests it could be concluded that all of the implemented functions, with the exception of a few, had shorter execution time than the corresponding functions in the original version of FreeRTOS. / Idag är effekten av de vanligaste åtgärderna för att förbättra prestandan av inbyggda system och realtidsoperativsystem väldigt liten. På grund av detta är det intressant att undersöka nya åtgärder för att tänja prestandagränserna av inbyggda system och realtidsoperativsystem ytterliggare. Det har tidigare påvisats att det hårdvarubaseraderealtidsoperativsystemet, Sierra, har bättre prestanda än det mjukvarubaseraderealtidsoperativsystemet, FreeRTOS. Dessa realtidsoperativsystem har även visats vara lika i flera aspekter, vilket betyder att det är möjligt för Sierra att accelererera FreeRTOS. I detta examensarbete har en implementering av en sådan acceleration genomförts. Eftersom befintliga realtidsoperativsystem ständigtär i utveckling i kombination med att det är flera år sedan som en tidigare jämförelse mellan de båda systemen utfördes, så jämfördes FreeRTOS och Sierra i fråga om funktionalitet och uppbyggnad även i detta examensarbete.Denna jämförelse visade att FreeRTOS och Sierra delar de mest grundläggande funktionerna av ett realtidsoperativsystem, och som därmed kan accelereras av Sierra, men att FreeRTOS även har ett antal exklusiva funktioner för att underlätta användningen av det realtidsoperativsystemet. Informationen som erhölls av denna jämförelse var sedan grunden för hur själva accelerationen skulle implementeras. Efter ett antal prestandatesterkunde det konstateras att alla implementerade funktioner, med undantag för ett fåtal, hade kortare exekveringstid än motsvarande funktioner i ursprungsversionen av FreeRTOS.

This thesis investigates different methods that can be used for analyzing network performance and,ultimately, can be used for measuring the convergence time of ring coupled networks. As of today,many networks are often run with extra links, serving as backup links in case any that of the mainlinks would go down. To operate networks with backup links in layer 2 and layer 3, specific re-routing protocols such as RIP and OSPF are used in order to calculate a feasible path through anetwork when a network state changes. Depending on different implementations of the protocolsand the hardware used, the convergence times can vary substantially, which means measuring thenetwork performance is a very important part when developing a network solution. To executenetwork tests, a packet engine suite is used consisting of a network traffic generator that is used forcreating a packet stream, as well as a traffic receiver that fetches the packets sent. Various types ofengines can be used including Linux based, real-time operating systems based and bare-metal basedsolutions. From these different types of engines, a few tools are chosen and investigated on differentproperties including performance and usability. It was found that Tshark (Linux, RT-Linux based),USPI (Raspberry Pi bare metal), FreeRTOS (Raspberry Pi based), Arduino and PKTgen (Linuxkernel based) were the most suitable approaches to be used for testing. The test parameters includetesting the gaps between packets, maximum jitter, average jitter and packets sent per second. Thesetests revealed that an IXIA solution was slightly more accurate when used as a receiving end sinceit produced less jitter, however this difference could only be noticed in a micro second range. Itwas also revealed that it produced slightly less jitter than the other packet generators, also here onlynoticeable in a microsecond range. Thus it can be concluded that IXIA is not much superior any ofthe close to hardware solutions. The executed network tests revealed that the Westermo developedlayer 2 protocol FRNT generated less network convergence time and less packet losses than thecommonly used RSTP protocol. Similar tests against the layer 3 protocols revealed that RIP wasmuch faster than OSPF and it also lost less packets. Finally it is concluded that there is no needto buy an expensive network testing suite to test the convergence time of a network. Instead, anetwork testing suite can be developed with minimal funding.

A humidity sensor can be used to measure the moisture content of the environment. The physical change of the sensor expresses as the change of electrical property like capacitance, resistance, voltage, current, frequency, etc. In order to process these analog signals digitally, microprocessor is involved in the measurement. This thesis presents design of a circuit to measure low moisture levels. The 16-bit RISC mixed signal microcontroller MSP430F249 from Texas Instruments will be used. The circuit has good performance at extremely low humidity levels. Meanwhile, a small real time operating system kernel FreeRTOS, a market leading RTOS from Real Time Engineer Ltd is ported to the microcontroller. The basic concept about FreeRTOS and how to port this RTOS to MSP430F249 microcontrollers will be the topics of this thesis as well.

The subject of this diploma thesis is a creation of SW for the self-service charging station of ELNICO Ltd. company. The work consists of two main parts. The first part contains an overview of general charging stations for electro cars at current market. After this the prototype of the ELNICO system is described. It's main components and the control system realized by the development kit DK-LM3S9B96 are characterized here. The real-time operating system FreeRTOS, that is used by the kit, is also specified. The second part of the document deals with the SW design and realization. The thesis describes the structure and the main modules of the program. The functionality is then demonstrated by photos of running application.

This thesis deals with the issues 6LoWPAN protokolu and implementation of IPv6 on the specied platform. Introduction thesis deals with the explanation of wireless sensor networks. Next it was descibed 6LoWPAN protocol, which maps IPv6 on standard IEEE 802.15.4. The thesis further concentrates to exploration of possible operation systems, that are designed for sensor networks and then followed by comparison of their characteristics and advantages. The fth chapter is focused on he implementation of the operating system to the sensor node Iris, introduction Iris and with the structure of the operating system Contiki OS. At the end of thesis is description of the implementation of this system in the sensor node Iris.

Embedded system designers require deterministic, real-time operating system (RTOS) support for the commonly available processing hardware. The Xilinx Zynq Extensible Processing Platform (EPP) offers software, hardware, and input/output (I/O) programmability on a single chip. The Xilinx Zynq EPP features a Dual ARM Cortex-A9 MPCore, Advanced Microcontroller Bus Architecture (AMBA) Advanced eXtensible Interface 4 (AXI4) interconnect, and Xilinx Kintex-7 series Programmable Logic (PL) which provide the requisite capabilities for the increasing demands of embedded processing applications. The AMBA AXI4 interconnect provides high speed point to point interconnections between the ARM processor cores and the Field Programmable Gate Array (FPGA) structure allowing for rapid data transmission to optimize system performance. The incorporation of an RTOS ensures predictable execution times of applications. Benchmarks, such as the Rhealstone, were developed to provide designers with a method of evaluating and comparing these multitasking RTOSs running on various hardware platforms. This thesis research performs Rhealstone benchmarking and evaluates the AMBA AXI4 interconnect performance while executing FreeRTOS on the ARM core of the Zynq EPP device. / Electrical and Computer Engineering

This thesis focuses on the design and implementation of the wireless localization module, using UWB technology with emphases on low-power firmwre based on RTOS. Wireless localization is based on TDoA algorithm.  The resulting HW module is designed as a four layer PCB, based on MCU crf52832 (ARM Cortex M4) and UWB module DevaWave DW1000. Firmware is implemented using FreeRTOS with emphasis on low power consumption. For hardware implementation, Eagle CAD was used. Firmware is implemented in C and Assembly programming languages.

In this thesis is proposed implementation of weather station with web server built on hardware platform with microcontroller STM32f417 and ethernet interface.

This masters's thesis deals with choice and implementation of two free real-time operating systems into powerful 32-bit microcontroller with ARM Cortex-M4F core. First, there is shortly described the ARM architecture in general, its programmer's model, instruction set and Cortex-M4F core in brief. Next is description of the architecture of used microcontroller STM32F407VGT6 from ST Microelectronics, description of its integrated memories and their organization and functions of its integrated A/D and D/A converters. Next part of this thesis deals with searching real-time operating systems with ARM Cortex-M4F core support and then choose two of these systems for the implementation. The chosen operating systems are more closely described in two following chapters. Next chapter analyses possible implementations of the digital PSD controller and more complex system of such controllers using real-time operating system. Following chapter describes implementation of chosen operating systems and designed controllers. Last chapter deals with evaluation of features and qualities of the chosen real-time operating systems for implementation of embedded control system.