real-time virtualization experts




                                       INtime

                                   Rea...
Time-critical Applications
On Windows Platforms
 What are your options?
 Loosely coupled RTOS…
    Costly HW & SW solut...
Time-critical Applications
On Windows Platforms
 What are your options?
 Loosely coupled RTOS…
    Costly HW & SW solut...
Time-critical Applications
On Windows Platforms
 What are your options?
 Loosely coupled RTOS…
    Costly HW & SW solut...
Tightly Coupled is the Superior
Real-time Windows Solution
 Simpler inexpensive hardware
 Unified development tool set
 ...
INtime Overview
 Two OS environments share a single hardware platform
 Integrated development with Microsoft Visual Stud...
Virtual Machine Architecture

    Normal Processes




  Win32 API                                               Start wi...
Virtual Machine Architecture

    Normal Processes                        Real-time
                                      ...
Virtual Machine Architecture
       INtime Real-time Windows Application

    Normal Processes                        Real...
Proven History of
Real-time for Windows
 Long history of reliable real-world use
    Millions of world-wide installation...
Performance and Reliability
 Hard real-time performance
     Interrupt latency <4 µsec worst case (dual-core)
     Syst...
System Performance Data
 2GHz Core Duo, Intel evaluation                      idle system               busy system
 mothe...
INtime Real-time Applications

   Industrial Control
   Robotics
   Motion Control
   Medical Imaging
   Test & Measu...
X-Ray Equipment

 Major supplier of medical X-ray systems
    Mission critical application for real-time
    TenAsys te...
X-Ray Equipment


 “We use INtime for those areas of the system where
 movements are controlled and where radiation is
 co...
Test and Measurement


 World leader in power train engineering
    PUMA test bed
    Utilizes INtime remote nodes
 Hi...
Test and Measurement


 “We already use Windows for visualization and database
 management. Why not use the same platform ...
Industrial Control

 Largest supplier of Soft PLC systems
    Lowers cost to customers by using industrial grade PC
   ...
Industrial Control


 “The fact that the TenAsys product was a solid platform
 was very important. It had a history before...
CNC Machining


 World leading CNC tool vendor
    Two generations of machine tools on INtime since 2000
    Servicing ...
CNC Machining


 “We ported from QNX to INtime using a „shim‟ to
 maximize preservation of existing control code.”

      ...
TenAsys Real-time Customers




    real-time virtualization experts   INtime 3.0   Real-time for Windows   22
INtime 3.0 Key Features
 Microsoft Visual Studio integration
    Integrated real-time debugger
    NTX object for all ....
Why Choose INtime?
   Deterministic real-time control for Windows
   Reliable and secure run-time environment
   Integr...
real-time virtualization experts




              Real-time for Windows

                                   Details
Multi-Processor Support
   Operate on all Microsoft multi-processor HALs
   Validated on P3, P4, Xeon, and Core™ CPU pla...
Multi-Core Processor Benefits
 Dedicate a single CPU core to real-time processes
    Complete isolation of real-time int...
Visual Studio Integration
 Develop real-time code in Visual Studio environment
    C/C++ and x86 assembly
    INtime Wi...
Visual Studio Debugging
 Integrated real-time debugger
      Use Visual Studio to debug real-time processes and threads
...
Visual Studio Debugging
 Integrated real-time debugger
      Use Visual Studio to debug real-time processes and threads
...
INtime Device Drivers
 Partial list of available real-time device drivers:
    RS-232 serial, SCSI, VGA, USB serial, IEE...
Real-time Configuration Tools
                                        Interrupt Device Configurator
                     ...
INtex (INtime Explorer)
Real-Time Object Browser




    real-time virtualization experts   INtime 3.0   Real-time for Win...
INScope (Software Scope)
Performance Analysis Tool
                                                     Time stamp
      ...
Scalable and Extendable
 Stand-alone RTOS solutions
    INtime remote nodes
     on embedded hardware
 Easily scale usi...
Reliable Isolation
      Windows Segment                                INtime Real-Time Processes
(lowest priority real-t...
Virtualization Details
 CPU-enforced isolation between INtime and Windows
    Two distinct, parallel, and isolated envir...
Continuous Operation
 Fault and spin managers prevent lockups
    Fault manager directs real-time faults to GPF handler
...
INtime Kernel Features                                  (part 1)
 Multi-tasked, multi-threaded applications
    Preempti...
INtime Kernel Features                                  (part 2)

 Memory management and data sharing
   Shared memory a...
INtime Kernel Features                                     (part 3)

 Exception handling for:
      Programming errors (...
Proven Technology

    “Intel® Virtualization Technology is a key
  component of our platform approach to enable
   new le...
TenAsys Software
Quietly Running the World
   Industrial Control & Robotics
   Air & Ground Traffic Control
   Medical ...
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  1. 1. real-time virtualization experts INtime Real-time for Windows
  2. 2. Time-critical Applications On Windows Platforms  What are your options?  Loosely coupled RTOS…  Costly HW & SW solutions  Limited & slow IPC options real-time virtualization experts INtime 3.0 Real-time for Windows 2
  3. 3. Time-critical Applications On Windows Platforms  What are your options?  Loosely coupled RTOS…  Costly HW & SW solutions  Limited & slow IPC options  Kernel-mode driver…  Restricted extensibility  Never intended for large apps  Difficult to debug and test  Real-time bugs crash Windows real-time virtualization experts INtime 3.0 Real-time for Windows 3
  4. 4. Time-critical Applications On Windows Platforms  What are your options?  Loosely coupled RTOS…  Costly HW & SW solutions  Limited & slow IPC options  Kernel-mode driver…  Restricted extensibility  Never intended for large apps  Difficult to debug and test  Real-time bugs crash Windows  …there is a better way real-time virtualization experts INtime 3.0 Real-time for Windows 4
  5. 5. Tightly Coupled is the Superior Real-time Windows Solution  Simpler inexpensive hardware  Unified development tool set  Windows-like API for real-time  Superior IPC options & tools  Simplified integration real-time virtualization experts INtime 3.0 Real-time for Windows 5
  6. 6. INtime Overview  Two OS environments share a single hardware platform  Integrated development with Microsoft Visual Studio  INtime kernel is a full real-time operating system (RTOS)  Not a clever device driver  Windows applications have access to INtime objects  Many IPC options between Windows and RT processes  Mailboxes, semaphores, shared memory, and TCP/IP  Broad real-time I/O device support  Ethernet, TCP/IP, USB, SCSI, multi-channel serial  CAN, Profibus, DeviceNet, GPIB, EtherCAT  Delta Tau and MEI motion controllers real-time virtualization experts INtime 3.0 Real-time for Windows 6
  7. 7. Virtual Machine Architecture Normal Processes Win32 API  Start with standard Windows Windows OS Windows Kernel Standard HAL real-time virtualization experts INtime 3.0 Real-time for Windows 7
  8. 8. Virtual Machine Architecture Normal Processes Real-time Processes  Start with standard Windows  Partition memory and Win32 API INtime Real-time I/O resources API  Add a full-featured real-time OS INtime Windows OS Real-time  Virtual machine Kernel isolates dual OSes Windows Kernel Standard HAL real-time virtualization experts INtime 3.0 Real-time for Windows 8
  9. 9. Virtual Machine Architecture INtime Real-time Windows Application Normal Processes Real-time Processes  Start with standard Windows  Partition memory and I/O resources Win32 API INtime INtime Real-time  Add a full-featured NTX API API real-time OS INtime  Virtual machine Windows OS Real-time isolates dual OSes Kernel NTX DLL and VM  Bridge INtime and Interface Windows with NTX Windows Kernel Standard HAL real-time virtualization experts INtime 3.0 Real-time for Windows 9
  10. 10. Proven History of Real-time for Windows  Long history of reliable real-world use  Millions of world-wide installations  RTOS market presence for over 25 years  iRMX III in 1980  iRMX for Windows in 1992  INtime 1.0 launched in 1997  Trusted Intel and Microsoft partner  Embedded Microsoft partner since 1998  Microsoft Partner of the Year „04, „05, and „06  Intel Communications Alliance Member of the Year in 2006 real-time virtualization experts INtime 3.0 Real-time for Windows 10
  11. 11. Performance and Reliability  Hard real-time performance  Interrupt latency <4 µsec worst case (dual-core)  System clock rates down to 50 µsec (dual-core)  Dependable inter-process (application) isolation  User-mode application space (ring 3) for real-time apps  No real-time performance penalty for ring 3 operation  Priority inversion protection for real-time threads  Direct access to I/O and non-paged (physical) memory  Real-time network stacks, drivers, and interfaces  Distinct real-time safe C and C++ libraries  Non-destructive real-time fault handling  Minimal impact on Windows performance real-time virtualization experts INtime 3.0 Real-time for Windows 11
  12. 12. System Performance Data 2GHz Core Duo, Intel evaluation idle system busy system motherboard (dual-core CPU) mean std. dev. mean std. dev. interrupt handler 3.3 µsec 0.2 µsec 3.3 µsec 0.2 µsec interrupt thread 8.8 µsec 0.3 µsec 9.1 µsec 0.5 µsec 2.8GHz P4D, Intel 955X, Asus P5WD2 idle system busy system motherboard (dual-processor module) mean std. dev. mean std. dev. interrupt handler 3.7 µsec 0.2 µsec 3.7 µsec 0.3 µsec interrupt thread 9.2 µsec 0.3 µsec 9.7 µsec 1.0 µsec 2.66GHz Xeon MP, Super X5DA8 idle system busy system motherboard (dual-socket motherboard) mean std. dev. mean std. dev. interrupt handler 3.5 µsec 0.4 µsec 3.9 µsec 0.8 µsec interrupt thread 8.3 µsec 0.8 µsec 10.0 µsec 2.5 µsec 2.4GHz Celeron, Intel D865GVHZ idle system busy system motherboard (single-core CPU) mean std. dev. mean std. dev. interrupt handler 6.8 µsec 0.8 µsec 17.7 µsec 4.4 µsec interrupt thread 12.1 µsec 1.2 µsec 29.0 µsec 6.7 µsec real-time virtualization experts INtime 3.0 Real-time for Windows 12
  13. 13. INtime Real-time Applications  Industrial Control  Robotics  Motion Control  Medical Imaging  Test & Measurement  CNC Machining  Material Handling  Process Control  Radar & Avionics  Simulation real-time virtualization experts INtime 3.0 Real-time for Windows 13
  14. 14. X-Ray Equipment  Major supplier of medical X-ray systems  Mission critical application for real-time  TenAsys technology used throughout  INtime & Windows control system console  Remote INtime nodes running autonomously  CANbus connects real-time INtime nodes  Philips Medical Eleva series:  EasyDiagnost  MultiDiagnost  OmniDiagnost real-time virtualization experts INtime 3.0 Real-time for Windows 14
  15. 15. X-Ray Equipment “We use INtime for those areas of the system where movements are controlled and where radiation is controlled.” “Those are two areas where we need the most reliable software.” Sven Kuehl Software Project Leader real-time virtualization experts INtime 3.0 Real-time for Windows 15
  16. 16. Test and Measurement  World leader in power train engineering  PUMA test bed  Utilizes INtime remote nodes  High performance data acquisition system  IEEE 1394 (real-time) backbone  Up to 5 kHz continuous sampling rate  AVL real-time research paper  “Thread-based analysis of embedded applications with real-time and non real-time processing on a single platform”  Graz University of Technology http://www.iti.tu-graz.ac.at/download/publications/prisching03.pdf real-time virtualization experts INtime 3.0 Real-time for Windows 16
  17. 17. Test and Measurement “We already use Windows for visualization and database management. Why not use the same platform for critical real-time constraints?” “Plus, this would mean no additional hardware system costs for our customers.” Bernhard Hochstrasser Software Development Engineer real-time virtualization experts INtime 3.0 Real-time for Windows 17
  18. 18. Industrial Control  Largest supplier of Soft PLC systems  Lowers cost to customers by using industrial grade PC  Exceeds performance of hard PLC systems  Steeplechase VLC is used in:  Steel mills  Automotive assembly  Packaging  Materials handling real-time virtualization experts INtime 3.0 Real-time for Windows 18
  19. 19. Industrial Control “The fact that the TenAsys product was a solid platform was very important. It had a history before we started looking at it.” “TenAsys is proven technology.” Jeff Fisher Global Product Manager real-time virtualization experts INtime 3.0 Real-time for Windows 19
  20. 20. CNC Machining  World leading CNC tool vendor  Two generations of machine tools on INtime since 2000  Servicing automotive, medical device, special tool grinding, gear grinding, and aerospace markets  High-precision and high-speed  5-axis direct drive systems  3 microns precision  12,000 RPM spindle  3D preview and display real-time virtualization experts INtime 3.0 Real-time for Windows 20
  21. 21. CNC Machining “We ported from QNX to INtime using a „shim‟ to maximize preservation of existing control code.” “That code was up and running relatively quickly and continues to work today.” Gerard Cullen CNC Software Developer real-time virtualization experts INtime 3.0 Real-time for Windows 21
  22. 22. TenAsys Real-time Customers real-time virtualization experts INtime 3.0 Real-time for Windows 22
  23. 23. INtime 3.0 Key Features  Microsoft Visual Studio integration  Integrated real-time debugger  NTX object for all .NET languages  Multi-core processor support  Intel Core Duo CPUs  All standard Windows SMP platforms  Breadth of real-time device drivers  Real-time USB, Ethernet, and industrial I/O devices  Fault and spin managers  Fault manager directs real-time faults to VS debugger  Spin detector suspends threads that monopolize CPU cycles  Windows 2000, Windows XP, and Windows Vista  Windows XP Embedded and variants (POS, etc.)  Windows 2003 Server real-time virtualization experts INtime 3.0 Real-time for Windows 23
  24. 24. Why Choose INtime?  Deterministic real-time control for Windows  Reliable and secure run-time environment  Integration with Visual Studio for development and debug  Support for all standard Windows hardware platforms  Management of real-time faults without machine lockups  Connection via real-time TCP/IP, USB, and fieldbus  Persistent application execution for fail-safe operation  Practical use of hardware and software resources  Field-proven kernel, libraries, drivers, and applications  Trusted Microsoft and Intel embedded partner real-time virtualization experts INtime 3.0 Real-time for Windows 24
  25. 25. real-time virtualization experts Real-time for Windows Details
  26. 26. Multi-Processor Support  Operate on all Microsoft multi-processor HALs  Validated on P3, P4, Xeon, and Core™ CPU platforms  Windows multi-processor SMP and multi-core systems  Intel Core™ and Hyper-Threading processors  Multi-core operating modes:  Real-time performance (exclusive) mode  INtime RTOS is dedicated to a single core  Remaining CPU cores are dedicated to Windows  Windows performance (shared) mode  INtime shares one CPU core with Windows  Remaining CPU cores are dedicated to Windows real-time virtualization experts INtime 3.0 Real-time for Windows 26
  27. 27. Multi-Core Processor Benefits  Dedicate a single CPU core to real-time processes  Complete isolation of real-time interrupts  Minimal impact on Windows performance  Maximize performance of real-time processes  Or share CPU cycles between INtime and Windows  Optimize Windows‟ use of multiple CPU cores  Maximize CPU cycles available to Windows  Both modes include enhancements to determinism  Better isolation of real-time interrupts  Significant decrease in real-time interrupt delays  Independent real-time clock (more precise timer ticks)  Minimal interaction with Windows HAL real-time virtualization experts INtime 3.0 Real-time for Windows 27
  28. 28. Visual Studio Integration  Develop real-time code in Visual Studio environment  C/C++ and x86 assembly  INtime Wizards generate real-time code templates  VS 2003 and VS 2005  Real-time source-level debugging  No simulation step required  Simultaneously debug real-time and Windows applications  Windows apps use NTX interface  Either .h files or .NET object  Visual Studio solutions contain INtime and Windows projects real-time virtualization experts INtime 3.0 Real-time for Windows 28
  29. 29. Visual Studio Debugging  Integrated real-time debugger  Use Visual Studio to debug real-time processes and threads  Not possible with device driver solutions  Display and modify variables  Breakpoints, single-step, etc. real-time virtualization experts INtime 3.0 Real-time for Windows 29
  30. 30. Visual Studio Debugging  Integrated real-time debugger  Use Visual Studio to debug real-time processes and threads  Not possible with device driver solutions  Display and modify variables  Breakpoints, single-step, etc.  Real-time process fault manager  Fault in real-time thread:  suspends thread and process  launches VS debug session  or launches Spider debugger  Log trace on deployed systems real-time virtualization experts INtime 3.0 Real-time for Windows 30
  31. 31. INtime Device Drivers  Partial list of available real-time device drivers:  RS-232 serial, SCSI, VGA, USB serial, IEEE-488 (GPIB)  Intel, 3Com, NE2000, and Realtek Ethernet controllers  Hilscher CIF/COM fieldbus controllers  Communication interfaces  DeviceNet, PROFIBUS, CANopen, ControlNet  EtherCAT deterministic fieldbus INtime Process  Real-time TCP/IP and USB stacks INtime Process INtime Process Sockets API  TCP/IP stack on real-time kernel INtime Process  No Windows overhead TCP UDP raw  Standard sockets API ARP IP ICMP NIC Driver real-time virtualization experts INtime 3.0 Real-time for Windows 31
  32. 32. Real-time Configuration Tools  Interrupt Device Configurator  Simplifies assignment of IRQ to real-time environment  Warns of conflicts re shared Windows interrupts  INtime configuration utility  Windows control panel  Configure remote nodes  Manage interrupt resources  Memory extensions  Pre-allocate memory external to Windows  Reach > 4GBytes memory (using paging techniques) real-time virtualization experts INtime 3.0 Real-time for Windows 32
  33. 33. INtex (INtime Explorer) Real-Time Object Browser real-time virtualization experts INtime 3.0 Real-time for Windows 33
  34. 34. INScope (Software Scope) Performance Analysis Tool  Time stamp entry and exits of major API calls and interrupt handlers  Determine exact sequence and precise timing of real- time code execution real-time virtualization experts INtime 3.0 Real-time for Windows 34
  35. 35. Scalable and Extendable  Stand-alone RTOS solutions  INtime remote nodes on embedded hardware  Easily scale using XP Embedded tools  Detailed SLD included  Highly extensible platform  No system too complex  Motion  Vision  Discrete I/O  All with predictable and reliable results! real-time virtualization experts INtime 3.0 Real-time for Windows 35
  36. 36. Reliable Isolation Windows Segment INtime Real-Time Processes (lowest priority real-time segment) (multiple real-time segments) 0000.0000 0000.0000 CODECODE CODE DATADATA non-allocated areas DATA (page fault if entered) STACK STACK STACK Contains HEAPHEAP HEAP } Windows thread2 code thread2 code code kernel, thread2 thread2 data drivers, thread2 data data thread2 additional threads memory, allocated as above thread2 stack thread2 stack stack applications, thread2 etc. thread2 heap thread2 heap heap thread2 threads3-n threads3-n threads3-n arranged as arranged as arranged as above aboveabove Virtual Segment limit (GP fault if crossed) real-time virtualization experts INtime 3.0 Real-time for Windows 36
  37. 37. Virtualization Details  CPU-enforced isolation between INtime and Windows  Two distinct, parallel, and isolated environments  INtime processes and drivers run in user mode  Windows encapsulated as lowest priority INtime task  Windows‟ priorities and processes run unchanged  “Everything Windows” is encapsulated:  kernel, drivers, I/O, page tables, memory management,  interrupts, processes, threads, user interface, file system…  User-mode enforces reliable applications  Full speed, no performance penalty  Superior real-time debugging tools  INtime user-mode includes:  Direct access to I/O and memory  Memory protection for reliability  Paging turned off to insure determinism real-time virtualization experts INtime 3.0 Real-time for Windows 37
  38. 38. Continuous Operation  Fault and spin managers prevent lockups  Fault manager directs real-time faults to GPF handler  Spin detector suspends threads that monopolize CPU cycle  Unaffected processes continue to operate  STOP manager detects BSOD notifications  Real-time threads continue, unimpeded by a blue screen  Continuous operation means INtime applications can:  Operate without Windows, indefinitely  Gracefully shutdown or restart  Send a signal via an INtime communication interface (e.g., serial or Ethernet) that attention is required real-time virtualization experts INtime 3.0 Real-time for Windows 38
  39. 39. INtime Kernel Features (part 1)  Multi-tasked, multi-threaded applications  Preemptive priority-based scheduling algorithm  255 real-time priority task levels  Windows is lowest priority real-time task  Event-driven scheduling for interrupts and alarms  Round-robin scheduling for equal priority threads  Priority inheritance to avoid deadlocks  Periodic and one-shot timer events  50 µsec minimum interval (dual-core systems)  Interrupt service routines (ISR) and interrupt service threads (IST)  Real-time interrupts always preempt Windows  ISRs for very fast and simple interrupt processing  ISTs for complex, full-featured interrupt processing real-time virtualization experts INtime 3.0 Real-time for Windows 39
  40. 40. INtime Kernel Features (part 2)  Memory management and data sharing  Shared memory and mailboxes (message passing)  Static and dynamic memory pools and heaps  C library malloc() and free() functions  C++ new and delete operators  Synchronization mechanisms  Mailboxes (wait on messages)  Semaphores (single or multi-count)  Regions (a.k.a. critical regions or mutexes)  IPC between Windows and INtime (NTX)  Mailboxes, semaphores, and shared memory  IPC (NTX) managed by real-time kernel insures reliability real-time virtualization experts INtime 3.0 Real-time for Windows 40
  41. 41. INtime Kernel Features (part 3)  Exception handling for:  Programming errors (invalid parameters)  Invalid or insufficient resource errors (memory)  Floating point errors (numeric processor)  Hardware faults (page faults, segment faults…)  Multiple unique real-time APIs  INtime native real-time API  iRMX transition API for iRMX apps  iWin32 transition API for Win32 apps  RSL (real-time shared libraries)  Similar to Windows DLL, runs in user mode (ring 3)  Ideal for implementing real-time device drivers real-time virtualization experts INtime 3.0 Real-time for Windows 41
  42. 42. Proven Technology “Intel® Virtualization Technology is a key component of our platform approach to enable new levels of performance and features for a broad range of applications. TenAsys is utilizing this technology to help bring those benefits to embedded application developers.” Doug Davis, VP and General Manager Communications Infrastructure Group Intel Corporation real-time virtualization experts INtime 3.0 Real-time for Windows 42
  43. 43. TenAsys Software Quietly Running the World  Industrial Control & Robotics  Air & Ground Traffic Control  Medical Imaging  Test & Measurement  CNC Machining  Material Handling  Process Control  Radar & Avionics  Simulation  Mail & Check Sorting real-time virtualization experts INtime 3.0 Real-time for Windows 43
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