WikiStart

Version 97 (Anthony Rowe, 01/27/2010 02:16 am)

1 89 Anthony Rowe
2 89 Anthony Rowe
[[TracNav(TOC)]]
3 89 Anthony Rowe
4 10 Anthony Rowe
5 76 Anthony Rowe
= Nano-RK: A Wireless Sensor Networking Real-Time Operating System  =
6 76 Anthony Rowe
Nano-RK is a fully preemptive reservation-based real-time operating system (RTOS) from [http://www.cmu.edu Carnegie Mellon University] with multi-hop networking support for use in wireless sensor networks. Nano-RK currently runs on the FireFly Sensor Networking Platform as well as the [wiki:MicaZ] motes. It includes a light-weight embedded resource kernel (RK) with rich functionality and timing support using less than 2KB of RAM and 18KB of ROM. Nano-RK supports fixed-priority preemptive multitasking for ensuring that task deadlines are met, along with support for CPU, network, as well as, sensor and actuator reservations. Tasks can specify their resource demands and the operating system provides
7 34 Anthony Rowe
timely, guaranteed and controlled access to CPU cycles and network packets. Together these resources form virtual energy reservations that allows the OS to enforce system and task level energy budgets. 
8 5 Anthony Rowe
9 75 Anthony Rowe
== News ==
10 96 Anthony Rowe
 * 11/13/2009 Paper on [http://www.andrew.cmu.edu/user/agr/pubpg/sensys-09.pdf Syntonistor] for time synchronization wins best paper award [http://sensys.acm.org/2009/program.htm SenSys 2009]
11 93 Anthony Rowe
 * 10/15/2008 Paper on [wiki:Pubs Rate-Harmonized Scheduling] at RTSS 2008
12 87 Anthony Rowe
 * 2/12/2008 New [wiki:releases release] fixes kernel memory bug and adds Windows Support.
13 87 Anthony Rowe
 * 2/7/2008 gcc 4.2.2 with avr-libc 1.6.1 fix multiple minor bugs. Install new toolchain from [wiki:Downloads] page.  
14 84 Anthony Rowe
 * 12/29/2007 [http://www.embedded.com/design/networking/204800543?pgno=1 Embedded.com Article] discusses Nano-RK
15 94 Anthony Rowe
 * 10/20/2007 Paper on [wiki:Pubs Vision-Enabled Sensor Networks] using Nano-RK at RTSS 2007
16 84 Anthony Rowe
 * 10/6/2007 Public Subversion Read Access for pre-beta [wiki:releases release]
17 94 Anthony Rowe
 * 10/16/2006 Paper on [wiki:Pubs Voice Over Sensor Networks] using Nano-RK at RTSS 2006
18 94 Anthony Rowe
 * 9/25/2006 Paper on [wiki:RT-Link] running on Nano-RK wins best paper at SECON 2006
19 94 Anthony Rowe
 * 12/15/2005 Nano-RK paper introduced at RTSS 2005
20 32 Anthony Rowe
21 74 Anthony Rowe
== Features ==
22 74 Anthony Rowe
23 32 Anthony Rowe
 * C GNU tool-chain
24 32 Anthony Rowe
 * Classical Preemptive Operating System Multitasking Abstractions
25 32 Anthony Rowe
 * Real-Time Priority Based Scheduling
26 33 Anthony Rowe
 * Built-in Fault Handling
27 35 Anthony Rowe
  * Task Timing Violations
28 35 Anthony Rowe
  * Stack Integrity
29 35 Anthony Rowe
  * Unexpected Node Restarts
30 35 Anthony Rowe
  * Resource Over-Use 
31 34 Anthony Rowe
  * Low Voltage Detection
32 95 Anthony Rowe
  * Hardware Watchdog Timer
33 95 Anthony Rowe
  * Software Watchdog Timers
34 43 Anthony Rowe
 * Energy Efficient Scheduling based on ''a-prior'' task-set knowledge
35 97 Anthony Rowe
 * Tickless Timer
36 66 Anthony Rowe
 * Small Footprint (<2K RAM, 16K ROM, including link layer)
37 69 Anthony Rowe
 * [wiki:SLIPstream] (a simple gateway to IP network protocol and utility)
38 70 Anthony Rowe
 * [wiki:TimeScope] (a code execution time measurement utility built into the FireFly programmer boards)
39 78 Anthony Rowe
 * [wiki:avr-studio AVR Studio 4 Debugging]  (Simulating Nano-RK code on a single node using AVR Studio 4 is easy)
40 32 Anthony Rowe
41 54 Anthony Rowe
Nano-RK supports various wireless link layer protocols including:
42 36 Anthony Rowe
 * [wiki:RT-Link] for collision free Real-Time communication
43 37 Anthony Rowe
 * [wiki:WiDom] a collision free priority based link layer
44 73 Anthony Rowe
 * [wiki:b-mac] for low-power contention based communication
45 46 Anthony Rowe
46 51 Anthony Rowe
[[Image(htdocs:images/nrk_arch.png)]]
47 48 Anthony Rowe
48 49 Anthony Rowe
Sample Nano-RK architecture figure showing user applications and [wiki:RT-Link].