Figure 2. Influential factors in operating system selection according to Embedded Systems Design embedded market surveys in 2005, 2006, and 2007 (http:/Awww.embedded.com/ columns/survey). The total number of people surveyed is N = 441. (Copyright 2009 TechInsights. Used with permission.) Table 3. User-controllable parameters for RTOS semaphore creation. Table 4. System service call implementation and critical section implementation. Table 5. APIs used for the task switch time benchmark. Table 7. APIs used for the message-passing benchmark task to another. Figure 4b shows how we measure the get and release semaphore time. support this approach. Figure 4d shows how we perform this measurement. Table 9. APIs for the task activation from within interrupt handler benchmark. report. By averaging the ROM information across all test criteria, we got the average ROM size. Figure 5a shows the code sizes for the four RTOSs when running the seven benchmarks. allocation should be used. The allocation and deallocation time must be determinis- tic. Figure 4f illustrates how we measure the time to acquire and to release a fixed- size memory block. Figure 5. Benchmarking results for the four RTOSs: comparisons of code size (a) and data size (b). Figure 6. Execution time benchmark for four RTOSs.
