Real-time multitasking

The Timer Module with its clock functions represents the basis for all real-time tasks. It provides a calibrated access to all hardware time bases in the system. Time information can be freely converted into any time formats, even user specific ones. Short time delays are accurate within a few nanoseconds depending on the utilized hardware. Additionally, it can generate simple timers without real time in millisecond resolution based on Windows mechanisms.

• Detection of all operating time bases in the system
• Calibration of different timer/clocks
• Long-term synchronization of system clocks
• Monitoring the system time in different time and user-specific formats, resolution up to 0.1 μs
• Highly accurate short time delays in 0.1 µs steps
• Programming of user-specific time formats
• Reliable prevention of overflows caused by internal 96-bit operations
• Creation of simple timers in millisecond resolution based on Windows-mechanisms (no real time)

The RealTime Tasking Module complements the Timer Module and enables the programming of timers, which can trigger the application code in different ways. The context of the program execution can be selected. Signalable objects can be events or callbacks at application or kernel level, as well as real-time tasks. Also included is a priority-driven, preemptive real-time multitasking system for the mutual prioritization of single real-time tasks. This allows for detailed handling of which processes come prior to others, halting less important ones as well as which tasks can be interrupted by more important ones, which is equivalent to the mechanisms of a pure real-time operating system (RTOS).

Maximum of two dedicated CPUs, above requires Dedicated CPU Extension.

Real Time

• Development of high frequency real-time timer routines
• Cyclical or one-time timer programmable
• Simple debug and test option with callbacks at application level
• Option for timers to directly start, exit or kill
• Easy implementation of watchdog mechanisms
• Start time can be set in a 0.1 µs resolution (e. g. for synchronization with other processes)
• Timer frequencies of up to 20 kHz and more
• Jitter in the one-digit microsecond range
• Timer period dynamically adjustable

Multitasking

• Preemptive real-time system
• Real-time tasks with up to 255 different priority levels programmable
• Dynamic modification of priority levels
• Multiple tasks with the same priority level as "round-robin"
• Including priority inheritance to avoid priority inversion
• Real-time semaphores for synchronization between real-time tasks
• Real-time events for triggering of external tasks
• Tasks can be suspended, continued, triggered, exited and killed
• Tasks can be delayed (0.1 µs resolution)
• Operation of CPU cores exclusively in real-time mode in order to avoid Windows influence
• Very short task switching times
• Speedloop mode for high-precision cyclical execution

Requires Timer Module

Dedicated CPU Extension

Extension for using additional logical dedicated CPUs

• Extended Level: up to 8
• Maximum Level (requires Extended Level): up to 47 (more on request)

The PTP Module allows for multiple network participants within a distributed system to accurately synchronize with each other and to be controlled in real time. The Kithara real-time system generates precise timestamps with deviations in the sub-microsecond range in order to match the clock of all participants. The API provides access to the BMCA (Best Master Clock Algorithm), which determines the Master clock according to configurable parameters. Alternatively, master and slaves can be set manually.

• Precise synchronization of multiple network participants
• Accurate timestamps with deviations in the sub-microsecond range
• Configurable BMCA (Best Master Clock Algorithm)
• Manual setting of master and slaves
• Requires Network Module

NMEA Extension

Real-time communication and synchronization with NMEA 0183.

gPTP Extension

The gPTP Extension complements the PTP Module with support for the “generalized Precision Time Protocol” (defined in IEEE 802.1AS), a simplified PTP profile. The gPTP Extension allows for highly accurate synchronization of all clocks within a distributed system but limits itself to a more straightforward set of functions, making it suitable for a broader range of applications. For example, clocks do not have to be configured individually but are all standardized.

• Precise synchronization of multiple network participants
• Simplified PTP profile
• All clocks standardized
• Easier configuration of the BMCA (Best Master Clock Algorithm)