A Hard Real-Time Kernel for Motorola Microcontrollers

Abstract

This paper describes a real-time kernel for running
embedded applications on a recent family of Motorola
microcontrollers. Both periodic and aperiodic real-time
tasks are managed, as well as non real-time tasks. The
kernel has been called Yartos, and uses a hard real-time
scheduling algorithm based on an EDF approach for the
periodic task; aperiodic tasks are executed with a Total
Bandwith Server.