To achieve a timeliness guaranteed computing in real-time embedded systems, an appropriate task model with timing constraints, environment tools such as an schedulability analyzer and a monitoring tool for verification are required as well as a real-time kernel that supports the task model. In this paper, the functions and implementation techniques of the TMOeCos2.0 kernel and its enhanced schedulability analysis tool those have been developed by the support of Korean army for real-time distributed embedded computing are introduced. The kernel is a modified eCos TM kernel to support the well-known TMO (Timetriggered Message-triggered Object) as its task model. It provides several TMO-oriented real-time scheduling policies and a distributed IPC scheme while its environment supports a task serializer as an off-line scheduling tool for the design of hard real-time systems. TMO-eCos also supports a TMO-oriented deadline-driven power management scheme for energy saving sensor/actuator systems. Other tools for monitoring, verification and high availability are under development. A new project to develop an unmanned helicopter control system based on the TMO-eCos has been launched this year.
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