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VxWorks
DeveloperWind River(a wholly owned subsidiary of Intel Corporation
OS familyReal-time operating systems
Working stateCurrent
Initial release1987; 37 years ago (1987)
Latest release7 / March 2014; 10 years ago (2014-03)
Marketing targetEmbedded systems
Platformsx86 (including Quark), x86-64, MIPS, PowerPC, SH-4, ARM
Kernel typeMonolithic
LicenseProprietary
Official websitewww.windriver.com/products/vxworks

VxWorks® is a real-time operating system (RTOS) developed as proprietary software by Wind River® of Alameda, California, US. First released in 1987, VxWorks is designed for use in embedded systems requiring real-time, deterministic performance and, in many cases, safety and security certification, for industries, such as aerospace and defense, medical devices, industrial equipment, robotics, energy, transportation, network infrastructure, automotive, and consumer electronics.[1][2] In its latest release, VxWorks 7, the RTOS has been re-engineered to separate the OS kernel from middleware, applications and other packages, which enables bug fixes and feature additions to be done faster, without modifying the OS core and retesting the entire system. Scalability, security, safety, connectivity, and graphics have been upgraded to meet the needs of the Internet of Things.[3]

History

VxWorks started in the early 1980s as a set of enhancements to a simple RTOS called VRTX[4] sold by Ready Systems (later becoming a Mentor Graphics product in 1995).[5][6] At the time, VRTX had quality issues, was 4KB, small in size, lacked critical features, and was generally not up to par as a full-blown RTOS. Wind River acquired rights to distribute VRTX and significantly enhanced it by adding, among other things, a file system and an integrated development environment. In 1987, anticipating the termination of its reseller contract by Ready Systems, Wind River developed its own kernel to replace VRTX within VxWorks.[7]. The VxWorks name is believed to be a pun on VRTX ("VRTX that works"). Legend has it, that the company founders, Jerry Fiddler and Dave Wilner, first conceived of forming Wind River and creating VxWorks, while hiking in the Wind River mountains of Wyoming.

VxWorks has evolved over 27 years to meet the needs of a diverse, growing customer base, achieving over 1.5 billion device deployments worldwide[8].

  • 1980s: (32-bit processing) – VxWorks adds support for 32-bit processors
  • 1990s: (the Internet) – VxWorks 5 becomes the first RTOS with a networking stack
  • 2000s: (multi-core) – VxWorks 6 supports SMP and adds derivative industry-specific platforms
  • 2010s: (64-bit processing and the Internet of Things) – VxWorks adds support for 64-bit processing.[9]

Platform Overview

VxWorks includes a kernel, middleware, board support packages, and Wind River Workbench development suite. Various complementary third-party software and hardware technologies are also available. The platform is a modular, vendor-neutral, open system that separates the OS kernel from middleware, applications and other packages. This separation enables easier integration and testing of new software.[3][10]

VxWorks supports Intel® (x86, including the new Quark SoC,[11] and x68-64), MIPS, PowerPC®, SH-4, and ARM® architectures. The RTOS can be used in multicore asymmetric multiprocessing (AMP), symmetric multiprocessing (SMP), and mixed modes.Cite error: A <ref> tag is missing the closing </ref> (see the help page).. The implementation of a layered source build system in VxWorks 7 allows multiple versions of any stack to be installed at the same time so developers can select which version of any feature set should go into the VxWorks kernel libraries. The VxWorks 7 Core Platform incorporates both a small and large kernel to provide the necessary flexibility to meet the needs of a wide range of product sizes. Its optional add-on Profiles support the addition of incremental functionality required for specific industries as well as additional technology-related capabilities such as its small footprint VxWorks microkernel (20K) and its Security Profile.[12]

The VxWorks Core Platform's supported hosts are Windows and various versions of Linux and includes the following runtime components:

  • OS (UP and SMP; 32- and 64-bit)[9]
  • Application support: file system; core network stack; USB stack; inter-process communications (IPC)
  • Hardware support: architecture adaptor; processor support library; device driver library; BSPs

Features

Some of the key features[9]Cite error: A <ref> tag is missing the closing </ref> (see the help page). for x86-64: data model: LP64

  • Memory protection including real-time processes (RTPs), error detection and reporting, and IPC
  • Error handling framework
  • Binary, counting, and mutual exclusion semaphores with priority inheritance
  • Local and distributed message queues
  • POSIX PSE52 certified conformity in user-mode execution environment[13]
  • File systems: High Reliability File System (HRFS), FAT-based file system (DOSFS), Network File System (NFS), and TFFS
  • Dual-mode IPv6 networking stack with IPv6 Ready Logo certification
  • Bluetooth, USB, CAN protocols, Firewire IEEE 1394, BLE, L2CAP, Continua stack, health device profile
  • Multi-OS messaging using TIPC and Wind River multi-OS IPC
  • symbolic degugging

New Features in VxWorks 7: According to Wind River's press release of March 2014, VxWorks 7, improves on previous release's scalability, security, safety, connectivity, and virtualization[14]. The following list some of the key improvements.[15]

  • Layered source build system with the ability to update each layer of code independently
  • VxWorks microkernel (a full RTOS that can be as small as 20KB)
  • Security features such as digitally-signed modules (X.509), encryption, password management, ability to add/delete users at runtime
  • SHA-256 hashing algorithm as the default password hashing algorithm
  • Human machine interface with Vector Graphics, and Tilcon user interface (UI)
  • Graphical user interface (GUI): OpenVG stack, Open GL, Tilcon UI, Frame Buffer Driver, EV Dev Interface
  • Updated configuration interfaces for VxWorks Source Build VSB projects and VxWorks Image Projects
  • Single authentication control used for Telnet, SSH, FTP, and rlogin daemons
  • Connectivity with Bluetooth and SocketCAN protocol stacks
  • Inclusion of MIPC File System (MFS) and MIPC Network Device (MND)
  • Version numbering scheme for VxWorks profiles and core platform are per component and attributed to the revision of the particular component.
  • Broad networking and middleware features:
    • Majority of components support 64-bit operation
    • Introduction of Wind River MACsec and Wind River’s implementation of IEEE 802.1A
    • Support is provided for the Point-to-Point Protocol (PPP) over L2TP, PPP over virtual local area network (VLAN)
    • Diameter secure key storage
  • Updated Wind River Workbench 4 VxWorks[16] integrated development environment that updates to the Eclipse 4 base providing full third party plug-in support and usability improvements
  • Connection usability improvement via single TCF connection for all tools
  • Faster, open source debugging UI and engine
  • System Viewer provides tack trace support on some events and usability improvement of config/control GUI
  • New featuring memory and performance analysis tool
  • Wind River Diab Compiler 5.9.4 provides support for additional architectures, optimizations, and new options
  • Support for Wind River GNU Compiler 4.8
  • Support for ICC 14 and Intel Integrated Performance Primitives (IPP)

Board Support

VxWorks has been ported to a number of hardware platforms and now runs on practically any modern CPU that is used in the embedded market. This includes the Intel x86 (including the Quark SoC) and x86-64 families, MIPS, PowerPC (and BAE RAD), Freescale ColdFire, Intel i960, SPARC, Fujitsu FR-V, SH-4 and the closely related family of ARM, StrongARM, and xScale CPUs among others. VxWorks provides a standard board support package (BSP) interface between all its supported hardware and the OS. Wind River’s BPS developer kit provides a common application programming interface (API) and a stable environment for real-time operating system development.

Design Environment

As is common in embedded system development, cross-compiling is used with VxWorks. Development is done on a "host" system where an integrated development environment, including the editor, compiler tool chain, debugger, and emulator can be used. Software is then compiled to run on the "target" system. This allows the developer to work with powerful development tools while targeting more limited hardware.

Supported Host Environments

  • Windows 8 / 7 / Vista (Business and Enterprise), SP 2 / XP Professional, SP 2 or 3
  • Red Hat Enterprise Linux Workstation 5, Update 2 or 3, x86 (32-bit/64-bit) / 4, Update 6 or 8, x86 (32-bit)
  • Red Hat Fedora 11, x86 (32-bit/64-bit) / 9, x86-64
  • Novell SUSE Linux openSUSE 11.1, x86 (32-bit/64-bit) / 11.0, x86 (32-bit/64-bit)
  • Novell SUSE Linux Enterprise Desktop 11.0, x86 (64-bit) / 10.2, x86 (32-bit/64-bit)
  • Ubuntu Desktop 9.04, Update 4, x86 (32-bit/64-bit) / 8.04, Update 4, x86 (64-bit)
  • Solaris 10 (with GTK), Update 11/06, SPARC 32-bit

Supported Target Architectures and Processor Families The newly-released VxWorks 7 supports the following target architectures:

  • ARM 11 / 11 MPCore / 9 / Cortex A9 MPCore / Cortex A8
  • Intel Pentium family / Quark / Xeon / Xeon LV / Core / Core 2 Duo / Atom
  • PowerPC 86xx, 8641d / 85xx, 8572 / 83xx / 74xx / 7xx / 60x / 44x / 40x / QorIQ P4080 / QorIQ P20xx

The development environment tools include Wind River Workbench, compilers and a hardware simulator, Wind River Simics.

The Eclipse-based Workbench is used to configure, analyze, optimize and de-bug a VxWorks-based system under development. Workbench is supported by VxWorks versions 6.x and later and came as a replacement to the Tornado integrated development environment used for VxWorks 5.[17]. Workbench is also the development suite for the Wind River Linux[18],[19], and Wind River Diab Compiler product lines.

VxWorks 7 includes three compilers: Diab Compiler, GNU, and the Intel C++ Compiler. Diab Compiler is the default C/C++ compiler for building VxWorks kernel, libraries, BSPs, and applications. It has been used for mission-critical systems for over 20 years. The GNU compiler is based on the Free Software Foundation (FSF) distribution of GCC and g++. Wind River has modified it to for use with VxWorks. The Intel C++ Compiler processes C and C++ source code to generate machine code for IA 32 or Intel 64 architecture applications.

Wind River Simics[20] is a standalone simulation tool compatible with VxWorks. Simics enables early and continuous system integration; faster prototyping by utilizing virtual prototypes instead of physical prototypes; and architectural analysis by running what-if scenarios and trying multiple hardware and software alternatives before committing to one. Simics simulates the full target system to create a shared platform for software development. Multiple developers can share a complete virtual system and its entire state, including execution history, which increases efficiency and accelerates software development and testing.

Certifications and Standards

VxWorks complies with the following certifications[21] and standards:

  • IEEE Std. 1003.1 (POSIX)
  • IEEE Std. 1003.13-2003 PSE52
  • U.S. Department of Defense for Joint Tactical Radio Systems (JTRS) Software Communications Architecture (SCA)
  • AEP 2.2.1 and 2.2.2
  • IPv6 Ready Logo Program
  • IEEE Std. 802.1X; IEEE Std. 802.11i
  • IEEE Std. 802.1.AE; Virtual Private Network Consortium (VPNC)
  • Wurldtech Achilles ARINC Specification 653, Part 1
  • IEC 61508; RTCA DO-178B/C
  • EUROCAE ED-12B/C
  • Many RFCs and Internet-Drafts maintained by the Internet Engineering Task Force (IETF).

Wind River development and support practices also comply with the Service Capability and Performance (SCP) and CCMI Level 3.

Notable Uses

VxWorks has been deployed in a diverse set of vertical markets including aerospace and defense, automotive, consumer electronics, industrial equipment, networking equipment and others.[22] Notable products which use VxWorks as the onboard operating system include:

Aerospace and Defense

Spacecraft

The Deep Space Program Science Experiment (DSPSE) also known as Clementine (spacecraft)[24] Clementine launched in 1994 running VxWorks 5.1 on a MIPS-based CPU responsible for the Star Tracker and image processing algorithms. The use of a commercial RTOS on board a spacecraft was considered experimental at the time

Aircraft

Space Telescopes

Others

Automotive

  • Toshiba TMPV75 Series image recognition SoCsfor advanced driver assistance systems (ADAS)
  • Bosch Motor Sports race car telemetry system
  • Clarion AX1Android-based automotive in-vehicle infotainment system (IVI)
  • Hyundai Mobis IVI system
  • Magneti Marelli’s telemetry logger and GENIVI®-compliant infotainment system
  • BMW iDrive system
  • Siemens VDO automotive navigation systems

Consumer Electronics

  • Drobo data storage robot
  • Honda robot ASIMO
  • Motorola's DCT2500 interactive digital set-top box
  • Mobile Technika MobbyTalk and MobbyTalk253 phones
  • ReplayTV home digital video recorder
  • Thuraya SO-2510 satellite phone
  • DEC Lectrice (an early tablet (1993) that ran an X11 server: developed by Charles P. Thacker at Digital Equipment CorporationSega NAOMI / NAOMI 2 GD-ROM/NetDimm arcade systems)

Industrial

Transportation

Industrial Robots

Controllers

Storage Systems

Imaging

Others

Medical

  • Varian TrueBeam™ image-guided radiotherapy and radiosurgery platform - a radiotherapy device for treating cancer[18]
  • Olympus Corporation ESG-400 high-frequency surgical generator
  • BD Biosciences FACSCount instrumentation system
  • Fedegari Autoclavi S.p.A. Thema4 process controller
  • Sirona Dental Systems CEREC extraoral X-ray CAD/CAM systems

Networking and Communication Infrastructure

References

  1. ^ Wind River Outfits VxWorks for the internet of things, IT World
  2. ^ wkinvest Feature Broker
  3. ^ a b VxWorks 7 Announced, Harmonic Software Systems[1],
  4. ^ "Embedded Systems Glossary: V". www.netrino.com. Netrino, LLC. Retrieved 20 September 2010.
  5. ^ Ready/Microtec merger expected Business Exchange November 15, 1993
  6. ^ "SEC filing". Secinfo.com. January 19, 1996. Retrieved 2011-11-18.
  7. ^ Lord of the Toasters, Wired (magazine) interview with Jerry Fiddler, September 1998
  8. ^ Wind River updates VxWorks OS to join 'Internet of things'. PC World, Mar 2, 2014
  9. ^ a b c Embedded Star
  10. ^ Wind River Outfits VxWorks for the internet of things, IT World
  11. ^ Intel Tackles SoC With Quark"' EE Times
  12. ^ "Wind River Prepares VxWorks for the IoT", Electronic Weekly.com
  13. ^ POSIX Certification Register
  14. ^ Wind River Reinvents the Real-Time Operating System for the Internet of Things Windriver.com,
  15. ^ Wind River VxWorks Page, Wind River.com
  16. ^ "VxWorks Gets Re-vamped", Information Technology
  17. ^ Wind River Workbench Page
  18. ^ Wind River LinuxPage
  19. ^ Wind River Workbench On-Chip Debugging Page
  20. ^ Wind River Simics
  21. ^ VXworks 7 Certifications
  22. ^ http://www.windriver.com/customers/,“Wind River Customers” Windriver.com.
  23. ^ "Wind River's VxWorks Powers Mars Science Laboratory Rover, Curiosity". Virtual Strategy Magazine. 6 August 2012. Retrieved 2012-08-20.
  24. ^ Clementine Project Information Page
  25. ^ The Software Behind the Mars Phoenix Lander
  26. ^ a b "Wind River Powers Mars Exploration Rovers--Continues Legacy as Technology Provider for NASA's Space Exploration". Wind River Systems. 2003-06-06. Retrieved 2009-08-28.
  27. ^ Dragon Lab Fact Sheet
  28. ^ "ABB Robotics and vxworks". Abb.com. Retrieved 2011-11-18.
  29. ^ National Instruments Support Page
  30. ^ Toshiba Photocopiers

External links

Category:Real-time operating systems Category:Embedded operating systems Category:Robot operating systems Category:ARM operating systems Category:PowerPC operating systems

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