KRNL - An Arduino Kernel
Last update: 250922 19:18:55
Browse files incl examples:
Src folder list: here
Download zipfile for install krnl/krnl.zip
Doxified krnl here: html/index.html
Github: https://github.com/jdn-aau/krnl
I have found it interesting to develop an open source realtime kernel (KRNL) for the Arduino platform:
open source
well suited for teaching
easy to read and understand source
priority to straight code instead insane optimization(which will make it nearly unreadable)
well suited for serious duties - but with no warranty what so ever
easy to use
just import library krnl and you are ready
automatic recognition of architeture
supports all atmega variants I have had available (168,328,1280,2560 - uno, duemillanove, mega 1280 and 2560)
Suited for scheduability test after RMA
Krnl traps miss of deadlines and issue a breakout to user space so ypu can trap
See html-w-examples for krnl code and examples (browse under files
Some characteristics:
preemptive scheduling
Basic heart beat at 1 kHz. KRNL can have heeartbeat in quants of milli seconds
krnl uses timer2 so PWM based on timer2 is not possible(you can change it)
static priority scheme
support task, semaphores, message queues
All elements shall be allocated prior to start of KeRNeL
support user ISRs and external interrupts
Directory krnl shall be within your libraries directory .. sketchbook/libraries
You have to restart your arduino environment
See templates for a number of commented runable examples which illustrates very well different mockups.
Access to code
welcome
history
krnl on github download as zipfile or clone it
git clone https://github.com/jdn-aau/krnl.git
( 2018 added immediate ceiling protocol on semaphores (version 20180313)
( updated june 2015 with new features for handling tight fixed frequency execution)
krnl consists of two files krnl.h and krnl.cpp which you shall save in directory sketchbook/libraries/krnl
Src folder list: here
or click here - beware wuite many lines of code