Introduction to RTONBOOT, an Industry-Leading Multi-Core Heterogeneous Framework

1. Introduction and features of the RTOnBoot framework Chengdu Shianxin Technology Co., Ltd. completed the development of the RTOnBoot real-time framework in 2021. The RTOnBoot framework is a multi-core heterogeneous framework for Linux and RTOS (Real-Time Operating System). One heterogeneous architecture is Linux or Android, and the other is RTOS. The RTOnBoot framework requires corresponding modifications to the Bootloader, Linux or Android, and the RTOS. The RTOS uses our self-developed kernel and can also port most RTOSs available online, such as NuttX (similar to Linux's API interface, Apache License) and ThreadX (with stronger security and real-time performance than VxWorks, MIT License). Six major technical advantages of the RTOnBoot framework: First, stable and excellent hard real-time characteristics, insensitive to the load of Linux or Android. Second, ultra-fast startup speed. Solves the problem of slow startup speed of Linux or Android. Third, optimal inter-core large-capacity data exchange performance, with inter-core large-capacity data exchange performance at the nanometer level, while OpenAMP is at the second level. Fourth, the most flexible inter-core interaction means. In addition to asynchronous message interaction between cores, Linux or Android can even directly call the RTOS API or access the RTOS shared variables. Fifth, enhanced security. An enhanced security mechanism is designed. TrustZone hardware isolation is adopted. Further enhances the security of the real-time system without affecting the smoothness, in addition to the Linux security mechanism. Sixth, perfect compatibility. After successful porting, it is 100% compatible with the Linux or Android ecosystem (drivers or applications). In summary, the RTOnBoot framework is currently the world's best multi-core heterogeneous coexistence solution.
2. The RTOnBoot framework can be applied to many fields. First, why choose the RTOnBoot framework instead of existing real-time frameworks like Xenomai or Preempt-RT patches? Xenomai or Preempt-RT patches have poor real-time performance stability. While their real-time performance is decent under system idle, stability is insufficient. Under heavy system load, real-time performance drops significantly, with noticeable jitter and frequent large delays. RTOnBoot, on the other hand, has stable real-time performance and is not highly sensitive to system load. Under heavy system load, real-time performance drops only slightly, and the probability of large delays is extremely low. Second, EtherCAT is currently the most popular and advanced fieldbus. EtherCAT masters have high real-time requirements, and solutions using Xenomai or Preempt-RT patches may experience packet loss under heavy system load. Heavy system load is very common in the current AI era. Third, industrial software like OpenPLC or Codesys can be ported to a core running an RTOS. IgH or SOEM master stations can also be ported to a core running an RTOS. Fourth, the UAV flight control software PX4 is based on NuttX, but running PX4 on a microcontroller now has the problem of excessive CPU usage. PX4 can be ported to a core running an RTOS. Fifth, microcontrollers cannot meet the requirements of the current Internet and AI era for master stations. Sixth, there are real-time solutions for Windows. However, Windows has several fatal weaknesses: 1.High cost and power consumption.
3. Windows is not open source, making user customization difficult.
4. Windows AI computing power relies on NVIDIA graphics cards, while embedded systems in China more commonly use NPUs, and the supply of NVIDIA graphics cards is an issue.
5. The processing power of ARM64 is now close to that of X64, which is more than enough.
6. Windows' real-time solutions do not have excellent real-time performance. Seventh, the hard-core microcontroller core included with the SOC can be used as a backup control system when the main flight control platform fails. This design is the optimal one. Eighth, using the RTOnBoot framework in the 3D printing field can also bring revolutionary changes. The printing firmware originally running on a microcontroller can be ported to a core running an RTOS. This can greatly improve real-time performance and printing speed, and the original two boards can be combined into one, also improving system stability. This demand is even more urgent in industrial-grade 3D printing. Ninth, real-time system security is getting more and more attention. Tenth, precision robotic motion platforms, such as surgical robots and other such occasions appear in real-time jitter, the results are unacceptable to the user. Eleventh, the RTOnBoot framework and ROS have been integrated. Hard real-time ROS nodes can be created based on the RTOnBoot framework. Twelfth, the RTOnBoot framework can also be used in CNC machining and precision machinery fields to improve high-precision speed and stability.