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T-Kernel/ITRON
Ken Sakamura
Professor at the University of Tokyo
Chair of T-Engine Forum
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
1
What is ITRON/T-Kernel?
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
2
Embedded Systems
Computers are not just PCs
 “Embedded systems”
– Software systems “embedded” inside consumer electronics,
automobiles, sensors/actuators, …, etc.
 In fact, 98% of computing devices are embedded systems
– By 2020, over 40 billion embedded processors are predicted to be
sold annually [ARTEMIS Joint Undertaking (EU)]
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
3
What is “Real-Time”?
(Hard) Real-Time
 Computer must process the given jobs within a specific amount
of time (referred to as “deadline”)
PCs are NOT hard real-time systems
 Users can wait until
amount of time
to disappear for practically indefinite
Embedded systems ARE real-time systems
 E.g., Automobile must cause its brakes to work immediately
– The time MUST be assured to be upper-bounded; otherwise, …
 Same for other embedded systems
– Because embedded systems interact with physical environments
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
4
Real-Time OS
Real-Time Operating System (RTOS)
 Operating system with real-time assurance
 Multi-task (multi-thread) model
– Simplifies programming of operation workflows
 Task switching with real-time assurance
Response time not bounded
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
5
Real-Time OS
Is RTOS really needed?
 Is it practical for application programmers to write application
codes to assume real-time behavior on multiple tasks by hand?
Apparently too complex to handle
 The use of event-driven OS is thus limited to extremelyconstrained devices & simple application scenarios
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
6
Real-Time OS
Then, why not Linux or Android?
 Too heavy to ensure hard real-time, even when real-time
scheduler is selected
Let’s compare the boot sequence
Linux (typically boots with 10～ secs)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
T-Kernel 2.0 + T2EX (boots instantly)
7
TRON Project
TRON Project
 Started in 1984 to build an ideal computer architecture
 The vision we pursue has been HFDS (highly functional
distributed system)
– a.k.a. “IoT” (Internet of Things), Ubiquitous Computing, M2M, …
One of the most important contributions is the
standard embedded real-time OS (RTOS)
 ITRON (Industrial TRON) family (1987～)
 T-Kernel family (2002～)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
8
ITRON
ITRON Features
 Real-time operating system
– TRON sub-framework for embedded devices
 Open architecture
– Specification made publicly available without any fee
 Chip Agnostic
– Not restricted to a specific hardware nor chip
 Efficient
– Equipped with abundant synchronization/communication API
– No virtualization, no processes
 Optimization
– Allows chip-dependent optimizations
– Relaxed specifications of chip-dependant functions (like interrupts)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
9
The Birth of T-Kernel
Evolution of OS never ends
 As long as the computer evolves
– e.g. 64-bit address space → space-efficient page tables
– e.g. higher clock frequency → low-power (clock/power-gating, etc.)
– e.g. multi-core, virtualization → …
 Embedded technology advanced a lot since ITRON in 1987
T-Kernel is the ITRON for the 21st century
 Based on the ITRON, industrial-proven for long since 1980s
 But with major revision to be adopted for computing technology
of the 21st century
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
10
T-Kernel
Additional T-Kernel Features
 Open source
– The source code for T-Kernel is distributed for free
– Anyone can use it, alter them, and sell them
 Higher compatibility
– Achieved by the reference source code
– The original source code defines the specification, with no
ambiguity
 Middleware and applications made reusable
– High compatibility makes software no longer strongly tied to
specific board or chip
– Minimize the cost to develop richer embedded application systems
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
11
Acceptance of ITRON/T-Kernel
ITRON/T-Kernel as a de facto standard
 Due to the successful concept and cooperation, ITRON/TKernel is now one of the de facto standards in the world RTOS
 According to a survey, ITRON/T-Kernel has had the topmost
share for 18 consecutive years
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
12
TRON Ecosystem
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
13
Maturity of ITRON/T-Kernel
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
14
Maturity
ITRON/T-Kernel is a mature technology, having
almost 30 years of industrial experience
Thus accepted by mission critical applications
 Artificial satellites, spacecrafts, …
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
15
Space Ships
Hayabusa
 Launched in May 2013, and returned to the Earth in June 2010
 Has continued to work for 7 years in space
Space Ship “Hayabusa”
 CPU: SH-3(SH7708) with triple redundancy
 OS: μITRON
Space Probe “MINERVA”
 CPU: SH-3 (SH7708)
 OS: μITRON
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
Artificial Satellites
Space Ship “Akatsuki” and Solar Power Sail “IKAROS”
 Launched in May 2010
 Controlled by T-Kernel
– Camera control for Venus
atmosphere observation
– Expansion and control of
solar sail
– Processing photographs
Space Telescope “Hisaki” (SPRINT-A)
 Launched in September 2013
 Controlled by T-Kernel
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
17
Proven Performance
μT-Kernel performance proved to perform the best
in IEEE-authorized, third-party paper
 In both context-switching and interrupt-handling
Source: T.Nguyen, B. Anh, S. Tan: “Real-time operating systems for small microcontrollers,”
IEEE Micro Sept./Oct. 2009, pp-30-45
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
18
Evolution of ITRON/T-Kernel
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
19
Evolving T-Kernel
Again, evolution of OS never ends
 As long as the computer evolves
T-Kernel has continued to evolve to meet the
demands of the era







T-Kernel Standard Extension
μT-Kernel
MP T-Kernel (SMP/AMP)
T-Kernel 2.0
T-Kernel 2.0 Extension (T2EX)
μT-Kernel 2.0
…
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
20
Evolving T-Kernel
T-Kernel Standard Extension
 Extension to add PC-like rich OS functionalities to RTOS
– File systems, processes, standard I/O, …
 Accepted in informational devices
– Car navigation systems, …
μT-Kernel
 Compacted version of T-Kernel
– Can be used with 8KB ROM and 4KB RAM
 Suitable for 16-bit/32-bit processors with less ROM/RAM
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
21
Evolving T-Kernel
MP T-Kernel
 Multi-processor and Multi-core support for T-Kernel
 Support for two models: AMP and SMP
– AMP (Asymmetric multi-processing)
・ Each OS instance for each processors/cores
・ Suitable for I/O-intensive applications,
especially when tasks works with little dependencies
– SMP (Symmetric multi-processing)
・ One OS instance works on multi-processors
・ No need to define which task on which CPU
・ Suitable for CPU-intensive applications
・ Tend to lose real-time behavior by locks for resource protection
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
22
Evolving T-Kernel
T1 to T2
 After 10 years of T-Kernel, embedded computer systems have
drastically changed
 At the same time, network, communication, and server-side
technologies have evolved
– e.g., IPv6, WPAN, Cloud Computing, …
Now is the time for major update of T-Kernel:
“T-Kernel 2.0 (T2)”
― the new RTOS for the age of IoT(Internet of Things)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
23
Evolving T-Kernel 2.0
T-Kernel 2.0
 Major update of T-Kernel for the next decades
 Real-time support beyond RTOS
–
–
–
–
Microsecond API (e.g., tk_dly_tsk_u)
Physical-timer functions
Fast locks (FastLock, FastMLock, …)
Microwaits (WaitUsec, WaitNsec, …)
 Support for large-capacity devices
– Embedded systems now handles large-capacity disks
– e.g. Digital camera with MicroSD card > 4GB
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
24
Evolving T-Kernel 2.0
Is Microsecond API really needed?
 Not always, but YES
 e.g. engines and motors
– When they rotate with 6,000 times per minute (6,000rpm), they
rotate 36 degrees in 1 millisecond
 e.g. network communications
– Inter-frame gap of Ethernet (10Mbps): 9.6μs
– Initial retransmit time of data-link layer protocols
(incresed by exponential backoff): 10μs～200μs
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
25
Evolving T-Kernel
T-Kernel 2.0 Extension (T2EX)
 RTOS Extension with no extra abstraction layers on RTOS
– Realized the extension in the best way for T-Kernel 2.0
 Added network communication functions
– For network-connected appliances, and of course, for the IoT
 Security-conscious design
– Memory protection, thread safety, …
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
26
Evolving T-Kernel
μT-Kernel 2.0
 The successor of μT-Kernel 1.0, but with major improvements
 Service profiles
– Machine-readable description on how T-Kernel API is provided
– Allows applications/middleware to work on different μT-Kernels
 Optimization
– Addition of CONST specifier
• Let compilers to place immutable data on .rodata (ROM) instead of .data
(both ROM+RAM)
– Relaxed task priority upperbound: 140 (μT1) → 16 or more (μT2)
• Accelerate task scheduling speed, save ROM code space, etc.
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
27
New Release
μT-Kernel 2.0 Software Package (Ver.2.00.00)
 Target CPU: Cortex-M3 (Contributed by UC Technology Corporation)
 Target Board:
SK-FM3-48PMC-USBSTICK
(Spansion FM3)
Released by T-Engine Forum
at this TRONSHOW
μT-Kernel 2.0 Specifications are updated
 μT-Kernel 2.0 Specification (Ver.2.00.02/ja)
 μT-Kernel 2.0 Specification (Ver.2.00.02/en)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
28
Copyright © 2013 by T-Engine Forum., All Rights Reserved.
29
Chip-Agnostic
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
30
Chip-Agnostic
ITRON/T-Kernel is chip-agnostic, open specification
 One of the major reasons ITRON/T-Kernel is accepted from
companies and organizations of the world
How many chips supported?
 We don’t know for sure, but have a look at the ones we know
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
31
MCU Supported by ITRON
38000, 68000, 68010, 7700, 78K, 78K0, 78K0R, 78K4, 7900, 8086,
AndesCore, ARC 600, ARM MPCore, ARM11, ARM1136, ARM296, ARM7,
ARM7TDMI, ARM9, ARM9E, Atom/IA-32, Blackfin, Cortex-A MPCore,
Cortex-A, Cortex-A5, Cortex-A8, Cortex-A9, Cortex-M, Cortex-M0, CortexM0+, Cortex-M3, Cortex-M4, Cortex-R4, CPU32, F2MC-16, F2MC-8, F2MC8L, F32, FR, FR20, H32/200, H8/300, H8/300H, H8/500, H8S, H8SX,
H8Tiny, i386, i386DX, i486, i960, LX4180, M16, M16/80, M16C/10,
M16C/20, M16C/30, M16C/50, M16C/60, M16C/70, M16C/80, M16C/Tiny,
M32, M32C/80, M32R, M32R/D, M32R/E, M32R/ECU, MC68000, MC68020,
MELPS7700, MicroBlaze, microSPARC-Iiep, MIPS R3000, MIPS32,
MN10300, MPC82xx, MPC8xx, MPC98k, Nios II, Nios, PC/AT, Pentium,
PowerPC 405, PowerPC, PowerQUICC/QorIQ, PPC860, R32C/100, R4000,
R8C, R8C/10, RH850, RL78, RX, RX100, RX200, RX600, RX78K/0,
RX78K/II, SH, SH1, SH2, SH2A, SH2A-DUAL, SH2A-FPU, SH2-DSP,
SH2E, SH3, SH3-DSP, SH4, SH4A Dual, SH4A, SH4AL-DS, SH4AL-DSP,
SPARC lite, SPC900, SR320, StrongARM, TLCS-90, TLCS-900, TLCSR3900, TMS470R1x, TX19, TX39, TX49, V20, V25, V33A, V55PI, V810,
V830, V850, V850e, V850E1, V850E2, V850E2M Dual Core, V850E2M
DualCore, V850ES, VR, VR4100, VR4300, XScale, Z80, ...
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
32
MCU Supported by T-Kernel/μT-Kernel
ARM7(AT91M55800A／S1C38000／AT91SAM3S4C), ARM9(i.MX1
／i.MX21／MB8701), ARM11(EMMA Mobile1), Cortex-A8(i.MX50),
Cortex-A9(i.MX6 ／ Cyclone V ／ Zynq-7000), Cortex-M0(NUC120 ／
NUC122 ／ NUC130 ／ STM32F0), Cortex-M3(STM32F1 ／ STM32F2
／ FM3 ／ TX03 ／ LM3S ／ LPC1700 ／ LPC1300 ／ STM32L1 ／
LM3S3748 ／ LM3S9B92 ／ STM32W1), Cortex-M4(STM32F3 ／
STM32F4 ／ FM4 ／ TX04 ／ K70 ／ K60 ／ K40 ／ K22 ／ K64 ／ K10 ／
Vybrid ／ Tiva C), FPGA(Xtensa), FR(MB9), H8(H8S ／ H8/300H),
M16(M16C), M32(M32C／M32R), MIPS(TX49／VR4000／VR5000
／ VR5701A ／ HR5000), Nios(Cyclone), PowerPC(PowerPC 405),
RX(RX210 ／ RX62N ／ RX63N), SH2(SH7145 ／ SH7619 ／
SH72544RB), SH2A(SH7211／SH7670), SH2-FPU(SH7254R), SH3DSP(SH7720 ／ SH7727), SH4(SH7760 ／ SH7751R ／ SH7750R ／
SH7751R／SH7760), SH4A(SH7786／SH7776／SH7723／SH7780
／ SH7775), SH4AL-DSP(SH7722), V850(V850E/MA3 ／ V850E1 ／
V850ES), x86(Atom／PC/AT compatibles), Xscale(PXA270), ...
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
33
Chip-Agnostic
Q: Recent Chips or Boards with ITRON/T-Kernel?
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
34
スパンション・イノベイツ株式会社
技術本部 ソフトウェア開発センター
システムソフトウェア開発部 部長
西田 文昭
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
35
ＩｏＴに最適なエナジーハーベスティング技術
~ Spansion がお届けします ~
電源IC
FM3
＆
ENERGY HARVESTING PMIC STARTER KIT
照度センサ・温度センサ
RF
拡張センサ
太陽電池
コネクタ
I2C
照度センサ
圧電素子
温度センサ
コネクタ
ペルチェ素
子
PMIC
LCD
2.4GHz
メモリ
コネクタ
SPI
32bitMCU
FM3
MCU：FM3
MB39C811
LCD
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
36
エナジーハーベスティングスタータキット
~ Spansion がお届けします ~
エナジーハーベスティングを使った
ワイヤレスセンサネットワークをすぐに試せるスタータキット．
2台セットで無線送受信が可能．
MB39C811/831 各1台があり，いずれも送信/受信設定が可能．
■ 受信側：USB給電．PCと接続することでデータ受信が可能
■ 送信側：発電素子で電力供給．照度，温度センサ付き
照度センサ・温度センサ
拡張センサ
太陽電池
コネクタ
I2C
照度センサ
圧電素子
コネクタ
ペルチェ素子
温度センサ
PMIC
RF
LCD
2.4GHz
メモリ
コネクタ
SPI
32bitMCU
FM3
MCU：FM3
MB39C811
LCD
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
37
電池レス Bluetooth(R) Smart Beacon スターターキット
電池レス Bluetooth(R) Smart Beacon
~ Spansion がお届けします ~
■ Energy Harvesting Starter Kit for MB39C811 Buck PMIC
with Bluetooth(R) Smart (Low Energy) Beacon
Solar Energy
Vibration
Energy
NFC: 13.56MHz
Radio Energy
Coin Battery
for Hybrid
USB
Bus Power
AC85V~265V
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
38
FM3スターターキット SK-FM3-48PMC-USBSTICK
■ 特長
-
~ Spansion がお届けします ~
マイコン FM3 MB9AF312K
オンボード JTAG
USBコネクタ × 2（マイコン用）
USBコネクタ（オンボードJTAG用）
LED × 3（赤 緑 青）
ユーザーボタン
リセットボタン
タッチスライダー
照度センサ
USB電源
RoHS/CE
※ 購入はこちら↓↓から
USB 経由で PC と接続してデバッグ可能
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
39
FM4スターターキット SK-FM4-120PMC-9B560
■ 特長
-
~ Spansion がお届けします ~
マイコン FM4 MB9BF568R
オンボード JTAG（CMSIS-DAP）
USBコネクタ（マイコン用）
USBコネクタ（オンボードJTAG用）
LED × 3（赤 緑 青）
ユーザーボタン × 2
リセットボタン
120p ヘッダ
オンボード JTAG 搭載
20p ヘッダ
USB電源
RoHS/CE
USB 経由で PC と接続してデバッグ可能
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
40
FM0+スターターキット SK-FM0-V48-S6E1A1
■ 特長
-
~ Spansion がお届けします ~
マイコン FM0+ S6E1A12C0A
オンボード JTAG（CMSIS-DAP）
USBコネクタ（オンボードJTAG用）
LED
ユーザーボタン × 2
リセットボタン
タッチスライダー
20p JTAGヘッダ
オンボード JTAG 搭載
USB電源
コインバッテリ
RoHS/CE
USB 経由で PC と接続してデバッグ可能
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
41
ルネサスエレクトロニクス株式会社
第一ソリューション事業本部
石倉 知己
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
42
ルネサスのマイコンラインアップ
ITRON・T-Kernelを全面的に採用
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
43
ルネサスの産業向けマイコン
ITRONをハードウェア化
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
44
イーソル株式会社
エンベデッドプロダクツ事業部
技術部OS課
坂本 裕和
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
45
eT-Kernelの対応CPU
 ARM
 シングルコア: ARM9、ARM11、Cortex-A8、Cortex-R4/R4F
 マルチコア: ARM11 MPCore、Cortex-A9/A5/A7/A15
– Cortex-A7/A15ではARMの物理アドレス拡張機能(LPAE)上での対応実績あり
 Renesas、XILINX、ALTERA、Freescale、Texas Instruments、他
 x86
 Intel ATOM、Pentium、Core
 SH
 SH4 (SH7760)、SH4A (SH7780、SH7723(SH-MobileR2))、SH2A-FPU
(SH7263)
 MIPS
 メニーコア対応OS (eMCOS)ではT-Kernel仕様APIをサポート
 TILERA社(TILE-Gx8036 )
 ルネサスエレクトロニクス社(RH850ベースMCU)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
46
eT-Kernelの対応ボード
 半導体メーカ様、ボードベンダ様の各種評価ボードに標準対応
 Renesas、XILINX、ALTERA、Freescale他
http://japan.xilinx.com/products/
boards-and-kits/ek-z7-zc702-g.html
http://www.altera.co.jp/products/
devkits/altera/kit-cyclone-v-soc.html
http://japan.renesas.com/products/
tools/introductory_tools/
starterkits_evaluation_boards/
genmai_cpu/index.jsp
http://www.freescale.com/ja/webapp/
sps/site/prod_summary.jsp?
code=RDIMX6SABREPLAT
 x86ではPC/AT互換のボードをサポート
 その他、お客様のカスタムボードへの移植実績多数
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
47
株式会社富士通コンピュータテクノロジーズ
組み込みシステム技術統括部
第一ファームウェア技術部
飯田 康志
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
48
μT-Kernelの1チップマイコン対応
アーキテクチャ
ベンダ
マイコン
ボード
Cortex-M4
スパンション
FM4ファミリ
SK-FM4-U120-9B560
フリースケール
Kinetis K60/K22/K64/K10
TOWER System TWR-K60N512 他
STマイクロエレクトロニクス
STM32F4/F3シリーズ
STM32F4 DISCOVERY 他
テキサス・インスツルメンツ
Tiva Cシリーズ
EK-TM4C123GXL
スパンション
FM3ファミリ
SK-FM3-48PMC-USBSTICK 他
NXP
LPC
LPCXpresso LPC1769
STマイクロエレクトロニクス
STM32F1シリーズ
STM32L100CDISCOVERY 他
テキサス・インスツルメンツ
Stellaris LM3Sシリーズ
EK-LM3S9B92
Nuvoton
NuMicro
NuTiny-SDK-120 他
Cortex-M3
Cotex-M0
開発環境：
IARシステムズ社IAR Embedded Workbench - EWARM
Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
49
株式会社日立超LSIシステムズ
組込プラットフォーム設計部
豊山 祐一
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
50
■ オープンなT-Kernel 2.0 & μT-Kernel 2.0 のソリューション
・ 最新の各種プロセッサへの移植、展開
・ オープンソースのライセンスT-License2.0で使用可能
・ ドライバ、ミドルウェア、開発環境Eclipseを提供
■ 対応プロセッサの例
OS
T-Kernel2.0
種別
ARM Cortex-A
μT-Kernel2.0
SHマイコン
ARM Cortex-M
RXマイコン
SHマイコン
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
対応CPU
Cyclone V SoC
Sitara AM335x
RZ/A1L
各種 SH3, SH4A
Kinetis K60
STM32
RX63N, RX64M
各種SH2A
51
パーソナルメディア株式会社
代表取締役 社長
松為 彰
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
52
PMC T-Kernelの動くCPUチップ
x86
 Intel: Atom, Core, Pentium, Celeron,
AMD: Athlon, Geode, VIA: Eden など
ARM
 アーキテクチャ: ARM7, ARM9, ARM11, Cortex-A8など
 ベンダー: Renesas, Spansion, Freescale, Samsung,
Texas Instruments, FUJITSU, NXP, ATMELなど
SH
 アーキテクチャ: SH3-DSP, SH-4, SH-4Aなど
MIPS、V850、PowerPC、NiosII など
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
53
PMC T-Kernelの動くボード
 産業用パソコン(x86ボード)
 μTeaboard 2.0
 FM3 USBスティックボード
 Teamacaron
 T-Engineリファレンスボード
 上記のほか、半導体メーカー様の評価ボードや機器メーカー様の多くの
組込み機器にPMC T-Kernelを移植
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
54
ユーシーテクノロジ株式会社
開発部 部長
由良 修二
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
55
UCT T-Kernel対応CPU
UCT μT-Kernel 2.0対応CPU





freescale
Spansion
Toshiba
STMicro
TI
Kinetis (K70, K60)
FM4, FM3
TX04, TX03
STM32F4, STM32F2
Stellaris
UCT μT-Kernel 1.0対応CPU
 Renesas
 Cadence
RX600, RX200
Xtensa
UCT T-Kernel 2.0対応CPU
 Renesas
 HIREC
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
SH4, SH2-FPU, SH2
MIPS64 5Kf
56
UCT μT-Kernel対応CPU/ボード
CPUメーカ
freescale
(Kinetis)
STMicro
(STM32)
Spansion
(FM)
CPU分類
K40
K60
CPU型番
MK40X256VMD100
K60N512VMD100
MK60DN512VMD10
MK60FN1M0VLQ12
K70
MK70FN1M0VMJ12
STM32F2 STM32F217IGH6
STM32F4 STM32F437IIH6
STM32F439NIH6
FM3
MB9AF312K
MB9AFB44NA
MB9BF506
MB9AF156M
FM4
MB9BF568R
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
評価ボード型番
TWR-K40X256
TWR-K60N512
TWR-K60D100M
TWR-K60F120M
TWR-K70F120M
STM3221G-EVAL
STM32437I-EVAL
STM32439I-EVAL2
SK-FM3-48PMC-USBSTICK
MB9AFB44NPMC
MCB9BF500
―
SK-FM4-U120-9B560
57
UCT μT-Kernel対応CPU/ボード
CPUメーカ
Toshiba
(TX)
CPU分類
TX03
CPU型番
TMPM362F10FG
TMPM369FDFG
TMPM440FEXBG
TMPM440F10XBG
評価ボード型番
MCBTMPM362
TMPM369-SK
TMPM440-SK
EBDTMPM440
LM3S
LM3S9B92
EK-LM3S9B92
RX62N
F562N8BDFP
R5F562N8BDFB
F562N8BDFB
R5F563NEDDFB
R5F563NBDDFP
R5F52108CDFP
(Custom Core)
HSBRX62N-A
AP-RX62N-0A
竹ASURA
AP-RX63N-0A
GR-SAKURA
MK3EN63239
ML605
TX04
TI
(Stellaris)
Renesas
(RX)
RX63N
Cadence
RX210
Xtensa
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
58
UCT μT-Kernel対応評価ボード
Spansion SK-FM3-48PMC-USBSTICK
東芝×IAR TMPM440-SK
freescale TWR-Kxx
STMicro STM3221G-EVAL
AP AP-RX63N-0A
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
KEIL MCBTMPM362
Cadence ML605
59
Development Environments
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
60
Development Support
Embedded systems are hard to develop
 Resource constraints
– MPU speed, ROM/RAM size, batteries, …
 Deep understanding of computer required
– e.g., Interrupts, memory architecture (cache, attributes, I/O, …)
 And of course, real-time constraints
We are professionals, therefore need assistance
 Development boards, compilers, debuggers (ICE/JTAG
Emulators), profilers, technical supports, …, etc.
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
61
Development Support
Q: Are there any good development support
for ITRON/T-Kernel?
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
62
スパンション・イノベイツ株式会社
技術本部 ソフトウェア開発センター
システムソフトウェア開発部 部長
西田 文昭
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
63
初心者向けuT-Kernel導入環境の提供
~ T-Engine Forum と Spansion がお届けします ~
そのまま動くソースをお届け
けど...
カスタマイズって
必要じゃないのw
それに...
uT-Kernelのこと
よくわからないw
そんなあなたに！
http://www.t-engine.org/ja/
ちょっとまったぁ！
そのまま載るボードをお届け
uT-Kernel教育をお届け
※ 購入はこちら↓↓から
http://www.t-engine.org/ja/sympo
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
PERSONAL MEDIA CORP.
http://www.t-engine4u.com/products/fm3_usbstick.html
FM3 USBスティックボードにおけるμT-Kernelの利用方法
http://www.t-engine4u.com/support/fm3_usbstick/install_utkernel.html
64
ルネサスエレクトロニクス株式会社
第一ソリューション事業本部
石倉 知己
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
65
ルネサスの開発環境
ITRON・T-Kernelをサポート
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
66
ルネサスブース展示のご紹介
アプリケーションデバッグ機能をご体感ください
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
67
イーソル株式会社
エンベデッドプロダクツ事業部
技術部OS課
坂本 裕和
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
68
開発環境 (eBinder)
 eBinder
 eT-Kernel用開発スイート
 EvenTrek
プログラム動作の可視化ツール
コアごとに色分け・フィルタ
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
 システムレベルデバッガ
ICE等を使用し、システム全体を停止する
デバッグ
 タスクレベルデバッガ
アタッチしたタスクのみ停止
マルチコアであってもコアを意識しないデ
バッグが可能
69
開発環境 (eBinder)
 コンフィギュレータ・ビルダ
 RealTime Profiler
ソフトウェア部品のコンフィギュレーション
ソースファイルのコンパイル・リンク
関数単位でのCPU使用率を表示
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
 PartScope
ソフトウェア部品の状態を表示
70
ミドルウェア
 POSIX APIサポート
 eT-Kernel/POSIX
 LFS (論理ファイルシステム)
 ファイルシステム
 PrFILE2
– FAT12/16/32、VFAT
 PrFILE2 exFAT
– FAT12/16/32、exFAT
 PrFILE2 FatSafe
– FATファイルシステム向け電源断
対応機能
 PrFILE2 Unicode Interface
 PrFILE2 Disk Utilities
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
 ネットワーク
 PrCONNECT/Pro
– 高速TCP/IPスタック
– 各種プロトコルもサポート
 USB
 PrUSBホスト
– USBホスト側スタック
 PrUSBデバイス
– USBデバイス側スタック
 PrUSBホスト用クラスドライバ
 デバイスドライバ
 SD、SATA/ATA、CF
 Ethernet
71
株式会社富士通コンピュータテクノロジーズ
組み込みシステム技術統括部
第一ファームウェア技術部
飯田 康志
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
72
μT-KernelのIoT対応拡張機能
 超小型TCP/IP
IARシステムズの EWARMで測定
構成
基本構成(IPv4,UDP,TCP)
ROM
RAM
8KB
3KB
超小型TCP/IP
DNS*1
*1 開発計画中
DHCP*1
BSDソケットライクAPI
UDP
最小構成(IPv4,UDP)
2KB
3KB
 予兆監視機能
システム内のリソースの使用状況等の監視
により、主にソフトウェアを原因とする動作異
常の予兆を検知
⇒ 無停止運用のためのシステム安定化
⇒ リモート監視センターへの通報
TCP
IPv4 / IPv6
アプリケーション
システム監視タスク*2
システム安定化処理
μT-Kernel
タスク管理
メモリプール管理
予兆監視機能
リソース
タスク
使用状況
動作状況
*2 動作異常の予兆検知およびシステム安定化処理はアプリケーションによる作り込
みとなります
Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
73
Memory Protection Unit対応
μT-KernelにMPUを活用する機能を独自追加
スタックオーバーフローの検知
アクセス許可領域外への不正アクセス防止
システムの異常動作を検知・暴走を抑止
Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
※Freescale社製 Kinetisシリーズにて対応
74
株式会社日立超LSIシステムズ
組込プラットフォーム設計部
豊山 祐一
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
75
■ マルチコア対応
・ 各種マルチコアへT-Kernelを移植
・ T-Kernelと汎用OS（Linux, Android）を協調動作させる技術
“リアルタイム・オーガナイザ”の提供
リアルタイムOS（T-Kernel）
★リアルタイム性能
★高速起動 ★安定性
★従来資産の活用
汎用OS（Linux/Android）
★ネットワーク機能
★リッチなユーザーインタフェース
★豊富なアプリケーション
汎用OS
アプリケーション
T-Kernel
アプリケーション
汎用OS
T-Kernel
マルチコア・マルチOSソリューション
リアルタイム・オーガナイザ
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
76
パーソナルメディア株式会社
代表取締役 社長
松為 彰
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
77
PMC T-Kernelの開発環境
Eclipse for PMC T-Kernel
 統合開発環境
 ICE不要
 PC上の仮想環境
での開発も可能
ITRONラッパー(I-right/TK)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
タスクトレーサ
PMC T-Kernelのミドルウェア
ファイルシステム
 T-Kernel Extension
 exFAT for PMC T-Kernel
 T2EX
ネットワーク通信(TCP/IP)
 PMC版tcpipmgr
 NetBSD版TCP/IP
 T2EX
OpenCV (画像処理)
デバイスドライバ
EtherCAT (フィールドバス)  USB(ホスト、ファンクション)
 LAN(Gigabit Ethernetなど)
 ディスク(SATA、IDE)、CF、SD
 NAND Flash, NOR Flash、など
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
79
ユーシーテクノロジ株式会社
開発部 部長
由良 修二
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
80
UCT μT-Kernel対応開発環境
KEIL μVision4
IAR EWARM
GCC+Eclipse
CubeSuite+
HEW
XIDE
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
81
UCT μT-Kernel 2.0用ミドルウェア
UCT 6LoWPAN開発キット
 6LoWPANを利用したIoTシステム構築のための統合開発キット
 6LoWPAN無線モジュールと6LoWPANボーダールータを同梱し、
LAN(IPv6)と無線PAN(6LoWPAN)の相互接続が可能
UCT 6LoWPAN開発キット
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
82
UCT μT-Kernel 2.0用ミドルウェア
FatFs for UCT μT-Kernel 2.0
 小規模な組込み向けの超軽量のファイルシステム
 オープンソースのFatFsをUCT μT-Kernel 2.0に移植して提供
lwIP for UCT μT-Kernel 2.0
 組込み向けの軽量で高機能なTCP/IPプロトコルスタック
 オープンソースのlwIPをUCT μT-Kernel 2.0に移植して提供
 サンプル: HTTP server, SNTP client, SMTP client, etc...
uIP for UCT μT-Kernel (サンプル提供)
 小型のTCP/IPプロトコルスタック
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
83
Application Fields
Q: How is T-Kernel/ITRON used in reality?
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
84
ルネサスエレクトロニクス株式会社
第一ソリューション事業本部
石倉 知己
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
85
ルネサスのマイコンは
様々な製品に応用いただいてます
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
86
ルネサスブース展示のご紹介
ITRONの応用事例
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
87
イーソル株式会社
エンベデッドプロダクツ事業部
技術部OS課
坂本 裕和
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
88
採用事例
 車載情報機器、医療機器、プリンタ、デジタルカメラ、人工衛星
システムなど
 弊社 Webサイトに多数掲載
– http://www.esol.co.jp/successstory/rtos_middleware.html
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
89
株式会社富士通コンピュータテクノロジーズ
組み込みシステム技術統括部
第一ファームウェア技術部
飯田 康志
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
90
μT-Kernel 応用事例
スマートシティを実現するための機器に適用
Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
91
パーソナルメディア株式会社
代表取締役 社長
松為 彰
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
92
PMC T-Kernelの応用アプリケーション事例
業務用ハンディターミナル、産業用カメラ、
船舶搭載型通信監視装置、医療向け業務用機器、
ポータブル測定器、など
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
93
ユーシーテクノロジ株式会社
開発部 部長
由良 修二
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
94
応用アプリケーション事例
T-Kernel / μT-Kernel








RFID読み取り装置
デジタルカメラ
自動販売機
医療支援機器
インフラ監視システム
ゲーム機
放送機器
人工衛星
6LoWPAN
 センサー監視システム
 公共物制御システム
スマートハウス
 u-home
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
95
The Future
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
96
TRON Project Vision (1987)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
97
Our Vision (2014)
Still the same, but with concrete technologies
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
98
Towards an IoT Architecture
Integration of T2 and u2 (uID Architecture 2.0)
 Embedded systems are no longer separate devices
– In the IoT age, they are to be inter-connected
 Now, we are merging our two main architectures: T2 and u2
– T2: Device-side architecture
– u2: Server-side IoT information architecture
 e.g., device-control architecture
– Semantic control of houses/buildings
(e.g., “set room temperature to 20℃)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
99
6LoWPAN
One of the key component in T2+u2 is IPv6
 “The Internet” is the only-one, world-wide open-ended network
 IPv6 is crucial for IoT, when billions/trillions are connected
– IPv4 address is not sufficient for end-to-end connectivity in IoT
6LoWPAN
 “IPv6 over Low-power Wireless Personal Area Networks”
 Enable IPv6 communication over resource constrained nodes
– Including simple sensors/actuators
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
100
Marriage of T-Kernel & 6LoWPAN
T2 and 6LoWPAN is the best combination for IoT
 Internet of Things needs lightweight system and network
– For the network, 6LoWPAN is a promising solution
– For the system, lightweight framework is needed
 Embedded systems need RTOS (real-time OS)
– For practical embedded systems, RTOS cannot be omitted
– Can handle simple sensors/actuators with event-driven OS, but not
the usual consumer electronics, etc.
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
101
YRPユビキタス・ネットワーキング研究所
先端技術研究部
矢代 武嗣
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
102
IoT Framework on “T2”
Realizing the total architecture for the IoT
μT-Kernel 2.0
+
6LoWPAN
Node
Framework
T-Kernel 2.0 +
T2EX +
6LoWPAN
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
uID 2.0
Framework
103
6LoWPAN Protocol Stack
6LoWPAN Protocol Stack for μT-Kernel
 Realize both KADEN control (RTOS) and IoT communication
(6LoWPAN) on a single MCU
– Low-cost
– IoT-control collaboration made easier
 Low-power, and compact
– System size: RAM: 13KB, ROM: 42KB
(including RTOS, protocol stack, and buffers)
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
RAM: 80%
and ROM: 92%
can be used
104
6LoWPAN Border Router
6LoWPAN Border Router (6LBR)
 Router that connects IoT (6LoWPAN) and the Internet
 Made with T-Kernel 2.0 + T2EX
– Fast, responsive, and real-time
– Boots very fast (from SD card in less than 0.3 seconds)
• In contrast to Linux-based 6LBR from other company, which takes more
than 30 seconds
• An they often swaps to microSD card, causing seconds of no response
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
105
6LoWPAN Border Router
Using T2EX, 6LBR was implemented efficiently
 Basic parts implemented in 2.5 man months
 Richer functions implemented with ease using T2EX
– Web Administration, CoAP/HTTP Conversion, etc.
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
106
Demonstration
Application Demo
 Our 6LoWPAN technology accepted in the UCT IoT solutions
– Smart agriculture
– Smart house
?
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
107
The Future
Q: What do you expect for the future of
ITRON/T-Kernel?
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
108
イーソル株式会社
エンベデッドプロダクツ事業部
技術部OS課
坂本 裕和
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
109
TRONプロジェクトに望むこと
組込み技術の社会的な認知度の向上
T-Kernel、ITRONの世界への普及
これからも夢のある未来を語り続けていただきたいです。
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
110
株式会社富士通コンピュータテクノロジーズ
組み込みシステム技術統括部
第一ファームウェア技術部
飯田 康志
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
111
TRONプロジェクトに望むこと
より一層のオープン化
 コミュニティ活動が活発化するように
ミドルウェア流通活性化のための取組み
エコシステムの拡大と強化
Copyright 2014 FUJITSU COMPUTER TECHNOLOGIES LIMITED
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
112
パーソナルメディア株式会社
代表取締役 社長
松為 彰
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
113
TRONプロジェクトに望むこと
組込み技術の重要性の認知度向上
組込み技術のリテラシーの向上
 教育も機能のひとつ
プロジェクトの末永い継続
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
114
ユーシーテクノロジ株式会社
開発部 部長
由良 修二
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
115
TRONプロジェクトに望むこと
新しいHFDSのビジョンの提示
 現時点で既に実現されている技術 と、
 今後進展が期待される技術 を融合した新しいビジョン
 次世代の組込み開発のフレームワーク
– 超小型のRTOS仕様、開発環境、ミドルウェア、etc...
Copyright © 2014 by T-Engine Forum., All Rights Reserved.
116