EMBEDDED SYSTEM DESIGN
RTOS - VxWorks Syntax
1. Introduction to VxWorks
VxWorks is a real-time operating system (RTOS) developed by Wind River Systems, widely used in
embedded systems requiring deterministic and high-performance computing. It supports multi-tasking,
real-time scheduling, inter-process communication, and memory management tailored for embedded
applications. VxWorks is found in various domains, including aerospace, automotive, industrial control,
medical devices, and consumer electronics. Its microkernel architecture allows flexibility, modularity, and
scalability. VxWorks supports multiple processor architectures, including ARM, Intel x86, PowerPC, and
MIPS, and includes rich development tools through the Wind River Workbench IDE.
2. Key Features of VxWorks
? Real-time deterministic behaviour
? Scalable and modular architecture
? POSIX-compliant APIs
? Symmetrical multiprocessing (SMP) support
? Advanced networking and file system support
? Security and safety certification (DO-178C, IEC 61508, etc.)
3. Basic VxWorks Syntax and Programming Constructs
VxWorks uses the C language primarily for programming. It offers APIs for task management, semaphores,
message queues, and interrupt handling.
4. Inter-task Communication in VxWorks
Semaphores are used for synchronization.
Message Queues: Used to send messages between tasks.
5. Memory Management
VxWorks provides dynamic and partitioned memory allocation.
EMBEDDED SYSTEM DESIGN
RTOS - VxWorks Syntax
7. Timers and Watchdogs
Watchdog Timer APIs enable monitoring task execution and system health.
8. POSIX Threads in VxWorks
VxWorks supports POSIX-compliant threads, allowing portable and standardized thread management.
9. Networking and I/O
VxWorks supports IPv4, IPv6, TCP, UDP, and advanced networking features.
10. Debugging and Shell Interface
VxWorks includes a shell (C interpreter) for debugging, with commands like sp, td, tt, i, lkup, checkstack, etc.
Common Shell Commands:
? sp myTask ? spawn task
? i ? List all tasks
? tt <tid> ? Trace task execution
? checkstack ? Monitor stack usage
11. Applications of VxWorks in Embedded Systems
? Aerospace & Defence: Mars rovers, satellites, UAVs
? Medical Devices: Diagnostic equipment, surgical robotics
? Automotive: ADAS, infotainment
? Telecom: Base stations, network switches
? Industrial Automation: SCADA systems, robotics controllers
12. Advantages of VxWorks
? Real-time performance with determinism
? Rich development and debugging tools
EMBEDDED SYSTEM DESIGN
RTOS - VxWorks Syntax
? Scalable from small embedded to large SMP systems
? Certified for safety-critical industries
? Strong community and vendor support
13. Limitations of VxWorks
? Commercial license and cost
? The proprietary nature restricts full source code access
? Learning curve for advanced features
14. Conclusion
VxWorks is a powerful and mature RTOS used across mission-critical embedded applications. Understanding
its syntax and programming models is essential for building robust real-time systems. From task
management to networking and device drivers, VxWorks provides comprehensive tools for embedded
developers.
