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1987). Real-time Microcomputer System Design. McGraw Hill. Li, Q. & Yao, C. (2003). Real-time Concepts for Embedded Systems. CMP Books. Saikkonen, R. Linux IO port programming mini-HOWTO. 1 Chapter overview Dealing with input/output (I/O) activity can be the central challenge for many real-time programmers because routine desktop computing successfully hides its complexity, structure and dynamics. This chapter suggests that real-time programmers often need a good understanding of the underlying hardware, in terms of port address mapping and register functionality.

How? • When? • Which? Scheduling issues It should be noted that the ‘scheduling’ of tasks within a straightforward looping scheme is actually fully planned by the programmer, and is referred to as ‘cooperative scheduling’. Each task has to yield to the next one in the sequence, exiting gracefully. Whereas in a more sophisticated operating environment, tasks are switched in and out transparently by a run-time scheduling process whose action may be difficult to predict in every circumstance. This need to multiplex access to the CPU poses several questions.

4. If every process had its own private CPU, what facilities, currently offered by operating systems, would no longer be required? 5. Look up the circumstances of the Ariane 5 launch catastrophe (4/6/96), and see whether too little or too much software engineering was principally to blame. Would the rocket have crashed if the programming had been carried out in C rather than Ada, or if the ‘trusted and proven’ Ariane 4 software had not been reused? 6. 23 Suggestions for reading Allworth, S. & Zobel, R.

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