Front Cover......Page 1
Foreword......Page 6
The Authors......Page 10
Acknowledgments......Page 12
Dedication......Page 14
List of Figures......Page 16
List of Tables......Page 22
Contents......Page 24
1. Introduction......Page 30
I. Concurrent Programming Concepts......Page 38
2. A Case Study: Vision Control......Page 40
3. Real-Time Concurrent Programming Principles......Page 92
4. Deadlock......Page 108
5. Interprocess Communication Based on Shared Variables......Page 132
6. Interprocess Communication Based on Message Passing......Page 170
7. Interprocess Communication Primitives in POSIX/Linux......Page 188
8. Interprocess Communication Primitives in FreeRTOS......Page 220
9. Network Communication......Page 248
10. Lock and Wait-Free Communication......Page 268
II. Real-Time Scheduling Analysis......Page 292
11. Real-Time Scheduling Based on the Cyclic Executive......Page 294
12. Real-Time, Task-Based Scheduling......Page 308
13. Schedulability Analysis Based on Utilization......Page 324
14. Schedulability Analysis Based on Response Time Analysis......Page 344
15. Task Interactions and Blocking......Page 362
16. Self-Suspension and Schedulability Analysis......Page 390
III. Advanced Topics......Page 402
17. Internal Structure of FreeRTOS......Page 404
18. Internal Structures and Operating Principles of Linux Real-Time Extensions......Page 430
19. OS Abstraction Layer......Page 450
20. Control Theory and Digital Signal Processing Primer......Page 472
Bibliography......Page 514