VxWorks 5.x
In this section, we describe VxWorks, a popular real-time operating system providing hard real-time support. VxWorks, commercially developed by Wind River Systems, is widely used in automobiles, consumer and industrial devices, and networking equipment such as switches and routers. VxWorks is also used to control the two rovers—Spirit and Opportunity—that began exploring the planet Mars in 2004. The organization of VxWorks is shown in Figure 19.12.
VxWorks is centered around the Wind microkernel. Recall from our discussion in Section 2.7.3 that microkernels are designed so that the operating-system kernel provides a bare minimum of features; additional utilities, such as networking, file systems, and graphics, are provided in libraries outside of the kernel. This approach offers many benefits, including minimizing the size of the kernel—a desirable feature for an embedded system requiring a small footprint
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