VxWorks

Last updated

VxWorks
VxWorks icon.svg
VxWorks 7 Bootup Screen.png
VxWorks 7 boot-up screen
Developer Wind River (a wholly owned subsidiary of Aptiv)
OS family Real-time operating systems
Working stateCurrent
Initial release1987;37 years ago (1987)
Latest release VxWorks 7 24.03 / February 27, 2024;37 days ago (2024-02-27)
Marketing target Embedded systems
Platforms x86, x86-64, MIPS, PowerPC, SH-4, ARM, RISC-V
Kernel type Monolithic
License Proprietary
Official website Windriver.com/products/vxworks

VxWorks is a real-time operating system (or RTOS) developed as proprietary software by Wind River Systems, a subsidiary of Aptiv. First released in 1987, VxWorks is designed for use in embedded systems requiring real-time, deterministic performance and in many cases, safety and security certification for industries such as aerospace, defense, medical devices, industrial equipment, robotics, energy, transportation, network infrastructure, automotive, and consumer electronics. [1]

Contents

VxWorks supports AMD/Intel architecture, POWER architecture, ARM architectures and RISC-V. [2] The RTOS can be used in multicore asymmetric multiprocessing (AMP), symmetric multiprocessing (SMP), and mixed modes [3] and multi-OS (via Type 1 hypervisor) [4] designs on 32- and 64-bit processors. [5]

VxWorks comes with the kernel, middleware, board support packages, Wind River Workbench development suite, complementary third-party software and hardware. In its latest release, VxWorks 7, the RTOS has been re-engineered for modularity and upgradeability so the OS kernel is separate from middleware, applications and other packages. [6] Scalability, security, safety, connectivity, and graphics have been improved to address Internet of Things (IOT) needs. [7] [8] [9]

History

VxWorks started in the late 1980s as a set of enhancements to a simple RTOS called VRTX [10] sold by Ready Systems (becoming a Mentor Graphics product in 1995). [11] Wind River acquired rights to distribute VRTX and significantly enhanced it by adding, among other things, a file system and an integrated development environment. In 1987, anticipating the termination of its reseller contract by Ready Systems, Wind River proceeded to develop its own kernel to replace VRTX within VxWorks. [12]

Published in 2003 with a Wind River copyright, "Real-Time Concepts for Embedded Systems" [13] describes the development environment, runtime setting, and system call families of the RTOS. Written by Wind River employees with a foreword by Jerry Fiddler, chairman, and co-founder of Wind River, the textbook is an excellent tutorial on the RTOS. (It does not, however, replace Wind River documentation as might be needed by practicing engineers.)

Some key milestones for VxWorks include: [14] [ failed verification ]

Platform overview

VxWorks supports Intel architecture, Power architecture, and ARM architectures. The RTOS can be used in multi-core asymmetric multiprocessing (AMP), symmetric multiprocessing (SMP), mixed modes [5] and multi-OS (via Type 1 hypervisor) [4] designs on 32- and 64- bit processors.

The VxWorks consists of a set of runtime components and development tools. The run time components are an operating system (UP and SMP; 32- and 64-bit), software for applications support (file system, core network stack, USB stack, and inter-process communications), and hardware support (architecture adapter, processor support library, device driver library, and board support packages). [5] VxWorks core development tools are compilers such as Diab, GNU, and Intel C++ Compiler (ICC) and its build and configuration tools. The system also includes productivity tools such as its Workbench development suite and Intel tools and development support tools for asset tracking and host support. [5]

The platform is a modular, vendor-neutral, open system that supports a range of third-party software and hardware. The OS kernel is separate from middleware, applications, and other packages, [8] which enables easier bug fixes and testing of new features. [15] An implementation of a layered source build system allows multiple versions of any stack to be installed at the same time so developers can select which version of any feature set should go into the VxWorks kernel libraries.

Optional advanced add-ons for VxWorks provide additional capabilities, including the following:

Features

Core features of the OS include: [3] [17] [18] [19]

In March 2014 Wind River introduced VxWorks 7, emphasizing scalability, security, safety, connectivity, graphics, and virtualization. [9] [15] [20] The following lists some of the release 7 updates. [1] [5] [6] [9] More information can be found on the Wind Rivers VxWorks website.

Hardware support

VxWorks has been ported to a number of platforms and now runs on practically any modern CPU that is used in the embedded market. This includes the Intel x86 family (including the Intel Quark SoC), [21] MIPS, PowerPC (and BAE RAD), Freescale ColdFire, Intel i960, SPARC, Fujitsu FR-V, SH-4 and the closely related family of ARM, StrongARM and xScale CPUs. VxWorks provides a standard board support package (BSP) interface between all its supported hardware and the OS. Wind River's BSP developer kit provides a common application programming interface (API) and a stable environment for real-time operating system development. VxWorks is supported by popular SSL/TLS libraries such as wolfSSL. [22]

Development environment

As is common in embedded system development, cross-compiling is used with VxWorks. Development is done on a "host" system where an integrated development environment (IDE), including the editor, compiler toolchain, debugger, and emulator can be used. Software is then compiled to run on the "target" system. This allows the developer to work with powerful development tools while targeting more limited hardware. VxWorks uses the following host environments and target hardware architectures: [23]

Supported target architectures and processor families

VxWorks supports a range of target architectures including ARM, Intel, Power architecture, RISC-V architecture and more. [2] For the latest target architecture processors and board support packages, refer to the VxWorks Marketplace [24] or via citation. [25]

The Eclipse-based Workbench IDE that comes with VxWorks is used to configure, analyze, optimize, and debug a VxWorks-based system under development. [26] The Tornado IDE was used for VxWorks 5.x [27] and was replaced by the Eclipse-based Workbench IDE for VxWorks 6.x. and later. [23] Workbench is also the IDE for the Wind River Linux, [28] On-Chip Debugging, [29] and Wind River Diab Compiler product lines. VxWorks 7 uses Wind River Workbench 4 [30] which updates to the Eclipse 4 base provides full third party plug-in support and usability improvements.

Wind River Simics [31] [32] is a standalone simulation tool compatible with VxWorks. It simulates the full target system (hardware and software) to create a shared platform for software development. Multiple developers can share a complete virtual system and its entire state, including execution history. Simics enables early and continuous system integration and faster prototyping by utilizing virtual prototypes instead of physical prototypes. [33]

Notable uses

The Mars Science Laboratory Curiosity rover uses VxWorks. Mars 'Curiosity' Rover, Spacecraft Assembly Facility, Pasadena, California (2011).jpg
The Mars Science Laboratory Curiosity rover uses VxWorks.
The ASIMO Robot uses VxWorks. ASIMO 4.28.11.jpg
The ASIMO Robot uses VxWorks.
AgustaWestland Project Zero uses VxWorks. AW Project Zero 2013.png
AgustaWestland Project Zero uses VxWorks.
The Mars Reconnaissance Orbiter uses VxWorks. Mars Reconnaissance Orbiter.jpg
The Mars Reconnaissance Orbiter uses VxWorks.
The Clementine spacecraft used VxWorks. Clementine lunar.jpg
The Clementine spacecraft used VxWorks.

VxWorks is used by products across a wide range of market areas: aerospace and defense, automotive, industrial such as robots, consumer electronics, medical area and networking. [6] Several notable products also use VxWorks as the onboard operating system. [34]

Aerospace and defense

Spacecraft

Aircraft

Space telescopes
Others

Automotive

Consumer electronics

Industrial

Industrial robots
Test and Measurement
Transportation
Controllers
Storage systems
Imaging
Others

Medical

Networking and communication infrastructure

TCP vulnerability and CVE patches

As of July 2019, a paper published by Armis [113] exposed 11 critical vulnerabilities, including remote code execution, denial of service, information leaks, and logical flaws impacting more than two billion devices using the VxWorks RTOS. [114] The vulnerability allows attackers to tunnel into an internal network using the vulnerability and hack into printers, laptops, and any other connected devices. The vulnerability can bypass firewalls as well. [115]

The system is in use by quite a few mission-critical products, many of which could not be easily patched. [116]

Related Research Articles

<span class="mw-page-title-main">Embedded system</span> Computer system with a dedicated function

An embedded system is a computer system—a combination of a computer processor, computer memory, and input/output peripheral devices—that has a dedicated function within a larger mechanical or electronic system. It is embedded as part of a complete device often including electrical or electronic hardware and mechanical parts. Because an embedded system typically controls physical operations of the machine that it is embedded within, it often has real-time computing constraints. Embedded systems control many devices in common use. In 2009, it was estimated that ninety-eight percent of all microprocessors manufactured were used in embedded systems.

<span class="mw-page-title-main">QNX</span> Real-time operating system (RTOS) software

QNX is a commercial Unix-like real-time operating system, aimed primarily at the embedded systems market.

pSOS is a real-time operating system (RTOS), created in about 1982 by Alfred Chao, and developed and marketed for the first part of its life by his company Software Components Group (SCG). In the 1980s, pSOS rapidly became the RTOS of choice for all embedded systems based on the Motorola 68000 series family architecture, because it was written in 68000 assembly language and was highly optimised from the start. It was also modularised, with early support for OS-aware debugging, plug-in device drivers, Internet protocol suite (TCP/IP) stacks, language libraries, and disk subsystems. Later came source code level debugging, multiprocessing support, and further computer networking extensions.

<span class="mw-page-title-main">Embedded operating system</span> Type of computer operating system

An Embedded Operating System (EOS) is an operating system designed specifically for embedded computer systems. These systems aim to enhance functionality and reliability to perform dedicated tasks. When the multitasking method employed allows for timely task execution, such an OS may qualify as a real-time operating system (RTOS).

Versatile Real-Time Executive (VRTX) is a real-time operating system (RTOS) developed and marketed by the company Mentor Graphics. VRTX is suitable for both traditional board-based embedded systems and system on a chip (SoC) architectures. It has been superseded by the Nucleus RTOS.

Nucleus RTOS is a real-time operating system (RTOS) produced by the Embedded Software Division of Mentor Graphics, a Siemens Business, supporting 32- and 64-bit embedded system platforms. The operating system (OS) is designed for real-time embedded systems for medical, industrial, consumer, aerospace, and Internet of things (IoT) uses. Nucleus was released first in 1993. The latest version is 3.x, and includes features such as power management, process model, 64-bit support, safety certification, and support for heterogeneous computing multi-core system on a chip (SOCs) processors.

Wind River Systems, also known as Wind River, is an Alameda, California–based company, subsidiary of Aptiv PLC. The company develops embedded system and cloud software consisting of real-time operating systems software, industry-specific software, simulation technology, development tools and middleware.

Computer operating systems based on the Linux kernel are used in embedded systems such as consumer electronics, in-vehicle infotainment (IVI), networking equipment, machine control, industrial automation, navigation equipment, spacecraft flight software, and medical instruments in general.

Eclipse ThreadX is a highly deterministic, embedded real-time operating system (RTOS) programmed mostly in the language C.

Virtutech was a company founded in 1998 as a spin-off from the Swedish Institute of Computer Science (SICS), to commercially develop its Simics computer architecture simulator software. In 2004, Virtutech accepted investment and moved headquarters to San Jose, California, USA. In 2010, Virtutech was wholly acquired by Intel and became part of Intel's Wind River subsidiary. In 2018, Wind River was sold to TPG Capital, which continues to sell Simics under the Wind River brand. The Intel Stockholm site remains the center of Simics core R&D.

<span class="mw-page-title-main">PikeOS</span> Real-time operating system

PikeOS is a commercial hard real-time operating system (RTOS) which features a separation kernel-based hypervisor. This hypervisor supports multiple logical partition types for various operating systems (OS) and applications, each referred to as a GuestOS. PikeOS is designed to facilitate the development of certifiable smart devices for the Internet of Things (IoT) by adhering to standards of quality, safety, and security across different industries. In instances where memory management units (MMU) are not present but memory protection units (MPU) are available on controller-based systems, PikeOS for MPU is designed for critical real-time applications and provides up-to-standard safety and security.

TI-RTOS is an embedded tools ecosystem created and offered by Texas Instruments (TI) for use across a range of their embedded system processors. It includes a real-time operating system (RTOS) component named TI-RTOS Kernel, networking connectivity stacks, power management, file systems, instrumentation, and inter-processor communications like DSP/BIOS Link. It is free and open-source software, released under a BSD license.

LynxSecure is a least privilege real-time separation kernel hypervisor from Lynx Software Technologies designed for safety and security critical applications found in military, avionic, industrial, and automotive markets.

<span class="mw-page-title-main">TenAsys</span> American software company

TenAsys is a privately owned company providing real-time software and services based on the x86 Intel Architecture and Microsoft Windows operating system.

<span class="mw-page-title-main">QP (framework)</span>

QP is a family of open source real-time embedded frameworks (RTEFs) and runtime environments based on active objects (actors) and hierarchical state machines. The QP family consists of the lightweight QP/C and QP/C++ frameworks, written in C (C99) and C++ (C++11), respectively.

<span class="mw-page-title-main">T-Kernel</span> Open-source RTOS tailored for 32-bit microcontrollers

T-Kernel is an open source real-time operating system (RTOS) designed for 32-bit microcontrollers. It is standardized by the T-Engine Forum, which distributes it under a T-License agreement. There is also a corresponding Micro T-Kernel (μT-Kernel) implementation designed for embedded systems with 16-bit or 8-bit microcontrollers.

<span class="mw-page-title-main">RTX (operating system)</span> Real-time operating system by IntervalZero

RTX / RTX64 are real-time operating system (RTOS) by the firm IntervalZero. They are software extensions that convert Microsoft Windows operating system into a RTOS. It was the first Windows real-time solution on the market.

<span class="mw-page-title-main">Zephyr (operating system)</span> Real-time operating system

Zephyr is a small real-time operating system (RTOS) for connected, resource-constrained and embedded devices supporting multiple architectures and released under the Apache License 2.0. Zephyr includes a kernel, and all components and libraries, device drivers, protocol stacks, file systems, and firmware updates, needed to develop full application software.

References

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