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ChibiOS/RT
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<h2 id="metrics">Metrics</h2> <p>ChibiOS/RT is designed for embedded applications on <a href="/facts/Microcontroller/MKrnAhnm">microcontrollers</a> of <a href="/facts/8-bit_computing/2CkhLNoH">8</a>-, <a href="/facts/16-bit_computing/bTGS44Ne">16</a>-, and <a href="/facts/32-bit_computing/TDMVce8s">32-bits</a>. Size and execution efficiency are the main project goals.<a class="footnote-ref" id="fnref:2" href="#fn:2"><sup>2</sup></a> As reference, the kernel size can range from a minimum of 1.2 KiB up to a maximum of 5.5 KiB with all the subsystems activated on a STM32 <a href="/facts/ARM_Cortex-M3/prW99nkV">Cortex-M3</a> processor. The kernel can achieve over 220,000 created/terminated threads per second and can perform a <a href="/facts/Context_switch/N0oJQ6CC">context switch</a> in 1.2 microseconds on an STM32 @ 72 MHz. Similar metrics for all the supported platforms are included in the <a href="/facts/Source_code/o9J6Jv23">source code</a> distribution as test reports. </p> <h2 id="features">Features</h2> <p>The ChibiOS/RT <a href="/facts/Microkernel/wsaWtYCU">microkernel</a> supports: </p> <ul><li>Preemptive <a href="/facts/Thread_(computing)/hh8WHyPd">multithreading</a><a class="footnote-ref" id="fnref:3" href="#fn:3"><sup>3</sup></a></li> <li>128 <a href="/facts/Priority_queue/1uXVo4Uf">priority queue</a> levels</li> <li><a href="/facts/Round-robin_scheduling/7wpjbMRI">Round-robin scheduling</a> for threads at the same priority level</li> <li>Software <a href="/facts/Programmable_Interval_Timer/2hpRmVAl">timers</a></li> <li>Counting <a href="/facts/Semaphore_(programming)/BrE1W4Je">semaphores</a></li> <li><a href="/facts/Mutex/e3a9gnJT">Mutexes</a> with support for the <a href="/facts/Priority_inheritance/8RwzGrE5">priority inheritance</a> algorithm</li> <li><a href="/facts/Condition_variables/g2zfRatV">Condition variables</a></li> <li>Synchronous and asynchronous <a href="/facts/Message_(computer_science)/RYf3hD3J">Messages</a></li> <li><a href="/facts/Event-driven_programming/QlGL2Fu6">Event flags</a> and <a href="/facts/Callback_(computer_science)/vPlrCJXG">handlers</a></li> <li><a href="/facts/Queue_(data_structure)/hVPjPXus">Queues</a></li> <li>Synchronous and <a href="/facts/Asynchronous_I%2fO/6A7V3P89">asynchronous I/O</a> with <a href="/facts/Timeout_(telecommunication)/va8CczEQ">timeout</a> capability</li> <li>Thread-safe <a href="/facts/Dynamic_memory_allocation/vthLkUpz">memory heap</a> and <a href="/facts/Memory_pool/bw3HfK8q">memory pool</a> allocators.</li> <li>Hardware Abstraction Layer with support for <a href="/facts/Analog-to-digital_converter/8YYNsMFg">ADC</a>, <a href="/facts/Controller_area_network/EGxoS88W">CAN</a>, GPT (general-purpose timer), <a href="/facts/Interrupt/Mm6C4rpc">EXT</a>, <a href="/facts/I%25C2%25B2C/dKBBhs4U">I²C</a>, ICU, <a href="/facts/Ethernet/nMfhU8tU">MAC</a>, <a href="/facts/MultiMediaCard/KGkRkvIY">MMC/SD</a>, <a href="/facts/General_Purpose_Input%2fOutput/rIGeu7TW">PAL</a>, <a href="/facts/Pulse-width_modulation/cqjcrYs7">PWM</a>, <a href="/facts/Real-time_clock/pYeXraUW">RTC</a>, <a href="/facts/Secure_Digital/RLL9UTly">SDC</a>, <a href="/facts/Serial_port/VpcrH530">Serial</a>, <a href="/facts/Serial_Peripheral_Interface_Bus/uSCU56eG">SPI</a>, and <a href="/facts/Universal_Serial_Bus/XcIKWLyg">USB</a> drivers.</li> <li>Support for the <a href="/facts/LwIP/UWTakXDQ">LwIP</a> and <a href="/facts/UIP_(micro_IP)/GY0aWdz6">uIP</a> TCP/IP stacks.</li> <li>Support for the <a href="/facts/FatFs/A7cvKLQf">FatFs</a> file system library.</li></ul> <p>All system objects, such as <a href="/facts/Thread_(computing)/hh8WHyPd">threads</a>, <a href="/facts/Semaphore_(programming)/BrE1W4Je">semaphores</a>, <a href="/facts/Programmable_interval_timer/2hpRmVAl">timers</a>, etc., can be created and deleted at runtime. There is no upper limit except for the available memory. To increase system reliability, the <a href="/facts/Kernel_(operating_system)/uEj4U3Rz">kernel</a> architecture is entirely static, a memory allocator is not needed (but is available as an option), and there are no <a href="/facts/Data_structure/yNsNvL1I">data structures</a> with upper size limits like <a href="/facts/Table_(information)/vQcp2QSb">tables</a> or <a href="/facts/Array_data_structure/BKGvF8AM">arrays</a>. The system application programming interfaces (<a href="/facts/API/GMlN4vUr">APIs</a>) are designed to not have error conditions such as <a href="/facts/Error_code/Lc8yLPUn">error codes</a> or exceptions. </p><p>The <a href="/facts/Real-time_operating_system/IvUCFwCL">RTOS</a> is designed for applications on <a href="/facts/Embedded_system/a4muX1wU">embedded systems</a> (devices) and includes demo applications for various <a href="/facts/Microcontroller/MKrnAhnm">microcontrollers</a>: </p> <ul><li><a href="/facts/STMicroelectronics/4gbGJTVr">STMicroelectronics</a> – <a href="/facts/STM32/JPCl0dSM">STM32F1xx, STM32F2xx, STM32F3xx, STM32F4xx, STM32L1xx, STM32F0xx</a>; <a href="/facts/STM8/n0YDQ3WF">STM8S208x, STM8S105x, STM8L152x</a>; ST/Freescale <a href="/facts/PowerPC_5000/ouf7zAGd">SPC56x, MPC56xx</a></li> <li><a href="/facts/NXP_Semiconductors/naAqdtWq">NXP Semiconductors</a> – <a href="/facts/NXP_LPC/q0Tyq9XT">LPC11xx, LPC11Uxx, LPC13xx</a>, <a href="/facts/NXP_LPC/q0Tyq9XT">LPC2148</a></li> <li><a href="/facts/Atmel/kIDF6tmA">Atmel</a> – <a href="/facts/AT91SAM/5WRFqHJG">AT91SAM7S, AT91SAM7X</a>, <a href="/facts/MegaAVR/JvfUk4ya">megaAVR</a></li> <li><a href="/facts/Texas_Instruments/88NUhuHF">Texas Instruments</a> (TI) – <a href="/facts/MSP430/ngwhqtNN">MSP430x1611</a>; TM4C123G, TM4C1294</li> <li><a href="/facts/Microchip_Technology/7jDrY5rx">Microchip Technology</a> – PIC32MX</li></ul> <p>Contributed ports are also available for the <a href="/facts/Freescale_ColdFire/HbcK5oTj">Coldfire</a> and <a href="/facts/H8S/5aLYjhfP">H8S</a> families.<a class="footnote-ref" id="fnref:4" href="#fn:4"><sup>4</sup></a> </p><p>ChibiOS/RT has also been ported to the <a href="/facts/Raspberry_Pi/Ie6Lx9n5">Raspberry Pi</a><a class="footnote-ref" id="fnref:5" href="#fn:5"><sup>5</sup></a> and the following device drivers have been implemented: Port (GPIO), Serial, GPT (General-Purpose Timer), I2C, SPI and PWM. </p><p>It is also possible to run the kernel in a <a href="/facts/Win32/RRw4RtTu">Win32</a> <a href="/facts/Process_(computing)/Vcq7EnUV">process</a> in a software I/O emulation mode, allowing easy application development without the need for physical hardware. An example is included for <a href="/facts/MinGW/t0kRm9Xe">MinGW</a> <a href="/facts/Compiler/WNfCDFJe">compiler</a>. </p> <h2 id="ugfx">uGFX</h2> <p>ChibiOS/RT is fully supported by the <a href="/facts/Graphical_user_interface/wBlQFWDP">graphical user interface</a> (GUI) toolkit µGFX, formerly named ChibiOS/GFX. </p> <h2 id="see-also">See also</h2> <ul> <li>Free and open-source software portal</li></ul> <ul><li><a href="/facts/Comparison_of_open-source_operating_systems/mVuFaRgU">Comparison of open-source operating systems</a></li></ul> <h2 id="external-links">External links</h2> <ul><li><a href="http://www.chibios.org">Official website</a></li></ul> <h2 id="references">References</h2> <ol> <li id="fn:1"><p>RTOS performance data on emb4fun.de Archived 2013-01-11 at archive.today <a href="http://www.emb4fun.de/projects/chibios/" target="_blank">http://www.emb4fun.de/projects/chibios/</a> <a href="#fnref:1" class="footnote-back-ref">↩</a></p></li> <li id="fn:2"><p>"ChibiOS/RT statistics on ohloh.net". Archived from the original on 2014-04-14. Retrieved 2010-01-30. <a href="https://web.archive.org/web/20140414161819/http://www.ohloh.net/p/chibios" target="_blank">https://web.archive.org/web/20140414161819/http://www.ohloh.net/p/chibios</a> <a href="#fnref:2" class="footnote-back-ref">↩</a></p></li> <li id="fn:3"><p>"A detailed explanation of multithreading in ChibiOS/RT". Archived from the original on 2018-04-23. Retrieved 2016-11-03. <a href="https://web.archive.org/web/20180423063632/http://www.playembedded.org/blog/en/2016/10/29/explanation-multithreading-chibios/" target="_blank">https://web.archive.org/web/20180423063632/http://www.playembedded.org/blog/en/2016/10/29/explanation-multithreading-chibios/</a> <a href="#fnref:3" class="footnote-back-ref">↩</a></p></li> <li id="fn:4"><p>Additional supported architectures on emb4fun.de Archived 2013-01-11 at archive.today <a href="http://www.emb4fun.de/projects/chibios/" target="_blank">http://www.emb4fun.de/projects/chibios/</a> <a href="#fnref:4" class="footnote-back-ref">↩</a></p></li> <li id="fn:5"><p>"ChibiOS/RT on the Raspberry Pi". <a href="http://www.stevebate.net/chibios-rpi/GettingStarted.html" target="_blank">http://www.stevebate.net/chibios-rpi/GettingStarted.html</a> <a href="#fnref:5" class="footnote-back-ref">↩</a></p></li> </ol>