Development and Performance Testing of FLoWRTOS with Random Case: 3 Main Processes on The Head System of T-FLoW Robot

The real-time operating system (RTOS) is a software that contains the resources of a hardware device, and provides the facility to run the application in real-time by doing the task according to the given deadline. FLoWRTOS is a RTOS running on an embedded system device, which is being built by the EEPIS Robotics Research Center (ER2C) on the ARM Cortex-M4 platform of the i.MX6SoloX processor. In contrast to the real-time operating system in general, FLoWRTOS performs task scheduling based on deadline priority, this allows performance of FLoWRTOS to be optimized in the absence of an idle time of all the scheduled tasks. Tests were conducted to evaluate the performance of FLoWRTOS, and also on the implementation of FLoWRTOS on a plant, which is the head system of T-FLoW robot. The result shows that FLoWRTOS can run many tasks with a condition that the CPU utilization is less than equal to 0.8. And if the CPU utilization approaches less than equal to 1, at a certain time it will cause the task to run past the deadline because FLoWRTOS is still non-preemptive.