Design and Implementation of an OSEK-Conform Hard Real-Time Application Using LEGO Mindstorms EV3

Lego Mindstorms EV3 is a modular system to build robots with help of LEGO. The most important part of the project is the mindstorms brick, where several sensors can be connected and that is powered by an ARM9 microcontroller. The processors runs a firmware designed for playful programming. However, this firmware is not appropriate for low level and timing critical programming. Therefore a previous work provided a port of ErikaOS an implementation of the OSEK standard, that allows the usage of the robot for real-time applications.

However, drivers for most of the sensors and actuators are still missing. Additionally an RTOS has no use by itself, but enables writing real-time applications. The main goal of this thesis is to create a real-time application. This includes porting or implementing the needed drivers to ErikaOS and to build the mechanical parts of the robot. Additionally, the code should be analysed for being appropriate in a real-time setting.


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