The Myth: You need a real-time operating system (RTOS) to make your embedded software easy to implement and maintain.

The Truth: Three positive implications of the use of a preemptive priority-based RTOS must be weighed against ten negative implications. An RTOS works well in some scenarios, but overly complicates the design of many other systems.

Annual surveys of the readers of EETimes and Embedded Systems Design generally find that about half (50%) of embedded software developers work on projects that utilize a commercial RTOS, such as VxWorks or uC/OS-II. Due to a sampling bias stemming from the correlation between big teams and RTOS use, the number of new products containing an RTOS is likely much lower than 50%.

Contrary to popular belief, a real-time operating system (RTOS) is not the answer to all of your design problems. When chosen for the wrong reasons, the presence an RTOS can make the firmware design more complicated rather than less. In addition, preemption increases the opportunity for race condition and non-reentrancy bugs. Finally, the inclusion of an RTOS has other costs, such as additional RAM and ROM/Flash.

By my calculations, preemption has three principal positive implications and ten negative implications. For example, one positive is that an RTOS can help separate the timing (i.e., which code is running on the CPU when?) from the application-level algorithmics. The problem is decomposed into a less “fragile”/more maintainable firmware design.

However, the use of separately-coded parallel tasks also complicates the software. Without the RTOS, the only possible race conditions occur between communicating interrupt service routines and the background loop in main(). Additional tasks increase the need for communication and synchronization factorially.

Perhaps the most interesting tradeoff concerns responsiveness to interrupts. Although what an RTOS does is to divide up the spare CPU time not used by any interrupt service routine (ISR) between pseudo-parallel running tasks (i.e., a set of C functions that don’t return), one negative side effect is slower CPU response to interrupts. The interrupt latency is higher with an RTOS than without.

Don’t get me wrong, sometimes an RTOS is a valuable tool. But don’t go using one simply to put its name on your resume. You may instead find yourself languishing in an overly-complicated and buggy embedded software design at your present job.

The “RTOS Alternatives” course by Netrino Institute includes full coverage of these tradeoffs, including details of each of preemptions three positives and all ten of the negative implications of a commercial RTOS.

Go back to RTOS Myth #4.