Pharos is a free open-source RTOS for secure, safe and real-time systems with the following characteristics:
- Memory and enhanced time partitioning (TSP)
- Native support for sporadic, periodic and aperiodic threads
- Fixed-priority preemptive scheduler
- Execution time protection (threads are prevented from executing for more time than they are configured to)
- Small size (full image has ~100 to 300KiB text, ~30KiB data)
- Hard real-time determinism
- Fast critical sections
- Prioritized nested interrupts
- inter-partition communication with filters to protect unwanted access
- Multicore support (RMP)
- Supports ARM9, Cortex-A/R/M and Aarch64, RISC-V64 (64 bits)
- The complete TestSuite (see below information) is run successfully for each platform in each release
- Tested: more than 170 KLOC of requirement-based tests, executed for each board at each release
- Up-to-date User Manual also available
See our wiki page for more information.
Features
- RTOS
- TSP
- Mixed criticality
- Memory protection
- Time protection
- Fixed-priority preemptive scheduler
- Hierarchical scheduler (e.g. ARINC 653) - optional
- Static configuration (default & recommended)
- Periodic threads
- Sporadic threads
- Aperiodic threads
- Nested prioritized interrupts
- Fast critical sections
- Flexible Inter-partition filters
- Multicore support (RMP)
- Fast & scalable inter-core communication
- Customizable CPU support
- Zero-copy transfer for large data between partitions (Channels)
- Zero-copy transfer for large data within partition (lw queue)
- Ceiling/counting/mutex semaphores
- Software timers
- Dynamic memory allocation - optional
- "Small" size
- 32 bit RTOS
- 64 bit RTOS
- ARM9
- Cortex-A
- Cortex-R
- Cortex-M
- Aarch64
- RISC-V (64 bits)
Project Samples
License
Apache License V2.0Follow Pharos
User Reviews
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Have been trying Pharos for a month and it seems like a cool RTOS. The memory and time protection work OK. Had to spend some time configuring it though (cross-compiler) and could use some more features like dynamically creating objects. Keep up the good work ;)Reply from PharosPosted 2020-04-17
Thank you very much for your feedback. We will try to improve. Regarding dynamically created objects, we added threads (static configuration is possible, but you can optionally create dynamic threads). You just need to configure some schedulability options to make sure the critical part of your system is not affected by the newly created dynamic threads.