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Villems, R. Thangaraj, Kumarasamy Pagani, L. Science, ,

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Neto, André C. The boundary between hardware drivers, system services, and user code is commonly not well defined, making the development in the target host significantly difficult.

The Multithreaded Application Real-Time executor MARTe is a framework built over a multiplatform library that allows the execution of the same code in different operating systems.

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The framework provides Iain Clark FX Variants high-level interfaces with hardware, external configuration programs, and user interfaces, assuring at the same time hard real-time performances. End-users of the framework are required to define and implement algorithms inside a well-defined block of software, named Generic Application Module GAMthat is executed by the real-time scheduler.

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Each GAM is reconfigurable with a set of predefined configuration meta-parameters and interchanges information using a set of data pipes that are provided as inputs and required as output. Using these connections, different GAMs can be chained either in series or parallel.

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GAMs can be developed and debugged in a non-real-time system and, only once the robustness of the code and correctness of the algorithm are verified, deployed to the real-time system. The software also supplies a large set of utilities that greatly ease the interaction and debugging of a running system.

MARTe is currently being used to successfully drive the plasma vertical stabilization controller on the largest magnetic confinement fusion device in the world, with a control loop cycle of 50?

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