VxWorks is a real-time operating system (or RTOS) developed as proprietary software by Wind River Systems, a subsidiary of Aptiv. First released in 1987, VxWorks is designed for use in embedded systems requiring real-time, deterministic performance and in many cases, safety and security certification for industries such as aerospace, defense, medical devices, industrial equipment, robotics, energy, transportation, network infrastructure, automotive, and consumer electronics."VxWorks Goes 64-bit", Electronic Design, March 25, 2011
VxWorks supports AMD/Intel architecture, POWER architecture, ARM architectures, and RISC-V. The RTOS can be used in multicore asymmetric multiprocessing (AMP), symmetric multiprocessing (SMP), and mixed modesRTOS Handles AMP and SMP, electronic design, March 2009 and multi-OS (via Type 1 hypervisor) designs on 32- and 64-bit processors.Embedded Star Article, February 2011
VxWorks comes with the kernel, middleware, board support packages, Wind River Workbench development suite, complementary third-party software and hardware. In its latest release, VxWorks 7, the RTOS has been re-engineered for modularity and upgradeability so the OS kernel is separate from middleware, applications, and other packages.Wind River reinvents real-time system for the Internet of Things, iTERS news, March 2014 Scalability, security, safety, connectivity, and graphics have been improved to address Internet of Things (IOT) needs.Wind River Reinvents the RTOS for the IoT, Business Wire, February 2014
History VxWorks started in the late 1980s as a set of enhancements to a simple RTOS called VRTX sold by Ready Systems (becoming a Mentor Graphics product in 1995). Wind River acquired rights to distribute VRTX and significantly enhanced it by adding, among other things, a file system and an integrated development environment. In 1987, anticipating the termination of its reseller contract by Ready Systems, Wind River proceeded to develop its own kernel to replace VRTX within VxWorks.Lord of the Toasters, Wired (magazine) interview with Jerry Fiddler, September 1998
Published in 2003 with a Wind River copyright, "Real-Time Concepts for Embedded Systems" describes the development environment, runtime setting, and system call families of the RTOS. Written by Wind River employees with a foreword by Jerry Fiddler, chairman, and co-founder of Wind River, the textbook is an excellent tutorial on the RTOS. (It does not, however, replace Wind River documentation as might be needed by practicing engineers.)
Some key milestones for VxWorks include:Company Histories, Funding Universe
1980s: VxWorks adds support for 32-bit processors. 1990s: VxWorks 5 becomes the first RTOS with a networking stack. 2000s: VxWorks 6 supports SMP and adds derivative industry-specific platforms. 2010s: VxWorks adds support for 64-bit processing and introduces VxWorks 7 for IoT in 2016.Wind River Outfits VxWorks for the Internet of Things, Computer World 2020s: VxWorks continues to update and add support, including the ability to power the Mars 2020 lander.
Platform overview VxWorks supports Intel architecture, Power architecture, and ARM architectures. The RTOS can be used in multi-core asymmetric multiprocessing (AMP), symmetric multiprocessing (SMP), mixed modes and multi-OS (via Type 1 hypervisor) designs on 32- and 64- bit processors.
The VxWorks consists of a set of runtime components and development tools. The run time components are an operating system (UP and SMP; 32- and 64-bit), software for applications support (file system, core network stack, USB stack, and inter-process communications), and hardware support (architecture adapter, processor support library, device driver library, and board support packages). VxWorks core development tools are compilers such as Diab, GNU, and Intel C++ Compiler (ICC) and its build and configuration tools. The system also includes productivity tools such as its Workbench development suite and Intel tools and development support tools for asset tracking and host support.
The platform is a modular, vendor-neutral, open system that supports a range of third-party software and hardware. The OS kernel is separate from middleware, applications, and other packages, which enables easier bug fixes and testing of new features. An implementation of a layered source build system allows multiple versions of any stack to be installed at the same time so developers can select which version of any feature set should go into the VxWorks kernel libraries.
Optional advanced add-ons for VxWorks provide additional capabilities, including the following: Advanced security features to safeguard devices and data residing in and traveling across the Internet of Things (IoT) Advanced safety partitioning to enable reliable application consolidation Real-time advanced visual edge analytics allow autonomous responses on VxWorks-based devices in real-time without latency Optimized embedded Java runtime engine enabling the deployment of Java applications Virtualization capability with a real-time embedded, Type 1 hypervisor
Features
Core features of the OS include:POSIX Certification RegisterFilesystems in VxWorks, CDF online, Fermi Labs
Multitasking kernel with preemptive and round-robin scheduling and fast interrupt response Native 64-bit operating system (only one 64-bit architecture supported: x86-64). Data model: LP64 User-mode applications ("Real-Time Processes", or RTP) isolated from other user-mode applications as well as the kernel via memory protection mechanisms SMP, AMP and mixed mode multiprocessing support Error handling framework Bluetooth, USB, CAN protocols, Firewire IEEE 1394, BLE, L2CAP, Continua stack, health device profile Binary, counting, and mutual exclusion semaphores with priority inheritance Local and distributed message queues POSIX PSE52 certified conformity in user-mode execution environment Dual-mode IPv6 networking stack with IPv6 Ready Logo certification Memory protection including real-time processes (RTPs), error detection and reporting, and IPC Multi-OS messaging using TIPC and Wind River multi-OS IPC Symbolic debugging
In March 2014 Wind River introduced VxWorks 7, emphasizing scalability, security, safety, connectivity, graphics, and virtualization.Wind River Reinvents the Real-Time Operating System for the Internet of Things Windriver.com, The following lists some of the release 7 updates. More information can be found on the Wind Rivers VxWorks website.
Modular, componentized architecture using a layered build system with the ability to update each layer of code independently VxWorks microkernel (a full RTOS that can be as small as 20 KB) Security features such as digitally-signed modules (X.509), encryption, password management, ability to add/delete users at runtime SHA-256 hashing algorithm as the default password hashing algorithm Human machine interface with Vector Graphics, and Tilcon user interface (UI) Graphical user interface (GUI): OpenVG stack, Open GL, Tilcon UI, Frame Buffer Driver, EV Dev Interface Updated configuration interfaces for VxWorks Source Build VSB projects and VxWorks Image Projects Single authentication control used for Telnet, SSH, FTP, and rlogin daemons Connectivity with Bluetooth and SocketCAN protocol stacks Inclusion of MIPC File System (MFS) and MIPC Network Device (MND) Networking features with 64-bit support including Wind River MACsec, Wind River's implementation of IEEE 802.1A, Point-to-Point Protocol (PPP) over L2TP, PPP over virtual local area network (VLAN) and Diameter secure key storage, and Server Message Block (SMB) client and server support. New Wind River Workbench 4 for VxWorks 7 integrated development environment with new system analysis tools Wind River Diab Compiler 5.9.4; Wind River GNU Compiler 4.8; Intel C++ Compiler 14 and Intel Integrated Performance Primitives (IPP) 8
Hardware support VxWorks has been ported to a number of platforms. This includes the Intel x86 family (including the Intel Quark SoC),Intel Tackles SoC With Quark"' EE Times, October 7, 2013 MIPS, PowerPC (and BAE RAD), Freescale ColdFire, Intel i960, SPARC, Fujitsu FR-V, SH-4 and the closely related family of ARM, StrongARM and xScale CPUs. VxWorks provides a standard board support package (BSP) interface between all its supported hardware and the OS. Wind River's BSP developer kit provides a common application programming interface (API) and a stable environment for real-time operating system development. VxWorks is supported by popular SSL/TLS libraries such as wolfSSL.
Development environment As is common in embedded system development, cross-compiling is used with VxWorks. Development is done on a "host" system where an integrated development environment (IDE), including the editor, compiler toolchain, debugger, and emulator can be used. Software is then compiled to run on the "target" system. This allows the developer to work with powerful development tools while targeting more limited hardware. VxWorks uses the following host environments and target hardware architectures:Workbench Product Note
Supported target architectures and processor families VxWorks supports a range of target architectures including ARM, Intel, Power architecture, RISC-V architecture and more. For the latest target architecture processors and board support packages, refer to the VxWorks Marketplace or via citation.
The Eclipse-based Workbench IDE that comes with VxWorks is used to configure, analyze, optimize, and debug a VxWorks-based system under development.Wind River reinvents the RTOS for the IoT, Business Wire The Tornado IDE was used for VxWorks 5.x and was replaced by the Eclipse-based Workbench IDE for VxWorks 6.x. and later. Workbench is also the IDE for the Wind River Linux, On-Chip Debugging, and Wind River Diab Compiler product lines. VxWorks 7 uses Wind River Workbench 4"VxWorks Gets Re-vamped" Information Technology which updates to the Eclipse 4 base provides full third party plug-in support and usability improvements.
Wind River SimicsSimics, WikipediaWind River Simics is a standalone simulation tool compatible with VxWorks. It simulates the full target system (hardware and software) to create a shared platform for software development. Multiple developers can share a complete virtual system and its entire state, including execution history. Simics enables early and continuous system integration and faster prototyping by utilizing virtual prototypes instead of physical prototypes.Accelerate Software Development with Wind River Simics, Intel webpage
Notable uses
VxWorks is used by products across a wide range of market areas: aerospace and defense, automotive, industrial such as robots, consumer electronics, medical area and networking. Several notable products also use VxWorks as the onboard operating system.VxWorks customer list
Aerospace and defense Spacecraft The Mars 2020 rover The Mars Reconnaissance OrbiterExtremeTech news The Mars Science Laboratory, also known as the Curiosity rover NASA Mars rovers (Sojourner, Spirit, Opportunity)
The Deep Space Program Science Experiment (DSPSE) also known as Clementine (spacecraft)Clementine Project Information Page Clementine launched in 1994 running VxWorks 5.1 on a MIPS-based CPU responsible for the Star Tracker and image processing algorithms. The use of a commercial RTOS on board a spacecraft was considered experimental at the time
Phoenix Mars landerThe Software Behind the Mars Phoenix Lander The Deep Impact space probeExtremeTech article The Mars Pathfinder mission
NASA's Juno space probe sent to JupiterBullseye: Autonomous Satellite Enters Jupiter’s Orbit Aircraft AgustaWestland Project ZeroAgustaWestland Project Zero Northrop Grumman X-47B Unmanned Combat Air Systemthe US Navy’s unmanned combat air system X-47B, YouTube video Airbus A400M AirlifterVerocel webpage