Benchmarking and Comparison of Two Open-source RTOSs for Embedded Systems Based on ARM Cortex-M4 MCU

Objective: To evaluate the performance of two open-source real-time operating systems (RTOSs), Keil RTX5 and FreeRTOS. Besides, a comparison between them has been also established based on four timing metrics: task switching time, pre-emption semaphore shuffling inter-task messaging latency. All tests have performed an STM32F429 discovery board Cortex-M4 MCUs. Methods: measure metrics, ARM cycle counter register implemented in DWT unit was used. Findings: The allows us to capture number cycles that occurred execution part code. Therefore, time measurements metrics selected show FreeRTOS good with lowest value preemption time. Instead, fast message passing. Novelty: study provides evaluation latest version most used RTOSs, v10.2.0. Furthermore, measured accurately without using any other hardware or GPIO pin may disturb measurement. is critical affect mostly RTOS define their capability. Finally, made low-power MCU. Keywords: realtime operation system; embedded FreeRTOS; RTX5; benchmarking metric; MCU