VxWorks is a real-time operating system (RTOS) developed as proprietary software by Wind River of Alameda, California, US. 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 and defense, medical devices, industrial equipment, robotics, energy, transportation, network infrastructure, automotive, and consumer electronics.
VxWorks supports Intel (x86, including the new Intel Quark SoC, and x86-64), MIPS, PowerPC, SH-4, and ARM architectures. The RTOS can be used in multicore asymmetric multiprocessing (AMP), symmetric multiprocessing (SMP), and mixed modes and multi-OS (via Type 1 hypervisor) designs on 32- and 64-bit processors.
VxWorks comes with the kernel, middleware, board support packages, Wind River Workbench development suite and complementary third-party software and hardware technologies. 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. Scalability, security, safety, connectivity, and graphics have been improved to address Internet of Things (IoT) needs.
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 developed its own kernel to replace VRTX within VxWorks.
VxWorks key milestones are:
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.
VxWorks supports Intel (x86, including the new Intel Quark SoC, and x86-64), MIPS, PowerPC, SH-4, and ARM architectures. The RTOS can be used in multicore asymmetric multiprocessing (AMP), symmetric multiprocessing (SMP), and mixed modes and multi-OS (via Type 1 hypervisor) designs on 32- and 64-bit processors.
The VxWorks Core Platform 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 adaptor, 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 config 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 Profiles for VxWorks add incremental functionality required for specific industries (such as medical, industrial, networking and consumer) or technology-related capabilities, such as a small footprint RTOS (Microkernel Profile) and a Type 1 real-time embedded hypervisor (Virtualization Profile).
VxWorks is designed for use in embedded systems.
A list of some of the features of the OS are:
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
File systems: High Reliability File System (HRFS), FAT-based file system (DOSFS), Network File System (NFS), and TFFS
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, which emphasizes scalability, security, safety, connectivity, graphics, and virtualization. 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 20KB)
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
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
VxWorks has been ported to a number of platforms and now runs on practically any modern CPU that is used in the embedded market. This includes the Intel x86 family (including the Intel Quark SoC), 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.
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:
Supported host environments
Windows 8 / 7 / Vista (Business and Enterprise), SP 2 / XP Professional, SP 2 or 3
Red Hat Enterprise Linux Workstation 5, Update 2 or 3, x86 (32-bit/64-bit) / 4, Update 6 or 8, x86 (32-bit)
Red Hat Fedora 11, x86 (32-bit/64-bit) / 9, x86-64
Novell SUSE Linux openSUSE 11.1, x86 (32-bit/64-bit) / 11.0, x86 (32-bit/64-bit)
Novell SUSE Linux Enterprise Desktop 11.0, x86 (64-bit) / 10.2, x86 (32-bit/64-bit)
Ubuntu Desktop 9.04, Update 4, x86 (32-bit/64-bit) / 8.04, Update 4, x86 (64-bit)
Solaris 10 (with GTK), Update 11/06, SPARC 32-bit
Supported target architectures and processor families
The newly released VxWorks 7 supports the following target architectures:
ARM 11 / 11 MPCore / 9 / Cortex A9 MPCore / Cortex A8
Intel Pentium family / Quark / Xeon / Xeon LV / Core / Core 2 Duo / Atom
PowerPC 86xx, 8641d / 85xx, 8572 / 83xx / 74xx / 7xx / 60x / 44x / 40x / QorIQ P4080 / QorIQ P20xx
The Eclipse-based Workbench IDE that comes with VxWorks is used to configure, analyze, optimize, and de-bug a VxWorks-based system under development. 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 Compliler product lines. VxWorks 7 uses Wind River Workbench 4 which updates to the Eclipse 4 base provide full third party plug-in support and usability improvements.
VxWorks 7 includes three compilers: Diab Compiler, GNU, and the Intel C++ Compiler. Diab Compiler is the default C/C++ compiler for building VxWorks kernel, libraries, BSPs, and applications. It has been used for mission-critical systems for over 20 years. The GNU Compiler 4.8 is based on the Free Software Foundation (FSF) distribution of GCC and g++. Wind River has modified it for use with VxWorks. The Intel C++ Compiler processes C and C++ source code to generate machine code for IA 32 or IA 64 applications.
Wind 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.
VxWorks is used by products over 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.
Aerospace and defense
Spacecraft
The Mars 2020 rover scheduled to launch in 2018
The Mars Reconnaissance Orbiter
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 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 lander
The Deep Impact space probe
The Mars Pathfinder mission
The SpaceX Dragon
NASA's Juno space probe sent to Jupiter
Aircraft
AgustaWestland Project Zero
Northrop Grumman X-47B Unmanned Combat Air System
Boeing 787 Dreamliner’s common core system(CCS)
Airbus A400M Airlifter
BAE Systems Tornado Advanced Radar Display Information System (TARDIS) used in the Tornado GR4 aircraft for the U.K. Royal Air Force
Boeing AH-64 Apache attack helicopter
Lockheed Martin RQ-170 Sentinel UAV
Space telescopes
Fermi Gamma-ray Space Telescope(FGST)
James Webb Space Telescope (in development)
Others
European Geostationary Navigation Overlay System (EGNOS)
TacNet Tracker, Sandia National Laboratory’s rugged handheld communication device
BAE Systems SCC500TM series of infrared camera cores
Barco CDMS-3000 next generation control display and management system
Toshiba TMPV75 Series image recognition SoCs for advanced driver assistance systems (ADAS)
Bosch Motor Sports race car telemetry system
Clarion AX1Android-based automotive in-vehicle infotainment system (IVI)
Hyundai Mobis IVI system
Magneti Marelli’s telemetry logger and GENIVI®-compliant infotainment system
BMW iDrive system before 2008
Siemens VDO automotive navigation systems
Most of Renault Trucks T, K and C trucks' electronic control units.
Apple Airport Extreme
Drobo data storage robot
Honda robot ASIMO
Linksys WRT54G wireless routers (versions 5.0 and later)
MacroSystem Casablanca-2 digital video editor (Avio, Kron, Prestige, Claro, Renommee, Solitaire)
Motorola's DCT2500 interactive digital set-top box
Mobile Technika MobbyTalk and MobbyTalk253 phones
ReplayTV home digital video recorder
Industrial robots
ABB industrial robots
The C5G robotic project by Comau
KUKA industrial robots
Stäubli industrial robots
Yaskawa Electric Corporation's industrial robots
Comau Robotics SMART5 industrial robot
Transportation
FITSCO Automatic Train Protection (ATP)system
Bombardier HMI410 Train Information System
Controllers
Bachmann M1 Controller System
Invensys Foxboro PAC System
National Instruments CompactRIO 901x, 902x 907x controllers
Mitsubishi’s C controller
The Experimental Physics and Industrial Control System (EPICS)
Bosch Rexroth Industrial Tightening Control Systems
MCE iBox elevator controller
Storage systems
External RAID controllers designed by the LSI Corporation prior to 2011, now designed by NetApp, and used in IBM System Storage's DS3000 and DS4000 (formerly FAStT)
Fujitsu ETERNUS DX S3 family of unified data storage arrays
Imaging
Toshiba eBridge based range of photocopiers
Others
Hexagon Metrology GLOBAL Silver coordinate measuring machine (CMM)
GrandMA Full-Size and Light Console by MA Lighting
Varian Medical Systems Truebeam - a radiotherapy device for treating cancer
Olympus Corporation's surgical generator
BD Biosciences FACSCount HIV/AIDS Monitoring System
Fedegari Autoclavi S.p.A. Thema4 process controller
Sirona Dental Systems: CEREC extraoral X-ray CAD/CAM systems
Networking and communication infrastructure
Arkoon Network Security appliances
Ubee Interactive's AirWalk EdgePoint
Kontron’s ACTA processor boards
QQTechnologies's QQSG
Many of Huawei’s product lines have standardized on VxWorks
BroadLight’s GPON/PON products
Shiron Satellite Communications’ InterSKY
Sky Pilot’s SkyGateway, SkyExtender and SkyControl
EtherRaptor-1010 by Raptor Network Technology
CPG-3000 and CPX-5000 routers from Siemens
Nokia Solutions and Networks FlexiPacket series microwave engineering product
Acme Packet Net-Net series of Session Border Controllers
Avaya ERS 8600
Avaya IP400 Office
Cisco CSS platform
Cisco ONS platform
Ciena Common Photonic Layer
Dell PowerConnect switches that are 'powered by' Broadcom, except latest PCT8100 which runs on Linux platform
Ericsson SmartEdge routers (SEOS 11 run NetBSD 3.0 and VxWorks for Broadcom BCM1480 version 5.5.1 kernel version 2.6)
Hewlett Packard HP 9000 Superdome Guardian Service Processor
Hirschmann EAGLE20 Industrial Firewall
HughesNet/Direcway satellite internet modems
Mitel Networks' MiVoice Business (formerly Mitel Communications Director (MCD)), 3300 ICP Media Gateways and SX-200 and SX-200 ICP.
Motorola Solutions MCD5000 IP Deskset System
Motorola SB5100 cable modem
Motorola Cable Headend Equipment including SEM, NC, OM and other lines
Nortel Passport
Radware OnDemand Switches
Samsung DCS and OfficeServ series PBX
SonicWALL firewalls
Thuraya SO-2510 satellite phone and ThurayaModule
Radvision 3G communications equipment
3com NBX phone systems
Zhone Technologies access systems
