| Download | - View final version: Using the Harmony operating system: release 3.0 (PDF, 2.8 MiB)
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| DOI | Resolve DOI: https://doi.org/10.4224/40004082 |
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| Author | Search for: Gentleman, W. M.1; Search for: MacKay, S. A.1; Search for: Stewart, D. A.1; Search for: Wein, M.1ORCID identifier: https://orcid.org/0000-0001-8039-6145 |
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| Affiliation | - National Research Council Canada. Division of Electrical Engineering
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| Format | Text, Technical Report |
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| Physical description | 70 pages |
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| Abstract | Harmony is a multitasking, multiprocessing operating system for realtime control (such as is required in sensor-based robotics). It can also be used to implement “smart peripherals” to be used with itself or with some other operating system, and it provides a simple and inexpensive vehicle for experimenting with parallel computation. It is a portable system in that with moderate effort it can be realized on any computer of appropriate architecture. Our realizations run on several multiprocessor systems (VME and Multibus) based on the Motorola 680x0 family of processors. There is also a version for the Atari 520 or 1040 ST (MC68000) evaluation machine. Realizations exist also for other systems and for the Digital Equipment Corporation VAX. Written in C, Harmony is portable also across several development systems, of which three are supported directly. The one used in our Laboratory is based on the Macintosh personal computer and is described here. This report presents an overview of the operating system, the rationale for the design and the abstractions used in creating applications that can be targeted to either a single processor or a multiprocessor. The report also discusses the principal mechanisms used for task management and for intertask communication. Appendices in this report include examples of both uniprocessor and multiprocessor programs and listing of user callable functions. |
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| Date published | 1989-02 |
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| Publisher | National Research Council Canada. Division of Electrical Engineering |
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| Series | |
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| Language | English |
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| Peer reviewed | No |
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| NRC number | NRCC 30081 |
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| NPARC number | 5764814 |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 237fde1a-3ad3-4abd-a1a4-a8e924063ab0 |
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| Record created | 2009-03-29 |
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| Record modified | 2026-10-05 |
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