Bringing TCP/IP Networking To Resource Limited

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Bringing TCP/IP Networking to Resource Limited EmbeddedSystemsRoman Glistvain, and Mokhtar Aboelaze, Senior Member, IEEEAbstract- The TCP/IP network interface is considered orkingfunctionality.characterizedexpensive to implement. It requires additional hardware andprocessingcomplex software to enable the device to be accessible on theconsumption.local area network or over the Internet. This paper describes asimple way of integrating a simplified TCP/IP stack with theRomantiki operating system. Our approach allows the user werlow-to-moderatesizememory without a Memory management Unit (MMU).These processors require special attention in developinguse standard multithreaded approach to write application code,applicationand at the same time use a small memory footprint similar toSTM32F105R8T6 [19] microcontroller with an embeddedsuper loop based applications. This approach paves the way toEthernet core has 64K byte of programmable flash and 20Khave complex devices running standard TCP/IP applications onbyte of SRAM.a very inexpensive and energy efficient microcontrollers with asmall RAM and Flash memories.UI.INTRODUCTIONelectronic devices connected to a network in anaverage household. TVs, DVDs and VCRs weredevices with dedicated functionality and without the need tobe connected to a network. Today with the expansion of Wi Fi routers, Netflix streaming, smart appliances - manydevices have TCP/IP connectivity options and need to becontrolled, monitored and troubleshot via TCP/IP. croprocessors and complex software architecture, runningoperating systems such as Linux, Windows or VxWorks.These operating systems provide a standard multithreadedparadigm of writing applications and include an integratedTCP/IP stack with a standard "Socket API". This approachallows integrating existing off-the shelf open-source orcommercialcomponents intoembedded devices attheexpense of the increased complexity, increased price, slowboot-up time and slow operation of such devices. The resultof this approach is a slow adoption of networking in certaindevices. For example - it will be hard to sell a TV set whichtakes 1 min to boot-up. However, the TV set is a goodexample of a device which could benefit from TCP/IPnetworking. A TV can stream live video from On-Line TVstations, YouTube, Netflix and other restarting to gain popUlarity and replace complex high them.Forexampleon embedded devices with very limited memoryrunandfunctionalityto a few years ago computers were the onlyforWe proposed Romantiki [9] as a simple operating systemthat rce-limitedbringTCP/IPmicrocontrollers.Romantiki offers the feature-set of a standard cooperativemultitasking operating system but it requires a very smallamount of memory compared to a standard operating systemsuch as Linux or Windows.Since Romantiki is directed at small microcontrollers Romantiki is to satisfy the following important criteria:First, we want our proposed operating system to have afast startup time.Second, a small footprint in both RAM and Flash, sincesmall microcontrollers are characterized by a small on-chipmemory.Third we would like our proposed operating system towork with applications that require soft real time constraints.This means we have to have prioritization in scheduling.Fourth we would like to present a multitasking OS modelto the user where a single stack is used for all tasks [10]. Wealso require that applications developed for Romantiki canbe easily ported to other operating systems with a minimumof modifications (zero modifications in most of the cases).Finally, we would like to present to the user a "socket like"API to support networking applications.Anotherobjective here is to create a common networking abstractionlayer common to Romantiki and traditional operating recompiled to run on other operating systems without anychanges in the source code.The remainder of the paper is organized as follows:Section II describes the motivation behind our work andR. Glistvain is currently with Turck USA in Minneapolis, MN USA(email : romangl@email.com).M. Aboelaze is with the department of Computer SCIence andEngineering, York University Toronto, Ontario. Canada. (email:aboelaze@cse.yorku.ca)978-1-4244-7101-0/10/ 26.00 2010 IEEEdiscusses related work. Section III presents an overall viewof Romantiki operating system with emphasis on the TCP/IPcomponents.Section IV describes the simplified TCP/IPstack in Romantiki OS and compares it with the traditionalfull strength TCP/IP stack. Section V provides performance239

and footprint comparison between a similar networkingprimitives and accessing shared memory. However, ed to preemptive operating systems since tasks in thisSection VI describes future work and conclusion.system use separate stacks. Salvo [18] is another cooperativeII.MOTIVATION AND PREVIOUS WORKas for small microcontrollers. Its main drawback is itsinability to perform blocking calls within nested functionsA.Motivationcalled from a thread.In his paper we focus on resource-constrained embeddedA small real-time operating system was proposed in [11].devices which have network based user interface (UI). TheseTheir as was designed for monitoring flight parameters anddevicesresponding to any risk to the aircraft. Their main tion equipment, wireless sensor network devices, ascriterion is fault tolerance. They designed and built thewell as military surveillance and communication devices.hardware forthesystemandthefault tolerance wasWe will show that it is possible to write software for suchintroduceddevices following standard as like architecture and createAlthough the as is small it was not meant to supportreal-time software components which can be shared betweennetworking applications.complex devices and resource limited andsoftwarelevel.In [20], the author presents design challenges of theoperatingsystemisdesign ofanoperating systemfor wirelessembeddedreducing cost by using simple inexpensive microcontrollers,systems powered by energy harvesters. Although their as isreducing the startup time by using a simple as with a muchdesigned to run on limited resources microcontrollers likefaster startup time compared to existing ones, and finallyour system, the main design criterion for their as is energyreducing the power consumption of the system since bothefficiency, since it is using energy harvesting techniques forthe application and the as can fit in the memory of smallpower instead of batteries.microcontrollers without having an off-chip memory.The uniqueness of the Romantiki operating system is thatitintegrates aspecializedTCP/IP stackSome embedded TCP/IP stacks are extremely small andprovide an extensive TCP/IP protocol handling but they dowhich allowsnot provide the BSD style networking API. Examples ofdeveloping multitasking networking application code that issuch systems are uIP TCP/IP stack [4], Contiki as [6] andeasy to maintain and extend. This code can easily be sharedmicrochip [17] TCP/IP stack. Those stacks are programmedbetween traditional operating systems and Romantiki asin an event-driven style with very limited blocking socketthrough the use of a common as abstraction layer.capabilities.Networking programs written for Romantiki enjoy aOther TCP/IP stacks such as IwIP [5], uC/TCP-IP [22]significant performance increase over the correspondingand InterNiche TCP/IPprograms written for operating systems with traditionalabstractions compatible with traditional BSD socket layer.networking abstractions.TheseIn this paper we compare thetypicallyrunstackunder[15]anprovide networkingRTOSandrequireaperformance of a simple TCP based application running onsignificantly larger amount of resources in RAM and FlashRomantiki as and FreeRTOS with IwIP TCP/IP stack. Itthan event driven TCP/IP stacks.will be shown that Romantiki based application providesRomantiki implements a TCP/IP stack targeted at server2.7x TCP performance increase compared to the sameonly embedded systems located on a local area network.application running on FreeRTOS with IwIPThis stack stands in the middle between BSDB.Related WorkTraditional embedded networking devices are not powerefficient due to the use of large number of on-boardcomponents to provide simple networking functionality.This inefficiency is in conflict with the new trend to reducethe amount of power consumption in devices and allowbattery operated applications. This trend produced a numberof microcontrollers with memory, networking and otherperipherals integrated into the microcontroller chip [2], [13].The amount of memory in these microcontrollers is verylimited and is not sufficient to run traditional networkingoperating systems.An example of a small and efficient operating system isNut/O/S [16] which provides a large set of services and istargeted to limited memory embedded devices. It is verypractical for programmers who migrate from superloopbased paradigm towards an operating system based approachand who want to avoid mistakes when using synchronizationSocketcompatible TCP/IP stacks and event driven TCP/IP stacks. Itprovides networking abstractions similar to traditional BSDsocket API while fitting the footprint of an event-drivenTCP/IP stack. The Romantiki TCP/IP stack offers a "socket like" networking API which makes it possible to write singlethreaded blocking socket applications and multisession non blocking socket applications. This functionality is typical ofan embedded system which handles multi-session serversusing non-blocking sockets to avoid multiple tasks handlingsessions with large stack allocations per task. The socket like networking API employed in Romantiki makes itpossible to share the same application codebase betweenlarge projects running on complex preemptive operatingsystems and projects running on resource limited embeddeddevices. This is especially useful for providing limitedfunctionality networking applications on resource limiteddevices while providing the same applications with fullfunctionality running on traditional operating system sharing240

the same application code.III.IV.A.ROMANTIKIOSRomantiki OS [9] is a cooperative multitasking operatingsystem with task priorities where all tasks share a commonstack. The tasks are run-to-completion programs ovideblocking 110 functionality elding. Special yield statements are placed in the code thatallows the program to yield if there is a higher priorityprogram waiting, and return to the appropriate place in thefunction after the higher priority task is completed ntiki allows making blocking I/O calls within nestedfunctions. The use of traditional intertask communicationabstractions allows creating a common OS abstraction APIwhich enables the sharing of application code between otherembedded operating systems such as FreeRTOS, ThreadXand Romantiki OS. A block diagram of the Romantikioperating system is shown in Figure i cannot initiate TCP or UDP connections but itcan accept TCP connections and respond to TCP/UDPmessages. The TCP/IP stack is written with the intention tokeep the code as simple as possible while closely followingthe "socket API" interface to be able to port existingapplications to Romantiki plemented in the TCP/IP stack in Romantiki.B.primitives such as Event Objects, Timers, and SemaphoresareOverviewThe TCP/IP Stack in Romantiki is optimized for "server Romantiki OS uses traditional intertask communicationwhichTCP/IP STACK IN ROMANTIKI"Socket-Like" APIThe socket-like API of Romantiki allows us to handleboth TCP and UDP sockets. For TCP it implements socketcreation, sending, receiving, accepting and closing a socket.It also implements socket select for non-blocking sockets.For UDP it implements creating a socket, sending, andreceiving operations.Each socket can be configured in a blocking or non blocking mode of operation. Blocking sockets are used toimplement single threaded server application while non blocking sockets are used to create multisession servers.Block Diagram of the Romantiki Operating SystemThe socket-like API closely follows the traditional BSDsocket API and that makes it possible to create a commonIE""'",.,. mi1f- n Mutt"Subl lemi IIiabstraction layer which allows us to compile identical rRomantiki and traditional operating systems using BSDsocket compatible TCP/IP stack.Many socket operations are implemented via Zero-Copyfashion common to many TCP/IP stacks such as TrekTCP/IP Stack [21], embOS/IP [7] and uC/OS-II eRomantiki TCP/IP stackC.ARP Handling and IP RoutingTypically a TCP/IP stack is structured in a layered r,Transport layer, Internet layer and a Link layer. Each layerperforms certain processingof incoming and outgoingframes. At the same time each layer is responsible for certainprotocols specific to that layer. For example: ARP protocolis handled entirely within the Link Layer while the TCPLegendIsourc·fu--- protocol handling is part of the Transport layer.Deslinationcomponenl usHurvlces ofsourcecomponenlThe footprint of the Romantiki TCPIIP stack is verysmall. This is accomplished by blurring the distinctionbetween the layers of the TCP/IP protocols and makingFig I. Block diagram of Romantiki OSRomantiki OS features an integrated TCP/IP stack whichenabledthe creation ofmemory limited devices.TCP/IP server applications incertain assumptions about the devicenetworkinfrastructure.Thefunctionality andfollowingassumptionsRomantiki affect the ARP handling and IP routing:I.The Link layer is Ethernet based.2.The device never originates TCP/UDP/ICMP sessionsbut always responds to external requests.241In

3.The device has a single Ethernet port. It can not act as a4.The Romantiki OS provides a coding style similar toPaths are symmetric - the outgoing frame should betraditional embedded operating systems. It features a TCP/IPtransmitted to the same gateway which forwarded thestack that provides a "socket-like" interface which is easierincoming frame.5.FOOTPRINT AND PERFORMANCE COMPARISONv.router between multiple IP networks.The MAC Address of the connection originator is part ofthe connection structures in Internet and Transportlayers. This construct eliminates a standalone ARP cacheand simplifies routing decisions for ICMP, UDP andto program than uIP based code. The performance andfootprint of this stack is much better than BSD compatibleTCP/IP stacks as it will be described in the followingcomparison.In order to provide a realistic comparison of performanceTCP protocols.of different operating systems, it is necessary to compareSome of the parameters typically required for propertheir performance on a similar application running on anTCP/IP operation are not necessary in devices built withidentical hardware. The TCP echo server application, shownthese assumptions. Based on the above assumptions, thebelow, was used as a basis for comparison since it is a veryNetmask, ARP Cache, Default Gateway and Routing tablesimple application and yet it exercises a large number ofare not part of the Romantiki TCP/IP stack because eachoperations in the operating system such as multitasking,TCPIUDP application knows the MAC address of theintertaskgateway the response needs to be forwarded to. This greatlyprovides a benchmark on the performance of networkingsimplifies the structure of the TCP/IP stack as well as makesapplications running on top of an operating system.the memory footprint small and deterministic. This approachalso reduces the number of user configurable parameters toone (IP Address of the device) which allows for easier fieldmaintenance.TCP Delayed iki is different than the one used in a em.Itunsigned char echo data[256];// define listening socketDEF LST SOCKET(echo listen sock, I);II define connected socketDEF STRM SOCKET(echoJeaUock);BFD EchoServerTask(void* prm){AUTO unsigned int txed len, rxed len;SOCK BUF(sock buf,256);AUTO int res;The acknowledgement for the incoming data isdelayed until one of two events occurs:1- The receiving application task blocks waiting for moreBF BEGINdata. This means that the socket's RX buffer is empty andmore data needs to be received.2- The application is sending the response. In this case theacknowledgment is piggybacked to the response frame.The algorithm is targeted towards Industrial automationapplications where the complete application frame typicallyfits a single MSS segment. Therefore, the ACK is typicallypiggybacked to the response frame.On one hand, this scheme may not be as bandwidthefficientasthetraditionaldelayedII initialize listening socketLST SOCKET(echo listen sock,SOCK MODE(SOCK BLOCKING»;II initialize connected socketSTRM SOCKET(echoJeal sock,SOCK MODE(SOCK BLOCKING),(unsigned char*)sock buf,sizeof(sock but);socketJisten(&echo listen sock,5200,0);for (;;){acknowledgementalgorithm for protocols that have multiple segments intransit. On the other hand, this algorithm is very efficient while (I){automation networks and many LAN applications and itdoesn't pose the performance problem of the traditionaldelayed ACK algorithm [3].E.socket accept(&echoJisten sock,&echoJeal sock,&res);if (res EOK)Additional Features a/the TCPI/P StackThe TCP socket can be configured to "defy" thetraditional delayed acknowledgement algorithm by splittingsocketJecv(&echoJeal sock,(unsigned char*)echo data,256,&rxed Ien,&res,NULL);socket send(&echoJeal sock,(unsigned char*)echo data,rxed len,&txed len,&res,NULL);if«rxed Ien ! txed len) II (rxed Ien 0»{each outgoing frame into two. This causes the remotebreak;application to send an ACK frame right away. This is similarto uip split feature of the uIP stack [23].The TCP IP stack also provides an internal functionalityto respond to "ICMP ECHO" frames providing the "PING"functionality as well as responding to ARP frames.The following library makes it possible to run the242

above code on a TCP/IP stack based on traditional BSDsockets:PC#define AUTO#define SOCK BUF(name,x)#define BFD void#define BF BEGIN#define BF-END#define TRUE I#define FALSE 0#define EOK TRUE#define DEF LST SOCKET(x,y) SOCKET x#define DEF STRM SOCKET(x) SOCKET xenum{};SOCK BLOCKING#define SOCK MODE(x) x#define LST SOCKET(x,y) iniUock socket(&x,y)void init sock socket(SOCKET* sock,int y){Device under test-------- 8---------------Fig 2. Experiment SetupThe absolute timing of network frames was capturedsamples for each platform.Table 1 provides the comparison between the performanceof the echo server application onTABLE I COMPARISON BETWEEN ECHO SERVER PERFORMANCE ONROMANTIKI OS AND FREERTOS#define STRM SOCKET(x,y,z,t) init sock socket(&x,y)void sockeUisten(SOCKET* x,int port,int tmp)CombinedSize ofdatathe CodeinOperating Systemsegments insegmentmicrosecoand TCP/IP stackbytesin bytesndsRomantiki OSbased application806414396345FreeRTOS and uIPbased application9320131122381655433176934void socket accept(SOCKET* listen, SOCKET* client, int* res){application}#define socket send(c,b,l,t,d I ,d2) *t send(*c,(char*)b,I,O)#define socket recv(c,b,l,r,d I ,d2) *r recv(*c,(char*)b,I,O)The code in the previous section follows the structure of atraditional socket server. Therefore it is possible to adapt acommon abstraction layer which allows using the abovecode in an operating system supporting standard socketabstractionsThe AT91SAM7X-EK [1] evaluation board was used toevaluate the performance and the footprint of the Romantikioperating system. The Romantiki OS is compared againstFreeRTOS[8] operating system with two different TCPIIPstacks: uIP [23] and IwIP [14]. The FreeRTOS operatingsystem was chosen due to the ease of porting it to theAT91SAM7X-EK [1] evaluation board as well as the abilityto limit the number of used features so that the executableimage has a similar feature set as the executable image ofRomantiki OS.The performance of the different operating systems ismeasured using the setup described in Figure 2.Cycle timesize of allFreeRTOS andIwIP basedint clilen;struct sockaddr in cli addr;clilen sizeof(cli addr);*client accept(*listen,(struct sockaddr *) &cli addr,&clilen);*res EOK;Romantiki OS andFreeRTOS (using both IwIP and uIP).*sock socket(AF INET, SOCK STREAM, 0);struct sockaddr in serv addr;memset((char *) &serv addr,O, sizeof(serv addr));serv addr.sinJamily AF INET;serv addr.sin addr.s addr;;; INADDR ANY',serv addr.sin ort htons(port);bind(*x, (struct sockaddr *) &serv addr,sizeof(serv addr));listen(*x,5);Iusing the network sniffer and results were averaged over 5}{TCP EchoI serverapplicationOS,TCP/IPAs we can see from the footprint comparisons,theRomantiki based application has a similar footprint as theuIP application running on FreeRTOS operating system(both the code size and the RAM size). At the same time, thecoding style of the Romantiki based socket applications isvery similar to a IwIP based application while occupying afar smaller memory and code size footprint.The Romantiki OS positions itself as a general purposeOS which enables code sharing between other operatingsystems running TCP/IP stacks similar to BSD stack. Thisfunctionality is similar to the IwIP stack running on top of aFreeRTOS operating nRomantiki OS and a similar application based on FreeRTOSwith IwIP are the following:The Flash footprint of the Romantiki application is 2.3 timessmaller than the same application implemented in FreeRTOSwith IwIP stack.The RAM footprint of the Romantiki application is 2times smaller than the same application implemented InFreeRTOS with IwIP stack.The TCP performance of the Romantiki application is 2.7times faster than the same application implemented inFreeRTOS with IwIP stack.The performance of the uIP application is the best among243

the three platforms. This is due to the requirement thatTCP/IP applications in uIP need to be structured as eventhandlers invoked by Ethernet processing task. This reducesthe amount of intertask communications to process TCP/IPframes at the expense of abandoning traditional "socket"based program structure. The event handling approach forTCP/IP applications is fast and simple for nbedirectlycomputed from the request. However, the code becomesquite complex when the data needs to be read or writtenusing blocking 1/0. The performance of such an applicationcould suffer if the blocking 110 is implemented in a polledfashion. An application such as a web server where the webpages are stored on SD card could be slow and reover, the requirement of using event driven codingstyle makes it hard to adapt existing TCP/IP code based onblocking sockets to uIP stack.ThememoryfootprintoftheRomantikiOSbased[4]A. Dunkels, O. Schmidt, T. Voigt, and M. Ali" Protothreads:Simplifying Event-Driven Programming of Memory-ConstrainedEmbedded Systems" Proceedings of the 4th International Conferenceon Embedded Networked Sensor Systems" Boulder, CO 2006.[5] A. Dunkels "Full TCP/IP for 8-bit architecture" Proceedings of the 1stinternational conference on Mobile systems, applications and services.pp 85-9SSan Francisco, CA 2003.[6] A. Dunkels, B. GrOnvall, and T. Voigt "Contiki - "A Lightweight andFlexible Operating System for Tiny Networked Sensors". Proceedingsof the 29th Annual IEEE International Conference on Local ComputerNetworks pp 455-462 2004[7] lembosip eneral.html[S] FreeRTOS Operating System http://www.freertos.org/ [AccessedMay 2010][9] R. Glistvain, M. Aboelaze "Romantiki - A Single Stack OperatingSystem for Resource Limited Embedded Devices". Proceeding of the7111 International Conference on Informatics and System. Cairo, EgyptMarch 2010.[10] R. Glistvain "Romantiki O/S - networking operating system forlimited memory embedded devices". A M.Sc. Thesis, Dept. ofComputer Science and Engineering, York University. Toronto,Canada April 2010.[11] T. Kaegi-Trachsel, and 1. Gutknecht "Minos:The design andimplementation of an embedded real-time operating system with aperspective on fault tolerance". Proceedings of the Internationalapplication is quite similar to that of ulP based application,however, the performance of the uIP based application is 1.4times better. The performance lead of uIP is due to the eventhandling structure of the ulP stack.As it was shown in this section, Romantiki OS provides a[12][13]big boost in performance while also providing a far smallerfootprint compared to FreeRTOS with traditional TCP/IPstack IwIP. Even though the Romantiki TCP/IP stack doesnot use the standard socket interface, its API is very close totraditional sockets and makes it possible to share the samecodebase between projects running on large microprocessorsand resource limited microcontrollers.VI.[14][IS][16][17][IS][19]FUTURE WORK AND CONCLUSIONRomantiki was designed as a proof of concept of a[20]multithreaded networking operating system which fits theRAM and Flash footprint of a superloop project. It is verycompact and easily portable to different gcomplexdevices using very small and inexpensive microcontrollers.There are many different applications of these devices 1][22][23]telecommunications and military applications.The future work will concentrate on adding originatorsupport in the Romantiki TCP/IP www.atmel.comldynlproducts/tools card.asp?tool id 3759[Accessed May 2010][2] AT91SAM7XARM7Microcontroller s/prodldocuments/6120s.pdf[Accessed May 2010][3] S. Cheshire "TCP Performance problems caused by tp://www.stuartcheshire.org/papers/nagleDelayed Ack [accessedMay. 2010][I]244multiconference on Computer Science and Information technology pp649-656 Oct. 200S.J. Labrosse "MicroC/OS-II: The Real-Time Kernel:" 2IED CMPBooks 2002.LM3S8962 ARM-Cortex M3 Microcontroller [Online] SS962.html [AccessedMay 2010]IwIP TCP/IP stack http://en.wikipedia.org/wikilLwIP [Accessed May2010]NicheStack IPv4 http://www.iniche.comlnichestack.php [AccessedMay ernut.de/enlfirmware/nutos.html[Accessed May 2010]N. Rajbhart. "Microchip TCP/lP stack" - ANS33 MicrochipTechnology Inc. August 200S.RTOS http://www.pumpkininc.coml[Accessed May 2010]STM32FI05R8 Microcontroller with embedded Ethernet IO.html[Accessed May 2010]A. Strba "Operating System design challenges for wireless embeddedsystems powered by energy harvesters" Proc. Of the InternationalSymposium on Applied machine Intelligence and Informatics. Pp 354- Jan. 2009.TREK TCP/IP stack http://www.treck.comlpd .TCP.pdf [AccessedMay ommunity/display.r.P oduct/rw/ProductIdl2442/[Accessed May cs.se/-adarnluip/uip-I.0-refrnanla0020I.html [Accessedmay 2010]

Some embedded TCP/IP stacks are extremely small and provide an extensive TCP/IP protocol handling but they do not provide the BSD style networking API. Examples of such systems are uIP TCP/IP stack [4], Contiki as [6] and microchip [17] TCP/IP stack. Those stacks are programmed in an

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