本文为捷克共和国布尔诺理工大学（作者：DIPLOMOVá PRáCE）的硕士论文，共105页。

本硕士论文探讨如何在功能强大的32位微控制器ARM Cortex-M4F核选择并实现两个免费的实时操作系统。首先，简要介绍了ARM的总体结构、程序模型、指令集和Cortex-M4F核。接着介绍了ST微电子公司使用的单片机STM32F407VGT6的结构、集成存储器及其集成A/D和D/A转换器结构、功能。本文的下一部分研究了基于ARM Cortex-M4F内核的实时操作系统搜索，并从中选择了两个系统进行实现。后面两章更详细地描述所选的操作系统。下一章分析了数字PSD控制器的可能实现，以及使用实时操作系统的更复杂的控制器系统。接下来的章节描述了所选操作系统的实现和设计的控制器。最后一章对嵌入式控制系统实现所选择的实时操作系统特性和质量进行了评估。  

This masters's thesis deals with choice and implementation of two free real-time operating systems into powerful 32-bit microcontroller with ARM Cortex-M4F core. First, there is shortly described the ARM architecture in general, its programmer's model, instruction set and Cortex-M4F core in brief. Next is description of the architecture of used microcontroller STM32F407VGT6 from ST Microelectronics, description of its integrated memories and their organization and functions of its integrated A/D and D/A converters. Next part of this thesis deals with searching real-time operating systems with ARM Cortex-M4F core support and then choose two of these systems for the implementation. The chosen operating systems are more closely described in two following chapters. Next chapter analyses possible implementations of the digital PSD controller and more complex system of such controllers using real-time operating system. Following chapter describes implementation of chosen operating systems and designed controllers. Last chapter deals with evaluation of features and qualities of the chosen real-time operating systems for implementation of embedded control system.

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