KADAK has published the following white papers which discuss
topics of technical interest to users of KADAK's software products.
These documents are often of interest to other members of the
technical community as well, since they deal with technical issues
which must be addressed by all embedded systems developers.
Of course, KADAK's products are used as examples for purposes of
In July of 2003, the AMX kernel was enhanced to avoid the
unexpected pitfalls of task priority inversion. This exercise
provided KADAK engineers with a wealth of knowledge that was
deemed of interest to all developers struggling with an
RTOS to ensure that their multitasking application was safe from
the perils of priority inversion.
The result was a white paper which was subsequently accepted
for publication as a feature article in the June 2004 issue of
Embedded Systems Programming, a CMP Media publication.
You can view this article on the CMP Media website at
In mid 1999, KADAK was invited to participate as a member of the
Embedded Microprocessor Benchmark Consortium (EEMBC) as it embarked
on a mission to establish an RTOS Benchmark program. KADAK's chief
engineer, W.L. (Bill) Renwick, offered to compile a preliminary
timing measurement proposal to be derived from information
proferred by the many RTOS vendors participating in the proposed
One of the documents submitted to the committee for incorporation
into the timing measurement standards was KADAK's AMX Timing Guide.
This document describes the problems associated with making timing
measurements. It also includes several examples of frequently
occurring scenarios in any multitasking system and uses KADAK's AMX
RTOS as an example to illustrate the timing of events in each
The following AMX Timing Guides (in Acrobat PDF format)
for two of the most commonly used 32-bit RISC processors
(ARM and PowerPC) are presented for your review.
The AMX Timing Guides for all other versions of AMX are available
on the Manuals
page of this website.