This work discusses distributed, high performance, multiprocessor,
embedded real-time systems and the difficulties encountered in
implementing such systems. A high performance embedded real-time system
architecture is proposed, together with a set of CAD tools intended to
facilitate the prototyping of control algorithms on it. The complete
system comprises a) a transputer-based hardware platform with I/O and
timing appropriate for demanding real-time applications; b)a real-time
operating system for task management on the platform; c) a graphical CAD
tool for specifying control algorithms, sampling rates and I/O in a
block diagram format; d) software for converting the block diagram to
code, allocating it to processors, compiling, linking and downloading it
onto the target hardware; e) tools for capturing and displaying process
variables at run-time; f) techniques for connecting several controllers
in a multi-controller system and g) methods for ensuring the
predictability of the system operation and timing. The results of the
implementation of the first prototype of the system are evaluated, and a
complete example of a motion control system is presented.