QNX Technical Presentation

QNX Neutrino RTOS
Architecture Makes the Difference
March 18, 2014
Flat Architecture VxWorks

All software components reside in single address space Efficient for simple, singlepurpose systems Scalability & upgradeablilty limited Difficult to isolate errors in complex systems A failure in any component can cause the entire system to fail if you are lucky! Still in use today because:
OS cant handle overhead of MMU - developers trade memory protection for performance Migrating thousands of lines of spaghetti code perceived as too difficult or time-consuming
Application Device Drivers
Application TCP/IP Stack
Kernel space
Filesystem
Wind River's VxWorks uses the flat single-address-space model, evolving out of a traditional set of applications in which the environment was closed and only one or two basic operations had to be performed. - Bernard Cole, EE Times
March 18, 2014
All content copyright QNX Software Systems Ltd.
Monolithic Architecture - Linux

UNIX architecture developed in 1960s Widely used for desktop applications Provides memory protection for applications Still open to system faults from errors in drivers, stacks, and OS services Not suitable for applications requiring realtime performance
No priority inheritance Realtime extensions provide only limited realtime capability
Application
Application
User Space Kernel space

Filesystem
Device Drivers
TCP/IP Stack
The Linux community clearly states that

Linux is not meant to be used in real-time environments."
Linux is not an RTOS!

- Dedicated Systems Experts
March 18, 2014
Modular Microkernel QNX Neutrino
ALL components reside in separate address spaces, isolated from each other and the kernel Difficult to cause system crashes Easier to isolate source of system errors Preferred technology for todays systems because:
Reliable Modular design - scalable and upgradeable Easily build complex systems Streamlined development and standards support decreases time to market
User Space
Application Filesystem
Kernel
Device Drivers TCP/IP Stack
The QNX [Neutrino] RTOS is the only RTOS that has a true message-based client-server architecture well equipped to handle todays requirements concerning distributed processing, high availability - Dedicated Systems Experts
March 18, 2014
Microkernel Architecture
COOL
SuperH
ENGINE
Process Manager
io-block
io-net
io-graphics
io-audio
io-char
Microkernel
Application
Message Bus
Microkernel + Process Manager

are the only trusted components
March 18, 2014
Applications and Drivers

Are processes which plug into a message bus Reside in their own memory-protected address space Cannot corrupt other software components Can be started, stopped and upgraded on the fly
Proven Performance
Independent tests show QNX performs

Dedicated Systems (http://www.omimo.be/encyc/) MPC7410 (333 Mhz)
Sandpoint Eval board 64M DRAM2M L2 Cache 32K Processor I/D cache 83 MHz bus
Thread switch (2 threads) Interrupt Latency Interrupt Dispatch Maximum Sustainable Interrupt Frequency with zero loss
0.6 s avg (range: 0.6 s 11.5 s) 0.4 s avg (range: 0.0 s 2.6 s) 0.7 s avg (range: 0.7 s 1.8 s) 10,000 interrupts 11.0 s 1,000,000,000 interrupts 11.0 s
Why was QNX tested on a 333 MHz PPC and OSE on a 400 MHz PPC? The issue was that with QNX, some events were that fast, that we could not measure them with enough precision. That's the reason why we digged (sic) into this. In general it means that QNX is highly efficient and ultra fast on a PPC platform. Martin Timmerman
March 18, 2014
Hard Realtime Performance
Prioritized pre-emptable threads

256 priority levels Fully pre-emptable and deterministic kernel
Thread C Thread B Thread A
Priority 50 Priority 18 Priority 12
Multiple concurrent scheduling algorithms

FIFO, Round Robin, Sporadic
Prioritized and nested interrupts

Interrupt handlers can schedule a user thread or run custom interrupt code
Thread B Thread A
IRQ x
Handler x
IRQ y (higher)
Priority Inheritance
Threads take priority of requestor Prevents priority inversion
Handler y
Thread B scheduled
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March 18, 2014
Tools: QNX Momentics

The Most Productive Tools
March 18, 2014
Languages
C/C++
GCC 2.9.53, 3.3.5 compiler (all platforms) GCC 4 in beta, 2.53 being deprecated Dinkum C++ libraries (standard, embedded)
Java
IBM OTI J2ME certified (coffee cup logo) Custom embeddable J2SE subsets, with smart linking ability customized subset with unused code removal Java threads map onto native POSIX threads, so C, C++ and Java threads compete as equals Just-in-time (JIT) and ahead-of-time (AOT) compilation
Assembler
March 18, 2014
10
QNX Momentics at a Glance

Choose your host
Windows, Linux, Solaris, QNX Neutrino
Choose your target

ARM, MIPS, PowerPC, SH4, XScale, x86
Choose your language

C, C++, Embedded C++
Choose your BSPs

BSPs for many popular boards and reference platforms
Choose command line or IDE

IDE and command line tools interoperate
Choose 3rd party tools

Growing ecosystem of tools vendors supporting Eclipse
March 18, 2014
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Tools Demo
DEMO!!!!
March 18, 2014
28
QNX Neutrino RTOS

Scalability
March 18, 2014
Massive Scalability
From tiny embedded single board computers
To massive high performance, systems combining Neutrinos unique multi-core and Distributed capabilities
March 18, 2014
30
Inter-Process Communication
Process communicate by sending messages
/dev/tcpip Process Manager
/dev/ser1
io-block
io-net
io-graphics
io-audio
io-char
K Microkernel
Application Application
Message Bus
Using Messages: Cleanly decouples processes POSIX calls built on messages

fd = open( /dev/tcpip, ,,, ) read, write, stat, devctl, close
Other POSIX calls as well
Shared memory
large data sets and hardware All content copyright QNX access Software Systems Ltd.
realtime signals pipes and POSIX mqueues mutexs, condvars, semaphores barriers, sleepon reader/writer locks
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March 18, 2014
Multicore (including SMP)

PowerPC Pentium MIPS
Process Manager K
io-block
~~~
~~~~
io-net
io-graphics
~~~
io-audio
~~
io-char
~~
Microkernel
Application
Message Bus
Increase processing power by adding additional CPUs memory and peripherals are all shared Automatic thread (~) scheduling across all CPUs
the highest-priority thread will be running on an available processor threads can be locked to one or more CPUs via a processor affinity mask
Transparent to application software and drivers

March 18, 2014
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Distributed Processing
Message Bridge
Process Manager K io-block
internet
io-net io-graphics io-audio io-char
Microkernel
Application Process Manager K io-net
Message Bus
Applications and Servers become network distributed without any special code.
You gain unified access to all remote hardware and software resources
Application
Bridging the kernel allows messages to flow transparently from one message bus to another over a variety of transports
March 18, 2014
(Ethernet, RapidIO, custom switching fabric, internet, ) Multiple networkAll links will QNX redirect traffic on network failures content copyright Software Systems Ltd.
33
Networking
Standard NetBSD TCP/IP Stack

IP, UDP, TCP
Enhanced NetBSD TCP/IP Stack

Standard stack plus
Private, Secure Networking & IPv6

TCP/IPv6, IPsec,
PPP, PPOE ARP, IGMP, DHCP, DNS Forwarding, broadcast, multi-cast, routing sockets
IPV6 IPsec VPNs over Ipsec tunnels
IKE2 Utilities SNMPv2 MIB-II TCP/IP management agent (SNMP)
Easily create multiple virtual networks by running multiple instances of a TCP/IP stack on a physical interface
March 18, 2014
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Multiple Instances of Stacks

TCP/IP Instance TCP/IP Instance
TCP/IP
OSPF
Telnetd
TCP/IP
OSPF
Other Applications
Custom Stack
Custom Driver
Multiple TCP/IP stacks can run in one system

Isolation and security Virtual routers Redundancy Stacks can be bound to a port or VLAN Capability just falls out of architecture
March 18, 2014
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QNX Provides Comprehensive Protocol support
March 18, 2014
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QNX Neutrino RTOS

Reliability
March 18, 2014
Critical Process Monitoring
Process Memory Violation

State Machine
HMI App
io-net (TCP/IP)
Kernel notifies HA Manager
Microkernel
Application HA Manager
Dump file for post-mortem analysis
io-net
HA Manager restarts service

March 18, 2014
38
Notification and Recovery
HAM Checkpointed State
HAM
HAM Guardian
TCP/IP Stack
HA Manager (HAM) monitors components, sends notification of component failure

Heart-beat services detect component hangs Core file on crash can be created for debugging and analysis
Driver
Standby Driver
App
Checkpointing permits recovering current state
Checkpointed State
March 18, 2014
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Adaptive Partitioning
File System Core Application
Add-On Application
OS
Device Driver
Core Application
Core Application
Add-on Application
10%
70%
20%
Adaptive partitioning provides secure partitions and guaranteed CPU time

A collection of processes and threads make up a partition A partition is assigned a percentage of CPU time, averaged over a time window Overlays on existing thread scheduling
March 18, 2014
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Realtime Performance
10% I/O Partition 70% Application Partition
Core Application Core Application
20% Untrusted Partition

Add-On
OS
File System
Device Drivers
Networking
Core Application
Add-On
CPU Guarantees for partitions at full system load Dynamic allocation of CPU use while under loaded
Partitions Enforced
No idle time
Free time use idle cycles
Idle time available
0%
March 18, 2014
50%
100%
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CPU Utilization
Example GPS
QNX Neutrino Microkernel
User Interface
Route Calculation
Diagnostics
Data Acquisition
30%
40%
30%
Fixed Partitioning
30% 40% 20% 10%
Adaptive Partitioning
Reroute
35% 45%
20%
20%
10% 10%
30%
20%
10%
Drive
20%
10%
20%
50%
10%
20%
40%
10%
20%
Stopped
10% 10%
80%
10%
20%
40%
30%
Power On
10%
90%
0%
20%
40%
60%
80%
100%
0%
20%
40%
60%
80%
100%
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March 18, 2014
QNX Neutrino RTOS

Human Machine Interface
March 18, 2014
QNX Photon microGUI
From tiny handhelds
To full desktops

Alpha blending, memory planes, live video, video overlay, direct draw Unicode allows display of multiple languages simultaneously Scaleable fonts - True type and small size Asian Stroke Fonts Extensive set of customizable widgets buttons, menus, lists, panes,
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March 18, 2014
Look and Feel
March 18, 2014
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Photon Graphical Runtime : 2D primitives
images: bmp, gif, jpg, png, tiff, pcx, xbm, tga lines, circles, polygons, points thick and thin 256 raster operations filled rectangles, circles, polygons Bezier curves, arcs
March 18, 2014
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Photon : Widgets
Widgets are smart objects handle own expose and redraw Extendable and customizable e.g. provide your OWN button
Buttons: image, radio, toggle, ON/OFF Sliders, meters, scrollbars, graphs, trends Panes, panels, scroll areas Text boxes, HTML, Web panes Lists, selection trees, file selectors
March 18, 2014
Menus, Combo boxes Terminals Input boxes: numeric and text
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Photon : Fonts
Without anti-aliasing With anti-aliasing
March 18, 2014
Unicode UTF-8 scalable fonts (smaller font files) anti-aliasing Multiple font types: TrueType Bitstream FontFusion TrueDoc bitmap Internationalization
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Multi-Language Support
QNX Photon microGUI windowing system supports standard encoding mechanism (UTF8) and translation facility
Adapt products to different geographies Over 20 language variants supported
Supported Language
US ASCII Western European
Encoding Standards
ISO 8859-1 Windows 1252
Central European
Maltese Latvian Cyrillic
ISO 8859-2, Windows 1250

ISO 8859-3 ISO 8859-4 ISO 8859-5 KO18-R IBM866 Windows 1251 ISO 8859-7 ISO 8859-9 JIS, ISO-2022-JP Shift JIS EUC EUC UTF-8 IBM 437 HZ, Big 5, GB 2312-80
Specialized Asian font and input method support Chinese character encoding GB18030
Mandatory import requirement in China Applicable for OEMs who want to adapt products to sell in China
Greek Turkish Japanese
Korean Unicode US Latin
Chinese
March 18, 2014
GB 18030
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Photon Application Builder

Simply click to align, duplicate, group, resize, or split any number of widgets.
Use builtin resource editors to quickly modify a widgets look and behaviour
Translate your UI into multiple languages, with full Unicode support.
Click to add any widget to your application
Attach callbacks that will automatically open windows, dialogs, and menus no need to write the glue that ties your interface together
March 18, 2014
53
QNX Advanced Graphics Framework
Coral, Carmine, Intel Extreme, Radian 9700, [PowerVR]
March 18, 2014
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Look and Feel
March 18, 2014
55
Graphics Framework
Core Graphics library Display and Video surface management 2D rendering primitives with hardware acceleration and software fallbacks
Blitting Alpha and Chroma Rectangles, Lines, polygons
Video Capture API
March 18, 2014
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3D Rendering and Vector Graphics
3D Rendering
OpenGL ES 1.0 Hardware accelerated if available Software fallbacks for unaccelerated functions Certified by the Khronos Group
2D Vector Graphics
OpenVG 1.0 Software renderer Investigating hardware possibilities
March 18, 2014
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Fonts and Images
Font support through FontFusion API

True Type font support Anti Aliasing and Outline characters Scalable font support
Image library
Decode and Encode support BMP JPEG GIF PNG TGA Resize and Rotation
March 18, 2014
58
Adobe FlashLite 3

System integrator can quickly jump from prototype to product High level tools, millions of developers and designers Mountains of Flash content (components, movies (YouTube), source code, etc.) Strong industry standard
Adobe certifies Flashplayers with their Acceptance Test Suite Same look and feel for all flash content on all players
Adobe has been pushing in to embedded systems for several years

Almost all phones support FlashLite 2 Footprint is decreasing
Most embedded hardware can support the 100 to 200 CPU MIPS needed for a pleasing Flash experience ( 20 frames per second on QVGA or VGA screens)
March 18, 2014
59
Why QNX and Flash ?
QNX is working with Flash technology in three key ways:

Incorporate Flash in to QNX application frameworks How to launch and control Flash content? How to co-exist Flash content with other graphics? With operating system services? QNX is creating polished demonstrations of production-ready Flash content and application integration Add QNX embedded values to Flashplayer and its environment Reliability Performance Scalability Sub-license the Adobe Flashplayer (FlashLite 3.X) Standalone player and browser plugin Adobe certified (passes all test suites)
March 18, 2014
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Flash + non-Flash
Adobe Flashplayer runs Flash swf content Menu buttons on bottom of screen DVD controls and status
DVD movie appears on video capture layer behind the Flashplayer Using Chromakey
March 18, 2014
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Flash + Flash
Adobe Flashplayer runs Flash swf content: Menu buttons on bottom of screen Touchscreen for panning left/right, zoom etc. Flash-based navigation application is managed by main Flash content
March 18, 2014
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Browsers
Voyager Mozilla Firefox (in progress) Netfront available from vendor
March 18, 2014
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QNX Neutrino RTOS

Other Features
March 18, 2014
Slinger Web Server
Internet
TCP/IP
HTTP
Slinger
Tag Get
Data Server
Tag Set
Small
Web Server (96K)

File System
HTML SHTML
HTTP 1.1 CGI 1.1 Basic Authentication
Control Apps
Dynamic
HTML Support Via Server Side Includes (SSI) and Data Server Also Available
Hardware
Apache
WEB Pages
File Systems
Disk
QNX
POSIX
Embedded
Image
ROM/RAM/Flash Execute-in-place
Network
CIFS
Microsoft connectivity
Special
Package
Field updates and rollbacks
DOS
Fat 12, 16, 32
RAM
Temporary files
NFS
Unix connectivity
Compression
Decompression on the fly 30 to 55% on executables
Linux
EXT2
NAND
Paged flash
CDROM
ISO9660, Rock Ridge, Joliet, DVD-RAM
NOR
Linear flash
Background erase and reclaim with

pre-emption Fault tolerant POSIX semantics
hierarchical directory structure,

symbolic links, permissions
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March 18, 2014
Flash Layout
BOOT BOOT BOOT IMAGE 1 IMAGE 2 IMAGE
FLASH FLASH FILESYSTEM FILESYSTEM
IPL IPL
Boot Image
Contains Kernel Requires only Flash Filesystem to be in Image
Flash Filesystem
Fault Tolerant POSIX Compliant Filesystem Once Filesystem is Loaded Everything Else Can be Loaded from the Filesystem, Even Drivers
IPL (Initial Program Loader)

Sets Up Board and Loads Boot Image Sits at Reset Vector
March 18, 2014
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Customized Power Management

Main Components:
Power monitoring application Power sensitive application
Client Library:
Device Drivers Applications
Server Library:
Power Manager
Client library
Power Callout:
CPU Control Power manager User applications
RTOS Provides:

Client/Server Libraries Power Managed Device Drivers CPU Power Callout
Server library
OS microkernel
End Users Write:

Power Manager Application (policy) Power Aware Applications Custom Power Managed Drivers Custom CPU Power Callout
Power-managed BSP
Power callout Device driver Device driver
OS, BSP components
CPU
March 18, 2014
Peripherals
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QNX Neutrino RTOS

Drivers
March 18, 2014
Drivers (supplied and available)
Serial Parallel Audio Graphics Input Network USB 2.0 Disk Flash
Platform Independent Drivers
Drivers are written in C Drivers are coded to be endian and alignment safe (gulliver.h) Drivers are IO architecture independent (io.h) Drivers are not unique to a board (BSP) Need Proof?
devc-ser8250 is src code identical on X86 PC, PPC 403 eval board, MIPS 4102 eval board devb-aha2 is src code identical on X86 PC, MIPS 4300 eval board
Resource Manager Structure
Resource Managers are simply application which handle some resource, typically hardware Standard user application Debug with standard debugger Can be single or multi-threaded QNX has resource manager model, however you dont have to use it Advantage of resource manager model is that it lets clients use standard open/read/write calls
initialize the resource manager register the name with the process manager Create thread pool (if multi-threaded) DO forever { receive a message SWITCH on the type of message CASE _IO_CONNECT: call io_open handler ENDCASE CASE _IO_READ: call io_read handler ENDCASE CASE _IO_WRITE: call io_write handler ENDCASE /* etc. handle all other messages */ /* that may occur, performing */ /* processing as appropriate */ ENDSWITCH ENDDO
Accessing Hardware
Must be superuser and issue ThreadCtl() Ports are accessed using in() and out() instructions (after mapping in device registers Memory is mapped using POSIX mmap() calls, though QNX extensions are preferred
/* map in the physical memory, 0xb8000 is text mode VGA video memory */ ptr = mmap_device_memory( 0, len, PROT_READ|PROT_WRITE|PROT_NOCACHE, 0, 0xb8000 ); if ( ptr == MAP_FAILED ) { perror( "mmap_device_memory for physical address 0xb8000 failed" ); exit( EXIT_FAILURE ); }
Handling Interrupts
ISR Processing Chain
INT ISR 1 ISR 2
...
ISR n
main () { ... pthread_create (NULL, NULL, int_thread, NULL); ... } // this thread is dedicated to handling and managing interrupts void * int_thread (void *arg) { ThreadCtl (_NTO_TCTL_IO, NULL); InterruptAttach (IRQ3, isr_handler, NULL, 0, 0); ... while (1) { InterruptWait (NULL, NULL); ... } } // This is the actual interrupt service routine const struct sigevent * isr_handler (void *arg, int id) { ... return (&event); }
Hardware Interrupt
Interrupt Redirector
Scheduler .
Kernel
Summary
Were there every step of the way!

Product Design Product Development
Choice of Host and Target Faster Development with intuitive IDE Standard or Priority Support Plan Custom Engineering
Product Deployment
Fault Resistant Field Upgradeable Clean IP Long term support for old versions Escrow
Modular Client/Server Architecture Training Design Reviews Follow POSIX Standards
Source Code
Board Support Pkgs System Reviews
March 18, 2014
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Is there really a choice other than QNX if the damn things gotta work?
Don Fotsch VP/GM Information Appliance Division 3Com
March 18, 2014
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2001, QNX Software Systems Ltd. QNX is a registered trademark, and Build a more reliable world is a trademark, of QNX Sof tware Systems Ltd. All other trademarks belong to their respective owners.

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QNX Neutrino RTOS

Architecture Makes the Difference

March 18, 2014

Flat Architecture VxWorks

Application Device Drivers

Application TCP/IP Stack

March 18, 2014

All content copyright QNX Software Systems Ltd.

Monolithic Architecture - Linux

User Space Kernel space

The Linux community clearly states that

Linux is not an RTOS!

March 18, 2014

All content copyright QNX Software Systems Ltd.

Modular Microkernel QNX Neutrino

March 18, 2014

All content copyright QNX Software Systems Ltd.

Microkernel + Process Manager

Applications and Drivers

All content copyright QNX Software Systems Ltd.

Independent tests show QNX performs

Hard Realtime Performance

Prioritized pre-emptable threads

Thread C Thread B Thread A

Priority 50 Priority 18 Priority 12

Multiple concurrent scheduling algorithms

Prioritized and nested interrupts

March 18, 2014

All content copyright QNX Software Systems Ltd.

Tools: QNX Momentics

March 18, 2014

March 18, 2014

All content copyright QNX Software Systems Ltd.

QNX Momentics at a Glance

Choose your target

Choose your language

Choose your BSPs

Choose command line or IDE

Choose 3rd party tools

March 18, 2014

All content copyright QNX Software Systems Ltd.

March 18, 2014

All content copyright QNX Software Systems Ltd.

QNX Neutrino RTOS

March 18, 2014

From tiny embedded single board computers

/dev/tcpip Process Manager

Using Messages: Cleanly decouples processes POSIX calls built on messages

Other POSIX calls as well

March 18, 2014

Multicore (including SMP)

Transparent to application software and drivers

Standard NetBSD TCP/IP Stack

Enhanced NetBSD TCP/IP Stack

Private, Secure Networking & IPv6

IPV6 IPsec VPNs over Ipsec tunnels

IKE2 Utilities SNMPv2 MIB-II TCP/IP management agent (SNMP)

March 18, 2014

All content copyright QNX Software Systems Ltd.

Multiple Instances of Stacks

Multiple TCP/IP stacks can run in one system

March 18, 2014

All content copyright QNX Software Systems Ltd.

QNX Provides Comprehensive Protocol support