RusT-Thread：基于Rust面向资源受限嵌入式设备的操作系统的实践

RusT-Thread: A Rust-Based Operating System for Resource-Constrained Embedded Devices

摘要: 随着物联网和嵌入式系统的发展，实时操作系统(RTOS)的安全性和性能需求日益提高。传统基于C语言的RTOS在内存安全和并发控制方面存在局限，容易导致缓冲区溢出、数据竞争等问题。本项目以RT-Thread为基础，使用Rust语言重构其内核，形成了全新的RusT-Thread系统。系统采用模块化架构，涵盖内核服务、进程调度、内存管理、线程通信与时钟控制等核心功能，并充分利用Rust的所有权模型与类型系统，实现内存安全与并发安全保障。项目创新性地引入改进的多级反馈队列调度算法、中断安全数据容器(RTIntrFreeCell)、内联汇编与动态–静态数据分离等技术，在保证功能兼容性的同时优化了代码简洁性与可维护性。通过单元测试、集成测试和性能基准测试，RusT-Thread在中断延时、上下文切换和线程创建时间等关键指标上表现出与RT-Thread相当甚至更优的实时性能。该工作不仅展示了Rust在系统软件开发中的可行性与优势，也为未来安全可靠的嵌入式RTOS设计提供了参考。

Abstract: With the rapid development of IoT and embedded systems, the requirements for the security and performance of real-time operating systems (RTOS) are increasing. Traditional C-based RTOS implementations suffer from limitations in memory safety and concurrency control, which can lead to buffer overflows, data races, and system instability. This project reconstructs the RT-Thread operating system entirely in Rust, resulting in a new RusT-Thread system. The system adopts a modular architecture covering kernel services, process scheduling, memory management, inter-thread communication, and clock control, while leveraging Rust’s ownership model and type system to ensure memory and concurrency safety. Key innovations include an improved multi-level feedback queue scheduling algorithm, an interrupt-safe data container (RTIntrFreeCell), inline assembly integration, and a dynamic–static data separation design, which optimizes code simplicity and maintainability while ensuring functional compatibility. Comprehensive validation through unit tests, integration tests, and performance benchmarks demonstrates that RusT-Thread achieves real-time performance comparable to or even better than RT-Thread in terms of interrupt latency, context switching, and thread creation time. This work highlights the feasibility and advantages of Rust in system software development and provides valuable insights for the design of secure and reliable embedded RTOS in the future.