Bisson, Kenneth J.; Aptec Computer Systems (International Foundation for Telemetering, 1992-10)
      There are many applications that require multiple processors performing real-time tasks and communicating with each other over a common bus or memory. Aptec has developed a real-time multiprocessing system which reduces the integration effort needed in a custom designed system. The system uses commercially available Motorola 68000 series processors each running a real-time kernel. Software has been developed to extend the capabilities of the real-time kernel. This software is called Multiprocessor Services. The software allows tasks running on different processors to communicate with each other and a global shared memory. This paper describes the features of real-time multiprocessor hardware systems, and how the multiprocessor software coordinates the processors to operate as an integrated system.