8 4 ESS RTOS University of Electronic Science Technology of China(UESTC) >Heterogeneous OS on the ARM11MPCORE MiddleWare:aCoral-link (Linux driver aCoral driver) in charge of Booting aCoral,managing shared memory,coordinating task execution in Dual-OS √APIs for user ▣INT3(Send&receive) Data structures in common Registers in common FLAG,IPI .....(acoral_create_thread() 。Program design ·Example Collaborative Computing Real-Time Systems Lab LIAO Yong8 Real-Time Systems Lab LIAO Yong University of Electronic Science & Technology of China (UESTC) 4 ESS & RTOS Heterogeneous OS on the ARM11MPCORE • MiddleWare: aCoral-link in charge of Booting aCoral, managing shared memory, coordinating task execution in Dual-OS APIs for user • Program design • Example • Collaborative Computing (Linux driver + aCoral driver)  INT 3 (Send & receive)  Data structures in common  Registers in common : FLAG, IPI  …… (acoral_create_thread())