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This paper presents a framework that enables programmers to deploy embedded real-time firmware of Internet of Things (IoT) devices more conveniently than using plain C/C++-language programming, by abstracting away from low-level details and the ad hoc management of multiple, diverse network technologies. Moreover, unlike other proposals, the framework is able to accommodate both time and event-driven applications. Experimental results show that for Modbus-CAN communication, the worst-case time overhead of the framework is less than 6% of the total combined processing and communication time. Its memory requirement is less than 5% and 4% of the Flash memory and RAM available on a typical IoT microcontroller. The framework also compares favorably with respect to two other approaches in terms of the sustainable minimum cycle time, memory overhead, and level of programming abstraction when tested on a simple real-time algorithm.
