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Brian Evans’
Embedded Software Class
By Nate Forman
Liaison Technology Inc.
For Real-Time Scheduling 3/30/2000
Agenda
• Introduction
• Anatomy of a Task
• Rate Monotonic
Principles and Tests
• Extended Rate Monotonic
Analysis
• Demonstration
• Mars Pathfinder Mission
τ 1
τ 2
τ 3
time
Ci
Processor Utilization for a task, i Ui =
Ti
1
Utilization Bound for n tasks U(n) = n(2 n
- 1)
Results:
• If Σ Ui ≤ U(n) then the set of tasks is schedulable.
• If Σ Ui > 1 then the set of tasks is unschedulable.
• If U(n) < Σ Ui ≤ 1 then the test is inconclusive.
For the response time for task i, find the least fixed-point of the
following recurrence:
an
a0 = Σ Cj an+1 = Ci + Σ Cj
j ∈ H + {i} j∈H
Tj
a0 = Σ Cj = 40 + 40 + 100 = 180
j ∈ H + {i}
a2 = a3 = 300
180
a1 = C3 + Σ Cj = 100 + (2 * 40) + (2 * 40) = 260
Tj
300 < τ = 350
j∈H
3
260
a2 = C3 + Σ Cj = 100 + (3 * 40) + (2 * 40) = 300
j∈H Tj τ 3 is schedulable.
300
a3 = C3 + Σ Cj = 100 + (3 * 40) + (2 * 40) = 300
j∈H Tj
Cj + 2S Ci + 2S Bi 1
fi = Σ + + + Σ∈ H1 (Ck + 2S)
j ∈ Hn
Tj Ti Ti Ti k
where Hn is the set of higher priority tasks that can preempt task i
more than once (shorter periods) and H1 are higher priority tasks
that can preempt task i only once (longer periods)
Compare each fi to its utilization bound, U(n, ∆ i). The results can
be interpreted as before.
an
an+1 = Bi + Ci + 2S + Σ (Cj + 2S)
j∈H
Tj
bc_sched
bc_dist
bus active
•http://www.ece.utexas.edu/~bevans/courses/ee382c/projects
3/2000 /fall99/ -- The RMADriver Application Rate Monotonic Analysis, Nate Forman