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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
t1
t2
t3
time
Ci
Processor Utilization for a task, i Ui =
Ti
1
n
Utilization Bound for n tasks U(n) = n(2 - 1)
Results:
• If S Ui ≤ U(n) then the set of tasks is schedulable.
• If S Ui > 1 then the set of tasks is unschedulable.
• If U(n) < S 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 = S Cj an+1 = Ci + S Cj
j H + {i} jH
Tj
a0 = S Cj = 40 + 40 + 100 = 180
j H + {i}
a2 = a3 = 300
180
a1 = C3 + S Cj = 100 + (2 * 40) + (2 * 40) = 260
Tj
300 < t3 = 350
jH
260
a2 = C3 + S Cj = 100 + (3 * 40) + (2 * 40) = 300
jH Tj t3 is schedulable.
300
a3 = C3 + S Cj = 100 + (3 * 40) + (2 * 40) = 300
jH Tj
Cj + 2S Ci + 2S Bi 1
fi = S + + + S (Ck + 2S)
j Hn Tj Ti Ti Ti k H1
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, Di). The results can
be interpreted as before.
a0 = Bi + S (Cj + 2S)
j H + {i}
an
an+1 = Bi + Ci + 2S + S (Cj + 2S)
jH
Tj
bc_sched
bc_dist
bus active
•http://www.ece.utexas.edu/~bevans/courses/ee382c/projects/
fall99/ -- The RMADriver Application
3/2000 Rate Monotonic Analysis, Nate Forman