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Hard Real-time Support for Hierarchical Scheduling in FreeRTOS
Mälardalen University, School of Innovation, Design and Engineering. (Model-Based Engineering of Embedded Systems (MBEES))ORCID iD: 0000-0001-7448-3381
Mälardalen University, School of Innovation, Design and Engineering. (Model-Based Engineering of Embedded Systems (MBEES))ORCID iD: 0000-0003-2957-0966
Mälardalen University, School of Innovation, Design and Engineering. (Model-Based Engineering of Embedded Systems (MBEES))ORCID iD: 0000-0001-7586-0409
Mälardalen University, School of Innovation, Design and Engineering.ORCID iD: 0000-0002-1687-930X
2011 (English)In: Proceedings of 7th annual workshop on Operating Systems Platforms for Embedded Real-Time Applications July 5th, 2011 in Porto, Portugal: in conjunction with the23rd Euromicro Conference on Real-Time SystemsPortugal, July 6-8, 201 / [ed] Thomas Gleixner, Gabriel Permer, 2011, 51-60 p.Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents extensions to the previous implementationof two-level Hierarchical Scheduling Framework(HSF) for FreeRTOS. The results presented here allow the useof HSF for FreeRTOS in hard-real time applications, with thepossibility to include legacy applications and components notexplicitly developed for hard real-time or the HSF.

Specifically, we present the implementations of (i) global andlocal resource sharing using the Hierarchical Stack ResourcePolicy and Stack Resource Policy respectively, (ii) kernel supportfor the periodic task model, and (iii) mapping of original FreeRTOSAPI to the extended FreeRTOS HSF API. We also presentevaluations of overheads and behavior for different alternativeimplementations of HSRP with overrun from experiments on theAVR 32-bit board EVK1100. In addition, real-time schedulinganalysis with models of the overheads of our implementation ispresented.

Place, publisher, year, edition, pages
2011. 51-60 p.
Keyword [en]
Real-time systems; hierarchical scheduling framework; resource sharing, fixed-priority scheduling
National Category
Embedded Systems Computer Systems
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:mdh:diva-13425OAI: oai:DiVA.org:mdh-13425DiVA: diva2:463503
Conference
23rd Euromicro Conference on Real-Time Systems
Available from: 2011-12-14 Created: 2011-12-09 Last updated: 2013-12-03Bibliographically approved
In thesis
1. Towards a Predictable Component-Based Run-Time System
Open this publication in new window or tab >>Towards a Predictable Component-Based Run-Time System
2012 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

In this thesis we propose a technique to preserve the temporal properties of realtime components during their integration and reuse. We propose a new concept of runnable virtual node which is a coarse-grained real-time component that provides functional and temporal isolation with respect to its environment. A virtual node’s interaction with the environment is bounded by both a functional and a temporal interface, and the validity of its internal temporal behaviour is preserved when integrated with other components or when reused in a new environment.

 

The first major contribution of this thesis is the implementation of a Hierarchical Scheduling Framework (HSF) on an open source real-time operating system (FreeRTOS) with the emphasis of doing minimal changes to the underlying FreeRTOS kernel and keeping its API intact to support the temporal isolation between a numbers of applications, on a single processor. Temporal isolation between the components during runtime prevents failure propagation between different components.

 

The second contribution of the thesis is with respect to the integration of components, where we first illustrate how the concept of the runnable virtual node can be integrated in several component technologies and, secondly, we perform a proof-of-concept case study for the ProCom component technology where we demonstrate the runnable virtual node’s real-time properties for temporal isolations and reusability.

 

We have performed experimental evaluations on EVK1100 AVR based 32-bit micro-controller and have checked the system behaviour during heavy-load and over-load situations by visualizing execution traces in both hierarchical scheduling and virtual node contexts. The results for the case study demonstrate temporal error containment within a runnable virtual node as well as reuse of the node in a new environment without altering its temporal behaviour.

Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2012
Series
Mälardalen University Press Licentiate Theses, ISSN 1651-9256 ; 145
Keyword
real-time systems, component based software engineering, hierarchical scheduling
National Category
Embedded Systems Computer Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:mdh:diva-13488 (URN)978-91-7485-054-3 (ISBN)
Presentation
2012-01-09, Kappa, Mälardalen University, Västerås, 10:15 (English)
Opponent
Supervisors
Projects
PROGRESS
Available from: 2011-12-14 Created: 2011-12-14 Last updated: 2013-12-03Bibliographically approved

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