This paper presents the first real-time multiprocessor locking protocol that supports fine-grained nested resource requests. This locking protocol relies on a novel technique for ordering the satisfaction of resource requests to ensure a bounded duration of priority inversions for nested requests. This technique can be applied on partitioned, clustered, and globally scheduled systems in which waiting is realized by either spinning or suspending. Furthermore, this technique can be used to construct fine-grained nested locking protocols that are efficient under spin-based, suspension-oblivious or suspension-aware analysis of priority inversions. Locking protocols built upon this technique perform no worse than coarse-grained locking mechanisms, while allowing for increased parallelism in the average case (and, depending upon the task set, better worst-case performance). 1

Abstract—Architectures in which multicore chips are augmented with graphics processing units (GPUs) have great potential in many domains in which computationally intensive real-time workloads must be supported. However, unlike standard CPUs, GPUs are treated as I/O devices and require the use of interrupts to facilitate communication with CPUs. Given their disruptive nature, interrupts must be dealt with carefully in real-time systems. With GPU-driven interrupts, such disruptiveness is further compounded by the closed-source nature of GPU drivers. In this paper, such problems are considered and a solution is presented in the form of an extension to LITMUS RT called klmirqd. The design of klmirqd targets systems with multiple CPUs and GPUs. In such settings, interruptrelated issues arise that have not been previously addressed. I.

Graphics processing units (GPUs) are becoming increasingly important in today’s platforms as their increased generality allows for them to be used as powerful coprocessors. In this paper, we explore possible applications for GPUs in real-time systems, discuss the limitations and constraints imposed by current GPU technology, and present a summary of our research addressing many such constraints. 1

Abstract This paper presents the first suspsension-based multiprocessor real-time locking protocols with asymptotically optimal blocking bounds (under certain analysis assumptions). These protocols can be applied under any global, clustered, or partitioned job-level fixed-priority scheduler and support mutual exclusion, reader-writer exclusion, and k-exclusion constraints. Notably, the reader-writer and k-exclusion protocols are the first analytically-sound suspension-based multiprocessor real-time locking protocols of their kind. To formalize a notion of “optimal blocking, ” precise definitions of what constitutes “blocking ” in a multiprocessor real-time system are given and a simple complexity metric for real-time locking protocols, called maximum priority-inversion blocking (pi-blocking), is introduced. It is shown that, in a system with m processors, Ω(m) maximum pi-blocking is unavoidable. This bound is shown to be asymptotically tight with the introduction of the O(m) multiprocessor locking protocol (OMLP) family presented herein, which includes protocols that ensure an upper bound on maximum pi-blocking that is approximately within a factor of two of the lower bound. In addition to the coarse-grained asymptotic bounds, detailed blocking bounds suitable for schedulability analysis are derived using holistic blocking analysis. Based on the detailed bounds, the proposed locking protocols are compared with each other and with previously-proposed protocols in an empirical schedulability study involving more than one billion task sets. In this study, the OMLP was found to perform better than two variants of the classic (but non-optimal) multiprocessor priority-ceiling protocol (MPCP).