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A Review of Fixed Priority and EDF Scheduling for Hard Real-Time Uniprocessor Systems
"... This paper was written to accompany a talk at the ETR Summer School in Toulouse 2013. It provides a background and primer to scheduling and schedulability analysis for hard real-time single processor systems. The paper focuses on the two main scheduling algorithms used: Fixed Priority and Earliest D ..."
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This paper was written to accompany a talk at the ETR Summer School in Toulouse 2013. It provides a background and primer to scheduling and schedulability analysis for hard real-time single processor systems. The paper focuses on the two main scheduling algorithms used: Fixed Priority and Earliest Deadline First. The paper has two broad aims: Firstly to provide a guide to the fundamental results for these real-time scheduling algorithms. Secondly to provide a brief review of extensions aimed at (i) limiting the effects and overheads of pre-emption and (ii) accounting for the effects of pre-emptions; specifically cache related pre-emption delays. The paper also briefly looks back at success stories in real-time scheduling, and forwards at the current hot topics in this research area. Categories and Subject Descriptors
Mixed Criticality on Controller Area Network
"... Abstract—An increasingly important trend in the design of real-time and embedded systems is the integration of components with different levels of criticality onto a common hardware platform. Where the platform incorporates a communication media it is necessary for that media to be able to safely an ..."
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Abstract—An increasingly important trend in the design of real-time and embedded systems is the integration of components with different levels of criticality onto a common hardware platform. Where the platform incorporates a communication media it is necessary for that media to be able to safely and efficiently transfer messages of different criticality levels. In this paper we consider the Controller Area Network (CAN), and define mixed criticality protocols that could form the basis of a Trusted Network Component for CAN. Sufficient response-time analysis is derived for these protocols and an optimal priority assignment scheme is provided. Evaluations illustrate the benefits of the schemes. I.
On Priority Assignment for Controller Area Network when some Message Identifiers are Fixed
"... Controller Area Network (CAN) is widely used in automotive applications. With CAN, the network utilisation that may be obtained while ensuring that all messages meet their deadlines is strongly dependent on the policy used for priority (message identifier) assignment. This paper addresses the proble ..."
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Controller Area Network (CAN) is widely used in automotive applications. With CAN, the network utilisation that may be obtained while ensuring that all messages meet their deadlines is strongly dependent on the policy used for priority (message identifier) assignment. This paper addresses the problem of priority assignment when some message identifiers are fixed. There are two variants of this problem: P1 where the gaps between fixed identifiers are large enough to accommodate the freely assignable messages and P2 when the gaps are too small. For problem P1, we provide algorithms that give optimal and robust priority orderings based on an adaptation of existing techniques. Problem P2 is more difficult to solve. We show via a counter example that the algorithms derived for P1 and others recently published can fail to find a schedulable priority ordering when the gaps are small, even though one exists. We derive an optimal and robust solution to this problem with respect to a simple form of schedulability analysis which assumes the same upper bound on the length of all messages. 1.
Impact Case Study: Guaranteeing the real-time performance of in-vehicle networks
"... Controller Area Network (CAN) is a digital communications bus used by the automotive industry for in-vehicle networks. Research from the Real-Time Systems Group at the University of York introduced techniques that enable CAN to operate under high loads (approx. 80% utilisation) while ensuring that a ..."
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Controller Area Network (CAN) is a digital communications bus used by the automotive industry for in-vehicle networks. Research from the Real-Time Systems Group at the University of York introduced techniques that enable CAN to operate under high loads (approx. 80% utilisation) while ensuring that all messages meet their deadlines. The research led directly to the development of commercial products, now called Volcano Network Architect (VNA) and the Volcano Target Package (VTP). This Volcano technology (VNA and VTP) is now owned by Mentor Graphics. In recent years, VNA has been used to configure CAN communications for all Volvo production cars, with VTP used in the majority of Electronic Control Units (ECUs) in these vehicles, including the S40, S60, S80,
