A Survey of WCET Analysis of Real-Time Operating Systems

Timing correctness of hard real-time systems is guaranteed by schedulability analysis and worst-case execution time (WCET) analysis of programs. Traditional WCET analysis mainly deals with application programs and has achieved success in industry. Timing analysis of application programs along cannot guarantee correctness of complete systems consisting RTOS. WCET tools designed for application program analysis have been applied to analyze RTOS routines by several research groups, but poor WCET estimations have been reported. Timing analysis of real-time systems considering both applications and RTOS has not been fully studied. So we intend to give a survey of related work on WCET analysis of RTOS. By summarizing previous work, challenges of WCET analysis of complete real-time systems are presented, and some possible further research potentials are unleashed.

[1]  Martin Schoeberl,et al.  On Composable System Timing, Task Timing, and WCET Analysis , 2008, WCET.

[2]  Jörn Schneider.  Why You Can't Analyze RTOSs without Considering Applications and Vice Versa , 2002 .

[3]  Jan Gustafsson.  Usability Aspects of WCET Analysis , 2008, 2008 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC).

[4]  Sergio Ruocco,et al.  A Real-Time Programmer's Tour of General-Purpose L4 Microkernels , 2008, EURASIP J. Embed. Syst..

[5]  Gilles Grimaud,et al.  A Distributed WCET Computation Scheme for Smart Card Operating Systems , 2004 .

[6]  Sebastian Altmeyer,et al.  Parametric Timing Analysis for Complex Architectures , 2008, 2008 14th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications.

[7]  Jakob Engblom,et al.  The worst-case execution-time problem—overview of methods and survey of tools , 2008, TECS.

[8]  Jörn Schneider.  Cache and pipeline sensitive fixed priority scheduling for preemptive real-time systems , 2000, Proceedings 21st IEEE Real-Time Systems Symposium.

[9]  Isabelle Puaut,et al.  A modular and retargetable framework for tree-based WCET analysis , 2001, Proceedings 13th Euromicro Conference on Real-Time Systems.

[10]  Bernd Becker,et al.  A Definition and Classification of Timing Anomalies , 2006, WCET.

[11]  Peter P. Puschner,et al.  An Operating System for a Time-Predictable Computing Node , 2008, SEUS.

[12]  Stephan Wilhelm.  Efficient Analysis of Pipeline Models for WCET Computation , 2005, WCET.

[13]  Alexander Metzner,et al.  Why Model Checking Can Improve WCET Analysis , 2004, CAV.

[14]  Reinhold Heckmann,et al.  Worst-Case Execution Time - A Tool Provider's Perspective , 2008, 2008 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC).

[15]  Sharad Malik,et al.  Cinderella: A Retargetable Environment for Performance Analysis of Real-Time Software , 1997, Euro-Par.

[16]  Xianfeng Li,et al.  Chronos: A timing analyzer for embedded software , 2007, Sci. Comput. Program..

[17]  Raimund Kirner,et al.  Time-Predictable Task Preemption for Real-Time Systems with Direct-Mapped Instruction Cache , 2007, 10th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC'07).

[18]  Ge Yu,et al.  Performance Comparison of Techniques on Static Path Analysis of WCET , 2008, 2008 IEEE/IFIP International Conference on Embedded and Ubiquitous Computing.

[19]  Björn Lisper,et al.  Fully Automatic, Parametric Worst-Case Execution Time Analysis , 2003, WCET.

[20]  Martin Carlsson.  Worst Case Execution Time Analysis, Case Study on Interrupt Latency, For the OSE Real-Time Operating System , 2002 .

[21]  Per Stenström,et al.  Timing anomalies in dynamically scheduled microprocessors , 1999, Proceedings 20th IEEE Real-Time Systems Symposium (Cat. No.99CB37054).

[22]  Jörn Schneider.  Combined schedulability and WCET analysis for real-time operating systems , 2000 .

[23]  Jakob Engblom,et al.  Worst-Case Execution Time Analysis of Disable Interrupt Regions in a Commercial Real-Time Operating System , 2002 .

[24]  Peter P. Puschner.  Transforming Execution-Time Boundable Code into Temporally Predictable Code , 2002, DIPES.

[25]  Gilles Grimaud,et al.  Bringing Worst Case Execution Time Awareness to an Open Smart Card OS , 2007, 13th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2007).

[26]  Isabelle Puaut,et al.  Worst-case execution time analysis of the RTEMS real-time operating system , 2001, Proceedings 13th Euromicro Conference on Real-Time Systems.

[27]  Björn Lisper,et al.  Towards an Automatic Parametric WCET Analysis , 2008, WCET.

[28]  Jan Gustafsson,et al.  Experiences from Applying WCET Analysis in Industrial Settings , 2007, 10th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC'07).

[29]  Stefan M. Petters,et al.  Issues in analysing L4 for its WCET , 2007 .

[30]  Stefan M. Petters,et al.  Static analysis support for measurement-based WCET analysis , 2006 .

[31]  Sergio Ruocco.  Real-Time Programming and L4 Microkernels , 2006 .

[32]  Jan Gustafsson,et al.  Static Timing Analysis of Real-Time Operating System Code , 2004, ISoLA.

[33]  Jan Gustafsson,et al.  Evaluating Static Worst-Case Execution-Time Analysis for a Commercial Real-Time Operating System , 2004 .