On the gap between schedulability tests and an automotive task model

Abstract In this paper, we study the adequacy of available schedulability tests for monoprocessor fixed-priority systems to enable performing scheduling analysis for automotive applications. We show that, in spite of the work carried out during the last decade to enhance these tests in order to support more realistic task model, a gap still exists between the task model considered in these tests and the usual automotive task model. However, we claim that an extension of these tests is possible to support some of the uncovered automotive features. The aim of this study is to raise discussion and make researchers involved in the development of such schedulability tests be aware of the effort needed to bridge the gap between current schedulability tests and automotive task model mostly used. The study is illustrated by showing the concrete challenges faced when applying scheduling analysis to a case study derived from a real engine control application.

[1]  Robert I. Davis,et al.  Controller Area Network (CAN) Schedulability Analysis with FIFO Queues , 2011, 2011 23rd Euromicro Conference on Real-Time Systems.

[2]  Rolf Ernst,et al.  Response Time Analysis on Multicore ECUs With Shared Resources , 2009, IEEE Transactions on Industrial Informatics.

[3]  Chung Laung Liu,et al.  Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment , 1989, JACM.

[4]  Andy J. Wellings,et al.  Analysing real-time communications: controller area network (CAN) , 1994, 1994 Proceedings Real-Time Systems Symposium.

[5]  John P. Lehoczky,et al.  Fixed priority scheduling of periodic task sets with arbitrary deadlines , 1990, [1990] Proceedings 11th Real-Time Systems Symposium.

[6]  Wang Yi,et al.  Schedulability analysis of fixed-priority systems using timed automata , 2006, Theor. Comput. Sci..

[7]  Alan Burns,et al.  Controller Area Network (CAN) schedulability analysis: Refuted, revisited and revised , 2007, Real-Time Systems.

[8]  Sanjoy K. Baruah,et al.  Towards the Design of Certifiable Mixed-criticality Systems , 2010, 2010 16th IEEE Real-Time and Embedded Technology and Applications Symposium.

[9]  Anne-Marie Déplanche,et al.  Schedulability analysis of OSEK/VDX applications , 2007 .

[10]  Michael González Harbour,et al.  Exploiting precedence relations in the schedulability analysis of distributed real-time systems , 1999, Proceedings 20th IEEE Real-Time Systems Symposium (Cat. No.99CB37054).

[11]  Alan Burns,et al.  Hard Real-Time Scheduling: The Deadline-Monotonic Approach , 1991 .

[12]  Alan Burns,et al.  An extendible approach for analyzing fixed priority hard real-time tasks , 1994, Real-Time Systems.

[13]  Sébastien Gérard,et al.  Requirements and solutions for timing analysis of automotive systems , 2010, SAM'10.

[14]  Laurent George,et al.  FP/FIFO feasibility conditions with kernel overheads for periodic tasks on an event driven OSEK system , 2006, Ninth IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC'06).

[15]  Luigi Palopoli,et al.  Parametric analysis of distributed firm real-time systems: A case study , 2010, 2010 IEEE 15th Conference on Emerging Technologies & Factory Automation (ETFA 2010).

[16]  Mathai Joseph,et al.  Finding Response Times in a Real-Time System , 1986, Comput. J..

[17]  Thomas Nolte,et al.  Share-Driven Scheduling of Embedded Networks , 2006 .

[18]  Wang Yi,et al.  TIMES: A Tool for Schedulability Analysis and Code Generation of Real-Time Systems , 2003, FORMATS.

[19]  Martin Törngren,et al.  Model based development of automotive embedded systems , 2008 .

[20]  Alan Burns,et al.  An analysable bus-guardian for event-triggered communication , 2003, RTSS 2003. 24th IEEE Real-Time Systems Symposium, 2003.

[21]  John P. Lehoczky,et al.  The rate monotonic scheduling algorithm: exact characterization and average case behavior , 1989, [1989] Proceedings. Real-Time Systems Symposium.

[22]  J. Javier Gutiérrez,et al.  MAST: Modeling and Analysis Suite for Real Time Applications , 2001, ECRTS.

[23]  Thomas Nolte,et al.  Integrating reliability and timing analysis of CAN-based systems , 2002, IEEE Trans. Ind. Electron..

[24]  Alan Burns,et al.  Real Time Scheduling Theory: A Historical Perspective , 2004, Real-Time Systems.

[25]  Thomas Nolte,et al.  Minimizing CAN response-time jitter by message manipulation , 2002, Proceedings. Eighth IEEE Real-Time and Embedded Technology and Applications Symposium.

[26]  Alan Burns,et al.  Probabilistic analysis of CAN with faults , 2002, 23rd IEEE Real-Time Systems Symposium, 2002. RTSS 2002..

[27]  Wang Yi,et al.  Timed automata as task models for event-driven systems , 1999, Proceedings Sixth International Conference on Real-Time Computing Systems and Applications. RTCSA'99 (Cat. No.PR00306).

[28]  Wang Yi,et al.  Cache-aware scheduling and analysis for multicores , 2009, EMSOFT '09.

[29]  Manas Saksena,et al.  Scheduling fixed-priority tasks with preemption threshold , 1999, Proceedings Sixth International Conference on Real-Time Computing Systems and Applications. RTCSA'99 (Cat. No.PR00306).

[30]  Thomas Nolte,et al.  Probabilistic worst-case response-time analysis for the controller area network , 2003, The 9th IEEE Real-Time and Embedded Technology and Applications Symposium, 2003. Proceedings..

[31]  Luigi Palopoli,et al.  Symbolic Computation of Schedulability Regions Using Parametric Timed Automata , 2008, 2008 Real-Time Systems Symposium.

[32]  John A. Clark,et al.  Holistic schedulability analysis for distributed hard real-time systems , 1994, Microprocess. Microprogramming.

[33]  Alan Burns,et al.  Calculating controller area network (can) message response times , 1994 .

[34]  José Rufino,et al.  Fault-tolerant broadcasts in CAN , 1998, Digest of Papers. Twenty-Eighth Annual International Symposium on Fault-Tolerant Computing (Cat. No.98CB36224).

[35]  Giorgio C. Buttazzo,et al.  A hyperbolic bound for the rate monotonic algorithm , 2001, Proceedings 13th Euromicro Conference on Real-Time Systems.

[36]  Alan Burns,et al.  Response-Time Analysis for Mixed Criticality Systems , 2011, 2011 IEEE 32nd Real-Time Systems Symposium.

[37]  Lui Sha,et al.  Priority Inheritance Protocols: An Approach to Real-Time Synchronization , 1990, IEEE Trans. Computers.

[38]  Michael González Harbour,et al.  Schedulability analysis for tasks with static and dynamic offsets , 1998, Proceedings 19th IEEE Real-Time Systems Symposium (Cat. No.98CB36279).

[39]  Lui Sha,et al.  Solutions for Some Practical Problems in Prioritized Preemptive Scheduling , 1986, RTSS.

[40]  Joseph Y.-T. Leung,et al.  On the complexity of fixed-priority scheduling of periodic, real-time tasks , 1982, Perform. Evaluation.

[41]  Alan Burns,et al.  Schedulability analysis for mode changes in flexible real-time systems , 1998, Proceeding. 10th EUROMICRO Workshop on Real-Time Systems (Cat. No.98EX168).