Response time analysis of COTS-Based multicores considering the contention on the shared memory bus

The current industry trend is towards using Commercially available Off-The-Shelf (COTS) based multicores for developing real time embedded systems, as opposed to the usage of custom-made hardware. In typical implementation of such COTS-based multicores, multiple cores access the main memory via a shared bus. This often leads to contention on this shared channel, which results in an increase of the response time of the tasks. Analyzing this increased response time, considering the contention on the shared bus, is challenging on COTS-based systems mainly because bus arbitration protocols are often undocumented and the exact instants at which the shared bus is accessed by tasks are not explicitly controlled by the operating system scheduler; they are instead a result of cache misses. This paper makes three contributions towards analyzing tasks scheduled on COTS-based multicores. Firstly, we describe a method to model the memory access patterns of a task. Secondly, we apply this model to analyze the worst case response time for a set of tasks. Although the required parameters to obtain the request profile can be obtained by static analysis, we provide an alternative method to experimentally obtain them by using performance monitoring counters (PMCs). We also compare our work against an existing approach and show that our approach outperforms it by providing tighter upper-bound on the number of bus requests generated by a task.

Unified overhead-aware schedulability analysis for slot-based task-splitting

Hard real- time multiprocessor scheduling has seen, in recent years, the flourishing of semi-partitioned scheduling algorithms. This category of scheduling schemes combines elements of partitioned and global scheduling for the purposes of achieving efficient utilization of the system’s processing resources with strong schedulability guarantees and with low dispatching overheads. The sub-class of slot-based “task-splitting” scheduling algorithms, in particular, offers very good trade-offs between schedulability guarantees (in the form of high utilization bounds) and the number of preemptions/migrations involved. However, so far there did not exist unified scheduling theory for such algorithms; each one was formulated in its own accompanying analysis. This article changes this fragmented landscape by formulating a more unified schedulability theory covering the two state-of-the-art slot-based semi-partitioned algorithms, S-EKG and NPS-F (both fixed job-priority based). This new theory is based on exact schedulability tests, thus also overcoming many sources of pessimism in existing analysis. In turn, since schedulability testing guides the task assignment under the schemes in consideration, we also formulate an improved task assignment procedure. As the other main contribution of this article, and as a response to the fact that many unrealistic assumptions, present in the original theory, tend to undermine the theoretical potential of such scheduling schemes, we identified and modelled into the new analysis all overheads incurred by the algorithms in consideration. The outcome is a new overhead-aware schedulability analysis that permits increased efficiency and reliability. The merits of this new theory are evaluated by an extensive set of experiments.