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Hard Real-time Support for Hierarchical Scheduling in FreeRTOS

Fulltext:


Authors:

Rafia Inam, Jukka Mäki-Turja, Mikael Sjödin, Moris Behnam

Research group:

Model-Based Engineering of Embedded Systems

Publication Type:

Conference/Workshop Paper

Venue:

7th annual workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT 11)

Abstract

This paper presents extensions to the previous implementation of two-level Hierarchical Scheduling Framework (HSF) for FreeRTOS. The results presented here allow the use of HSF for FreeRTOS in hard-real time applications, with the possibility to include legacy applications and components not explicitly developed for hard real-time or the HSF. Specifically, we present the implementations of (i) global and local resource sharing using the Hierarchical Stack Resource Policy and Stack Resource Policy respectively, (ii) kernel support for the periodic task model, and (iii) mapping of original FreeRTOS API to the extended FreeRTOS HSF API. We also present evaluations of overheads and behavior for different alternative implementations of HSRP with overrun from experiments on the AVR 32-bit board EVK1100. In addition, real-time scheduling analysis with models of the overheads of our implementation is presented.

Bibtex

@inproceedings{Inam2166,
author = {Rafia Inam and Jukka M{\"a}ki-Turja and Mikael Sj{\"o}din and Moris Behnam},
title = {Hard Real-time Support for Hierarchical Scheduling in FreeRTOS},
pages = {51--60},
month = {July},
year = {2011},
booktitle = {7th annual workshop on Operating Systems Platforms for Embedded Real-Time Applications (OSPERT 11)},
url = {http://www.es.mdu.se/publications/2166-}
}