Implimentation of ERD-light Scheduling Algorithm on FreeRTOS without Kernel Modification

• Item type: Symposium(1)
• 公開日: 2022-01-28
• タイトル: Implimentation of ERD-light Scheduling Algorithm on FreeRTOS without Kernel Modification
• タイトル / 言語: en
• タイトル: Implimentation of ERD-light Scheduling Algorithm on FreeRTOS without Kernel Modification
• 言語: eng
• 資源タイプ / 資源タイプ識別子: http://purl.org/coar/resource_type/c_5794
• 資源タイプ: conference paper
• 著者所属: Japan Advanced Institute of Science and Technology
• 著者所属: Japan Advanced Institute of Science and Technology
• 著者所属(英): en
• 著者所属(英): Japan Advanced Institute of Science and Technology
• 著者所属(英): en
• 著者所属(英): Japan Advanced Institute of Science and Technology
• 著者名: Takaharu, Suzuki; Kiyofumi, Tanaka
• 著者名(英): Takaharu, Suzuki; Kiyofumi, Tanaka
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 内容記述: In scheduling algorithms based on the Rate Monotonic (RM) method widely used in development of real-time systems, tasks with shorter periods have higher priorities. In contrast, ones with longer periods are likely to suffer from increased response times and jitters due to their lower priorities. We proposed the Execution Right Delegation (ERD) method for uniprocessor systems based on RM where a high-priority server for a privileged (or important) task is introduced to shorten response times of the task. In our previous study, we evaluated algorithms from python-based scheduling simulator. In this paper, we implement simplified ERD, named ERD-light, method on FreeRTOS without kernel modification. While many proposed scheduling algorithms are evaluated by modifying the kernel scheduler, ERD-light was realized by combining APIs without modifying the scheduler. In the evaluation, it is confirmed that behavior of ERD-light is same as python-based simulation while response times of a privileged task are reduced compared with RM method. We also confirmed that footprint penalty is less than 256 byte, and overhead penalty is less than 1% of total CPU usage.
• 論文抄録(英) / 内容記述タイプ: Other
• 論文抄録(英) / 内容記述: In scheduling algorithms based on the Rate Monotonic (RM) method widely used in development of real-time systems, tasks with shorter periods have higher priorities. In contrast, ones with longer periods are likely to suffer from increased response times and jitters due to their lower priorities. We proposed the Execution Right Delegation (ERD) method for uniprocessor systems based on RM where a high-priority server for a privileged (or important) task is introduced to shorten response times of the task. In our previous study, we evaluated algorithms from python-based scheduling simulator. In this paper, we implement simplified ERD, named ERD-light, method on FreeRTOS without kernel modification. While many proposed scheduling algorithms are evaluated by modifying the kernel scheduler, ERD-light was realized by combining APIs without modifying the scheduler. In the evaluation, it is confirmed that behavior of ERD-light is same as python-based simulation while response times of a privileged task are reduced compared with RM method. We also confirmed that footprint penalty is less than 256 byte, and overhead penalty is less than 1% of total CPU usage.
• 書誌情報: Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform; 巻 2021, p. 29-33, 発行日 2022-01-28
• 出版者 / 言語: ja
• 出版者: 情報処理学会