@inproceedings{oai:ipsj.ixsq.nii.ac.jp:00216181, author = {Takaharu, Suzuki and Kiyofumi, Tanaka and Takaharu, Suzuki and Kiyofumi, Tanaka}, book = {Proceedings of Asia Pacific Conference on Robot IoT System Development and Platform}, month = {Jan}, note = {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., 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.}, pages = {29--33}, publisher = {情報処理学会}, title = {Implimentation of ERD-light Scheduling Algorithm on FreeRTOS without Kernel Modification}, volume = {2021}, year = {2022} }