Chapter 6

REAL TIME SYSTEM

COMMUNICATION

1
 Contents

• Introduction
• Media communication
• Network Topology
• Sending message
• Network Design Issues
• Protocol
• Summary

2
 Introduction

• Effective communication between various hardware in real time

system are crucial to ensure it can function correctly.
• Embedded system
– Data flow:
• From sensor and control panel to central cluster of
processor.
• Between processors in the central cluster.
• From processor to the actuators and output display.
– Communication overheads adds to the computer response
time.

3
 Real-Time
Sources
Generates Traffic
• Constant Rate – fixed packet size and at
periodic intervals
• Variable rate – fixed packet size and
variable interval or variable packet size at
fixed interval.
• Bursty traffic require greater demands on
buffer space Silenc
e
• “Talkspurts”
SAK5308 - Real Time Systems - Real-Time Communication 4
Real time system
structure

Sensor and actuator layer

Peripheral cluster

central cluster

5
 Introduction

• Hard Real time system

– use communication protocol so that communication overhead
can be enclosed .
• Soft real time system
– Multimedia and video conferencing
– Delay in data transmission can effect quality of service but
it is not critical.
• Protocol communication real time system vs traditional system.
– Real Time System – able to transmit message on time
(follw the deadline)
– Traditional System – able to transmit lots of data from
source to destination through network in one time.
(throughput).

6
 Introduction
• Delay in message can cause by:
– Format and message packet
– Line of message when waiting to access the communication
media.
– Sending message form source to destination.
– Deformatting the message.
• Real time traffic is categorized based on:
– Deadline
– Arrival pattern
– Priority

7
Introduction
• Real time traffic resources have two categories:
– Constant rate
• The size of fix packet is produced in equal time rate.
• easy to manage.
– Variable rate
• The size of fix packet is produced in unequal time rate
or
• Various packet size can be produced in fix time rate.
• example : voice can have talk spurts ( a lot of packet
followed by silent).

8
Communication
media
• 3 important media:
– Electromagnetic medium
– Fiber optic
– Wireless

a. Electromagnetic Medium
– Twisted pair and coaxial cable
– Twisted pair – connected using RJ45/RJ11 depends on cable
category.
– Coaxial cable – hardware is connected using T-junction or
vampire tap.

9
Communication
media
b. Fiber optic
– Transform electric signal to light impulse.
– Operates up to 10Gbps ( NOW ???)
– Receiver will change the signal back to electric signal.
– Point-to-point network and passive star – suitable to use fiber
optic.
– Advantages
• High Bandwidth
• No electromagnetic interference.
– Disadvantages
• Difficult to add node without losing any signal.
• High maintenance cost.

10
 Communication
media
• Point-to-point network …
– No tap
– Interface have optical ->
electrical and electrical -> Node
optical. Network interface
– Interface change optical
signal to electrical and vice
versa.
Optical to Electrical to
– Node will check whether the electrical optical
receiving message is for
itself or not. electronics
interface

node
Point-to-point network
11
 Communication
media
• Passive star
– Interface will send optical
signal to glass cylinder
(passive star).
– Output will be divided
between output fiber frin
Interface 1 Interface 2 Interface 3
sylinder.
– Interface receive input and
choose intended message for
itself. Passive
– Need sensitive and powerful star
transceiver to detect signal.
Star architecture

12
 Communication
media
• WDM (wavelength division
multiplexing)
– Divide fiber channel into virtual
channel.
Interface 1
– Every channel has interface and
optical detector to change Interface 2
wavelength in virtual channel. Interface 3
– Every channel has enough Interface 4
bandwidth to suite with electronic
interface bandwidth. Interface 5

13
Communication
Media
c. Wireless
– Distance between radio and transmitter, while sustain the
receiver depends on:
• Transmitter power
• Receiver sensitivity
• Noise level
• Type of error control.
• Attenuation barrier (walls, partitions, hardware etc)
– Advantages
• No need wires to connect node.
• Develop Ad hoc network.
– Disadvantages
• Interference.

14
 Network
Topology
• To develop and design network, important criterias that should
been taken are:
– Diameter – maximum length between two nodes in the
system.
– Node degree – quantity of peripheral that located adjacent
to node, shows total of I/O port for each node and total of
channel in the system.
• Many hardware – higher cost
– Fault-tolerance – measure network ability to handle
individual channel failure and node failure while operating.

15
 Network
Topology
• Network topology clasification:
1. Point-to-point topology
2. Shared topology (broadcast)

1. Point to point
• Node is connected using dedicated link
• If node send messages not to an adjacent node, that
message will pass through intermediate node (router,
bridge).
2. Shared topology
• All node can use the communication channel but only
one node can send message at one time.

16
Network
Topology
Network path
interface interface

Node 1 Node n

Shared network

Node 1 interface interface Node 2

Node 3 interface interface Node 4

Point-to-point network

17
 Network
Topology
• Types of network topology:
1. Bus
• Both end will be terminated to prevent electromagnetic
interference.
• Interface consists of tap or forwarding points
2. Ring
• Receive bit will be copy into buffer, process and then send to
output.

Topologi Bas Topologi Cincin

18
 Network
Topology
3. Mesh
4. Hypercube
– 2n node in n-dimensional hypercube
– Node is label binari 0 to 2n – 1 and is
connected using line between node with Rectangular mesh
differentiation one bit.
– N-dimensional = two (n-1)-dimensional 10 11
hypercubes
00 01
Hypercube network :
two-dimensional

19
 Network
Topology

5. Multistage network
•Built out of switchboxes
•4 confguration.

4 configuration 2 X 2 switch

Physical Topology vs Virtual Topology???

20
Sending Message
• 3 methods to send message:
1. Packet switching
• Message will be break apart into packet.
• Packet has header that contain source address, destination and
other important information.
• Sending to destination using routing and flow control algoritma.
2. Circuit switching
• Circuit will establish between source and destination before
sending message.
• Other message must wait until the sending process complete.
3. Wormhole routing
• Pipelining sending packet in multihop network.
• Can cause deadlock
21
Sending Message

Circuit switching

22
Network Design
Issues
• High level design/architecture
– High level distributed system contains set of node that
communicate through network.
– Every node can be a multiprocessor that have application,
system and network processor.
– Network architecture can support scalability, easy to run, reliable
and support communication 1 to 1 and 1 to many.
• Low level design/architecture
– Provide packet processing , routing and error control.
– In real time distributed system, there are deadline, time
management and housekeeping issues.
– Network processor (NP) – function to handle those issues.

23
Network Design
Issues
• Network Processor (NP)
– Execute sending message from source to destination
operation.
– Task that send message will give information to NP about the
receiver and message destination
– NP tasks
• Establish connection between source and destination
• Handle error detection and resend message.
• Choose alternative route.
• Give bandwidth.
• Packet the information to data block and segment.
• Assemble packet when reach its destinantion.

24
Network Design
Issues
• Continue…
– In point-to-point: NP choose switching technique.
– In token ring: NP choose suitable protocol to ensure it meets its
deadline.
– NP perform framing, synchronization and packet sequencing.

25
 Network Design
Issues
• I/O Architecture
– To enhance I/O, the I/O hardware will be divided to multiple
access path (multi accessibility) and handle by a controller.
– Multi accessibility – combination of I/O hardware and then
assign a controller to manage access to hardware in each
cluster.
– Controller is connected with three node in the system.

I/O 3 4
controller
0 1 node

0 1 2

26
 Protocol

• Protocol category
– Contention-based protokol
• VTCSMA
• Window protocol
– Token-based protocol
• Timed token protocol
• IEEE 802.5 Token ring protocol
– Stop-and-go Multihop Protocol
– Polled bus protocol
– Hierarchical round-robin protocol
– Deadline based protokol
– Fault tolerance routing

27
 Protocol :
VTCSMA
• VTCSMA (virtual time carrier sensed multiple access)
– for single-channel broadcast network, ring and bus
topology
– Node monitor channel and sending message if the
channel is idle.
– If many nodes sending packet at one time, this can cause
collision.
– If collision happen, the sending node will abort and try to
send again after the channel is idle.
– CSMA-distributed algorithm, every node can determine
time to send message. How to determine??

28
 Protocol :
VTCSMA
• Information in each node:
– Channel state ( idle or busy )
– Priority packet wait in the buffer before sending through
network.
– Time follows syncronized clock
• VTCSMA algorithm used two clock for each node:
– Real clock (RC) – tells real time that synchronized with node’s
clock.
– Virtual clock (VC)
• If channel is busy, VC freeze.
• If channel free, VC reset at rate n>1.
• VC is more accurate than RC when it is free.

29
Protokol :
VTCSMA
Operation of virtual clock

t4

t3
VC Channel busy
t2 Channel idle

t1

t1 t2 t3 t4
RC
30
 Protokol :
Window Protocol
• Window protocol
– Based on collision sensing.
– Cannot guarantee message will be send on time.
– Suitable for soft real time system.
– System contain set of node which is connected through bus.
– Every node will monitor bus line to receive message dedicated
for them.
– Window
– Node can send packet if latest-time-to-transmit (LTTT) packet
is located in the window and the channel is idle.
– If so many sending packet, refer to LTTT value.

31
Protokol : Token
Based Protocol

• Token based protocol

– Token – Grant for node to send packet in the network.
– When done, node will send the token to other node.
– Suitable for bus and ring topology/

32
Protokol : Token
Based Protocol
– Token algorithm :
• Medium propagation delay
• Token transmission time
• Token capture delay
• Network interface latency

33
 Protokol : Time
Token Protocol
• Timed token protocol
1. Synchronous traffic
– real time traffic.
- protokol ensure each node can send synchronous trafic for
each T unit time.
2. Asynchronous traffic
- non-real time traffic.
- take unused bandwidth from synchronous traffic.
- Key control – TTRT (target token-rotation time)
- when token arrive, node will check the value
• Cycle time >TTRT = LATE , transmit synchronous traffic
• Cycle time < TTRT = EARLY, transmit synchronous and
asynchronous traffic.

34
Protokol : Token
Ring
Error control
SD AC ED DA SA message ED FS
code
IEEE 802.5 token ring
SD –start delimiter
AC – access control
ED – ending delimiter
FS – Frame status
SA – Source address
DA – Destination address
Disemak oleh
FS = 00 -> destination node not available sender bila
FS =10 -> frame tidak boleh disalin ke destinasi data frame kembali
FS =11 -> frame diterima oleh destinasi semula. After that,
remove the FS

35
 Protokol

• Packet Scheduling
– Cannot preempted packet transmission. If occur, the sender
must resend the packet.
– Overhead occur while sending the message again.
– Decide priority for each packet earlier.

36
 Protocol : Stop
and Go Multihop
Protocol
• Stop and go multihop protocol
– For hard deadline packet delivery
– Distributed algorithm
– Every node works without any control.
– All nodes can send and served in nonpreemptive priority order.
– Node idle when there is no packet to be send.

37
Protocol : Polled
Bus Protocol
• Polled bus protocol
– Assume bus network with a bus busy line.
– When processor broadcast on the bus, it maintains this high
line.
– When finish, this line is reset.
– Line execute wired-OR operation.
– When 2 signal, A and B put on a line simultaneously, the signal
is A.OR.B.

38
Example:Round
Robin
Execute using FIFO
Assume : 5 processes P1, P2, P3, P4 and P5 with execution time are
10, 29, 3, 7 and 12 (unit ms)
Assume start time, t = 0 ms and quantum time = 10ms
P1 P2 P3 P4 P5 P2 P5 P2
0 10 20 23 30 40 50 52 61
Waiting time;
P1 = 0ms
P2 = (10 + (40 - 20) + (52-50)) = 32ms
P3 = 20ms
P4 = 23ms
P5 = (30 + (50-40)) = 40ms
Average waiting time = (0 + 32 + 20 + 23 + 40) / 5 = 23ms

39
 Protocol :
Deadline Based
Protocol
• Deadline based protocol
– Preemptive vs nonpreemptive
– 3 types of traffic
1. Guaranteed traffic
System ensure that every packet must meet its deadline.
2. Statistical real time traffic
Packet cannot miss deadline exceeding certain
percentage that be in agreement
3. Non real-time traffic
Packet did not guarantee/meet deadline (deadline is not
important)

40
 Protocol
Protocol for real time system

Protocol Deadline guarantee Type of network

VTCSMA No Broadcast
Window No Broadcast
Timed token Yes Ring
IEEE 802.5 Yes Ring
Stop-and-go Yes Point-to-point
Polled bus No Bus
Hierarchical round Yes Point-to-point
robin
Deadline based No Point-to-point
41
 Wormhole
Routing
Is a way of pipelining packet transmission in a mulithop
network
Each packet is broken into a train of flits each about one
or two bytes long.
The sender transmits one flit per unit time and
The flits are forwarded from node to node until they
reach their destination.
Over time, a train of flits in contiguous (Adjacent), forms
and makes its way to its destination.

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 Example

• The network is a 3-dimensional hypercube

• A message is to be sent from node 000 to node
111
• Node 000 breaks up its packet into flits, and send
them to node 001 at rate of one flit per cycle
• Node 001 forwards the flits it receives to node
011, which forwards to 111
• If the packet consists of six flits, the activity is as
follows

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 Wormhole
Routing (cont.)

• Hypercube – 3 dimensional
• N-dimensional  2n nodes
• An n-dimensional hypercube is formed by taking two (n-1)
dimensional hyper cubes and connecting like nodes

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 Wormhole
Routing (cont.)

010 011 110 111

000 001 100 101

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 Real-Time
Communication
Protocols
• Contention-Based
– Each node listens until network is idle
– Nodes transmit only idle network detected
– Collisions occur when multiple nodes
transmit at the same time
• Stop, random pause, retransmit

SAK5308 - Real Time Systems - Real-Time Communication 46

 Real-Time
Communication
Protocols
– Ethernet (CSMA/CD)
• All the nodes can monitor the communication
channel
• When a node wants to transmit, if it observes the
channel is busy, it will refrain from interfering with the
ongoing transmission.
• When it senses the channel is idle it will make an
attempt to transmit, thus there may be concurrent
transmission
• Upon collisions, they will abort and retransmit
• Difficult to guarantee determinism

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 Virtual Time
Carrier Sensed
Multiple Access
• (VTCSMA)
Single channel broadcast networks
• Bus & Ring topology
• In CSMA there is no detection of priorities
• However, simply using the state of the channel,
the priorities is not enough, the time information
must also be considered.
• The key to VTCSMA algorithm is that the
priority can be computed as a function of the
current time and some other parameter.

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 Virtual Time
Carrier Sensed
Multiple Access
• (VTCSMA) cont.
The algo. Uses 2 clocks at each node
• One is the real-clock (RC) which tells the “real-time”
and is synchronized with the clocks at the other
nodes.
• The 2nd is the virtual clock (VC) which behaves as
follows:
– When the channel is busy, the VC freezes, when the
channel becomes free, the VC is reset (according to a
formula) and then runs at rate n >1. That is the VC runs
faster than the RC when the channel is free, and not when
it is busy.

SAK5308 - Real Time Systems - Real-Time Communication 49

 Virtual Time
Carrier Sensed
Multiple Access
• (VTCSMA) cont.
Since the real clocks are assumed to be synchronized
and the virtual times are regularly reset with respect to
the real-times, the virtual times told at the various
nodes are the same, plus or minus some small skew.
• This is used as the global priority of packets transmitted
• Each node computes a virtual time to start transmission
VSX(M) for every packet M awaiting transmission at
that node.
• When the virtual time is greater than or equal to
VSX(M), packet M becomes eligible for transmission.

SAK5308 - Real Time Systems - Real-Time Communication 50

 Real-Time
Communication
Protocols
• Contention-Based
– Work well only when collisions are low
• Sporadic traffic
– High loads can slow contention-based protocols
down to a standstill
• Old parts of Engineering building network…
• Token-Based
– Only the node that has a “token” can transmit
• (Same as the conch shell in Lord of the Flies…)
– Token is passed from node to node
– Can easily be used as a deterministic protocol

SAK5308 - Real Time Systems - Real-Time Communication 51

 Real-Time
Communication
Protocols
• Token-Based
– Delays and overhead
• Propagation delay and message latency
– Messages are generally passed point-to-point
– Contention-based protocols are generally broadcast
• Token transfer time
– Time required to pass token from one node to another
(no transmission can occur during this time)

SAK5308 - Real Time Systems - Real-Time Communication 52

 Real-Time
Communication
• Token-Based
– Problems
• Loss of token
• Disconnection of a single node
– Options
• Timeout for lost token detection
• Contention-Based
– Problems
• Traffic flooding / denial-of-service
– Options
• Segment isolation (switches / routers / filtering)

SAK5308 - Real Time Systems - Real-Time Communication 53

 Real-Time
Communication
Fault-Tolerance

• Routing
– Messages can be sent over multiple
independent routes
• Too many duplicates can flood networks
• Too few duplicates may not provide adequate
fault-tolerance

SAK5308 - Real Time Systems - Real-Time Communication 54