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Input Input
Conditioning
Unit Interface
sensor
Human
Real−Time Computer
Computer Interface
Output Output
Conditioning
Unit Interface
actuator
operators
2(
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to
D/A D/A output
from register Converter
Processor signal
Bus conditioning
unit
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Voltage
Time
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Time
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A/D Converter
Data Register
o o o
16
Binary digits
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Actuators
Environment Sensors
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Actuator Sensor
Environment
%
input data
φ output data
Starting Reactive System
Parameters
Traditional System
(a) (b)
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C1
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timer
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alarm Tone
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dial tone
timer
alarm Await
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.CM>)E8K)eDECMi/(/&m( ,on/)'&=Il.Y4*+-CM&m&(*)e&=,/.YG¼aI?6m,Ta)78 &=,/.YG:.3¾&=( ,j&mCX.d¼,?6)o¾1>,5S .C-$*inOC-I?+X,j&=CMI/$yI5TK&(*)17I?$ .Y&63,5C-$N&=.CM$N&=IW.Dd,5+-+M)>6
.S V @B&=,/.YG:.K&( ,5&b17,?$ V )p.=13(*)>9:S +M)<9kC-$l9:CA)76=)7$N&^Ta63,5DE)>.>Q
Ì
(*[ Ì ËZ,?$ 9 J?Ë*Q K(*)>13GOC-$*iZTaI?6^,pTa63,5DE)H.YC-7)&( ,5&^.=,j&=C-.Y; )<.U&=(*)f&(*C-639k1I/$ .Y&63,5C-$/&<[/8)H17,5$k; $ 9k&( ,5&$ IZnj,5+-S*)HI5T C-.^.S*CM&=, V +M)/Q
u¼3J ¾
&
5 .
Ì » F L&o»»
] 2À´ OB ]µ KI?$ .CX9:)76f,6=)>,5+M@B&C-De)Z.Yc:.Y&)7D C-$_8P(*CX13(l&=,/.YG:.f,56=)'.=13(*)>9:S +M)<9lS .CM$*ikTaI?6=)7i/6I/S*$ 9O@ V ,?13GOi/6I/S*$ 9k.=13(*)<9:S*+-CM$*iLQ
^(*)>6)^CX.2I?$*+-c'I/$*)^4L)>6C-I:9:CX1UTaI/6)>i?6=I?S*$L9m&=,/.YG'º K3¼ . Ë [ . (5ËfDd.Y)<159[ & . Ì Ë/ËbDd.)>15([ . Ì Ë/ËbDd.)>1>¾2,?$ 9'&(*) V ,/13GOi?6=I?S*$ 9
] 2À´ OB Jµ #%$d,H.CMDE4*+-)P4*6=CMI/6CM&0cN@9:6=C-n?)7$'4*6)>)7DE4:&=CMn/)^.=13(*)<9:S*+-)76<[j&08KIf4z)76=CMI:9:CX1&=,/.YG:.2Gº FK,5$ 9ZOº HP,5$ 9e, V ,?13GOi?6=I?S $ 9m&3,?.G
,?6)'.=13(*)<9:S*+-)>9\Qf^(*)'4z)76=CMI:9:CX1m&3,?.GGº Fm( ,?.&(*)e(*C-i?(*)<.0&f4*6C-I?6=CM&0c,5$L9l)q:)>17S:&)<.bI/$ 1)')7n?)>6c J5ËDeC-+-+MC2.Y)<1I/$ 9*.f,5$ 9W6=)>`NS*C-6)<.
^(*)>6)7TaI?6=)?[&=(*) V ,?13GOi?6=I?S $ 9W&=,/.YGyi?)&3. Ì DEC-+M+-CF.)>1I/$ 9{)7n?)>6c Ì ËkDEC-+M+-CF.)>1I/$ 9*.>QZ^(OS .>[\&( ) V ,?13GOi?6=I?S $ 9W&=,/.YGl8I?S +-9y&=,?G?)
Foreground Back Foreground Back Foreground
ground ground
01 51 52 100 time in milli Secs
rCMi/S*6) F,/.YGk:13( )>9:S*+-)HTaI?6Fq*,5DE4*+-)0J*Q
ÌI
&»
» F L» . » F z» Ì x¼3J */¾
] 2À´ B Jµ KI?$ .CX9:)76P&=(*)mTaI/+M+-Ij8PCM$ iE&(*6=)7)m4z)76=CMI:9:CX1m6=)>,?+A@B&C-DE)H&=,?.G:.^&I V )'.=13(*)>9*S*+M)<9WS .CM$*i rI?$_,ES $*CM4 6I:1)<..I?6<
º F. ¼ & F . Ì Ë [ F . J5ËN¾ [Oº H . ¼ & H6. (:[ H . (?Ë/¾[:Iº N . ¼ &N . Ì Ë*[ EN . ,(?¾ Q )&=)76=DeC-$*)m8P(*)7&(*)>6P&( )H&=,?.Gk.)&PCX..13( )>9:S*+X, V +M)/Q
QJÊLÀhÇJ²<ÁÊz±Uµ
^(*)H&=I5&3,5+\S:&=CM+-CM<,j&=CMI/$W9*S*)f&IE&( )H&(*6=)7)f&=,/.YG:.^CX.Pi?C-n?)>$ V c N» F . HF NF . Ë *
^(*CX.PCX.^+M)<..&=( ,5$ Ì Q2^( )76=)TaI?6=)?[O&=(*)H&=,/.YG.Y)7&^CX. r.13(*)<9:S*+X, V +-)?Q
| nj,56=C-,?$N&ZI5TH fr .=13(*)>9:S +MC-$*ixC-. Áh±KÁ {ÇT U ]Á² > ÁÆj®7² > :13(*)<9:S*+-CM$*iLQ#%$ 1Jr[F,5&e)>n?)76=ct.=13(*)>9:S +MC-$*i
4zI?C-$N&>[L,E+X,jq:CM&0cknj,5+-S*)mCX.b17I?DE4*S:&=)>9TaI?6)>n?)>6cd&3,?.GkC-$W&(*)Z.Yc:.Y&)7DW[ ,?$ 9&( )m&=,/.YG(L,onNC-$*iE&=(*)pDECM$ CMDZS*D+X,jq:CM&0ckCX.P)q:)<1S:&=)>9
Ì
I V &=,?CM$*)<9\Qb^(*)<.Y)Z4*+-I5&=.b( ,on?) V )>)7$y.(*Ij8P$lC-$yrCMiLQ Ì ËL¼,N¾P,5$ 9lrC-i Q Ì Ë ¼ V ¾ Qb#&f17,?$ V )'I V .Y)>6n/)>9Ta6I/D rC-i Q Ì Ë_¼h,/¾,?$ 9s¼ V ¾
Rate Period
(a) (b)
rCMi/S*6) Ì Ë*+F6=CMI/6CM&0c|b.=.CMi/$*DE)7$N&^&I,?.GO.C-$lg _ |
CBl´O³/´N®<®<:Æ ZÊL±ÅÁ²>ÁhÊL±Kµ |Ä.)&PI5T4L)>6C-I:9:C-16=)>,5+M@B&C-De)&=,/.YG:.8I?S*+X9$*I?& V )mg _| .=13(*)<9:S*+X, V +-)S $*+M)<..K&=(*)7ck.=,j&=C-.YTacd&=(*)
TaI/+M+-Ij8PCM$ ie$ )>1)<..=,56=cd1I/$ 9:CM&C-I?$]
&»
» F » . » TF » Ì
z
» TF » F¼3J Ì ¾ 3¼ J Ì ËN¾
KI/$ .YCX9:)>6K&=(*)p17,/.Y)H8P(*)>6)f&=(*)76=)HC-.PI/$*+-cI?$*)f&3,?.GCM$&=(*)p.Yc:.Y&)>D[ ChQ )?Q2$ . Ì QUOS V .Y&CM&S:&=CM$ id$ . Ì CM$lq:4*6p3¼ J:Q Ì ËN¾ [O8K)mi/)&
F F
» 3¼ J Ì ¾ 7
» F Ì
» F » Ì
OC-DECM+X,56=+-c?[OTaI?6P$ . J'8)Hi?)7& H H
» F » J K¼ J Ì ¾ 7 » F » vË * J8#
r I?6P$ . e8)fi/)& N N
» TF » LK¼ J Ì ¾ 7 » F » vË *
JÌ
Uno,?+MSL,j&C-I?$'I5TLFqO4 6>Q J*Q Ì Ë8P(*)>$'$ C-$On?I/+Mn/)>.J,?$pC-$ 9:)&=)76=DECM$ ,5&))q:4*6=)>.=.YC-I?$'I5T:&( )K&0cO4z) Ë*Q cm,54 4*+McOC-$*i ¶I/.4*CM&=,?+ .
6=S*+-)8)P17,?$'n?)>6CMTacm&=( ,j&2&( )P6C-i?(N&2( ,5$ 9e.C-9:)^I?T &( )P)q:4*6=)>.=.YC-I?$Z)7nj,5+-S ,j&=)>.&I J . Ë Q J:Qr*6=I?DÄ&=(*), V Ijn?)^1I/De4 S:&=,5&C-I?$ .>[
CM&mC-.H1+-)>,?6f&( ,5&f&=(*)eDE,5q:CMDZS*D S:&=CM+-CM<,j&=CMI/$y&=( ,j&m17,?$ V )E,/13(*C-)7n?)<9_S*$L9:)76mg _| CX. Ì Q'^(*CX.HCX.f,/13(*C-)7n?)<9_8P(*)>$_&=(*)76=)
Ì/Ì Q2}{)m$ Ij8«C-+M+-S .Y&63,j&)f&=(*)p,54*4 +MCX17, V CM+-CM&0cI5T&(*)pg _| .13( )>9:S*+X, V CM+-CA&0c16=CA&=)76=C-,'&(*6=I?S i?(W,'Ta)>8)7q*,5DE4*+-)>.>Q
Σ ui
0.692
(1,0)
Number of tasks
r C-i?S*6=) Ì?Ì |13(*CM)>nj, V +-) P&=CM+-CM<,j&=CMI/$8PCM&(&=(*) S*D V )>6I5T2,/.YG:.^S*$L9:)76g y|
N J5Ë /Ë /Ë . Ë
» F » .
Ì Ë/Ë Ì (?Ë J?Ë?Ë
^(*CX.C-.^+-)>.=.K&( ,?$ Ì [O&(*)>6)7TaI?6=)&( )f$ )>1)<..=,56=cd1I/$ 9:CM&C-I?$TaI/6P.13(*)<9:S*+X, V C-+-CA&0cdI?TJ&( )&3,?.G:.KCX.^.,5&CX.0;L)>9\Q Ij813(*)>13GOC-$*i'TaI/6
&=(*)m.YS 17CM)>$ 1ck17I?$ 9*CA&=CMI/$][O&(*)f&3,?.Gk.Y)7&CX.P.=13(*)>9:S +-, V +M)fS*$ 9*)76g _|ÄCM'T JCMSW,5$L9 ,ocN+X,5$L9 .1I/$ 9:CM&C-I?$i?C-n?)>$ V ckq:4*6<Q J:Q Ì Ë
CX..,5&CX.0;L)>9\Q K(*)>13GOC-$*ifTaI?6F.=,j&=C-.YT,?1&C-I?$eI5TzFq:4*6>6Q J:Q Ì Ë [j&(*)^Dd,jq:C-D'S*D ,?13(*C-)7nj, V +M)S:&=CM+-CM<,j&=CMI/$eCX.2i?C-n?)>$ V c LK¼ J Ì ¾ . Ë *
^(*N )Z&I?&=,?+S*&C-+MC->,5&C-I?$y(L,?.f,5+-6)<,?9:c V )>)7${TaI?S*$L9l&I V )eË Q Q bIj8 .S V .Y&CM&S:&=CM$*i&( )>.)ZC-$_&=(*) ]C-S{,5$L9 J,ocO+X,5$ )9 .16=CA&=)76=CMI/$]
z» 3¼ J Ì ¾[*8K)Hi/)&Ë vË **Q
FqO» 4 T6>F Q J:Q Ì Ëu8P(* CX13(wC-.,s.YS 17CM)>$/&1I?$L9:CA&=CMI/$wTaI?6kg _| .=13(*)>9:S +-, V CM+-CM&0cCX.k.=,j&CX.Y; )>9\QÄ^(*)>6)7TaI?6=)?[K&(*)l&3,?.G.)&kCX.kg _|
.=13(*)>9*S*+-, V +-)?Q
] 2À´ B Jµ K(*)>13G_8P( )&( )76m&=(*)dTaI?+-+-Ij8PCM$*il.)&pI?TK&=(*6)>)d4L)>6C-I:9:CX1Z6=)>,?+A@B&C-DE)E&=,/.YG:.HCX.p.13( )>9:S*+X, V +M)ES*$ 9*)76'g y| I?$u,
S*$ CM4*6=I:1)<..I?6<Gº F . ¼ &F . J?Ë*[ IF . Ì Ë/Ë/¾[NOº H . ¼ &H . /Ë*[ EH . Ì (5Ë/¾[Oº N . ¼ & N . Ë*[ N . J?Ë?Ë/¾Q
QJÊLÀhÇJ²<ÁÊz±Uµ
J)&S .; 63.Y&b1I?DE4*S*&)f&(*)H&=I5&3,5+ S*&C-+MC->,5&C-I?$l9:S*)H&=IZ&=(*)mi?C-n?)>$k&3,?.Gk.)&>
N J5Ë ?Ë Ë
z » . Ë?Ë (?Ë J5 Ë/Ë . Ë *,(
» F
Ì Ì
bIj8w13( )>13GOCM$ iHTaI?6 JCMS,5$ 9 ,ocN+X,5$L9e176CM&)>6C-I?$J N» F z» vË *'UN.CM$L1)bË *,(wË * [5&( )&=,/.YGE.)&UCX.F$*I?&g y|«.=13(*)>9:S +-, V +M)/Q
JJ
T1 T2 T1 T2 T1 T2
10 30 40 60 70 90 time in msec
T2 T1 T2 T1 T2
20 30 50 60 80 time in msec
deadline for T1
T1
20 100
deadline for T2
T1 T2
20 50 150
(b) T2 meets its first deadline
deadline for T3
T1 T2 T3 T1 T2 T3
r I?6P&=(*)m&=,/.YGº H Uº F CX.PCM&=.( CMi/(*)764 6C-I?6=CA&0c&=,?.G,?$ 9l1I/$ .C-9:)>6C-$*idËE4*( ,/.YC-$*iL[*CA&8KI/S*+-9I:1717S*6I/$ 1) V )TaI/6)m&=(*)'9:)<,?9:+-C-$*)mI5T
º H QF^( )76=)TaI?6=)?[\¼ & F & H ¾ H (*I/+-9 ..YC-$ 170) J?Ë /Ë . (59Ë 1 &65 Ì (?2Ë 1 & 55Q^(*)>6)7TaI?6=)?[:º H DE)7)&3.PCM&=.^; 63.Y&P9*)>,?9*+MC-$*)?Q
r I?6F&=(*)&3,?.GZOº N?^3¼ J2& F J2& H &N7¾ ENb(*I?+X9*.>[N.CM$L1=) J!6J?Ë J!/Ë Ë . Ì 2Ë 1 &65 J5Ë?9Ë 1 &65jQ}{)( ,on?)b17I?$ .CX9:)76=)>9
J%! &F2,5$ " 9 J ! &HF.CM$L1)FGº F2,?$ 9mOº HI:1717S*6]&08PCX1)F8PCM&( CM$'&(*)U; 6=.Y&9:)<,?9:+-C-$*)FI5T*º N Q2^(*)>6)7TaI?6=)?[<º N De)>)&3.JCM&=.]; 6=.Y&9*)>,?9*+MC-$*)?Q2OI [<&=(*)
J)&US .K$*Ij8v&6=ce&I'9*)76=CMn/)b,mTaI/6Dd,5+L)q:4*6=)>.=.YC-I?$eTaI/6F&( C-.KCMDE4zI?6&=,?$/&6)<.YS +A&UI?T ])>(*I:17GOc/Q'J)& <º F 7Yº H 7 7Yº » V )b&(*)f.Y)7&
I?T&3,?.G:.^&I V )'.=13(*)>9:S +M)<9\Q*])&SL.b,5+X.I,?.=.YS*DE)H&=( ,j&&=(*)m&3,?.GO.( ,on?) V )7)>$lI?639:)76=)>9CM$_9*)>.=1)7$L9:CM$ idI?639:)76I?T2&(*)>CM64 6C-I?6=CA&0c/Q
^( ,5&fCX.>[&=,?.Gl4*6=CMI/6CM&C-)>.f,56=)'6=)7+X,j&=)>9{,?.> ¼aºGF¾ 3¼ºOH>¾ ¼aº\»B¾ []8P(*)>6)e4*6=CB¼º\»h¾9:)7$*I?&)<.b&=(*)E4*6=CMI/6CM&0cWI5TF&=(*)
J8#
&=( ,5$lº\»P¼aCBQ )?Qº F87YOº H27 7Yº\» OF¾Q^( )76=)TaI?6=)?[*&(*)m&=CMDE)mTaI/68P(*CX13(Wº»F8PCM+-+J( ,on/)f&I8^,5CM&b9:S*)m&=I,5+-+]CM&=.( CMi/(*)764 6C-I?6=CA&0c&=,?.G:.
»OF /»
&o'» & /» K¼ J Ì N¾
F
bI5&)&( ,5&Z)7n/)7$uCMTbq:4*6<Q J*Q Ì C-.'$*I5&E.,5&CX.0; )<9\[&(*)>6)CX.'.I?DE)4zI/.=.C V C-+-CA&0cy&( ,5&'&( )d&=,/.YGu.Y)7&'Dd,ocx.Y&C-+-+ V ).=13(*)>9:S +-, V +M)/Q
^(*CX.DEC-i?(N&(L,54*4z)7$ V )>1>,5S .)pC-$yq:4*6<Q J:Q Ì d8)p( ,on/)p1I/$ .YCX9:)>6)<9>)76=I4*( ,/.YC-$*ik,?DEI?$*i,?+M+J&(*)'&=,?.G:.7[z8P(*CX13(lC-.&(*)Z8KI/6=.Y&
1>,?.)?QF#%$_,ei?C-n?)>$W4*6I V +-)7DW[ .I?DE)H&=,/.YG:.^Dd,ock( ,on/)H$*I?$:@7)>6Ie4*( ,/.YC-$*iLQK^(*)>6)7TaI?6=)?[:)7n/)7$W8P(*)>$W,e&3,?.G.)&$ ,?66=Ij8P+-cET,5C-+-.^&=I
DE)7)7&bq:4*!6 J*Q Ì *[N&(*)>6)HCX..I?DE)m13( ,5$ 17)f&( ,5&CA&Dd,ocC-$T,?1 & V )p.=13(*)>9:S +-, V +M)HS*$L9:)76g y|pQ IdS*$ 9:)>6=.Y&=,?$ 98P(Nc&(*CX.PCX..YIL[
17I?$ .C-9*)76U,p&=,?.GE.Y)7&U8P(*)76=)I/$*)4 ,?6Y&=C-17S*+-,?6&=,/.YGeº\»\T,?CM+X.KFq:4*6>6Q J:Q Ì [?Dd,5GOC-$*im&( )&=,/.YGE.)&KS $ .13( )>9:S*+X, V +M)/Q^(*)b&=,/.YGeDEC-.=.Y)<.
CM&=.9*)>,?9*+MC-$*)p8P(*)>$WCA&bCX.PC-$W4*( ,?.)m8PCM&(_,5+-+]CM&=.P( CMi/(*)764 6C-I?6=CA&0cE&3,?.GQK¶Ij8)7n/)76<[O8P(*)7$W&=(*)H&=,/.YG( ,?.^$*I/$:@7)76=IE4*( ,/.YC-$*id8PCM&(
,5&p+M)<,?.Y&Z.YI/DE)dI5T^CA&3.p(*C-i?(*)>6p4*6=CMI/6CM&0cl&3,?.GO.>[]&=(*)d&3,?.GyDECMi/(N&Z,?1&S ,?+M+-cyDE)7)7&'CM&=.m;L6=.Y&'9:)>,/9:+-CM$*)17I?$N&63,56=cl&=I_,5$Ocy$*)>i/,5&C-n?)
J9(
QJÊLÀhÇJ²<ÁÊz±Uµ rC-6=.Y&f+-)&HS .&6=cW&( )e.S 1C-)7$ 17cW&)<.0&HTaI?6Hg _|.=13(*)>9*S*+-, V C-+MCM&0c?Q c_q:4*6<Q J:Q Ì Ëy¼ ]C-S{,?$ 9 ,ocN+X,5$L9W&)<.0& ¾ [\&=(*)
&3,?.Gk.Y)7&C-.P.=13(*)<9:S*+X, V +-)HCAT » vË **Q
» . Ì Ë J5#Ë Ì ( ?Ë#MJ?Ë Ì J5Ë . Ë Ì
&=)>.Y&>[*8)H$*)7)<9k&=Ie&)>.Y&PTaS*6&(*)>6>Q
J)&S .^$*Ij8«&6=c J)7(*I:1>GOc .K&)<.0&<QF|+-+\&(*)H&3,?.G:.^º F87YOº H27º N ,?6)m,?+M6=)>,/9:cdI?639:)76=)>9kCM$l9:)<16=)>,/.YC-$*ieI?639:)76^I5T&( )7C-6P4*6C-I?6=CM&C-)>.>Q
)>.Y&C-$*ieTaI?6^&3,?.GGº FoUOC-$ 1) &F . Ì ËZDE.)>1HCX.^+-)>.=.&( ,?$ 2F . J?ËeDE.)>1?Q^(*)76=)TaI/6)HGº Fb8KI/S*+-9DE)7)7&CA&3.^; 63.0&9:)<,?9:+-CM$ )?Q
)>.Y&C-$*ieTaI?6^&3,?.GOº H5 Ì !Ë Ì Ë ?ËZI?6<'[ J5!Ë ?Ë . (5Ë /Ë
^(*CX.PCX.P.,5&CX.0;L)>9\QF^(*)>6)7TaI?6=)?H[OFº H H 8KI/S*+-9DE)7F)7H &PCA&3.^; 63.0&b9:)<,?9:+-C-$*)?Q
)>.Y&C-$*ieTaI?6,?.GOº N5 J?#Ë Ì Ë Ì ( . J5!Ë ?Ë ?Ë . Ì/Ì 9Ë 1 &65
^(*CX.PCX.^+M)<..&=( ,5$WOº NX .P9:)<,?9:+-CM$ H )mI5T Ì J5Ë Q2^( )76=) TaI? 6=)fIº Nf8I?S*+X9DE)7)&CM&=.;L6=.Y&b9:)>,/9:+-CM$*)/Q
6
¶bIj8K)>n?)76<[*.CM$ 17)H&(*)p&=,?.Gk.)&bCX.P( ,?6DEI/$*C-1>,5+-+M»ck 6F )>+-,5&)>9]2[ L»F1>,5$ V )p8P6CM&Y&=)7$l,?. 1! TaI/6.YI/DE)mDQ b.C-$*iE&(*CX.>[ . Q
4
bIj8m[?q:4*6<TQ J*Q Ì Jb1>,5$ V )P8P6=CA&&)>$E,/.7 &o» F !& z»0Q2r*I?6º\» . º [58K)P1>,5$e8P6CM&)/[ & F !& 6Q bC-nOC-9:@
I/6 » F » Ì Q
)
6
r CMi/S*6=) Ì (: lS*+M&CM@])7n/)7+]r )7)>9 V ,?13G S )7S*)
&3,?.Gx,5z)<1 &e,_(*CMi/(*)76Z4*6=CMI/6CM&0c_&3,?.G ^(*),?$ .Y8)76'C-.> I*Q_| +-Ij8)76p4*6=C-I?6=CA&0cy&=,?.Gx)7n?)>$s8P(*)7$sCM&Z)7q*1)7)<9*.pCM&=.Z4*+X,5$*$ )>9
)7qO)<1S:&=CMI/$u&C-DE)1>,5$*$*I?&'Dd,5G/)k,l(*C-i?(*)>6'4*6=C-I?6=CA&0cy&=,?.Gu8,?CA&e,?1717I?639:C-$*iW&Il&=(*) V ,?.C-14*6C-$ 17CM4*+-)>.'I5Tbg y| V 8P(*)7$*)>n?)>6',
(*C-i?( )76m4*6=CMI/6CM&0cW&=,/.YG{C-.H6=)>,/9:c?[JCA&p4*6=)7)>DE4:&=.p,?$Oc_)q:)>17S:&C-$*iW+-Ij8K)>6f4 6C-I?6=CA&0c_&=,?.GQd^(NSL.7[g _|CX.p.0&3, V +-)ES*$ 9:)>6m&63,5$L.YC-)7$N&
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T1
T1 undergoing unbounded priority inversion
T2 T5 preempted by T4 T1 gets non−preemptable
resource CR held by T5
T3
unlock(CR)
T4 lock(CR)
T5
t1 t2 t3 t4 t5 time tn
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CR CR Pri(Ti)=10 Ti
Ti
Ti Ti
pri(Ti)=5
CR
Tj Tj
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pri(Tj)=10 pri(Tj)=10
pri(Tj)=10
scenario 4
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T2 requests CR
Task T3 gets back
priority its original
T1 requests CR
priority
T3 releases CR
T3 acquires CR
T2 T3 T2
T3 T3
t1 t2 t3 t4
time
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Task Priorities
Pri(T1)= 10 T1 40ms
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Pri(T2)= 7 T
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Pri(T3)= 5 3
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check parameters
OS Service
(kernel mode) Trap Application Program
(user mode)
system call
next statement
- FLX:H4=<38#Wo.0/^g:NBGI7i1FLN:/hNA`ow/@k3>=C7i1FL/4Xs^\B9m1<3>K^3>=<g^FLG>36R2=NPH4X:2&w^\B9m1<3>K?7:5T5
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2
Task Queues
6
- FTXPH4=3 [9W lH45b1<FbS 3Ig:3I543I3IEBt7PGCVXH43IH43I9
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TCP/IP
Embedded
Host System processor
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§:§
Real−Time
Priorities
127
Dynamic
Priorities
254
255 Idle Non−Migrating
Priority
Windows 95
Windows XP
Windows 98
Real−time idle 16
Dynamic critical 15
Dynamic idle 1
Idle 0
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Editor
Cross−
compiler
. XRAY+
Libraries Application
PROBE
ROM
Target Board
G>=FT1F8G>7:5^7:@4@45LFLGI7i1<FTNP/9-FT/r123R7:=37:9-9;HOGC2r7P9"KM3EBFLGI7A5BFL/9;1=<H4KM3>/Q1<7A1FLN:/ |A.0/Q1<3>=</431o=<N:HB1<3>=C9>|1<3>5L3>KM31<=F8GREB3>g^F8G3I9I|A@4=<NBG399-GNP/P1<=NP5
7:@4@45LFLGI7i1FLN:/O9>|^7A/Eh7AFL=f1<=<7 GqGNP/Q1=<N:59;\B9;13>Ks9IZ XJ{ {3>H41=<FT/4NrNA3>=C96^.0qS G>N:KM@45LFL7:/P1wq.m9R7:/EsF89 FLKM@45L3>KM3>/Q13EWH9FL/4X
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5 §
Appli− TCP/IP
cation Manager
RT Linux
Hardware
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Release Semaphore
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Semaphore Semaphore Semaphore Semaphore
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MSAU
MSAU
MSAU
MSAU
MSAU
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6/576J&:!#"%$'&)(+*',-!s85>I :+13!=8|*28$'*0,-*v(+!=E9"%6 EX?>!3(+8:!#EJI 13!=EX"78|(+Q/!R6SI/,XAC!3:z5%L<6/5JEJ!=8*06 1:+!="78H!#8|5>6X(Q/!¾u¿N4ORQ/!=:!3LM5>:+!>l4"%6i*'6<1:+!=">8!
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Î N} Q/!36(+Q/!p(:V"%6 8,-*08+8*'5765>Lz"9. "71Vx>!(*28I/6 E/!3: T "[@7l^*'(1="%6/6/5>(A<!8H(57./.<!#EA<!3LM5>:+!p(Q/!p(+:+">6 8H,-*288*05>6*08135>,-./$0!(!">6 E
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Transmission Interval
n *0?>I/:+! (J j:+*'57:*'(U@;u:+A/*'(:V"4(+*'576">6 EO:V"%6 8,-*08+8H*05>6w6^(!3:+Z4"%$28
Priority bits
msb lsb
N1 10 0 1 0 1 0
N2 16 1 0 0 0 0
N3 20 1 0 1 0 0
Transmission
n *0?>I :! : `:*05>:+*'(U@-u:A *v(+:+"%(*05>6*'6 *0:(I ">$«OR*',-! `:5>(5J157$
,-5>:+!(+*',-!*'( T "%*'(+8=Nzu_(`(Q !!{J./*0:V"4(*05>6h5>Ly(Q/! T ">*v(+*'6/?(*0,9!7l^(Q/!6/5JEJ!8!36 8!=8j(Q/!f8U(V"4(+I 8j5>Lk(Q/!f1VQ "%6/6 !3$cNLk(+Q/!1VQ ">6/6/!=$ *28
A/I<8H@7l/(Q !36b(Q *08,9!#"%6 8(Q "%("-Q/*0?>Q/!=:./:+*'57:*'(U@;,-!=8+8+"%?>!*28AC!3*06/?h(+:+">6 8H,-*'(H(+!=Eo"%6<Eb*v(6 !3!=E 8(5 T "%*'(I/6^(*0$z"%6b*0E/$'!.C!3:+*05SE|N
S5<l4*vL<*v(W 6 E/8«(Q<"4((:V"%6 8,-*08+8H*05>6*28z"%$0:!#">EJ@(+">xS*'6/?./$2">1!7l#(Q/!=6X*'( T "%*'(+8«LM5>:(Q/!_6/!3{^(LM:V"%,-!>l45>(Q/!=: T *28H!`*v(]8U(V"%:(+8«(5(:V"%6 8,-*v(#N
N2
Propagation Time
N1
n *0?>I/:+! , `:57A/$'!=, *'6 *':(I ">$«OR*0,9! `:5>(5J157$
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(+:+">6 8H,-*'(H(+*'6/?<ly*vLR¿Ã T "%*'(+8LM5>:">6^@(+*',-!9$'5 T !3:(Q ">6q(Q !i./:+5>.<"%?7"%(*05>6b(+*',-!>ly(+Q/!36B*v(13">6r6/5>(fEJ!3(!#1e(p(Q/!i(:V"%6<8H,-*288*'576o5%L
¿ Î ">6 E T 5>I/$2Er8H(+">:H((:V"%6 8,-*v((*06/? NiORQ/*08 T 5>I/$2Eq$0!="7Eo(+5135>$0$'*28H*05>6B"%6 Er*'6 135>:+:!#1e(f./:*05>:+*'(U@b">:A *v(+:+"%(*05>6|NORQ/*28fA<57I/6 E/8f(+Q/!
EJ*'dy!3:+!36 13!A<!3( T !=!36(Q/! T "%*'(R(*0,9!#85%L( T 5i6/5JEJ!#8R(Q<"4(Q "[Z7!f135>6 8!=13IJ(*0Z>!p./:+*'57:*'(*0!=8=N
>
Us` , *^ÃJN (*28"9./:+*'57:*'(U@;A "78H!#E;(+5>x>!=6b:*06/?-./:+5%(5J135>$cNjORQ/!Q/!="7EJ!3:5>Lz"9(+5>x7!36b15>6^(V"%*06 8_( T 59W !=$0E 83`"-. :*05>:+*v(U@-W<!3$2Eo"%6 E"
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Î>Î
Packet P
Payload Header
5J1313I/:*06b( T 5h,-5JEJ!#83ÌR 5qu +>Ì !°,-5JEJ!57:sO¬` ,-5JEJ!>NORQ/!X6/!( T 5>:+x8 T *v(V1VQ/!=8(:V"%6 8. "%:+!36^(+$'@h(+5gsO¬`&c,-5JEJ!
T8 Q/*v!=(V6F1VQ/(+*06/Q/?!3:+EJ!o57"%6/:+!i!(:+5g!=">,-$v&c*0(6/*0*0,-,9!*0m38!9!=8+(+8Q/*'!i576 .C8-!3:"%LM6 5>EF:+,hA "%">6 1V13xª!(+*05ª,9.<ÌR"> 1e5q(V8fu 5>+76qÌ 6/!57&6J,-&:5S!#E/"%! $'&)(+T *',-Q !3!6 (+:+"%"%$0;$R:1 !#"%$'Q/&)(+!=*'6q,-!b(Q 8H!3!#:+8!i8*'"%57:+6 !X8i6 (5g!=::+,-!="%*06 $'&c"4((+*0,9!>N !9j8H!#:+85%8(*05J5>6135>8=$N
Î1V
(+Q/!zOg*06JLM57:,h"4(+*'576576g(+Q/!p(57x>!=6|N
> 4j
Î$
Î */* (. */ = * V V :0*0: */* = Î ( /Ã (%>
Î *
Î */* Ã */* V :0: = =/V ( = >
1 = V 0
* /
*
U
Î(
5
T,XQ/I !31V:+Q! ( :V"4;*28j1p(+13Q/">!f68*0ACm3!!f">5%1=L«1,-57,9!=8+,-8+"%5J?>E/! "%(!= ERl*06bJ"%"96 6/E !3 ( 57*28`:x *'(+8_.C*'(!3Q :+5>*'5JIJEk(Nz(+Q/}D!!p,-1=!="%8+6g8">">?>$v(+!=!38_:+6Q "4"[(+ZS!3*06/$0@-?9Z^(*05-! T ,-(+*08+Q/8_*28R(Q ,9!3!3*0:(:+EJ*01!="7(EJ59$0*'*'6/6<!#EJ83*0N1="4(+!Q/5 T
T T
E ²¯/¶[¯ ±yµ=ÅSÅ p¶[» z¯ ·)ÉY·Yµ+Ë # # & &4½CORQ/!?>I ">:+">6^(!3!. :57A "%A/*0$0*v(U@-"4(R1VQ "%6/6 !3$ I/(*0$'*0m="%(*05>6 Á 6 Á ÄÄj*06 EJ*213"%(!#8j(+Q/!
./:+5>A ">A/*'$0*'(U@-(Q "%("i,-!#88+"%?7!f8!( T *'(QbIJ(+*'$0*'m#"4(+*'576 °,-!3!3(+8">$'$k,-!=8+8+"%?>!pEJ!#">EJ$0*'6 !>N
Unsaturated
Saturated
Unschedulable
± #´[ÈÅSƲÉ)¯ zÉYÅC½ 6 81VQ !=EJI/$2"%A $'!f8H!3(s:+!LM!3:V8](+5(Q 578!,-!=8+8">?>!#8zLM5>: T Q/*21VQ;EJ!="7EJ$'*06/!#8`5>L«8H57,9!,9!#88+"%?7!=8 T 5>I $0EhAC!,-*288!=E|N
}D! 57I/$2E!3{J.<!#1e( 6 Á ÄR(5hAC!X1$0578!p(5 Î LM57:IJ(*0$0*'m#"4(*05>6b$05 T !=:R(Q ">6qu °">6 Eb"%././:+57"71VQ *h"78IJ(*0$0*'m#"4(*05>6o*06 13:!#">8!=8
AC!3@75>6 ET u N
w6P$05 A ">6 E *2ES(Qª6/!3( 57:xJ8=l|./:+*'57:*'(U@^&cA<">8!=Eq. :5>(5J157$ 5>:+xJ8pA<!3(H(+!3:# Q !3:+!=">8"%(Q/*0?>Q/!=:A "%6 E *0ES(+Q 8=l«(+Q/!;AC5>I/6 E/!=E
"7131!#88s./:+T 5%(+5S135>$ TT 57:xJ8`A<!3(H(T !=:=NjORQ !.C!3:LM5>:+,h"%6 13!5%L(Q/!f./:+*'T57:*'(U@^&E/:*0Z>!=6h./:T 5>(5J157$<*06/*'(*2"%$0$'@h*0,-./:+54Z>!=8_T ">8`(Q !fA<"%6 E T *2ES(+Qg*28
*06 1:+!="78H!#EklSA/IJ(8H(+"%:(+8`(5-EJ:+5>.5%doA<!=@>576 Eg"91!=:H(V"%*06g.C5>*067(#NjORQ/*28s*28R"%?^"%*06 8U(_(Q !*06^(I/*'(*05>6(Q "%(.<!=:HLM57:,h"%6<1!5>L"i./:5>(5J157$
8Q/5>I $0E*',-./:+54Z>!"78`(+Q/!A ">6 E T *2ES(Qo*28R*'6<1:+!=">8!=E|N
Î1=
GP(U) 802.5
802.4
high Bandwidth
802.4
GP(U) 802.5
U
n *0?>I/:+! Î1V 6 Á Ä_Z7!3:V8HI<8 (*0$0*'m#"4(*05>6o"%(¾«5 T ">6 E¬*'?7Q _">6 E T *2ES(Q<8
LM57$'$05 T 83N]u_($05 T (:V"%6<8H,-*288*'5768.<!=!=E/8=lS(Q !f. :*05>:+*v(U@h*06SZ>!=:+8*'576 8_13"%I<8H!#T EgAS@h(+Q/!p:T57I/6 T ES&:57A/*068+1VQ/!=EJI $'*06/?h"%./. :5^">1VQh(+!36 E/8_(+5
802.5
802.4
ABU
Bandwidth
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if sufficient
Packets Packet tokens, remove tokens
and transmit
Wait packet outgoing link
Switch
Output
Buffers
fixed delay
Switch
Switch
Ã,
PreAhead
Switch i−1
Arrival Departure Deadline
Switch i
Arrival Eligible Deadline
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T2 Frame
T1 Frame
Ã.
Regulator 1
Regulated Traffic Priority level
Regulator 2 1
input output
n
Regulator h
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