Paper Details

%T Multi\-priority scheduling for transputer\-based real\-time control
%A Peter H. Welch
%E Hussein S. M. Zedan
%B OUG\-13: Real\-Time Systems with Transputers
%X A major requirement of real\-time control applications is a
   set of cyclic processes — one for each
   "control\-law". Each process must be
   managed so that it completes each cycle within a fixed time.
   The rate at which each process cycles will be constant, but
   will generally be different for different processes.Current
   transputer hardware provides very fast pre\-emptive
   scheduling for two static priority levels, with
   "round\-robin" management within each
   level. This is not sufficient to manage securely more than
   one such control\-law per transputer — even at very low
   processor loadings. Efficient classical solutions (e.g.
   "rate\-monotonic" or
   "deadline" scheduling) require multiple
   and time\-varying priorities.This paper shows how to
   implement such solutions simply, and with an acceptable
   level of overhead, on the existing (and future) generation
   of transputer. Other promising scheduling methods are
   discussed. All solutions are expressed in occam with no
   assembler inserts and no security rules violated — the
   intended applications are safety\-critical! Real performance
   figures are reported.Finally, a method of proving (or
   dis\-proving) the security of any particular set of process
   loadings, operating under any particular scheduling
   algorithm, is described.

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