%T Cooperative priority scheduling in occam
%A  Johan P. E. Sunter,  K. C. J. Wijbrans,  Andr\[`e] W. P. Bakkers
%E  Hussein S. M. Zedan
%B OUG\-13: Real\-Time Systems with Transputers
%X In this paper a scheduler for variable priority scheduling
   is presented. This scheduler assumes that the processes
   being scheduled cooperate with the scheduler. This
   cooperation introduces some latency in the scheduling of the
   processes. Analytic expressions describing the effect of
   this latency are derived. A variable priority scheduler was
   implemented and results from actual program executions are
   given. These results show that the scheduler can be used to
   schedule control algorithms with simple sequential processes
   with sample frequencies not higher than 2 kHz.