LECTURELECTURE-2 BASICS OF REAL-TIME REALSCHEDULING

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Evolution of Embedded Systems

70% of all processors built today are destined for embedded systems
Example:
HTCs HD2 uses Qualcomm 1 GHz processor HTC s Samsung I9100 Galaxy: Dual-core 1.2 GHz ARM Cortex-A9

Why? y
Moores law Transistor is cheaper => Processor is cheaper Couldnt imagine putting a PKR.10,000 processor in a PKR. 20,000 microwave oven
Now embedded processor < PKR. 1000 Now, PKR
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What is Real-Time? Real

Real-Time means quantitative notion of time There is a physical mean to measure time Th i h i l i
Say, a physical clock Example: A chemical plant p p

Logical Time: qualitative notion of time

D Described with event ordering such as b f ib d ith t d i h before, after, d i ft during, succeeds, precedes Example: Query from a web-server or data-base

Does a real-time system have all notions quantitative?

No!! But at least some parts have quantitative notion of time

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Safety and Reliability

Safety-critical
Safety can only be ensured through increased reliability Standard reliability criterion for a flight-control computer?
1 failure per 109 (I Giga) flying hours

How to achieve Reliability?

Error avoidance Error detection and recovery Fault-tolerance Built-In Self Test (BIST) Triple Modular Redundancy (TMR)
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C1 V O T I N G

C2

C3
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TAXONOMY OF REALREAL-TIME TASKS

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Types of RT Tasks

100%

Deadline

Utility

Hard RT task

Response Time

Considered failed if deadline is surpassed Collision detection & avoidance tasks for a robot

Firm RT task
Th There i a d fi d deadline is defined d dli
But failure to meet deadline doesnt mean system failure

Vid streaming Video t i Temperature monitoring using sensor networks

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Types of RT Tasks

Deadline 100%

Soft RT task

Utility 0

The timing constraints are not absolute

Average response time is measured

Response Time

Internet connectivity (in general), web browsing

Non-RT task
Gi me an example! Give l !

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Events in RT-System RT

Stimulus Events
Generated by environment and used by system , p Periodic, Aperiodic

Response Events
Produced by system and used by environment

Example: dial tone reception on lifting the receiver dial-tone

Stimulus: detaching the hand-set receiver R Response: di l t dial-tone generation ti
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Types of Timing Constraints

Delay constraint

Minimum time (delay) must pass b/w two events

delay

t 0

t(e1)

delay

t(e2)

Deadline constraint

Maximum permissible separation b/ two events b/w should not be surpassed

t 0
t(e1)

deadline

t(e2)

deadline

Duration constraint

An event must occur for a certain duration of time

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Modeling Timing Constraints: EFSM

Deadline Constraints
Stimulus-Response (S-R) Type
Also called Performance Constraint
Await Dial DialTone Await 1st Digit

Dial-Tone/ Set Timer (30s)

Receiver Lifted/ Set Timer (3s)

Timer Expired/ Beeping

Await Receiver Replacement

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Modeling Timing Constraints

Deadline Constraints
Response-Stimulus (R-S) Type
Await 2nd Digit

Await t Digit 1st Di i

1st Digit/ Set Timer (3s)

Dial-Tone/ Set Timer (30s)

Timer Expired/ Beeping

Await Receiver Replacement

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Modeling Timing Constraints

Deadline Constraints
Stimulus-Stimulus (S-S) Type
Await 3rd Digit Di it

Await 2nd Digit

2nd Digit/ Set Timer (3s)

1st Digit/ Set Timer (3s)

Timer Expired/ Beeping

Await Receiver Replacement

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Modeling Timing Constraints:

Deadline Constraints
Response-Response (R-R) Type
Await RingBack Tone Await Call Pick UP Pick-UP

Ring-Back/ Set Timer (1 min)

Ring-Tone to Callee/ Set Timer (3s)

Timer Expired/ Beeping

Await Receiver Replacement

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Modeling Timing Constraints:

Delay Constraints
Stimulus-Stimulus (S-S) Type
Timer Expired Await 2nd Digit Di i Await 3rd Digit

2nd Digit/Beeping 1st Digit/ Set Timer (50ms)

Await Receiver Replacement

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REALREAL-TIME TASK SCHEDULING

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Important Notions

Task Instance
E er time an event happens, it triggers a response Every e ent ha ens tri ers res nse
A piece of code has to be run, etc. Mostly periodic, but could be aperiodic

Ti(j) Jth instance of Ti

The most common are deadline-constrained tasks Relative vs. Absolute Deadline
Absolute: Measured with the help of a real clock R l Relative: referenced to some other event f d h
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Important Notions
Relative Deadline of Ti =di

Absolute Deadline of Ti (1) = i + di

i Ti (1)
0
Arrival or activation of Ti (1)

Ti (2)

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Important Notions

Task Precedence
If a task must complete before the second task to start g Its recurring Defines partial ordering among tasks
T1 T3

T4

T2

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Important Notions

Data Sharing g
Tasks often need to share data p p g p g Example: A temperature sensing and processing node Data sharing can imply a task precedence
But there can be task precedence without data sharing p g And there can be data sharing among concurrent tasks
T1 T3

T4

T2
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TASK CLASSIFICATION

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Periodic Task (Ti) = (i,ei,pi,di) (

Example: Track correction task in a rocket Ti = (2000ms, 8ms, 80ms, 50ms)

di

pi

ei

i Ti (1)
0
Arrival or activation of Ti (1)

Ti (2)

= Phase or First Activation Date e = Worst Case Execution Time (WCET)

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p = Period d = Deadline
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Sporadic Task (Ti) = (ei,gi,di)

No fixed period Random arrival R d i l

Ti = (ei,gi,di) e = WCET d = deadline g = minimum separation b/w two instances

Instances cant overlap

E.g. SOS call from an aircraft

Aperiodic Task (Ti) = (ei,gi=0,di) =0,d

Same as sporadic but g can be 0

i.e. occurrences can overlap
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Schedule for Lab Weeks Only

Day Tuesday Thursday Thursday y Friday Time 4:00 pm to 5:50 pm 4:00 pm to 5:50 pm 10:00 am to 11:50 am 10:00 am to 11:50 am Student Category MS MS BS BS Venue LAB3 LAB3 LAB3 LAB3

Pre/post-Labs can be done during any free slot available to students in-between the lab sessions

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24/1 Intro 3rd Week 9/2 Lab1 L b1 (PIC18F452) 28/2 Resource Sharing in MP 15/3 Mid term 10/4 HW Accelerators 13th Week 26/4 FPGA Lab3

26/1 RT Scheduling RT-Scheduling 14/2 Dynamic Scheduling Algos 1/3 Commercial RTOS 27/3 RT Comm. 12/4 Commercial Embedded Platforms
h 14th Week 1/5 FPGA Lab4

31/1 Static Scheduling Algos 16/2 Resource R Sharing 7th Week 6/3 Lab3 (Mini6410) 29/3 RT Databases 12th Week 17/4 Lab5 (TS7200)
h 14th Week 4/5 FPGA Lab5 1/26/2012

2/2 Mem-mapped I/Os GPIO I/Os, etc. 5th Week 21/2 Linux D Device L Drivers 7th Week 8/3 Lab3 (Mini6410) 10th Week 3/4 4 Lab4 (TS7200) 12th Week 19/4 FPGA Lab1

3rd Week 7/2 Lab1 (PIC18F452) 5th Week 23/2 Lab2 L b2 (Mini6410) 13/3 RT Comm. 10th Week 5/4 4 Lab4 (TS7200) 13th Week 24/4 FPGA Lab2

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