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Cache and pipeline sensitive fixed priority scheduling for preemptive real-time systems.pdf

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Cache and pipeline sensitive fixed priority scheduling for preemptive real-time systems

Cache and Pipeline Sensitive Fixed Priority Scheduling for Preemptive Real-Time Systems Jo?rn Schneider Dept. of Computer Science, Saarland University Postfach 15 11 50, D-66041 Saarbru?cken, Germany js@cs.uni-sb.de Abstract Current schedulability analyses for preemptive systems consider cache behaviour by adding preemption caused cache reload costs. Thereby, they ignore the fact that de- lays due to cache misses often have a reduced impact be- cause of pipeline effects. In this paper, these methods are called isolated. Pipeline-related preemption costs are not considered at all in current schedulability analyses. This paper presents two cache and pipeline sensitive response time analysis methods for fixed priority preemptive schedul- ing. The first is an isolated method. The second method incorporates the preemption caused cache costs into the Worst-Case Execution Time (WCET) of the preempted task. This allows for the compensation of delays due to cache misses by pipeline effects. It is shown that the applicability of isolated approaches is limited to a certain class of CPUs. Practical experiments are used to compare both methods. 1. Introduction Schedulability analysis for real-time systems becomes harder when using modern hardware. On one hand microar- chitectural features like caches and pipelines with parallel functional units increase the processor throughput. On the other hand their behaviour is very hard to predict. If a re- sponse time guarantee is to be given it may well be that much of the speed gain is swallowed by pessimistic assump- tions. The research on real-time schedulability analysis al- ready started to focus on this problem. But, while promising solutions for the estimation of Worst-Case Execution Times (WCETs) exist [6, 7, 17, 19], there is still a gap between the accuracy of WCET results and the ability to benefit from them in schedulability analysis. Partly supported by DFG (German Research Foundation), Transfer- bereich 14 When a task is