Trustworthy Systems

Towards real multi-criticality scheduling


Stefan M. Petters, Martin Lawitzky, Ryan Heffernan and Kevin Elphinstone

Instituto Superior de Engenharia do Porto (ISEP)

TU Munich

Queens University




Componentised systems, in particular those with fault confinement through address spaces, are currently emerging as a hot topic in embedded systems research. This paper extends the unified rate-based scheduling framework RBED in several dimensions to fit the requirements of such systems: We have removed the requirement that the deadline of a task is equal to its period. The introduction of inter-process communication reflects the need to communicate. Additionally we also discuss server tasks, budget replenishment and the low level details needed to deal with the physical reality of systems. While a number of these issues have been studied in previous work in isolation, we focus on the problems discovered and lessons learned when integrating solutions. We report on our experiences implementing the proposed mechanisms in a commercial grade OKL4 microkernel as well as an application with soft real-time and best-effort tasks on top of it.

BibTeX Entry

    address          = {Beijing, China},
    author           = {Petters, Stefan M. and Lawitzky, Martin and Heffernan, Ryan and Elphinstone, Kevin},
    booktitle        = {IEEE Conference on Embedded and Real-Time Computing and Applications},
    keywords         = {real-time},
    month            = aug,
    pages            = {155--164},
    paperurl         = {},
    title            = {Towards Real Multi-Criticality Scheduling},
    year             = {2009}