CSE3006 -EMBEDDED SYSTEM

DESIGN
MODULE-6
REAL-TIME OPERATING
SYSTEM

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 MODULE-6

Introduction to Real-Time Concepts

RTOS Internals & Real Time Scheduling, Performance
Metrics of RTOS, Task Specifications, Schedulability
Analysis, Application Programming on RTOS.

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 RTOS -
INTRODUCTION

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 RTOS - INTRODUCTION
NEED FOR RTOS

Why not GPOS or EOS?

CSE3006 -EMBEDDED SYSTEM DESIGN
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 RTOS - INTRODUCTION
NEED FOR RTOS

When a fighter jet control system runs on GPOS encountered a hill, and
you attempted to avoid… CSE3006 -EMBEDDED SYSTEM DESIGN
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 RTOS - INTRODUCTION
NEED FOR RTOS

While you drive your car at high speed, suddenly collided with another vehicle if
airbag activation system runs on EOS opens only after 10 sec….
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 RTOS - INTRODUCTION
WHAT IS RTOS?
 “Real time in operating systems is the ability of the OS to
provide a required level of service in a bounded response
time.” - POSIX Standard 1003.1
 “A real-time operating system (RTOS) is an operating
system (OS) intended to serve real-time application
requests.” - Wikipedia
 “RTOS: Any OS where interrupts are guaranteed to be
handled within a certain specified time, there by making it
suitable for control hardware in embedded system & time
critical applications.” - Dictionary.com
 A
MODULE-6 real-time operating system
CSE3006 -EMBEDDED (RTOS)
SYSTEM DESIGN is an operating7
 RTOS - INTRODUCTION
RTOS - FEATURES
 Multitasking and Pre-emptibility: An RTOS must be multi-
tasked and pre-emptible to support multiple tasks in real-
time applications.
 Task Priority: In RTOS, pre-emption capability is achieved by
assigning individual task with the appropriate priority level.
 Inter Task Communication: For multiple tasks to communicate
in a timely manner and to ensure data integrity among each
other, reliable and sufficient inter-task communication and
synchronization mechanisms are required.
 Priority Inheritance: To allow applications with stringent
priority requirements
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CSE3006 be implemented,
SYSTEM DESIGN RTOS must have a8
 RTOS - INTRODUCTION
RTOS - FEATURES
 Control of Memory Management: To ensure predictable
response to an interrupt, an RTOS should provide way for
task to lock its code and data into real memory.

 Predefined Short Latencies:

 Task switching latency: The time needed to save the context
of a currently executing task and switching to another task
is desirable to be short.
 Interrupt latency: The time elapsed between execution of
the last instruction of the interrupted task and the first
instruction in the interrupt handler.

MODULE-6
 Interrupt dispatch latency:
CSE3006 -EMBEDDEDThe
SYSTEMtime
DESIGN from the last instruction9
 RTOS - INTRODUCTION
RTOS - CHARACTERISTICS

Consistenc
Reliability
y

Predictabi
Scalability lity

Performa
nce

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 RTOS - INTRODUCTION
RTOS - TYPES
 HARD RTOS strictly adhere to the deadline associated with
the tasks and the degree of tolerance for missed deadlines is
negligible.

 A missed deadline can result in catastrophic failure of the

system

 Examples:
 Missile Navigation Systems
 Vehicle Air Bags Control

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 Nuclear Power Plant Control
CSE3006 -EMBEDDED SYSTEM DESIGN 11
 RTOS - INTRODUCTION
RTOS - TYPES
 FIRM RTOS tolerates a low occurrence of missing a deadline.

 Missing a deadline may result in an unacceptable reduction

in quality of a product not lead to failure of the complete
system.

 Examples:
 Robot in car assembly section
 Food processing control system
 Weather monitoring system
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 RTOS - INTRODUCTION
RTOS - TYPES
 SOFT RTOS allows for frequently missed deadlines, and as
long as tasks are timely executed their results continue to
have value.
 Even the soft real time systems cannot miss the deadline for
every task or process according to the priority it should meet
the deadline. (Best effort system)
 Examples:
 Multimedia transmission & reception
 Digital cameras & mobile phones
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 RTOS - INTRODUCTION
RTOS - APPLICATIONS

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 RTOS - INTRODUCTION
RTOS - APPLICATIONS

Mars Curiosity Rover, Uses VxWorks (For Split-second decision taking) and µc/os-II (For
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 RTOS - INTRODUCTION
RTOS - APPLICATIONS

F-35 Fighter aircraft uses a Integrity DO-178B, a POSIX based RTOS developed by Green
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 RTOS - INTRODUCTION
RTOS - APPLICATIONS

International medical technology group Elekta is basing its new generations of equipment
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SYSTEM DESIGN 17
 RTOS - INTRODUCTION
RTOS - APPLICATIONS

ThreadX RTOS is used by HP (All Printers) & Honeywell (Advanced security systems) in
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consumer electronics devices
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 RTOS - INTRODUCTION
RTOS IN EMBEDDED MARKET

There are more than 100 RTOS currently available in

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embedded market
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 RTOS - INTRODUCTION
MOST COMMONLY USED RTOS

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 RTOS - INTRODUCTION
RTOS IN IOT ERA
 The Internet of Things (IoT) is accelerating the use of third-
party software stacks, especially the TCP/IP and USB stacks
and these third-party stacks and tools are often compatible
with various RTOS solutions.
 Moreover, popular RTOS solutions like Azure RTOS, Amazon
FreeRTOS, and Segger’s embOS are being qualified for MCUs
from large suppliers.
 This out-of-box integration is crucial in managing software
complexity and lowering the barriers to entry for smaller
embedded design outfits.
 However, the use ofCSE3006
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-EMBEDDED increases
DESIGN the overall system21
 RTOS - INTERNALS

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 RTOS - ARCHITECTURE
RTOS – ARCHITECTURE

Applications

RTOS
BSP

Hardware

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 RTOS - ARCHITECTURE
RTOS – KERNEL

 Kernel is the smallest and core component of an operating

system.
 Its services include managing memory and devices and
also to provide an interface for software applications to use
the resources.
 Additional services such as managing protection of
programs and multitasking may be included depending on
architecture of operating system.
 There are three categories of kernel models available:
MODULE-6 Monolithic, Micro and HybridSYSTEM
ECE4003-EMBEDDED kernel
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 RTOS - ARCHITECTURE
 Monolithic kernel RTOS - KERNEL
 Entire OS (device drivers, file system, and IPC) is working in kernel
space.
 Each component of Monolithic kernel could communicate directly
with any other component, and had unrestricted system access.
 Micro kernel
 Includes very small number of services within the kernel in an
attempt to keep it small and scalable.
 The services typically include low-level memory management, inter-
process communication (IPC), basic process synchronization to
enable processes to cooperate.
 Hybrid kernel
 It has a structure similar to microkernels, but implemented as a
MODULE-6 monolithic kernel. ECE4003-EMBEDDED SYSTEM DESIGN 25
 RTOS - ARCHITECTURE
EOS - KERNEL
Monolithic Kernel

Microlithic Kernel

Hybrid Kernel

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 RTOS - ARCHITECTURE
MONOLITHIC VS MICRO VS HYBRID KERNEL

BASIS FOR
COMPARISO MONOLITHIC KERNEL MICROKERNEL HYBRID KERNEL
N
Basic In monolithic kernel, both In microkernel user services Hybrid kernel is a kernel
user services and kernel and kernel, services are kept in combining aspects from
services are kept in the separate address space. both Monolithic and
same address space. Microkernel designs
Size larger than microkernel Microkernel are smaller in size. smaller than monolithic
kernel
Execution Fast execution. Slow execution. Moderate speed
Extendible The monolithic kernel is The microkernel is easily Dynamically loadable
hard to extend. extendible. module
Security If a service crashes, the If a service crashes, it does It depends on service
whole system crashes in effect on working of called
monolithic kernel. microkernel.
Code To write a monolithic kernel, To write a microkernel, less Moderate code size
more code is required. code is required.
Example Linux, BSDs, Windows QNX, Symbian, L4Linux, Windows NT and above,
(95,98,Me), Solaris, OS-9, Singularity, K42, Integrity, Mac OS X, BeOS, ReactOS,
MODULE-6 AIX, HP-UX, DOS. PikeOS,. SYSTEM DESIGN
ECE4003-EMBEDDED Syllable. 27
 RTOS - ARCHITECTURE
KERNEL
 An RTOS generally avoids implementing the kernel as a
monolithic program.
 The kernel is developed instead as a micro-kernel with added
configurable functionalities like scheduling, Managing
memory protection and IPC.
 All other basic services can be made part of user space and
can be run in the form of servers.
 This implementation gives resulting benefit in increase
system configurability, as each embedded application
requires a specific set of system services with respect to its
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 RTOS - ARCHITECTURE
RTOS – ARCHITECTURE

QNX Microkernel
Microkernel Model

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 RTOS - ARCHITECTURE
BSP
 In embedded systems, a board support package (BSP) is the
layer of software containing hardware-specific drivers and
other routines
 This allow a particular operating system (traditionally a
RTOS) to function in a particular hardware environment
integrated with the RTOS itself.
 Third-party hardware developers who wish to support a
particular RTOS must create a BSP that allows that RTOS to
run on their platform.
 BSPs are typically customizable, allowing the user to specify
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 RTOS - ARCHITECTURE
BSP
 For instance, a particular single-board computer might be
paired with any of several graphics cards; in that case the
BSP might include a driver for each.

 While building the BSP image the user would specify which
graphics driver to include based in his choice of hardware.
 BSP is supposed to perform the following operations
 Initialize the processor
 Initialize the bus
 Initialize the interrupt controller
 Initialize the clock
 Initialize the RAM settings
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 Load and run bootCSE3006
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 PERFORMANCE
METRICS OF RTOS

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 PERFORMANCE METRICS OF RTOS
RTOS PERFORMANCE METRICS
 There are three areas of interest when looking at the
performance and usage characteristics of an RTOS: (1)
Memory (2) Latency (3) Kernel services

 Memory:
 How much ROM and RAM does the kernel need and how is this
affected by options and configuration?
 Factors that affect the memory footprint includes static or dynamic
configuration of Kernel, number of instruction related to processor,
global variable declaration etc.,
 With the help of optimization setting in embedded compilers code
size can be reduced, but that will most likely affect performance.

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 PERFORMANCE METRICS OF RTOS
RTOS PERFORMANCE METRICS
 Latency:
 Interrupt latency: It is the sum of the hardware dependent time,
which depends on the interrupt controller as well as the type of the
interrupt, and the OS induced overhead.
 Ideally, it should include the best and worst case scenarios.
 To measure a time interval, like interrupt latency, with any accuracy,
requires a suitable instrument and the best tool to use is an
oscilloscope.
 Scheduling latency: Being real time, the efficiency at which threads
or tasks are scheduled is of some importance and the scheduler is at
the core of an RTOS.
 It is hard to get a clear picture of performance, as there is a wide
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variation in the techniques employed to make measurements and in34
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 PERFORMANCE METRICS OF RTOS
RTOS PERFORMANCE METRICS
 Performance of kernel services:
 An RTOS is likely to have many API (application program interface)
calls, probably numbering into the hundreds.

 To assess timing, it is not useful to try to analyse the timing of every

single call. It makes more sense to focus on the frequently used
services.

 How long does it take to perform specific actions?

 For most RTOSes, there are four key categories of service call:
 Threading services
 Synchronization services
 Inter-process communication services
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 Memory services CSE3006 -EMBEDDED SYSTEM DESIGN 35
 PERFORMANCE METRICS OF RTOS
RTOS CONSIDERATIONS
 What are the real-time capabilities? Is it soft or hard real-time interrupt
handling

 What are the preemptive scheduling services?

 What is the target processor, and does it support the RTOS you have in
mind?

 How large is the RTOS memory footprint?

 What are the RTOS interrupt latencies?

 How long does it take the RTOS to switch contexts?

 Does your processor development

MODULE-6 board have a BSP with your RTOS?
CSE3006 -EMBEDDED SYSTEM DESIGN 36
 PERFORMANCE METRICS OF RTOS
RTOS CONSIDERATIONS

 Which development environments and debugging tools work with the

RTOS?

 How much does the RTOS cost, is it open source or royalty-free?

 Does the RTOS have good documentation and/or forums?

 What is the RTOS supplier’s reputation?

 How flexible is the choice of scheduling algorithms in the RTOS? E.g.,

FIFO, round Robin, rate-monotonic, sporadic, etc.

 Are there tools for remote diagnostics?

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 TASK SPECIFICATIONS

38

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 TASK SPECIFICATIONS
REAL-TIME TASK
 Real time tasks normally recur a large number of times at
different instants of time depending on event occurrence
time.
 Ex.: A temperature sensing task in chemical plant might
recur indefinitely with a certain period because the
temperature is sampled periodically, whereas a task handling
a device interrupt might recur at random instants.
 A real-time task is defined to be one in which there is a hard
deadline to meet; failure to meet the deadline can lead to
disaster, Ex: task include process control such as a nuclear
reactor, automatic flight control, etc.
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 TASK SPECIFICATIONS
REAL-TIME TASK - PERIODIC
 A periodic task is one that repeats after a certain fixed time
interval also referred as clock-driven tasks.
 A vast majority of the tasks present in a typical real-time
system are periodic, for example, monitoring certain
conditions, polling information from sensors at regular
intervals to carry out certain action at regular intervals.
 Periodic task Ti can be represented using four tuples: (Øi, pi,
ei, di)
Where,
– Øi - phase of the task
– pi - Period of task
MODULE-6 – ei - Worst case CSE3006
execution time
-EMBEDDED ofDESIGN
SYSTEM the task 40
 TASK SPECIFICATIONS
REAL-TIME TASK - SPORADIC
 A sporadic task is one that recurs at random instants.
 E.g. In a robot a task that gets generated to handle an
obstacle that appears suddenly is a sporadic task. In a
factory , the task that handles fire condition is a sporadic
task.
 Sporadic task Ti can be represented using three tuples: (ei,
gi, di)
Where, ei - Worst case execution time of the task
gi - the minimum separation between two consecutive
instances of the task.
di - Relative deadline of the task
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 TASK SPECIFICATIONS
REAL-TIME TASK - APERIODIC
 An aperiodic task can arise at random instants.

 Two or more instances of an aperiodic task might occur at the

same time instant because minimum separation gi, between
two consecutive instances can be 0.
 Aperiodic task can recur in quick succession, therefore it is
very difficult to meet the deadlines of all instances of an
aperiodic task.
 Soft real time systems can tolerate a few deadline misses. so,
aperiodic tasks are generally soft real time tasks.
 E.g. Logging task inCSE3006
MODULE-6 a distributed systems. The logging task42
-EMBEDDED SYSTEM DESIGN
 TASK SPECIFICATIONS
REAL-TIME TASK - ASSUMPTIONS

 A1: Tasks are periodic i.e activated at a constant rate

 A2: All instance of a periodic task (Ti) have same computation
time (Ci)
 A3: All tasks have the same deadline which is equal to the
period (Di=Pi)
 A4: All task are independent i.e no dependency on other task
or any resources
 A5: All task are pre-emptible
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 SCHEDULABILITY
ANALYSIS
44

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 SCHEDULABILITY ANALYSIS
SCHEDULING CRITERIA
1. CPU utilization: CPU should be working most of the time (Ideally 100%
all the time)
2. Throughput: total number of processes completed per unit time(10
tasks/second)
3. Turnaround time (TAT): amount of time taken to execute a particular
process, TATi=CTi–ATi (Where CTi → Completion Time, ATi → Arrival Time)
4. Waiting time(WT): time periods spent waiting in the ready queue by a
process to acquire get control on the CPU, WTi = TATi – BTi (Where BTi
→ CPU burst time)
5. Load average: average number of processes residing in the ready
queue waiting for their turn Max
SCHEDULING OBJECTIVE:
to get into the CPU
→CPU utilization, Throughput
Min of→ time
6. Response time: Amount Turnaround time,
it takes Waiting
from whentime, Load
a request was
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average, Response timeCSE3006 -EMBEDDED SYSTEM DESIGN
45
 SCHEDULABILITY ANALYSIS
TASK MODEL
 A task = (C, P)
 C: worst case execution time/computing time (C<=P!)
 P: period (D=P)
 C/P is CPU utilization of a task
U>1 (overload): some task will fail to meet
 A task set: (Ci,Pi) its deadline
 All tasks are independentU<=1 : it will depend on the scheduling
algorithms
 The periods of tasks startU=1
at 0: simultaneously
CPU is kept busy, all deadlines will
 be met
U=Σ(Ci/Pi) is CPU utilization of a task set

 CPU utilization is a measure on how busy the processor could

be during the shortest repeating cycle: P1*P2*...*Pn
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 SCHEDULABILITY ANALYSIS
SCHEDULABILITY TEST
 Schedulability test determine whether a given task set is
feasible to schedule?
 Necessary test:
 If test is passed, tasks may be schedulable but not
necessarily
 If test is not passed, tasks are definitely not schedulable

 Sufficient test:
 If test is passed, then task are definitely schedulable
 If test is not passed, tasks may be schedulable but not
necessarily
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 SCHEDULABILITY ANALYSIS
SCHEDULABILITY TEST
 Necessary test

( )
𝑁
𝐶𝑖
𝑈 =∑ ≤1
𝑖 =1 𝑃𝑖
N B(N)
1 1.0
 Sufficient test (Utilization Bound test)
2 0.828
3 0.779

( )
𝑁 1
𝐶𝑖 4 0.756
𝑈=∑ ≤ 𝑁 (2 −1) 𝑁
5 0.743

𝑖 =1 𝑃𝑇 𝑖 6 0.734
∞ 0.693
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 REAL TIME
SCHEDULING

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 REAL TIME SCHEDULING
 Scheduling refers to the way processes are assigned to run
on the available CPUs, since there are typically many more
processes running on the system.
 Real-time scheduling deals with the problem of deciding
which of the processes in the ready queue is to be allocated
the CPU in RTOS.
 By switching the CPU among processes, the operating
system can make the embedded system is more productive.
 Scheduling algorithm is the method by which threads,
processes or data flows are given access to system resources

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 REAL TIME SCHEDULING
REAL-TIME SCHEDULING ALGORITHM
 The purpose of a real-time scheduling algorithm is to ensure
that critical timing constraints, such as deadlines and
response time, are met.
 Real-time systems use preemptive multitasking with
priorities are assigned to tasks, and the RTOS always
executes the task with highest priority.
 Most algorithms are classified as
 Fixed-priority: Algorithm assigns priorities at design time, and
those priorities remain constant for the lifetime of the task. Ex.:
Rate-Monotonic Scheduling (RMS)
 Dynamic-priority: Assigns priorities dynamically at runtime, based
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 REAL TIME SCHEDULING
TYPES OF SCHEDULING ALGORITHM

 Non pre-emptive Algorithm:

 First come First served (FCFS)
 Priority(Non-pre-emptive)
 Shortest Job First(SJF)

 Pre-emptive Algorithm:
 Shortest remaining Time First(SRTF)
 Round Robin(RR)
 Priority(Pre-emptive)
 Rate Monotonic Scheduling (RMS)
 Earliest Deadline First (EDF)
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 REAL TIME SCHEDULING
RATE MONOTONIC SCHEDULING(RMS)
 Concept: Task with the shortest period executes with the
highest priority.
 Working :
 Rate-monotonic is a fixed priority based scheduling.
 The scheduling scheme is pre-emptive; it ensures that a
task is pre-empted if another task with a shorter period is
expected to run.
 Used in embedded systems where the nature of the
scheduling is deterministic.
 Consider three tasks with a period Task-1(10ms), Task-
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2(15ms), Task-3 (20ms), then as per RMS priority of the53
CSE3006 -EMBEDDED SYSTEM DESIGN
 REAL TIME SCHEDULING
RATE MONOTONIC SCHEDULING(RMS) – EXAMPLE-1
 Consider set of task running on a Automotive control system
as follows
 Speed measurement Task (T1): C=20ms, P=100ms,
D=100ms
 ABS control Task (T2): C=40ms, P=150ms, D=150ms
 Fuel injection Task (T3): C=100ms, P=350ms,
Necessary Test
D=350ms Sufficient Test
 Other software
( )
1
with soft deadlines e.g. audio, air
𝑁
condition
𝐶 etc.,
( )
𝑁
𝐶𝑖 𝑈=∑
𝑖
≤ 𝑁 (2 𝑁 −1)
𝑈 =∑ ≤1 𝑃𝑇 𝑖
𝑖 =1 𝑃𝑖 𝑖=1

U=(20/100)+(40/150)+(100/350) B(3)=0.779
= 0.2 + 0.2666 + 0.2857 = 0.7517 ≤ 1 U=0.7517 ≤ B(3) ≤
1 passes Sufficient
Since given task set
Necessary Test is passed hence given task set must be tested
test we may conclude it is definitely
under sufficient test to conclude the Schedulability. But, if
schedulable under RMS
necessary test is failed we may conclude given task set is
definitely not schedulable by any scheduling algorithm.
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 REAL TIME SCHEDULING
RATE MONOTONIC SCHEDULING(RMS) – EXAMPLE-1

This is only for the first periods. But this is enough to conclude that the task set is schedulable
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 REAL TIME SCHEDULING
RATE MONOTONIC SCHEDULING(RMS) – EXAMPLE-2

 Consider set of four task (Ci, Pi) running on embedded

system as follows, T1= (1, 3) , T2= (1, 5) , T3= (1, 6) , T4=
(2, 20)
Necessary Test Sufficient Test

( ) ( )
𝑁 1
𝑁
𝐶𝑖 𝐶𝑖
𝑈 =∑ ≤1 𝑈=∑ 𝑁
≤ 𝑁 (2 −1)
𝑖 =1 𝑃𝑖 𝑖=1 𝑃𝑇 𝑖

U=(1/3)+(1/5)+(1/6)+(2/10)=0.89 B(4)=0.756
9≤1
Necessary Test is passed hence given task set must be tested The given task set fails in the Sufficient
under sufficient test to conclude the Schedulability. But, if test due to U=0.899 > B(4) we can’t
necessary test is failed we may conclude given task set is conclude precisely whether given task set
definitely not schedulable by any scheduling algorithm. is schedulable or not under RMS

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 REAL TIME SCHEDULING
RATE MONOTONIC SCHEDULING(RMS) – EXAMPLE-2

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 REAL TIME SCHEDULING
RATE MONOTONIC SCHEDULING(RMS) – EXAMPLE-3

 Consider set of three task (Ci, Pi) running on embedded

system as follows, T1= (10, 30) , T2= (15, 40) , T3= (5, 50)
Necessary Test Sufficient Test

( ) ( )
𝑁 1
𝑁
𝐶𝑖 𝐶𝑖
𝑈 =∑ ≤1 𝑈=∑ 𝑁
≤ 𝑁 (2 −1)
𝑖 =1 𝑃𝑖 𝑖=1 𝑃𝑇 𝑖

U=(10/30)+(15/40)+(5/50)=0.808 B(3)=0.779
≤1
Necessary Test is passed hence given task set must be tested The given task set fails in the Sufficient
under sufficient test to conclude the Schedulability. But, if test due to U=0.808 > B(3) we can’t
necessary test is failed we may conclude given task set is conclude precisely whether given task set
definitely not schedulable by any scheduling algorithm. is schedulable or not under RMS

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 REAL TIME SCHEDULING
RATE MONOTONIC SCHEDULING(RMS) – EXAMPLE-3

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 REAL TIME SCHEDULING
RATE MONOTONIC SCHEDULING(RMS) - PROs & CONs

 PROs:
 Simple to understand
 Easy to implement (static/fixed priority assignment)
 Stable: though some of the lower priority tasks fail to
meet deadlines, others may meet deadlines
 CONs:
 Lower CPU utilization
 Requires D=T
 Only deal with independent tasks
 Non-precise Schedulability analysis

MODULE-6 CSE3006 -EMBEDDED SYSTEM DESIGN 60

 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF)
 Concept: Task closest to the end of its period assigned the
highest priority
 Working :
 Earliest deadline first is a dynamic priority based
scheduling.
 The scheduling scheme is pre-emptive; it ensures that a
task is pre-empted if another task having a nearest
deadline is expected to run.
 EDF is optimal scheduling i.e it can schedule the task set if
any other scheduling algorithm can schedule
 If two task have the same deadlines, need to chose one if
CSE3006 -EMBEDDED SYSTEM DESIGN
MODULE-6 61
 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF) – EXAMPLE-1
 Consider set of task running on a weather monitoring station
as follows
 Temperature measurement Task (T1): C=1ms, P=4ms
 Humidity measurement Task (T2): C=2ms, P=5ms
 Co2 measurement Task (T3): C=2ms, P=7ms
Necessary Test

( )
𝑁
𝐶𝑖
𝑈 =∑ ≤1
𝑖 =1 𝑃𝑖

U=(1/4)+(2/5)+(2/7)
= 0.25 + 0.4+ 0.2857
= 0.935 ≤ 1

Necessary Test is passed hence given task set must be

schedulable by EDF
MODULE-6 CSE3006 -EMBEDDED SYSTEM DESIGN 62
 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF) – EXAMPLE-1

Let’s first try with RMS

T1

T2

T3

MODULE-6
 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF) – EXAMPLE-1

T1

T2

T3

Although given task set failed to schedule under RMS, it can scheduled by EDF
MODULE-6
 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF) – EXAMPLE-2

 Consider set of four task (Ci, Pi) running on embedded

system as follows, T1= (1, 3) , T2= (1, 5) , T3= (1, 6) , T4=
(2, 20)
Necessary Test

( )
𝑁
𝐶𝑖
𝑈 =∑ ≤1
𝑖 =1 𝑃𝑖

U=(1/3)+(1/5)+(1/6)+(2/10)=0.89
9≤1
Necessary Test is passed hence given task set must be
schedulable by EDF

MODULE-6 CSE3006 -EMBEDDED SYSTEM DESIGN 65

 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF) – EXAMPLE-2

T1

T2

T3

MODULE-6
 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF) – EXAMPLE-3

 Consider set of three task (Ci, Pi) running on embedded

system as follows, T1= (5, 20) , T2= (10, 40) , T3= (40, 80)

Necessary Test

( )
𝑁
𝐶𝑖
𝑈 =∑ ≤1
𝑖 =1 𝑃𝑖

U= (5/20)+(10/40)+(40/80)
= 0.25 + 0.25 + 0.5 = 1 ≤ 1

If cumulative CPU utilization is 1 then the CPU will be utilized 100% without
idle condition

MODULE-6 CSE3006 -EMBEDDED SYSTEM DESIGN 67

 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF) – EXAMPLE-3

T1

T2

T3
At time instance 80ms all 3 tasks are having same deadline. When multiple
tasks having deadline at same instance of a time then one of the task will be
MODULE-6 chosen randomly and get executed.
 REAL TIME SCHEDULING
EARLIEST DEADLINE FIRST (EDF) - PROs & CONs
 PROs:
 It works for all types of tasks: periodic or non periodic
 Simple Schedulability test
 Best CPU utilization
 Optimal scheduling algorithm
 CONs:
 Difficult to implement due to the dynamic priority-
assignment.
 Any task could get the highest priority even if the task is
not important
MODULE-6  Non stable because if anySYSTEM
CSE3006 -EMBEDDED taskDESIGN
fails to meet its deadline,69