A real-time architecture design language for multi-rate embedded control systems
Proceedings of the 2010 ACM Symposium on Applied Computing
Multi-task Implementation of Multi-periodic Synchronous Programs
Discrete Event Dynamic Systems
Optimizing the implementation of real-time Simulink models onto distributed automotive architectures
Journal of Systems Architecture: the EUROMICRO Journal
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Implementing real-time critical systems is an increasingly complex process that calls for high-level formal programming languages. Existing languages mainly focus on mono-periodic systems, implementing multi-periodic systems with these languages is possible but inefficient. As a result, current practice usually consists in writing one program for each different rate and then letting a real-time operating system handle the multi-rate aspects. This can be a source of non-determinism as communications between processes of different rates are not precisely defined. We propose a new language, built upon synchronous data-flow languages, to handle multi-rate systems properly. It has strong formal semantics, which prevents non-deterministic communications, and relies on real-time primitives that enable efficient use of existing multi-periodic schedulers.