A real-time programmer's tour of general-purpose L4 microkernels
EURASIP Journal on Embedded Systems - Operating System Support for Embedded Real-Time Applications
A real-time programmer's tour of general-purpose L4 microkernels
EURASIP Journal on Embedded Systems - Operating System Support for Embedded Real-Time Applications
Protected hard real-time: the next frontier
Proceedings of the Second Asia-Pacific Workshop on Systems
Improving interrupt response time in a verifiable protected microkernel
Proceedings of the 7th ACM european conference on Computer Systems
Flattening hierarchical scheduling
Proceedings of the tenth ACM international conference on Embedded software
Predictable and configurable component-based scheduling in the Composite OS
ACM Transactions on Embedded Computing Systems (TECS) - Special Section on ESTIMedia'10
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The combination of a real-time executive and an off-the-shelf time-sharing operating system has the potential of providing both predictability and the comfort of a large applicationbase. To isolate the real-time section from a significant class of faults in the (ever-growing) time-sharing operating system, address spaces can be used to encapsulate the time-sharing subsystem. However, in practice designers seldomly use address spaces for this purpose, fearing that extra cost induced thereby limits the system's predictability.To analyze this cost, we compared in detail two systems with almost identical interfaces 驴 both are a combination of the Linux operating system and a small real-time executive.Our analysis revealed that for interrupt-response times, the delay and jitter caused by address spaces are similar to or even smaller than those caused by caches and blocked interrupts. As a side effect of our analysis, we observed that published figures on predictability must be carefully checked whether or not such hardware features are included in the analysis.This paper is a follow-up of an earlier publication at the 3rd Real-Time Linux workshop [17]. It is different to that paper in that we have further optimized our microkernel and examined more hardware.