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Paper Details

  title = "{M}ulti-priority scheduling for transputer-based real-time control",
  author= "Welch, Peter H.",
  editor= "Zedan, Hussein S. M.",
  pages = "198--214",
  booktitle= "{OUG}-13: {R}eal-{T}ime {S}ystems with {T}ransputers",
  isbn= "90 5199 041 3",
  year= "1990",
  month= "sep",
  abstract= "A major requirement of real-time control applications is a
     set of cyclic processes — one for each
     \"control-law\". Each process must be managed so
     that it completes each cycle within a fixed time. The rate
     at which each process cycles will be constant, but will
     generally be different for different processes.Current
     transputer hardware provides very fast pre-emptive
     scheduling for two static priority levels, with
     \"round-robin\" management within each level. This
     is not sufficient to manage securely more than one such
     control-law per transputer — even at very low processor
     loadings. Efficient classical solutions (e.g.
     \"rate-monotonic\" or \"deadline\"
     scheduling) require multiple and time-varying
     priorities.This paper shows how to implement such solutions
     simply, and with an acceptable level of overhead, on the
     existing (and future) generation of transputer. Other
     promising scheduling methods are discussed. All solutions
     are expressed in occam with no assembler inserts and no
     security rules violated — the intended applications are
     safety-critical! Real performance figures are
     reported.Finally, a method of proving (or dis-proving) the
     security of any particular set of process loadings,
     operating under any particular scheduling algorithm, is

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