%T Cooperative priority scheduling in occam
%A Johan P. E. Sunter, K. C. J. Wijbrans, André W. P. Bakkers
%E Hussein S. M. Zedan
%B OUG\-13: Real\-Time Systems with Transputers
%X In this paper a scheduler for variable priority scheduling
is presented. This scheduler assumes that the processes
being scheduled cooperate with the scheduler. This
cooperation introduces some latency in the scheduling of the
processes. Analytic expressions describing the effect of
this latency are derived. A variable priority scheduler was
implemented and results from actual program executions are
given. These results show that the scheduler can be used to
schedule control algorithms with simple sequential processes
with sample frequencies not higher than 2 kHz.
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