skip to main content
article

Schedulability-driven frame packing for multi-cluster distributed embedded systems

Published: 11 June 2003 Publication History

Abstract

We present an approach to frame packing for multi-cluster distributed embedded systems consisting of time-triggered and event-triggered clusters, interconnected via gateways. In our approach, the application messages are packed into frames such that the application is schedulable. Thus, we have also proposed a schedulability analysis for applications consisting of mixed event-triggered and time-triggered processes and messages, and a worst case queuing delay analysis for the gateways, responsible for routing inter-cluster traffic. Optimization heuristics for frame packing aiming at producing a schedulable system have been proposed. Extensive experiments and a real-life example show the efficiency of our frame-packing approach.

References

[1]
N. Audsley, A. Burns, R. Davis, K. Tindell, A. Wellings, "Fixed Priority Preemptive Scheduling: An Historical Perspective", Real-Time Systems, 8(2/3), 173--198, 1995.
[2]
N. Audsley, K. Tindell, A. Burns, "The End of Line for Static Cyclic Scheduling?", Euromicro Workshop on Real-Time Systems, 36--41, 1993.
[3]
F. Balarin, L. Lavagno, P. Murthy, A. Sangiovanni-Vincentelli, "Scheduling for Embedded Real-Time Systems", IEEE Design and Test of Computers, January-March, 71--82, 1998.
[4]
Robert Bosch GmbH, "CAN Specification, Version 2.0", http://www.can.bosch.com/, 1991.
[5]
P. Eles, A. Doboli, P. Pop, Z. Peng, "Scheduling with Bus Access Optimization for Distributed Embedded Systems", IEEE Transactions on VLSI Systems, 472--491, 2000.
[6]
The FlexRay Group, "FlexRay Requirements Specification, Version 2.0.2", http://www.flexray-group.com/, 2002.
[7]
J. J. Gutiérrez Garcia, M. González Harbour, "Optimized Priority Assignment for Tasks and Messages in Distributed Hard Real-Time Systems", Proceedings of the Workshop on Parallel and Distributed Real-Time Systems, 124--132, 1995.
[8]
H. Kopetz, "Real-Time Systems -- Design Principles for Distributed Embedded Applications", Kluwer Academic Publishers, 1997.
[9]
H. Kopez, R. Nossal, "The Cluster-Compiler -- A Tool for the Design of Time Triggered Real-Time Systems", Proceedings of the ACM SIGPLAN Workshop on Languages, Compilers, and Tools for Real-Time Systems, 108--116, 1995.
[10]
H. Lönn, J. Axelsson, "A Comparison of Fixed-Priority and Static Cyclic Scheduling for Distributed Automotive Control Applications", Euromicro Conference on Real-Time Systems, 142--149, 1999.
[11]
J. C. Palencia, M. González Harbour, "Schedulability Analysis for Tasks with Static and Dynamic Offsets", Proceedings of the 19th IEEE Real-Time Systems Symposium, 26--37, 1998.
[12]
T. Pop, P. Eles, Z. Peng, "Holistic Scheduling and Analysis of Mixed Time/Event-Triggered Distributed Embedded Systems", International Symposium on Hardware/Software Codesign, 187--192, 2002.
[13]
P. Pop, P. Eles, Z. Peng, "Bus Access Optimization for Distributed Embedded Systems Based on Schedulability Analysis", Proceedings of the Design Automation and Test in Europe Conference, 567--574, 2000.
[14]
P. Pop, P. Eles, Z. Peng, "Schedulability Analysis and Optimization for the Synthesis of Multi-Cluster Distributed Embedded Systems", Design Automation and Test in Europe Conference, 2003 (to be published).
[15]
P. Pop, P. Eles, Z. Peng, "Scheduling with Optimized Communication for Time Triggered Embedded Systems", International Workshop on Hardware-Software Codesign, 178--182, 1999.
[16]
K. Sandström, C. Norström, "Frame Packing in Real-Time Communication", Proceedings of the International Conference on Real-Time Computing Systems and Applications, 399--403, 2000.
[17]
K. Tindell, "Adding Time-Offsets to Schedulability Analysis", Department of Computer Science, University of York, Report No. YCS-94-221, 1994.
[18]
K. Tindell, A. Burns, A. Wellings, "Calculating CAN Message Response Times", Control Engineering Practice, 3(8), 1163--1169, 1995.
[19]
K. Tindell, J. Clark, "Holistic Schedulability Analysis for Distributed Hard Real-Time Systems", Microprocessing & Microprogramming, Vol. 50, No. 2--3, 1994.
[20]
A. Rajnak, K. Tindell, L. Casparsson, "Volcano Communications Concept", Volcano Communication Technologies AB, 1998.
[21]
J. Xu, D. L. Parnas, "On satisfying timing constraints in hard-real-time systems", IEEE Transactions on Software Engineering, 19(1), 1993.
[22]
T. Y. Yen, W. Wolf, "Hardware-Software Co-Synthesis of Distributed Embedded Systems", Kluwer Academic Publishers, 1997.

Cited By

View all
  • (2010)Message Packing Algorithm for CAN-Based Legacy Control Systems Mixed with CAN and FlexRaySAE International Journal of Passenger Cars - Electronic and Electrical Systems10.4271/2010-01-06853:1(88-97)Online publication date: 12-Apr-2010
  • (2005)Computing PlatformsEmbedded Systems Design10.1007/978-3-540-31973-3_29(388-449)Online publication date: 2005
  • (2006)Frame packing algorithms for automotive applicationsJournal of Embedded Computing10.5555/1370986.13709952:1(93-102)Online publication date: 1-Jan-2006
  • Show More Cited By

Index Terms

  1. Schedulability-driven frame packing for multi-cluster distributed embedded systems

Recommendations

Comments

Information & Contributors

Information

Published In

cover image ACM SIGPLAN Notices
ACM SIGPLAN Notices  Volume 38, Issue 7
Special Issue: Proceedings of the 2003 ACM SIGPLAN conference on Language, compiler, and tool support for embedded systems (San Diego, CA).
July 2003
293 pages
ISSN:0362-1340
EISSN:1558-1160
DOI:10.1145/780731
Issue’s Table of Contents
  • cover image ACM Conferences
    LCTES '03: Proceedings of the 2003 ACM SIGPLAN conference on Language, compiler, and tool for embedded systems
    June 2003
    304 pages
    ISBN:1581136471
    DOI:10.1145/780732
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 11 June 2003
Published in SIGPLAN Volume 38, Issue 7

Check for updates

Author Tags

  1. frame packing
  2. multi-clusters
  3. schedulability analysis

Qualifiers

  • Article

Contributors

Other Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

  • Downloads (Last 12 months)0
  • Downloads (Last 6 weeks)0
Reflects downloads up to 20 Feb 2025

Other Metrics

Citations

Cited By

View all
  • (2010)Message Packing Algorithm for CAN-Based Legacy Control Systems Mixed with CAN and FlexRaySAE International Journal of Passenger Cars - Electronic and Electrical Systems10.4271/2010-01-06853:1(88-97)Online publication date: 12-Apr-2010
  • (2005)Computing PlatformsEmbedded Systems Design10.1007/978-3-540-31973-3_29(388-449)Online publication date: 2005
  • (2006)Frame packing algorithms for automotive applicationsJournal of Embedded Computing10.5555/1370986.13709952:1(93-102)Online publication date: 1-Jan-2006
  • (2005)Computing platformsEmbedded Systems Design10.5555/2137690.2137723(388-449)Online publication date: 1-Jan-2005

View Options

Login options

View options

PDF

View or Download as a PDF file.

PDF

eReader

View online with eReader.

eReader

Figures

Tables

Media

Share

Share

Share this Publication link

Share on social media