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Evaluating the Run-Time Performance of Synthesised Resource-Reservation Schedulers Using TAtoC, UPPAAL and Frama-C


Publication Type:

Report - MRTC


Mälardalen Real-Time Research Centre, Mälardalen University




This paper evaluates the performance of four verified real-time operating-system schedulers. We used the UPPAAL and Frama-C verification tools, and our newly developed code generator TAtoC (which is one of the main contributions in this paper), to develop the verified schedulers. These schedulers isolate operating-system threads into time partitions. This technique is referred to as resource reservation and it is a commonly used scheduling technique in aviation industry since it effectively isolates timing and memory faults within each partition (and simplifies certification). Hence, this will prevent errors from propagating to different parts of the system. The performance of the synthesised schedulers was evaluated in the seL4 micro-kernel. This kernel is unique since it is the only existing kernel that is 100% verified. The kernel itself uses partitioning as a means to separate critical from non-critical applications. The aim of this paper is to investigate and develop a performance-efficient (verified) scheduler that is suitable for the seL4 kernel. The kernel currently lacks a resource-reservation based scheduler.


author = {Mikael {\AA}sberg and Paul Pettersson and Thomas Nolte},
title = {Evaluating the Run-Time Performance of Synthesised Resource-Reservation Schedulers Using TAtoC, UPPAAL and Frama-C},
month = {December},
year = {2013},
publisher = {M{\"a}lardalen Real-Time Research Centre, M{\"a}lardalen University},
url = {}