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Towards RTOS support for mixed time-triggered and event-triggered task sets


Martijn van den Heuvel , Reinder Bril , Damir Isovic, Johan Lukkien , Gowri Sankar Ramachandran

Publication Type:

Conference/Workshop Paper


17th IEEE International Conference on Emerging Technologies & Factory Automation


Many embedded systems have complex timing constraints and, at the same time, have flexibility requirements which prohibit offline planning of the entire system. To support a mixture of time-triggered and event-triggered tasks, some industrial systems deploy a real-time operating system (RTOS) with a table-driven dispatcher complemented with a preemptive scheduler to allocate free time slots to event-driven tasks. Rather than allocating dedicated time-slots to time-triggered tasks, we propose to dynamically re-allocate time-slots of time-triggered tasks within a pre-computed time range to maximize the available processing capacity for event-triggered tasks. Although the concept - called slotshifting - is not new, we are unaware of a commercial RTOS with such support. After identifying the mechanisms for an RTOS implementation of slotshifting, we discuss the run-time overheads for admitting aperiodic requests into the system1.


@inproceedings{van den Heuvel2522,
author = {Martijn van den Heuvel and Reinder Bril and Damir Isovic and Johan Lukkien and Gowri Sankar Ramachandran},
title = {Towards RTOS support for mixed time-triggered and event-triggered task sets},
month = {September},
year = {2012},
booktitle = {Emerging Technologies and Factory Automation (ETFA 2012)},
url = {}