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Fixed priority scheduling with pre-emption thresholds and cache-related pre-emption delays: integrated analysis and evaluation


Reinder J. Bril, Sebastian Altmeyer , Martijn van den Heuvel , Rob Davis , Moris Behnam

Publication Type:

Journal article


Real-Time Systems




Commercial off-the-shelf programmable platforms for real-time systems typically contain a cache to bridge the gap between the processor speed and main memory speed. Because cache-related pre-emption delays (CRPD) can have a significant influence on the computation times of tasks, CRPD have been integrated in the response time analysis for fixed-priority pre-emptive scheduling (FPPS). This paper presents CRPD aware response-time analysis of sporadic tasks with arbitrary deadlines for fixed-priority pre-emption threshold scheduling (FPTS), generalizing earlier work. The analysis is complemented by an optimal (pre-emption) threshold assignment algorithm, assuming the priorities of tasks are given. We further improve upon these results by presenting an algorithm that searches for a layout of tasks in memory that makes a task set schedulable. The paper includes an extensive comparative evaluation of the schedulability ratios of FPPS and FPTS, taking CRPD into account. The practical relevance of our work stems from FPTS support in AUTOSAR, a standardized development model for the automotive industry.


author = {Reinder J. Bril and Sebastian Altmeyer and Martijn van den Heuvel and Rob Davis and Moris Behnam},
title = {Fixed priority scheduling with pre-emption thresholds and cache-related pre-emption delays: integrated analysis and evaluation},
volume = {54},
pages = {1--64},
month = {January},
year = {2017},
journal = {Real-Time Systems},
url = {}