1

Real-time Task
 Definition
2

 Process
 is a sequence of instructions in the absence of other

activities
 is continuously executed by the processor until completion.

Arrival time Task τi

Start time

ai si fi t
Finishing time
 Definition
3

 Real time tasks are generated due

to certain event occurrences

• Either internal or external
 Example:
• A task may get generated due to a temperature
sensor sensing high level or to the reverse.
• Or due to timing aspects.
 Task States
4

 A task is said to be:

• ACTIVE: if it is under/ready for execution by
the CPU.
• BLOCKED: if it is waiting for one event to
happen/ to be done.
 An active task can be:
• RUNNING: if it is being executed by the CPU.
• READY: if it is waiting for the CPU.
 Task State Transitions
5

signal BLOCKED wait

dispatching Termination
activation
READY RUNNING

Preemption
 Ready Queue
6

The ready tasks are kept in a waiting

queue, called ready queue

The strategy for choosing the ready

task to be executed on the CPU is

based on a scheduling algorithm.
activation Dispatching Termination
τ3 τ2 τ1 CPU
Ready queue
 Task Criticality
7

Based on task criticality it can either be

 hard or soft real time tasks

HARD real time tasks

• Missing a deadline is highly undesirable
• May cause catastrophic effects on the
system if deadline is missed
 Cont…d
8

 SOFT real time tasks

• Occasional miss of a deadline is tolerable
• Causes a performance degradation

An operating system that can handle hard RT tasks

is called a hard real-time system
 Examples
9

 HARD real time tasks

• Flight control system
• Car braking system
 SOFT real time tasks
• Reading data from the keypad
• Playing video
 Real-time(RT) tasks
10

Based on their arrival RT tasks can be

classified as:
 Periodic
• Periodic tasks repeats itself after a certain fixed time
interval
 Sporadic
• Sporadic tasks recurs at random instant
 Aperiodic
• The same as sporadic except that the minimum
separation b/n two instants can be 0.
 Activation modes of RT tasks
11

 RT tasks may be activated due to:

 Clock driven: is used for periodic tasks.
• A task will automatically be activated by the kernel at
regular intervals.
 Event driven: used for aperiodic and/or sporadic
tasks.
• A task will be activated upon the arrival of an event or
through an explicit invocation of the activation
primitive.
 12

Scheduling Polices
 Scheduling Polices
13

Are sets of rules /policies which will be used

to govern the way tasks are scheduled and
dispatched to the controller.
When do you think a schedule can be done?
 How?
During scheduling points.
• Using scheduling algorithms/policies.
 Scheduling Point
14

 At these points on timeline

• A scheduler makes decisions regarding to the task to be
run next.
• We have two types of scheduling points. These are:

 Clock-driven
• Scheduling points defined by interrupts for a periodic timer.

 Event-driven
• Scheduling points defined by interrupts on task
completion & generation of events.
 Task Scheduling On Uni-processor
15

• Real-time task scheduler can be activated by

either of the following:

#1 #2

Clock- Even
Driven Driven
 Clock-driven scheduling
16

 Decision regarding which job to run

next is made only at the clock interrupt

instances.
• Timers are used to determine the scheduling
points
• Job lists as well as which task to be run for how
long will be stored in a table
 Cont…d
17

 Also called offline/static scheduler

• Can’t schedule aperiodic/sporadic tasks

 Popular Examples
• Table-driven scheduler
• Cyclic scheduler
Table-driven scheduler
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Task Start Time Stop

T1 0 100
T2 101 150
T3 151 225
 Cont…d
19

 For scheduling n periodic tasks

• The scheduler develops a permanent schedule for
a period LCM (P1, P2, . . . Pn)
• Store the schedule in a table
• The schedule will be repeated forever.
 Cont…d
20

 Table driven schedulers are

• Simple: Used in low cost applications
• Efficient: Very little runtime overhead
• Inflexible: Very difficult to accommodate dynamic
tasks.
 Disadvantages of table driven
21

 When the number of tasks are large

• Requires setting a large number of timers
• Number of timers supported by an operating
system is restricted due to efficiency reasons.
 Cyclic Schedulers
22

 Cyclic schedulers are :

• Very popular
• Being extensively used in the industry
A majority of small embedded applications
being manufactured uses cyclic scheduler.
 Event-Driven Schedulers
23

 Unlike clock-driven schedulers:

• These can handle both sporadic & aperiodic tasks
• Used in more complex applications
 Scheduling is very complex and frequent.
 Cont…d
24

 Scheduling points are:

• Defined by task completion & event arrival
 Event-driven schedulers are:
 Pre-emptive Schedulers, meaning
• On the arrival of higher priority task, the running task may be
pre-empted.
 Greedy schedulers:
• It will never keep the processor idle if a task is ready.

 Event driven schedulers can be classified as

static or dynamic.
 Static Event-Driven Schedulers
25

 The task priorities once assigned by the

programmer
• Will not be changed during runtime.
• RMA (Rate Monotonic Algorithm) is the optimal
static priority scheduling algorithm.
 Dynamic Event-Driven Schedulers
26

 The task priorities can be changed during

runtime
• Based on the relative urgency of completion of
tasks
• EDF (Earliest Deadline First) is the optimal uni-
processor scheduling algorithm
 Scheduling Algorithms
27

Let us look about some specific

scheduling algorithms.
 Earliest Deadline First(EDF)
 Minimum Laxity First(MLF)
 Rate Monotonic Scheduling(RMS)
 Earliest Deadline First (EDF)
28

 Algorithm of EDF
• Each time a new ready task arrives:
• It is inserted in to a queue of ready tasks,
sorted by their deadlines.
• If a newly arrived task is inserted at the head
of the ready queue, a task which is under
execution will be pre-empted.
 Cont…d
29

 Scheduling is complex due to:

• Processes must be sorted based on their
deadline at each scheduling instant.
 Example
30

Early Deadline First (EDF)

Arrival Duration Deadline
T1 0 10 33
T2 4 3 28
T3 5 10 29

T1
T2
T3

0 2 4 6 8 10 12 14 16 18 20 22 24
 Accumulated Utilization
31

n
ei
Accumulated Utilization:  
i 1 pi

Necessary condition for

schedulability (with m = number of
processors) m
Since drawing and checking is very tedious,
accumulated utilization can be used to check the
schedulability of a task set using EDF.
 EDF Schedulability Check
32

 Sum of utilization of tasks must be less

than or equal to one

n
ei

i 1 pi
  ui  1

• Both the necessary and sufficient condition

for schedulability
 EDF is a dynamic algorithm
33

 The priority of a task can be determined

at any point of time.

 The longer the task waits in a ready

queue – the higher the chance

(probability) of its being taken up for
scheduling.
 EDF Properties
34

 EDF is optimal for a uni-processor with

task pre-emption being allowed

• If a feasible schedule exists then EDF will schedule
the tasks
 Minimum Laxity First (MLF)
35

 Priorities are decreasing function of the

laxity
 Laxity = Absolute deadline – the time of

scheduling – execution time left for

completion.
 Cont…d
36

 The task that is most likely to fail first is

assigned to the highest priority.

Properties of MLF

• Less laxity, higher priority

• Dynamically changing priority
• Pre-emptive
 Cont…d
37

• Requires calling the scheduler

periodically, and to re-compute the laxity
overhead for may calls of the scheduler &
many context switches.
• Detects missed deadlines early
• Requires the knowledge of the execution time.
 Example
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Arrival Duration Deadline

T1 0 10 33
T2 4 3 28
T3 5 10 29

T1
T2

T3

0 2 4 6 8 10 12 14 16 18 20 22 24
l(T1)=33-4-6=23 l(T1)=33-5-6=22 l(T1)=33-15-6=12
l(T2)=28-4-3=21 l(T2)=28-5-2=21 l(T2)=28-15-2=11
l(T3)=29-5-10=14
Rate monotonic Scheduling (RMS)
39

 is the most well-known technique for scheduling

independent periodic tasks.
 Assumptions of RMS:

• All tasks having hard deadlines are periodic

• All tasks are independent
• di = pi for all tasks

• ei is constant and known for all tasks

• The time required for context switching is
negligible
 Cont…d
40

 Policy of RMS
• The priority of a task is a monotically decreasing
function of its period.
 The higher the frequency (or lower the period) of a

task, the higher is its priority

• At any time, a highest priority task among all those
that are ready for execution will be allocated to
the processor.
Rate monotonic (RM) Scheduling
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Priority

Frequency
Cases of failing RMA scheduling
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Task 1: period 5, execution time 2

Task 2: period 7, execution time 4
Missing computation
scheduled in the next
Missed period
deadline

T1

T2

0 2 4 6 8 10 12 14 16 18 20 t
 RMA Schedulability(utilization
bound)
43

 Sum of utilization due to tasks is less

than one.
n
ei

i 1 pi
  ui  1

 Necessary condition for schedulability

but not sufficient condition.

 RMA Schedulability
44

 Utilization bound II (Liu & Layland

1971)

u i n21n
 1

• ui is the processor utilization due to task Ti.

• n is the number of tasks
 Example 1
45

 Check whether the ff task is schedulable

using RMA

T1: e1 = 1, p1 = 4, d1 = 4
T2: e2 = 2, p2 = 6, d2 = 6
T3: e3 = 3, p3 = 20, d3 = 20
 Solution
46
3
ei 1 1 3 11
i 1 pi
  ui     1
4 3 20 15

n2  1n
  13

 1  3 2  1  0.778
11
 ui  15  0.733  0.778
Therefore, the task set is schedulable under RMS.
 Completion Time Theorem
(Liu & Lehoczky)
47

 Even if a task fails Liu-Layland test, it

may still be RMA schedulable.

 How to check the schedulability of a task

set:
• Consider zero phasing of all tasks if not given.
• Draw up the schedules till the first deadline of
each task
• Observe if each task is schedulable
 Completion Time Theorem: Basic
premise
48

 Worst case completion time for a task:

• Occurs when it is in phase with its higher
priority task
 Completion Time Theorem: Basic premise
49

T1 = 10, 30, Ф = 0
T1 is in phase with T2 T2 = 60, 120, Ф = 0

T1 T2 T1 T2 T1 T2
10 30 40 60 70 90

T1 = 10, 30, Ф = 20
T1 has 20ms phase lag with T2 T2 = 60, 120, Ф = 0

T2 T1 T2 T1 T2
20 30 50 60 80
 Completion Time Theorem
(Liu & Lehoczky)
50

 Drawing the schedule is cumbersome

• When the number of tasks is large.
 A task Ti will meet its first deadline, if

 i 1 
p  
e    i  e   p
 i j 1  p j  j  i
 
where pi is the period of Ti and
p1 ≤ p2 ≤ p3 . . . ≤ pn
 Example51

Check whether the ff task is schedulable

using RMA

T1: e1 = 20ms, p1 = 100ms

T2: e2 = 30ms, p2 = 150ms
T3: e3 = 60ms, p3 = 200ms
 Solution
52

 Using the formula in the completion time theorem:

For T1: (e1 + ┌ 0 ┐) ≤ p1, the summation part is 0 (zero) due to
upper bounds and also we are working with only one task.
Since, 20 < 100, task 1 is schedulable under RMA.
For T2: (e2 + ┌ p2/p1 ┐*e1) ≤ p2
= (30 + ┌ 150/100 ┐*20) ≤ 150
= (30 + 2*20) ≤ 150
= 70 ≤ 150 its true, hence task 2 is also schedulable under
RMA.
 Cont…d
53

For T3: (e3 + ┌ p3/p1 ┐*e1 + ┌ p3/p2 ┐*e2) ≤ p3

= (60 + ┌ 200/100 ┐*20 + ┌ 200/150 ┐*30) ≤ 200
= (60 + 2*20 + 2*30) ≤ 200
= 160 ≤ 200 true.
So, task 3 is also schedulable under RMA
Generally, the given task set is feasibly schedulable
under RMA using the completion time theorem.
 Example54

Check whether the ff task is schedulable

using RMA

T1: e1 = 20ms, p1 = 100ms

T2: e2 = 30ms, p2 = 150ms
T3: e3 = 90ms, p3 = 200ms
Overhead due to context
switching 55

 In the worst case, each task incurs at

most two context switches
1) When it runs possibly preempt the currently running
task
2) When it completes
Cont…d
56
 Let the context switching time is
constant & equal to C and ei be
execution time.
 Then, the execution time of each task
will be increased to (ei + 2*C)
 Assume three periodic tasks
Example
 Assume context switching time = 1ms,
57

determine whether the task is feasibly

schedulable.

T1: e1 = 10ms, p1 = d1 = 50ms

T2: e2 = 25ms, p2 = d2 = 150ms
T3: e3 = 50ms, p3 = d3 = 200ms
Solution
Task T1: 12msec < 50msec, schedulable
58
Task T2: 27 + 12*3 = 63 < 150,
schedulable.
Task T3: 52 + 4*12 + 2*27 = 154 < 200,
schedulable
 Hence, it is feasibly schedulable under
RMA.
 Self Suspension
59

 When does a task suspend itself from

execution?
 Cases:
• When it performs input/output operations
• When it is waiting for some event to occur
 Cont…d
60

 Self-suspension introduces an additional

scheduling point.
• The OS removes the self-suspended task from the
queue and places it in the blocked queue.
• The OS then dispatches the next eligible task.
 Cont…d
61

 Scheduling point need to be redefined as:

• Task completion
• Task arrival
• Self-suspension events

 Self-suspension will introduce some delays

which will be significant on scheduling like

context switching.
 Cont…d
62

 Revised RMA condition

 i 1 
p  
 e  bt    i   e   p
 i i
 p j 
j
 i
 j 1 
i 1
bti  bi   min e j , b j 
j 1

bti – Delay that task Ti incurs due to its own self-

suspension & that of all higher priority task.
bi – worst case self suspension time of task Ti.
 Example 63

Consider the ff set of periodic real time tasks

T1: e1 = 10ms, p1 = 50ms

T2: e2 = 25ms, p2 = 150ms
T3: e3 = 50ms, p3 = 200ms
Self-suspension times: b1 = 3ms, b2 = 3ms, b3 = 5ms

Determine whether the tasks are schedulable

using RMA
 Solution
64

 For T1: 10 + 3 + 0 = 13 < 50, schedulable

 For T2: 25 + (3 + 3) + 10 * 3 = 61<150, schedulable

 For T3: 50 + (5 + 6) + 10 * 4 + 25 * 2 = 151 < 200,

schedulable
Hence, it’s feasibly schedulable under RMA.
Interfacing LM35, LCD & Fan with PIC16F877A
65
// Lcd pinout settings trisa.b1=1;//for temperature sensor
sbit LCD_RS at Rc5_bit; trisd.b1=0;//for Fan
sbit LCD_EN at Rc4_bit; while(1) {
sbit LCD_D7 at Rc3_bit; x=adc_read(1);
sbit LCD_D6 at Rc2_bit; temp=x*0.488;
sbit LCD_D5 at Rc1_bit; if(temp>=40){
sbit LCD_D4 at Rc0_bit; portd.b1=1;
// Pin direction }
sbit LCD_RS_Direction at TRISc5_bit; else {
sbit LCD_EN_Direction at TRISc4_bit; portd.b1=0;
sbit LCD_D7_Direction at TRISc3_bit; }
sbit LCD_D6_Direction at TRISc2_bit; inttostr(temp,disp);/* converting data to string
sbit LCD_D5_Direction at TRISc1_bit; b/c LCD displays strings/chars */
sbit LCD_D4_Direction at TRISc0_bit;
int i; lcd_cmd(_lcd_clear);
double x,temp; lcd_out(1,1,"The current Temp";
char disp[3]; lcd_out(2,1,"=");
void main() { lcd_out(2,7,disp);
Lcd_Init(); delay_ms(1000);
adc_init(); }}