Hardware/software co-design of run-time schedulers for real-time systems

摘要

We present the SERRA Run-Time Scheduler Synthesis and Analysis Tool which automatically generates a run-time scheduler from a heterogeneous system-level specification in both Verilog HDL and C. Part of the runtime scheduler is implemented in hardware, which allows the scheduler to be predictable in being able to meet hard real-time constraints, while part is implemented in software, thus supporting features typical of software schedulers. SERRA's real-time analysis generates a priority assignment for the software tasks in the mixed hardware-software system. The tasks in hardware and software have precedence constraints, resource constraints, relative timing constraints, and a rate constraint. A heuristic scheduling algorithm assigns the static priorities such that a hard real-time rate constraint can be predictably met. SERRA supports the specification of critical regions in software, thus providing the same functionality as semaphores. We describe the task control/data-flow extraction, synthesis of the control portion of the run-time scheduler in hardware, real-time analysis and priority scheduler template. We also show how our approach fits into an overall tool flow and target architecture. Finally, we conclude with a sample application of the novel run-time scheduler synthesis and analysis tool to a robotics design example.