University of Colorado Boulder - Real-Time Embedded Systems Theory and Analysis 

Course Assumed Real-Time Knowledge and Overview

Code Walkthrough: Syslog for Tracing and Autograded Assignments

Rate Monotonic Fixed Priority Policy and Optimality (Review)

Rate Monotonic Scheduling within the Least Upper Bound

Challenges with and Alternatives to Fixed Priority RM Policy

Deadline Monotonic Extensions to Rate Monotonic Policy

Deadline Driven Scheduling: using Dynamic Priority Alternatives

RM LUB Derivation - Introduction

Two Cases that Drive the RM Least Upper Bound

RM Least Upper Bound Intersection Point

RM Least Upper Bound Derivation - Conclusion

Necessary and Sufficient Feasibility by Worst-Case Analysis (Exact Test)

Exact Feasibility for Rate Monontoic Policy with Scheduling Point

Exact Feasibility for Rate Monotonic using Completion Test

EXTRA HELP: Home Lab Set Up

Read, Review and Understand Derivations in Original RMA Paper (Liu & Layland)

Optional: Rate Monotonic Exact Analysis

Module 1

Key steps in the RM least upper bound derivation

Comparison of RM Policy to Round Robin

RM Fixed Priority Scheduling Examples with Timing Diagrams

More Complex RM Timing Diagrams

Timing Diagram with a Harmonic Case

Timing Diagram with a Full Utility Harmonic Case

Timing Diagram Example Comparing RM and EDF

POSIX RT Extension Support

General Design Pattern Part-1: AMP RT Functions, Services and Systems

General Design Pattern Part-2: Mulit-Core, Multi-Service AMP Systems

Implementation Pattern: Periodic Services with POSIX RT Threads, Interval Timers and Signals

Message Queues for Synchronization and Data Sharing

Code Walkthrough: POSIX RT Feature Demonstration

Methods to Determine Worst Case Execution Time (WCET)

Methods for WCET Speed-up to Meet Deadlines

Service Request Period Jitter and Drift

RT Extensions to POSIX - 1003.1 in Linux, QNX, Solaris, FreeBSD, etc.

Optional Resources for POSIX 1003.1 RT Extensions

Module 2

Service implementation and admission to real-time using RMA, scheduling point, completion test

Advantages of Dynamic Priorities and When to use EDF

Disadvantages of Dynamic Priorities and When EDF should not be used

Advantages of Dynamic, Adaptive Scheduling: When to use LLF

Disadvantages of Dynamic Adaptive Scheduling: When LLF should not be used

Final Comparison of EDF and LLF Failure Modes and Recovery

Cheddar Tool Introduction and Overview

Rate Monotonic vs. EDF - Judgement Day Paper

Module 3

Earliest Deadline First , Least Laxity First

Note on Linux Methods of Synchronizaiton Compared to RTOS

Bounded blocking for service release

Bounded blocking and Execution Efficiency impact on RT systems

Definition of unbounded blocking and examples of root causes

Code Walkthrough: Circular Wait - Deadlock Demonstration

Code Walkthrough: Can you think of a simple way to break deadlock after a timeout?

Review of semaphore use and necessity of Critical Section (C.S.)

Code Walk-through: Unbounded Priority Inversion Demonstration

Priority Inheritance, Priority Ceiling, and Priority Ceiling Emulation

Mars Pathfinder Problem - Rolling Reset 3 Days prior to closest approach to Mars

Mars Pathfinder Root Cause Analysis

Mars Pathfinder - Bug Localization and the Fix

Priority Inversion (Unbounded) and Priority Inheritance Protocol

Module 4

Thread synchronization