Real-Time Systems Design and Analysis, 4th Edition.pdf

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Cover

Contents

Preface

1. Fundamentals of Real-Time Systems

REAL-TIME SYSTEMS DESIGN AND ANALYSIS

IEEE Press 445 Hoes Lane Piscataway, NJ 08854 IEEE Press Editorial Board Lajos Hanzo, Editor in Chief R. Abhari J. Anderson G. W. Arnold F. Canavero M. El-Hawary B-M. Haemmerli M. Lanzerotti D. Jacobson O. P. Malik S. Nahavandi T. Samad G. Zobrist Kenneth Moore, Director of IEEE Book and Information Services (BIS) Technical Reviewers Larry Bernstein, Stevens Institute of Technology Bernard Sick, University of Kassel Olli Vainio, Tampere University of Technology

REAL-TIME SYSTEMS DESIGN AND ANALYSIS Tools for the Practitioner Fourth Edition PHILLIP A. LAPLANTE SEPPO J. OVASKA IEEE PRESS A JOHN WILEY & SONS, INC., PUBLICATION

Cover photo courtesy of NASA. Copyright © 2012 by the Institute of Electrical and Electronics Engineers, Inc. Published by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved. Published simultaneously in Canada No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) 750-8400, fax (978) 750-4470, or on the web at www.copyright.com. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) 748-6011, fax (201) 748-6008, or online at http://www.wiley.com/go/permissions. Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and speciﬁ cally disclaim any implied warranties of merchantability or ﬁ tness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of proﬁ t or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at (800) 762-2974, outside the United States at (317) 572-3993 or fax (317) 572-4002. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visit our web site at www.wiley.com. Library of Congress Cataloging-in-Publication Data: Laplante, Phillip A. Real-time systems design and analysis : tools for the practitioner / Phillip A. Laplante, Seppo J. Ovaska.—4th ed. ISBN 978-0-470-76864-8 (hardback) 1. Real-time data processing. 2. System design. I. Ovaska, Seppo J., 1956- II. Title. QA76.54.L37 2012 004'.33–dc23 p. cm. 2011021433 Printed in the United States of America oBook ISBN: 9781118136607 ePDF ISBN: 9781118136577 ePub ISBN: 9781118136591 eMobi ISBN: 9781118136584 10 9 8 7 6 5 4 3 2 1

To Nancy, Chris and Charlotte, with all my love Phil: To Helena, Sami and Samu — my everything Seppo:

CONTENTS Preface Acknowledgments 1 Fundamentals of Real-Time Systems 1.1 Concepts and Misconceptions, 2 1.1.1 Deﬁ nitions for Real-Time Systems, 2 1.1.2 Usual Misconceptions, 14 1.2 Multidisciplinary Design Challenges, 15 1.2.1 Inﬂ uencing Disciplines, 16 1.3 Birth and Evolution of Real-Time Systems, 16 1.3.1 Diversifying Applications, 17 1.3.2 Advancements behind Modern Real-Time Systems, 19 1.4 Summary, 21 1.5 Exercises, 24 References, 25 2 Hardware for Real-Time Systems 2.1 Basic Processor Architecture, 28 2.1.1 Von Neumann Architecture, 29 2.1.2 Instruction Processing, 30 2.1.3 Input/Output and Interrupt Considerations, 33 2.2 Memory Technologies, 36 2.2.1 Different Classes of Memory, 36 2.2.2 Memory Access and Layout Issues, 38 2.2.3 Hierarchical Memory Organization, 41 xv xxi 1 27 vii

viii CONTENTS 2.3 Architectural Advancements, 43 2.3.1 Pipelined Instruction Processing, 45 2.3.2 Superscalar and Very Long Instruction Word Architectures, 46 2.3.3 Multi-Core Processors, 48 2.3.4 Complex Instruction Set versus Reduced Instruction Set, 50 2.4 Peripheral Interfacing, 52 2.4.1 Interrupt-Driven Input/Output, 53 2.4.2 Direct Memory Access, 56 2.4.3 Analog and Digital Input/Output, 58 2.5 Microprocessor versus Microcontroller, 62 2.5.1 Microprocessors, 62 2.5.2 Standard Microcontrollers, 64 2.5.3 Custom Microcontrollers, 66 2.6 Distributed Real-Time Architectures, 68 2.6.1 Fieldbus Networks, 68 2.6.2 Time-Triggered Architectures, 71 2.7 Summary, 73 2.8 Exercises, 74 References, 76 3 Real-Time Operating Systems 79 3.1 From Pseudokernels to Operating Systems, 80 3.1.1 Miscellaneous Pseudokernels, 82 3.1.2 Interrupt-Only Systems, 87 3.1.3 Preemptive Priority Systems, 90 3.1.4 Hybrid Scheduling Systems, 90 3.1.5 The Task Control Block Model, 95 3.2 Theoretical Foundations of Scheduling, 97 3.2.1 Scheduling Framework, 98 3.2.2 Round-Robin Scheduling, 99 3.2.3 Cyclic Code Scheduling, 100 3.2.4 Fixed-Priority Scheduling: Rate-Monotonic Approach, 102 3.2.5 Dynamic Priority Scheduling: Earliest Deadline First Approach, 104 3.3 System Services for Application Programs, 106 3.3.1 Linear Buffers, 107 3.3.2 Ring Buffers, 109 3.3.3 Mailboxes, 110 3.3.4 Semaphores, 112 3.3.5 Deadlock and Starvation Problems, 114 3.3.6 Priority Inversion Problem, 118

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