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A Real-Time Application with Fully Predictable Task Timing

机译：具有完全可预测的任务计时的实时应用程序

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Real-time control systems must adequately react to changes in system state within a time limit determined by the dynamics of the controlled system, otherwise their stability might be compromised. It is therefore essential to determine the Worst-Case Execution Time (WCET) of the control algorithms to verify that they will always be able to satisfy that constraint. However, WCET analysis is a complex process, requiring manual intervention, and the computed bounds are often grossly overestimated. We avoid the difficulties of WCET estimation by making use of the single-path paradigm for the implementation of the control algorithm for a quadcopter. By using single-path code we do not only replace the cumbersome WCET analysis with a single measurement, we simultaneously avoid the detrimental effects of response-time variability. We show that single-path code can be applied to real-time controllers and that it is practical for dramatically simplifying WCET analysis as well as eliminating variability in the execution time. Our results show that despite its apparent inefficiency, the WCET of single-path code on a time-predictable soft microprocessor rivals that of a state-of-the-art superscalar processor.
机译：实时控制系统必须在受控系统的动态确定的时限内对系统状态的变化做出适当的反应，否则可能会损害其稳定性。因此，至关重要的是确定控制算法的最坏情况执行时间（WCET），以验证它们始终能够满足该约束条件。但是，WCET分析是一个复杂的过程，需要人工干预，并且计算出的界限常常被严重高估。我们通过利用单路径范例来实现四轴飞行器的控制算法，避免了WCET估计的困难。通过使用单路径代码，我们不仅可以用单次测量代替繁琐的WCET分析，而且可以同时避免响应时间可变性的不利影响。我们证明了单路径代码可以应用于实时控制器，并且对于大幅简化WCET分析以及消除执行时间的可变性非常实用。我们的结果表明，尽管其效率明显低下，但时间可预测的软微处理器上的单路径代码的WCET可以与最先进的超标量处理器相媲美。

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