Multi Sloth: An Efficient Multi-Core RTOS using Hardware-Based Scheduling
Author(s): Müller R, Danner D, Schröder-Preikschat W, Lohmann D
Title edited volumes: Proceedings - Euromicro Conference on Real-Time Systems
Publication year: 2014
Conference Proceedings Title: Proceedings of the 26th Euromicro Conference on Real-Time Systems (ECRTS '14)
Pages range: 189-198
Event: Euromicro Conference on Real-Time Systems
Event location: Madrid, Spain
Start date of the event: 08/07/2014
End date of the event: 11/07/2014
Multi-core operating systems inherently face the problem of concurrent access to internal kernel state held in shared memory. Previous work on the Sloth real-time kernel proposed to offload the scheduling decisions to the interrupt hardware, thus removing the need for a software scheduler, no state has to be managed in software. While our existing design covers single-core platforms only, we now present Multi Sloth, a multi-core AUTOSAR OS implementation. In this paper, we show that our hardware-centric approach enables us to easily make the transition to multi-core platforms without the need for explicitly synchronizing kernel data. Even in the case of cross-core interactions, Multi Sloth keeps the unique Sloth properties of strict priority obedience and complete prevention of rate-monotonic priority inversions. AUTOSAR OS mandates only unordered spin locks, which do not guarantee predictable timing. We show the advantages of the Multi Sloth design by additionally providing a wait-free and efficient implementation of the priority-aware Multiprocessor Priority Ceiling Protocol (MPCP). On our reference platform, we achieve overheads as low as 1.1s for acquiring a globally shared resource using the MPCP and round-trip times of 1.4s for cross-core task activations.
FAU Authors / FAU Editors How to cite
APA: Müller, R., Danner, D., Schröder-Preikschat, W., & Lohmann, D. (2014). Multi Sloth: An Efficient Multi-Core RTOS using Hardware-Based Scheduling. In Proceedings of the 26th Euromicro Conference on Real-Time Systems (ECRTS '14) (pp. 189-198).
MLA: Müller, Rainer, et al. "Multi Sloth: An Efficient Multi-Core RTOS using Hardware-Based Scheduling." Proceedings of the Euromicro Conference on Real-Time Systems, Madrid, Spain 2014. 189-198.