Multi Sloth: An Efficient Multi-Core RTOS using Hardware-Based Scheduling

Müller R, Danner D, Schröder-Preikschat W, Lohmann D (2014)

Publication Type: Conference contribution

Publication year: 2014

Journal

Proceedings - Euromicro Conference on Real-Time Systems

Edited Volumes: Proceedings - Euromicro Conference on Real-Time Systems

Pages Range: 189-198

Conference Proceedings Title: Proceedings of the 26th Euromicro Conference on Real-Time Systems (ECRTS '14)

Event location: Madrid, Spain ES

ISBN: 978-1-4799-5798-9

URI: https://www4.cs.fau.de/Publications/2014/mueller_14_ecrts.pdf

DOI: 10.1109/ECRTS.2014.30

Abstract

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.

Authors with CRIS profile

Rainer Müller Lehrstuhl für Informatik 4 (Verteilte Systeme und Betriebssysteme) Daniel Danner Lehrstuhl für Informatik 4 (Verteilte Systeme und Betriebssysteme) Wolfgang Schröder-Preikschat Lehrstuhl für Informatik 4 (Verteilte Systeme und Betriebssysteme) Daniel Lohmann Lehrstuhl für Informatik 4 (Verteilte Systeme und Betriebssysteme)

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). Madrid, Spain, ES.

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.

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