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Scheduling and energy savings for small scale embedded FreeRTOS-based real-time systems

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Abstract

Evaluating the effectiveness of system scheduling and energy savings in embedded real-time systems with low-computing resources is the problem addressed in this paper. In such systems, the characteristics of the implemented scheduling policy play a relevant role in both schedulability and energy consumption. Ideally, the scheduling policy should provide higher schedulability bounds and low runtime overheads, allowing for better usage of available slack in the schedule for energy saving purposes. Due its low overhead and simple implementation, the usual scheduling policy employed in real-time embedded systems is based on fixed priority scheduling (FPS). Under this scheme, as the priority of all system tasks are assigned at design time, a simple priority vector suffices to indicate the current ready task to run. System schedulability, however, is usually lower than that provided by dynamic priority scheduling (DPS) according to which task priorities are assigned at runtime. Managing dynamic priority queues incurs higher overheads, though. Deciding whether DPS is a viable choice for such embedded systems requires careful evaluation. We evaluate two implementations of Earliest Deadline First (EDF), a classical DPS policy, implemented in FreeRTOS running on an ARM-M4 architecture. EDF is compared against an optimal FPS, namely Rate-Monotonic (RM). Further, two mechanisms for energy savings are described. They differ by the manner they compute the slack available in an EDF schedule, statically (SS-EDF) or dynamically (DS-EDF). These two approaches are experimentally evaluated. Results indicate that EDF can be effectively used for energy savings.

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Notes

  1. Available on https://github.com/gesseoliveira/ES-EDF.

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Acknowledgements

This work was partially funded by FAPESB Grant No. APP0042/2016 and by CAPES under Grant No. 001.

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  1. Institute of Computing, Federal University of Bahia, Salvador, Bahia, Brazil

    Gessé Oliveira & George Lima

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  1. Gessé Oliveira
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  2. George Lima
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All authors reviewed the manuscript and agree with its content. This work has been carried out by GO during his MSc under the supervision of GL.

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Correspondence to George Lima.

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Oliveira, G., Lima, G. Scheduling and energy savings for small scale embedded FreeRTOS-based real-time systems. Des Autom Embed Syst 27, 3–29 (2023). https://doi.org/10.1007/s10617-023-09267-7

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