A survey of schedulability analysis techniques for rate-dependent tasks
Abstract
In automotive embedded real-time systems, such as the engine control unit, there are tasks that are activated whenever the crankshaftarrives at a specific angular position. As a consequence the frequency of activation changes with the crankshaft’s angular speed(i.e., engine rpm). Additionally, execution times and deadlines may also depend on angular speeds and positions. This paperprovides a survey on schedulability analysis techniques for tasks with this rate-dependent behaviour. It covers different task-modelsand analysis methods for both fixed priority and earliest deadline first scheduling. A taxonomy of the different analysis methods,classifying them according to the assumptions made and the precision of the analysis, is provided at the end of the paper.