Modeling Fixed Priority Non-Preemptive Scheduling with Real-Time Calculus

Modern real-time embedded systems are highly heterogeneous and distributed. As a result, compositional methods play an important role in the design and analysis of such complex systems. One such compositional analysis method is based on real-time calculus. In this paper, we present an analysis of fixed priority non-preemptive scheduling with the real-time calculus. Although fixed priority non-preemptive scheduling was modeled with the real-time calculus previously, we show that the model gives overly pessimistic results. We also compare our analysis with the existing holistic scheduling analysis through an example of a system using a controller area network (CAN) bus. The proposed method can be automated by incorporating it in the RTC toolbox.