A real-time fault-tolerant scheduling algorithm for software/hardware hybrid tasks

In reconfigurable system composed of CPUs and FPGAs, software tasks and hardware tasks that are executed on CPU and FPGA respectively co-exist. In this paper, a real-time fault-tolerant scheduling algorithm is proposed to schedule software/hardware hybrid tasks. In the algorithm, rollback/recovery and TMR approaches are used respectively to schedule software subtasks and hardware subtasks for fault tolerance. The sufficient condition for schedulable hybrid tasks is derived from analyzing system operation conditions when the first deadline is missed. The experimental results demonstrate that all deadlines of accepted hybrid tasks are met and processor´s utilization ratio is increased greatly when multiple faults occur.