Birla Institute of Technology & Science, Pilani

Work Integrated Learning Programmes Division

Digital Learning Handout

Course Title Real Time Systems

Course No(s) BITS ZG553/ ES ZG553/MEL ZG553/SS ZG553
Credit Units 5
Credit Model
Theory + Lab Assignments

Content Author Prof. K R Anupama

Instructor-In-Charge KONERU GOPALAKRISHNA

Course Description:

Fundamentals of real time systems- Typical real time systems, Hard and soft real time systems;
A reference model of real time systems- processors and resources, periodic task model,
precedence constraints; commonly used approaches to real time scheduling- clock driven
approach, priority driven approach- various scheduling algorithms; resource and resource access
control; hardware considerations in real time systems; Multiprocessing and distributed real time
systems; Real time operating systems.

COURSE OBJECTIVES
LO1 To introduce the issues and challenges in developing software for Real Time / embedded
systems

LO2 To introduce Real Time Scheduling in uni-processing, multi-processing and distributed RTS

LO3 Introduce concepts of Real Time Operating Systems (RTOS) to the students.

Text Book(s):
T1 Liu, Jane W.S., Real Time Systems, Pearson Education, 2000
T2 Laplante, Phillip A., Real-Time Systems Design and Analysis, WSE, 4th Ed., 2012.

Reference Book(s) & other resources:

R1 C.M.Krishna, K.G.Shin, Real Time Systems, McGraw Hill Education,2010
R2 Phillip.A.Laplante, S.J.Ovaska, Real Time System Design and Analysis, 4th edition,2012*
 R3 Shaw, Real-Time Systems and Software, John Wiley & Sons Inc., 2001. ISBN 0-471-35490-2*

R4 H. Kopetz, "Real-time Systems," Design Principles for Distributed Embedded Applications 2 nd

edition, Springer, 2011*
R5 Sivamurthy, G. Manimaran, Resource Management in Real-Time Systems and Networks ,PHI, New
Delhi,2005

COURSE OUTCOMES
LO1 Ability to Design and Analyze Scheduling Algorithms for Single Processor Embedded Real Time
Systems

LO2 Ability to Design and Analyze Scheduling Algorithms for Single Processor Embedded Real Time
Systems

LO3 Ability to design , build Real Rime Embedded Systems

LO4 Knowledge about both theoretical and practical aspects of Real Time Operating Systems (RTOS).

Experiential Learning Components:

1. Introduction to Cheddar simulation Environment to analyze Scheduling Algorithms for single
processor real time systems and example of RTOS
(https://www.keil.com/demo/eval/armv4.htm)

Content Structure:

Contact Hour List of Topic Title Sub-Topics Reference

 Typical Real-Time Systems T1 Ch1, T2
Introduction to Real Dependability Ch1, T1 Ch 2
1-2
time system  Fault Tolerance
 Hard Vs Soft Real Time Systems
3-4 A Reference Model of  Processors and Resources T1 Ch 3
Real-Time Systems  Temporal Parameters of Real-Time
Workload
 Periodic Task Model
 Precedence Constraints and Data
dependency
 Functional Parameters
  Resource Parameters
Feasibility, Optimality and
Performance Measures
 Clock-Driven Approach T1 Ch 4
Scheduling Algorithms –
 Round-robin and Weighted Round-
An Introduction,
robin Approaches
5-6 Commonly used
 Priority-Driven Approach
Scheduling Algorithms
Effective Release Times and
Deadlines
 Off-line vs On-line Scheduling T1 Ch 5
 Different Scheduling Algorithms
o EDF Algorithm
Commonly Used
o LRT Algorithm
Approaches to Real-
7-8 LST Algorithm
Time Scheduling
 Static Timer Driven Scheduler
 General Structure of Cyclic
Schedules
Cyclic Executives
 Scheduling Aperiodic Jobs T1 Ch 5
 Scheduling Sporadic Jobs
Clock Driven Scheduling
9-10  Practical Considerations
 Pros and Cons of Clock-Driven
Scheduling
 Fixed-Priority vs Dynamic- T1 Ch 6
Priority Algorithms
 Well-known Fixed-priority
Scheduling Algorithms
o RM (Rate-Monotonic)
Algorithm
Priority-Driven o DM (Deadline-
Scheduling of Periodic Monotonic) Algorithm
11-12
Tasks  Well-known Dynamic-priority
Scheduling Algorithms
 EDF (Earliest Deadline First)
Algorithm
 LST (Least-Slack-Time-First)
Algorithm
o

13-14 Priority-Driven  Maximum Schedulable Utilization of T1 Ch 6

Scheduling of Periodic Different Scheduling Algorithms
Tasks  Time Demand Analysis for Fixed
Priority-Driven Priority Systems
Scheduling of Periodic
Tasks, Scheduling
 Aperiodic and Sporadic
Jobs in Priority-Driven
Systems

15-16 Buffer/ Review -

Scheduling Aperiodic  Assumptions and Approaches T1 Ch 7
and Sporadic Jobs in  Deferrable Servers
17-18
Priority-Driven Systems  Deferrable Servers

Scheduling Aperiodic  Scheduling of Sporadic Jobs T1 Ch 7

and Sporadic Jobs in
19-20
Priority-Driven Systems

 Resource and Their Usage T1 Ch 8

Resource and Resource
 Effect of Resource Contention
21-22 Access Control
and Resource Access Control

 Basic Priority Ceiling Protocol T1 Ch 8

Resource and Resource
 Basic Priority Inheritance Protocol
23-24 Access Control

Hardware  CPU T2 Ch3

Considerations in Real-  Memory
25-26 Time Systems  Peripheral Devices

 Inter-task communication and Lecture

RTOS synchronization Notes
27-30 Review  Memory Management
Storage & File System
 Review
 Priority-driven Lecture
Preemptive notes
Scheduling, Static
Table-Driven
Scheduling, Dynamic
Plan-based
Multi- Processing and Scheduling, Integrated
31-32
Distributed Systems Scheduling of Hard
and QoS - Degradable
Tasks, Real-Time
Scheduling with
Feedback Control
 Resource reclaiming in
Multi-Processor RTS
  Fault-Tolerant task
Scheduling in
Multiprocessor RTS -
Fault Classification,
Fault Tolerance in RTS,
Fault-Tolerant
Scheduling Algorithms
for Multi-Processor
Systems, Scheduling of
Real-Time Imprecise
Computations

Laboratory Component (Self Study- Lab manual will be provided ):

Exp No. Experiment Title Reference to handout module/section

1. An Introduction, Commonly used Scheduling

Introduction to Cheddar Simulation Algorithms
Environment/ Building a new project

2. Implementing LST/RM/DM algorithms Priority driven Algorithms

3. Implementing user defined scheduling

Priority driven Algorithms
algorithms

4. Resource and Resource Access Control

Implementation of PIP and PCP protocol

5. Introduction to RTOS on STM32 https://www.keil.com/demo/eval/armv4.htm

Evaluation Scheme:
Legend: EC = Evaluation Component; AN = After Noon Session; FN = Fore Noon Session
Evaluation Name Type Weigh Duration Day, Date, Session, Time
Component t
Quiz-I Online 10% 30 min February 19-28, 2024
EC - 1 Quiz-2 Online 10% 30 min March 19-28, 2024
Quiz-3 Online 10% 60min April 19-28, 2024
EC - 2 Mid-Semester Test Closed Book 30% 2 hours Friday, 15/03/2024 (FN)
EC - 3 Comprehensive Exam Open Book 40% 2.5 hours Friday, 17/05/2024 (FN)

Syllabus for Mid-Semester Test (Closed Book): Topics in Contact Hours: 1 to 16

Syllabus for Comprehensive Exam (Open Book): All topics
Syllabus for Quiz-1/2/3 (Sessions completed till date)

Important links and information:

Elearn portal: https://elearn.bits-pilani.ac.in
Students are expected to visit the Elearn portal on a regular basis and stay up to date with the latest
announcements and deadlines.
Contact sessions: Students should attend the online lectures as per the schedule provided on the Elearn
portal.
Evaluation Guidelines:
1. EC-1 consists of either two Assignments or three Quizzes. Students will attempt them through the
course pages on the Elearn portal. Announcements will be made on the portal, in a timely
manner.
2. For Closed Book tests: No books or reference material of any kind will be permitted.
3. For Open Book exams: Use of books and any printed / written reference material (filed or bound)
is permitted. However, loose sheets of paper will not be allowed. Use of calculators is permitted
in all exams. Laptops/Mobiles of any kind are not allowed. Exchange of any material is not
allowed.
4. If a student is unable to appear for the Regular Test/Exam due to genuine exigencies, the student
should follow the procedure to apply for the Make-Up Test/Exam which will be made available
on the Elearn portal. The Make-Up Test/Exam will be conducted only at selected exam centres on
the dates to be announced later.
It shall be the responsibility of the individual student to be regular in maintaining the self-study schedule
as given in the course handout, attend the online lectures, and take all the prescribed evaluation
components such as Assignment/Quiz, Mid-Semester Test and Comprehensive Exam according to the
evaluation scheme provided in the handout.

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