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Linux: Embedded Development by Chris Simmonds, Alex González, Alexandru Vaduva

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Identifying the sources of non-determinism

Fundamentally, real-time programming is about making sure that the threads controlling the output in real-time are scheduled when needed and so can complete the job before the deadline. Anything that prevents this is a problem. Here are some problem areas:

  • Scheduling: Real-time threads must be scheduled before others so they must have a real-time policy, SCHED_FIFO, or SCHED_RR. Additionally they should have priorities assigned in descending order starting with the one with the shortest deadline, according to the theory of Rate Monotonic Analysis that I described in Chapter 10, Learning About Processes and Threads.
  • Scheduling latency: The kernel must be able to reschedule as soon as an event such as an ...

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