Worst-case response time analysis of real-time tasks
under fixed-priority scheduling with deferred preemption revisited
– with extensions for ECRTS’07 –∗
Reinder J. Bril and Johan J. Lukkien
Wim F.J. Verhaegh
Technische Universiteit Eindhoven (TU/e),
Den Dolech 2, 5600 AZ Eindhoven,
Philips Research Laboratories,
High Tech Campus 11, 5656 AE Eindhoven,
Fixed-priority scheduling with deferred preemption (FPDS) has been proposed in the literature as a viable alternative to
fixed-priority pre-emptive scheduling (FPPS), that obviates the need for non-trivial resource access protocols and reduces
the cost of arbitrary preemptions.
This paper shows that existing worst-case response time analysis of hard real-time tasks under FPDS, arbitrary phasing
and relative deadlines at most equal to periods is pessimistic and/or optimistic. The same problem also arises for fixedpriority non-pre-emptive scheduling (FPNS), being a special case of FPDS. This paper provides a revised analysis, resolving
the problems with the existing approaches. The analysis is based on known concepts of critical instant and busy period for
FPPS. To accommodate for our scheduling model for FPDS, we need to slightly modify existing definitions of these concepts.
The analysis assumes a continuous scheduling model, which is based on a partitioning of the timeline in a set of non-empty,
right semi-open intervals. It is shown that the critical instant, longest busy period, and worst-case response time for a task
are suprema rather than maxima for all tasks, except for the lowest priority task, i.e. that instant, period, and response time
cannot be assumed. Moreover, it is shown that the analysis is not uniform for all tasks, i.e. the analysis for the lowest priority
task differs from the analysis of the other tasks. These anomalies for the lowest priority task are an immediate consequence of
the fact that only the lowest priority task cannot be blocked. To build on earlier work, the worst-case response time analysis
for FPDS is expressed in terms of known worst-case analysis results for FPPS. The paper includes pessimistic variants of the
analysis, which are uniform for all tasks.
Based on the seminal paper of Liu and Layland , many results have been achieved in the area of analysis for fixed-priority
preemptive scheduling (FPPS). Arbitrary preemption of real-time tasks has a number of drawbacks, though. In systems
requiring mutual access to shared resources, arbitrary preemptions induce the need for non-trivial resource access protocols,
such as the priority ceiling protocol . In systems using cache memory, e.g. to bridge the speed gap between processors and
main memory, arbitrary preemptions induce additional cache flushes and reloads. As a consequence, system performance and
predictability are degraded, complicating system design, analysis and testing [15, 20, 26, 31, 35]. Although fixed-priority
non-preemptive scheduling (FPNS) may resolve these problems, it generally leads to reduced schedulability compared to
FPPS. Therefore, alternative scheduling schemes have been proposed between the extremes of arbitrary preemption and no
preemption. These schemes are also known as deferred preemption or co-operative scheduling , and are denoted by
fixed-priority scheduling with deferred preemption (FPDS) in the remainder of this paper.
∗ This document is an extension of , addressing the comment of the reviewers of the Euromicro Conference of Real-Time Systems 2007 (ECRTS’07)
on a paper derived from .