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Moreover, there is no Dispatch() called in the Main() code: instead, “interrupt request wrappers” – which contain Assembly code – are used to manage the sequence of operation in the whole scheduler. The function call tree for the TTC-MTI scheduler is shown in Fig. 21 (compare with Fig. 16). If Task () is the last due task in the tick If Task () is not the last due task in the tick Main () Tick Update () Sleep () Task Update () Task () Sleep () Fig. 21. Function call tree for the TTC-MTI scheduler (in normal conditions) (Nahas, 2011a).

This jitter is caused by variation in time taken to leave the software loop – which is used in the SD mechanism to check if the required release time for the concerned task is matched – and begin to execute the task. With the TTC-MTI scheduler, the jitter in the release time of all tasks running in the system is totally removed, causing a significant increase in the overall system predictability. Regarding the ability to deal with task overrun, the TTC-TG scheduler detects and hence terminates the overrunning task at the beginning of the tick following the one in which the task overruns.

1 (1), pp. 7-25. Bannatyne, R. (1998) “Time triggered protocol-fault tolerant serial communications for realtime embedded systems”, WESCON/98 Conference Proceedings, Anaheim, CA, USA, pp. 86-91. Barr, M. (1999) “Programming Embedded Systems in C and C++”, O'Reilly Media. K. (2006) “The Non-preemptive Scheduling of Periodic Tasks upon Multiprocessors”, Real-Time Systems, Vol. 32, pp. 9-20. J. (1998), “Scheduling and Timing Analysis for Safety Critical Real-Time Systems”, PhD thesis, Department of Computer Science, University of York.

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