Comparison of jitter and response time on resource-constrained systems : management of real-time embedded multi-OSes systems with an embedded hypervisor

This work aims at understanding the different concepts and drawbacks that multiple OSes hard real-time systems undergo. Two different multiple OSes systems are studied and compared with a single Linux system ( SMP system ) with no modification running on the same hardware. The different multiple OSes systems are Asymmetric Multiprocessing (AMP) and Bound Multiprocessing (BMP), the AMP system is developed with OpenAMP, and the BMP system is achieved with the help of a hypervisor ( Xvisor ). Because the area of scheduling and OS is vast, the discussion is concentrated around FreeRTOS and Petalinux in the term of OSes. The scheduling algorithms will be chosen as the ready-to-use ones which present the best metrics in terms of the jitter over the waiting time by still respecting the tasks’ deadlines given as being the next occurrence of the task corresponding interrupt. This work brings the analysis of tasks’ jitter and response time using the queueing theory. Unfortunately, Xvisor technology is not advanced enough to be easily exported over the Xilinx zc706 board. Thus the analysis of both AMP and SMP will be implemented and studied to analyze the possible exportation of Xvisor over that board and real-time constraints. The conclusion of this work is that hypervisor such as Xvisor shows promising results respectively for hard and soft real-time systems over medium utilisation of single and dual physical processors.