Predictable programming on a precision timed architecture
Ben Lickly, Isaac Liu, Sung-Jun Kim, Hiren Patel, Stephen A. Edwards, Edward A. Lee · 2008
In a hard real-time embedded system, the time at which a result is computed is as important as the result itself. Modern processors go to extreme lengths to ensure their function is predictable, but have abandoned predictable timing in favor of average-case performance. Real-time operating systems provide timing-aware scheduling policies, but without precise worst-case execution time bounds they cannot provide guarantees.