TY - JOUR

T1 - Applied static analysis and specialization of cross-core syscalls for multi-core AUTOSAR OS

AU - Entrup, Gerion

AU - Kässens, Andreas

AU - Fiedler, Björn

AU - Lohmann, Daniel

N1 - Publisher Copyright: © The Author(s) 2024.

PY - 2024/10/3

Y1 - 2024/10/3

N2 - The development of static real-time control systems often follows a closed-world assumption, allowing extensive RTOS-aware whole-program optimization. For single-core systems, previous work could show the high potential of control-flow-aware static system-call tailoring. However, due to an exponential state explosion in the analysis phase, it cannot simply be extended to a multi-core setting, since the core’s relative timing to each other is undetermined. In this work, we present MultiSSE, a multi-core capable and RTOS-aware static whole-system optimization. First, MultiSSE analyzes the system by determining the relative positions of multiple cores only when necessary. For that, it exploits structural control flow and optionally timing information to handle each core separately as much as possible. Based on the analysis result, a synthesis applies lock elision and system-call optimization to generate specialized multi-core real-time systems for AUTOSAR OS. To enable a static prediction of the run-time reduction, we additionally provide cost models for the optimized cross-core system calls and evaluate the approach with synthetic benchmarks and a real-world quadrotor application. MultiSSE was able to optimize or even completely elide costly cross-core system calls and system objects leading to a reduction of up to 14% of a task’s execution time. In this extended version of a conference publication (Entrup et al. 2023), we provide an advanced description, new cost models, and an end-to-end measurement by developing a synthesis complementing the analysis.

AB - The development of static real-time control systems often follows a closed-world assumption, allowing extensive RTOS-aware whole-program optimization. For single-core systems, previous work could show the high potential of control-flow-aware static system-call tailoring. However, due to an exponential state explosion in the analysis phase, it cannot simply be extended to a multi-core setting, since the core’s relative timing to each other is undetermined. In this work, we present MultiSSE, a multi-core capable and RTOS-aware static whole-system optimization. First, MultiSSE analyzes the system by determining the relative positions of multiple cores only when necessary. For that, it exploits structural control flow and optionally timing information to handle each core separately as much as possible. Based on the analysis result, a synthesis applies lock elision and system-call optimization to generate specialized multi-core real-time systems for AUTOSAR OS. To enable a static prediction of the run-time reduction, we additionally provide cost models for the optimized cross-core system calls and evaluate the approach with synthetic benchmarks and a real-world quadrotor application. MultiSSE was able to optimize or even completely elide costly cross-core system calls and system objects leading to a reduction of up to 14% of a task’s execution time. In this extended version of a conference publication (Entrup et al. 2023), we provide an advanced description, new cost models, and an end-to-end measurement by developing a synthesis complementing the analysis.

KW - IPI avoidance

KW - Lock Elision

KW - Multi Core

KW - Real-Time Systems

KW - Syscall Cost Model

UR - http://www.scopus.com/inward/record.url?scp=85205545593&partnerID=8YFLogxK

U2 - 10.1007/s11241-024-09429-1

DO - 10.1007/s11241-024-09429-1

M3 - Article

AN - SCOPUS:85205545593

VL - 60

SP - 491

EP - 533

JO - Real-time systems

JF - Real-time systems

SN - 0922-6443

IS - 3

ER -