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Enhancing Ethernet for Real-Time Embedded Systems Using Fine-Grain Time Division Multiplexing with KURT-Linux

This project focuses on transforming Ethernet into a collision-free TDM system to meet the predictable end-to-end packet delivery requirements of Distributed Real-Time Embedded systems. By utilizing KURT-Linux features like Group Scheduling for precise protocol execution control and clock synchronization, the proposal ensures QoS support with low latency and high precision. The implementation involves refactoring soft and hard IRQs, traffic control policy creation, and TDM scheduling service establishment without protocol modifications, making it suitable for DRE environments where modest TDM slots per machine are acceptable. Results from experiments demonstrate successful data streaming and QoS achievement between applications over switched Ethernet.

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Enhancing Ethernet for Real-Time Embedded Systems Using Fine-Grain Time Division Multiplexing with KURT-Linux

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  1. Fine-Grain Time Division Multiplexing of Ethernet Providing Time-Bounded Message Delivery Using KURT-Linux • Distributed Real-Time Embedded (DRE) systems require networks spanning multiple machines • Predictable message delivery latency required for reliable end-to-end computation scheduling • However Ethernet is based on random message transmission and collision detection (CSMA/CD) • Collisions and exponential back-off cause random and highly variable packet delays • Linux use of Ethernet is thus not suitable for DRE systems because of unpredictability • Make Ethernet suitable for modest scale DRE systems by providing collision free TDM-Ethernet • Provide predictable end-to-end packet delivery delays as core of network QoS support • Use KURT-Linux (1) Group Scheduling (GS) precise control of network protocol component execution, (2) low interrupt response latency, and (3) fine-grain clock synchronization • Transmit QoS uses precision (~30 msec) of 1 & 3 • Receive QoS uses precision (~30 msec) of 1 & 2 Implementation Details • KURT-Linux TDM-Ethernet creation required: • Refactoring of transmit and receive soft-IRQs • GS control of soft-IRQs and hard-IRQs • KURT-Linux QoS traffic control policy creation • TDM scheduling service creation • No modifications of protocols (UDP/TCP/IP) • Pure software solution uses COTS hardware • Approach appropriate for DRE systems where • ~500 msec TDM slots per machine are acceptable • E.g. ~10 machines on single Ethernet switch • Good driving problem for KURT-Linux and GS Project Goals Ethernet Predictability Problem Proposed Solution Experiment Results • Data Stream visualization of TDM • slots for a three machine test • Hundreds of megabytes were • transferred without packet loss • Desired end-to-end QoS between • applications was provided across • COTS Switched Ethernet • Analysis shows 300 msec transmit bound for 1.5 KB packets on a 500 MHz Pentium (KURT-Linux) over 100 Mb/s switched Ethernet - 500 msec TDM slots per machine provide a comfortable margin 040405

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