It is very important to design an embedded real-time system as a fault-tolerant system to ensure dependability. In particular, when a power failure occurs, restart processing after power restoration is required in a real-time system using a conventional processor. Even if power is restored quickly, the restart process takes a long time and causes deadline misses. In order to design a fault-tolerant real-time system, it is necessary to have a processor that can resume operation in a short time immediately after power is restored, even if a power failure occurs at any time. Since current embedded real-time systems are required to execute many tasks, high schedulability for high throughput is also important. This paper proposes a non-stop microprocessor architecture to achieve a fault-tolerant real-time system. The non-stop microprocessor is designed so as to resume normal operation even if a power failure occurs at any time, to achieve little performance degradation for high schedulability even if checkpoint creations and restorations are performed many times, to control flexibly non-volatile devices through software configuration, and to ensure data consistency no matter when a checkpoint restoration is performed. The evaluation shows that the non-stop microprocessor can restore a checkpoint within 5µsec and almost hide the overhead of checkpoint creations. The non-stop microprocessor with such capabilities will be an essential component of a fault-tolerant real-time system with high schedulability.

This letter proves the finish time predictability of EDZL (Earliest Deadline Zero Laxity) scheduling algorithm for multiprocessor real-time systems, which is a variant of EDF. Based on the results, it also shows that EDZL can successfully schedule any periodic task set if its total utilization is not greater than (m+1)/2, where m is the number of processors.