Cross-kernel control-flowgraph analysis for event-driven real-time systems

Embedded real-time control systems generally have a dedicated purpose and fixed set of functionalities. This manifests in a large amount of implicit and explicit static knowledge, available already at compile time. Modern compilers can extract and exploit this information to perform extensive whole-program analyses and inter-procedural optimizations. However, these analyses typically end at the application–kernel boundary, thus control-flow transitions between different threads are not covered, yet. This restriction stems from the pessimistic assumption of a probabilistic scheduling policy of the underlying operating system, impeding detailed predictions of the overall system behavior. Real-time operating systems, however, do provide deterministic and exactly specified scheduling decisions, as embedded control systems rely on a timely and precise behavior. In this paper, we present an approach that incorporates the RTO