Abstract
Slack stealing algorithms are a widely accepted solution for jointly scheduling both hard deadline periodic tasks and soft aperiodic tasks in real-time computations, and they all imply long searches in real-time computations looking for slack gaps. That makes them impractical to implement in software, specially in the dynamic case, since the scheduler overhead would be very important. The advocated solution is to implement them in hardware, but hardware implementations are not straightforward and they often require an algorithm redesign and to face other important design trade-offs to meet time requirements. This paper presents a complete hardware implementation of a dynamic slack stealing algorithm based on a novel algorithm for slack detection that specially fits in a hardware implementation and introduces improvements in response times over previous ones. The algorithm has been implemented in VHDL and built using a FPGA.
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