A Parallelization Approach for Hard Real-Time Systems and Its Application on Two Industrial ProgramsStrategy and Two Case Studies for the Parallelization of Hard Real-Time Systems

Applications in industry often have grown and improved over many years. Since their performance demands increase, they also need to benefit from the availability of multi-core processors. However, a reimplementation from scratch and even a restructuring of these industrial applications is very expensive, often due to high certification efforts. Therefore, a strategy for a systematic parallelization of legacy code is needed. We present a parallelization approach for hard real-time systems, which ensures a high reusage of legacy code and preserves timing analysability. To show its applicability, we apply it on the core algorithm of an avionics application as well as on the control program of a large construction machine. We create models of the legacy programs showing the potential of parallelism, optimize them and change the source codes accordingly. The parallelized applications are placed on a predictable multi-core processor with up to 18 cores. For evaluation, we compare the worst case execution times and their speedups. Furthermore, we analyse limitations coming up at the parallelization process.