Adapting Pfair scheduling for symmetric multiprocessors

We consider the implementation of a Pfair realtime scheduler on a symmetric multiprocessor (SMP). Although SMPs are in many ways well-suited for Pfair scheduling, experimental results presented herein suggest that bus contention resulting from the simultaneous scheduling of all processors can substantially degrade performance. To correct this problem, we propose a staggered model for Pfair scheduling that strives to improve performance by more evenly distributing bus traffic over time. Additional simulations and experiments with a scheduler prototype are presented to demonstrate the effectiveness of the staggering approach. In addition, we discuss other techniques for improving performance while maintaining worst-case predictability. Finally, we present an efficient scheduling algorithm to support the proposed model and briefly explain how existing Pfair results apply to staggered scheduling.