Real-time system development: The programming model of MARS

The systematic development of fault-tolerant real-time systems with guaranteed timeliness requires an appropriate system architecture and a rigorous design methodology. Those services of the architecture that help to simplify the work of the real-time programmer are described, taking the MARS architecture as an example. Programming in the large activities, i.e., the systematic derivation of task timing parameters from the requirements specification, are then addressed. Programming to meet a time budget is discussed, and the programming interface, the programming environment, and the testing and support tools are presented. The architecture and most of the tools have been implemented and can be demonstrated on a fault-tolerant prototype application