An Instruction Scratchpad Memory Allocation for the Precision Timed Architecture
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This work presents a static instruction allocation scheme for the precision timed architecture’s (PRET) scratchpad memory. Since PRET provides timing instructions to control the temporal execution of programs, the objective of the allocation scheme is to ensure that the explicitly specified temporal requirements are met. Furthermore, this allocation incorporates instructions from multiple hardware threads of the PRET architecture. We formulate the allocation as an integer-linear programming problem, and we implement a tool that takes binaries, constructs a control-flow graph, performs the allocation, rewrites the binary with the new allocation, and generates an output binary for the PRET architecture. We carry out experiments on a modified version of the Malardalen benchmarks to illustrate that commonly known ACET and WCET based approaches cannot be directly applied to meet explicit timing requirements. We also show the advantage of performing the allocation across multiple threads. We present a real time benchmark controlling an Unmanned Air Vehicle as the case study.