Comik: A Predictable And Cycle-Accurately Composable Real-Time Microkernel

The functionality of embedded systems is ever increasing. This has lead to mixed time-criticality systems, where applications with a variety of real-time requirements co-exist on the same platform and share resources. Due to inter-application interference, verifying the real-time requirements of such systems is generally non trivial.In this paper, we present the CoMik microkernel that provides temporally predictable and composable processor virtualisation. CoMik's virtual processors are cycle-accurately composable, i.e. their timing cannot affect the timing of co-existing virtual processors by even a single cycle. Real-time applications executing on dedicated virtual processors can therefore be verified and executed in isolation, simplifying the verification of mixed timecriticality systems. We demonstrate these properties through experimentation on an FPGA prototyped hardware platform.