Preemption points placement for sporadic task sets

Limited preemption scheduling has been introduced as a viable alternative to non-preemptive and fully-preemptive scheduling when reduced blocking times need to coexist with an acceptable context switch overhead. To achieve this goal, preemptions are allowed only at selected points of the code of each task, decreasing the preemption overhead and simplifying the estimation of worst-case execution parameters. Unfortunately, the problem of how to place these preemption points is rather complex and has not been solved. In this paper, a method is presented for the optimal placement of preemption points under simplifying conditions, namely, a fixed preemption overhead at each point. We will prove that if our method is not able to produce a feasible schedule, then no other possible preemption point placement (including non-preemptive and fully preemptive scheduling) can find a schedulable solution. The presented method is general enough to be applicable to both EDF and Fixed Priority scheduling, with limited modifications.