Abstract: Real-time task running on CPU/FPGA is usually composed of software/hardware subtasks with precedence constraints. A scheduling algorithm was proposed for software/hardware hybrid real-time tasks. The schedulability sufficient condition for real-time tasks was derived from analyzing what happens when the first deadline is missed. Hardware subtasks of each task were partitioned into several groups and subtasks within the same group were configured on PFGA overlapped. Hardware subtasks can be connected to the system bus dynamically by placing and routing ports of hardware subtasks and system bus manually. The experimental results demonstrate that the scheduling algorithm can meet real-time tasks' deadlines and make full use of FPGA.

Key words: Real-time tasks scheduling, Software/hardware hybrid tasks, Precedence constraints, CPU/FPGA