The main duty of a RTOS in embedded automotive systems is the scheduling of the applications tasks. Using a microcontroller providing several interrupt priorities, the scheduling of interrupt service requests is performed by the hardware directly. In cases a task wants to lock certain interrupt levels or a task has to be activated from an interrupt routine, interactions between both scheduling schemes are introduced. These interactions at the interface between hardware and software are very subtle and thus have to be treated in a profound manner. Deficiencies in the RTOS design concerning the interrupt handling may result in errors that only occur in rare event scenarios and are thus hard to detect.This paper describes a method to treat the priorities of tasks and interrupts in a homogeneous way. Common errors found in RTOS designs are avoided and the overall efficiency benefits from transfering parts of the scheduling effort to the hardware. An integrated concept of handling preemptions and interrupts for automotive real-time operating systems.
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