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<p>In designing Chinook, a hardware-software cosynthesis system for reactive real-time controllers, the impact of timing constraints on software scheduling has been a central concern. By dividing constraints into two levels, corresponding to low-level interactions with device interfaces and high-level real-time response and rate requirements, we have developed solutions tailored to each aspect. These scheduling techniques enable Chinook to map a high-level specification onto a specified collection of processors and peripheral devices while respecting performance requirements.</p>

G. Borriello, P. Chou and E. A. Walkup, "Scheduling for Reactive Real-Time Systems," in IEEE Micro, vol. 14, no. , pp. 37-47, 1994.
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