PRL: standardizing performance monitoring library for high-integrity real-time systems

The use of complex processors is becoming ubiquitous in High-Integrity Systems (HIS). To deal with processor’s increased complexity, Performance Monitoring Counters (PMCs) are increasingly used to reason on software behavior and provide the necessary evidence to support software certification. However, the use of PMCs in HIS is relatively recent and hence far from being standardized. As a result, software engineers are forced to resort to highly-customized, low-level programming of platform-specific PMC control registers, which is both error prone and time consuming. To cover this gap, we propose building on the PAPI library, a standardized performance monitoring solution in the mainstream domain, and develop a PMC Reading Library (PRL) for configuring and collecting traceable events while capturing HIS specific requirements and peculiarities. We instantiate PRL in a reference automotive configuration to show that PRL meets key HIS requirements: negligible footprint, limited and predictable overhead, and accuracy collecting hardware events by filtering out the impact of interrupts and context switches.
This work has been supported by the Spanish Ministry of Science and Innovation under grant PID2019-107255GBC21/AEI/10.13039/501100011033, the European Unions Horizon 2020 Framework Programme under grant agreement No. 878752 (MASTECS), and the European Research Council (ERC) grant agreement No. 772773 (SuPerCom).
Peer Reviewed
Postprint (author's final draft)