Precisely timed execution of resource constrained bare-metal applications is difficult, because the embedded software developer usually has to implement and check the timeliness of the executed application through manual interaction with timers or counters. In the scope of this work, we propose a combined timing specification and concept for time annotation and control blocks in C++. Our proposed blocks can be used to measure and profile software block execution time. Furthermore, it can be used to control and enforce the software time behavior at runtime. After the application of these time blocks, a trace-based verification against the block-based timing specification can be performed to obtain evidence on the correct implementation and usage of the time blocks on the target platform. We have implemented our time block concept in a C++ library and tested it on an ARM Cortex A9 bare-metal platform. The combined usage of timing specification and our time block library has been successfully evaluated on a critical flight-control software for a multi-rotor system.

中文翻译：

---

裸机 C++ 应用程序的时间测量和控制模块

资源受限的裸机应用程序的精确定时执行是困难的，因为嵌入式软件开发人员通常必须通过与计时器或计数器的手动交互来实现和检查已执行应用程序的及时性。在这项工作的范围内，我们提出了一个组合的时间规范和概念，用于 C++ 中的时间注释和控制块。我们提出的块可用于测量和分析软件块执行时间。此外，它还可用于在运行时控制和强制执行软件时间行为。在应用这些时间块之后，可以针对基于块的时序规范执行基于跟踪的验证，以获得目标平台上时间块的正确实现和使用的证据。我们在 C++ 库中实现了我们的时间块概念，并在 ARM Cortex A9 裸机平台上对其进行了测试。时间规范和我们的时间块库的组合使用已成功地在多旋翼系统的关键飞行控制软件上进行了评估。