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ARM Cortex-M: Round-Robin Scheduler Intro

Technical mental model

Round-robin scheduling appears simple, but fairness and latency depend on queue integrity, time-slice size, and blocking behavior handling.

Ready-queue rotation should be deterministic and bounded-cost.

Time quantum selection balances responsiveness against switch overhead.

Blocked tasks must leave rotation immediately and re-enter safely.

Equations and constraints that drive decisions

Approximate waiting time in equal-quantum round-robin:

Wavg(n1)q2W_{avg} \approx \frac{(n-1)q}{2}

Where:

Implementation walkthrough

Implementation sequence:

  1. Build queue operations with invariant checks in debug builds.
  2. Start with measurable quantum and tune using observed latency metrics.
  3. Track context-switch overhead to prevent excessive churn.
  4. Stress with mixed CPU-bound and blocked tasks to verify fairness.

Validation and debugging checklist

A production-ready round-robin scheduler is defined by predictable queue behavior, not by simple code shape alone.


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