Siddhartha Shivshankar,  Sunil Vangara,  Alexander G. Dean. 

This paper makes two contributions to Asynchronous Software Thread Integration (ASTI). First, it presents methods to calculate worst-case secondary thread performance statically, enabling real-time performance guarantees for the system. Second, it improves the run-time performance of integrated threads by partitioning the register file, allowing faster coroutine calls. We present experimental results showing the secondary thread performance attainable on an 8-bit embedded microcontroller of the AVR architecture. We examine two embedded protocols (CAN and MIL-STD-1553B) and two secondary threads (PID controller and serial host interface).

http://www.lbd.dcc.ufmg.br/colecoes/wtr/2005/013.pdf

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