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In this paper we show how off-line scheduling and fixed priority

scheduling (FPS) can be combined to get the advantages of both - the

capability to cope with complex timing constraints while providing

run-time flexibility. We present a method to take advantage of the

flexibility provided by FPS while guaranteeing complex constraint

satisfaction on periodic tasks. We provide mechanisms to include FPS

servers to our previous work, to handle non-periodic events, while

still fulfilling the original complex constraints on the periodic

tasks.

In some cases, e.g., when the complex constraints can not be

expressed directly by FPS, we split tasks into instances (artifacts)

to obtain a new task set with consistent FPS attributes. Our method

is optimal in the sense that it keeps the number of artifacts

minimized.