PapaBench is a WCET benchmark derived from a real drone application, [[https://wiki.paparazziuav.org/wiki/Main_Page|Paparazzi project]]. It has been slightly modified to be compiled for any architecture (originally AVR). It is structured as two applications running on different core but they can easily compiled a single program.
As described in its documentation, the application is logically split in tasks with different periodicities. Each task entry corresponds to a C function and the tasks are activated by an hand-made scheduler that poll a timer and call the task function accordingly. In addition, our modifications make use of WCET-aware implementation of mathematics functions as cos, sin, etc.
The simplest way to obtain PapaBench is to download it from its Mercurial repository:
hg clone https://anon:email@example.com/hg/TRACES/papabench
Then take a look to papabench/README.
It has successfully been compiled for x86, PowerPC, ARM, Sparc and Tricore.