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Commit 8c754ccd authored by Gregory Nutt's avatar Gregory Nutt
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Sporadic scheduler: misc bug fixes

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include/nuttx/sched.h
+ 2
− 2
View file @ 8c754ccd
......@@ -272,6 +272,7 @@ struct sporadic_s
uint8_t nrepls; /* Number of active replenishments */
uint32_t repl_period; /* Sporadic replenishment period */
uint32_t budget; /* Sporadic execution budget period */
uint32_t last; /* Last budget time */
uint32_t pending; /* Unrealized, pending execution budget */
#ifdef CONFIG_SCHED_TICKLESS
......@@ -808,8 +809,7 @@ void sched_resume_scheduler(FAR struct tcb_s *tcb);
*
********************************************************************************/
#if defined(CONFIG_SCHED_SPORADIC) && (defined(CONFIG_SCHED_TICKLESS) || \
defined(CONFIG_SPORADIC_INSTRUMENTATION))
#ifdef CONFIG_SCHED_SPORADIC
void sched_suspend_scheduler(FAR struct tcb_s *tcb);
#else
# define sched_suspend_scheduler(tcb)
......
sched/sched/Make.defs
+ 1
− 6
View file @ 8c754ccd
......@@ -59,12 +59,7 @@ CSRCS += sched_roundrobin.c
endif
ifeq ($(CONFIG_SCHED_SPORADIC),y)
CSRCS += sched_sporadic.c
ifeq ($(CONFIG_SCHED_TICKLESS),y)
CSRCS += sched_suspendscheduler.c
else ifeq ($(CONFIG_SPORADIC_INSTRUMENTATION),y)
CSRCS += sched_suspendscheduler.c
endif
CSRCS += sched_sporadic.c sched_suspendscheduler.c
endif
ifneq ($(CONFIG_RR_INTERVAL),0)
......
sched/sched/sched_sporadic.c 100644 → 100755
+ 101
− 86
View file @ 8c754ccd
......@@ -69,9 +69,11 @@
* Private Function Prototypes
****************************************************************************/
static int sporadic_set_hipriority(FAR struct tcb_s *tcb);
static int sporadic_budget_start(FAR struct tcb_s *tcb,
FAR struct replenishment_s *repl, uint32_t budget);
static int sporadic_budget_next(FAR struct replenishment_s *repl);
static int sporadic_set_lowpriority(FAR struct tcb_s *tcb);
static int sporadic_interval_start(FAR struct replenishment_s *repl);
static void sporadic_budget_expire(int argc, wdparm_t arg1, ...);
static void sporadic_interval_expire(int argc, wdparm_t arg1, ...);
......@@ -83,32 +85,25 @@ FAR struct replenishment_s *
****************************************************************************/
/****************************************************************************
* Name: sporadic_budget_start
* Name: sporadic_set_hipriority
*
* Description:
* Start the next replenishment cycle by (1) increasing the priority of
* the thread to the high priority and (2) setting up a timer for the
* budgeted portion of the replenishment interval. We do have to take a
* few precautions is priority inheritance is enabled.
* Force the thread to higher priority.
*
* Input Parameters:
* tcb - TCB of the thread whose priority is being boosted.
* repl - The replenishment timer to use
* budget - Budgeted execution time
* tcb - TCB of task whose priority will be modified
*
* Returned Value:
* Returns zero (OK) on success or a negated errno value on failure.
*
****************************************************************************/
static int sporadic_budget_start(FAR struct tcb_s *tcb,
FAR struct replenishment_s *repl,
uint32_t budget)
static int sporadic_set_hipriority(FAR struct tcb_s *tcb)
{
FAR struct sporadic_s *sporadic;
int ret;
DEBUGASSERT(tcb && tcb->sporadic);
DEBUGASSERT(tcb != NULL && tcb->sporadic != NULL);
sporadic = tcb->sporadic;
#ifdef CONFIG_SPORADIC_INSTRUMENTATION
......@@ -117,22 +112,6 @@ static int sporadic_budget_start(FAR struct tcb_s *tcb,
arch_sporadic_start(tcb);
#endif
/* Start the next replenishment interval */
tcb->timeslice = budget;
repl->budget = budget;
#ifdef CONFIG_SCHED_TICKLESS
/* Save the time that the replenishment interval started */
(void)up_timer_gettime(&sporadic->sched_time);
#endif
/* And start the timer for the budget interval */
ret = wd_start(&repl->timer, budget, sporadic_budget_expire, 1,
(wdentry_t)repl);
#ifdef CONFIG_PRIORITY_INHERITANCE
/* If the priority was boosted above the higher priority, than just
* reset the base priority.
......@@ -173,6 +152,57 @@ static int sporadic_budget_start(FAR struct tcb_s *tcb,
return OK;
}
/****************************************************************************
* Name: sporadic_budget_start
*
* Description:
* Start the next replenishment cycle by (1) increasing the priority of
* the thread to the high priority and (2) setting up a timer for the
* budgeted portion of the replenishment interval. We do have to take a
* few precautions is priority inheritance is enabled.
*
* Input Parameters:
* tcb - TCB of the thread whose priority is being boosted.
* repl - The replenishment timer to use
* budget - Budgeted execution time
*
* Returned Value:
* Returns zero (OK) on success or a negated errno value on failure.
*
****************************************************************************/
static int sporadic_budget_start(FAR struct tcb_s *tcb,
FAR struct replenishment_s *repl,
uint32_t budget)
{
FAR struct sporadic_s *sporadic;
int ret;
DEBUGASSERT(tcb && tcb->sporadic);
sporadic = tcb->sporadic;
/* Start the next replenishment interval */
tcb->timeslice = budget;
sporadic->last = budget;
repl->budget = budget;
#ifdef CONFIG_SCHED_TICKLESS
/* Save the time that the replenishment interval started */
(void)up_timer_gettime(&sporadic->sched_time);
#endif
/* And start the timer for the budget interval */
DEBUGVERIFY(wd_start(&repl->timer, budget, sporadic_budget_expire, 1,
(wdentry_t)repl));
/* Then reprioritize to the higher priority */
return sporadic_set_hipriority(tcb);
}
/****************************************************************************
* Name: sporadic_budget_next
*
......@@ -201,15 +231,8 @@ static int sporadic_budget_next(FAR struct replenishment_s *repl)
/* The budgeted interval will be the pending budget */
budget = sporadic->pending;
if (budget > sporadic->budget)
{
/* Clip to the maximum */
budget = sporadic->budget;
}
sporadic->pending -= budget;
budget = sporadic->pending;
sporadic->pending = 0;
/* If the budget zero, then all of the pending budget has been utilized.
* There are now two possibilities: (1) There are multiple, active
......@@ -228,6 +251,8 @@ static int sporadic_budget_next(FAR struct replenishment_s *repl)
repl->active = false;
sporadic->nrepls--;
return sporadic_set_hipriority(tcb);
return OK;
}
else
......@@ -252,7 +277,7 @@ static int sporadic_budget_next(FAR struct replenishment_s *repl)
* Force the thread to lower priority.
*
* Input Parameters:
* repl - Replenishment timer to be used
* tcb - TCB of task whose priority will be modified
*
* Returned Value:
* Returns zero (OK) on success or a negated errno value on failure.
......@@ -333,7 +358,7 @@ static int sporadic_interval_start(FAR struct replenishment_s *repl)
/* Enter the low-priority phase of the replenishment cycle */
tcb->timeslice = 0;
tcb->timeslice = 0;
/* Calculate the remainder of the replenishment interval. This is
* permitted to be zero, in which case we just restart the budget
......@@ -385,7 +410,6 @@ static void sporadic_budget_expire(int argc, wdparm_t arg1, ...)
FAR struct replenishment_s *repl = (FAR struct replenishment_s *)arg1;
FAR struct sporadic_s *sporadic;
FAR struct tcb_s *tcb;
uint32_t pending;
DEBUGASSERT(argc == 1 && repl != NULL && repl->tcb != NULL);
tcb = repl->tcb;
......@@ -407,34 +431,19 @@ static void sporadic_budget_expire(int argc, wdparm_t arg1, ...)
{
DEBUGASSERT(repl->active && sporadic->nrepls > 0);
/* Set the timeslice to the magic value */
tcb->timeslice = -1;
/* Cancel and free the timer */
wd_cancel(&repl->timer);
repl->budget = 0;
repl->active = false;
sporadic->nrepls--;
return;
}
/* Calculate any part of the budget that was not utilized.
*
* current = The initial budget at the beginning of the interval.
* timeslice = The unused part of that budget when the thread did
* not execute.
*/
DEBUGASSERT(repl->budget >= tcb->timeslice);
pending = sporadic->pending + repl->budget - tcb->timeslice;
if (pending > sporadic->budget)
{
/* Limit to the full budget. This can happen if we are falling
* behind and the thread is not getting enough CPU bandwidth to
* satisfy its budget.
*/
pending = sporadic->budget;
}
sporadic->pending = pending;
/* Drop the priority of the thread and start the timer for the rest of
* the interval.
*/
......@@ -658,6 +667,7 @@ int sched_sporadic_start(FAR struct tcb_s *tcb)
/* Then start the first interval */
sporadic->pending = sporadic->budget;
return sporadic_budget_start(tcb, repl, sporadic->budget);
}
......@@ -814,7 +824,7 @@ int sched_sporadic_resume(FAR struct tcb_s *tcb)
* not want to start a new timer in these cases.
*/
if (tcb->timeslice > 0 && tcb->timeslice < sporadic->budget)
if (tcb->timeslice > 0 && tcb->timeslice < sporadic->last)
{
/* Allocate a new replenishment timer. This will limit us to
* to maximum number of replenishments (max_repl).
......@@ -868,19 +878,18 @@ int sched_sporadic_resume(FAR struct tcb_s *tcb)
*
****************************************************************************/
#if defined(CONFIG_SCHED_SPORADIC) && (defined(CONFIG_SCHED_TICKLESS) || \
defined(CONFIG_SPORADIC_INSTRUMENTATION))
int sched_sporadic_suspend(FAR struct tcb_s *tcb,
FAR const struct timespec *suspend_time)
{
#ifdef CONFIG_SCHED_TICKLESS
FAR struct sporadic_s *sporadic;
#ifdef CONFIG_SCHED_TICKLESS
struct timespec elapsed_time;
uint32_t elapsed_ticks;
#endif
uint32_t pending = tcb->timeslice;
DEBUGASSERT(tcb && tcb->sporadic);
sporadic = tcb->sporadic;
#endif
#ifdef CONFIG_SPORADIC_INSTRUMENTATION
/* Inform the monitor of this event */
......@@ -888,7 +897,6 @@ int sched_sporadic_suspend(FAR struct tcb_s *tcb,
arch_sporadic_suspend(tcb);
#endif
#ifdef CONFIG_SCHED_TICKLESS
/* Check if are in the budget portion of the replenishment interval. We
* know this is the case if the current timeslice is non-zero.
*
......@@ -902,10 +910,11 @@ int sched_sporadic_suspend(FAR struct tcb_s *tcb,
* not want to start a new timer in these cases.
*/
if (tcb->timeslice > 0 && tcb->timeslice < sporadic->budget)
if (tcb->timeslice > 0)
{
#ifdef CONFIG_SCHED_TICKLESS
/* Get the difference in time between the time that the scheduler just
* ran and time time that the thread was spuspended. This difference,
* ran and time time that the thread was suspended. This difference,
* then, is the unaccounted for time between the time that the timer
* was started and when the thread was suspended.
*/
......@@ -920,32 +929,37 @@ int sched_sporadic_suspend(FAR struct tcb_s *tcb,
/* One possibility is that the the elapsed time is greater than the
* time remaining in the time slice. This is a a race condition. It
* means that the timer has just expired.
*
* Ideally, we would need to cancel the budget time and start the low-
* priority portion of the interval. But we are in a precarious
* situation here.. The TCB has been removed from the ready to run
* list already so we cannot use the normal reprioritization logic.
* means that the timer has just expired. the interrupt will occu
* soon.
*/
if (elapsed_ticks >= tcb->timeslice)
{
/* REVISIT: The kludge here is to just set the clock to one tick.
* That will cause the interval to expire very quickly.
*/
tcb->timeslice = 1;
}
else
{
tcb->timeslice -= (int32_t)elapsed_ticks;
return;
}
}
/* Otherwise, the pending time in this budget is the sum time slice
* value minus, the time from the unexpired timer.
*/
tcb->timeslice -= (int32_t)elapsed_ticks;
#endif
/* Handle any part of the budget that was not utilized.
*
* current = The initial budget at the beginning of the interval.
* tcb->timeslice = The unused part of that budget when the thread did
* not execute.
*/
DEBUGASSERT(sporadic->last >= tcb->timeslice);
pending = sporadic->last - tcb->timeslice;
DEBUGASSERT(pending <= sporadic->budget);
}
sporadic->pending = pending;
return OK;
}
#endif
/****************************************************************************
* Name: sched_sporadic_process
......@@ -1116,6 +1130,7 @@ void sched_sporadic_lowpriority(FAR struct tcb_s *tcb)
DEBUGASSERT(sporadic->nrepls < sporadic->max_repl);
repl = sporadic_alloc_repl(sporadic);
DEBUGASSERT(repl != NULL);
repl->budget = sporadic->budget;
/* Drop the priority of thread, possible causing a context switch. */
......
sched/sched/sched_suspendscheduler.c
+ 2
− 3
View file @ 8c754ccd
......@@ -49,8 +49,7 @@
#include "clock/clock.h"
#include "sched/sched.h"
#if defined(CONFIG_SCHED_SPORADIC) && (defined(CONFIG_SCHED_TICKLESS) || \
defined(CONFIG_SPORADIC_INSTRUMENTATION))
#ifdef CONFIG_SCHED_SPORADIC
/****************************************************************************
* Public Functions
......@@ -91,4 +90,4 @@ void sched_suspend_scheduler(FAR struct tcb_s *tcb)
}
}
#endif /* CONFIG_SCHED_SPORADIC && (CONFIG_SCHED_TICKLESS || CONFIG_SPORADIC_INSTRUMENTATION) */
#endif /* CONFIG_SCHED_SPORADIC */
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