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Commit a7322f5a authored by Gregory Nutt's avatar Gregory Nutt
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Sporadic scheduler: Fix how suspension time is calculated

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include/nuttx/sched.h
+ 1
− 4
View file @ a7322f5a
......@@ -273,10 +273,7 @@ struct sporadic_s
uint8_t nrepls; /* Number of active replenishments */
uint32_t repl_period; /* Sporadic replenishment period */
uint32_t budget; /* Sporadic execution budget period */
#ifdef CONFIG_SCHED_TICKLESS
struct timespec sched_time; /* Time in ticks last processed */
#endif
uint32_t eventtime; /* Time thread suspended or [re-]started */
/* This is the last interval timer activated */
......
sched/sched/sched.h
+ 1
− 4
View file @ a7322f5a
......@@ -251,10 +251,7 @@ int sched_sporadic_start(FAR struct tcb_s *tcb);
int sched_sporadic_stop(FAR struct tcb_s *tcb);
int sched_sporadic_reset(FAR struct tcb_s *tcb);
int sched_sporadic_resume(FAR struct tcb_s *tcb);
#if defined(CONFIG_SCHED_TICKLESS) || defined(CONFIG_SPORADIC_INSTRUMENTATION)
int sched_sporadic_suspend(FAR struct tcb_s *tcb,
FAR const struct timespec *suspend_time);
#endif
int sched_sporadic_suspend(FAR struct tcb_s *tcb);
uint32_t sched_sporadic_process(FAR struct tcb_s *tcb, uint32_t ticks,
bool noswitches);
void sched_sporadic_lowpriority(FAR struct tcb_s *tcb);
......
sched/sched/sched_sporadic.c
+ 59
− 127
View file @ a7322f5a
......@@ -198,6 +198,10 @@ static int sporadic_budget_start(FAR struct tcb_s *tcb,
DEBUGVERIFY(wd_start(&repl->timer, budget, sporadic_budget_expire, 1,
(wdentry_t)repl));
/* Save the time that the thread was started */
sporadic->eventtime = clock_systimer();
/* Then reprioritize to the higher priority */
return sporadic_set_hipriority(tcb);
......@@ -655,11 +659,6 @@ int sched_sporadic_start(FAR struct tcb_s *tcb)
DEBUGASSERT(tcb && tcb->sporadic);
sporadic = tcb->sporadic;
DEBUGASSERT(sporadic->low_priority <= sporadic->hi_priority);
DEBUGASSERT(sporadic->max_repl <= CONFIG_SCHED_SPORADIC_MAXREPL);
DEBUGASSERT(sporadic->budget > 0 && sporadic->budget <= sporadic->repl_period);
DEBUGASSERT(sporadic->nrepls == 0 && sporadic->active == NULL);
/* Allocate the first replenishment timer (should never fail) */
repl = sporadic_alloc_repl(sporadic);
......@@ -769,6 +768,7 @@ int sched_sporadic_reset(FAR struct tcb_s *tcb)
sporadic->nrepls = 0;
sporadic->repl_period = 0;
sporadic->budget = 0;
sporadic->eventtime = 0;
sporadic->active = NULL;
return OK;
}
......@@ -803,8 +803,9 @@ int sched_sporadic_resume(FAR struct tcb_s *tcb)
{
FAR struct sporadic_s *sporadic;
FAR struct replenishment_s *repl;
uint32_t budget;
uint32_t unrealized;
uint32_t last;
uint32_t now;
DEBUGASSERT(tcb && tcb->sporadic);
sporadic = tcb->sporadic;
......@@ -821,80 +822,72 @@ int sched_sporadic_resume(FAR struct tcb_s *tcb)
if (tcb->timeslice > 0)
{
/* Get the last budgeted time */
/* Save the time that the thread was [re-]started */
DEBUGASSERT(sporadic->active);
last = sporadic->active->budget;
now = clock_systimer();
#ifdef CONFIG_SCHED_TICKLESS
/* Get the difference in time between the time that the scheduler just
* 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.
*/
/* Unrealized budget time while the thread was suspended */
clock_timespec_subtract(suspend_time, &sporadic->sched_time,
&elapsed_time);
unrealized = sporadic->eventtime - now;
sporadic->eventtime = now;
/* Convert to ticks */
/* Ignore very short pre-emptions that are below our timing resolution. */
elapsed_ticks = SEC2TICK(elapsed_time.tv_sec);
elapsed_ticks += NSEC2TICK(elapsed_time.tv_nsec);
if (unrealized > 0)
{
/* Handle any part of the budget that was not utilized.
*
* current = The initial budget at the beginning of the
* interval.
* urealized = The unused part of that budget when the
* thread did not execute.
*/
/* 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. the interrupt will occu
* soon.
*/
if (unrealized >= tcb->timeslice)
{
/* We lost the remainder of the timeslice, (and then some).
* No point in starting more timers.
*/
if (elapsed_ticks >= tcb->timeslice)
{
return;
}
return OK;
}
/* Otherwise, the unrealized time in this budget is the sum time slice
* value minus, the time from the unexpired timer.
*/
DEBUGASSERT(sporadic->active);
tcb->timeslice -= unrealized;
sporadic->active->unrealized = unrealized;
tcb->timeslice -= (int32_t)elapsed_ticks;
#endif
/* This function could also be called before the budget period has had
* a chance to run, i.e., when the value of timeslice has not been
* decremented and is still equal to the initial value.
*
* This latter case could occur if the thread has never had a chance
* to run and is also very likely when the thread is just restarted
* after raising its priority at the beginning of the budget period.
* We would not want to start a new timer in these cases.
*/
/* Get the last budgeted time */
if (tcb->timeslice < last)
{
/* Allocate a new replenishment timer. This will limit us to
* to maximum number of replenishments (max_repl).
last = sporadic->active->budget;
/* This function could also be called before the budget period
* has had a chance to run, i.e., when the value of timeslice
* has not been decremented and is still equal to the initial
* value.
*/
repl = sporadic_alloc_repl(sporadic);
if (repl != NULL)
if (tcb->timeslice < last)
{
return sporadic_budget_start(tcb, repl, tcb->timeslice);
/* Allocate a new replenishment timer. This will limit us to
* to maximum number of replenishments (max_repl).
*/
repl = sporadic_alloc_repl(sporadic);
if (repl != NULL)
{
return sporadic_budget_start(tcb, repl, tcb->timeslice);
}
/* We need to return success even on a failure to allocate.
* Doing nothing is our fall-back behavior and that is not a
* failure from the standpoint of higher level logic.
*/
slldbg("Failed to allocate timer, nrepls=%d\n", sporadic->nrepls);
}
/* We need to return success even on a failure to allocate. Doing
* nothing is our fall-back behavior and that is not a failure from
* the standpoint of higher level logic.
*/
slldbg("Failed to allocate timer, nrepls=%d\n", sporadic->nrepls);
}
}
#ifdef CONFIG_SCHED_TICKLESS
/* Reset to the resume time */
(void)up_timer_gettime(&sporadic->sched_time);
#endif
return OK;
}
......@@ -923,14 +916,9 @@ int sched_sporadic_resume(FAR struct tcb_s *tcb)
*
****************************************************************************/
int sched_sporadic_suspend(FAR struct tcb_s *tcb,
FAR const struct timespec *suspend_time)
int sched_sporadic_suspend(FAR struct tcb_s *tcb)
{
FAR struct sporadic_s *sporadic;
#ifdef CONFIG_SCHED_TICKLESS
struct timespec elapsed_time;
uint32_t elapsed_ticks;
#endif
DEBUGASSERT(tcb && tcb->sporadic);
sporadic = tcb->sporadic;
......@@ -941,65 +929,9 @@ int sched_sporadic_suspend(FAR struct tcb_s *tcb,
arch_sporadic_suspend(tcb);
#endif
/* Check if are in the budget portion of the replenishment interval. We
* know this is the case if the current timeslice is non-zero.
*
* This function could also be called before the budget period has had a
* chance to run, i.e., when the value of timeslice has not been decremented
* and is still equal to the initial value.
*
* This latter case could occur if the thread has never had a chance to
* run and is also very likely when the thread is just restarted after
* raising its priority at the beginning of the budget period. We would
* not want to start a new timer in these cases.
*/
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 suspended. This difference,
* then, is the unaccounted for time between the time that the timer
* was started and when the thread was suspended.
*/
clock_timespec_subtract(suspend_time, &sporadic->sched_time,
&elapsed_time);
/* Convert to ticks */
elapsed_ticks = SEC2TICK(elapsed_time.tv_sec);
elapsed_ticks += NSEC2TICK(elapsed_time.tv_nsec);
/* 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. the interrupt will occu
* soon.
*/
if (elapsed_ticks >= tcb->timeslice)
{
return;
}
/* Otherwise, the unrealized 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->active);
sporadic->active->unrealized = tcb->timeslice;
}
/* Save the time that the thread was suspended */
sporadic->eventtime = clock_systimer();
return OK;
}
......
sched/sched/sched_suspendscheduler.c
+ 1
− 12
View file @ a7322f5a
......@@ -73,20 +73,9 @@
void sched_suspend_scheduler(FAR struct tcb_s *tcb)
{
struct timespec suspend_time;
if ((tcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
{
#ifdef CONFIG_SCHED_TICKLESS
/* Get the current time when the thread was suspended */
(void)up_timer_gettime(&suspend_time);
#else
suspend_time.tv_sec = 0;
suspend_time.tv_nsec = 0;
#endif
DEBUGVERIFY(sched_sporadic_suspend(tcb, &suspend_time));
DEBUGVERIFY(sched_sporadic_suspend(tcb));
}
}
......
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