Return-Path: Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1752388AbcDRGog (ORCPT ); Mon, 18 Apr 2016 02:44:36 -0400 Received: from mail-oi0-f65.google.com ([209.85.218.65]:34000 "EHLO mail-oi0-f65.google.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1752320AbcDRGod (ORCPT ); Mon, 18 Apr 2016 02:44:33 -0400 From: "Bill Huey (hui)" To: Peter Zijlstra , Steven Rostedt , Alessandro Zummo , linux-kernel@vger.kernel.org Cc: luca abeni , Juri Lelli , Mike Galbraith , Thomas Gleixner Subject: [PATCH RFC v2 12/12] Cyclic/rtc documentation Date: Sun, 17 Apr 2016 23:44:14 -0700 Message-Id: <1460961854-3449-13-git-send-email-bill.huey@gmail.com> X-Mailer: git-send-email 2.5.0 In-Reply-To: <1460961854-3449-1-git-send-email-bill.huey@gmail.com> References: <1460961854-3449-1-git-send-email-bill.huey@gmail.com> Sender: linux-kernel-owner@vger.kernel.org List-ID: X-Mailing-List: linux-kernel@vger.kernel.org Content-Length: 13476 Lines: 484 Initial attempt at documentation with a test program Signed-off-by: Bill Huey (hui) --- Documentation/scheduler/sched-cyclic-rtc.txt | 468 +++++++++++++++++++++++++++ 1 file changed, 468 insertions(+) create mode 100644 Documentation/scheduler/sched-cyclic-rtc.txt diff --git a/Documentation/scheduler/sched-cyclic-rtc.txt b/Documentation/scheduler/sched-cyclic-rtc.txt new file mode 100644 index 0000000..4d22381 --- /dev/null +++ b/Documentation/scheduler/sched-cyclic-rtc.txt @@ -0,0 +1,468 @@ +[in progress] + +"Work Conserving" + +When a task is active and calls read(), it will block/yield depending on +is requested from the cyclic scheduler. A RT_OV_YIELD call to ioctl() +specifies the behavior for the calling thread. + +In the case where read() is called before the time slice is over, it will +allow other tasks to run with the leftover time. + +"Overrun Reporting/Apps" + +Calls to read() will return the overrun count and zero the counter. This +can be used to adjust the execution time of the thread so that it can run +within that slot so that thread can meet some deadline constraint. + +[no decision has been made to return a more meaningful set of numbers as +you can just get time stamps and do the math in userspace but it could +be changed to do so] + +The behavior of the read() depends on whether it has been admitted or not +via an ioctl() using RTC_OV_ADMIT. If it is then it will return the overrun +count. If this is not admitted then it returns value corresponding to the +default read() behavior for rtc. + +See the sample test sources for details. + +Using a video game as an example, having a rendering engine overrunning its +slot driving by a vertical retrace interrupt can cause visual skipping and +hurt interactivity. Adapting the computation from the read() result can +allow for the frame buffer swap at the frame interrupt. If read() reports +and it can simplify calculations and adapt to fit within that slot. +It would then allow the program to respond to events (touches, buttons) +minimizing the possibility of perceived pauses. + +The slot allocation scheme for the video game must have some inherit +definition of interactivity. That determines appropriate slot allocation +amognst a mixture of soft/hard real-time. A general policy must be created +for the system, and all programs, to meet a real-time criteria. + +"Admittance" + +Admittance of a task is done through a ioctl() call using RTC_OV_ADMIT. +This passes 64 bit wide bitmap that maps onto a entries in the slot map. + +(slot map of two threads) +execution direction -> + +1000 1000 1000 1000... +0100 0100 0100 0100... + +(bit pattern of two threads) +0001 0001 0001 0001... +0010 0010 0010 0010... + +(hex) +0x1111 +0x2222 + +The slot map is an array of 64 entries of threads. An index is increment +through determine what the next active thread-slot will be. The end of the +index set in /proc/rt_overrun_proc + +"Slot/slice activation" + +Move the task to the front of the SCHED_FIFO list when active, the tail when +inactive. + +"RTC Infrastructure and Interrupt Routing" + +The cyclic scheduler is driven by the update interrupt in the RTC +infrastructure but can be rerouted to any periodic interrupt source. + +One of those applications could be when interrupts from a display refresh +happen or some interval where an external controller such as a drum pad, +touch event or whatever. + +"Embedded Environments" + +This is single run queue only and targeting embedded scenarios where not all +cores are guaranteed to be available. Older Qualcomm MSM kernels have a very +aggressive cpu hotplug as a means of fully powering off cores. The only +guaranteed CPU to run is CPU 0. + +"Project History" + +This was originally created when I was at HP/Palm to solve issues related +to touch event handling and lag working with the real-time media subsystem. +The typical workaround used to prevent skipping is to use large buffers to +prevent data underruns. The programs running at SCHED_FIFO which can +starve the system from handling external events in a timely manner like +buttons or touch events. The lack of a globally defined policy of how to +use real-time resources can causes long pauses between handling touch +events and other kinds of implicit deadline misses. + +By choosing some kind of slot execution pattern, it was hoped that it that +can be controlled globally across the system so that some basic interactive +guarantees can be met. Whether the tasks be some combination of soft or +hard real-time, a mechanism like this can help guide how SCHED_FIFO tasks +are run versus letting SCHED_FIFO tasks run wildly. + +"Future work" + +Possible integration with the deadline scheduler. Power management +awareness, CPU clock governor. Turning off the scheduler tick when there +are no runnable tasks, other things... + +"Power management" + +Governor awareness... + +[more] + +---------------------------- + +/* + * Based on the: + * + * Real Time Clock Driver Test/Example Program + * by Copyright (C) 1996, Paul Gortmaker. + * + * Simplification and multi-threading support for interrupt event testing + * by Bill Huey at + * + * Released under the GNU General Public License, version 2, + * included herein by reference. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * This expects the new RTC class driver framework, working with + * clocks that will often not be clones of what the PC-AT had. + * Use the command line to specify another RTC if you need one. + */ +static const char default_rtc[] = "/dev/rtc0"; + +#define RTC_OV_ADMIT _IOW('p', 0x15, unsigned long) +#define RTC_OV_REPLEN _IOW('p', 0x16, unsigned long) +#define RTC_OV_YIELD _IOW('p', 0x17, unsigned long) + +//#if 0 +#define THREADS (3) +#define handle_error_en(en, msg) \ + do { errno = en; perror(msg); exit(EXIT_FAILURE); } while (0) + +#define OBJ (THREADS + 1) + +//#define LARGE (1000 * 1000) + +pthread_mutex_t mutex[OBJ]; +pthread_cond_t condvar[OBJ]; + +pthread_mutex_t start_mutex = PTHREAD_MUTEX_INITIALIZER; +pthread_cond_t start_condvar = PTHREAD_COND_INITIALIZER; +int start[OBJ]; + +pthread_t threads[OBJ]; +volatile int die = 0; +int fd; + +#define ioctl_enotty_err(a, b, c, label, ret) \ + retval = ioctl(fd, a, ret); \ + if (retval == -1) { \ + if (errno == ENOTTY) { \ + fprintf(stderr, b); \ + goto label; \ + } \ + perror(c); \ + exit(errno); \ + } + +#define ioctl_err(a, b, c) \ + retval = ioctl(fd, a, c); \ + if (retval == -1) { \ + perror(b); \ + exit(errno); \ + } + +#define read_err(a) \ + retval = read(fd, &data, sizeof(unsigned long)); \ + if (retval == -1) { \ + perror("read"); \ + exit(errno); \ + } + +void init_pthreads(void) +{ + int i; + + for (i = 0; i < OBJ; ++i) { + start[i] = 1; + pthread_mutex_init(&mutex[i], NULL); + pthread_cond_init(&condvar[i], NULL); + } +} + +/* Just loop and exit */ +void *thread(void *threadid) +{ + long tid = (unsigned long)threadid; + pthread_t self = pthread_self(); + unsigned int i,j; + pid_t pid; + struct sched_param param; + int retval; + __aligned_u64 slots = 0; + unsigned long data; + + fprintf(stderr, "\tthread id = %ld\n", tid); + param.sched_priority = sched_get_priority_min(SCHED_RR); + if (sched_setscheduler( 0, SCHED_RR, ¶m) == -1) + perror("sched_setscheduler failed\n"); + + pid = getpid(); + + if (start) { + start[tid] = 0; + pthread_mutex_lock(&start_mutex); + pthread_cond_signal(&start_condvar); + pthread_mutex_unlock(&start_mutex); + } + + /* admit the task before doing yields */ +// fprintf(stderr, "\n"); + for (i = 0; i < 64; ++i) { + if (((tid + i) % THREADS) == 0) { +// fprintf(stderr, "%d\n", i); + slots |= ((long long unsigned) 1 << i); + } + } + + fprintf(stderr, "slots = 0x%016llx\n", slots); + ioctl_err(RTC_OV_ADMIT, "RTC_OV_ADMIT ioctl", &slots); + +// slots = 1; /* set yield instead of block */ +// ioctl_err(RTC_OV_YIELD, "RTC_OV_YIELD ioctl", &slots); + + while (!die) + ; + + read_err(); + fprintf(stderr, "tid %ld, 0x%04lx\n", tid, data); + +#if 0 + ioctl_enotty_err(RTC_IRQP_SET, + "\n...Periodic IRQ rate is fixed\n", + "RTC_IRQP_SET ioctl", + done, (unsigned long ) slots); + + ioctl_err(RTC_PIE_ON, "RTC_PIE_ON ioctl", 0); + + while (!die) + ; + + ioctl_err(RTC_PIE_OFF, "RTC_PIE_OFF ioctl", 0); +#endif + /* body */ + + fprintf(stderr, "\tthread exited running SCHED_RR = %ld\n", tid); + pthread_exit(NULL); +} + +void thread_spawn(int val) +{ + int result, retval; + long tid; + int i; + pthread_attr_t threads_attr[OBJ]; + cpu_set_t cpuset; + + struct sched_param schedparam; + + schedparam.sched_priority = 3; + + init_pthreads(); + + tid = 0; + while(tid < THREADS) { + fprintf(stderr, "\ncreated thread %ld\n", tid); + pthread_attr_init(&threads_attr[tid]); + pthread_attr_setinheritsched(&threads_attr[tid], PTHREAD_EXPLICIT_SCHED); + pthread_attr_setschedpolicy(&threads_attr[tid], SCHED_RR); + pthread_attr_setschedparam(&threads_attr[tid], &schedparam); + pthread_attr_destroy(&threads_attr[tid]); + + pthread_mutex_lock(&start_mutex); + result = pthread_create(&threads[tid], &threads_attr[tid], thread, (void *)tid); + pthread_cond_wait(&start_condvar, &start_mutex); + pthread_mutex_unlock(&start_mutex); + + if (result != 0) + handle_error_en(result, "pthread_create"); + ++tid; + } + + ioctl_err(RTC_PIE_ON, "RTC_PIE_ON ioctl", 0); + + sleep(3); + +// 10/val; // deliberate divide by zero + + sleep(1); + die = 1; + + for (i = 0; i < THREADS; i++) + pthread_join(threads[i], NULL); + + ioctl_err(RTC_PIE_OFF, "RTC_PIE_OFF ioctl", 0); + + fprintf(stderr, "pthread done\n"); +} +//#endif + +int main(int argc, char **argv) +{ + int i,j,k, + blocking, + delay, + retval, irqcount = 0; + unsigned long data; + __aligned_u64 slots; + struct rtc_time rtc_tm; + const char *rtc = default_rtc; + struct timeval start, end, diff; + + struct sched_param param; + pid_t pid = getpid(); + + /* testing thread should be SCHED_FIFO or RR */ + param.sched_priority = sched_get_priority_min(SCHED_RR); + + if (sched_setscheduler(pid, SCHED_RR, ¶m) == -1) + + perror("sched_setscheduler failed\n"); + + switch (argc) { + case 2: + rtc = argv[1]; + /* FALLTHROUGH */ + case 1: + break; + default: + fprintf(stderr, "usage: rtctest [rtcdev]\n"); + return 1; + } + + fd = open(rtc, O_RDONLY); + if (fd == -1) { + perror(rtc); + exit(errno); + } + + fprintf(stderr, "\n\t\t\tRTC Driver Test Example.\n\n"); + + /* Admit this task, enable tick tracking and set the slots */ +// slots = 0xFFFFffffFFFFffff; + slots = 0x3333333333333333; + ioctl_err(RTC_OV_ADMIT, "RTC_OV_ADMIT ioctl", &slots); + +#if 0 +#endif +test_PIE: + /* Read periodic IRQ rate */ + ioctl_enotty_err(RTC_IRQP_READ, + "\nNo periodic IRQ support\n", + "RTC_IRQP_READ ioctl", + done, &slots); + + fprintf(stderr, "\nPeriodic IRQ rate is %ldHz.\n", (unsigned long) slots); + + fprintf(stderr, "Counting 20 interrupts at:"); + fflush(stderr); + + /* The frequencies 128Hz, 256Hz, ... 8192Hz are only allowed for root. */ + for (slots=2; slots<=64; slots*=2) { + /* not all RTCs can change their periodic IRQ rate */ + ioctl_enotty_err(RTC_IRQP_SET, + "\n...Periodic IRQ rate is fixed\n", + "RTC_IRQP_SET ioctl", + done, (unsigned long ) slots); + + fprintf(stderr, "\n%ldHz:\t", (unsigned long ) slots); + fflush(stderr); + + /* Enable periodic interrupts */ + ioctl_err(RTC_PIE_ON, "RTC_PIE_ON ioctl", 0); + +// blocking = 0; delay = 0; + blocking = 0; delay = 1; +// blocking = 1; delay = 0; +// blocking = 1; delay = 1; + for (i=1; i<6; i++) { + +#define LARGE 5000 +#define LARGE2 50000 +#define work() \ + \ + /* This blocks */ \ + if (blocking) { \ + if (delay) \ + fprintf(stderr, " ignoring delay "); \ + \ + gettimeofday(&start, NULL); \ + fprintf(stderr, " "); \ + read_err() \ + } else { \ + /* delay for testing yield only */ \ + if (delay) { \ + fprintf(stderr, "."); \ + for(j = LARGE; j > 0; --j) \ + for(k = LARGE2; k > 0; --k) \ + ; \ + } else \ + fprintf(stderr, "`"); \ + \ + /* really a yield */ \ + read_err() \ + /* fake diff values on a yield */ \ + gettimeofday(&start, NULL); \ + } \ + \ + gettimeofday(&end, NULL); \ + \ + timersub(&end, &start, &diff); \ + if (!blocking && (diff.tv_sec > 0 || \ + diff.tv_usec > ((1000000L / slots) * 1.10))) { \ + fprintf(stderr, \ + "\nPIE delta error: %ld.%06ld should be close to 0.%06ld\n", \ + diff.tv_sec, diff.tv_usec, \ + (1000000L / (unsigned long) slots)); \ + fflush(stdout); \ + exit(-1); \ + } \ + \ + fprintf(stderr, "%d 0x%04lx,", i, data); \ + fflush(stderr); \ + irqcount++; + + work() + } + /* Disable periodic interrupts */ + ioctl_err(RTC_PIE_OFF, "RTC_PIE_OFF ioctl", 0); + } + +done: + fprintf(stderr, "\n\n\t\t\t *** Test complete ***\n"); + + thread_spawn(0); + + close(fd); + + return 0; +} -- 2.5.0