diff --git a/include/kernel/kthread.h b/include/kernel/kthread.h
index 89598fd0434685d45e757d9bd629c8c19bd3fc0d..5cd2d428b010b515012b1e6e8bd9279cf007320e 100644
--- a/include/kernel/kthread.h
+++ b/include/kernel/kthread.h
@@ -76,7 +76,8 @@ struct task_struct {
*/
int unused;
- ktime last_visit;
+ ktime last_visit_true;
+ ktime last_visit_false;
ktime last_adjust;
ktime runtime; /* remaining runtime in this period */
ktime wakeup; /* start of next period */
diff --git a/init/main.c b/init/main.c
index d6dc2325f73100a581402efe07c914b927c3b8a4..4725207b987a915ff2df1de29968e4ac732dfac1 100644
--- a/init/main.c
+++ b/init/main.c
@@ -132,10 +132,12 @@ int task_rr(void *data)
while (1) {
-#if 0
- if (sys_irq)
+ if (sys_irq) {
sysobj_show_attr(sys_irq, "irl", buf1);
+ printk("IRQ: %s\n", buf1);
+ }
+#if 0
a = xa;
b = xb;
c = xc;
@@ -310,14 +312,14 @@ int kernel_main(void)
#endif
-#if 0
+#if 1
t = kthread_create(task0, NULL, KTHREAD_CPU_AFFINITY_NONE, "task0");
sched_get_attr(t, &attr);
attr.policy = SCHED_EDF;
attr.period = ms_to_ktime(100);
attr.deadline_rel = ms_to_ktime(90);
- attr.wcet = ms_to_ktime(39);
+ attr.wcet = ms_to_ktime(44);
sched_set_attr(t, &attr);
kthread_wake_up(t);
#endif
@@ -335,13 +337,13 @@ int kernel_main(void)
kthread_wake_up(t);
#endif
-#if 0
+#if 1
t = kthread_create(task2, NULL, KTHREAD_CPU_AFFINITY_NONE, "task2");
sched_get_attr(t, &attr);
attr.policy = SCHED_EDF;
attr.period = ms_to_ktime(40);
attr.deadline_rel = ms_to_ktime(22);
- attr.wcet = ms_to_ktime(17);
+ attr.wcet = ms_to_ktime(19);
sched_set_attr(t, &attr);
kthread_wake_up(t);
#endif
@@ -350,15 +352,15 @@ int kernel_main(void)
t = kthread_create(task3, NULL, KTHREAD_CPU_AFFINITY_NONE, "task3");
sched_get_attr(t, &attr);
attr.policy = SCHED_EDF;
- attr.period = ms_to_ktime(80);
+ attr.period = ms_to_ktime(79);
attr.deadline_rel = ms_to_ktime(70);
- attr.wcet = ms_to_ktime(13);
+ attr.wcet = ms_to_ktime(22);
sched_set_attr(t, &attr);
kthread_wake_up(t);
#endif
-#if 0
+#if 1
t = kthread_create(task_rr, NULL, KTHREAD_CPU_AFFINITY_NONE, "task_rr");
sched_get_attr(t, &attr);
attr.policy = SCHED_RR;
diff --git a/kernel/sched/core.c b/kernel/sched/core.c
index 18b16db08600fc18d6ac8a863bf523bfbc15022b..989b933481b23795f83a30b750b72453b5018474 100644
--- a/kernel/sched/core.c
+++ b/kernel/sched/core.c
@@ -30,8 +30,6 @@ extern struct thread_info *current_set[];
ktime sched_last_time;
uint32_t sched_ev;
- void kthread_lock(void);
- void kthread_unlock(void);
void schedule(void)
{
struct scheduler *sched;
@@ -183,6 +181,10 @@ retry:
* schedulers, e.g. EDF
*/
+ /* XXX should go through sched list in reverse to pick most pressing
+ * wakeup time */
+// list_for_each_entry(sched, &kernel_schedulers, node) {
+ sched = list_first_entry(&kernel_schedulers, struct scheduler, node);
wake_ns = sched->task_ready_ns(sched->tq, leon3_cpuid(), now);
if (wake_ns > 0)
@@ -194,11 +196,11 @@ retry:
/* subtract readout overhead */
- tick_set_next_ns(ktime_sub(slot_ns, 1000LL));
+ tick_set_next_ns(ktime_sub(slot_ns, 9000LL));
#if 1
if (slot_ns < 19000UL) {
- printk("wake %lld slot %lld %s\n", wake_ns, slot_ns, next->name);
+ // printk("wake %lld slot %lld %s\n", wake_ns, slot_ns, next->name);
now = ktime_get();
goto retry;
BUG();
diff --git a/kernel/sched/edf.c b/kernel/sched/edf.c
index f7b88b43187f5cb5c91f903a02c6ce44b2edb445..f67fea2c2dcd93a167d836465fa7447ed4975f4e 100644
--- a/kernel/sched/edf.c
+++ b/kernel/sched/edf.c
@@ -15,30 +15,25 @@
void sched_print_edf_list_internal(struct task_queue *tq, int cpu, ktime now)
{
-// ktime now;
char state = 'U';
- int64_t rel_deadline;
- int64_t rel_wait;
struct task_struct *tsk;
struct task_struct *tmp;
+ ktime rt;
+ ktime tot;
+ ktime wcet;
+ ktime avg;
+ ktime dead;
+ ktime wake;
- ktime prev = 0;
- ktime prevd = 0;
printk("\nktime: %lld CPU %d\n", ktime_to_ms(now), cpu);
- printk("S\tDeadline\tWakeup\t\tdelta W\tdelta P\tt_rem\ttotal\tslices\tName\t\twcet\tavg\n");
- printk("---------------------------------------------------------------------------------------------------------------------------------\n");
+ printk("S\tDeadline\tWakeup\t\tt_rem\ttotal\tslices\tName\t\twcet\tavg\n");
+ printk("------------------------------------------------------------------\n");
list_for_each_entry_safe(tsk, tmp, &tq->run, node) {
- if (tsk->attr.policy == SCHED_RR)
- continue;
- rel_deadline = ktime_delta(tsk->deadline, now);
- rel_wait = ktime_delta(tsk->wakeup, now);
- if (rel_wait < 0)
- rel_wait = 0; /* running */
if (tsk->state == TASK_IDLE)
state = 'I';
@@ -50,15 +45,20 @@ void sched_print_edf_list_internal(struct task_queue *tq, int cpu, ktime now)
if (tsk->slices == 0)
tsk->slices = 1;
- printk("%c\t%lld\t\t%lld\t\t%lld\t%lld\t%lld\t%lld\t%d\t%s\t|\t%lld\t%lld\n",
- state, ktime_to_ms(tsk->deadline), ktime_to_ms(tsk->wakeup),
- ktime_to_ms(rel_wait), ktime_to_ms(rel_deadline), ktime_to_ms(tsk->runtime), ktime_to_ms(tsk->total),
+ dead = ktime_to_ms(tsk->wakeup);
+ wake = ktime_to_ms(tsk->wakeup);
+ rt = ktime_to_ms(tsk->runtime);
+ tot = ktime_to_ms(tsk->total);
+ wcet = ktime_to_ms(tsk->attr.wcet);
+ avg = ktime_to_ms(tsk->total/tsk->slices);
+
+ printk("%c\t%lld\t\t%lld\t\t%lld\t%lld\t%d\t%s\t|\t%lld\t%lld\n",
+ state, wake, dead,
+ rt, tot,
tsk->slices, tsk->name,
- ktime_to_ms(tsk->attr.wcet),
- ktime_to_ms(tsk->total/tsk->slices));
+ wcet,
+ avg);
- prev = tsk->wakeup;
- prevd = tsk->deadline;
}
printk("\n\n");
@@ -104,29 +104,45 @@ static inline bool schedule_edf_can_execute(struct task_struct *tsk, int cpu, kt
/* should to consider twice the min tick period for overhead */
- if (tsk->runtime < 0)
- return false;
-
if (tsk->runtime <= (tick_get_period_min_ns() << 1))
- return false;
+ goto bad;
to_deadline = ktime_delta(tsk->deadline, now);
- barrier();
- tsk->last_visit = now;
+ //barrier();
+ //tsk->last_visit = now;
/* should to consider twice the min tick period for overhead */
if (to_deadline <= (tick_get_period_min_ns() << 1))
- return false;
+ goto bad;
+
+ barrier();
+
+
+
+good:
+ tsk->last_visit_true = now;
+ tsk->last_visit_false = tsk->runtime;
+
+
return true;
-}
+ barrier();
+
+
+bad:
+ return false;
+}
+#include <asm/leon.h>
static inline void schedule_edf_reinit_task(struct task_struct *tsk, ktime now)
{
ktime new_wake;
-
- BUG_ON(tsk->runtime == tsk->attr.wcet);
+
+ if (tsk->runtime == tsk->attr.wcet) {
+ printk("RT == WCET!!\n");
+ __asm__ __volatile__ ("ta 0\n\t");
+ }
tsk->state = TASK_IDLE;
@@ -134,9 +150,11 @@ static inline void schedule_edf_reinit_task(struct task_struct *tsk, ktime now)
#if 1
/* need FDIR procedure for this situation */
if (ktime_after(now, new_wake)){ /* deadline missed earlier? */
- printk("%s violated, rt: %lld %lld, last_visit %lld, last_adjust %lld delta %lld next wake: %lld %llx\n", tsk->name,
- tsk->runtime, ktime_to_us(tsk->last_visit), ktime_to_us(tsk->last_adjust), ktime_us_delta(tsk->last_visit, tsk->last_adjust), ktime_to_us(tsk->wakeup), tsk->attr.period);
+// printk("me thinks: sp %x bot %x top %x tsk %x %lld\n", leon_get_sp(), tsk->stack_bottom, tsk->stack_top, (int) &tsk->attr, new_wake);
+ printk("%s violated, rt: %lld, last_visit %lld false %lld, last_adjust %lld next wake: %lld (%lld)\n", tsk->name,
+ tsk->runtime, tsk->last_visit_true, tsk->last_visit_false, tsk->last_adjust, tsk->wakeup, new_wake);
sched_print_edf_list_internal(&tsk->sched->tq[tsk->on_cpu], tsk->on_cpu, now);
+ __asm__ __volatile__ ("ta 0\n\t");
BUG();
}
#endif
@@ -263,7 +281,7 @@ static ktime edf_hyperperiod(struct task_queue tq[], int cpu, const struct task_
*
* XXX function needs adaptation
*/
-#define UTIL_MAX 0.9
+#define UTIL_MAX 0.95
static int edf_schedulable(struct task_queue tq[], const struct task_struct *task)
{
struct task_struct *tsk = NULL;
@@ -276,6 +294,7 @@ static int edf_schedulable(struct task_queue tq[], const struct task_struct *tas
+ printk("me thinks: sp %x bot %x top %x task %x\n", leon_get_sp(), task->stack_bottom, task->stack_top, (int) task);
if (task->on_cpu == KTHREAD_CPU_AFFINITY_NONE) {
int i;
@@ -331,7 +350,7 @@ retry:
if (1)
{
int nogo = 0;
- printk("\n\n\n");
+ //printk("\n\n\n");
ktime p;
ktime h;
ktime max = 0;
@@ -343,9 +362,9 @@ if (1)
struct task_struct *t0;
- printk("hyper? %s %lld\n", task->name, ktime_to_ms(task->attr.period));
+ //printk("hyper? %s %lld\n", task->name, ktime_to_ms(task->attr.period));
p = edf_hyperperiod(tq, cpu, task);
- printk("hyper %llu\n", ktime_to_ms(p));
+ //printk("hyper %llu\n", ktime_to_ms(p));
/* new */
@@ -372,18 +391,18 @@ if (1)
}
}
- printk("t0: %s (cpu %d)\n", t0->name, cpu);
+ //printk("t0: %s (cpu %d)\n", t0->name, cpu);
h = p / t0->attr.period;
h = 1;
- printk("Period factor %lld, duration %lld actual period: %lld\n", h, ktime_to_ms(p), ktime_to_ms(t0->attr.period));
+ //printk("Period factor %lld, duration %lld actual period: %lld\n", h, ktime_to_ms(p), ktime_to_ms(t0->attr.period));
uh = h * (t0->attr.deadline_rel - t0->attr.wcet);
ut = h * (t0->attr.period - t0->attr.deadline_rel);
f1 = ut/h;
- printk("max UH: %lld, UT: %lld\n", ktime_to_ms(uh), ktime_to_ms(ut));
+ //printk("max UH: %lld, UT: %lld\n", ktime_to_ms(uh), ktime_to_ms(ut));
#if 0
@@ -397,8 +416,8 @@ if (1)
shmin = sh;
uh = uh - sh;
- printk("%s UH: %lld, UT: %lld\n", t0->name, ktime_to_ms(uh), ktime_to_ms(ut));
- printk("%s SH: %lld, ST: %lld\n", t0->name, ktime_to_ms(sh), ktime_to_ms(st));
+ //printk("%s UH: %lld, UT: %lld\n", t0->name, ktime_to_ms(uh), ktime_to_ms(ut));
+ //printk("%s SH: %lld, ST: %lld\n", t0->name, ktime_to_ms(sh), ktime_to_ms(st));
#endif
@@ -409,7 +428,7 @@ if (1)
if (tsk == t0)
continue;
- printk("tsk wake: %s\n", tsk->name);
+ //printk("tsk wake: %s\n", tsk->name);
if (tsk->attr.deadline_rel <= t0->attr.deadline_rel) {
/* slots before deadline of T0 */
@@ -417,7 +436,7 @@ if (1)
if (sh < shmin)
shmin = sh;
if (sh > uh) {
- printk("WARN: NOT SCHEDULABLE in head: %s\n", tsk->name);
+ //printk("WARN: NOT SCHEDULABLE in head: %s\n", tsk->name);
nogo = 1;
}
uh = uh - sh;
@@ -429,15 +448,15 @@ if (1)
stmin = st;
if (st > ut) {
- printk("WARN: NOT SCHEDULABLE in tail: %s\n", tsk->name);
+ //printk("WARN: NOT SCHEDULABLE in tail: %s\n", tsk->name);
nogo = 1;
}
ut = ut - st;
- printk("w %s UH: %lld, UT: %lld\n", tsk->name, ktime_to_ms(uh), ktime_to_ms(ut));
+ //printk("w %s UH: %lld, UT: %lld\n", tsk->name, ktime_to_ms(uh), ktime_to_ms(ut));
- printk("w %s SH: %lld, ST: %lld\n", tsk->name, ktime_to_ms(sh), ktime_to_ms(st));
+ //printk("w %s SH: %lld, ST: %lld\n", tsk->name, ktime_to_ms(sh), ktime_to_ms(st));
}
}
@@ -450,7 +469,7 @@ if (1)
if (tsk == t0)
continue;
- printk("tsk run: %s\n", tsk->name);
+ //printk("tsk run: %s\n", tsk->name);
if (tsk->attr.deadline_rel <= t0->attr.deadline_rel) {
/* slots before deadline of T0 */
@@ -458,7 +477,7 @@ if (1)
if (sh < shmin)
shmin = sh;
if (sh > uh) {
- printk("WARN: NOT SCHEDULABLE in head: %s\n", tsk->name);
+ //printk("WARN: NOT SCHEDULABLE in head: %s\n", tsk->name);
nogo = 1;
}
uh = uh - sh;
@@ -470,15 +489,15 @@ if (1)
stmin = st;
if (st > ut) {
- printk("WARN: NOT SCHEDULABLE in tail: %s\n", tsk->name);
+ //printk("WARN: NOT SCHEDULABLE in tail: %s\n", tsk->name);
nogo = 1;
}
ut = ut - st;
- printk("w %s UH: %lld, UT: %lld\n", tsk->name, ktime_to_ms(uh), ktime_to_ms(ut));
+ //printk("w %s UH: %lld, UT: %lld\n", tsk->name, ktime_to_ms(uh), ktime_to_ms(ut));
- printk("w %s SH: %lld, ST: %lld\n", tsk->name, ktime_to_ms(sh), ktime_to_ms(st));
+ //printk("w %s SH: %lld, ST: %lld\n", tsk->name, ktime_to_ms(sh), ktime_to_ms(st));
}
}
@@ -490,14 +509,14 @@ if (1)
if (task != t0) {
if (task->attr.deadline_rel <= t0->attr.deadline_rel) {
- printk("task: %s\n", task->name);
+ //printk("task: %s\n", task->name);
/* slots before deadline of T0 */
sh = h * task->attr.wcet * t0->attr.deadline_rel / task->attr.period;
if (sh < shmin)
shmin = sh;
if (sh > uh) {
- printk("xWARN: NOT SCHEDULABLE in head: %s\n", task->name);
+ //printk("xWARN: NOT SCHEDULABLE in head: %s\n", task->name);
nogo = 1;
}
uh = uh - sh;
@@ -509,31 +528,31 @@ if (1)
stmin = st;
if (st > ut) {
- printk("xWARN: NOT SCHEDULABLE in tail: %s\n", task->name);
+ //printk("xWARN: NOT SCHEDULABLE in tail: %s\n", task->name);
nogo = 1;
}
ut = ut - st;
- printk("x %s UH: %lld, UT: %lld\n", task->name, ktime_to_ms(uh), ktime_to_ms(ut));
+ //printk("x %s UH: %lld, UT: %lld\n", task->name, ktime_to_ms(uh), ktime_to_ms(ut));
- printk("x %s SH: %lld, ST: %lld\n", task->name, ktime_to_ms(sh), ktime_to_ms(st));
+ //printk("x %s SH: %lld, ST: %lld\n", task->name, ktime_to_ms(sh), ktime_to_ms(st));
}
if (nogo == 1) {
if (cpu == 0) {
cpu = 1;
- printk("RETRY\n");
+ //printk("RETRY\n");
goto retry;
} else {
- printk("RETURN: I am NOT schedul-ableh: %f ", u);
+ //printk("RETURN: I am NOT schedul-ableh: %f ", u);
return -EINVAL;
}
}
- printk("\n\n\n");
+ //printk("\n\n\n");
}
/*******/
@@ -566,7 +585,7 @@ if (1)
printk("changed task mode to RR\n", u);
}
- printk("Utilisation: %g CPU %d", u, cpu);
+ printk("Utilisation: %g CPU %d\n", u, cpu);
/* TODO check against projected interrupt rate, we really need a limit
@@ -592,13 +611,13 @@ static struct task_struct *edf_pick_next(struct task_queue *tq, int cpu,
if (list_empty(&tq[cpu].run))
return NULL;
- kthread_lock();
+ //kthread_lock();
list_for_each_entry_safe(tsk, tmp, &tq[cpu].run, node) {
/* time to wake up yet? */
delta = ktime_delta(tsk->wakeup, now);
- if (delta > 0)
+ if (delta > (tick_get_period_min_ns() << 1))
continue;
/* XXX ok: what we need here: are multiple queues: one
@@ -634,7 +653,8 @@ static struct task_struct *edf_pick_next(struct task_queue *tq, int cpu,
first = list_first_entry(&tq[cpu].run, struct task_struct, node);
if (ktime_before (tsk->wakeup, now)) {
- if (ktime_before (tsk->deadline - tsk->runtime, first->deadline)) {
+ // if (ktime_before (tsk->deadline - tsk->runtime, first->deadline)) {
+ if (ktime_before (tsk->deadline, first->deadline)) {
tsk->state = TASK_RUN;
list_move(&tsk->node, &tq[cpu].run);
}
@@ -647,16 +667,15 @@ static struct task_struct *edf_pick_next(struct task_queue *tq, int cpu,
if (tsk->state == TASK_IDLE) {
tsk->state = TASK_RUN;
- BUG_ON(ktime_delta(tsk->wakeup, now) > 0);
+ //BUG_ON(ktime_delta(tsk->wakeup, now) > 0);
/* if our deadline is earlier than the deadline at the
* head of the list, move us to top */
first = list_first_entry(&tq[cpu].run, struct task_struct, node);
- list_move(&tsk->node, &tq[cpu].run);
-
- if (ktime_before (tsk->deadline - tsk->runtime, first->deadline))
+ // if (ktime_before (tsk->deadline - tsk->runtime, first->deadline))
+ if (ktime_before (tsk->deadline, first->deadline))
list_move(&tsk->node, &tq[cpu].run);
continue;
@@ -670,7 +689,7 @@ static struct task_struct *edf_pick_next(struct task_queue *tq, int cpu,
if (tsk->state == TASK_RUN) {
tsk->state = TASK_BUSY;
- kthread_unlock();
+ // kthread_unlock();
return tsk;
}
}
@@ -687,7 +706,7 @@ static struct task_struct *edf_pick_next(struct task_queue *tq, int cpu,
return first;
}
#endif
- kthread_unlock();
+// kthread_unlock();
return NULL;
}
@@ -786,7 +805,7 @@ static void edf_wake_next(struct task_queue *tq, int cpu, ktime now)
task->state = TASK_IDLE;
/* initially furthest deadline as wakeup */
- last = ktime_add(last, 5000000000ULL);
+ last = ktime_add(last, 3000000000ULL);
task->wakeup = ktime_add(last, task->attr.period);
task->deadline = ktime_add(task->wakeup, task->attr.deadline_rel);
@@ -898,23 +917,15 @@ ktime edf_task_ready_ns(struct task_queue *tq, int cpu, ktime now)
- list_for_each_entry_safe(first, tmp, &tq[cpu].run, node) {
- if (first->state != TASK_RUN)
- continue;
-
- slice = first->runtime;
- break;
- }
-
list_for_each_entry_safe(tsk, tmp, &tq[cpu].run, node) {
-#if 0
+
if (tsk->state == TASK_BUSY)
- continue; /*meh */
-#endif
+ continue;
+
delta = ktime_delta(tsk->wakeup, now);
- if (delta <= 0)
- continue;
+ if (delta <= (tick_get_period_min_ns() << 1))
+ continue;
if (wake > delta)
wake = delta;
@@ -923,7 +934,7 @@ ktime edf_task_ready_ns(struct task_queue *tq, int cpu, ktime now)
if (slice > wake)
slice = wake;
- BUG_ON(slice <= 0);
+ BUG_ON(slice <= (tick_get_period_min_ns() << 1));
return slice;
}