feat: support EDF

方案描述： 1、liteos_a调度框架支持EDF调度算法，默认优先调度EDF策略的任务 2、用户态musl_c库适配新增调度算法，同步修改相关接口以支持用户态创建EDF进程与线程 BREAKING CHANGE: support EDF对外变更描述：以下接口支持SCHED_DEADLINE调度策略: pthread_attr_getschedparam pthread_attr_setschedparam pthread_getschedparam pthread_setschedparam pthread_create sched_getscheduler sched_getparam sched_setparam sched_setscheduler Close：#I6T3P3 Signed-off-by: zhangdengyu <zhangdengyu2@huawei.com> Change-Id: Ic9fe6896fcae42ae4ee7fe5dfb8e858a6ed19740
2023-04-08 22:47:03 +08:00
parent 4ff66c7f40
commit 13f68dcf9c
33 changed files with 2054 additions and 161 deletions
--- a/kernel/base/sched/los_deadline.c
+++ b/kernel/base/sched/los_deadline.c
@@ -0,0 +1,403 @@
+/*
+ * Copyright (c) 2023-2023 Huawei Device Co., Ltd. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this list of
+ *    conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, this list
+ *    of conditions and the following disclaimer in the documentation and/or other materials
+ *    provided with the distribution.
+ *
+ * 3. Neither the name of the copyright holder nor the names of its contributors may be used
+ *    to endorse or promote products derived from this software without specific prior written
+ *    permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "los_sched_pri.h"
+#include "los_task_pri.h"
+#include "los_process_pri.h"
+#include "los_hook.h"
+#include "los_tick_pri.h"
+#include "los_sys_pri.h"
+
+STATIC EDFRunqueue g_schedEDF;
+
+STATIC VOID EDFDequeue(SchedRunqueue *rq, LosTaskCB *taskCB);
+STATIC VOID EDFEnqueue(SchedRunqueue *rq, LosTaskCB *taskCB);
+STATIC UINT64 EDFWaitTimeGet(LosTaskCB *taskCB);
+STATIC UINT32 EDFWait(LosTaskCB *runTask, LOS_DL_LIST *list, UINT32 ticks);
+STATIC VOID EDFWake(LosTaskCB *resumedTask);
+STATIC BOOL EDFSchedParamModify(LosTaskCB *taskCB, const SchedParam *param);
+STATIC UINT32 EDFSchedParamGet(const LosTaskCB *taskCB, SchedParam *param);
+STATIC UINT32 EDFDelay(LosTaskCB *runTask, UINT64 waitTime);
+STATIC VOID EDFYield(LosTaskCB *runTask);
+STATIC VOID EDFExit(LosTaskCB *taskCB);
+STATIC UINT32 EDFSuspend(LosTaskCB *taskCB);
+STATIC UINT32 EDFResume(LosTaskCB *taskCB, BOOL *needSched);
+STATIC UINT64 EDFTimeSliceGet(const LosTaskCB *taskCB);
+STATIC VOID EDFTimeSliceUpdate(SchedRunqueue *rq, LosTaskCB *taskCB, UINT64 currTime);
+STATIC INT32 EDFParamCompare(const SchedPolicy *sp1, const SchedPolicy *sp2);
+STATIC VOID EDFPriorityInheritance(LosTaskCB *owner, const SchedParam *param);
+STATIC VOID EDFPriorityRestore(LosTaskCB *owner, const LOS_DL_LIST *list, const SchedParam *param);
+
+const STATIC SchedOps g_deadlineOps = {
+    .dequeue = EDFDequeue,
+    .enqueue = EDFEnqueue,
+    .waitTimeGet = EDFWaitTimeGet,
+    .wait = EDFWait,
+    .wake = EDFWake,
+    .schedParamModify = EDFSchedParamModify,
+    .schedParamGet = EDFSchedParamGet,
+    .delay = EDFDelay,
+    .yield = EDFYield,
+    .start = EDFDequeue,
+    .exit = EDFExit,
+    .suspend = EDFSuspend,
+    .resume = EDFResume,
+    .deadlineGet = EDFTimeSliceGet,
+    .timeSliceUpdate = EDFTimeSliceUpdate,
+    .schedParamCompare = EDFParamCompare,
+    .priorityInheritance = EDFPriorityInheritance,
+    .priorityRestore = EDFPriorityRestore,
+};
+
+STATIC VOID EDFTimeSliceUpdate(SchedRunqueue *rq, LosTaskCB *taskCB, UINT64 currTime)
+{
+    SchedEDF *sched = (SchedEDF *)&taskCB->sp;
+
+    LOS_ASSERT(currTime >= taskCB->startTime);
+
+    if (taskCB->timeSlice <= 0) {
+        taskCB->irqUsedTime = 0;
+        return;
+    }
+
+    INT32 incTime = (currTime - taskCB->startTime - taskCB->irqUsedTime);
+    LOS_ASSERT(incTime >= 0);
+
+#ifdef LOSCFG_SCHED_EDF_DEBUG
+    taskCB->schedStat.timeSliceRealTime += incTime;
+    taskCB->schedStat.allRuntime += (currTime - taskCB->startTime);
+#endif
+
+    taskCB->timeSlice -= incTime;
+    taskCB->irqUsedTime = 0;
+    taskCB->startTime = currTime;
+
+    if ((sched->finishTime > currTime) && (taskCB->timeSlice > 0)) {
+        return;
+    }
+
+    rq->schedFlag |= INT_PEND_RESCH;
+    if (sched->finishTime <= currTime) {
+#ifdef LOSCFG_SCHED_EDF_DEBUG
+        EDFDebugRecord((UINTPTR *)taskCB, sched->finishTime);
+#endif
+
+        taskCB->timeSlice = 0;
+        PrintExcInfo("EDF task %u is timeout, runTime: %d us period: %llu us\n", taskCB->taskID,
+                     (INT32)OS_SYS_CYCLE_TO_US((UINT64)sched->runTime), OS_SYS_CYCLE_TO_US(sched->period));
+    }
+}
+
+STATIC UINT64 EDFTimeSliceGet(const LosTaskCB *taskCB)
+{
+    SchedEDF *sched = (SchedEDF *)&taskCB->sp;
+    UINT64 endTime = taskCB->startTime + taskCB->timeSlice;
+    return (endTime > sched->finishTime) ? sched->finishTime : endTime;
+}
+
+STATIC VOID DeadlineQueueInsert(EDFRunqueue *rq, LosTaskCB *taskCB)
+{
+    LOS_DL_LIST *root = &rq->root;
+    if (LOS_ListEmpty(root)) {
+        LOS_ListTailInsert(root, &taskCB->pendList);
+        return;
+    }
+
+    LOS_DL_LIST *list = root->pstNext;
+    do {
+        LosTaskCB *readyTask = LOS_DL_LIST_ENTRY(list, LosTaskCB, pendList);
+        if (EDFParamCompare(&readyTask->sp, &taskCB->sp) > 0) {
+            LOS_ListHeadInsert(list, &taskCB->pendList);
+            return;
+        }
+        list = list->pstNext;
+    } while (list != root);
+
+    LOS_ListHeadInsert(list, &taskCB->pendList);
+}
+
+STATIC VOID EDFEnqueue(SchedRunqueue *rq, LosTaskCB *taskCB)
+{
+    LOS_ASSERT(!(taskCB->taskStatus & OS_TASK_STATUS_READY));
+
+    EDFRunqueue *erq = rq->edfRunqueue;
+    SchedEDF *sched = (SchedEDF *)&taskCB->sp;
+    if (taskCB->timeSlice <= 0) {
+#ifdef LOSCFG_SCHED_EDF_DEBUG
+        UINT64 oldFinish = sched->finishTime;
+#endif
+        UINT64 currTime = OsGetCurrSchedTimeCycle();
+        if (sched->flags == EDF_INIT) {
+            sched->finishTime = currTime;
+        } else if (sched->flags != EDF_NEXT_PERIOD) {
+            /* The start time of the next period */
+            sched->finishTime = (sched->finishTime - sched->deadline) + sched->period;
+        }
+
+        /* Calculate the start time of the next period */
+        while (1) {
+            /* The deadline of the next period */
+            UINT64 finishTime = sched->finishTime + sched->deadline;
+            if ((finishTime <= currTime) || ((sched->finishTime + sched->runTime) > finishTime)) {
+                /* This period cannot meet the minimum running time, so it is migrated to the next period */
+                sched->finishTime += sched->period;
+                continue;
+            }
+            break;
+        }
+
+        if (sched->finishTime > currTime) {
+            /* Wait for the next period to start */
+            LOS_ListTailInsert(&erq->waitList, &taskCB->pendList);
+            taskCB->waitTime = OS_SCHED_MAX_RESPONSE_TIME;
+            if (!OsTaskIsRunning(taskCB)) {
+                OsSchedTimeoutQueueAdd(taskCB, sched->finishTime);
+            }
+#ifdef LOSCFG_SCHED_EDF_DEBUG
+            if (oldFinish != sched->finishTime) {
+                EDFDebugRecord((UINTPTR *)taskCB, oldFinish);
+                taskCB->schedStat.allRuntime = 0;
+                taskCB->schedStat.timeSliceRealTime = 0;
+                taskCB->schedStat.pendTime = 0;
+            }
+#endif
+            taskCB->taskStatus |= OS_TASK_STATUS_PEND_TIME;
+            sched->flags = EDF_NEXT_PERIOD;
+            return;
+        }
+
+        sched->finishTime += sched->deadline;
+        taskCB->timeSlice = sched->runTime;
+        sched->flags = EDF_UNUSED;
+    }
+
+    DeadlineQueueInsert(erq, taskCB);
+    taskCB->taskStatus &= ~(OS_TASK_STATUS_BLOCKED | OS_TASK_STATUS_TIMEOUT);
+    taskCB->taskStatus |= OS_TASK_STATUS_READY;
+}
+
+STATIC VOID EDFDequeue(SchedRunqueue *rq, LosTaskCB *taskCB)
+{
+    (VOID)rq;
+    LOS_ListDelete(&taskCB->pendList);
+    taskCB->taskStatus &= ~OS_TASK_STATUS_READY;
+}
+
+STATIC VOID EDFExit(LosTaskCB *taskCB)
+{
+    if (taskCB->taskStatus & OS_TASK_STATUS_READY) {
+        EDFDequeue(OsSchedRunqueue(), taskCB);
+    } else if (taskCB->taskStatus & OS_TASK_STATUS_PENDING) {
+        LOS_ListDelete(&taskCB->pendList);
+        taskCB->taskStatus &= ~OS_TASK_STATUS_PENDING;
+    }
+    if (taskCB->taskStatus & (OS_TASK_STATUS_DELAY | OS_TASK_STATUS_PEND_TIME)) {
+        OsSchedTimeoutQueueDelete(taskCB);
+        taskCB->taskStatus &= ~(OS_TASK_STATUS_DELAY | OS_TASK_STATUS_PEND_TIME);
+    }
+}
+
+STATIC VOID EDFYield(LosTaskCB *runTask)
+{
+    SchedRunqueue *rq = OsSchedRunqueue();
+    runTask->timeSlice = 0;
+
+    runTask->startTime = OsGetCurrSchedTimeCycle();
+    EDFEnqueue(rq, runTask);
+    OsSchedResched();
+}
+
+STATIC UINT32 EDFDelay(LosTaskCB *runTask, UINT64 waitTime)
+{
+    runTask->taskStatus |= OS_TASK_STATUS_DELAY;
+    runTask->waitTime = waitTime;
+    OsSchedResched();
+    return LOS_OK;
+}
+
+STATIC UINT64 EDFWaitTimeGet(LosTaskCB *taskCB)
+{
+    const SchedEDF *sched = (const SchedEDF *)&taskCB->sp;
+    if (sched->flags != EDF_WAIT_FOREVER) {
+        taskCB->waitTime += taskCB->startTime;
+    }
+    return (taskCB->waitTime >= sched->finishTime) ? sched->finishTime : taskCB->waitTime;
+}
+
+STATIC UINT32 EDFWait(LosTaskCB *runTask, LOS_DL_LIST *list, UINT32 ticks)
+{
+    SchedEDF *sched = (SchedEDF *)&runTask->sp;
+    runTask->taskStatus |= (OS_TASK_STATUS_PENDING | OS_TASK_STATUS_PEND_TIME);
+    LOS_ListTailInsert(list, &runTask->pendList);
+
+    if (ticks != LOS_WAIT_FOREVER) {
+        runTask->waitTime = OS_SCHED_TICK_TO_CYCLE(ticks);
+    } else {
+        sched->flags = EDF_WAIT_FOREVER;
+        runTask->waitTime = OS_SCHED_MAX_RESPONSE_TIME;
+    }
+
+    if (OsPreemptableInSched()) {
+        OsSchedResched();
+        if (runTask->taskStatus & OS_TASK_STATUS_TIMEOUT) {
+            runTask->taskStatus &= ~OS_TASK_STATUS_TIMEOUT;
+            return LOS_ERRNO_TSK_TIMEOUT;
+        }
+    }
+
+    return LOS_OK;
+}
+
+STATIC VOID EDFWake(LosTaskCB *resumedTask)
+{
+    LOS_ListDelete(&resumedTask->pendList);
+    resumedTask->taskStatus &= ~OS_TASK_STATUS_PENDING;
+
+    if (resumedTask->taskStatus & OS_TASK_STATUS_PEND_TIME) {
+        OsSchedTimeoutQueueDelete(resumedTask);
+        resumedTask->taskStatus &= ~OS_TASK_STATUS_PEND_TIME;
+    }
+
+    if (!(resumedTask->taskStatus & OS_TASK_STATUS_SUSPENDED)) {
+#ifdef LOSCFG_SCHED_EDF_DEBUG
+        resumedTask->schedStat.pendTime += OsGetCurrSchedTimeCycle() - resumedTask->startTime;
+        resumedTask->schedStat.pendCount++;
+#endif
+        EDFEnqueue(OsSchedRunqueue(), resumedTask);
+    }
+}
+
+STATIC BOOL EDFSchedParamModify(LosTaskCB *taskCB, const SchedParam *param)
+{
+    SchedRunqueue *rq = OsSchedRunqueue();
+    SchedEDF *sched = (SchedEDF *)&taskCB->sp;
+
+    taskCB->timeSlice = 0;
+    sched->runTime = (INT32)OS_SYS_US_TO_CYCLE(param->runTimeUs);
+    sched->period = OS_SYS_US_TO_CYCLE(param->periodUs);
+
+    if (taskCB->taskStatus & OS_TASK_STATUS_READY) {
+        EDFDequeue(rq, taskCB);
+        sched->deadline = OS_SYS_US_TO_CYCLE(param->deadlineUs);
+        EDFEnqueue(rq, taskCB);
+        return TRUE;
+    }
+
+    sched->deadline = OS_SYS_US_TO_CYCLE(param->deadlineUs);
+    if (taskCB->taskStatus & OS_TASK_STATUS_INIT) {
+        EDFEnqueue(rq, taskCB);
+        return TRUE;
+    }
+
+    if (taskCB->taskStatus & OS_TASK_STATUS_RUNNING) {
+        return TRUE;
+    }
+
+    return FALSE;
+}
+
+STATIC UINT32 EDFSchedParamGet(const LosTaskCB *taskCB, SchedParam *param)
+{
+    SchedEDF *sched = (SchedEDF *)&taskCB->sp;
+    param->policy = sched->policy;
+    param->runTimeUs = (INT32)OS_SYS_CYCLE_TO_US((UINT64)sched->runTime);
+    param->deadlineUs = OS_SYS_CYCLE_TO_US(sched->deadline);
+    param->periodUs = OS_SYS_CYCLE_TO_US(sched->period);
+    return LOS_OK;
+}
+
+STATIC UINT32 EDFSuspend(LosTaskCB *taskCB)
+{
+    return LOS_EOPNOTSUPP;
+}
+
+STATIC UINT32 EDFResume(LosTaskCB *taskCB, BOOL *needSched)
+{
+    return LOS_EOPNOTSUPP;
+}
+
+STATIC INT32 EDFParamCompare(const SchedPolicy *sp1, const SchedPolicy *sp2)
+{
+    const SchedEDF *param1 = (const SchedEDF *)sp1;
+    const SchedEDF *param2 = (const SchedEDF *)sp2;
+
+    return (INT32)(param1->finishTime - param2->finishTime);
+}
+
+STATIC VOID EDFPriorityInheritance(LosTaskCB *owner, const SchedParam *param)
+{
+    (VOID)owner;
+    (VOID)param;
+}
+
+STATIC VOID EDFPriorityRestore(LosTaskCB *owner, const LOS_DL_LIST *list, const SchedParam *param)
+{
+    (VOID)owner;
+    (VOID)list;
+    (VOID)param;
+}
+
+UINT32 EDFTaskSchedParamInit(LosTaskCB *taskCB, UINT16 policy,
+                             const SchedParam *parentParam,
+                             const LosSchedParam *param)
+{
+    (VOID)parentParam;
+    SchedEDF *sched = (SchedEDF *)&taskCB->sp;
+    sched->flags = EDF_INIT;
+    sched->policy = policy;
+    sched->runTime = (INT32)OS_SYS_US_TO_CYCLE((UINT64)param->runTimeUs);
+    sched->deadline = OS_SYS_US_TO_CYCLE(param->deadlineUs);
+    sched->period = OS_SYS_US_TO_CYCLE(param->periodUs);
+    sched->finishTime = 0;
+    taskCB->timeSlice = 0;
+    taskCB->ops = &g_deadlineOps;
+    return LOS_OK;
+}
+
+VOID EDFProcessDefaultSchedParamGet(SchedParam *param)
+{
+    param->runTimeUs = OS_SCHED_EDF_MIN_RUNTIME;
+    param->deadlineUs = OS_SCHED_EDF_MAX_DEADLINE;
+    param->periodUs = param->deadlineUs;
+}
+
+VOID EDFSchedPolicyInit(SchedRunqueue *rq)
+{
+    if (ArchCurrCpuid() > 0) {
+        rq->edfRunqueue = &g_schedEDF;
+        return;
+    }
+
+    EDFRunqueue *erq = &g_schedEDF;
+    erq->period = OS_SCHED_MAX_RESPONSE_TIME;
+    LOS_ListInit(&erq->root);
+    LOS_ListInit(&erq->waitList);
+    rq->edfRunqueue = erq;
+}
--- a/kernel/base/sched/los_idle.c
+++ b/kernel/base/sched/los_idle.c
@@ -48,6 +48,7 @@ STATIC VOID IdlePriorityRestore(LosTaskCB *owner, const LOS_DL_LIST *list, const
 const STATIC SchedOps g_idleOps = {
    .dequeue = IdleDequeue,
    .enqueue = IdleEnqueue,
+    .waitTimeGet = NULL,
    .wait = IdleWait,
    .wake = IdleWake,
    .schedParamModify = NULL,
--- a/kernel/base/sched/los_priority.c
+++ b/kernel/base/sched/los_priority.c
@@ -47,6 +47,7 @@ STATIC HPFRunqueue g_schedHPF;

 STATIC VOID HPFDequeue(SchedRunqueue *rq, LosTaskCB *taskCB);
 STATIC VOID HPFEnqueue(SchedRunqueue *rq, LosTaskCB *taskCB);
+STATIC UINT64 HPFWaitTimeGet(LosTaskCB *taskCB);
 STATIC UINT32 HPFWait(LosTaskCB *runTask, LOS_DL_LIST *list, UINT32 ticks);
 STATIC VOID HPFWake(LosTaskCB *resumedTask);
 STATIC BOOL HPFSchedParamModify(LosTaskCB *taskCB, const SchedParam *param);
@@ -66,6 +67,7 @@ STATIC VOID HPFPriorityRestore(LosTaskCB *owner, const LOS_DL_LIST *list, const
 const STATIC SchedOps g_priorityOps = {
    .dequeue = HPFDequeue,
    .enqueue = HPFEnqueue,
+    .waitTimeGet = HPFWaitTimeGet,
    .wait = HPFWait,
    .wake = HPFWake,
    .schedParamModify = HPFSchedParamModify,
@@ -94,7 +96,7 @@ STATIC VOID HPFTimeSliceUpdate(SchedRunqueue *rq, LosTaskCB *taskCB, UINT64 curr

    if (sched->policy == LOS_SCHED_RR) {
        taskCB->timeSlice -= incTime;
-#ifdef LOSCFG_SCHED_DEBUG
+#ifdef LOSCFG_SCHED_HPF_DEBUG
        taskCB->schedStat.timeSliceRealTime += incTime;
 #endif
    }
@@ -107,7 +109,7 @@ STATIC VOID HPFTimeSliceUpdate(SchedRunqueue *rq, LosTaskCB *taskCB, UINT64 curr
        rq->schedFlag |= INT_PEND_RESCH;
    }

-#ifdef LOSCFG_SCHED_DEBUG
+#ifdef LOSCFG_SCHED_HPF_DEBUG
    taskCB->schedStat.allRuntime += incTime;
 #endif
 }
@@ -215,7 +217,7 @@ STATIC INLINE VOID PriQueInsert(HPFRunqueue *rq, LosTaskCB *taskCB)
                sched->initTimeSlice = TimeSliceCalculate(rq, sched->basePrio, sched->priority);
                taskCB->timeSlice = sched->initTimeSlice;
                PriQueTailInsert(rq, sched->basePrio, &taskCB->pendList, sched->priority);
-#ifdef LOSCFG_SCHED_DEBUG
+#ifdef LOSCFG_SCHED_HPF_DEBUG
                taskCB->schedStat.timeSliceTime = taskCB->schedStat.timeSliceRealTime;
                taskCB->schedStat.timeSliceCount++;
 #endif
@@ -244,7 +246,7 @@ STATIC INLINE VOID PriQueInsert(HPFRunqueue *rq, LosTaskCB *taskCB)

 STATIC VOID HPFEnqueue(SchedRunqueue *rq, LosTaskCB *taskCB)
 {
-#ifdef LOSCFG_SCHED_DEBUG
+#ifdef LOSCFG_SCHED_HPF_DEBUG
    if (!(taskCB->taskStatus & OS_TASK_STATUS_RUNNING)) {
        taskCB->startTime = OsGetCurrSchedTimeCycle();
    }
@@ -301,6 +303,12 @@ STATIC UINT32 HPFDelay(LosTaskCB *runTask, UINT64 waitTime)
    return LOS_OK;
 }

+STATIC UINT64 HPFWaitTimeGet(LosTaskCB *taskCB)
+{
+    taskCB->waitTime += taskCB->startTime;
+    return taskCB->waitTime;
+}
+
 STATIC UINT32 HPFWait(LosTaskCB *runTask, LOS_DL_LIST *list, UINT32 ticks)
 {
    runTask->taskStatus |= OS_TASK_STATUS_PENDING;
@@ -333,7 +341,7 @@ STATIC VOID HPFWake(LosTaskCB *resumedTask)
    }

    if (!(resumedTask->taskStatus & OS_TASK_STATUS_SUSPENDED)) {
-#ifdef LOSCFG_SCHED_DEBUG
+#ifdef LOSCFG_SCHED_HPF_DEBUG
        resumedTask->schedStat.pendTime += OsGetCurrSchedTimeCycle() - resumedTask->startTime;
        resumedTask->schedStat.pendCount++;
 #endif
@@ -508,13 +516,13 @@ STATIC VOID HPFPriorityRestore(LosTaskCB *owner, const LOS_DL_LIST *list, const

 VOID HPFTaskSchedParamInit(LosTaskCB *taskCB, UINT16 policy,
                           const SchedParam *parentParam,
-                           const TSK_INIT_PARAM_S *param)
+                           const LosSchedParam *param)
 {
    SchedHPF *sched = (SchedHPF *)&taskCB->sp;

    sched->policy = policy;
    if (param != NULL) {
-        sched->priority = param->usTaskPrio;
+        sched->priority = param->priority;
    } else {
        sched->priority = parentParam->priority;
    }
--- a/kernel/base/sched/los_sched.c
+++ b/kernel/base/sched/los_sched.c
@@ -102,15 +102,26 @@ VOID OsSchedExpireTimeUpdate(VOID)

 STATIC INLINE VOID SchedTimeoutTaskWake(SchedRunqueue *rq, UINT64 currTime, LosTaskCB *taskCB, BOOL *needSched)
 {
-#ifndef LOSCFG_SCHED_DEBUG
-    (VOID)currTime;
-#endif
-
    LOS_SpinLock(&g_taskSpin);
+    if (OsSchedPolicyIsEDF(taskCB)) {
+        SchedEDF *sched = (SchedEDF *)&taskCB->sp;
+        if (sched->finishTime <= currTime) {
+            if (taskCB->timeSlice >= 0) {
+                PrintExcInfo("EDF task: %u name: %s is timeout, timeout for %llu us.\n",
+                             taskCB->taskID, taskCB->taskName, OS_SYS_CYCLE_TO_US(currTime - sched->finishTime));
+            }
+            taskCB->timeSlice = 0;
+        }
+        if (sched->flags == EDF_WAIT_FOREVER) {
+            taskCB->taskStatus &= ~OS_TASK_STATUS_PEND_TIME;
+            sched->flags = EDF_UNUSED;
+        }
+    }
+
    UINT16 tempStatus = taskCB->taskStatus;
-    if (tempStatus & (OS_TASK_STATUS_PENDING | OS_TASK_STATUS_DELAY)) {
+    if (tempStatus & (OS_TASK_STATUS_PEND_TIME | OS_TASK_STATUS_DELAY)) {
        taskCB->taskStatus &= ~(OS_TASK_STATUS_PENDING | OS_TASK_STATUS_PEND_TIME | OS_TASK_STATUS_DELAY);
-        if (tempStatus & OS_TASK_STATUS_PENDING) {
+        if (tempStatus & OS_TASK_STATUS_PEND_TIME) {
            taskCB->taskStatus |= OS_TASK_STATUS_TIMEOUT;
            LOS_ListDelete(&taskCB->pendList);
            taskCB->taskMux = NULL;
@@ -118,7 +129,7 @@ STATIC INLINE VOID SchedTimeoutTaskWake(SchedRunqueue *rq, UINT64 currTime, LosT
        }

        if (!(tempStatus & OS_TASK_STATUS_SUSPENDED)) {
-#ifdef LOSCFG_SCHED_DEBUG
+#ifdef LOSCFG_SCHED_HPF_DEBUG
            taskCB->schedStat.pendTime += currTime - taskCB->startTime;
            taskCB->schedStat.pendCount++;
 #endif
@@ -212,8 +223,10 @@ VOID OsSchedRunqueueIdleInit(LosTaskCB *idleTask)

 UINT32 OsSchedInit(VOID)
 {
-    for (UINT16 cpuId = 0; cpuId < LOSCFG_KERNEL_CORE_NUM; cpuId++) {
-        HPFSchedPolicyInit(OsSchedRunqueueByID(cpuId));
+    for (UINT16 cpuid = 0; cpuid < LOSCFG_KERNEL_CORE_NUM; cpuid++) {
+        SchedRunqueue *rq = OsSchedRunqueueByID(cpuid);
+        EDFSchedPolicyInit(rq);
+        HPFSchedPolicyInit(rq);
    }

 #ifdef LOSCFG_SCHED_TICK_DEBUG
@@ -247,13 +260,15 @@ INT32 OsSchedParamCompare(const LosTaskCB *task1, const LosTaskCB *task2)
    return 0;
 }

-UINT32 OsSchedParamInit(LosTaskCB *taskCB, UINT16 policy, const SchedParam *parentParam, const TSK_INIT_PARAM_S *param)
+UINT32 OsSchedParamInit(LosTaskCB *taskCB, UINT16 policy, const SchedParam *parentParam, const LosSchedParam *param)
 {
    switch (policy) {
        case LOS_SCHED_FIFO:
        case LOS_SCHED_RR:
            HPFTaskSchedParamInit(taskCB, policy, parentParam, param);
            break;
+        case LOS_SCHED_DEADLINE:
+            return EDFTaskSchedParamInit(taskCB, policy, parentParam, param);
        case LOS_SCHED_IDLE:
            IdleTaskSchedParamInit(taskCB);
            break;
@@ -271,6 +286,9 @@ VOID OsSchedProcessDefaultSchedParamGet(UINT16 policy, SchedParam *param)
        case LOS_SCHED_RR:
            HPFProcessDefaultSchedParamGet(param);
            break;
+        case LOS_SCHED_DEADLINE:
+            EDFProcessDefaultSchedParamGet(param);
+            break;
        case LOS_SCHED_IDLE:
        default:
            PRINT_ERR("Invalid process-level scheduling policy, %u\n", policy);
@@ -281,12 +299,19 @@ VOID OsSchedProcessDefaultSchedParamGet(UINT16 policy, SchedParam *param)

 STATIC LosTaskCB *TopTaskGet(SchedRunqueue *rq)
 {
-    LosTaskCB *newTask = HPFRunqueueTopTaskGet(rq->hpfRunqueue);
-
-    if (newTask == NULL) {
-        newTask = rq->idleTask;
+    LosTaskCB *newTask = EDFRunqueueTopTaskGet(rq->edfRunqueue);
+    if (newTask != NULL) {
+        goto FIND;
    }

+    newTask = HPFRunqueueTopTaskGet(rq->hpfRunqueue);
+    if (newTask != NULL) {
+        goto FIND;
+    }
+
+    newTask = rq->idleTask;
+
+FIND:
    newTask->ops->start(rq, newTask);
    return newTask;
 }
@@ -387,7 +412,7 @@ STATIC VOID SchedTaskSwitch(SchedRunqueue *rq, LosTaskCB *runTask, LosTaskCB *ne
    OsCpupCycleEndStart(runTask, newTask);
 #endif

-#ifdef LOSCFG_SCHED_DEBUG
+#ifdef LOSCFG_SCHED_HPF_DEBUG
    UINT64 waitStartTime = newTask->startTime;
 #endif
    if (runTask->taskStatus & OS_TASK_STATUS_READY) {
@@ -400,14 +425,14 @@ STATIC VOID SchedTaskSwitch(SchedRunqueue *rq, LosTaskCB *runTask, LosTaskCB *ne
        runTask->ops->timeSliceUpdate(rq, runTask, newTask->startTime);

        if (runTask->taskStatus & (OS_TASK_STATUS_PEND_TIME | OS_TASK_STATUS_DELAY)) {
-            OsSchedTimeoutQueueAdd(runTask, runTask->startTime + runTask->waitTime);
+            OsSchedTimeoutQueueAdd(runTask, runTask->ops->waitTimeGet(runTask));
        }
    }

    UINT64 deadline = newTask->ops->deadlineGet(newTask);
    SchedNextExpireTimeSet(newTask->taskID, deadline, runTask->taskID);

-#ifdef LOSCFG_SCHED_DEBUG
+#ifdef LOSCFG_SCHED_HPF_DEBUG
    newTask->schedStat.waitSchedTime += newTask->startTime - waitStartTime;
    newTask->schedStat.waitSchedCount++;
    runTask->schedStat.runTime = runTask->schedStat.allRuntime;
--- a/kernel/base/sched/los_statistics.c
+++ b/kernel/base/sched/los_statistics.c
@@ -99,6 +99,7 @@ UINT32 OsShellShowTickResponse(VOID)
 }
 #endif

+#ifdef LOSCFG_SCHED_HPF_DEBUG
 STATIC VOID SchedDataGet(const LosTaskCB *taskCB, UINT64 *runTime, UINT64 *timeSlice,
                         UINT64 *pendTime, UINT64 *schedWait)
 {
@@ -128,6 +129,7 @@ UINT32 OsShellShowSchedStatistics(VOID)
    UINT32 taskLinkNum[LOSCFG_KERNEL_CORE_NUM];
    UINT32 intSave;
    LosTaskCB task;
+    SchedEDF *sched = NULL;

    SCHEDULER_LOCK(intSave);
    for (UINT16 cpu = 0; cpu < LOSCFG_KERNEL_CORE_NUM; cpu++) {
@@ -150,6 +152,12 @@ UINT32 OsShellShowSchedStatistics(VOID)
            continue;
        }

+        sched = (SchedEDF *)&taskCB->sp;
+        if (sched->policy == LOS_SCHED_DEADLINE) {
+            SCHEDULER_UNLOCK(intSave);
+            continue;
+        }
+
        (VOID)memcpy_s(&task, sizeof(LosTaskCB), taskCB, sizeof(LosTaskCB));
        SCHEDULER_UNLOCK(intSave);

@@ -170,3 +178,168 @@ UINT32 OsShellShowSchedStatistics(VOID)
 }
 #endif

+#ifdef LOSCFG_SCHED_EDF_DEBUG
+#define EDF_DEBUG_NODE 20
+typedef struct {
+    UINT32 tid;
+    INT32 runTimeUs;
+    UINT64 deadlineUs;
+    UINT64 periodUs;
+    UINT64 startTime;
+    UINT64 finishTime;
+    UINT64 nextfinishTime;
+    UINT64 timeSliceUnused;
+    UINT64 timeSliceRealTime;
+    UINT64 allRuntime;
+    UINT64 pendTime;
+} EDFDebug;
+
+STATIC EDFDebug g_edfNode[EDF_DEBUG_NODE];
+STATIC INT32 g_edfNodePointer = 0;
+
+VOID EDFDebugRecord(UINTPTR *task, UINT64 oldFinish)
+{
+    LosTaskCB *taskCB = (LosTaskCB *)task;
+    SchedEDF *sched = (SchedEDF *)&taskCB->sp;
+    SchedParam param;
+
+    // when print edf info, will stop record
+    if (g_edfNodePointer == (EDF_DEBUG_NODE + 1)) {
+        return;
+    }
+
+    taskCB->ops->schedParamGet(taskCB, &param);
+    g_edfNode[g_edfNodePointer].tid = taskCB->taskID;
+    g_edfNode[g_edfNodePointer].runTimeUs =param.runTimeUs;
+    g_edfNode[g_edfNodePointer].deadlineUs =param.deadlineUs;
+    g_edfNode[g_edfNodePointer].periodUs =param.periodUs;
+    g_edfNode[g_edfNodePointer].startTime = taskCB->startTime;
+    if (taskCB->timeSlice <= 0) {
+        taskCB->irqUsedTime = 0;
+        g_edfNode[g_edfNodePointer].timeSliceUnused = 0;
+    } else {
+        g_edfNode[g_edfNodePointer].timeSliceUnused = taskCB->timeSlice;
+    }
+    g_edfNode[g_edfNodePointer].finishTime = oldFinish;
+    g_edfNode[g_edfNodePointer].nextfinishTime = sched->finishTime;
+    g_edfNode[g_edfNodePointer].timeSliceRealTime = taskCB->schedStat.timeSliceRealTime;
+    g_edfNode[g_edfNodePointer].allRuntime = taskCB->schedStat.allRuntime;
+    g_edfNode[g_edfNodePointer].pendTime = taskCB->schedStat.pendTime;
+
+    g_edfNodePointer++;
+    if (g_edfNodePointer == EDF_DEBUG_NODE) {
+        g_edfNodePointer = 0;
+    }
+}
+
+STATIC VOID EDFInfoPrint(int idx)
+{
+    INT32 runTimeUs;
+    UINT64 deadlineUs;
+    UINT64 periodUs;
+    UINT64 startTime;
+    UINT64 timeSlice;
+    UINT64 finishTime;
+    UINT64 nextfinishTime;
+    UINT64 pendTime;
+    UINT64 allRuntime;
+    UINT64 timeSliceRealTime;
+    CHAR *status = NULL;
+
+    startTime = OS_SYS_CYCLE_TO_US(g_edfNode[idx].startTime);
+    timeSlice = OS_SYS_CYCLE_TO_US(g_edfNode[idx].timeSliceUnused);
+    finishTime = OS_SYS_CYCLE_TO_US(g_edfNode[idx].finishTime);
+    nextfinishTime = OS_SYS_CYCLE_TO_US(g_edfNode[idx].nextfinishTime);
+    pendTime = OS_SYS_CYCLE_TO_US(g_edfNode[idx].pendTime);
+    allRuntime = OS_SYS_CYCLE_TO_US(g_edfNode[idx].allRuntime);
+    timeSliceRealTime = OS_SYS_CYCLE_TO_US(g_edfNode[idx].timeSliceRealTime);
+    runTimeUs = g_edfNode[idx].runTimeUs;
+    deadlineUs = g_edfNode[idx].deadlineUs;
+    periodUs = g_edfNode[idx].periodUs;
+
+    if (timeSlice > 0) {
+        status = "TIMEOUT";
+    } else if (nextfinishTime == finishTime) {
+        status = "NEXT PERIOD";
+    } else {
+        status = "WAIT RUN";
+    }
+
+    PRINTK("%4u%9d%9llu%9llu%12llu%12llu%12llu%9llu%9llu%9llu%9llu %-12s\n",
+           g_edfNode[idx].tid, runTimeUs, deadlineUs, periodUs,
+           startTime, finishTime, nextfinishTime, allRuntime, timeSliceRealTime,
+           timeSlice, pendTime, status);
+}
+
+VOID OsEDFDebugPrint(VOID)
+{
+    INT32 max;
+    UINT32 intSave;
+    INT32 i;
+
+    SCHEDULER_LOCK(intSave);
+    max = g_edfNodePointer;
+    g_edfNodePointer = EDF_DEBUG_NODE + 1;
+    SCHEDULER_UNLOCK(intSave);
+
+    PRINTK("\r\nlast %d sched is: (in microsecond)\r\n", EDF_DEBUG_NODE);
+
+    PRINTK(" TID  RunTime Deadline   Period   StartTime   "
+           "CurPeriod  NextPeriod   AllRun  RealRun  TimeOut WaitTime Status\n");
+
+    for (i = max; i < EDF_DEBUG_NODE; i++) {
+        EDFInfoPrint(i);
+    }
+
+    for (i = 0; i < max; i++) {
+        EDFInfoPrint(i);
+    }
+
+    SCHEDULER_LOCK(intSave);
+    g_edfNodePointer = max;
+    SCHEDULER_UNLOCK(intSave);
+}
+
+UINT32 OsShellShowEdfSchedStatistics(VOID)
+{
+    UINT32 intSave;
+    LosTaskCB task;
+    UINT64 curTime;
+    UINT64 deadline;
+    UINT64 finishTime;
+    SchedEDF *sched = NULL;
+
+    PRINTK("Now Alive EDF Thread:\n");
+    PRINTK("TID        CurTime       DeadTime     FinishTime  taskName\n");
+
+    for (UINT32 tid = 0; tid < g_taskMaxNum; tid++) {
+        LosTaskCB *taskCB = g_taskCBArray + tid;
+        SCHEDULER_LOCK(intSave);
+        if (OsTaskIsUnused(taskCB)) {
+            SCHEDULER_UNLOCK(intSave);
+            continue;
+        }
+
+        sched = (SchedEDF *)&taskCB->sp;
+        if (sched->policy != LOS_SCHED_DEADLINE) {
+            SCHEDULER_UNLOCK(intSave);
+            continue;
+        }
+
+        (VOID)memcpy_s(&task, sizeof(LosTaskCB), taskCB, sizeof(LosTaskCB));
+
+        curTime = OS_SYS_CYCLE_TO_US(HalClockGetCycles());
+        finishTime = OS_SYS_CYCLE_TO_US(sched->finishTime);
+        deadline = OS_SYS_CYCLE_TO_US(taskCB->ops->deadlineGet(taskCB));
+        SCHEDULER_UNLOCK(intSave);
+
+        PRINTK("%3u%15llu%15llu%15llu  %-32s\n",
+               task.taskID, curTime, deadline, finishTime, task.taskName);
+    }
+
+    OsEDFDebugPrint();
+
+    return LOS_OK;
+}
+#endif
+#endif