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feat: swtmr机制与调度分离，调度只针对通用线程，不针对特殊功能

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背景：
原调度机制与软件定时器实现混合，调度时间链表存在两个链表，
任务切换时需要遍历两个链表才可以获取到最终的tick响应时间。
软件定时作为一个独立的功能，不应该和调度强耦合，而且软件定时
器作为一个任务，某个软件定时器的响应时间应该是软件定时器任务的
响应时间，不应该直接做为tick中断的响应时间。

方案描述：
1.将软件定时器从调度分离，作为一个独立的机制，从调度角度看其就是一个任务
2.软件定时器从调度分离之后，其timelist遍历从tick中断移动至软件定时器任务中
3.优化软件定时器的均衡调度

优势：
1.将软件定时器与调度完全分离，使得调度功能单一化，便于后续其它调度算法的引入
2.优化tick中断，减小tick中断耗时
3.优化通过写队列唤醒软件定时器任务去执行软件定时器钩子为插队列，减少软件定时
器机制本身的耗时，提升软件定时器的实时性
4.优化软件定时器均衡调度，使得软件定时器均匀分布于多核，提升软件定时器的实时性

Signed-off-by: zhushengle <zhushengle@huawei.com>
Change-Id: I07c01f134e69c1d9b7061ddf5a231df1ee99b68e
This commit is contained in:
zhushengle
2022-03-16 20:28:30 +08:00
parent e4cad073a9
commit 6d8cef40c8
21 changed files with 523 additions and 416 deletions
Download Patch File Download Diff File Expand all files Collapse all files

163
kernel/base/include/los_sched_pri.h
View File

@@ -48,6 +48,7 @@
#ifdef LOSCFG_KERNEL_LITEIPC
#include "hm_liteipc.h"
#endif
#include "los_mp.h"
#ifdef __cplusplus
#if __cplusplus
@@ -55,9 +56,11 @@ extern "C" {
#endif /* __cplusplus */
#endif /* __cplusplus */
#define OS_SCHED_MINI_PERIOD (OS_SYS_CLOCK / LOSCFG_BASE_CORE_TICK_PER_SECOND_MINI)
#define OS_TICK_RESPONSE_PRECISION (UINT32)((OS_SCHED_MINI_PERIOD * 75) / 100)
#define OS_SCHED_MAX_RESPONSE_TIME (UINT64)(((UINT64)-1) - 1U)
#define OS_SCHED_MINI_PERIOD (OS_SYS_CLOCK / LOSCFG_BASE_CORE_TICK_PER_SECOND_MINI)
#define OS_TICK_RESPONSE_PRECISION (UINT32)((OS_SCHED_MINI_PERIOD * 75) / 100)
#define OS_SCHED_MAX_RESPONSE_TIME OS_SORT_LINK_INVALID_TIME
#define OS_SCHED_TICK_TO_CYCLE(ticks) ((UINT64)ticks * OS_CYCLE_PER_TICK)
#define AFFI_MASK_TO_CPUID(mask) ((UINT16)((mask) - 1))
extern UINT32 g_taskScheduled;
#define OS_SCHEDULER_ACTIVE (g_taskScheduled & (1U << ArchCurrCpuid()))
@@ -78,18 +81,17 @@ typedef enum {
typedef struct {
SortLinkAttribute taskSortLink; /* task sort link */
SortLinkAttribute swtmrSortLink; /* swtmr sort link */
UINT64 responseTime; /* Response time for current CPU tick interrupts */
UINT32 responseID; /* The response ID of the current CPU tick interrupt */
UINT32 idleTaskID; /* idle task id */
UINT32 taskLockCnt; /* task lock flag */
UINT32 swtmrTaskID; /* software timer task id */
UINT32 swtmrHandlerQueue; /* software timer timeout queue id */
UINT32 schedFlag; /* pending scheduler flag */
} SchedRunQue;
extern SchedRunQue g_schedRunQue[LOSCFG_KERNEL_CORE_NUM];
VOID OsSchedUpdateExpireTime(VOID);
STATIC INLINE SchedRunQue *OsSchedRunQue(VOID)
{
return &g_schedRunQue[ArchCurrCpuid()];
@@ -190,75 +192,8 @@ STATIC INLINE VOID OsSchedRunQuePendingSet(VOID)
OsSchedRunQue()->schedFlag |= INT_PEND_RESCH;
}
#ifdef LOSCFG_KERNEL_SMP
STATIC INLINE VOID FindIdleRunQue(UINT16 *idleCpuID)
{
SchedRunQue *idleRq = OsSchedRunQueByID(0);
UINT32 nodeNum = OsGetSortLinkNodeNum(&idleRq->taskSortLink) + OsGetSortLinkNodeNum(&idleRq->swtmrSortLink);
UINT16 cpuID = 1;
do {
SchedRunQue *rq = OsSchedRunQueByID(cpuID);
UINT32 temp = OsGetSortLinkNodeNum(&rq->taskSortLink) + OsGetSortLinkNodeNum(&rq->swtmrSortLink);
if (nodeNum > temp) {
*idleCpuID = cpuID;
nodeNum = temp;
}
cpuID++;
} while (cpuID < LOSCFG_KERNEL_CORE_NUM);
}
#endif
STATIC INLINE VOID OsSchedAddTask2TimeList(SortLinkList *node, UINT64 startTime, UINT32 waitTicks)
{
UINT16 idleCpu = 0;
#ifdef LOSCFG_KERNEL_SMP
FindIdleRunQue(&idleCpu);
#endif
SchedRunQue *rq = OsSchedRunQueByID(idleCpu);
UINT64 responseTime = startTime + (UINT64)waitTicks * OS_CYCLE_PER_TICK;
OsAdd2SortLink(&rq->taskSortLink, node, responseTime, idleCpu);
}
STATIC INLINE UINT32 OsSchedSwtmrHandlerQueueGet(VOID)
{
return OsSchedRunQue()->swtmrHandlerQueue;
}
STATIC INLINE VOID OsSchedDeTaskFromTimeList(SortLinkList *node)
{
#ifdef LOSCFG_KERNEL_SMP
SchedRunQue *rq = OsSchedRunQueByID(node->cpuid);
#else
SchedRunQue *rq = OsSchedRunQueByID(0);
#endif
OsDeleteFromSortLink(&rq->taskSortLink, node);
}
STATIC INLINE VOID OsSchedAddSwtmr2TimeList(SortLinkList *node, UINT64 startTime, UINT32 waitTicks)
{
UINT16 idleCpu = 0;
#ifdef LOSCFG_KERNEL_SMP
FindIdleRunQue(&idleCpu);
#endif
SchedRunQue *rq = OsSchedRunQueByID(idleCpu);
UINT64 responseTime = startTime + (UINT64)waitTicks * OS_CYCLE_PER_TICK;
OsAdd2SortLink(&rq->swtmrSortLink, node, responseTime, idleCpu);
}
STATIC INLINE VOID OsSchedDeSwtmrFromTimeList(SortLinkList *node)
{
#ifdef LOSCFG_KERNEL_SMP
SchedRunQue *rq = OsSchedRunQueByID(node->cpuid);
#else
SchedRunQue *rq = OsSchedRunQueByID(0);
#endif
OsDeleteFromSortLink(&rq->swtmrSortLink, node);
}
VOID OsSchedRunQueIdleInit(UINT32 idleTaskID);
VOID OsSchedRunQueSwtmrInit(UINT32 swtmrTaskID, UINT32 swtmrQueue);
VOID OsSchedRunQueInit(VOID);
BOOL OsSchedSwtmrTimeListFind(SCHED_TL_FIND_FUNC checkFunc, UINTPTR arg);
/**
* @ingroup los_sched
@@ -359,11 +294,11 @@ typedef struct {
UINT16 priority; /**< Task priority */
UINT16 policy;
UINT64 startTime; /**< The start time of each phase of task */
UINT64 waitTime; /**< Task delay time, tick number */
UINT64 irqStartTime; /**< Interrupt start time */
UINT32 irqUsedTime; /**< Interrupt consumption time */
UINT32 initTimeSlice; /**< Task init time slice */
INT32 timeSlice; /**< Task remaining time slice */
UINT32 waitTimes; /**< Task delay time, tick number */
SortLinkList sortList; /**< Task sortlink node */
UINT32 stackSize; /**< Task stack size */
@@ -480,6 +415,78 @@ STATIC INLINE VOID OsSchedIrqStartTime(VOID)
runTask->irqStartTime = OsGetCurrSchedTimeCycle();
}
#ifdef LOSCFG_KERNEL_SMP
STATIC INLINE VOID FindIdleRunQue(UINT16 *idleCpuid)
{
SchedRunQue *idleRq = OsSchedRunQueByID(0);
UINT32 nodeNum = OsGetSortLinkNodeNum(&idleRq->taskSortLink);
UINT16 cpuid = 1;
do {
SchedRunQue *rq = OsSchedRunQueByID(cpuid);
UINT32 temp = OsGetSortLinkNodeNum(&rq->taskSortLink);
if (nodeNum > temp) {
*idleCpuid = cpuid;
nodeNum = temp;
}
cpuid++;
} while (cpuid < LOSCFG_KERNEL_CORE_NUM);
}
#endif
STATIC INLINE VOID OsSchedAddTask2TimeList(LosTaskCB *taskCB, UINT64 responseTime)
{
#ifdef LOSCFG_KERNEL_SMP
UINT16 cpuid = AFFI_MASK_TO_CPUID(taskCB->cpuAffiMask);
if (cpuid >= LOSCFG_KERNEL_CORE_NUM) {
cpuid = 0;
FindIdleRunQue(&cpuid);
}
#else
UINT16 cpuid = 0;
#endif
SchedRunQue *rq = OsSchedRunQueByID(cpuid);
OsAdd2SortLink(&rq->taskSortLink, &taskCB->sortList, responseTime, cpuid);
#ifdef LOSCFG_KERNEL_SMP
if ((cpuid != ArchCurrCpuid()) && (responseTime < rq->responseTime)) {
rq->schedFlag |= INT_PEND_TICK;
LOS_MpSchedule(CPUID_TO_AFFI_MASK(cpuid));
}
#endif
}
STATIC INLINE VOID OsSchedDeTaskFromTimeList(LosTaskCB *taskCB)
{
SortLinkList *node = &taskCB->sortList;
#ifdef LOSCFG_KERNEL_SMP
SchedRunQue *rq = OsSchedRunQueByID(node->cpuid);
#else
SchedRunQue *rq = OsSchedRunQueByID(0);
#endif
UINT64 oldResponseTime = GET_SORTLIST_VALUE(node);
OsDeleteFromSortLink(&rq->taskSortLink, node);
if (oldResponseTime <= rq->responseTime) {
rq->responseTime = OS_SCHED_MAX_RESPONSE_TIME;
}
}
STATIC INLINE UINT32 OsSchedAdjustTaskFromTimeList(LosTaskCB *taskCB, UINT64 responseTime)
{
UINT32 ret;
SortLinkList *node = &taskCB->sortList;
#ifdef LOSCFG_KERNEL_SMP
UINT16 cpuid = node->cpuid;
#else
UINT16 cpuid = 0;
#endif
SchedRunQue *rq = OsSchedRunQueByID(cpuid);
ret = OsSortLinkAdjustNodeResponseTime(&rq->taskSortLink, node, responseTime);
if (ret == LOS_OK) {
rq->schedFlag |= INT_PEND_TICK;
}
return ret;
}
/*
* Schedule flag, one bit represents one core.
* This flag is used to prevent kernel scheduling before OSStartToRun.
@@ -494,7 +501,6 @@ STATIC INLINE VOID OsSchedIrqStartTime(VOID)
VOID OsSchedSetIdleTaskSchedParam(LosTaskCB *idleTask);
VOID OsSchedResetSchedResponseTime(UINT64 responseTime);
VOID OsSchedUpdateExpireTime(VOID);
VOID OsSchedToUserReleaseLock(VOID);
VOID OsSchedTaskDeQueue(LosTaskCB *taskCB);
VOID OsSchedTaskEnQueue(LosTaskCB *taskCB);
@@ -504,7 +510,7 @@ BOOL OsSchedModifyTaskSchedParam(LosTaskCB *taskCB, UINT16 policy, UINT16 priori
BOOL OsSchedModifyProcessSchedParam(UINT32 pid, UINT16 policy, UINT16 priority);
VOID OsSchedSuspend(LosTaskCB *taskCB);
BOOL OsSchedResume(LosTaskCB *taskCB);
VOID OsSchedDelay(LosTaskCB *runTask, UINT32 tick);
VOID OsSchedDelay(LosTaskCB *runTask, UINT64 waitTime);
VOID OsSchedYield(VOID);
VOID OsSchedTaskExit(LosTaskCB *taskCB);
VOID OsSchedTick(VOID);
@@ -525,14 +531,13 @@ VOID OsSchedIrqEndCheckNeedSched(VOID);
*/
LOS_DL_LIST *OsSchedLockPendFindPos(const LosTaskCB *runTask, LOS_DL_LIST *lockList);
#ifdef LOSCFG_SCHED_DEBUG
#ifdef LOSCFG_SCHED_TICK_DEBUG
VOID OsSchedDebugRecordData(VOID);
#endif
UINT32 OsShellShowTickRespo(VOID);
UINT32 OsShellShowSchedParam(VOID);
#endif
#ifdef __cplusplus
#if __cplusplus
}