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2 | pj | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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759 | anton | 8 | * Authors: |
2 | pj | 9 | * Paolo Gai <pj@gandalf.sssup.it> |
10 | * Massimiliano Giorgi <massy@gandalf.sssup.it> |
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11 | * Luca Abeni <luca@gandalf.sssup.it> |
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759 | anton | 12 | * Anton Cervin |
2 | pj | 13 | * |
14 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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15 | * |
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16 | * http://www.sssup.it |
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17 | * http://retis.sssup.it |
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18 | * http://shark.sssup.it |
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19 | */ |
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20 | |||
21 | /** |
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22 | ------------ |
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851 | giacomo | 23 | CVS : $Id: edf.c,v 1.20 2004-09-15 11:44:11 giacomo Exp $ |
2 | pj | 24 | |
25 | File: $File$ |
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851 | giacomo | 26 | Revision: $Revision: 1.20 $ |
27 | Last update: $Date: 2004-09-15 11:44:11 $ |
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2 | pj | 28 | ------------ |
29 | |||
30 | This file contains the scheduling module EDF (Earliest Deadline First) |
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31 | |||
32 | Read edf.h for further details. |
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33 | |||
34 | **/ |
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35 | |||
36 | /* |
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38 | pj | 37 | * Copyright (C) 2000,2002 Paolo Gai |
2 | pj | 38 | * |
39 | * This program is free software; you can redistribute it and/or modify |
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40 | * it under the terms of the GNU General Public License as published by |
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41 | * the Free Software Foundation; either version 2 of the License, or |
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42 | * (at your option) any later version. |
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43 | * |
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44 | * This program is distributed in the hope that it will be useful, |
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45 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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46 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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47 | * GNU General Public License for more details. |
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48 | * |
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49 | * You should have received a copy of the GNU General Public License |
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50 | * along with this program; if not, write to the Free Software |
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51 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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52 | * |
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53 | */ |
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54 | |||
55 | |||
56 | #include <modules/edf.h> |
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57 | #include <ll/stdio.h> |
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58 | #include <ll/string.h> |
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59 | #include <kernel/model.h> |
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60 | #include <kernel/descr.h> |
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61 | #include <kernel/var.h> |
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62 | #include <kernel/func.h> |
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353 | giacomo | 63 | #include <tracer.h> |
64 | |||
850 | giacomo | 65 | //#define EDF_DEBUG |
38 | pj | 66 | #define edf_printf kern_printf |
657 | anton | 67 | #ifdef EDF_DEBUG |
68 | char *pnow() { |
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69 | static char buf[40]; |
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70 | struct timespec t; |
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71 | sys_gettime(&t); |
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72 | sprintf(buf, "%ld.%06ld", t.tv_sec, t.tv_nsec/1000); |
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73 | return buf; |
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74 | } |
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75 | char *ptime1(struct timespec *t) { |
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76 | static char buf[40]; |
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77 | sprintf(buf, "%ld.%06ld", t->tv_sec, t->tv_nsec/1000); |
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78 | return buf; |
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79 | } |
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80 | char *ptime2(struct timespec *t) { |
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81 | static char buf[40]; |
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82 | sprintf(buf, "%ld.%06ld", t->tv_sec, t->tv_nsec/1000); |
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83 | return buf; |
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84 | } |
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85 | #endif |
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2 | pj | 86 | |
759 | anton | 87 | /* Statuses used in the level */ |
657 | anton | 88 | #define EDF_READY MODULE_STATUS_BASE /* ready */ |
89 | #define EDF_IDLE MODULE_STATUS_BASE+1 /* idle, waiting for offset/eop */ |
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90 | #define EDF_WAIT MODULE_STATUS_BASE+2 /* to sleep, waiting for eop */ |
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759 | anton | 91 | #define EDF_ZOMBIE MODULE_STATUS_BASE+3 /* to free, waiting for eop */ |
2 | pj | 92 | |
759 | anton | 93 | /* Task flags */ |
657 | anton | 94 | #define EDF_FLAG_SPORADIC 1 /* the task is sporadic */ |
95 | #define EDF_FLAG_SPOR_LATE 2 /* sporadic task with period overrun */ |
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2 | pj | 96 | |
97 | |||
759 | anton | 98 | /* Task descriptor */ |
657 | anton | 99 | typedef struct { |
759 | anton | 100 | int flags; /* task flags */ |
101 | TIME period; /* period (or inter-arrival interval) */ |
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102 | TIME rdeadline; /* relative deadline */ |
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103 | TIME offset; /* release offset */ |
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104 | struct timespec release; /* release time of current instance */ |
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105 | struct timespec adeadline; /* latest assigned deadline */ |
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106 | int dl_timer; /* deadline timer */ |
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107 | int eop_timer; /* end of period timer */ |
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851 | giacomo | 108 | int off_timer; /* timer offset */ |
759 | anton | 109 | int dl_miss; /* deadline miss counter */ |
110 | int wcet_miss; /* WCET miss counter */ |
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111 | int act_miss; /* activation miss counter */ |
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112 | int nact; /* number of pending periodic jobs */ |
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113 | } EDF_task_des; |
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2 | pj | 114 | |
759 | anton | 115 | |
116 | /* Level descriptor */ |
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117 | typedef struct { |
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118 | level_des l; /* standard level descriptor */ |
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119 | int flags; /* level flags */ |
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120 | IQUEUE ready; /* the ready queue */ |
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121 | bandwidth_t U; /* used bandwidth */ |
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122 | EDF_task_des tvec[MAX_PROC]; /* vector of task descriptors */ |
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657 | anton | 123 | } EDF_level_des; |
2 | pj | 124 | |
125 | |||
759 | anton | 126 | /* Module function cross-references */ |
127 | static void EDF_intern_release(PID p, EDF_level_des *lev); |
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2 | pj | 128 | |
129 | |||
759 | anton | 130 | /**** Timer event handler functions ****/ |
2 | pj | 131 | |
759 | anton | 132 | /* This timer event handler is called at the end of the period */ |
133 | static void EDF_timer_endperiod(void *par) |
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2 | pj | 134 | { |
135 | PID p = (PID) par; |
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759 | anton | 136 | EDF_level_des *lev = (EDF_level_des *)level_table[proc_table[p].task_level]; |
137 | EDF_task_des *td = &lev->tvec[p]; |
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657 | anton | 138 | |
759 | anton | 139 | td->eop_timer = -1; |
2 | pj | 140 | |
759 | anton | 141 | if (proc_table[p].status == EDF_ZOMBIE) { |
142 | /* put the task in the FREE state */ |
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143 | proc_table[p].status = FREE; |
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144 | iq_insertfirst(p,&freedesc); |
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145 | /* free the allocated bandwidth */ |
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146 | lev->U -= (MAX_BANDWIDTH/td->rdeadline) * proc_table[p].wcet; |
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147 | return; |
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148 | } |
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149 | |||
150 | if (proc_table[p].status == EDF_WAIT) { |
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151 | proc_table[p].status = SLEEP; |
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152 | return; |
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153 | } |
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154 | |||
155 | if (td->flags & EDF_FLAG_SPORADIC) { |
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156 | /* the task is sporadic and still busy, mark it as late */ |
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157 | td->flags |= EDF_FLAG_SPOR_LATE; |
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158 | } else { |
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159 | /* the task is periodic, release/queue another instance */ |
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160 | EDF_intern_release(p, lev); |
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161 | } |
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162 | } |
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163 | |||
164 | /* This timer event handler is called when a task misses its deadline */ |
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165 | static void EDF_timer_deadline(void *par) |
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166 | { |
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167 | PID p = (PID) par; |
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168 | EDF_level_des *lev = (EDF_level_des *)level_table[proc_table[p].task_level]; |
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169 | EDF_task_des *td = &lev->tvec[p]; |
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170 | |||
837 | giacomo | 171 | td->dl_timer = -1; |
172 | |||
759 | anton | 173 | TRACER_LOGEVENT(FTrace_EVT_task_deadline_miss, |
174 | (unsigned short int)proc_table[p].context,0); |
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175 | |||
657 | anton | 176 | if (lev->flags & EDF_ENABLE_DL_EXCEPTION) { |
177 | kern_raise(XDEADLINE_MISS,p); |
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178 | } else { |
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759 | anton | 179 | td->dl_miss++; |
657 | anton | 180 | } |
181 | } |
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182 | |||
759 | anton | 183 | /* This timer event handler is called after waiting for an offset */ |
184 | static void EDF_timer_offset(void *par) |
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185 | { |
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186 | PID p = (PID) par; |
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187 | EDF_level_des *lev; |
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188 | lev = (EDF_level_des *)level_table[proc_table[p].task_level]; |
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851 | giacomo | 189 | EDF_task_des *td = &lev->tvec[p]; |
190 | |||
191 | td->off_timer = -1; |
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192 | |||
759 | anton | 193 | /* release the task now */ |
194 | EDF_intern_release(p, lev); |
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851 | giacomo | 195 | |
759 | anton | 196 | } |
657 | anton | 197 | |
759 | anton | 198 | /* This function is called when a guest task misses its deadline */ |
199 | static void EDF_timer_guest_deadline(void *par) |
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200 | { |
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201 | PID p = (PID) par; |
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837 | giacomo | 202 | EDF_level_des *lev = (EDF_level_des *)level_table[proc_table[p].task_level]; |
203 | EDF_task_des *td = &lev->tvec[p]; |
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204 | |||
205 | td->dl_timer = -1; |
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206 | |||
759 | anton | 207 | TRACER_LOGEVENT(FTrace_EVT_task_deadline_miss, |
208 | (unsigned short int)proc_table[p].context,0); |
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851 | giacomo | 209 | |
759 | anton | 210 | kern_raise(XDEADLINE_MISS,p); |
851 | giacomo | 211 | |
759 | anton | 212 | } |
657 | anton | 213 | |
759 | anton | 214 | |
215 | /**** Internal utility functions ****/ |
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216 | |||
217 | /* Release (or queue) a task, post deadline and endperiod timers */ |
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657 | anton | 218 | static void EDF_intern_release(PID p, EDF_level_des *lev) |
219 | { |
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220 | struct timespec temp; |
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759 | anton | 221 | EDF_task_des *td = &lev->tvec[p]; |
657 | anton | 222 | |
223 | /* post deadline timer */ |
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224 | if (lev->flags & EDF_ENABLE_DL_CHECK) { |
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759 | anton | 225 | temp = td->release; |
226 | ADDUSEC2TIMESPEC(td->rdeadline, &temp); |
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837 | giacomo | 227 | if (td->dl_timer != -1) { |
228 | kern_event_delete(td->dl_timer); |
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229 | td->dl_timer = -1; |
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230 | } |
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759 | anton | 231 | td->dl_timer = kern_event_post(&temp,EDF_timer_deadline,(void *)p); |
657 | anton | 232 | } |
233 | |||
234 | /* release or queue next job */ |
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235 | if (proc_table[p].status == EDF_IDLE) { |
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236 | /* assign deadline, insert task in the ready queue */ |
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237 | proc_table[p].status = EDF_READY; |
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759 | anton | 238 | *iq_query_timespec(p,&lev->ready) = td->adeadline; |
657 | anton | 239 | iq_timespec_insert(p,&lev->ready); |
240 | #ifdef EDF_DEBUG |
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241 | edf_printf("At %s: releasing %s with deadline %s\n", pnow(), |
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759 | anton | 242 | proc_table[p].name, ptime1(&td->adeadline)); |
657 | anton | 243 | #endif |
244 | /* increase assigned deadline */ |
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759 | anton | 245 | ADDUSEC2TIMESPEC(td->period, &td->adeadline); |
657 | anton | 246 | /* reschedule */ |
247 | event_need_reschedule(); |
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248 | } else { |
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249 | /* queue */ |
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759 | anton | 250 | td->nact++; |
657 | anton | 251 | } |
252 | |||
253 | /* increase release time */ |
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759 | anton | 254 | ADDUSEC2TIMESPEC(td->period, &td->release); |
657 | anton | 255 | /* post end of period timer */ |
849 | giacomo | 256 | if (td->eop_timer != -1) { |
257 | kern_event_delete(td->eop_timer); |
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258 | td->eop_timer = -1; |
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259 | } |
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260 | |||
759 | anton | 261 | td->eop_timer = kern_event_post(&td->release, EDF_timer_endperiod,(void *)p); |
657 | anton | 262 | |
759 | anton | 263 | TRACER_LOGEVENT(FTrace_EVT_task_timer, |
264 | (unsigned short int)proc_table[p].context, |
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265 | (unsigned int)proc_table[p].task_level); |
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657 | anton | 266 | } |
267 | |||
268 | |||
759 | anton | 269 | /**** Public generic kernel interface functions ****/ |
657 | anton | 270 | |
759 | anton | 271 | /* Returns the first task in the ready queue */ |
38 | pj | 272 | static PID EDF_public_scheduler(LEVEL l) |
2 | pj | 273 | { |
274 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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29 | pj | 275 | return iq_query_first(&lev->ready); |
2 | pj | 276 | } |
277 | |||
759 | anton | 278 | /* Checks and decreases the available system bandwidth */ |
38 | pj | 279 | static int EDF_public_guarantee(LEVEL l, bandwidth_t *freebandwidth) |
2 | pj | 280 | { |
281 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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282 | |||
159 | pj | 283 | if (*freebandwidth >= lev->U) { |
284 | *freebandwidth -= lev->U; |
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285 | return 1; |
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2 | pj | 286 | } |
287 | else |
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159 | pj | 288 | return 0; |
2 | pj | 289 | } |
290 | |||
759 | anton | 291 | /* Called by task_create: Checks task model and creates a task */ |
38 | pj | 292 | static int EDF_public_create(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 293 | { |
294 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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759 | anton | 295 | EDF_task_des *td = &lev->tvec[p]; |
38 | pj | 296 | HARD_TASK_MODEL *h; |
2 | pj | 297 | |
38 | pj | 298 | if (m->pclass != HARD_PCLASS) return -1; |
299 | if (m->level != 0 && m->level != l) return -1; |
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300 | h = (HARD_TASK_MODEL *)m; |
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301 | if (!h->wcet || !h->mit) return -1; |
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657 | anton | 302 | if (h->drel > h->mit) return -1; /* only D <= T supported */ |
159 | pj | 303 | |
657 | anton | 304 | if (!h->drel) { |
759 | anton | 305 | td->rdeadline = h->mit; |
657 | anton | 306 | } else { |
759 | anton | 307 | td->rdeadline = h->drel; |
657 | anton | 308 | } |
309 | |||
159 | pj | 310 | /* check the free bandwidth... */ |
311 | if (lev->flags & EDF_ENABLE_GUARANTEE) { |
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312 | bandwidth_t b; |
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759 | anton | 313 | b = (MAX_BANDWIDTH / td->rdeadline) * h->wcet; |
159 | pj | 314 | |
315 | /* really update lev->U, checking an overflow... */ |
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657 | anton | 316 | if (MAX_BANDWIDTH - lev->U > b) { |
159 | pj | 317 | lev->U += b; |
657 | anton | 318 | } else { |
159 | pj | 319 | return -1; |
657 | anton | 320 | } |
159 | pj | 321 | } |
322 | |||
759 | anton | 323 | td->flags = 0; |
324 | if (h->periodicity == APERIODIC) { |
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325 | td->flags |= EDF_FLAG_SPORADIC; |
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657 | anton | 326 | } |
759 | anton | 327 | td->period = h->mit; |
328 | if (td->rdeadline == td->period) { |
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329 | /* Ensure that D <= T-eps to make dl_timer trigger before eop_timer */ |
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330 | td->rdeadline = td->period - 1; |
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657 | anton | 331 | } |
759 | anton | 332 | td->offset = h->offset; |
333 | td->dl_timer = -1; |
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334 | td->eop_timer = -1; |
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851 | giacomo | 335 | td->off_timer = -1; |
759 | anton | 336 | td->dl_miss = 0; |
337 | td->wcet_miss = 0; |
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338 | td->act_miss = 0; |
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339 | td->nact = 0; |
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2 | pj | 340 | |
341 | /* Enable wcet check */ |
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342 | if (lev->flags & EDF_ENABLE_WCET_CHECK) { |
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343 | proc_table[p].avail_time = h->wcet; |
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344 | proc_table[p].wcet = h->wcet; |
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657 | anton | 345 | proc_table[p].control |= CONTROL_CAP; /* turn on measurement */ |
2 | pj | 346 | } |
347 | |||
348 | return 0; /* OK, also if the task cannot be guaranteed... */ |
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349 | } |
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350 | |||
759 | anton | 351 | /* Reclaim the bandwidth used by the task */ |
38 | pj | 352 | static void EDF_public_detach(LEVEL l, PID p) |
2 | pj | 353 | { |
354 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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759 | anton | 355 | EDF_task_des *td = &lev->tvec[p]; |
2 | pj | 356 | |
159 | pj | 357 | if (lev->flags & EDF_ENABLE_GUARANTEE) { |
759 | anton | 358 | lev->U -= (MAX_BANDWIDTH / td->rdeadline) * proc_table[p].wcet; |
159 | pj | 359 | } |
2 | pj | 360 | } |
361 | |||
759 | anton | 362 | /* Extracts the running task from the ready queue */ |
38 | pj | 363 | static void EDF_public_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 364 | { |
365 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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29 | pj | 366 | iq_extract(p, &lev->ready); |
2 | pj | 367 | } |
368 | |||
759 | anton | 369 | /* Called when the task is preempted or when its budget is exhausted */ |
38 | pj | 370 | static void EDF_public_epilogue(LEVEL l, PID p) |
2 | pj | 371 | { |
372 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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759 | anton | 373 | EDF_task_des *td = &lev->tvec[p]; |
2 | pj | 374 | |
375 | /* check if the wcet is finished... */ |
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657 | anton | 376 | if (lev->flags & EDF_ENABLE_WCET_CHECK) { |
377 | if (proc_table[p].avail_time <= 0) { |
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759 | anton | 378 | TRACER_LOGEVENT(FTrace_EVT_task_wcet_violation, |
379 | (unsigned short int)proc_table[p].context,0); |
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657 | anton | 380 | if (lev->flags & EDF_ENABLE_WCET_EXCEPTION) { |
381 | kern_raise(XWCET_VIOLATION,p); |
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382 | } else { |
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383 | proc_table[p].control &= ~CONTROL_CAP; |
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759 | anton | 384 | td->wcet_miss++; |
657 | anton | 385 | } |
386 | } |
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2 | pj | 387 | } |
657 | anton | 388 | |
389 | /* the task returns to the ready queue */ |
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390 | iq_timespec_insert(p,&lev->ready); |
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391 | proc_table[p].status = EDF_READY; |
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392 | |||
2 | pj | 393 | } |
394 | |||
759 | anton | 395 | /* Called by task_activate or group_activate: Activates the task at time t */ |
657 | anton | 396 | static void EDF_public_activate(LEVEL l, PID p, struct timespec *t) |
2 | pj | 397 | { |
657 | anton | 398 | struct timespec clocktime; |
2 | pj | 399 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
759 | anton | 400 | EDF_task_des *td = &lev->tvec[p]; |
2 | pj | 401 | |
657 | anton | 402 | kern_gettime(&clocktime); |
38 | pj | 403 | |
657 | anton | 404 | /* check if we are not in the SLEEP state */ |
405 | if (proc_table[p].status != SLEEP) { |
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406 | if (lev->flags & EDF_ENABLE_ACT_EXCEPTION) { |
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407 | /* too frequent or wrongful activation: raise exception */ |
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408 | kern_raise(XACTIVATION,p); |
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409 | } else { |
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410 | /* skip the sporadic job, but increase a counter */ |
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411 | #ifdef EDF_DEBUG |
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759 | anton | 412 | edf_printf("At %s: activation of %s skipped\n", pnow(), |
413 | proc_table[p].name); |
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657 | anton | 414 | #endif |
759 | anton | 415 | td->act_miss++; |
657 | anton | 416 | } |
212 | giacomo | 417 | return; |
418 | } |
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419 | |||
657 | anton | 420 | /* set the release time to the activation time + offset */ |
759 | anton | 421 | td->release = *t; |
422 | ADDUSEC2TIMESPEC(td->offset, &td->release); |
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2 | pj | 423 | |
657 | anton | 424 | /* set the absolute deadline to the activation time + offset + rdeadline */ |
759 | anton | 425 | td->adeadline = td->release; |
426 | ADDUSEC2TIMESPEC(td->rdeadline, &td->adeadline); |
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2 | pj | 427 | |
759 | anton | 428 | /* Check if release > clocktime. If yes, release it later, |
657 | anton | 429 | otherwise release it now. */ |
2 | pj | 430 | |
657 | anton | 431 | proc_table[p].status = EDF_IDLE; |
2 | pj | 432 | |
759 | anton | 433 | if (TIMESPEC_A_GT_B(&td->release, &clocktime)) { |
434 | /* release later, post an offset timer */ |
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851 | giacomo | 435 | if (td->off_timer != -1) { |
436 | kern_event_delete(td->off_timer); |
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437 | td->off_timer = -1; |
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438 | } |
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439 | td->off_timer = kern_event_post(&td->release,EDF_timer_offset,(void *)p); |
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657 | anton | 440 | } else { |
441 | /* release now */ |
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442 | EDF_intern_release(p, lev); |
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443 | } |
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2 | pj | 444 | } |
445 | |||
759 | anton | 446 | /* Reinserts a task that has been blocked into the ready queue */ |
38 | pj | 447 | static void EDF_public_unblock(LEVEL l, PID p) |
2 | pj | 448 | { |
449 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
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450 | |||
657 | anton | 451 | /* Insert task in the correct position */ |
2 | pj | 452 | proc_table[p].status = EDF_READY; |
29 | pj | 453 | iq_timespec_insert(p,&lev->ready); |
2 | pj | 454 | } |
455 | |||
759 | anton | 456 | /* Called when a task experiences a synchronization block */ |
38 | pj | 457 | static void EDF_public_block(LEVEL l, PID p) |
2 | pj | 458 | { |
459 | /* Extract the running task from the level |
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460 | . we have already extract it from the ready queue at the dispatch time. |
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461 | . the capacity event have to be removed by the generic kernel |
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462 | . the wcet don't need modification... |
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463 | . the state of the task is set by the calling function |
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464 | . the deadline must remain... |
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465 | |||
466 | So, we do nothing!!! |
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467 | */ |
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468 | } |
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469 | |||
759 | anton | 470 | /* Called by task_endcycle or task_sleep: Ends the current instance */ |
38 | pj | 471 | static int EDF_public_message(LEVEL l, PID p, void *m) |
2 | pj | 472 | { |
473 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
759 | anton | 474 | EDF_task_des *td = &lev->tvec[p]; |
2 | pj | 475 | |
212 | giacomo | 476 | switch((long)(m)) { |
657 | anton | 477 | /* task_endcycle() */ |
478 | case 0: |
||
479 | /* if there are no pending jobs */ |
||
759 | anton | 480 | if (td->nact == 0) { |
657 | anton | 481 | /* remove deadline timer, if any */ |
759 | anton | 482 | if (td->dl_timer != -1) { |
483 | kern_event_delete(td->dl_timer); |
||
484 | td->dl_timer = -1; |
||
657 | anton | 485 | } |
759 | anton | 486 | if (td->flags & EDF_FLAG_SPORADIC) { |
657 | anton | 487 | /* sporadic task */ |
759 | anton | 488 | if (!(td->flags & EDF_FLAG_SPOR_LATE)) { |
657 | anton | 489 | proc_table[p].status = EDF_WAIT; |
490 | } else { |
||
491 | /* it's late, move it directly to SLEEP */ |
||
492 | proc_table[p].status = SLEEP; |
||
759 | anton | 493 | td->flags &= ~EDF_FLAG_SPOR_LATE; |
657 | anton | 494 | } |
495 | } else { |
||
496 | /* periodic task */ |
||
497 | proc_table[p].status = EDF_IDLE; |
||
498 | } |
||
499 | } else { |
||
500 | /* we are late / there are pending jobs */ |
||
759 | anton | 501 | td->nact--; |
657 | anton | 502 | /* compute and assign absolute deadline */ |
759 | anton | 503 | *iq_query_timespec(p,&lev->ready) = td->adeadline; |
657 | anton | 504 | iq_timespec_insert(p,&lev->ready); |
505 | /* increase assigned deadline */ |
||
759 | anton | 506 | ADDUSEC2TIMESPEC(td->period, &td->adeadline); |
657 | anton | 507 | #ifdef EDF_DEBUG |
508 | edf_printf("(Late) At %s: releasing %s with deadline %s\n", |
||
759 | anton | 509 | pnow(),proc_table[p].name,ptime1(&td->adeadline)); |
657 | anton | 510 | #endif |
511 | } |
||
512 | break; |
||
513 | |||
514 | /* task_sleep() */ |
||
515 | case 1: |
||
516 | /* remove deadline timer, if any */ |
||
759 | anton | 517 | if (td->dl_timer != -1) { |
518 | kern_event_delete(td->dl_timer); |
||
519 | td->dl_timer = -1; |
||
657 | anton | 520 | } |
759 | anton | 521 | if (td->flags & EDF_FLAG_SPORADIC) { |
657 | anton | 522 | /* sporadic task */ |
759 | anton | 523 | if (!(td->flags & EDF_FLAG_SPOR_LATE)) { |
212 | giacomo | 524 | proc_table[p].status = EDF_WAIT; |
657 | anton | 525 | } else { |
526 | /* it's late, move it directly to SLEEP */ |
||
527 | proc_table[p].status = SLEEP; |
||
759 | anton | 528 | td->flags &= ~EDF_FLAG_SPOR_LATE; |
657 | anton | 529 | } |
530 | } else { |
||
531 | /* periodic task */ |
||
759 | anton | 532 | if (!(td->nact > 0)) { |
657 | anton | 533 | /* we are on time. go to the EDF_WAIT state */ |
534 | proc_table[p].status = EDF_WAIT; |
||
535 | } else { |
||
536 | /* we are late. delete pending activations and go to SLEEP */ |
||
759 | anton | 537 | td->nact = 0; |
657 | anton | 538 | proc_table[p].status = SLEEP; |
539 | /* remove end of period timer */ |
||
759 | anton | 540 | if (td->eop_timer != -1) { |
541 | kern_event_delete(td->eop_timer); |
||
542 | td->eop_timer = -1; |
||
657 | anton | 543 | } |
544 | } |
||
545 | } |
||
546 | break; |
||
547 | } |
||
212 | giacomo | 548 | |
657 | anton | 549 | if (lev->flags & EDF_ENABLE_WCET_CHECK) { |
550 | proc_table[p].control |= CONTROL_CAP; |
||
212 | giacomo | 551 | } |
691 | anton | 552 | jet_update_endcycle(); /* Update the Jet data... */ |
657 | anton | 553 | proc_table[p].avail_time = proc_table[p].wcet; |
759 | anton | 554 | TRACER_LOGEVENT(FTrace_EVT_task_end_cycle, |
555 | (unsigned short int)proc_table[p].context,(unsigned int)l); |
||
657 | anton | 556 | |
38 | pj | 557 | return 0; |
212 | giacomo | 558 | |
2 | pj | 559 | } |
560 | |||
759 | anton | 561 | /* End the task and free the resources at the end of the period */ |
38 | pj | 562 | static void EDF_public_end(LEVEL l, PID p) |
2 | pj | 563 | { |
657 | anton | 564 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
759 | anton | 565 | EDF_task_des *td = &lev->tvec[p]; |
2 | pj | 566 | |
759 | anton | 567 | if (!(td->flags & EDF_FLAG_SPOR_LATE)) { |
657 | anton | 568 | /* remove the deadline timer (if any) */ |
759 | anton | 569 | if (td->dl_timer != -1) { |
570 | kern_event_delete(td->dl_timer); |
||
571 | td->dl_timer = -1; |
||
657 | anton | 572 | } |
573 | proc_table[p].status = EDF_ZOMBIE; |
||
574 | } else { |
||
575 | /* no endperiod timer will be fired, free the task now! */ |
||
576 | proc_table[p].status = FREE; |
||
577 | iq_insertfirst(p,&freedesc); |
||
578 | /* free the allocated bandwidth */ |
||
759 | anton | 579 | lev->U -= (MAX_BANDWIDTH/td->rdeadline) * proc_table[p].wcet; |
657 | anton | 580 | } |
2 | pj | 581 | } |
582 | |||
759 | anton | 583 | /**** Private generic kernel interface functions (guest calls) ****/ |
584 | |||
585 | /* Insert a guest task */ |
||
38 | pj | 586 | static void EDF_private_insert(LEVEL l, PID p, TASK_MODEL *m) |
2 | pj | 587 | { |
588 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
759 | anton | 589 | EDF_task_des *td = &lev->tvec[p]; |
38 | pj | 590 | JOB_TASK_MODEL *job; |
2 | pj | 591 | |
38 | pj | 592 | if (m->pclass != JOB_PCLASS || (m->level != 0 && m->level != l) ) { |
593 | kern_raise(XINVALID_TASK, p); |
||
594 | return; |
||
595 | } |
||
2 | pj | 596 | |
38 | pj | 597 | job = (JOB_TASK_MODEL *)m; |
2 | pj | 598 | |
38 | pj | 599 | /* Insert task in the correct position */ |
29 | pj | 600 | *iq_query_timespec(p, &lev->ready) = job->deadline; |
38 | pj | 601 | iq_timespec_insert(p,&lev->ready); |
602 | proc_table[p].status = EDF_READY; |
||
2 | pj | 603 | |
837 | giacomo | 604 | if (td->dl_timer != -1) { |
605 | kern_event_delete(td->dl_timer); |
||
606 | td->dl_timer = -1; |
||
607 | } |
||
2 | pj | 608 | |
759 | anton | 609 | td->period = job->period; |
38 | pj | 610 | |
657 | anton | 611 | if (!job->noraiseexc) { |
759 | anton | 612 | td->dl_timer = kern_event_post(iq_query_timespec(p, &lev->ready), |
657 | anton | 613 | EDF_timer_guest_deadline,(void *)p); |
38 | pj | 614 | } |
2 | pj | 615 | } |
616 | |||
759 | anton | 617 | /* Dispatch a guest task */ |
38 | pj | 618 | static void EDF_private_dispatch(LEVEL l, PID p, int nostop) |
2 | pj | 619 | { |
620 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
621 | |||
622 | /* the task state is set to EXE by the scheduler() |
||
623 | we extract the task from the ready queue |
||
624 | NB: we can't assume that p is the first task in the queue!!! */ |
||
29 | pj | 625 | iq_extract(p, &lev->ready); |
2 | pj | 626 | } |
627 | |||
759 | anton | 628 | /* Called when a guest task is preempted/out of budget */ |
38 | pj | 629 | static void EDF_private_epilogue(LEVEL l, PID p) |
2 | pj | 630 | { |
631 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
632 | |||
633 | /* the task has been preempted. it returns into the ready queue... */ |
||
29 | pj | 634 | iq_timespec_insert(p,&lev->ready); |
2 | pj | 635 | proc_table[p].status = EDF_READY; |
636 | } |
||
637 | |||
759 | anton | 638 | /* Extract a guest task */ |
38 | pj | 639 | static void EDF_private_extract(LEVEL l, PID p) |
2 | pj | 640 | { |
641 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
759 | anton | 642 | EDF_task_des *td = &lev->tvec[p]; |
2 | pj | 643 | |
644 | if (proc_table[p].status == EDF_READY) |
||
29 | pj | 645 | iq_extract(p, &lev->ready); |
2 | pj | 646 | |
647 | /* we remove the deadline timer, because the slice is finished */ |
||
759 | anton | 648 | if (td->dl_timer != -1) { |
649 | kern_event_delete(td->dl_timer); |
||
650 | td->dl_timer = -1; |
||
2 | pj | 651 | } |
652 | |||
653 | } |
||
654 | |||
655 | |||
759 | anton | 656 | /**** Level registration function ****/ |
657 | |||
38 | pj | 658 | LEVEL EDF_register_level(int flags) |
2 | pj | 659 | { |
660 | LEVEL l; /* the level that we register */ |
||
661 | EDF_level_des *lev; /* for readableness only */ |
||
851 | giacomo | 662 | int i; |
2 | pj | 663 | |
664 | printk("EDF_register_level\n"); |
||
665 | |||
666 | /* request an entry in the level_table */ |
||
38 | pj | 667 | l = level_alloc_descriptor(sizeof(EDF_level_des)); |
2 | pj | 668 | |
38 | pj | 669 | lev = (EDF_level_des *)level_table[l]; |
2 | pj | 670 | |
671 | /* fill the standard descriptor */ |
||
38 | pj | 672 | lev->l.private_insert = EDF_private_insert; |
673 | lev->l.private_extract = EDF_private_extract; |
||
674 | lev->l.private_dispatch = EDF_private_dispatch; |
||
675 | lev->l.private_epilogue = EDF_private_epilogue; |
||
2 | pj | 676 | |
38 | pj | 677 | lev->l.public_scheduler = EDF_public_scheduler; |
2 | pj | 678 | if (flags & EDF_ENABLE_GUARANTEE) |
38 | pj | 679 | lev->l.public_guarantee = EDF_public_guarantee; |
2 | pj | 680 | else |
38 | pj | 681 | lev->l.public_guarantee = NULL; |
2 | pj | 682 | |
38 | pj | 683 | lev->l.public_create = EDF_public_create; |
684 | lev->l.public_detach = EDF_public_detach; |
||
685 | lev->l.public_end = EDF_public_end; |
||
686 | lev->l.public_dispatch = EDF_public_dispatch; |
||
687 | lev->l.public_epilogue = EDF_public_epilogue; |
||
688 | lev->l.public_activate = EDF_public_activate; |
||
689 | lev->l.public_unblock = EDF_public_unblock; |
||
690 | lev->l.public_block = EDF_public_block; |
||
691 | lev->l.public_message = EDF_public_message; |
||
2 | pj | 692 | |
759 | anton | 693 | iq_init(&lev->ready, &freedesc, 0); |
2 | pj | 694 | |
159 | pj | 695 | lev->flags = flags; |
759 | anton | 696 | if (lev->flags & EDF_ENABLE_WCET_EXCEPTION) { |
697 | lev->flags |= EDF_ENABLE_WCET_CHECK; |
||
698 | } |
||
699 | if (lev->flags & EDF_ENABLE_DL_EXCEPTION) { |
||
700 | lev->flags |= EDF_ENABLE_DL_CHECK; |
||
701 | } |
||
38 | pj | 702 | |
759 | anton | 703 | lev->U = 0; |
704 | |||
851 | giacomo | 705 | for (i=0;i<MAX_PROC;i++) { |
706 | EDF_task_des *td = &lev->tvec[i]; |
||
707 | td->flags = 0; |
||
708 | td->dl_timer = -1; |
||
709 | td->eop_timer = -1; |
||
710 | td->off_timer = -1; |
||
711 | td->dl_miss = 0; |
||
712 | td->wcet_miss = 0; |
||
713 | td->act_miss = 0; |
||
714 | td->nact = 0; |
||
715 | } |
||
716 | |||
38 | pj | 717 | return l; |
2 | pj | 718 | } |
719 | |||
759 | anton | 720 | |
721 | /**** Public utility functions ****/ |
||
722 | |||
723 | /* Get the bandwidth used by the level */ |
||
2 | pj | 724 | bandwidth_t EDF_usedbandwidth(LEVEL l) |
725 | { |
||
726 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
38 | pj | 727 | |
728 | return lev->U; |
||
2 | pj | 729 | } |
730 | |||
759 | anton | 731 | /* Get the number of missed deadlines for a task */ |
732 | int EDF_get_dl_miss(PID p) |
||
657 | anton | 733 | { |
734 | LEVEL l = proc_table[p].task_level; |
||
735 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
759 | anton | 736 | EDF_task_des *td = &lev->tvec[p]; |
737 | |||
738 | return td->dl_miss; |
||
657 | anton | 739 | } |
740 | |||
759 | anton | 741 | /* Get the number of execution overruns for a task */ |
742 | int EDF_get_wcet_miss(PID p) |
||
657 | anton | 743 | { |
744 | LEVEL l = proc_table[p].task_level; |
||
745 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
759 | anton | 746 | EDF_task_des *td = &lev->tvec[p]; |
657 | anton | 747 | |
759 | anton | 748 | return td->wcet_miss; |
657 | anton | 749 | } |
750 | |||
759 | anton | 751 | /* Get the number of skipped activations for a task */ |
752 | int EDF_get_act_miss(PID p) |
||
657 | anton | 753 | { |
754 | LEVEL l = proc_table[p].task_level; |
||
755 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
||
759 | anton | 756 | EDF_task_des *td = &lev->tvec[p]; |
757 | |||
758 | return td->act_miss; |
||
657 | anton | 759 | } |
760 | |||
759 | anton | 761 | /* Get the current number of queued activations for a task */ |
762 | int EDF_get_nact(PID p) |
||
657 | anton | 763 | { |
764 | LEVEL l = proc_table[p].task_level; |
||
759 | anton | 765 | |
657 | anton | 766 | EDF_level_des *lev = (EDF_level_des *)(level_table[l]); |
759 | anton | 767 | EDF_task_des *td = &lev->tvec[p]; |
657 | anton | 768 | |
759 | anton | 769 | return td->nact; |
657 | anton | 770 | } |
771 |