1 | /* SPDX-License-Identifier: BSD-2-Clause */ |
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2 | |
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3 | /** |
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4 | * @file |
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5 | * |
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6 | * @ingroup RTEMSImplClassicRateMonotonic |
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7 | * |
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8 | * @brief This source file contains the implementation of |
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9 | * rtems_rate_monotonic_period_states(). |
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10 | */ |
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11 | |
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12 | /* |
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13 | * COPYRIGHT (c) 1989-2010. |
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14 | * On-Line Applications Research Corporation (OAR). |
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15 | * Copyright (c) 2016 embedded brains GmbH & Co. KG |
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16 | * COPYRIGHT (c) 2016 Kuan-Hsun Chen. |
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17 | * |
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18 | * Redistribution and use in source and binary forms, with or without |
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19 | * modification, are permitted provided that the following conditions |
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20 | * are met: |
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21 | * 1. Redistributions of source code must retain the above copyright |
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22 | * notice, this list of conditions and the following disclaimer. |
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23 | * 2. Redistributions in binary form must reproduce the above copyright |
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24 | * notice, this list of conditions and the following disclaimer in the |
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25 | * documentation and/or other materials provided with the distribution. |
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26 | * |
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27 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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28 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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29 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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30 | * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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31 | * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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32 | * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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33 | * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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34 | * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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35 | * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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36 | * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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37 | * POSSIBILITY OF SUCH DAMAGE. |
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38 | */ |
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39 | |
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40 | #ifdef HAVE_CONFIG_H |
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41 | #include "config.h" |
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42 | #endif |
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43 | |
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44 | #include <rtems/rtems/ratemonimpl.h> |
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45 | #include <rtems/score/schedulerimpl.h> |
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46 | #include <rtems/score/todimpl.h> |
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47 | |
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48 | void _Rate_monotonic_Get_status( |
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49 | const Rate_monotonic_Control *the_period, |
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50 | Timestamp_Control *wall_since_last_period, |
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51 | Timestamp_Control *cpu_since_last_period |
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52 | ) |
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53 | { |
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54 | Timestamp_Control uptime; |
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55 | Thread_Control *owning_thread = the_period->owner; |
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56 | Timestamp_Control used; |
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57 | |
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58 | /* |
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59 | * Determine elapsed wall time since period initiated. |
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60 | */ |
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61 | _TOD_Get_uptime( &uptime ); |
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62 | _Timestamp_Subtract( |
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63 | &the_period->time_period_initiated, &uptime, wall_since_last_period |
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64 | ); |
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65 | |
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66 | /* |
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67 | * Determine cpu usage since period initiated. |
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68 | */ |
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69 | used = _Thread_Get_CPU_time_used( owning_thread ); |
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70 | |
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71 | /* used = current cpu usage - cpu usage at start of period */ |
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72 | _Timestamp_Subtract( |
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73 | &the_period->cpu_usage_period_initiated, |
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74 | &used, |
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75 | cpu_since_last_period |
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76 | ); |
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77 | } |
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78 | |
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79 | static void _Rate_monotonic_Release_postponed_job( |
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80 | Rate_monotonic_Control *the_period, |
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81 | Thread_Control *owner, |
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82 | rtems_interval next_length, |
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83 | ISR_lock_Context *lock_context |
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84 | ) |
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85 | { |
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86 | Per_CPU_Control *cpu_self; |
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87 | Thread_queue_Context queue_context; |
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88 | |
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89 | --the_period->postponed_jobs; |
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90 | _Scheduler_Release_job( |
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91 | owner, |
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92 | &the_period->Priority, |
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93 | the_period->latest_deadline, |
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94 | &queue_context |
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95 | ); |
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96 | |
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97 | cpu_self = _Thread_Dispatch_disable_critical( lock_context ); |
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98 | _Rate_monotonic_Release( the_period, lock_context ); |
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99 | _Thread_Priority_update( &queue_context ); |
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100 | _Thread_Dispatch_direct( cpu_self ); |
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101 | } |
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102 | |
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103 | static void _Rate_monotonic_Release_job( |
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104 | Rate_monotonic_Control *the_period, |
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105 | Thread_Control *owner, |
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106 | rtems_interval next_length, |
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107 | ISR_lock_Context *lock_context |
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108 | ) |
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109 | { |
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110 | Per_CPU_Control *cpu_self; |
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111 | Thread_queue_Context queue_context; |
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112 | uint64_t deadline; |
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113 | |
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114 | cpu_self = _Thread_Dispatch_disable_critical( lock_context ); |
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115 | |
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116 | deadline = _Watchdog_Per_CPU_insert_ticks( |
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117 | &the_period->Timer, |
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118 | cpu_self, |
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119 | next_length |
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120 | ); |
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121 | _Scheduler_Release_job( |
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122 | owner, |
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123 | &the_period->Priority, |
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124 | deadline, |
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125 | &queue_context |
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126 | ); |
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127 | |
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128 | _Rate_monotonic_Release( the_period, lock_context ); |
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129 | _Thread_Priority_update( &queue_context ); |
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130 | _Thread_Dispatch_enable( cpu_self ); |
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131 | } |
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132 | |
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133 | void _Rate_monotonic_Restart( |
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134 | Rate_monotonic_Control *the_period, |
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135 | Thread_Control *owner, |
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136 | ISR_lock_Context *lock_context |
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137 | ) |
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138 | { |
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139 | /* |
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140 | * Set the starting point and the CPU time used for the statistics. |
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141 | */ |
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142 | _TOD_Get_uptime( &the_period->time_period_initiated ); |
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143 | the_period->cpu_usage_period_initiated = _Thread_Get_CPU_time_used( owner ); |
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144 | |
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145 | _Rate_monotonic_Release_job( |
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146 | the_period, |
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147 | owner, |
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148 | the_period->next_length, |
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149 | lock_context |
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150 | ); |
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151 | } |
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152 | |
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153 | static void _Rate_monotonic_Update_statistics( |
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154 | Rate_monotonic_Control *the_period |
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155 | ) |
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156 | { |
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157 | Timestamp_Control executed; |
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158 | Timestamp_Control since_last_period; |
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159 | Rate_monotonic_Statistics *stats; |
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160 | |
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161 | /* |
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162 | * Assume we are only called in states where it is appropriate |
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163 | * to update the statistics. This should only be RATE_MONOTONIC_ACTIVE |
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164 | * and RATE_MONOTONIC_EXPIRED. |
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165 | */ |
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166 | |
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167 | /* |
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168 | * Update the counts. |
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169 | */ |
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170 | stats = &the_period->Statistics; |
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171 | stats->count++; |
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172 | |
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173 | if ( the_period->state == RATE_MONOTONIC_EXPIRED ) |
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174 | stats->missed_count++; |
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175 | |
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176 | /* |
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177 | * Grab status for time statistics. |
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178 | */ |
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179 | _Rate_monotonic_Get_status( the_period, &since_last_period, &executed ); |
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180 | |
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181 | /* |
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182 | * Update CPU time |
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183 | */ |
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184 | _Timestamp_Add_to( &stats->total_cpu_time, &executed ); |
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185 | |
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186 | if ( _Timestamp_Less_than( &executed, &stats->min_cpu_time ) ) |
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187 | stats->min_cpu_time = executed; |
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188 | |
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189 | if ( _Timestamp_Greater_than( &executed, &stats->max_cpu_time ) ) |
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190 | stats->max_cpu_time = executed; |
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191 | |
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192 | /* |
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193 | * Update Wall time |
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194 | */ |
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195 | _Timestamp_Add_to( &stats->total_wall_time, &since_last_period ); |
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196 | |
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197 | if ( _Timestamp_Less_than( &since_last_period, &stats->min_wall_time ) ) |
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198 | stats->min_wall_time = since_last_period; |
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199 | |
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200 | if ( _Timestamp_Greater_than( &since_last_period, &stats->max_wall_time ) ) |
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201 | stats->max_wall_time = since_last_period; |
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202 | } |
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203 | |
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204 | static rtems_status_code _Rate_monotonic_Get_status_for_state( |
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205 | rtems_rate_monotonic_period_states state |
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206 | ) |
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207 | { |
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208 | switch ( state ) { |
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209 | case RATE_MONOTONIC_INACTIVE: |
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210 | return RTEMS_NOT_DEFINED; |
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211 | case RATE_MONOTONIC_EXPIRED: |
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212 | return RTEMS_TIMEOUT; |
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213 | default: |
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214 | _Assert( state == RATE_MONOTONIC_ACTIVE ); |
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215 | return RTEMS_SUCCESSFUL; |
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216 | } |
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217 | } |
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218 | |
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219 | static rtems_status_code _Rate_monotonic_Activate( |
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220 | Rate_monotonic_Control *the_period, |
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221 | rtems_interval length, |
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222 | Thread_Control *executing, |
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223 | ISR_lock_Context *lock_context |
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224 | ) |
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225 | { |
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226 | _Assert( the_period->postponed_jobs == 0 ); |
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227 | the_period->state = RATE_MONOTONIC_ACTIVE; |
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228 | the_period->next_length = length; |
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229 | _Rate_monotonic_Restart( the_period, executing, lock_context ); |
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230 | return RTEMS_SUCCESSFUL; |
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231 | } |
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232 | |
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233 | static rtems_status_code _Rate_monotonic_Block_while_active( |
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234 | Rate_monotonic_Control *the_period, |
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235 | rtems_interval length, |
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236 | Thread_Control *executing, |
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237 | ISR_lock_Context *lock_context |
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238 | ) |
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239 | { |
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240 | Per_CPU_Control *cpu_self; |
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241 | bool success; |
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242 | |
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243 | /* |
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244 | * Update statistics from the concluding period. |
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245 | */ |
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246 | _Rate_monotonic_Update_statistics( the_period ); |
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247 | |
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248 | /* |
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249 | * This tells the _Rate_monotonic_Timeout that this task is |
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250 | * in the process of blocking on the period and that we |
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251 | * may be changing the length of the next period. |
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252 | */ |
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253 | the_period->next_length = length; |
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254 | executing->Wait.return_argument = the_period; |
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255 | _Thread_Wait_flags_set( executing, RATE_MONOTONIC_INTEND_TO_BLOCK ); |
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256 | |
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257 | cpu_self = _Thread_Dispatch_disable_critical( lock_context ); |
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258 | _Rate_monotonic_Release( the_period, lock_context ); |
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259 | |
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260 | _Thread_Set_state( executing, STATES_WAITING_FOR_PERIOD ); |
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261 | |
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262 | success = _Thread_Wait_flags_try_change_acquire( |
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263 | executing, |
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264 | RATE_MONOTONIC_INTEND_TO_BLOCK, |
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265 | RATE_MONOTONIC_BLOCKED |
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266 | ); |
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267 | if ( !success ) { |
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268 | _Assert( |
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269 | _Thread_Wait_flags_get( executing ) == THREAD_WAIT_STATE_READY |
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270 | ); |
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271 | _Thread_Unblock( executing ); |
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272 | } |
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273 | |
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274 | _Thread_Dispatch_direct( cpu_self ); |
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275 | return RTEMS_SUCCESSFUL; |
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276 | } |
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277 | |
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278 | /* |
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279 | * There are two possible cases: one is that the previous deadline is missed, |
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280 | * The other is that the number of postponed jobs is not 0, but the current |
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281 | * deadline is still not expired, i.e., state = RATE_MONOTONIC_ACTIVE. |
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282 | */ |
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283 | static rtems_status_code _Rate_monotonic_Block_while_expired( |
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284 | Rate_monotonic_Control *the_period, |
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285 | rtems_interval length, |
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286 | Thread_Control *executing, |
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287 | ISR_lock_Context *lock_context |
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288 | ) |
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289 | { |
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290 | /* |
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291 | * No matter the just finished jobs in time or not, |
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292 | * they are actually missing their deadlines already. |
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293 | */ |
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294 | the_period->state = RATE_MONOTONIC_EXPIRED; |
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295 | |
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296 | /* |
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297 | * Update statistics from the concluding period |
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298 | */ |
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299 | _Rate_monotonic_Update_statistics( the_period ); |
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300 | |
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301 | the_period->state = RATE_MONOTONIC_ACTIVE; |
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302 | the_period->next_length = length; |
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303 | |
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304 | _Rate_monotonic_Release_postponed_job( |
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305 | the_period, |
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306 | executing, |
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307 | length, |
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308 | lock_context |
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309 | ); |
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310 | return RTEMS_TIMEOUT; |
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311 | } |
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312 | |
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313 | rtems_status_code rtems_rate_monotonic_period( |
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314 | rtems_id id, |
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315 | rtems_interval length |
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316 | ) |
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317 | { |
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318 | Rate_monotonic_Control *the_period; |
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319 | ISR_lock_Context lock_context; |
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320 | Thread_Control *executing; |
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321 | rtems_status_code status; |
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322 | rtems_rate_monotonic_period_states state; |
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323 | |
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324 | the_period = _Rate_monotonic_Get( id, &lock_context ); |
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325 | if ( the_period == NULL ) { |
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326 | return RTEMS_INVALID_ID; |
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327 | } |
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328 | |
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329 | executing = _Thread_Executing; |
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330 | if ( executing != the_period->owner ) { |
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331 | _ISR_lock_ISR_enable( &lock_context ); |
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332 | return RTEMS_NOT_OWNER_OF_RESOURCE; |
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333 | } |
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334 | |
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335 | _Rate_monotonic_Acquire_critical( the_period, &lock_context ); |
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336 | |
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337 | state = the_period->state; |
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338 | |
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339 | if ( length == RTEMS_PERIOD_STATUS ) { |
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340 | status = _Rate_monotonic_Get_status_for_state( state ); |
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341 | _Rate_monotonic_Release( the_period, &lock_context ); |
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342 | } else { |
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343 | switch ( state ) { |
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344 | case RATE_MONOTONIC_ACTIVE: |
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345 | |
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346 | if( the_period->postponed_jobs > 0 ){ |
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347 | /* |
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348 | * If the number of postponed jobs is not 0, it means the |
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349 | * previous postponed instance is finished without exceeding |
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350 | * the current period deadline. |
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351 | * |
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352 | * Do nothing on the watchdog deadline assignment but release the |
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353 | * next remaining postponed job. |
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354 | */ |
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355 | status = _Rate_monotonic_Block_while_expired( |
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356 | the_period, |
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357 | length, |
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358 | executing, |
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359 | &lock_context |
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360 | ); |
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361 | }else{ |
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362 | /* |
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363 | * Normal case that no postponed jobs and no expiration, so wait for |
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364 | * the period and update the deadline of watchdog accordingly. |
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365 | */ |
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366 | status = _Rate_monotonic_Block_while_active( |
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367 | the_period, |
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368 | length, |
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369 | executing, |
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370 | &lock_context |
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371 | ); |
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372 | } |
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373 | break; |
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374 | case RATE_MONOTONIC_INACTIVE: |
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375 | status = _Rate_monotonic_Activate( |
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376 | the_period, |
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377 | length, |
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378 | executing, |
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379 | &lock_context |
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380 | ); |
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381 | break; |
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382 | default: |
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383 | /* |
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384 | * As now this period was already TIMEOUT, there must be at least one |
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385 | * postponed job recorded by the watchdog. The one which exceeded |
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386 | * the previous deadlines was just finished. |
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387 | * |
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388 | * Maybe there is more than one job postponed due to the preemption or |
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389 | * the previous finished job. |
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390 | */ |
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391 | _Assert( state == RATE_MONOTONIC_EXPIRED ); |
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392 | status = _Rate_monotonic_Block_while_expired( |
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393 | the_period, |
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394 | length, |
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395 | executing, |
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396 | &lock_context |
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397 | ); |
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398 | break; |
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399 | } |
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400 | } |
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401 | |
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402 | return status; |
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403 | } |
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