250 lines
12 KiB
Plaintext
250 lines
12 KiB
Plaintext
High resolution timers and dynamic ticks design notes
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Further information can be found in the paper of the OLS 2006 talk "hrtimers
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and beyond". The paper is part of the OLS 2006 Proceedings Volume 1, which can
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be found on the OLS website:
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http://www.linuxsymposium.org/2006/linuxsymposium_procv1.pdf
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The slides to this talk are available from:
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http://tglx.de/projects/hrtimers/ols2006-hrtimers.pdf
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The slides contain five figures (pages 2, 15, 18, 20, 22), which illustrate the
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changes in the time(r) related Linux subsystems. Figure #1 (p. 2) shows the
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design of the Linux time(r) system before hrtimers and other building blocks
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got merged into mainline.
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Note: the paper and the slides are talking about "clock event source", while we
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switched to the name "clock event devices" in meantime.
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The design contains the following basic building blocks:
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- hrtimer base infrastructure
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- timeofday and clock source management
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- clock event management
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- high resolution timer functionality
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- dynamic ticks
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hrtimer base infrastructure
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---------------------------
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The hrtimer base infrastructure was merged into the 2.6.16 kernel. Details of
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the base implementation are covered in Documentation/hrtimers/hrtimer.txt. See
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also figure #2 (OLS slides p. 15)
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The main differences to the timer wheel, which holds the armed timer_list type
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timers are:
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- time ordered enqueueing into a rb-tree
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- independent of ticks (the processing is based on nanoseconds)
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timeofday and clock source management
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-------------------------------------
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John Stultz's Generic Time Of Day (GTOD) framework moves a large portion of
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code out of the architecture-specific areas into a generic management
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framework, as illustrated in figure #3 (OLS slides p. 18). The architecture
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specific portion is reduced to the low level hardware details of the clock
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sources, which are registered in the framework and selected on a quality based
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decision. The low level code provides hardware setup and readout routines and
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initializes data structures, which are used by the generic time keeping code to
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convert the clock ticks to nanosecond based time values. All other time keeping
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related functionality is moved into the generic code. The GTOD base patch got
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merged into the 2.6.18 kernel.
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Further information about the Generic Time Of Day framework is available in the
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OLS 2005 Proceedings Volume 1:
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http://www.linuxsymposium.org/2005/linuxsymposium_procv1.pdf
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The paper "We Are Not Getting Any Younger: A New Approach to Time and
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Timers" was written by J. Stultz, D.V. Hart, & N. Aravamudan.
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Figure #3 (OLS slides p.18) illustrates the transformation.
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clock event management
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----------------------
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While clock sources provide read access to the monotonically increasing time
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value, clock event devices are used to schedule the next event
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interrupt(s). The next event is currently defined to be periodic, with its
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period defined at compile time. The setup and selection of the event device
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for various event driven functionalities is hardwired into the architecture
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dependent code. This results in duplicated code across all architectures and
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makes it extremely difficult to change the configuration of the system to use
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event interrupt devices other than those already built into the
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architecture. Another implication of the current design is that it is necessary
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to touch all the architecture-specific implementations in order to provide new
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functionality like high resolution timers or dynamic ticks.
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The clock events subsystem tries to address this problem by providing a generic
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solution to manage clock event devices and their usage for the various clock
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event driven kernel functionalities. The goal of the clock event subsystem is
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to minimize the clock event related architecture dependent code to the pure
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hardware related handling and to allow easy addition and utilization of new
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clock event devices. It also minimizes the duplicated code across the
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architectures as it provides generic functionality down to the interrupt
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service handler, which is almost inherently hardware dependent.
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Clock event devices are registered either by the architecture dependent boot
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code or at module insertion time. Each clock event device fills a data
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structure with clock-specific property parameters and callback functions. The
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clock event management decides, by using the specified property parameters, the
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set of system functions a clock event device will be used to support. This
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includes the distinction of per-CPU and per-system global event devices.
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System-level global event devices are used for the Linux periodic tick. Per-CPU
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event devices are used to provide local CPU functionality such as process
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accounting, profiling, and high resolution timers.
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The management layer assignes one or more of the folliwing functions to a clock
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event device:
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- system global periodic tick (jiffies update)
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- cpu local update_process_times
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- cpu local profiling
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- cpu local next event interrupt (non periodic mode)
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The clock event device delegates the selection of those timer interrupt related
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functions completely to the management layer. The clock management layer stores
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a function pointer in the device description structure, which has to be called
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from the hardware level handler. This removes a lot of duplicated code from the
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architecture specific timer interrupt handlers and hands the control over the
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clock event devices and the assignment of timer interrupt related functionality
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to the core code.
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The clock event layer API is rather small. Aside from the clock event device
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registration interface it provides functions to schedule the next event
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interrupt, clock event device notification service and support for suspend and
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resume.
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The framework adds about 700 lines of code which results in a 2KB increase of
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the kernel binary size. The conversion of i386 removes about 100 lines of
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code. The binary size decrease is in the range of 400 byte. We believe that the
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increase of flexibility and the avoidance of duplicated code across
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architectures justifies the slight increase of the binary size.
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The conversion of an architecture has no functional impact, but allows to
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utilize the high resolution and dynamic tick functionalites without any change
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to the clock event device and timer interrupt code. After the conversion the
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enabling of high resolution timers and dynamic ticks is simply provided by
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adding the kernel/time/Kconfig file to the architecture specific Kconfig and
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adding the dynamic tick specific calls to the idle routine (a total of 3 lines
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added to the idle function and the Kconfig file)
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Figure #4 (OLS slides p.20) illustrates the transformation.
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high resolution timer functionality
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-----------------------------------
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During system boot it is not possible to use the high resolution timer
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functionality, while making it possible would be difficult and would serve no
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useful function. The initialization of the clock event device framework, the
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clock source framework (GTOD) and hrtimers itself has to be done and
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appropriate clock sources and clock event devices have to be registered before
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the high resolution functionality can work. Up to the point where hrtimers are
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initialized, the system works in the usual low resolution periodic mode. The
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clock source and the clock event device layers provide notification functions
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which inform hrtimers about availability of new hardware. hrtimers validates
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the usability of the registered clock sources and clock event devices before
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switching to high resolution mode. This ensures also that a kernel which is
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configured for high resolution timers can run on a system which lacks the
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necessary hardware support.
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The high resolution timer code does not support SMP machines which have only
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global clock event devices. The support of such hardware would involve IPI
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calls when an interrupt happens. The overhead would be much larger than the
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benefit. This is the reason why we currently disable high resolution and
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dynamic ticks on i386 SMP systems which stop the local APIC in C3 power
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state. A workaround is available as an idea, but the problem has not been
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tackled yet.
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The time ordered insertion of timers provides all the infrastructure to decide
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whether the event device has to be reprogrammed when a timer is added. The
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decision is made per timer base and synchronized across per-cpu timer bases in
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a support function. The design allows the system to utilize separate per-CPU
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clock event devices for the per-CPU timer bases, but currently only one
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reprogrammable clock event device per-CPU is utilized.
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When the timer interrupt happens, the next event interrupt handler is called
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from the clock event distribution code and moves expired timers from the
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red-black tree to a separate double linked list and invokes the softirq
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handler. An additional mode field in the hrtimer structure allows the system to
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execute callback functions directly from the next event interrupt handler. This
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is restricted to code which can safely be executed in the hard interrupt
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context. This applies, for example, to the common case of a wakeup function as
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used by nanosleep. The advantage of executing the handler in the interrupt
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context is the avoidance of up to two context switches - from the interrupted
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context to the softirq and to the task which is woken up by the expired
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timer.
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Once a system has switched to high resolution mode, the periodic tick is
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switched off. This disables the per system global periodic clock event device -
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e.g. the PIT on i386 SMP systems.
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The periodic tick functionality is provided by an per-cpu hrtimer. The callback
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function is executed in the next event interrupt context and updates jiffies
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and calls update_process_times and profiling. The implementation of the hrtimer
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based periodic tick is designed to be extended with dynamic tick functionality.
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This allows to use a single clock event device to schedule high resolution
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timer and periodic events (jiffies tick, profiling, process accounting) on UP
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systems. This has been proved to work with the PIT on i386 and the Incrementer
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on PPC.
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The softirq for running the hrtimer queues and executing the callbacks has been
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separated from the tick bound timer softirq to allow accurate delivery of high
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resolution timer signals which are used by itimer and POSIX interval
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timers. The execution of this softirq can still be delayed by other softirqs,
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but the overall latencies have been significantly improved by this separation.
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Figure #5 (OLS slides p.22) illustrates the transformation.
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dynamic ticks
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-------------
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Dynamic ticks are the logical consequence of the hrtimer based periodic tick
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replacement (sched_tick). The functionality of the sched_tick hrtimer is
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extended by three functions:
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- hrtimer_stop_sched_tick
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- hrtimer_restart_sched_tick
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- hrtimer_update_jiffies
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hrtimer_stop_sched_tick() is called when a CPU goes into idle state. The code
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evaluates the next scheduled timer event (from both hrtimers and the timer
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wheel) and in case that the next event is further away than the next tick it
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reprograms the sched_tick to this future event, to allow longer idle sleeps
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without worthless interruption by the periodic tick. The function is also
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called when an interrupt happens during the idle period, which does not cause a
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reschedule. The call is necessary as the interrupt handler might have armed a
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new timer whose expiry time is before the time which was identified as the
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nearest event in the previous call to hrtimer_stop_sched_tick.
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hrtimer_restart_sched_tick() is called when the CPU leaves the idle state before
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it calls schedule(). hrtimer_restart_sched_tick() resumes the periodic tick,
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which is kept active until the next call to hrtimer_stop_sched_tick().
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hrtimer_update_jiffies() is called from irq_enter() when an interrupt happens
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in the idle period to make sure that jiffies are up to date and the interrupt
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handler has not to deal with an eventually stale jiffy value.
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The dynamic tick feature provides statistical values which are exported to
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userspace via /proc/stats and can be made available for enhanced power
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management control.
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The implementation leaves room for further development like full tickless
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systems, where the time slice is controlled by the scheduler, variable
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frequency profiling, and a complete removal of jiffies in the future.
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Aside the current initial submission of i386 support, the patchset has been
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extended to x86_64 and ARM already. Initial (work in progress) support is also
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available for MIPS and PowerPC.
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Thomas, Ingo
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