Linux hrtimer的实现

1. Linux hrtimer的实现方案

       Linux hrtimer的实现是依赖硬件(通过可编程定时器来实现)的支持的，而且此定时器有自己的专用寄存器， 硬中断和频率。比如我的板子上的对应参数如下：

    Timer at Vir:0xE0100200 = Phy:0xE0100200, using Irq:27, at Freq:250000000，由此可见，其频率为250MHz，所以其精度为:1/250000000=4ns，比系统时钟jiffy(HZ=100,精度为10ms)的精度高得太多了。可是支持此高精度timer是需要付出硬件成本的。即它是一个硬件时钟。这里所说的硬件时钟特指的是硬件计时器时钟。

 

2. 硬件时钟 数据结构
　　和硬件计时器（本文又称作硬件时钟，区别于软件时钟）相关的数据结构主要有两个：
　　struct clocksource ：对硬件设备的抽象，描述时钟源信息

struct clocksource {
	/*
	 * First part of structure is read mostly
	 */
	char *name;
	struct list_head list;
	int rating;
	cycle_t (*read)(struct clocksource *cs);
	int (*enable)(struct clocksource *cs);
	void (*disable)(struct clocksource *cs);
	cycle_t mask;
	u32 mult;
	u32 shift;
	u64 max_idle_ns;
	unsigned long flags;
	cycle_t (*vread)(void);
	void (*suspend)(struct clocksource *cs);
	void (*resume)(struct clocksource *cs);
#ifdef CONFIG_IA64
	void *fsys_mmio;        /* used by fsyscall asm code */
#define CLKSRC_FSYS_MMIO_SET(mmio, addr)      ((mmio) = (addr))
#else
#define CLKSRC_FSYS_MMIO_SET(mmio, addr)      do { } while (0)
#endif

	/*
	 * Second part is written at each timer interrupt
	 * Keep it in a different cache line to dirty no
	 * more than one cache line.
	 */
	cycle_t cycle_last ____cacheline_aligned_in_smp;

#ifdef CONFIG_CLOCKSOURCE_WATCHDOG
	/* Watchdog related data, used by the framework */
	struct list_head wd_list;
	cycle_t wd_last;
#endif
};

　　struct clock_event_device ：时钟的事件信息，包括当硬件时钟中断发生时要执行那些操作（实际上保存了相应函数的指针）。本文将该结构称作为“时钟事件设备”。

/**
 * struct clock_event_device - clock event device descriptor
 * @name:		ptr to clock event name
 * @features:		features
 * @max_delta_ns:	maximum delta value in ns
 * @min_delta_ns:	minimum delta value in ns
 * @mult:		nanosecond to cycles multiplier
 * @shift:		nanoseconds to cycles divisor (power of two)
 * @rating:		variable to rate clock event devices
 * @irq:		IRQ number (only for non CPU local devices)
 * @cpumask:		cpumask to indicate for which CPUs this device works
 * @set_next_event:	set next event function
 * @set_mode:		set mode function
 * @event_handler:	Assigned by the framework to be called by the low
 *			level handler of the event source
 * @broadcast:		function to broadcast events
 * @list:		list head for the management code
 * @mode:		operating mode assigned by the management code
 * @next_event:		local storage for the next event in oneshot mode
 * @retries:		number of forced programming retries
 */
struct clock_event_device {
	const char		*name;
	unsigned int		features;
	u64			max_delta_ns;
	u64			min_delta_ns;
	u32			mult;
	u32			shift;
	int			rating;
	int			irq;
	const struct cpumask	*cpumask;
	int			(*set_next_event)(unsigned long evt,
						  struct clock_event_device *);
	void			(*set_mode)(enum clock_event_mode mode,
					    struct clock_event_device *);
	void			(*event_handler)(struct clock_event_device *);
	void			(*broadcast)(const struct cpumask *mask);
	struct list_head	list;
	enum clock_event_mode	mode;
	ktime_t			next_event;
	unsigned long		retries;
};
 

　 上述两个结构内核源代码中有较详细的注解，分别位于文件 clocksource.h 和 clockchips.h 中。需要特别注意的是结构 clock_event_device 的成员 event_handler ，它指定了当硬件时钟中断发生时，内核应该执行那些操作，也就是真正的时钟中断处理函数。
　　Linux 内核维护了两个链表，分别存储了系统中所有时钟源的信息和时钟事件设备的信息。这两个链表的表头在内核中分别是 clocksource_list 和 clockevent_devices 。

 

3. hrtimer是如何实现的呢？

    下文就为之一一描述。

3.1 初始化hrtimer硬件定时器

3.1.1 设置硬件中断

     前面已经看到，它有一个硬件中断，为了使此硬件中断能正常工作，肯定需要设置一个硬件中断，其参考代码如下： 

static unsigned long my_timer_irqnbr = 25;  //硬件中断号
static struct irqaction my_timer_irqaction = {
	.name		= "My HrTimer",
	.flags		= IRQF_DISABLED | IRQF_TIMER | IRQF_IRQPOLL,
	.handler	= my_timer_interrupt_handler, //中断处理函数
};

setup_irq(my_timer_irqnbr, &my_timer_irqaction);

     设置中断之后，中断处理函数也有了。

 

3.1.2 初始化硬件时钟相关寄存器并注册此硬件时钟到系统中

 

static struct clocksource myclocksource = {
	.name	= "my_hrtimer_src",
	.rating = 300,
	.read	= my_get_cycles, //读取COUNT寄存器以获取cycle value
	.mask	= CLOCKSOURCE_MASK(64),
	.flags	= CLOCK_SOURCE_IS_CONTINUOUS,
};

static void __init my_clocksource_init(void)
{
	unsigned long ctrl = 0;
	unsigned long count = (my_timer_freq / HZ);
        ...
	writel(count, my_timer_vaddr + MY_TIMER_COMPARATOR_LOW);
	writel(count, my_timer_vaddr + MY_TIMER_AUTO_INCREMENT);
	ctrl = (MY_TIMER_CTRL_IRQ_ENA   | MY_TIMER_CTRL_COMP_ENA |
	        MY_TIMER_CTRL_TIMER_ENA | MY_TIMER_CTRL_AUTO_INC);
	writel(ctrl, my_timer_vaddr + MY_TIMER_CONTROL);
        ...
	clocksource_calc_mult_shift(&myclocksource, my_timer_freq, 4);
        
        //向系统注册我的硬件时钟,即把它加入clocksource_list
	clocksource_register(&myclocksource);
}

3.1.3 初始化时钟事件设备并注册到系统中

static struct clock_event_device myclockevent = {
	.name		= "my_timer_evt",
	.features		= CLOCK_EVT_FEAT_PERIODIC,
	.set_mode		= my_set_mode,  //通过写寄存器设置clock_event_mode
	.set_next_event	= my_set_next_event, // 通过写寄存器写下一个事件
	.rating		= 300,
	.cpumask		= cpu_all_mask,
};

static void __init my_clockevents_init(unsigned int timer_irq)
{
    myclockevent.irq = timer_irq;

    clockevents_calc_mult_shift(&myclockevent, my_timer_freq, 4);
    myclockevent.max_delta_ns = clockevent_delta2ns(0xffffffff, &myclockevent);
    myclockevent.min_delta_ns = clockevent_delta2ns(0xf, &myclockevent);
    //注册我的时钟事件设备，即把它加入clockevent_devices链表
    clockevents_register_device(&myclockevent);
}

3.2 硬件中处理函数my_timer_interrupt_handler

static irqreturn_t my_timer_interrupt_handler(int irq, void *dev_id)
{
	struct clock_event_device *evt = &myclockevent;
	/* clear the interrupt */
	writel(value, register_addr);
	evt->event_handler(evt);
	return IRQ_HANDLED;
}

硬件中断处理函数很简单，它直接调用clockevent的event_handler函数。前面的初始化中并没有初始化此event_handler,很显然是在使用过程中进行动态初始化的。下面看看hrtimer中是如何初始化此event_handler的。

 

4. hrtimer如何初始化clock_event_device的event_handler?

 

hrtimer的中断处理函数，很自然地想到了hrtimer_interrupt，哪这个东东与clock_event_device有关系吗?

 

此软中断TIMER_SOFTIRQ在run_local_timers函数中通过调用raise_softirq(TIMER_SOFTIRQ);来触发。(注:raise_softirq->raise_softirq_irqoff->__raise_softirq_irqoff)

 

init_timers(中调用open_softirq(TIMER_SOFTIRQ, run_timer_softirq);)
run_timer_softirq->
hrtimer_run_pending(Called from timer softirq every jiffy, expire hrtimers，check如果hrtimer_hres_enabled is on<=1>,则执行下面的代码切换到高精度模式)->
hrtimer_switch_to_hres->
tick_init_highres->
tick_switch_to_oneshot(hrtimer_interrupt)
<把hrtimer_interrupt赋值给dev->event_handler,即dev->event_handler = handler;>

 

       看到没有？在每一次时钟软中断处理函数中，都会尝试把hrtimer切换到高精度模式，如果满足条件，就切换，切换之后高精度模式就被激活了，在hrtimer_run_pending检查是否被激活，如果被激活了，下面的代码就不用执行了。

 

5. hrtimer高精度模式下真正的中断处理函数

    hrtimer_interrupt

 

6. hrtimer高精度式的触发过程

    以下以nanosleep为例：

SYSCALL_DEFINE2(nanosleep, struct timespec __user *, rqtp, struct timespec __user *, rmtp)->
hrtimer_nanosleep->
do_nanosleep->
hrtimer_start_expires->
hrtimer_start_range_ns->
__hrtimer_start_range_ns->
enqueue_hrtimer(insert into rb_tree) then  hrtimer_enqueue_reprogram-> hrtimer_reprogram->
tick_program_event->
tick_dev_program_event->
clockevents_program_event->
dev->set_next_event((unsigned long) clc, dev)<调用my clock_event_device的set_next_event方法设置register>