我正在试验一些抖动时序测试,方法是切换GPIO线并观察示波器上的波形。我的内核编译为PREEMPT_RT。我希望将进程的调度程序更改为SCHED_FIFO可以减少抖动,但似乎没有太大区别。代码如下。有没有什么我做错了试图从这个代码获得实时性能?使用SCHED_FIFO在Linux上看到糟糕的实时性能使用SCHED_FIFO
// Program to test Linux timing jitter by driving GPIO output via sysfs interface.
// In this variant, the scheduler is changed to SCHED_FIFO.
#include
#include
#include
#include
#include
#include
#include
#define GPIO_TO_PIN(bank, gpio) (32 * (bank) + (gpio))
int main() {
char buf[128];
struct sched_param schedp;
const int pin = GPIO_TO_PIN(1, 24);
int fd = open("/sys/class/gpio/export", O_WRONLY);
if (fd == -1) {
fprintf(stderr, "Failed to open export for writing!\n");
return(-1);
}
int bytes_written = snprintf(buf, sizeof buf, "%d", pin);
write(fd, buf, bytes_written);
close(fd);
snprintf(buf, sizeof buf, "/sys/class/gpio/gpio%d/direction", pin);
fd = open(buf, O_WRONLY);
if (fd == -1) {
fprintf(stderr, "Failed to open gpio direction for writing!\n");
return(-1);
}
if (write(fd, "out", 3) == -1) {
fprintf(stderr, "Failed to set direction!\n");
return(-1);
}
snprintf(buf, sizeof buf, "/sys/class/gpio/gpio%d/value", pin);
fd = open(buf, O_WRONLY);
if (fd == -1) {
fprintf(stderr, "Failed to open gpio value for writing!\n");
return(-1);
}
// Change scheduler to SCHED_FIFO.
schedp.sched_priority = 99;
if (sched_setscheduler(0, SCHED_FIFO, &schedp)) {
perror("sched_setscheduler");
}
while (1) {
if (write(fd, "1", 1) != 1) {
fprintf(stderr, "Failed to write value!\n");
return(-1);
}
usleep(500);
if (write(fd, "0", 1) != 1) {
fprintf(stderr, "Failed to write value!\n");
return(-1);
}
usleep(500);
}
close(fd);
return 0;
}
+0
一般来说,是的,期望用户模式代码的RT性能是错误的。你期望有多少抖动,你看到了多少? –
+1
当系统空闲时,我发现方波中存在10%左右的抖动,但如果我运行命令,则有时会看到它不会在几毫秒内切换。我认为PREEMPT_RT新增点的目的是让你可以在用户空间中做实时代码? –
+0
@ user43995有点。 Linux不是一个实时操作系统,所以仍然没有保证。另外,默认情况下,5%的秒数仍可以被优先级较低的任务使用,并抢占您的“实时”任务(请参阅https://www.kernel.org/doc/Documentation/scheduler/sched-rt-group。文本)。你也会受内核标记速率的限制,尽管通常的1000Hz标记速率可能只有1ms。 –