Linux内核高精度定时器hrtimer的使用
hrtimer:(high resolution timer):
高精度定时器,为我们提供了纳秒级别的定时精度,以满足对精确时间有迫切需求的应用程序或内核驱动。因原有定时器已经相对完善,避免大幅度改动,内核为高精度定时器重新设计了一台软件架构。
/**
* struct hrtimer - the basic hrtimer structure
* @node: timerqueue node, which also manages node.expires,
* the absolute expiry time in the hrtimers internal
* representation. The time is related to the clock on
* which the timer is based. Is setup by adding
* slack to the _softexpires value. For non range timers
* identical to _softexpires.
* @_softexpires: the absolute earliest expiry time of the hrtimer.
* The time which was given as expiry time when the timer
* was armed.
* @function: timer expiry callback function
* @base: pointer to the timer base (per cpu and per clock)
* @state: state information (See bit values above)
* @is_rel: Set if the timer was armed relative
* @is_soft: Set if hrtimer will be expired in soft interrupt context.
*
* The hrtimer structure must be initialized by hrtimer_init()
*/
struct hrtimer {
struct timerqueue_node node;
ktime_t _softexpires;
enum hrtimer_restart (*function)(struct hrtimer *);
struct hrtimer_clock_base *base;
u8 state;
u8 is_rel;
u8 is_soft;
};
- 字段_softexpires :记录了定时器到期时间
- 字段function:定时器回调函数,该函数返回一个枚举值,它决定了该hrtimer是否需要被重新激活。
定时器超时后会调用回调函数,回调函数结构类似这样:
enum hrtimer_restart (*function)(struct hrtimer *);
enum hrtimer_restart {
HRTIMER_NORESTART, /* 不重启定时器 */
HRTIMER_RESTART, /* 重启定时器 */
};
在回调函数返回前要手动设置下一次超时时间。
另外,回调函数执行时间不宜过长,因为是在中断上下文中,如果有什么任务的话,最好使用工作队列等机制。
- 字段state:用于表示hrtimer当前的状态,有以下几种:
#define HRTIMER_STATE_INACTIVE 0x00 // 定时器未激活
#define HRTIMER_STATE_ENQUEUED 0x01 // 定时器已经被排入红黑树中
#define HRTIMER_STATE_CALLBACK 0x02 // 定时器的回调函数正在被调用
#define HRTIMER_STATE_MIGRATE 0x04 // 定时器正在CPU之间做迁移
相关函数:
初始化:void hrtimer_init(struct hrtimer *timer, clockid_t clock_id, enum hrtimer_mode mode);
参数timer是hrtimer指针,
参数clock_id有如下常用几种选项:
CLOCK_REALTIME //实时时间,如果系统时间变了,定时器也会变
CLOCK_MONOTONIC //递增时间,不受系统影响
参数mode有如下几种选项:
HRTIMER_MODE_ABS = 0x0, /* 绝对模式 */
HRTIMER_MODE_REL = 0x1, /* 相对模式 */
HRTIMER_MODE_PINNED = 0x02, /* 和CPU绑定 */
HRTIMER_MODE_ABS_PINNED = 0x02, /* 第一种和第三种的结合 */
HRTIMER_MODE_REL_PINNED = 0x03, /* 第二种和第三种的结合 */
启动定时器:hrtimer_start(struct hrtimer *timer, ktime_t tim, const enum hrtimer_mode mode);
参数timer是hrtimer指针
参数tim是时间,可以使用ktime_set()函数设置时间,
参数mode和初始化的mode参数一致
设置超时时间:
/*
* 单位为秒和纳秒组合
*/
ktime_t ktime_set(const long secs, const unsigned long nsecs);
/* 设置超时时间,当定时器超时后可以用该函数设置下一次超时时间 */
hrtimer_forward_now(struct hrtimer *timer, ktime_t interval)
关闭定时器: int hrtimer_cancel(struct hrtimer *timer);
使用例子:hrtimer.c
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/hrtimer.h>
#include <linux/jiffies.h>
//定义一个hrtimer
static struct hrtimer timer;
ktime_t kt;
//定时器回调函数
static enum hrtimer_restart hrtimer_hander(struct hrtimer *timer)
{
printk("I am in hrtimer hander\r\n");
hrtimer_forward(timer,timer->base->get_time(),kt);//hrtimer_forward(timer, now, tick_period);
return HRTIMER_RESTART; //重启定时器
}
static int __init test_init(void)
{
printk("---------%s-----------\r\n",__func__);
kt = ktime_set(0,1000000);// 0s 1000000ns = 1ms 定时
hrtimer_init(&timer,CLOCK_MONOTONIC,HRTIMER_MODE_REL);
hrtimer_start(&timer,kt,HRTIMER_MODE_REL);
timer.function = hrtimer_hander;
return 0;
}
static void __exit test_exit(void)
{
hrtimer_cancel(&timer);
printk("------------test over---------------\r\n");
}
module_init(test_init);
module_exit(test_exit);
MODULE_LICENSE("GPL");
Makefile文件:
obj-m:=hrtimer.o
PWD:=$(shell pwd)
KERNELPATH:=/lib/modules/$(shell uname -r)/build
all:
make -C $(KERNELPATH) M=$(PWD) modules
clean:
make -C $(KERNELPATH) M=$(PWD) clean
执行过程:
运行结果:
测试1ms的误差:hrtimer_test.c
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/hrtimer.h>
#include <linux/jiffies.h>
#include <linux/time.h>
#include <linux/timekeeping.h>
static struct hrtimer timer;
ktime_t kt;
struct timespec oldtc;
static enum hrtimer_restart hrtimer_hander(struct hrtimer *timer)
{
struct timespec tc;
printk("I am in hrtimer hander : %lu... \r\n",jiffies);
getnstimeofday(&tc); //获取新的当前系统时间
printk("interval: %ld - %ld = %ld us\r\n",tc.tv_nsec/1000,oldtc.tv_nsec/1000,tc.tv_nsec/1000-oldtc.tv_nsec/1000);
oldtc = tc;
hrtimer_forward(timer,timer->base->get_time(),kt);
return HRTIMER_RESTART;
}
static int __init test_init(void)
{
printk("---------test start-----------\r\n");
getnstimeofday(&oldtc); //获取当前系统时间
kt = ktime_set(0,1000000);//1ms
hrtimer_init(&timer,CLOCK_MONOTONIC,HRTIMER_MODE_REL);
hrtimer_start(&timer,kt,HRTIMER_MODE_REL);
timer.function = hrtimer_hander;
return 0;
}
static void __exit test_exit(void)
{
hrtimer_cancel(&timer);
printk("------------test over---------------\r\n");
}
module_init(test_init);
module_exit(test_exit);
MODULE_LICENSE("GPL");
Makefile文件参考上面。
执行步骤:
运行结果:
可见出现一个340微秒和1284微秒,仍存在一定误差。