kopia lustrzana https://github.com/OpenRTX/OpenRTX
96 wiersze
4.7 KiB
C
96 wiersze
4.7 KiB
C
|
/***************************************************************************
|
||
|
|
* Copyright (C) 2010, 2011 by Terraneo Federico *
|
||
|
|
* *
|
||
|
|
* This program is free software; you can redistribute it and/or modify *
|
||
|
|
* it under the terms of the GNU General Public License as published by *
|
||
|
|
* the Free Software Foundation; either version 2 of the License, or *
|
||
|
|
* (at your option) any later version. *
|
||
|
|
* *
|
||
|
|
* This program is distributed in the hope that it will be useful, *
|
||
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||
|
|
* GNU General Public License for more details. *
|
||
|
|
* *
|
||
|
|
* As a special exception, if other files instantiate templates or use *
|
||
|
|
* macros or inline functions from this file, or you compile this file *
|
||
|
|
* and link it with other works to produce a work based on this file, *
|
||
|
|
* this file does not by itself cause the resulting work to be covered *
|
||
|
|
* by the GNU General Public License. However the source code for this *
|
||
|
|
* file must still be made available in accordance with the GNU General *
|
||
|
|
* Public License. This exception does not invalidate any other reasons *
|
||
|
|
* why a work based on this file might be covered by the GNU General *
|
||
|
|
* Public License. *
|
||
|
|
* *
|
||
|
|
* You should have received a copy of the GNU General Public License *
|
||
|
|
* along with this program; if not, see <http://www.gnu.org/licenses/> *
|
||
|
|
***************************************************************************/
|
||
|
|
|
||
|
|
#ifndef PARAMETERS_H
|
||
|
|
#define PARAMETERS_H
|
||
|
|
|
||
|
|
namespace miosix {
|
||
|
|
|
||
|
|
//
|
||
|
|
// Parameters for the control based scheduler
|
||
|
|
//
|
||
|
|
|
||
|
|
///Enabe feedforward in the control scheduler. Feedforward means that every
|
||
|
|
///thread blocking (due to a sleep, wait, or termination) cause the update of
|
||
|
|
///the set point (alfa). If it is disabled the scheduler reacts to blocking
|
||
|
|
///using feedback only in the external PI regulator.
|
||
|
|
#define ENABLE_FEEDFORWARD
|
||
|
|
|
||
|
|
///Enable regulator reinitialization. This works in combination with
|
||
|
|
///ENABLE_FEEDFORWARD to avoid spikes when thread blocking/unblocking occurs.
|
||
|
|
///Essentially, every time the regulator set point changes, the state of the
|
||
|
|
///integral regulators is reset to its default value.
|
||
|
|
#define ENABLE_REGULATOR_REINIT
|
||
|
|
|
||
|
|
///Run the scheduler using fixed point math only. Faster but less precise.
|
||
|
|
///Note that the inner integral regulators are always fixed point, this affects
|
||
|
|
///round partitioning and the external PI regulator.
|
||
|
|
///Also note this imposes a number of limits:
|
||
|
|
///- the number of threads has a maximum of 64 (this constrain is enforced in
|
||
|
|
/// PKaddThread()
|
||
|
|
///- the max "priority" is limited to 63 (this constraint is enforced by
|
||
|
|
/// priority valdation, as usual)
|
||
|
|
///- both krr and zrr must be less than 1.99f (this constraint is not enforced,
|
||
|
|
/// if a wrong value is set strange things may happen)
|
||
|
|
///- the maximum average burst must be less than 8192. Individual bursts may
|
||
|
|
/// exceed this, but the su of all bursts in the Tr variable can't exceed
|
||
|
|
/// 64 (max # threads) * 8191 = ~524287 (this constraint is enforced by
|
||
|
|
/// clamping Tr to that value)
|
||
|
|
//#define SCHED_CONTROL_FIXED_POINT
|
||
|
|
|
||
|
|
#if defined(ENABLE_REGULATOR_REINIT) && !defined(ENABLE_FEEDFORWARD)
|
||
|
|
#error "ENABLE_REGULATOR_REINIT requires ENABLE_FEEDFORWARD"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
const float kpi=0.5;
|
||
|
|
const float krr=0.9;//1.4f;
|
||
|
|
const float zrr=0.88f;
|
||
|
|
|
||
|
|
///Implementation detail resulting from a fixed point implementation of the
|
||
|
|
///inner integral regulators. Never change this, change kpi instead.
|
||
|
|
const int multFactor=static_cast<int>(1.0f/kpi);
|
||
|
|
|
||
|
|
///Instead of fixing a round time the current policy is to have
|
||
|
|
///roundTime=bNominal * numThreads, where bNominal is the nominal thread burst
|
||
|
|
static const int bNominal=static_cast<int>(AUX_TIMER_CLOCK*0.004);// 4ms
|
||
|
|
|
||
|
|
///minimum burst time (to avoid inefficiency caused by context switch
|
||
|
|
///time longer than burst time)
|
||
|
|
static const int bMin=static_cast<int>(AUX_TIMER_CLOCK*0.0002);// 200us
|
||
|
|
|
||
|
|
///maximum burst time (to avoid losing responsiveness/timer overflow)
|
||
|
|
static const int bMax=static_cast<int>(AUX_TIMER_CLOCK*0.02);// 20ms
|
||
|
|
|
||
|
|
///idle thread has a fixed burst length that can be modified here
|
||
|
|
///it is recomended to leave it to a high value, but that does not cause
|
||
|
|
///overflow of the auxiliary timer
|
||
|
|
static const int bIdle=static_cast<int>(AUX_TIMER_CLOCK*0.5);// 500ms
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif //PARAMETERS_H
|