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-High resolution timers and dynamic ticks design notes
------------------------------------------------------
-
-Further information can be found in the paper of the OLS 2006 talk "hrtimers
-and beyond". The paper is part of the OLS 2006 Proceedings Volume 1, which can
-be found on the OLS website:
-http://www.linuxsymposium.org/2006/linuxsymposium_procv1.pdf
-
-The slides to this talk are available from:
-http://tglx.de/projects/hrtimers/ols2006-hrtimers.pdf
-
-The slides contain five figures (pages 2, 15, 18, 20, 22), which illustrate the
-changes in the time(r) related Linux subsystems. Figure #1 (p. 2) shows the
-design of the Linux time(r) system before hrtimers and other building blocks
-got merged into mainline.
-
-Note: the paper and the slides are talking about "clock event source", while we
-switched to the name "clock event devices" in meantime.
-
-The design contains the following basic building blocks:
-
-- hrtimer base infrastructure
-- timeofday and clock source management
-- clock event management
-- high resolution timer functionality
-- dynamic ticks
-
-
-hrtimer base infrastructure
----------------------------
-
-The hrtimer base infrastructure was merged into the 2.6.16 kernel. Details of
-the base implementation are covered in Documentation/hrtimers/hrtimer.txt. See
-also figure #2 (OLS slides p. 15)
-
-The main differences to the timer wheel, which holds the armed timer_list type
-timers are:
-       - time ordered enqueueing into a rb-tree
-       - independent of ticks (the processing is based on nanoseconds)
-
-
-timeofday and clock source management
--------------------------------------
-
-John Stultz's Generic Time Of Day (GTOD) framework moves a large portion of
-code out of the architecture-specific areas into a generic management
-framework, as illustrated in figure #3 (OLS slides p. 18). The architecture
-specific portion is reduced to the low level hardware details of the clock
-sources, which are registered in the framework and selected on a quality based
-decision. The low level code provides hardware setup and readout routines and
-initializes data structures, which are used by the generic time keeping code to
-convert the clock ticks to nanosecond based time values. All other time keeping
-related functionality is moved into the generic code. The GTOD base patch got
-merged into the 2.6.18 kernel.
-
-Further information about the Generic Time Of Day framework is available in the
-OLS 2005 Proceedings Volume 1:
-http://www.linuxsymposium.org/2005/linuxsymposium_procv1.pdf
-
-The paper "We Are Not Getting Any Younger: A New Approach to Time and
-Timers" was written by J. Stultz, D.V. Hart, & N. Aravamudan.
-
-Figure #3 (OLS slides p.18) illustrates the transformation.
-
-
-clock event management
-----------------------
-
-While clock sources provide read access to the monotonically increasing time
-value, clock event devices are used to schedule the next event
-interrupt(s). The next event is currently defined to be periodic, with its
-period defined at compile time. The setup and selection of the event device
-for various event driven functionalities is hardwired into the architecture
-dependent code. This results in duplicated code across all architectures and
-makes it extremely difficult to change the configuration of the system to use
-event interrupt devices other than those already built into the
-architecture. Another implication of the current design is that it is necessary
-to touch all the architecture-specific implementations in order to provide new
-functionality like high resolution timers or dynamic ticks.
-
-The clock events subsystem tries to address this problem by providing a generic
-solution to manage clock event devices and their usage for the various clock
-event driven kernel functionalities. The goal of the clock event subsystem is
-to minimize the clock event related architecture dependent code to the pure
-hardware related handling and to allow easy addition and utilization of new
-clock event devices. It also minimizes the duplicated code across the
-architectures as it provides generic functionality down to the interrupt
-service handler, which is almost inherently hardware dependent.
-
-Clock event devices are registered either by the architecture dependent boot
-code or at module insertion time. Each clock event device fills a data
-structure with clock-specific property parameters and callback functions. The
-clock event management decides, by using the specified property parameters, the
-set of system functions a clock event device will be used to support. This
-includes the distinction of per-CPU and per-system global event devices.
-
-System-level global event devices are used for the Linux periodic tick. Per-CPU
-event devices are used to provide local CPU functionality such as process
-accounting, profiling, and high resolution timers.
-
-The management layer assigns one or more of the following functions to a clock
-event device:
-      - system global periodic tick (jiffies update)
-      - cpu local update_process_times
-      - cpu local profiling
-      - cpu local next event interrupt (non periodic mode)
-
-The clock event device delegates the selection of those timer interrupt related
-functions completely to the management layer. The clock management layer stores
-a function pointer in the device description structure, which has to be called
-from the hardware level handler. This removes a lot of duplicated code from the
-architecture specific timer interrupt handlers and hands the control over the
-clock event devices and the assignment of timer interrupt related functionality
-to the core code.
-
-The clock event layer API is rather small. Aside from the clock event device
-registration interface it provides functions to schedule the next event
-interrupt, clock event device notification service and support for suspend and
-resume.
-
-The framework adds about 700 lines of code which results in a 2KB increase of
-the kernel binary size. The conversion of i386 removes about 100 lines of
-code. The binary size decrease is in the range of 400 byte. We believe that the
-increase of flexibility and the avoidance of duplicated code across
-architectures justifies the slight increase of the binary size.
-
-The conversion of an architecture has no functional impact, but allows to
-utilize the high resolution and dynamic tick functionalites without any change
-to the clock event device and timer interrupt code. After the conversion the
-enabling of high resolution timers and dynamic ticks is simply provided by
-adding the kernel/time/Kconfig file to the architecture specific Kconfig and
-adding the dynamic tick specific calls to the idle routine (a total of 3 lines
-added to the idle function and the Kconfig file)
-
-Figure #4 (OLS slides p.20) illustrates the transformation.
-
-
-high resolution timer functionality
------------------------------------
-
-During system boot it is not possible to use the high resolution timer
-functionality, while making it possible would be difficult and would serve no
-useful function. The initialization of the clock event device framework, the
-clock source framework (GTOD) and hrtimers itself has to be done and
-appropriate clock sources and clock event devices have to be registered before
-the high resolution functionality can work. Up to the point where hrtimers are
-initialized, the system works in the usual low resolution periodic mode. The
-clock source and the clock event device layers provide notification functions
-which inform hrtimers about availability of new hardware. hrtimers validates
-the usability of the registered clock sources and clock event devices before
-switching to high resolution mode. This ensures also that a kernel which is
-configured for high resolution timers can run on a system which lacks the
-necessary hardware support.
-
-The high resolution timer code does not support SMP machines which have only
-global clock event devices. The support of such hardware would involve IPI
-calls when an interrupt happens. The overhead would be much larger than the
-benefit. This is the reason why we currently disable high resolution and
-dynamic ticks on i386 SMP systems which stop the local APIC in C3 power
-state. A workaround is available as an idea, but the problem has not been
-tackled yet.
-
-The time ordered insertion of timers provides all the infrastructure to decide
-whether the event device has to be reprogrammed when a timer is added. The
-decision is made per timer base and synchronized across per-cpu timer bases in
-a support function. The design allows the system to utilize separate per-CPU
-clock event devices for the per-CPU timer bases, but currently only one
-reprogrammable clock event device per-CPU is utilized.
-
-When the timer interrupt happens, the next event interrupt handler is called
-from the clock event distribution code and moves expired timers from the
-red-black tree to a separate double linked list and invokes the softirq
-handler. An additional mode field in the hrtimer structure allows the system to
-execute callback functions directly from the next event interrupt handler. This
-is restricted to code which can safely be executed in the hard interrupt
-context. This applies, for example, to the common case of a wakeup function as
-used by nanosleep. The advantage of executing the handler in the interrupt
-context is the avoidance of up to two context switches - from the interrupted
-context to the softirq and to the task which is woken up by the expired
-timer.
-
-Once a system has switched to high resolution mode, the periodic tick is
-switched off. This disables the per system global periodic clock event device -
-e.g. the PIT on i386 SMP systems.
-
-The periodic tick functionality is provided by an per-cpu hrtimer. The callback
-function is executed in the next event interrupt context and updates jiffies
-and calls update_process_times and profiling. The implementation of the hrtimer
-based periodic tick is designed to be extended with dynamic tick functionality.
-This allows to use a single clock event device to schedule high resolution
-timer and periodic events (jiffies tick, profiling, process accounting) on UP
-systems. This has been proved to work with the PIT on i386 and the Incrementer
-on PPC.
-
-The softirq for running the hrtimer queues and executing the callbacks has been
-separated from the tick bound timer softirq to allow accurate delivery of high
-resolution timer signals which are used by itimer and POSIX interval
-timers. The execution of this softirq can still be delayed by other softirqs,
-but the overall latencies have been significantly improved by this separation.
-
-Figure #5 (OLS slides p.22) illustrates the transformation.
-
-
-dynamic ticks
--------------
-
-Dynamic ticks are the logical consequence of the hrtimer based periodic tick
-replacement (sched_tick). The functionality of the sched_tick hrtimer is
-extended by three functions:
-
-- hrtimer_stop_sched_tick
-- hrtimer_restart_sched_tick
-- hrtimer_update_jiffies
-
-hrtimer_stop_sched_tick() is called when a CPU goes into idle state. The code
-evaluates the next scheduled timer event (from both hrtimers and the timer
-wheel) and in case that the next event is further away than the next tick it
-reprograms the sched_tick to this future event, to allow longer idle sleeps
-without worthless interruption by the periodic tick. The function is also
-called when an interrupt happens during the idle period, which does not cause a
-reschedule. The call is necessary as the interrupt handler might have armed a
-new timer whose expiry time is before the time which was identified as the
-nearest event in the previous call to hrtimer_stop_sched_tick.
-
-hrtimer_restart_sched_tick() is called when the CPU leaves the idle state before
-it calls schedule(). hrtimer_restart_sched_tick() resumes the periodic tick,
-which is kept active until the next call to hrtimer_stop_sched_tick().
-
-hrtimer_update_jiffies() is called from irq_enter() when an interrupt happens
-in the idle period to make sure that jiffies are up to date and the interrupt
-handler has not to deal with an eventually stale jiffy value.
-
-The dynamic tick feature provides statistical values which are exported to
-userspace via /proc/stats and can be made available for enhanced power
-management control.
-
-The implementation leaves room for further development like full tickless
-systems, where the time slice is controlled by the scheduler, variable
-frequency profiling, and a complete removal of jiffies in the future.
-
-
-Aside the current initial submission of i386 support, the patchset has been
-extended to x86_64 and ARM already. Initial (work in progress) support is also
-available for MIPS and PowerPC.
-
-          Thomas, Ingo
-
-
-
diff --git a/Documentation/hrtimers/hrtimers.txt b/Documentation/hrtimers/hrtimers.txt
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-
-hrtimers - subsystem for high-resolution kernel timers
-----------------------------------------------------
-
-This patch introduces a new subsystem for high-resolution kernel timers.
-
-One might ask the question: we already have a timer subsystem
-(kernel/timers.c), why do we need two timer subsystems? After a lot of
-back and forth trying to integrate high-resolution and high-precision
-features into the existing timer framework, and after testing various
-such high-resolution timer implementations in practice, we came to the
-conclusion that the timer wheel code is fundamentally not suitable for
-such an approach. We initially didn't believe this ('there must be a way
-to solve this'), and spent a considerable effort trying to integrate
-things into the timer wheel, but we failed. In hindsight, there are
-several reasons why such integration is hard/impossible:
-
-- the forced handling of low-resolution and high-resolution timers in
-  the same way leads to a lot of compromises, macro magic and #ifdef
-  mess. The timers.c code is very "tightly coded" around jiffies and
-  32-bitness assumptions, and has been honed and micro-optimized for a
-  relatively narrow use case (jiffies in a relatively narrow HZ range)
-  for many years - and thus even small extensions to it easily break
-  the wheel concept, leading to even worse compromises. The timer wheel
-  code is very good and tight code, there's zero problems with it in its
-  current usage - but it is simply not suitable to be extended for
-  high-res timers.
-
-- the unpredictable [O(N)] overhead of cascading leads to delays which
-  necessitate a more complex handling of high resolution timers, which
-  in turn decreases robustness. Such a design still led to rather large
-  timing inaccuracies. Cascading is a fundamental property of the timer
-  wheel concept, it cannot be 'designed out' without unevitably
-  degrading other portions of the timers.c code in an unacceptable way.
-
-- the implementation of the current posix-timer subsystem on top of
-  the timer wheel has already introduced a quite complex handling of
-  the required readjusting of absolute CLOCK_REALTIME timers at
-  settimeofday or NTP time - further underlying our experience by
-  example: that the timer wheel data structure is too rigid for high-res
-  timers.
-
-- the timer wheel code is most optimal for use cases which can be
-  identified as "timeouts". Such timeouts are usually set up to cover
-  error conditions in various I/O paths, such as networking and block
-  I/O. The vast majority of those timers never expire and are rarely
-  recascaded because the expected correct event arrives in time so they
-  can be removed from the timer wheel before any further processing of
-  them becomes necessary. Thus the users of these timeouts can accept
-  the granularity and precision tradeoffs of the timer wheel, and
-  largely expect the timer subsystem to have near-zero overhead.
-  Accurate timing for them is not a core purpose - in fact most of the
-  timeout values used are ad-hoc. For them it is at most a necessary
-  evil to guarantee the processing of actual timeout completions
-  (because most of the timeouts are deleted before completion), which
-  should thus be as cheap and unintrusive as possible.
-
-The primary users of precision timers are user-space applications that
-utilize nanosleep, posix-timers and itimer interfaces. Also, in-kernel
-users like drivers and subsystems which require precise timed events
-(e.g. multimedia) can benefit from the availability of a separate
-high-resolution timer subsystem as well.
-
-While this subsystem does not offer high-resolution clock sources just
-yet, the hrtimer subsystem can be easily extended with high-resolution
-clock capabilities, and patches for that exist and are maturing quickly.
-The increasing demand for realtime and multimedia applications along
-with other potential users for precise timers gives another reason to
-separate the "timeout" and "precise timer" subsystems.
-
-Another potential benefit is that such a separation allows even more
-special-purpose optimization of the existing timer wheel for the low
-resolution and low precision use cases - once the precision-sensitive
-APIs are separated from the timer wheel and are migrated over to
-hrtimers. E.g. we could decrease the frequency of the timeout subsystem
-from 250 Hz to 100 HZ (or even smaller).
-
-hrtimer subsystem implementation details
-----------------------------------------
-
-the basic design considerations were:
-
-- simplicity
-
-- data structure not bound to jiffies or any other granularity. All the
-  kernel logic works at 64-bit nanoseconds resolution - no compromises.
-
-- simplification of existing, timing related kernel code
-
-another basic requirement was the immediate enqueueing and ordering of
-timers at activation time. After looking at several possible solutions
-such as radix trees and hashes, we chose the red black tree as the basic
-data structure. Rbtrees are available as a library in the kernel and are
-used in various performance-critical areas of e.g. memory management and
-file systems. The rbtree is solely used for time sorted ordering, while
-a separate list is used to give the expiry code fast access to the
-queued timers, without having to walk the rbtree.
-
-(This separate list is also useful for later when we'll introduce
-high-resolution clocks, where we need separate pending and expired
-queues while keeping the time-order intact.)
-
-Time-ordered enqueueing is not purely for the purposes of
-high-resolution clocks though, it also simplifies the handling of
-absolute timers based on a low-resolution CLOCK_REALTIME. The existing
-implementation needed to keep an extra list of all armed absolute
-CLOCK_REALTIME timers along with complex locking. In case of
-settimeofday and NTP, all the timers (!) had to be dequeued, the
-time-changing code had to fix them up one by one, and all of them had to
-be enqueued again. The time-ordered enqueueing and the storage of the
-expiry time in absolute time units removes all this complex and poorly
-scaling code from the posix-timer implementation - the clock can simply
-be set without having to touch the rbtree. This also makes the handling
-of posix-timers simpler in general.
-
-The locking and per-CPU behavior of hrtimers was mostly taken from the
-existing timer wheel code, as it is mature and well suited. Sharing code
-was not really a win, due to the different data structures. Also, the
-hrtimer functions now have clearer behavior and clearer names - such as
-hrtimer_try_to_cancel() and hrtimer_cancel() [which are roughly
-equivalent to del_timer() and del_timer_sync()] - so there's no direct
-1:1 mapping between them on the algorithmical level, and thus no real
-potential for code sharing either.
-
-Basic data types: every time value, absolute or relative, is in a
-special nanosecond-resolution type: ktime_t. The kernel-internal
-representation of ktime_t values and operations is implemented via
-macros and inline functions, and can be switched between a "hybrid
-union" type and a plain "scalar" 64bit nanoseconds representation (at
-compile time). The hybrid union type optimizes time conversions on 32bit
-CPUs. This build-time-selectable ktime_t storage format was implemented
-to avoid the performance impact of 64-bit multiplications and divisions
-on 32bit CPUs. Such operations are frequently necessary to convert
-between the storage formats provided by kernel and userspace interfaces
-and the internal time format. (See include/linux/ktime.h for further
-details.)
-
-hrtimers - rounding of timer values
------------------------------------
-
-the hrtimer code will round timer events to lower-resolution clocks
-because it has to. Otherwise it will do no artificial rounding at all.
-
-one question is, what resolution value should be returned to the user by
-the clock_getres() interface. This will return whatever real resolution
-a given clock has - be it low-res, high-res, or artificially-low-res.
-
-hrtimers - testing and verification
-----------------------------------
-
-We used the high-resolution clock subsystem ontop of hrtimers to verify
-the hrtimer implementation details in praxis, and we also ran the posix
-timer tests in order to ensure specification compliance. We also ran
-tests on low-resolution clocks.
-
-The hrtimer patch converts the following kernel functionality to use
-hrtimers:
-
- - nanosleep
- - itimers
- - posix-timers
-
-The conversion of nanosleep and posix-timers enabled the unification of
-nanosleep and clock_nanosleep.
-
-The code was successfully compiled for the following platforms:
-
- i386, x86_64, ARM, PPC, PPC64, IA64
-
-The code was run-tested on the following platforms:
-
- i386(UP/SMP), x86_64(UP/SMP), ARM, PPC
-
-hrtimers were also integrated into the -rt tree, along with a
-hrtimers-based high-resolution clock implementation, so the hrtimers
-code got a healthy amount of testing and use in practice.
-
-        Thomas Gleixner, Ingo Molnar