feat:softdeadline

every-breaking-wave · Dec 9, 2024 · 45d5780 · 45d5780
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diff --git a/FreeRTOS/Demo/EDF/FreeRTOSConfig.h b/FreeRTOS/Demo/EDF/FreeRTOSConfig.h
@@ -28,115 +28,139 @@
 #define FREERTOS_CONFIG_H
 
 /*-----------------------------------------------------------
-* Application specific definitions.
-*
-* These definitions should be adjusted for your particular hardware and
-* application requirements.
-*
-* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
-* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
-*
-* See http://www.freertos.org/a00110.html
-*----------------------------------------------------------*/
-
-#define configUSE_TRACE_FACILITY                 1
-#define configGENERATE_RUN_TIME_STATS            0
-
-#define configUSE_PREEMPTION                     1
-#define configUSE_IDLE_HOOK                      0
-#define configUSE_TICK_HOOK                      1
-#define configCPU_CLOCK_HZ                       ( ( unsigned long ) 25000000 )
-#define configTICK_RATE_HZ                       ( ( TickType_t ) 1000 )
-#define configSLICE_INTERVAL                     ( ( TickType_t ) 10 )
-#define configMINIMAL_STACK_SIZE                 ( ( unsigned short ) 256 )
-#define configTOTAL_HEAP_SIZE                    ( ( size_t ) ( 60 * 1024 ) )
-#define configMAX_TASK_NAME_LEN                  ( 12 )
-#define configUSE_TRACE_FACILITY                 1
-#define configUSE_16_BIT_TICKS                   0
-#define configIDLE_SHOULD_YIELD                  0
-#define configUSE_CO_ROUTINES                    0
-#define configUSE_MUTEXES                        1
-#define configUSE_RECURSIVE_MUTEXES              1
-#define configCHECK_FOR_STACK_OVERFLOW           2
-#define configUSE_MALLOC_FAILED_HOOK             1
-#define configUSE_QUEUE_SETS                     1
-#define configUSE_COUNTING_SEMAPHORES            1
-
-#define configMAX_PRIORITIES                     ( 9UL )
-#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )
-#define configQUEUE_REGISTRY_SIZE                10
-#define configSUPPORT_STATIC_ALLOCATION          1
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+// choose target scheduling system in compiling phase
+
+#define configUSE_DEFAULT_SCHEDULING
+// #define configUSE_EDF_SCHEDULING
+// #define configUSE_RR_SCHEDULING
+// #define configUSE_WRR_SCHEDULING
+
+#define configUSE_TRACE_FACILITY 1
+#define configGENERATE_RUN_TIME_STATS 0
+
+#define configUSE_PREEMPTION 1
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 1
+#define configCPU_CLOCK_HZ ((unsigned long)25000000)
+#define configTICK_RATE_HZ ((TickType_t)1000)
+#define configSLICE_INTERVAL ((TickType_t)10)
+#define configMINIMAL_STACK_SIZE ((unsigned short)80)
+#define configTOTAL_HEAP_SIZE ((size_t)(60 * 1024))
+#define configMAX_TASK_NAME_LEN (12)
+#define configUSE_TRACE_FACILITY 1
+#define configUSE_16_BIT_TICKS 0
+#define configIDLE_SHOULD_YIELD 0
+#define configUSE_CO_ROUTINES 0
+#define configUSE_MUTEXES 1
+#define configUSE_RECURSIVE_MUTEXES 1
+#define configCHECK_FOR_STACK_OVERFLOW 2
+#define configUSE_MALLOC_FAILED_HOOK 1
+#define configUSE_QUEUE_SETS 1
+#define configUSE_COUNTING_SEMAPHORES 1
+
+#define configMAX_PRIORITIES (9UL)
+#define configMAX_CO_ROUTINE_PRIORITIES (2)
+#define configQUEUE_REGISTRY_SIZE 10
+#define configSUPPORT_STATIC_ALLOCATION 1
 
 /* Timer related defines. */
-#define configUSE_TIMERS                         0
-#define configTIMER_TASK_PRIORITY                ( configMAX_PRIORITIES - 4 )
-#define configTIMER_QUEUE_LENGTH                 20
-#define configTIMER_TASK_STACK_DEPTH             ( configMINIMAL_STACK_SIZE * 2 )
+#define configUSE_TIMERS 1
+#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 4)
+#define configTIMER_QUEUE_LENGTH 20
+#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2)
 
-#define configUSE_TASK_NOTIFICATIONS             1
-#define configTASK_NOTIFICATION_ARRAY_ENTRIES    3
+#define configUSE_TASK_NOTIFICATIONS 1
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES 3
 
 /* Set the following definitions to 1 to include the API function, or zero
  * to exclude the API function. */
 
-#define INCLUDE_vTaskPrioritySet                  1
-#define INCLUDE_uxTaskPriorityGet                 1
-#define INCLUDE_vTaskDelete                       1
-#define INCLUDE_vTaskCleanUpResources             0
-#define INCLUDE_vTaskSuspend                      1
-#define INCLUDE_vTaskDelayUntil                   1
-#define INCLUDE_vTaskDelay                        1
-#define INCLUDE_uxTaskGetStackHighWaterMark       1
-#define INCLUDE_xTaskGetSchedulerState            1
-#define INCLUDE_xTimerGetTimerDaemonTaskHandle    1
-#define INCLUDE_xTaskGetIdleTaskHandle            1
-#define INCLUDE_xSemaphoreGetMutexHolder          1
-#define INCLUDE_eTaskGetState                     1
-#define INCLUDE_xTimerPendFunctionCall            1
-#define INCLUDE_xTaskAbortDelay                   1
-#define INCLUDE_xTaskGetHandle                    1
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskCleanUpResources 0
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_vTaskDelayUntil 1
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 1
+#define INCLUDE_xTaskGetSchedulerState 1
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle 1
+#define INCLUDE_xTaskGetIdleTaskHandle 1
+#define INCLUDE_xSemaphoreGetMutexHolder 1
+#define INCLUDE_eTaskGetState 1
+#define INCLUDE_xTimerPendFunctionCall 1
+#define INCLUDE_xTaskAbortDelay 1
+#define INCLUDE_xTaskGetHandle 1
 
 /* This demo makes use of one or more example stats formatting functions. These
  * format the raw data provided by the uxTaskGetSystemState() function in to human
  * readable ASCII form.  See the notes in the implementation of vTaskList() within
  * FreeRTOS/Source/tasks.c for limitations. */
-#define configUSE_STATS_FORMATTING_FUNCTIONS      0
-
-#define configKERNEL_INTERRUPT_PRIORITY           ( 255 )        /* All eight bits as QEMU doesn't model the priority bits. */
+#define configUSE_STATS_FORMATTING_FUNCTIONS 0
 
+#define configKERNEL_INTERRUPT_PRIORITY (255) /* All eight bits as QEMU doesn't model the priority bits. */
 
 /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
  * See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
-#define configMAX_SYSCALL_INTERRUPT_PRIORITY             ( 4 )
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY (4)
 
 /* Use the Cortex-M3 optimised task selection rather than the generic C code
  * version. */
-#define configUSE_PORT_OPTIMISED_TASK_SELECTION          1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
 
 /* The Win32 target is capable of running all the tests tasks at the same
  * time. */
-#define configRUN_ADDITIONAL_TESTS                       1
+#define configRUN_ADDITIONAL_TESTS 1
 
 /* The test that checks the trigger level on stream buffers requires an
  * allowable margin of error on slower processors (slower than the Win32
  * machine on which the test is developed). */
-#define configSTREAM_BUFFER_TRIGGER_LEVEL_TEST_MARGIN    4
+#define configSTREAM_BUFFER_TRIGGER_LEVEL_TEST_MARGIN 4
 
 // #ifndef __IASMARM__ /* Prevent C code being included in IAR asm files. */
-    void vAssertCalled( const char * pcFileName,
-                        uint32_t ulLine );
-    #define configASSERT( x )    if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ );
+void vAssertCalled(const char *pcFileName,
+                   uint32_t ulLine);
+#define configASSERT(x) \
+    if ((x) == 0)       \
+        vAssertCalled(__FILE__, __LINE__);
 // #endif
 
-#define intqHIGHER_PRIORITY      ( configMAX_PRIORITIES - 5 )
-#define bktPRIMARY_PRIORITY      ( configMAX_PRIORITIES - 3 )
-#define bktSECONDARY_PRIORITY    ( configMAX_PRIORITIES - 4 )
+#define intqHIGHER_PRIORITY (configMAX_PRIORITIES - 5)
+#define bktPRIMARY_PRIORITY (configMAX_PRIORITIES - 3)
+#define bktSECONDARY_PRIORITY (configMAX_PRIORITIES - 4)
 
 #define configENABLE_BACKWARD_COMPATIBILITY 0
 
-#define configEXPECTED_NO_RUNNING_TASKS		( 5 )
+#define configEXPECTED_NO_RUNNING_TASKS (5)
+
+#ifdef configUSE_DEFAULT_SCHEDULING
+
+#endif
+
+#ifdef configUSE_EDF_SCHEDULING
+    #define configUSE_EDF_SCHEDULER 1
+#endif
 
-#define configUSE_EDF_SCHEDULER 1
+#ifdef configUSE_RR_SCHEDULING
+    #define configUSE_EDF_SCHEDULER 0
+    #define configUSE_TIME_SLICING                   1
+#endif
 
+#ifdef configUSE_WRR_SCHEDULING
+    #define configUSE_TIME_SLICING                   1
+    #define configSLICE_INTERVAL                     ( ( TickType_t ) 10 )
+    #define configUSE_WEIGHTED_ROUND_ROBIN           1
+#endif
 
 #endif /* FREERTOS_CONFIG_H */
diff --git a/FreeRTOS/Demo/EDF/main_blinky.c b/FreeRTOS/Demo/EDF/main_blinky.c
@@ -124,7 +124,7 @@ static BaseType_t isTimeout = pdFALSE;
 /* Test functions */
 unsigned long ulTaskNumber[configEXPECTED_NO_RUNNING_TASKS];
 
-BaseType_t T3_soft_deadline = 300;
+BaseType_t T3_soft_deadline = 1000;
 BaseType_t T_punish_runtime = 0;
 
 static void T1(void *pvParameters);
@@ -146,19 +146,22 @@ void main_blinky(void)
 
 
     pvParameter_t param[4];
-    for(int i = 0; i < 4; i++)
-        param[i].uxWeight = 0;
-    param[0].uxDeadLine = 100;
-    param[1].uxDeadLine = 1400;
-    param[2].uxDeadLine = 1000;
-    param[3].uxDeadLine = 2000;
+
+    param[0].uxWeight = 5;
+    param[1].uxWeight = 10;
+    param[2].uxWeight = 1;
+    param[3].uxWeight = 3;
+    param[0].uxDeadLine = 700;
+    param[1].uxDeadLine = 400;
+    param[2].uxDeadLine = 2000;
+    param[3].uxDeadLine = 600;
     if (xQueue != NULL) {
         // Create an eternal task evoked periodically for creating new tasks
-        xTaskCreate(T1, "task1", configMINIMAL_STACK_SIZE, &param[0], configMAX_PRIORITIES-1, &(xT[0]));
-        xTaskCreate(T2, "task2", configMINIMAL_STACK_SIZE, &param[1], configMAX_PRIORITIES-2, &(xT[1]));
+        xTaskCreate(T1, "task1", configMINIMAL_STACK_SIZE, &param[0], 4, &(xT[0]));
+        xTaskCreate(T2, "task2", configMINIMAL_STACK_SIZE, &param[1], 8, &(xT[1]));
         //xTaskCreate(T3, "task3", configMINIMAL_STACK_SIZE, &param[2], configMAX_PRIORITIES-3, &(xT[2]));
-        // xTaskCreate(T3_soft, "task3_soft", configMINIMAL_STACK_SIZE, &param[2], configMAX_PRIORITIES-3, &(xT[4]));
-        xTaskCreate(T4, "task4", configMINIMAL_STACK_SIZE, &param[3], configMAX_PRIORITIES-4, &(xT[3]));
+        xTaskCreate(T3_soft, "task3_soft", configMINIMAL_STACK_SIZE, &param[2], 1, &(xT[4]));
+        xTaskCreate(T4, "task4", configMINIMAL_STACK_SIZE, &param[3], 2, &(xT[3]));
     }
 
     vTaskStartScheduler();
@@ -177,7 +180,7 @@ void main_blinky(void)
 static void T1(void *pvParameters)
 {
     TickType_t previousTime = xTaskGetTickCount();
-    TickType_t runtime = 100, period = 500;
+    TickType_t runtime = 200, period = 800;
     int iterNum = 0;
     BaseType_t loopCount = durationToLoop(runtime);
     for(;;) {
@@ -192,7 +195,7 @@ static void T1(void *pvParameters)
 static void T2(void *pvParameters)
 {
     TickType_t previousTime = xTaskGetTickCount();
-    TickType_t runtime = 1000, period = 1500;
+    TickType_t runtime = 100, period = 500;
     int iterNum = 0;
     BaseType_t loopCount = durationToLoop(runtime);
     for(;;) {
@@ -225,7 +228,7 @@ static void T3(void *pvParameters)
 static void T4(void *pvParameters)
 {
     TickType_t previousTime = xTaskGetTickCount();
-    TickType_t runtime = 500, period = 4000;
+    TickType_t runtime = 300, period = 2000;
     int iterNum = 0;
     BaseType_t loopCount = durationToLoop(runtime);
     for(;;) {
@@ -241,7 +244,7 @@ static void T4(void *pvParameters)
 static void T3_soft(void *pvParameters)
 {
     TickType_t previousTime = xTaskGetTickCount();
-    TickType_t runtime = 300, period = 2000;
+    TickType_t runtime = 495, period = 4000;
     int iterNum = 0;
     for(;;) {
         TickType_t startTime = xTaskGetTickCount();
@@ -257,10 +260,10 @@ static void T3_soft(void *pvParameters)
             printf("[iter:%d] task3_soft pass the soft deadline\n", iterNum);
             T_punish_runtime = endTime - startTime - T3_soft_deadline;
             pvParameter_t param_soft;
-            param_soft.uxWeight = 0;
+            param_soft.uxWeight = ((pvParameter_t *)pvParameters)->uxWeight;
             param_soft.uxDeadLine = runtime;
             printf("[iter:%d] task3_soft create a punished task, name:T_punish, deadline:%d, runtime:%d\n", iterNum, param_soft.uxDeadLine, T_punish_runtime);
-            // xTaskCreate(T_punish, (signed char *)"T_punish", 512, (void *)&param_soft, configMAX_PRIORITIES-3, &xT[5]);
+            xTaskCreate(T_punish, (signed char *)"T_punish", 512, (void *)&param_soft, 1, &xT[5]);
         }
         iterNum++;
         xTaskDelayUntil(&previousTime, period);