单芯片系统（SoC）中的实时任务调度算法研究
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摘要
随着大规模集成电路设计技术和半导体技术的迅速发展,尤其是器件关键尺寸到达纳米级的深亚微米技术的出现使得单一芯片上可以集成上亿个晶体管。微控制器芯片,作为各种嵌入式实时控制系统(如飞行控制系统、对空防御系统等)的关键器件,已经全面采用SoC(System-On-a-Chip)技术,以控制成本,降低功耗,提高产品设计的可重用性,减少市场反应时间。与此同时,为了解决系统高性能指标和低成本之间、逐渐攀升的系统复杂性与日渐缩短的更新换代周期之间、设计技术落后与半导体集成电路芯片技术飞速发展之间等等诸多矛盾,越来越多的微控制器开始使用软/硬件协同设计方法来设计制造。使用软硬件协同设计的方法,系统级芯片内必然包括各种硬件设备和与之协同工作的软件。面向SoC的嵌入式实时操作系统(SoCRTOS)不仅能有效改善系统级芯片的性能和可靠性,而且能降低产品开发难度,提高产品设计的可重用性,正逐渐成为单芯片系统(SoC)中非常重要的基础部件之一
与经典实时控制系统相比,SoC实时控制系统的硬件资源相对有限,同时需要遵循事件驱动的反应式运行模式,而且目标应用平台也复杂多样。这些基本特征使得SoC实时控制系统中的实时任务调度策略,作为SoC实时操作系统中最重要的部分,其任务切换开销要尽量低,其系统功耗要尽量少,其内存需求要尽量小。但是,SoC实时控制系统中资源严重受限的现状,与当前RTOS中普遍使用抢占式调度策略所带来的任务切换频繁、资源消耗过大等特征,形成了应用环境需求与技术实现途径之间的结构性矛盾。在SoC实时控制系统这种典型的嵌入式实时计算环境下,如何在不降低任务可调度性的前提下尽可能减少不必要的任务切换、降低系统资源需求,逐渐成为具有重要理论意义和应用价值的新的研究热点。
本文旨在研究基于软/硬件协同设计方法构建的、嵌入式SoC实时控制系统中的任务实时调度问题。在分析当前已有研究工作和解决方案的基础上,提出多个节能(energy-efficient)、内存节省(memory-efficient)任务调度算法,理论上分析和证明了算法的可行性和正确性的同时,通过实例研究和仿真实验说明了算法的实用性和有效性。其主要工作和研究成果如下：
1.基于SoC实时控制系统的事件驱动特征,提出一种异步实时任务集合的抢占阈值调度算法FPPT-AST。该算法首先推导出抢占阀值调度模型中异步任务最长响应时间的计算方法,而后在此基础上给出任务抢占阀值的分配算法。仿真实验表明,与普通抢占阈值调度算法相比较,FPPT-AST调度算法能够进一步提高任务集合的可调度性。
2.基于SoC实时控制系统的资源受限特征,提出一种在抢占阈值调度模型任务松弛因子的离线计算方法ES-FPPT。该方法首先给出带有松弛因子的任务集合可调度性得到满足的充分条件,而后将各个任务的松弛因子的计算问题转换为线性最优化问题。仿真试验表明,与现有节能技术相比,ES-FPPT易于实现并且平均可降低17%-35%的能耗。
3.基于SoC实时控制系统的资源受限特征,提出一种任务执行时间可变时的电压/频率调度算法SVS-FPPT。该算法基于使用最优化方法得到抢占阈值调度模型下每个任务最长可能执行时间,而后根据任务执行时间的分布来计算任务内的电压/频率调度,以达到系统平均能耗最小化的目的。仿真试验表明,任务执行时间变化愈剧烈,算法的节能效果愈高。
4.针对在嵌入式实时系统中运用DVS技术所带来的副作用之一,即DVS技术的应用使得任务切换次数迅速增加的问题,提出一种节能的抢占阈值调度算法EE-FPPT。该算法借鉴抢占阈值调度模型,提出一种基于响应时间分析、面向低功耗系统、针对静态优先级任务的可调度性判定方法,而后证明应用DVS技术的静态优先级系统,在使用抢占阈值调度策略时,在获得最大阈值分配的情况下,系统功耗最低,最后给出低功耗系统获取最低能耗的算法,该算法同时使得系统的任务切换次数最低。
5.针对在嵌入式实时系统中运用DVS技术所带来的副作用之一,即DVS技术的应用使得任务执行时间延长进而使得处理器的静态功耗(由CMOS电路的泄露电流引起)迅速增加的问题,提出一种两阶段节能调度算法LAEES-FPPT。该算法将节能调度和延迟调度结合起来,先使用离线算法来计算每个任务的最优处理器执行速度,而后使用在线模拟调度算法来计算每个的任务的延迟时间,从而动态判定处理器开启/关闭时刻。实例研究和仿真实验表明,我们的方法能够进一步降低抢占阈值任务调度算法的功耗。
6.为了高效使用片上系统中的有限内存,提出一种内存受限平台上的高效抢占阈值调度算法FPTS。该算法将SRP协议和PTS调度算法结合起来,将任务的抢占阈值分配和各个共享资源的冲顶值分配统一起来,在防止高优先级任务的过多抢占的同时,保持共享资源的串行访问,从而实现运行栈空间的最小化使用。仿真实验表明,与普通抢占阈值调度算法相比较,FPTS算法能够有效降低系统内存使用。
With the quick development of large scale integrated circuit design technology and micro-electronics manufacturing technology, especially the present of deep sub micron semiconductor technology, hundreds of millions transistors can be integrated into a single chip now, which makes integrating CPU,memory and I/O devices into a single chip possible.Microcontroller, as the cen-tral part of various embedded real-time control systems (such as flight control system,antiaircraft defense system), has been designed and manufactured by SoC(System-On-a-Chip) technology completely, with the aims of reduced cost, energy saving, improved reusability and short time-to-market. Meanwhile, in the face of the dilemma of high performance and low cost, increased system complexity and decreased update cycling of products, behindhand design technologies and fast development of semiconductor technologies, SoC co-design method had been exploited to production-manufacturing of more and more microcontrollers. With the methodology of hard-ware/software co-design, there must be the software parts as well as the hardware parts on SoC. The RTOS can not only improve the performance and reliability of the system,but also simplify the development and debugging of SoC.There is a growing consensus that the real-time operating system(RTOS) has become an indispensable part of SoC.
Differing from the classical real-time control systems, the physical resources of SoC real-time control system are very limited, its execution mode conforms to the event-driven reactive model,its targeting platforms are heterogeneous. These features make the real-time task schedul-ing policy, as the most essential part of RTOS of real-time control systems, face some new chal-lenges:its context switch cost of task preemption should be small as much as possible, its energy consumption of task set should be low as much as possible, its memory usage of task set should be saved as much as possible. However, current RTOSs usually exploit preemptive scheduling policies, which leads to the more task preemptions and higher resources requirements. Thus, in the embedded real-time computing environment, how to reduce the number of task switch and decrease the resource consumption under the condition of task's schedulability, would be a new interested problem.
In this thesis, the research aim is the problem of real-time task scheduling in the miniature embedded real-time control systems, manufactured by SoC technologies. Given the remaining drawbacks and shortcomings of current research works on this problem,we propose a series of energy-efficient scheduling algorithms and memory-efficient scheduling algorithms, provide theo-retical proofs to the correctness and feasibility, at the same time a series of simulation experiments was evaluated for the performance and effect of our algorithms. Our research works are embodied into three following aspects:
1.We propose a new FPPT scheduling paradigm on asynchronous task set, where a new schedu-lability test approach is firstly developed to calculate the worst case response time of every task under some preemption threshold assignment and determine its schedulability, Further-more, this paper presents algorithms to compute the feasible preemption threshold Assign-ment, and the proofs for the correctness of these algorithms are also presented.
2.We address the problem of computing static and dynamic slowdown factors in the FPPT algorithm.Firstly, Sufficient constraints have been identified for the feasibility of the task set using slowdown factors. We formulate this problem of computing the static slowdown factors for tasks as an nonlinear optimization problem to minimize the total energy consumption of the system.Our simulation experiments show on an average 17%-53% energy gains over FPPT scheduling policy.
3.We address the problem of variable execution time in tasks under the FPPT scheduling pol-icy, our approach exploit the stochastic data to develop the intra-task voltage scheduling, experiments show that more fluctuated task workload, more energy gains over usual DVS techniques.
4.we address one of such side effects, an increase in task preemptions due to DVS.We present energy-efficient Fixed priority with preemption threshold(EE-FPPT) scheduling algorithm to solve this problem.First, we propose an appropriate schedulability analysis, based on response time analysis, for supporting energy-efficient FPPT scheduling in hard real-time systems. Second, we prove that a task set achieves the minimal energy consumptions under Maximal Preemption Threshold Assignment(MPTA).
5.We propose a two-phase algorithm.In the first phase, the execution speed, i.e.,the supply voltage of each task are determined by applying off-line algorithms, and in the second phase, the procrastination length of each task is derived by applying on-line simulated work-demand time analysis, and thus the time moment to turn on/off the system is determined on the fly. A series of simulation experiments was evaluated for the performance of our algorithms. The results show that our proposed algorithms can derive energy-efficient schedules.
6. We propose a new FPTS scheduling paradigm,which integrates FPPT with SRP, includ-ing the new Critical Instant, preemption threshold assignment and appropriate schedulability analysis, based on response time analysis. Furthermore, we present algorithm to compute the feasible preemption threshold assignment, and the proofs for the correctness of these algo-rithms are also presented.
与经典实时控制系统相比,SoC实时控制系统的硬件资源相对有限,同时需要遵循事件驱动的反应式运行模式,而且目标应用平台也复杂多样。这些基本特征使得SoC实时控制系统中的实时任务调度策略,作为SoC实时操作系统中最重要的部分,其任务切换开销要尽量低,其系统功耗要尽量少,其内存需求要尽量小。但是,SoC实时控制系统中资源严重受限的现状,与当前RTOS中普遍使用抢占式调度策略所带来的任务切换频繁、资源消耗过大等特征,形成了应用环境需求与技术实现途径之间的结构性矛盾。在SoC实时控制系统这种典型的嵌入式实时计算环境下,如何在不降低任务可调度性的前提下尽可能减少不必要的任务切换、降低系统资源需求,逐渐成为具有重要理论意义和应用价值的新的研究热点。
本文旨在研究基于软/硬件协同设计方法构建的、嵌入式SoC实时控制系统中的任务实时调度问题。在分析当前已有研究工作和解决方案的基础上,提出多个节能(energy-efficient)、内存节省(memory-efficient)任务调度算法,理论上分析和证明了算法的可行性和正确性的同时,通过实例研究和仿真实验说明了算法的实用性和有效性。其主要工作和研究成果如下：
1.基于SoC实时控制系统的事件驱动特征,提出一种异步实时任务集合的抢占阈值调度算法FPPT-AST。该算法首先推导出抢占阀值调度模型中异步任务最长响应时间的计算方法,而后在此基础上给出任务抢占阀值的分配算法。仿真实验表明,与普通抢占阈值调度算法相比较,FPPT-AST调度算法能够进一步提高任务集合的可调度性。
2.基于SoC实时控制系统的资源受限特征,提出一种在抢占阈值调度模型任务松弛因子的离线计算方法ES-FPPT。该方法首先给出带有松弛因子的任务集合可调度性得到满足的充分条件,而后将各个任务的松弛因子的计算问题转换为线性最优化问题。仿真试验表明,与现有节能技术相比,ES-FPPT易于实现并且平均可降低17%-35%的能耗。
3.基于SoC实时控制系统的资源受限特征,提出一种任务执行时间可变时的电压/频率调度算法SVS-FPPT。该算法基于使用最优化方法得到抢占阈值调度模型下每个任务最长可能执行时间,而后根据任务执行时间的分布来计算任务内的电压/频率调度,以达到系统平均能耗最小化的目的。仿真试验表明,任务执行时间变化愈剧烈,算法的节能效果愈高。
4.针对在嵌入式实时系统中运用DVS技术所带来的副作用之一,即DVS技术的应用使得任务切换次数迅速增加的问题,提出一种节能的抢占阈值调度算法EE-FPPT。该算法借鉴抢占阈值调度模型,提出一种基于响应时间分析、面向低功耗系统、针对静态优先级任务的可调度性判定方法,而后证明应用DVS技术的静态优先级系统,在使用抢占阈值调度策略时,在获得最大阈值分配的情况下,系统功耗最低,最后给出低功耗系统获取最低能耗的算法,该算法同时使得系统的任务切换次数最低。
5.针对在嵌入式实时系统中运用DVS技术所带来的副作用之一,即DVS技术的应用使得任务执行时间延长进而使得处理器的静态功耗(由CMOS电路的泄露电流引起)迅速增加的问题,提出一种两阶段节能调度算法LAEES-FPPT。该算法将节能调度和延迟调度结合起来,先使用离线算法来计算每个任务的最优处理器执行速度,而后使用在线模拟调度算法来计算每个的任务的延迟时间,从而动态判定处理器开启/关闭时刻。实例研究和仿真实验表明,我们的方法能够进一步降低抢占阈值任务调度算法的功耗。
6.为了高效使用片上系统中的有限内存,提出一种内存受限平台上的高效抢占阈值调度算法FPTS。该算法将SRP协议和PTS调度算法结合起来,将任务的抢占阈值分配和各个共享资源的冲顶值分配统一起来,在防止高优先级任务的过多抢占的同时,保持共享资源的串行访问,从而实现运行栈空间的最小化使用。仿真实验表明,与普通抢占阈值调度算法相比较,FPTS算法能够有效降低系统内存使用。
With the quick development of large scale integrated circuit design technology and micro-electronics manufacturing technology, especially the present of deep sub micron semiconductor technology, hundreds of millions transistors can be integrated into a single chip now, which makes integrating CPU,memory and I/O devices into a single chip possible.Microcontroller, as the cen-tral part of various embedded real-time control systems (such as flight control system,antiaircraft defense system), has been designed and manufactured by SoC(System-On-a-Chip) technology completely, with the aims of reduced cost, energy saving, improved reusability and short time-to-market. Meanwhile, in the face of the dilemma of high performance and low cost, increased system complexity and decreased update cycling of products, behindhand design technologies and fast development of semiconductor technologies, SoC co-design method had been exploited to production-manufacturing of more and more microcontrollers. With the methodology of hard-ware/software co-design, there must be the software parts as well as the hardware parts on SoC. The RTOS can not only improve the performance and reliability of the system,but also simplify the development and debugging of SoC.There is a growing consensus that the real-time operating system(RTOS) has become an indispensable part of SoC.
Differing from the classical real-time control systems, the physical resources of SoC real-time control system are very limited, its execution mode conforms to the event-driven reactive model,its targeting platforms are heterogeneous. These features make the real-time task schedul-ing policy, as the most essential part of RTOS of real-time control systems, face some new chal-lenges:its context switch cost of task preemption should be small as much as possible, its energy consumption of task set should be low as much as possible, its memory usage of task set should be saved as much as possible. However, current RTOSs usually exploit preemptive scheduling policies, which leads to the more task preemptions and higher resources requirements. Thus, in the embedded real-time computing environment, how to reduce the number of task switch and decrease the resource consumption under the condition of task's schedulability, would be a new interested problem.
In this thesis, the research aim is the problem of real-time task scheduling in the miniature embedded real-time control systems, manufactured by SoC technologies. Given the remaining drawbacks and shortcomings of current research works on this problem,we propose a series of energy-efficient scheduling algorithms and memory-efficient scheduling algorithms, provide theo-retical proofs to the correctness and feasibility, at the same time a series of simulation experiments was evaluated for the performance and effect of our algorithms. Our research works are embodied into three following aspects:
1.We propose a new FPPT scheduling paradigm on asynchronous task set, where a new schedu-lability test approach is firstly developed to calculate the worst case response time of every task under some preemption threshold assignment and determine its schedulability, Further-more, this paper presents algorithms to compute the feasible preemption threshold Assign-ment, and the proofs for the correctness of these algorithms are also presented.
2.We address the problem of computing static and dynamic slowdown factors in the FPPT algorithm.Firstly, Sufficient constraints have been identified for the feasibility of the task set using slowdown factors. We formulate this problem of computing the static slowdown factors for tasks as an nonlinear optimization problem to minimize the total energy consumption of the system.Our simulation experiments show on an average 17%-53% energy gains over FPPT scheduling policy.
3.We address the problem of variable execution time in tasks under the FPPT scheduling pol-icy, our approach exploit the stochastic data to develop the intra-task voltage scheduling, experiments show that more fluctuated task workload, more energy gains over usual DVS techniques.
4.we address one of such side effects, an increase in task preemptions due to DVS.We present energy-efficient Fixed priority with preemption threshold(EE-FPPT) scheduling algorithm to solve this problem.First, we propose an appropriate schedulability analysis, based on response time analysis, for supporting energy-efficient FPPT scheduling in hard real-time systems. Second, we prove that a task set achieves the minimal energy consumptions under Maximal Preemption Threshold Assignment(MPTA).
5.We propose a two-phase algorithm.In the first phase, the execution speed, i.e.,the supply voltage of each task are determined by applying off-line algorithms, and in the second phase, the procrastination length of each task is derived by applying on-line simulated work-demand time analysis, and thus the time moment to turn on/off the system is determined on the fly. A series of simulation experiments was evaluated for the performance of our algorithms. The results show that our proposed algorithms can derive energy-efficient schedules.
6. We propose a new FPTS scheduling paradigm,which integrates FPPT with SRP, includ-ing the new Critical Instant, preemption threshold assignment and appropriate schedulability analysis, based on response time analysis. Furthermore, we present algorithm to compute the feasible preemption threshold assignment, and the proofs for the correctness of these algo-rithms are also presented.
引文
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