CN104699533B - A kind of dispatching method of multiple periodic duties - Google Patents
A kind of dispatching method of multiple periodic duties Download PDFInfo
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- CN104699533B CN104699533B CN201310664716.7A CN201310664716A CN104699533B CN 104699533 B CN104699533 B CN 104699533B CN 201310664716 A CN201310664716 A CN 201310664716A CN 104699533 B CN104699533 B CN 104699533B
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Abstract
The present invention provides a kind of dispatching method of multiple periodic duties, asks for the greatest common divisor pnum of one group of number by forming all dispatching cycles and scheduling occasion；The time value for setting tick interrupt is pnum；After tick interrupt triggering, each periodic duty information is inquired about, judges that the periodic duty that whether reaches of each periodic duty performs condition；If reaching periodic duty performs condition, the periodic duty entrance specified into the periodic duty；If not up to periodic duty performs condition, periodic duty is not performed, waits tick interrupt triggering next time.Periodic duty can be effectively ensured to perform and do not interfere with each other according to the scheduling occasion of oneself and correct execution dispatching cycle and each periodic duty.It is easily achieved, amount of calculation is few, and the data structure and software configuration of use are easy to modifications and extensions, and task scheduling mode is flexible, widely applicable.
Description
Technical field
The invention belongs to computer control field, and in particular to a kind of dispatching method of multiple periodic duties.
Background technology
In embedded real time system, the scheduling of periodic duty is always the focus of research, and the scheduling of periodic duty is fine or not
It is an important factor for influenceing running efficiency of system.Research on period task scheduling method emerges in an endless stream, and generates many realities
When dispatching method：Such as classical FCFS algorithms, RM algorithms, priority inheritance, reversion, static rate-monotonic method
RMS and Monotonic dispatching method DMS and driving algorithm DD of dynamic deadline date and minimum processing time finite algorithm
SPTF etc., also many innovatory algorithms.Conventional dispatching method stresses the selection gist and such as of main research scheduler task
What is scheduled the determination of duty cycle, does not consider in the case of multiple periodic duties, how according to cycle of task
It is scheduled with scheduling occasion.
The content of the invention
The purpose of the present invention is：Design is realized a kind of for multiple periodic duties of different dispatching cycles and scheduling occasion tune
Degree method, the scheduling of multiple periodic duties in embedded real time system is realized, in the situation that occupancy CPU time and resource are less
The lower correct scheduling for ensureing periodic duty.
The technical scheme is that：
A kind of dispatching method of multiple periodic duties, it is characterized in that：Comprise the following steps：
1) according to the dispatching cycle of multiple periodic duties and scheduling occasion, ask for by all dispatching cycles and scheduling occasion
The greatest common divisor pnum of one group of number of composition；
2) ask for the dispatching cycle of each periodic duty and scheduling occasion is respectively relative to pnum multiple, and will each week
* function, At_period, At_turn of phase task form a field and are sequentially stored in buffering area；* fuction is represented
Periodic duty entrance；At_period represents periodic duty and performs the cycle, and computational methods are：Dispatching cycle/pnum；At_turn generations
Table periodic duty performs opportunity for the first time, and computational methods are：(scheduling occasion/pnum)+1；
3) time value for setting tick interrupt is pnum；
4) after tick interrupt triggering, each periodic duty information in buffering area is looked into according to storage order
Ask, judge whether each periodic duty reaches execution condition, first subtract 1 to At_turn values, represent to work as when At_turn values are 0
The preceding periodic duty execution time arrives, and can trigger execution.Specified if periodic duty reaches trigger condition into the periodic duty
Periodic duty entrance, perform periodic duty, otherwise, do not perform periodic duty, At_turn values are updated, in clock next time
Periodic duty, which is rejudged, after disconnected triggering performs whether condition meets.
Above-mentioned steps 4) be specially：At_turn values are updated, i.e. At_turn values subtract 1, judge the At_ of current period task
Whether turn value is 0, if the At_turn of current period task value is 0, the cycle specified into current period task
Task entrance * function, periodic duty is performed, and At_period value is assigned to At_turn；Otherwise, do not perform current
Periodic duty, wait tick interrupt triggering next time.
It is an advantage of the invention that：The greatest common divisor of all periodic duties respective cycle time is arranged to tick interrupt
Triggered time spacing value, period time value multiple proportion substantially be greatest common divisor value it is bigger in the case of, CPU can
Single treatment is carried out to periodic duty with the interval long period, operating efficiency greatly improves；The dispatching cycle of periodic duty and tune
Multiple proportion is more obvious between spending opportunity each data, then method efficiency is higher, and periodic duty is inquired about in tick interrupt
Processing, periodic duty can be effectively ensured according to the scheduling occasion of oneself and correctly execution and the execution of each periodic duty dispatching cycle
It does not interfere with each other.This method is easily achieved, and amount of calculation is few, and the data structure and software configuration of use are easy to modifications and extensions, task
Scheduling mode is flexible, widely applicable.
Embodiment
The present invention stresses research in the case of known periods duty cycle and scheduling occasion, how according to periodic duty
The method that dispatching cycle and scheduling occasion carry out multiple periodic duty Real-Time Schedulings.I.e. in once dispatching, all cycles are arrived
Reaching for task is scheduled, and the scheduling between periodic duty does not interfere with each other while is not take up CPU too many times and resource.
Period task scheduling of the present invention is primarily upon scheduling occasion and dispatching cycle, and different periodic duties typically can all be adopted
With different scheduling occasions and dispatching cycle.Present invention design is a kind of using tick interrupt and the period task scheduling of inquiry mode
Method so that each periodic duty can be scheduled according to the scheduling occasion of task in itself and dispatching cycle, without by other
The interference of periodic duty.
The present invention specific method step be：
1) according to the dispatching cycle of multiple periodic duties and scheduling occasion, ask for by all dispatching cycles and scheduling occasion
The greatest common divisor pnum of one group of number of composition；When each periodic duty can correspond to a dispatching cycle and a scheduling
Machine, then n periodic duty just have n dispatching cycle and n scheduling occasion, for n dispatching cycle and n scheduling occasion group
Into one group of number, ask for greatest common divisor pnum；
2) ask for the dispatching cycle of each periodic duty and scheduling occasion is respectively relative to pnum multiple, and will each week
* function, At_period, At_turn of phase task form a field and are sequentially stored in buffering area；* fuction is represented
Periodic duty entrance；At_period represents periodic duty and performs the cycle, and computational methods are：Dispatching cycle/pnum；At_turn generations
Table periodic duty performs opportunity for the first time, and computational methods are：(scheduling occasion/pnum)+1；
3) time value for setting tick interrupt is pnum；
4) after tick interrupt triggering, each periodic duty information in buffering area is looked into according to storage order
Ask, judge whether each periodic duty reaches execution condition, first subtract 1 to At_turn values, represent to work as when At_turn values are 0
The preceding periodic duty execution time arrives, and can trigger execution.Specified if periodic duty reaches trigger condition into the periodic duty
Periodic duty entrance, perform periodic duty, otherwise, do not perform periodic duty, At_turn values are updated, in clock next time
Periodic duty, which is rejudged, after disconnected triggering performs whether condition meets.
Step 4) specifically can be in the following ways：At_turn values are updated, i.e. At_turn values subtract 1, judge current period
Whether the At_turn of task value is 0, if the At_turn of current period task value is 0, into current period task
The periodic duty entrance * function specified, periodic duty is performed, and At_period value is assigned to At_turn；Otherwise,
Current period task is not performed, waits tick interrupt triggering next time.
False code is as follows：
Illustrated below by way of an instantiation：
Assuming that in controller system, there are 4 data transfer cycle tasks, the scheduling occasion of each periodic duty and scheduling
Cycle is as shown in table 1：
The periodic duty information of table 1
| Periodic duty | Scheduling occasion | Dispatching cycle |
| Task 1 | 0ms | 20ms |
| Task 2 | 5ms | 30ms |
| Task 3 | 10ms | 10ms |
| Task 4 | 15ms | 20ms |
According to the scheduling occasion of four tasks and time dispatching cycle, i.e. 0ms, 20ms, 5ms, 30ms, 10ms, 10ms,
15ms, 20ms greatest common divisor pnum are 5ms, and the time value for setting tick interrupt is 5ms, by the * of each periodic duty
Function, At_period, At_turn form a field and are sequentially stored in buffering area, then the mission bit stream storage in buffering
It is as follows：
{
The entrance of periodic duty 1,4,1；
The entrance of periodic duty 2,6,2；
The entrance of periodic duty 3,2,3；
The entrance of periodic duty 4,4,4；
}
Tick interrupt triggers once every 5ms, and after tick interrupt triggering, above periodic transfer task portion performs feelings
Condition is as shown in table 2.
When the triggering of the 0th tick interrupt is (during 0ms), the At_turn values of each periodic duty are updated according to storage order,
That is At_turn values subtract 1, inquire about the At_turn values of four periodic duties.For periodic duty 1, its At_turn value is 1, renewal
It is afterwards 0, meets execution condition, the periodic duty entrance specified into periodic duty 1, performs periodic duty 1, and by periodic duty
1 At_period value 4 is assigned to At_turn, obtains At_turn updated value 4.For periodic duty 2, its At_turn value is
2, At_turn is subtracted 1, obtains At_turn updated value 1, is unsatisfactory for execution condition, does not perform periodic duty 2, when waiting next time
Clock down trigger.For periodic duty 3, its At_turn value is 3, and At_turn values are 2 after renewal, are unsatisfactory for execution condition, no
Periodic duty 3 is performed, waits tick interrupt triggering next time.For periodic duty 4, its At_turn value is 4, At_ after renewal
Turn values are 3, are unsatisfactory for execution condition, do not perform periodic duty 4, wait tick interrupt triggering next time.
When the triggering of the 1st tick interrupt is (during 5ms), the At_turn values of four periodic duties are inquired about with storage order.For
Periodic duty 1, its At_turn value are 4, and At_turn values are updated into 3, do not perform periodic duty 1., will for periodic duty 2
At_turn values are updated to 0, the periodic duty entrance specified into periodic duty 2, perform periodic duty 2, and by periodic duty 2
At_period value 6 be assigned to At_turn, obtain At_turn updated value 6.For periodic duty 3, by At_turn values more
New is 1, does not perform periodic duty 3.For periodic duty 4, At_turn values are updated to 2, do not perform periodic duty 4.
……
When the 4th tick interrupt triggering (during 20ms), with storage order inquire about four periodic duties At_turn values.It is right
In periodic duty 1, At_turn values are updated to 0, the periodic duty entrance specified into periodic duty 1, perform periodic duty 1,
And the At_period of periodic duty 1 value 4 is assigned to At_turn, obtain At_turn updated value 4.For periodic duty 2,
At_turn values are updated to 3, wait tick interrupt triggering next time.For periodic duty 3, At_turn values are updated to 0, held
Row periodic duty 3, and the At_period of periodic duty 3 value 2 is assigned to At_turn, obtain At_turn updated value 2.It is right
In periodic duty 4, At_turn values are updated to 3, then do not perform periodic duty 4, wait tick interrupt triggering next time.Therefore
When the 4th tick interrupt triggers, one, which shares two periodic duties, is performing, i.e. periodic duty 1 and periodic duty 3.
The periodic transfer task scheduling of table 2 performs table
Step 4 can also use other principle identical methods.
The present invention period time value multiple proportion be substantially greatest common divisor value it is bigger in the case of, CPU can be with
The interval long period carries out single treatment to periodic duty, and operating efficiency greatly improves；Periodic duty is entered in tick interrupt
Row query processing, periodic duty can be effectively ensured according to the scheduling occasion of oneself and dispatching cycle correctly performs and each cycle times
Business execution is not interfere with each other.
Claims (2)
- A kind of 1. dispatching method of multiple periodic duties, it is characterised in that：Comprise the following steps：1) according to the dispatching cycle of multiple periodic duties and scheduling occasion, ask for being made up of all dispatching cycles and scheduling occasion One group of number greatest common divisor pnum；2) ask for the dispatching cycle of each periodic duty and scheduling occasion is respectively relative to pnum multiple, and each cycle is appointed * function, At_period, At_turn of business form a field and are sequentially stored in buffering area；* fuction represents the cycle Task entrance；At_period represents periodic duty and performs the cycle, and computational methods are：Dispatching cycle/pnum；At_turn represents week Phase task performs opportunity for the first time, and computational methods are：(scheduling occasion/pnum)+1；3) time value for setting tick interrupt is pnum；4) after tick interrupt triggering, each periodic duty information in buffering area is inquired about according to storage order, sentenced Whether each disconnected periodic duty reaches execution condition, first subtracts 1 to At_turn values, and current week is represented when At_turn values are 0 Phase task execution time is arrived, and can trigger execution, and the week that the periodic duty is specified is entered if periodic duty reaches trigger condition Phase task entrance, periodic duty is performed, otherwise, do not perform periodic duty, update At_turn values, touched in tick interrupt next time Periodic duty is rejudged after hair and performs whether condition meets.
- 2. the dispatching method of multiple periodic duties according to claim 1, it is characterised in that：Step 4) is specially：Renewal At_turn values, i.e. At_turn values subtract 1, and whether the value for judging the At_turn of current period task is 0, if current period is appointed The At_turn of business value is 0, then the periodic duty entrance * function specified into current period task, performs the cycle times Business, and At_period value is assigned to At_turn；Otherwise, current period task is not performed, waits tick interrupt next time Triggering.
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| TWI584667B (en) | 2015-11-27 | 2017-05-21 | 財團法人工業技術研究院 | Method for request scheduling and scheduling device |
| CN107577528B (en) * | 2017-09-01 | 2020-09-08 | 长沙小卡机器人科技有限公司 | Method for parallel running of multitask sequences |
| CN109298925B (en) * | 2018-09-27 | 2021-10-15 | 郑州云海信息技术有限公司 | Periodic task timing starting method, system and related device |
| DE102020214144A1 (en) | 2020-11-11 | 2022-05-12 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method and device for monitoring cyclic tasks in machine control |
| CN112799821A (en) * | 2021-02-06 | 2021-05-14 | 读书郎教育科技有限公司 | Method for scheduling multiple periodic tasks with variable execution time |
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| CN101620550A (en) * | 2009-05-27 | 2010-01-06 | 西华师范大学 | Embedded real-time scheduling method based on fuzzy multiple features of task |
| CN101923487A (en) * | 2010-08-06 | 2010-12-22 | 西华师范大学 | Comprehensive embedded type real-time period task scheduling method |
| CN102222022A (en) * | 2011-07-15 | 2011-10-19 | 范示德汽车技术（上海）有限公司 | Real-time task scheduling method based on multicore processor |
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| CN101620550A (en) * | 2009-05-27 | 2010-01-06 | 西华师范大学 | Embedded real-time scheduling method based on fuzzy multiple features of task |
| CN101923487A (en) * | 2010-08-06 | 2010-12-22 | 西华师范大学 | Comprehensive embedded type real-time period task scheduling method |
| CN102222022A (en) * | 2011-07-15 | 2011-10-19 | 范示德汽车技术（上海）有限公司 | Real-time task scheduling method based on multicore processor |
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