CN111562809A - Movement stability control method applied to four-stage driving - Google Patents
Movement stability control method applied to four-stage driving Download PDFInfo
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- CN111562809A CN111562809A CN202010294794.2A CN202010294794A CN111562809A CN 111562809 A CN111562809 A CN 111562809A CN 202010294794 A CN202010294794 A CN 202010294794A CN 111562809 A CN111562809 A CN 111562809A
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- G06F1/04—Generating or distributing clock signals or signals derived directly therefrom
- G06F1/14—Time supervision arrangements, e.g. real time clock
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Abstract
The invention relates to the technical field of clocks, and discloses a method for controlling the stability of a core applied to four-level driving, which comprises a multimode clock mechanism for improving the clock precision of Linux, processing and counting interrupt data of the core driven by four levels, a Linux clock mechanism 1 and an improved Linux clock mechanism 1.1, wherein the Linux system error is reduced by determining the type of a clock and a timer, and a kernel needs to manage the running time of a system and the time on a wall. The invention can quickly realize timely adjustment of clock errors and improve the travel accuracy of the clock.
Description
Technical Field
The invention relates to the technical field of clocks, in particular to a movement stability control method applied to four-stage driving.
Background
A clock is a common type of timer used in life, by which people record time. To date, four generations of timers have been documented in chinese history as follows: sundial, hourglass, mechanical clock, quartz clock;
the existing clock on the market has large error, and the movement cannot realize self-query and processing on the clock error, so that the clock is seriously time-biased.
Disclosure of Invention
The invention provides a movement stability control method applied to four-stage driving, which aims to solve the defect that the precision in the prior art has large error.
The invention provides a movement stability control method applied to four-stage driving, which specifically comprises the following steps:
s1, a dynamic multimode clock mechanism is adopted to improve the clock precision of Linux, interrupt data processing and statistics are realized on a four-level driven core, the Linux clock mechanism 1 and the improved Linux clock mechanism 1.1 are used to help reduce the errors of a Linux system by determining the type number of a clock and a timer, and the kernel is used to manage the running time of the system and the wall time;
s2, a large number of tasks in the kernel are based on four-level drive and time drive, wherein some tasks are periodically executed, balance adjustment is carried out on an operation queue in a scheduler or a screen is refreshed, I/O operations which are executed after the tasks need to be pushed need to be executed after a relative time, a system clock is the combination of timer hardware and system software, in the system structure, the most common timer hardware is an Intel8254 programmable timer chip PIT, the interrupt generated by the PIT is clock interrupt, the clock interrupt is specific periodic interrupt, the service program corresponding to the interrupt completes the updating time and the management of the tasks;
s3, when the clock is interrupted each time, the jiffies is updated during processing, a system timer linked list timer-list is maintained, overtime timers are processed, the dynamic timers are opposite to the system timers, and the setting of the dynamic timers is suitable for a mechanism for scheduling the occurrence of a certain moment and depends on a clock interrupt hour-hour interrupt service program.
S4, the system hour clock frequency of Linux kernel is 1000Hz, i.e. the triggering period of clock interrupt is 1ms, the interrupt service program is executed once every 1ms at the fastest, the dynamic timer will overtime at any time, but the dynamic timer can only be checked when the interrupt service processor program is executed, the overtime dynamic timer is executed, so the average error of the dynamic timer is about half of the system clock period.
S5, changing the clock interrupt fixed mode of Linux into a single trigger state, then utilizing TSC to provide the timing precision up to the CPU clock frequency, transforming Linux in the core, and directly modifying the original Linux kernel data structure to meet the implementation requirement.
Preferably, the processing of the jiffies specifically comprises the following steps:
m1, interruption clear separation in a standard mode, firstly determining whether a real-time timer queue has a working mode of a movement when the number of the real-time timers is set, executing events related to a function maintenance system, inquiring whether the real-time timers in the real-time timer queue are in the next interruption process, and judging whether a jiffies clock is due or not.
M2, inquiring a linked list of the real-time timer, and setting the time of the next interruption generated by the movement according to the difference between the overtime of the earliest overtime real-time timer and the current event;
m3, detection in a high-frequency periodic mode;
m4, and stable control of a timer.
Preferably, the detecting in the M3 high frequency cycle mode specifically includes the steps of, in the high frequency cycle mode, interrupting the processing to determine in advance whether the jiffies clock is expired, if not, executing the M1 and M2, if the real-time timer is expired, marking the lower part of the interruption, and if not, returning directly.
Preferably, the stable control of the M4 timer specifically includes that a coarse-grained timer originally existing in a common Linux system is suitable for the stability of a kernel and any non-real-time application which does not require high-progress timing, a high-precision timer queue is organized for the high-progress timing application, timers in the queue are arranged in a non-descending order according to timeout time, and the timeout time of a first timer in the queue is the earliest timeout time of the queue.
Preferably, the timer of the original Linux kernel is used for orderly arranging the time of the insertion and deletion operations of the timer through the structural management and maintenance of the movement.
Preferably, one end of the material is cut before the slicing operation is initiated.
Preferably, in the step S3, after the processing of the overtime real-time timer is completed in the lower half of the system clock interrupt processing in the core each time, the overtime high-precision timer before the core system clock interrupt is removed from the original queue and inserted into the HRT-list queue.
The movement stability control method applied to the four-stage driving has the advantages that clock errors can be quickly adjusted in time, the travel accuracy of a clock is improved, and later maintenance cost is low.
Detailed Description
The invention is further illustrated by the following examples.
Example 1
A movement stability control method applied to four-stage driving specifically comprises the following steps:
s1, a dynamic multimode clock mechanism is adopted to improve the clock precision of Linux, interrupt data processing and statistics are realized on a four-level driven core, the Linux clock mechanism 1 and the improved Linux clock mechanism 1.1 are used to help reduce the errors of a Linux system by determining the type number of a clock and a timer, and the kernel is used to manage the running time of the system and the wall time;
s2, a large number of tasks in the kernel are based on four-level drive and time drive, wherein some tasks are periodically executed, balance adjustment is carried out on an operation queue in a scheduler or a screen is refreshed, I/O operations which are executed after the tasks need to be pushed need to be executed after a relative time, a system clock is the combination of timer hardware and system software, in the system structure, the most common timer hardware is an Intel8254 programmable timer chip PIT, the interrupt generated by the PIT is clock interrupt, the clock interrupt is specific periodic interrupt, the service program corresponding to the interrupt completes the updating time and the management of the tasks;
s3, when the clock is interrupted every time, the jiffies are updated during processing, a system timer linked list timer-list is maintained, overtime timers are processed, the dynamic timers are opposite to the system timers, the setting of the dynamic timers is suitable for a mechanism for scheduling the occurrence of a certain moment, the overtime high-precision timers before the clock interruption of the core system are removed from an original queue and inserted into an HRT-list queue after the lower half part of the system clock interruption processing in the core system finishes processing the overtime real-time timers every time depending on the lower half part of the clock interruption processing in the core system, the integrity of data is guaranteed, and meanwhile the stability of the system in the core system is effectively improved.
S4, the system hour clock frequency of Linux kernel is 1000Hz, i.e. the triggering period of clock interrupt is 1ms, the interrupt service program is executed once every 1ms at the fastest speed, the dynamic timer will overtime at any time, but the overtime dynamic timer can be executed only when the interrupt service processor program is executed, so the average error of the dynamic timer is about half of the system clock period;
s5, changing the clock interrupt fixed mode of Linux into a single trigger state, then utilizing TSC to provide the timing precision up to the CPU clock frequency, transforming Linux in the core, and directly modifying the original Linux kernel data structure to meet the implementation requirement.
In the case of the example 2, the following examples are given,
this example differs from example 1 in that;
the processing of the jiffies specifically comprises the following steps:
m1, interrupting clear separation in a standard mode, firstly determining whether a real-time timer queue has a working mode of a movement when the number of the real-time timers is set, executing events related to a function maintenance system, inquiring whether the real-time timers in the real-time timer queue are in next interruption processing, and judging whether a jiffies clock is due or not;
m2, inquiring a linked list of the real-time timer, and setting the time of the next interruption generated by the movement according to the difference between the overtime of the earliest overtime real-time timer and the current event;
m3, detection in a high-frequency periodic mode, specifically comprising the steps of interrupting processing in the high-frequency periodic mode, judging whether a jiffies clock expires in advance, if not, executing M1 and M2, if the real-time timer expires, marking the lower part of the interruption, and if not, directly returning;
m4, stable control of timer, specially include that the original coarse-grained timer of ordinary Linux system is suitable for the stability of the inner core and the non-real-time application that does not require high-progress timing, the application that requires high-progress timing organizes a high-precision timer queue, the timers in the queue are arranged according to the non-descending order of the overtime, the overtime of the first timer in the queue is the earliest overtime of the queue, the timer of the original Linux inner core is managed and maintained through the structure of the inner core, so that the time of the insertion and deletion operation of the timer is arranged orderly.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A movement stability control method applied to four-stage driving is characterized by comprising the following steps:
s1, a dynamic multimode clock mechanism is adopted to improve the clock precision of Linux, interrupt data processing and statistics are realized on a four-level driven core, the Linux clock mechanism 1 and the improved Linux clock mechanism 1.1 are used to help reduce the errors of a Linux system by determining the type number of a clock and a timer, and the kernel is used to manage the running time of the system and the wall time;
s2, a large number of tasks in the kernel are based on four-level drive and time drive, wherein some tasks are periodically executed, balance adjustment is carried out on an operation queue in a scheduler or a screen is refreshed, I/O operations which are executed after the tasks need to be pushed need to be executed after a relative time, a system clock is the combination of timer hardware and system software, in the system structure, the most common timer hardware is an Intel8254 programmable timer chip PIT, the interrupt generated by the PIT is clock interrupt, the clock interrupt is specific periodic interrupt, the service program corresponding to the interrupt completes the updating time and the management of the tasks;
s3, when the clock is interrupted every time, the jiffies are updated during processing, a system timer linked list timer-list is maintained, an overtime timer is processed, the dynamic timer is opposite to the system timer, and the setting of the dynamic timer is suitable for a mechanism for scheduling the occurrence of a certain moment and depends on the lower half part of an hour-hour interrupt service program of the clock interrupt;
s4, the system hour clock frequency of Linux kernel is 1000Hz, i.e. the triggering period of clock interrupt is 1ms, the interrupt service program is executed once every 1ms at the fastest speed, the dynamic timer will overtime at any time, but the overtime dynamic timer can be executed only when the interrupt service processor program is executed, so the average error of the dynamic timer is about half of the system clock period;
s5, changing the clock interrupt fixed mode of Linux into a single trigger state, then utilizing TSC to provide the timing precision up to the CPU clock frequency, transforming Linux in the core, and directly modifying the original Linux kernel data structure to meet the implementation requirement.
2. The method for controlling the stability of a movement applied to a four-stage drive according to claim 1, wherein the processing of the jiffies specifically comprises the following steps:
m1, interrupting clear separation in a standard mode, firstly determining whether a real-time timer queue has a working mode of a movement when the number of the real-time timers is set, executing events related to a function maintenance system, inquiring whether the real-time timers in the real-time timer queue are in next interruption processing, and judging whether a jiffies clock is due or not;
m2, inquiring a linked list of the real-time timer, and setting the time of the next interruption generated by the movement according to the difference between the overtime of the earliest overtime real-time timer and the current event;
m3, detection in a high-frequency periodic mode;
m4, and stable control of a timer.
3. The method for controlling the stability of a movement applied to four-stage driving according to claim 2, wherein the detection in the M3 high-frequency periodic mode specifically includes the steps of judging whether a jiffies clock expires in advance in the interrupt processing in the high-frequency periodic mode, executing the M1 and the M2 if the jiffies clock does not expire, marking the lower part of the interrupt if the real-time timer expires, and returning directly if the real-time timer does not expire.
4. The method for controlling the stability of the movement applied to the four-level drive as claimed in claim 2, wherein the stable control of the M4 timer specifically includes that a coarse-grained timer originally existing in a common Linux system is suitable for the stability of the inner core and a non-real-time application which does not require high-progress timing, a high-precision timer queue is organized for the high-progress timing application, timers in the queue are arranged in a non-descending order of timeout time, and the timeout time of the first timer in the queue is the earliest timeout time of the queue.
5. The method for controlling the stability of a movement applied to a four-level drive according to claim 4, wherein the timer of the original Linux kernel is subjected to structural management and maintenance on the movement, so that the time of the insertion and deletion operations of the timer is orderly arranged.
6. The method for controlling the stability of a movement applied to a four-stage drive according to claim 1, wherein in the step S3, after the lower half part of the system clock interrupt processing inside the movement processes the overtime real-time timer, the overtime high-precision timer before the movement system clock interrupt is removed from the original queue and inserted into the HRT-list queue.
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| CN102637126A (en) * | 2011-02-15 | 2012-08-15 | 无锡物联网产业研究院 | Method, device and system for timing embedded system |
| CN102722099A (en) * | 2012-06-13 | 2012-10-10 | 东莞市洲进钟表有限公司 | Clock correction system with error computing function and correction method |
| CN104133520A (en) * | 2014-07-29 | 2014-11-05 | 江苏宏云技术有限公司 | High-precision calibration method of oscillators in embedded processor chip |
| CN108566505A (en) * | 2018-05-31 | 2018-09-21 | 山东中泳体育股份有限公司 | A kind of finish film machine of sports tournament auxiliary timing |
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2020
- 2020-04-15 CN CN202010294794.2A patent/CN111562809B/en active Active
Patent Citations (6)
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| KR20080069453A (en) * | 2007-01-23 | 2008-07-28 | 엘지전자 주식회사 | Method for treating external input in system using real time operating system |
| CN101299193A (en) * | 2008-04-07 | 2008-11-05 | 谢维信 | Method for enhancing computer inner core timer control precision |
| CN102637126A (en) * | 2011-02-15 | 2012-08-15 | 无锡物联网产业研究院 | Method, device and system for timing embedded system |
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| CN104133520A (en) * | 2014-07-29 | 2014-11-05 | 江苏宏云技术有限公司 | High-precision calibration method of oscillators in embedded processor chip |
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