1 // -----------------------------------------------------------------------
2 // Copyright (C) 2006 - 2008 FRESCOR consortium partners:
4 // Universidad de Cantabria, SPAIN
5 // University of York, UK
6 // Scuola Superiore Sant'Anna, ITALY
7 // Kaiserslautern University, GERMANY
8 // Univ. Politécnica Valencia, SPAIN
9 // Czech Technical University in Prague, CZECH REPUBLIC
11 // Thales Communication S.A. FRANCE
12 // Visual Tools S.A. SPAIN
13 // Rapita Systems Ltd UK
16 // See http://www.frescor.org for a link to partners' websites
18 // FRESCOR project (FP6/2005/IST/5-034026) is funded
19 // in part by the European Union Sixth Framework Programme
20 // The European Union is not liable of any use that may be
24 // based on previous work (FSF) done in the FIRST project
26 // Copyright (C) 2005 Mälardalen University, SWEDEN
27 // Scuola Superiore S.Anna, ITALY
28 // Universidad de Cantabria, SPAIN
29 // University of York, UK
31 // FSF API web pages: http://marte.unican.es/fsf/docs
32 // http://shark.sssup.it/contrib/first/docs/
34 // This file is part of FRSH (FRescor ScHeduler)
36 // FRSH is free software; you can redistribute it and/or modify it
37 // under terms of the GNU General Public License as published by the
38 // Free Software Foundation; either version 2, or (at your option) any
39 // later version. FRSH is distributed in the hope that it will be
40 // useful, but WITHOUT ANY WARRANTY; without even the implied warranty
41 // of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
42 // General Public License for more details. You should have received a
43 // copy of the GNU General Public License along with FRSH; see file
44 // COPYING. If not, write to the Free Software Foundation, 675 Mass Ave,
45 // Cambridge, MA 02139, USA.
47 // As a special exception, including FRSH header files in a file,
48 // instantiating FRSH generics or templates, or linking other files
49 // with FRSH objects to produce an executable application, does not
50 // by itself cause the resulting executable application to be covered
51 // by the GNU General Public License. This exception does not
52 // however invalidate any other reasons why the executable file might be
53 // covered by the GNU Public License.
54 // -----------------------------------------------------------------------
55 //frsh_configuration_parameters.h
56 //==============================================
57 // ******** ******* ******** ** **
58 // **///// /**////** **////// /** /**
59 // ** /** /** /** /** /**
60 // ******* /******* /********* /**********
61 // **//// /**///** ////////** /**//////**
62 // ** /** //** /** /** /**
63 // ** /** //** ******** /** /**
64 // // // // //////// // //
66 // FRSH(FRescor ScHeduler), pronounced "fresh"
67 //==============================================
68 #ifndef _FRSH_CONFIGURATION_PARAMETERS_H_
69 #define _FRSH_CONFIGURATION_PARAMETERS_H_
76 * @file frsh_configuration_parameters.h
78 * This file contains parameters that govern the capabilities of the
79 * FRescor ScHeduler. They must be in concordance with the respective
85 * @defgroup config Configuration Parameters
87 * Here we define global parameters that will have an important
88 * influence on FRSH behaviour. They must also be coherent with the
89 * respective values in the underlaying OS.
96 * This symbol specifies whether the scheduler will make a
97 * schedulability test of the requested contract or not
99 #define FRSH_ADMISSION_TEST_IS_ENABLED true
102 * This symbol specifies whether the service thread will try to
103 * assign automatically the priorities of each vres
105 #define FRSH_AUTOMATIC_PRIO_ASSIGN_ENABLE true
107 #define FRSH_DISTRIBUTED_MODULE_SUPPORTED false
110 /** This defines 1 resource_id value for systems that have only one
111 resource of a kind. **/
112 #define FRSH_RESOURCE_ID_DEFAULT 0
113 #define FRSH_CPU_ID_DEFAULT 0
114 #define FRSH_NETWORK_ID_DEFAULT 0
117 * @defgroup internal Array size for memory optimization
120 * Tune these values for optimizing the amount of memory used by the
126 /** Maximum number of accepted contracts (vres) **/
127 #define FRSH_MAX_N_VRES 100
130 /** Maximum number of threads that may be scheduled by the framework **/
131 #define FRSH_MAX_N_THREADS 25
135 * Maximum number of critical sections that can be stored in a
136 * contract parameters object
138 #define FRSH_MAX_N_CRITICAL_SECTIONS 10
141 * Maximum number of memory areas that can be specified for a
142 * wite operation in a critical section
144 #define FRSH_MAX_N_MEMORY_AREAS 4
147 * Maximum number of utilization values (pairs of budget and period)
148 * that can be stored in a contract parameters object
150 #define FRSH_MAX_N_UTILIZATION_VALUES 5
152 /** Number of importance levels for spare capacity allocation **/
153 #define FRSH_N_IMPORTANCE_LEVELS 5
156 * Maximum number of synchronization objects
158 #define FRSH_MAX_N_SYNCH_OBJECTS 5
161 /** Maximum number of shared objects **/
162 #define FRSH_MAX_N_SHARED_OBJECTS 100
164 /** Maximum number of send and receive endpoints in a single node **/
165 #define FRSH_MAX_N_ENDPOINTS 10
167 /** Maximum number of chars for a contract label **/
168 #define FRSH_CONTRACT_LABEL_MAXLENGTH 15
173 * @defgroup schedandservice Scheduler and Service thread parameters
176 * The current implementation in MaRTE OS uses the Application-Defined
177 * Scheduling Interface (proposed to the POSIX standardization
178 * committee), to create a fixed-priority-based scheduler that
179 * operates under the rules of the FIRST scheduling framework.
181 * In this implementation there are two special threads:
182 * - The application scheduler thread, that
183 * implements the scheduler
185 * - The service thread, that is in charge of
186 * negotiating and renegotiating contracts
187 * concurrently with the application
189 * The following symbols are necessary to adapt the application to the
190 * underlying fixed priority scheduler
196 * Priority assigned to the application scheduler; it should be above
197 * the priorities of the application threads and of the service
198 * thread, and it should be at least 1 level below the maximum of the
201 #define FRSH_SCHEDULER_PRIORITY (fosa_get_priority_max() - FOSA_ADS_SCHEDULER_PRIO_DIFF)
204 * Real-time signal number reserved for the application scheduler to
207 #define FRSH_SCHEDULER_SIGNAL FRSH_SIGNAL_MIN
212 * The highest priority that can be assigned to an application thread,
213 * it should be defined as one level less than the
214 * FRSH_SCHEDULER_PRIORITY
216 #define FRSH_HIGHEST_THREAD_PRIORITY (FRSH_SCHEDULER_PRIORITY-1)
220 * The lowest priority that can be assigned to an application thread,
221 * it should be at least 1 level above the minimum of the system
223 #define FRSH_LOWEST_THREAD_PRIORITY ( fosa_get_priority_min() + 4)
226 * Each call to the functions that negotiate or renegotiate a contract
227 * or that change the quality and importance generates a request for
228 * the service thread that we call a service job. This job will be
229 * pending in a queue until executed by the service thread. The
230 * following symbol represents the maximum number of requests that can
231 * be simultaneously queued.
233 #define FRSH_MAX_N_SERVICE_JOBS (FRSH_MAX_N_VRES * 2)
237 * In order to bound the background activity of the scheduler (i.e.,
238 * the admission tests necessary for the negotiation and
239 * re-negotiation of contracts), a service thread has been defined. It
240 * runs at a given priority level and has a budget and period
245 /** Initial period of the service thread (timespec) **/
246 #define FRSH_SERVICE_THREAD_PERIOD_USECS 500000 /* 500 msecs */
248 /** Initial budget of the service thread (timespec) **/
249 #define FRSH_SERVICE_THREAD_BUDGET_USECS 1000 /* 1 msec */
252 * Initial priority of the service thread, it has to be lower than the
253 * FRSH_SCHEDULER_PRIORITY, and is set according to its period and the
254 * expected response times for reconfiguration or tunning of the
257 //#define FRSH_SERVICE_THREAD_PRIORITY (FRSH_LOWEST_THREAD_PRIORITY+1)
258 #define FRSH_SERVICE_THREAD_PRIORITY 0
265 * @defgroup miscconfig Miscellaneous Config parameters
272 * Maximum number of vres that can be simultaneusly waiting for
273 * being signaled in a synchronization object
275 #define FRSH_MAX_N_VRES_IN_SYNCH_OBJECT 4
279 * Maximum number of events that can be pending to be signaled in a
280 * synchronization object
282 #define FRSH_MAX_N_EVENTS_IN_SYNCH_OBJECT 100
285 * Maximum number of pending replenishments in each sporadic server
287 #define FRSH_MAX_N_PENDING_REPLENISHMENTS 25 //250
291 * Maximum number of target windows in a table driven schedule
293 #define FRSH_MAX_N_TARGET_WINDOWS 100
296 * The cpu time given by the round robin scheduler
297 * to the threads in the background (timespec)
299 #define FRSH_RR_SLICE_CPU_TIME_USECS 100000 // 0.1 sec
302 * This function must be supplied by the user to map the preemption
303 * level values given in the contracts for the vres, to priority
304 * values in the range that is allowed by the present implementation
305 * for application threads. The value returned by the function must
306 * fit in the interval defined by the constants:
307 * [FRSH_LOWEST_THREAD_PRIORITY, FRSH_HIGHEST_THREAD_PRIORITY]
309 int frsh_priority_map (unsigned long plevel);
312 * This symbol specifies the maximum number of chars that are stored
313 * of a given shared_object_id, so this is the maximum length used
316 #define FRSH_MAX_SIZE_SHARED_OBJ_LABEL 15
319 /** Maximum number of networks accesible from a node **/
320 #define FRSH_MAX_N_NETWORK_IDS 1
323 * Maximum number of vres that can be given in a vres list
324 * to the group negotiation/cancellation primitive
326 #define FRSH_MAX_N_VRES_VALUES 10
329 * Maximum number of contracts that can be given in a contracts list
330 * to the group negotiation/cancellation primitive
332 #define FRSH_MAX_N_CONTRACT_VALUES 10
335 * Default overheads of shared object protection mechanisms
336 * These values should be calibrated on each specific execution platform
339 // fixed overhead for saving the environment and subsequently
340 // aborting a critical section; units in nanoseconds
342 #define FRSH_SO_FIXED_ABORT_OVHD 0
345 // fixed overhead for copying a memory area, in nanoseconds
347 #define FRSH_SO_FIXED_AREA_OVHD 0
350 // variable overhead for copying a memory area; units in nanoseconds per kbyte
352 #define FRSH_SO_NANOS_PER_KB 0
355 /* Default memory pool's size in Kbytes */
356 #define FRSH_DYNAMIC_MEMORY_POOL_SIZE 6670
364 #endif /* _FRSH_CONFIGURATION_PARAMETERS_H_ */