Kernel Programming

Kernel Programming

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  © 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Kernel Programming
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  2© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. What to Expect? How to do programming in “Kernel C” for Achieving Concurrency Keeping Time Providing Delays Timer Control
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  3© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Concurrency
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  4© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Concurrency with Locking Mutexes Header: <linux/mutex.h> Type: struct mutex APIs DEFINE_MUTEX mutex_is_locked mutex_lock, mutex_trylock, mutex_unlock Semaphores Header: <linux/semaphore.h> Type: struct semaphore APIs sema_init down, down_trylock, down_interruptible, up
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  5© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Concurrency w/ Locking (cont.) Spin Locks Header <linux/spinlock.h> Type: spinlock_t APIs spin_lock_init spin_[try]lock, spin_unlock Reader-Writer Locks Header: <linux/spinlock.h> Type: rwlock_t APIs read_lock, read_unlock write_lock, write_unlock
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  6© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Concurrency without Locking Atomic Variables Header: <asm-generic/atomic.h> Type: atomic_t Macros ATOMIC_INIT atomic_read, atomic_set atomic_add, atomic_sub, atomic_inc, atomic_dec atomic_xchg
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  7© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Concurrency w/o Locking (cont.) Atomic Bit Operations Header: <linux/bitops.h> APIs rol8, rol16, rol32, ror8, ror16, ror32 find_first_bit, find_first_zero_bit find_last_bit find_next_bit, find_next_zero_bit Header: <asm-generic/bitops.h> APIs set_bit, clear_bit, change_bit test_and_set_bit, test_and_clear_bit, test_and_change_bit
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  8© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Wait Queues Wait Queues Header: <linux/wait.h> Wait Queue Head APIs DECLARE_WAIT_QUEUE_HEAD(wq); wait_event_interruptible(wq, cond); wait_event_interruptible_timeout(wq, cond, timeout); wake_up_interruptible(&wq); ... (non-interruptible set) Wait Queue APIs DECLARE_WAITQUEUE(w, current); add_wait_queue(&wq, &w); remove_wait_queue(&wq, &w);
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  9© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Time Keeping
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  10© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Time since Bootup tick – Kernel's unit of time. Also called jiffy HZ – ticks per second Defined in Header: <linux/param.h> Typically, 1000 for desktops, 100 for embedded systems 1 tick = 1ms (desktop), 10ms (embedded systems) Variables: jiffies & jiffies_64 Header: <linux/jiffies.h> APIs time_after, time_before, time_in_range, ... get_jiffies_64, ... msec_to_jiffies, timespec_to_jiffies, timeval_to_jiffies, … jiffies_to_msec, jiffies_to_timespec, jiffies_to_timeval, ...
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  11© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Time since Bootup (cont.) Platform specific “Time Stamp Counter” On x86 Header: <asm/msr.h> API: rdtsc(ul low_tsc_ticks, ul high_tsc_ticks); Getting it generically Header: <linux/timex.h> API: read_current_timer(unsigned long *timer_val);
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  12© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Absolute Time Header: <linux/time.h> APIs mktime(y, m, d, h, m, s) – Seconds since Epoch void do_gettimeofday(struct timeval *tv); struct timespec current_kernel_time(void);
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  13© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Delays
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  14© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Long Delays Busy wait: cpu_relax while (time_before(jiffies, j1)) cpu_relax(); Yielding: schedule/schedule_timeout while (time_before(jiffies, j1)) schedule();
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  15© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Short Delays but Busy Waiting Header: <linux/delay.h> Arch. specific Header: <asm/delay.h> APIs void ndelay(unsigned long ndelays); void udelay(unsigned long udelays); void mdelay(unsigned long mdelays);
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  16© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Long Delays: Back to Yielding Header: <linux/delay.h> APIs void msleep(unsigned int millisecs); unsigned long msleep_interruptible(unsigned int millisecs); void ssleep(unsigned int secs);
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  17© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Timers
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  18© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Kernel Timers Back end of the various delays Header: <linux/timer.h> Type: struct timer_list APIs void init_timer(struct timer_list *); /* Nullifies */ struct timer_list TIMER_INITIALIZER(f, t, p); void add_timer(struct timer_list *); void del_timer(struct timer_list *); int mod_timer(struct timer_list *, unsigned long); int del_timer_sync(struct timer_list *);
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  19© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Tasklets Timers without specific Timing Header: <linux/interrupt.h> Type: struct tasklet_struct APIs void tasklet_init(struct tasklet_struct *t, void (*func) (unsigned long), unsigned long data); void tasklet_kill(struct tasklet_struct *t); DECLARE_TASKLET(name, func, data); tasklet_enable(t), tasklet_disable(t) tasklet_[hi_]schedule(t);
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  20© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Work Queues In context of “Special Kernel Thread” Header: <linux/workqueue.h> Types: struct workqueue_struct, struct work_struct Work Queue APIs q = create_workqueue(name); q = create_singlethread_workqueue(name); flush_workqueue(q); destroy_workqueue(q); Work APIs DECLARE_WORK(w, void (*function)(void *), void *data); INIT_WORK(w, void (*function)(void *), void *data); Combined APIs int queue_work(q, &w); int queue_delayed_work(q, &w, d); int cancel_delayed_work(&w); Global Shared Work Queue API schedule_work(&w);
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  21© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Helper Interfaces
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  22© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Other Helper Interfaces in Latest Kernels User Mode Helper Linked Lists Hash Lists Notifier Chains Completion Interface Kthread Helpers
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  23© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved.
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  24© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. What to Expect? How to do programming in “Kernel C” for Achieving Concurrency With & without Locking Wait Queues Keeping Time Relative & Absolute Providing Delays Long and Short Busy Wait and Yielding Timer Control Kernel Timers Tasklets Work Queues
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  25© 2010-15 SysplayWorkshops <workshop@sysplay.in> All Rights Reserved. Any Queries?