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Kernel development

Brief items

Kernel release status

The current 2.6 prepatch is 2.6.9-rc4, which was released by Linus on October 10. Says Linus:

Ok, trying to make ready for the real 2.6.9 in a week or so, so please give this a beating, and if you have pending patches, please hold on to them for a bit longer, until after the 2.6.9 release. It would be good to have a 2.6.9 that doesn't need a dot-release immediately ;)

Changes in this set include a number of architecture updates, an ACPI update, Linus's kernel management style document, some networking tweaks, and lots of fixes. See the long-format changelog for the details.

Linus's BitKeeper repository contains a handful of serious fixes; it looks like very few patches will be accepted until 2.6.9 comes out.

The current prepatch from Andrew Morton is 2.6.9-rc4-mm1. Recent changes to -mm include the removal of lockmeter (it was interfering with some of the latency work), a buddy allocator rework, a number of reiserfs error handling improvements, and various architecture updates.

The current 2.4 prepatch is 2.4.28-pre4, released by Marcelo on October 8. The number of new patches is small; they include some networking tweaks, a serial ATA update, and various fixes.

Comments (none posted)

Kernel development news

Quote of the week

I don't know what exactly you will receive from Linus and Alan, but here's a reply from me (and I do have code in quite a few places in the tree):

Sod Off.

If you need it in writing and notarized, that could be arranged.

-- Al Viro, not tempted by Jeff Merkey's offer.

Comments (11 posted)

Approaches to realtime Linux

Using Linux systems for realtime tasks has long been an area of interest. In the last couple of weeks, a number of projects working to implement realtime response have posted their work. This article looks at the patches posted recently to get a sense for where the realtime projects are headed.

The realtime LSM

A relatively simple contribution is the realtime security module by Torben Hohn and Jack O'Quin. This module does not actually add any new realtime features to the kernel; instead, it uses the LSM hooks to let users belonging to a specific group use more of the system's resources. In particular, it adds the CAP_SYS_NICE, CAP_IPC_LOCK, and CAP_SYS_RESOURCE capabilities to the selected group. These capabilities allow the affected processes to raise their priority, lock memory into RAM, and generally to exceed resource limits. Granting capabilities in this way goes somewhat beyond the usual "restrictive hooks only" practice for security modules, but there have not been any complaints on that score.

MontaVista's patch

The event which really stirred up the discussion, however, was the posting of the realtime kernel patch set by MontaVista's Sven-Thorsten Dietrich. This highly intrusive patch attempts to minimize system response latency by taking the preemptible kernel approach to its limit. In comparison, the current preemption approach, which is considered to be too risky to use by most distributors, is a half measure at best.

MontaVista's patch begins by adopting the "IRQ threads" patch posted by Ingo Molnar. This patch moves the running of most interrupt handlers into a separate kernel thread which competes with the others for processor time. Once that is done, interrupt handlers become preemptible and are far less likely to stall the system for long periods of time.

The biggest source of latency in the kernel then becomes critical sections protected by spinlocks. So why not make those sections preemptible as well? To that end, the PMutex patch has been adapted to the 2.6 kernel. This patch implements blocking mutexes, similar to the existing kernel semaphores. The PMutex version, however, has a simple priority inheritance mechanism; processes holding a mutex can have their priority bumped up temporarily so that they get their work done and release the mutex as quickly as possible. Among other things, this approach helps to minimize priority inversion problems.

The biggest change is replacing of most spinlocks in the system with the new mutexes; the patch uses a set of preprocessor macros to turn spinlock_t, and the operations on spinlocks, into their mutex equivalents. In one step, most critical sections become preemptible and no longer are part of the latency problem. As an added bonus, the moving of interrupt handlers to their own thread means that interrupt handlers can no longer deadlock with non-interrupt code when contending for the same lock; that means that it is no longer necessary to disable interrupts when taking a lock which might also be used by an interrupt handler.

There are, of course, a few nagging little problems to deal with. Some code in the system really shouldn't be preempted while holding a lock. In particular, code which might be in the middle of programming hardware registers, the page table handling code, and the scheduler itself need to be allowed to do their job in peace. It is hard, after all, to imagine a scenario where preempting the scheduler will lead to good things. So a number of places in the kernel cannot be switched from spinlocks to the new mutexes.

The realtime patch attempts to handle these cases by creating a new _spinlock_t type, which is just the old spinlock_t under a newer, uglier name. The spinlock primitives have been renamed in the same way (e.g. _spin_lock()). Code which truly needs an old-style spinlock is then hacked up to use the new names, and it functions as before. Except for some files, where the developers were able to include <linux/spin_undefs.h>, which restores the old functionality under the old names. The header file rightly describes this technique as "a dirty, dirty hack." But it does make the patch smaller.

Needless to say, the task of sifting through every lock in the kernel to figure out which ones cannot be changed to mutexes is a long and error-prone process. In fact, the job is nowhere near complete, and the MontaVista patch is, by its authors' admission, marginally stable on uniprocessor systems, unstable on SMP systems, and unrunnable on hyperthreaded systems. But you have to start somewhere.

Ingo's fully preemptible kernel

Ingo Molnar liked that start, but had some issues with it. So he went off for two days and created a better version, which has been folded into his "voluntary preemption" series of patches. Ingo takes the same basic approach used by the MontaVista patch, but with some changes:

  • The PMutex patch is not used; instead, Ingo uses the existing kernel semaphore implementation. His argument is that semaphores work on all architectures, while PMutexes currently only work on x86. It would be better to hack priority inheritance into the existing semaphores, and thus make it available to all of the current semaphore users as well as those converted over from spinlocks. Ingo's patch does not currently implement priority inheritance, however.

  • Through some preprocessor trickery, Ingo was able to avoid changing all of the spinlock calls. Preserving "old style" spinlock behavior is simply a matter of changing the type of the lock to raw_spinlock_t and, perhaps, changing the initialization of the lock. The actual spin_lock() and related calls do the right thing with either a "raw" spinlock or a new semaphore-based mutex. Think of it as a sort of poor man's polymorphic lock type.

  • Ingo found a much larger set of core locks which must use the true spinlock type. This was done partly through a set of checks built into the kernel which complain when the wrong type of lock is being used. With Ingo's patch, some 90 spinlocks remain in the kernel (in comparison, MontaVista preserved about 30 of them). Even so, thanks to the reworked locking primitives, Ingo's patch is much smaller than the MontaVista patch.

Ingo would like to reduce the number of remaining spinlocks, but he warns that a number of "core infrastructure" changes will be required first. In particular, code using read-copy-update must continue to use spinlocks for now; allowing code which holds a reference to an RCU-protected structure to be preempted would break one of the core RCU assumptions. MontaVista has apparently taken a stab at the RCU issue, but does not yet have a patch which they are ready to circulate.

Ingo continues to post patches at a furious rate; things are evolving quickly on this front.

RTAI/Fusion

Meanwhile, the real realtime people point out that none of this work provides deterministic, quantifiable latencies. It does help to reduce latency, but it cannot provide guarantees. A "realtime" system without latency guarantees may be suitable for a number of tasks, but it still isn't up to the challenge of running a nuclear power plant, an airliner's flight management system, or an extra-fast IRC spambot. If it absolutely, positively must respond within a few microseconds, you need a real realtime system.

There are two longstanding Linux projects which are intended to provide this sort of deterministic response: RTLinux and RTAI. There is the obligatory bad blood between the two, complicated by a software patent held by the RTLinux camp.

The RTLinux approach (and the subject of the patent) is to put the hardware under the control of a small, hard realtime system, and to run the whole of Linux as a single, low-priority task under the realtime system. Access to the realtime mode is obtained by writing a kernel module which uses a highly restricted set of primitives. Channels have been provided for communicating between the realtime module and the normal Linux user space. Since the realtime side of the system controls the hardware and gets first claim on its resources, it is possible to guarantee a maximum response time.

RTAI initially used that approach, but has since shifted to running under the Adeos kernel. Adeos is essentially a "hyperviser" system which runs both Linux and a real-time system as subsidiary tasks, and allows the two to communicate. It allows a pecking order to be established between the secondary operating systems so that the realtime component can respond first to hardware events. This approach is said to be more flexible and also to avoid the RTLinux patent. Working with RTAI still requires writing kernel-mode code to handle the hard realtime part of the task.

In response to the current discussion, Philippe Gerum surfaced with an introduction to the RTAI/Fusion project. This project, which is "a branch" of the RTAI effort, is looking for a middle ground between the low-latency efforts and the full RTAI mode of operation; its goal is to allow code to be written for the Linux user space, with access to regular Linux facilities, but still being able to provide deterministic, bounded response times. To this end, RTAI/Fusion provides two operating modes for realtime tasks:

  • The "hardened" mode offers strict latency guarantees, but programs must restrict themselves to the services provided by RTAI. A subset of Linux system calls are available as RTAI services, but most of them are not.

  • When a task invokes a system call which cannot be implemented in the hardened mode, it is shifted over to the secondary ("shielded") scheduling mode. This mode is similar to the realtime modes implemented by MontaVista and Ingo Molnar; all Linux services are available, but the maximum latency may be higher. The RTAI/Fusion shielded mode defers most interrupt processing while the realtime task is running, which is said to improve latency somewhat.

Processes may move between the two modes at will.

The end result is a blurring of the line between regular Linux processes and the hard realtime variety. Developers can select the mode which best suits their needs while running under the same system, and they can use different modes for different phases of a program's execution. RTAI/Fusion might yet succeed in the task of combining a general-purpose operating system with hard realtime operation.

In conclusion...

Whether any of the work described here will make it into the mainline kernel is another question. The preemptible kernel patch, which was far less ambitious, has still not been accepted by many developers. Removing most spinlocks and making the kernel fully preemptible will certainly be an even harder sell. It is an intrusive change which could take some time to stabilize fully. If a fully-preemptible, closer-to-realtime kernel does pass muster with the kernel developers, it may well be the sort of development that finally forces the creation of a 2.7 branch.

Another challenge will be building a consensus around the idea that the mainline kernel should even try to be suitable for hard realtime tasks. The kernel developers are, as a rule, opposed to changes which benefit a tiny minority of users, but which impose costs on all users. Merging intrusive patches for the sake of realtime response looks like that sort of change to many. Before mainline Linux can truly claim to be a realtime system, the relevant patches will have to prove themselves to be highly stable and without penalty for "regular" users.

Comments (39 posted)

Four-level page tables

Most Linux users probably have a sufficiently interesting life that they spend little time imagining how page tables are represented in the kernel. Many of those who do ponder on that issue may think in terms of a linear array which maps virtual addresses onto their corresponding physical addresses. This view of page tables is enough to understand the basic function that they perform, but the real situation is more complicated than that.

A single array large enough to hold the page table entries for a single process would be huge. On a typical x86 system, a page table entry requires 32 bits, so 1024 of them (covering 4MB of virtual address space) can be stored in one page. If the virtual address space is 3GB (as it is on many x86 systems), 768 pages would be required to hold all of the page table entries. Allocating that much contiguous memory (for each process) would be impossible, even if that sort of memory overhead were tolerable.

The fact is that most processes only use a small portion of the total virtual address space - but the parts they use are widely scattered over that space. Program text lives down near the bottom, heap memory and dynamic libraries are distributed throughout the middle, and the stack is put up at the very top. So the real page table structure must handle a sparse, widely distributed set of virtual addresses without wasting excessive amounts of memory or requiring large, physically-contiguous arrays.

To that end, modern processors which use page tables use a hierarchical, tree structure. This structure allows the table to be broken up into individual pages, and the subtrees corresponding to unused parts of the address space can be absent. The Linux kernel works with a three-level structure which looks like this:

[Page table tree]

On an x86 system running in the PAE mode (only needed when more than 4GB of memory is installed), all three levels of page tables are present. The page global directory (PGD) contains only four entries, each corresponding to 1GB of virtual address space; the PGD is indexed using the top two bits of the virtual address. Each PGD entry points to a page middle directory (PMD), which holds 512 entries indexed by bits 21-29 of the virtual address. The PMD entry (if it is not empty) points to an actual page table. Using bits 12-20 of the virtual address to index into that page table yields the actual physical address of the page, assuming that page is currently resident in RAM.

The current 2.6 kernel implements a three-level page table for all architectures. As it turns out, the bulk of x86 systems will not be running in the PAE mode; on those systems, the hardware only supports two levels of page tables. The PGD holds 1024 entries (bits 22-31), each of which points to a 1024-entry page table (bits 12-21). For the benefit of the rest of the kernel, the page table access functions are set up to emulate the existence of a single-entry PMD, so these systems still appear to use a three-level page table.

The three-level design is wired deeply into the kernel. Any code which must manually map a virtual address into its physical counterpart must do something like this (error handling and other details omitted):

	pmd = pmd_offset(pgd, address);
	pte = *pte_offset_map(pmd, address);
	page = pte_page(pte);

Similarly, any kernel function which affects a range of virtual addresses must implement a depth-first traversal of the relevant portion of the three-level tree. Most of these traversals of the page table tree have been isolated behind functions, but it is still surprising how many places are coded around the three-level assumption. But it all works fine, since the architecture-specific code makes it looks like all systems have three-level page tables.

The only problem is that some hardware actually supports four-level tables. The example which is driving the current changes is x86-64. The current x86-64 port emulates a three-level architecture by using a single, shared, top-level directory ("PML4") and fitting (most of) the virtual address space in a three-level tree pointed to by a single PML4 entry. It all works, but it limits Linux processes to a mere 512GB of virtual address space. Such limits are irksome to the kernel developers when the hardware can do more, and, besides, somebody is likely to release a web browser or office suite which runs into that limit in the near future.

The solution is to shift the kernel over to using four-level page tables everywhere, with the fourth level emulated (and optimized out of existence) on architectures which do not support it. Andi Kleen has posted a four-level page tables patch which implements this change. With Andi's patch, the x86-64 architecture implements a 512-entry PML4 directory, 512-entry PGD, 512-entry PMD, and 512-entry PTE. After various deductions, that is sufficient to implement a 128TB address space, which should last for a little while.

The actual patch works as one might expect; code which currently handles three-level page tables is extended to deal with the fourth level. There is a default PML4 implementation which can be included by architectures which do not have four-level tables; that should make porting most architectures to the new scheme relatively easy. That work is likely to happen in the near future, after which Andi has stated his intention to get the four-level patch merged into the -mm tree. Andrew Morton has already said (at the kernel summit) that he would consider merging such a patch. Your Linux system may be running with four-level page tables in the near future.

Comments (3 posted)

InfiniBand: a proprietary standard?

Greg Kroah-Hartman recently expressed some concerns about the InfiniBand specification. It seems that, if you are not a member of the InfiniBand Trade Association, a copy of the specification will cost $9500 - and it requires signing a license which reads:

Upon receipt by IBTA of payment for a single copy license to the Specification, you are entitled to possess one physical copy of the Specification in the form provided to you by IBTA, and to make internal, noncommercial use of the Specification within your organization.

Such language raises the obvious question: how can anybody write or distribute a free InfiniBand implementation after having signed that sort of license? Things get worse when one looks at the IBTA membership agreement (PDF):

When the member or its Affiliates makes a Contribution or when the Steering Committee adopts and approves for release a Specification, the Member and its Affiliates hereby agree to grant to other members and their affiliates under reasonable terms and conditions that are demonstrably free of any unfair discrimination, a nonexclusive, nontransferable, worldwide license under its Necessary Claims to allow such Members to make, have made, use, import, offer to sell, lease, and sell and otherwise distribute Compliant Portions ....

The Member and its Affiliates retain the independent right to grant or withhold a nonexclusive license or sublicense of patents containing Necessary Claims to non-Members on such terms as the Member may determine.

(Emphasis added). The InfiniBand standard, in other words, is allowed to contain patented technology, only IBTA members must be given the opportunity to license any patented technology, and only under "reasonable terms and conditions." If said "reasonable terms and conditions" included the right to distribute code under a free license, one would assume those who wrote the agreement would have seen fit to say so.

The end result is that InfiniBand looks like a closed, proprietary standard, and not something which can be supported in free software. Greg asked, flat out:

So, OpenIB group, how to you plan to address this issue? Do you all have a position as to how you think your code base can be accepted into the main kernel tree given these recent events?

In response, there have been some "we don't think it's a problem" mumblings, but nothing that looks like a real answer to this question. Until this all gets straightened out, anybody considering using InfiniBand with free software may well want to think about alternatives.

Comments (5 posted)

Patches and updates

Kernel trees

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Core kernel code

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