How to sleep in the Linux kernel space?

Question

I have a kernel thread which is assigned on a specific CPU with FIFO and highest priority. This thread sleeps from time to time but the time interval must be as precise as possi

Answer 1

Here is a related excerpt from Documentation/timers/timers-howto.txt:

NON-ATOMIC CONTEXT:

You should use the *sleep[_range] family of functions. There are a few more options here, while any of them may work correctly, using the "right" sleep function will help the scheduler, power management, and just make your driver better :)

• Backed by busy-wait loop:
  udelay(unsigned long usecs)
  
• Backed by hrtimers:
  usleep_range(unsigned long min, unsigned long max)
  
• Backed by jiffies / legacy_timers
  msleep(unsigned long msecs)
msleep_interruptible(unsigned long msecs)
  

Unlike the *delay family, the underlying mechanism driving each of these calls varies, thus there are quirks you should be aware of.

SLEEPING FOR "A FEW" USECS ( < ~10us? )

• Use udelay
  
  • Why not usleep?
    On slower systems, (embedded, OR perhaps a speed-stepped PC!) the overhead of setting up the hrtimers for usleep may not be worth it. Such an evaluation will obviously depend on your specific situation, but it is something to be aware of.

SLEEPING FOR ~USECS OR SMALL MSECS ( 10us - 20ms):

• Use usleep_range
  
  • Why not msleep for (1ms - 20ms)?
    Explained originally here:
    http://lkml.org/lkml/2007/8/3/250
    msleep(1~20) may not do what the caller intends, and will often sleep longer (~20 ms actual sleep for any value given in the 1~20ms range). In many cases this is not the desired behavior.
    
  • Why is there no usleep / What is a good range?
    Since usleep_range is built on top of hrtimers, the wakeup will be very precise (ish), thus a simple usleep function would likely introduce a large number of undesired interrupts.
    
    With the introduction of a range, the scheduler is free to coalesce your wakeup with any other wakeup that may have happened for other reasons, or at the worst case, fire an interrupt for your upper bound.
    
    The larger a range you supply, the greater a chance that you will not trigger an interrupt; this should be balanced with what is an acceptable upper bound on delay / performance for your specific code path. Exact tolerances here are very situation specific, thus it is left to the caller to determine a reasonable range.

SLEEPING FOR LARGER MSECS ( 10ms+ )

• Use msleep or possibly msleep_interruptible
  • What's the difference?
    msleep sets the current task to TASK_UNINTERRUPTIBLE whereas msleep_interruptible sets the current task to TASK_INTERRUPTIBLE before scheduling the sleep. In short, the difference is whether the sleep can be ended early by a signal. In general, just use msleep unless you know you have a need for the interruptible variant.

Answer 2

I've used combination of hrtimer and waitqueue to implement periodical task using kernel thread:

1. create waitqueue and periodic hrtimer
2. block kernel thread on waitqueue using wait_event()/wait_event_timeout()
3. in the hrtimer callback call wake_up()/wake_up_all()

Also, just found, you can implement sleep using hrtimer_init_sleeper() and schedule(), see __wait_event_hrtimeout() or do_nanosleep(). But I nether tried that.