Unit-5 Chapter 2
Unit-5 Chapter 2
Magnetic Disks
Traditional magnetic disks have the following basic structure:
One or more platters in the form of disks covered with magnetic media. Hard disk platters are
made of rigid metal, while "floppy" disks are made of more flexible plastic.
Each platter has two working surfaces. Older hard disk drives would sometimes not use the
very top or bottom surface of a stack of platters, as these surfaces were more susceptible to
potential damage.
Each working surface is divided into a number of concentric rings called tracks. The collection
of all tracks that are the same distance from the edge of the platter, ( i.e. all tracks immediately
above one another in the following diagram ) is called a cylinder.
Each track is further divided into sectors, traditionally containing 512 bytes of data each, although
some modern disks occasionally use larger sector sizes. ( Sectors also include a header and a
trailer, including checksum information among other things. Larger sector sizes reduce the fraction
of the disk consumed by headers and trailers, but increase internal fragmentation and the amount
of disk that must be marked bad in the case of errors. )
The data on a hard drive is read by read-write heads. The standard configuration ( shown below )
uses one head per surface, each on a separate arm, and controlled by a common arm assembly
which moves all heads simultaneously from one cylinder to another. ( Other configurations,
including independent read-write heads, may speed up disk access, but involve serious technical
difficulties. )
The storage capacity of a traditional disk drive is equal to the number of heads ( i.e. the number of working
surfaces), times the number of tracks per surface, times the number of sectors per track, times the number
of bytes per sector. A particular physical block of data is specified by providing the head-sector-cylinder
In operation the disk rotates at high speed, such as 7200 rpm ( 120 revolutions per second. ) The rate
at which data can be transferred from the disk to the computer is composed of several steps:
The positioning time, a.k.a. the seek time or random access time is the time required to move the
heads from one cylinder to another, and for the heads to settle down after the move. This is
typically the slowest step in the process and the predominant bottleneck to overall transfer rates.
The rotational latency is the amount of time required for the desired sector to rotate around and
come under the read- write head.This can range anywhere from zero to one full revolution, and on
the average will equal one-half revolution. This is another physical step and is usually the second
slowest step behind seek time. ( For a disk rotating at 7200 rpm, the average rotational latency
would be 1/2 revolution / 120 revolutions per second, or just over 4 milliseconds, a long time by
computer standards.
The transfer rate, which is the time required to move the data electronically from the disk to the
computer. ( Some authors may also use the term transfer rate to refer to the overall transfer rate,
including seek time and rotational latency as well as the electronic data transfer rate. )
Disk heads "fly" over the surface on a very thin cushion of air. If they should accidentally contact the
disk, then a head crash occurs, which may or may not permanently damage the disk or even destroy it
completely. For this reason it is normal to park the disk heads when turning a computer off, which
means to move the heads off the disk or to an area of the disk where there is no data stored.
Floppy disks are normally removable. Hard drives can also be removable, and some are even
hot-swappable, meaning they can be removed while the computer is running, and a new hard drive
inserted in their place.
Disk drives are connected to the computer via a cable known as the I/O Bus. Some of the
common interface formats include Enhanced Integrated Drive Electronics, EIDE; Advanced
Technology Attachment, ATA; Serial ATA, SATA, Universal Serial Bus, USB; Fiber Channel,
FC, and Small Computer Systems Interface, SCSI.
The host controller is at the computer end of the I/O bus, and the disk controller is built into the disk
itself. The CPU issues commands to the host controller via I/O ports. Data is transferred between the
magnetic surface and onboard cache by the disk controller, and then the data is transferred from that
cache to the host controller and the motherboard memory at electronic speeds.
Magnetic tapes were once used for common secondary storage before the days of hard disk drives,
but today are used primarily for backups.
Accessing a particular spot on a magnetic tape can be slow, but once reading or writing
commences, access speeds are comparable to disk drives.
Capacities of tape drives can range from 20 to 200 GB, and compression can double that capacity.
Disk Structure
The traditional head-sector-cylinder, HSC numbers are mapped to linear block addresses by numbering the first
sector on the first head on the outermost track as sector 0. Numbering proceeds with the rest of the sectors on that
same track, and then the rest of the tracks on the same cylinder before proceeding through the rest of the cylinders
to the center of the disk. In modern practice these linear block addresses are used in place of the HSC numbers for
a variety of reasons:
1. The linear length of tracks near the outer edge of the disk is much longer than for those tracks located
near the center, and therefore it is possible to squeeze many more sectors onto outer tracks than onto
inner ones.
2. All disks have some bad sectors, and therefore disks maintain a few spare sectors that can be used in place
of the bad ones. The mapping of spare sectors to bad sectors in managed internally to the disk controller.
3. Modern hard drives can have thousands of cylinders, and hundreds of sectors per track on their outermost
tracks. These numbers exceed the range of HSC numbers for many ( older ) operating systems, and therefore
disks can be configured for any convenient combination of HSC values that falls within the total number of
sectors physically on the drive.
There is a limit to how closely packed individual bits can be placed on a physical media, but that limit is growing
increasingly more packed as technological advances are made.
Modern disks pack many more sectors into outer cylinders than inner ones, using one of two approaches:
With Constant Linear Velocity, CLV, the density of bits is uniform from cylinder to cylinder. Because there
are more sectors in outer cylinders, the disk spins slower when reading those cylinders, causing the rate of
bits passing under the read-write head to remain constant. This is the approach used by modern CDs and
DVDs.
With Constant Angular Velocity, CAV, the disk rotates at a constant angular speed, with the bit density
decreasing on outer cylinders. ( These disks would have a constant number of sectors per track on all
cylinders. )
Disk Attachment
Disk drives can be attached either directly to a particular host ( a local disk ) or to a network.
Host-Attached Storage
Local disks are accessed through I/O Ports as described earlier.
The most common interfaces are IDE or ATA, each of which allow up to two drives
per host controller. SATA is similar with simpler cabling.
High end workstations or other systems in need of larger number of disks typically use SCSI disks:
The SCSI standard supports up to 16 targets on each SCSI bus, one of which is generally the
host adapter and the other 15 of which can be disk or tape drives.
A SCSI target is usually a single drive, but the standard also supports up to 8 units within each
target. These would generally be used for accessing individual disks within a RAID array. ( See
below. )
The SCSI standard also supports multiple host adapters in a single computer, i.e.
multiple SCSI busses. Modern advancements in SCSI include "fast" and "wide"
versions, as well as SCSI-2.
SCSI cables may be either 50 or 68 conductors. SCSI devices may be external as
well as internal. See wikipedia for more information on the SCSI interface.
FC is a high-speed serial architecture that can operate over optical fiber or four-conductor copper
wires, and has two variants:
A large switched fabric having a 24-bit address space. This variant allows for multiple devices
and multiple hosts to interconnect, forming the basis for the storage-area networks, SANs, to be
discussed in a future section.
The arbitrated loop, FC-AL, that can address up to 126 devices ( drives and controllers. )
Network-Attached Storage
Network attached storage connects storage devices to computers using a remote procedure call, RPC,
interface, typically with something like NFS filesystem mounts. This is convenient for allowing
several computers in a group common access and naming conventions for shared storage.
NAS can be implemented using SCSI cabling, or ISCSI uses Internet protocols and standard network
connections, allowing long-distance remote access to shared files.
NAS allows computers to easily share data storage, but tends to be less efficient than standard host-attached
storage.
FCFS Scheduling
First-Come First-Serve is simple and intrinsically fair, but not very efficient. Consider in the
following sequence the wild swing from cylinder 122 to 14 and then back to 124:
SSTF Scheduling
Shortest Seek Time First scheduling is more efficient, but may lead to starvation if a constant stream of
requests arrives for the same general area of the disk.
SSTF reduces the total head movement to 236 cylinders, down from 640 required for the same set of
requests under FCFS. Note, however that the distance could be reduced still further to 208 by starting
with 37 and then 14 first before processing the rest of the requests.
Under the SCAN algorithm, If a request arrives just ahead of the moving head then it will be processed
right away, but if it arrives just after the head has passed, then it will have to wait for the head to pass
going the other way on the return trip. This leads to a fairly wide variation in access times which can
be improved upon.
Consider, for example, when the head reaches the high end of the disk: Requests with high cylinder
numbers just missed the passing head, which means they are all fairly recent requests, whereas
requests with low numbers may have been waiting for a much longer time. Making the return scan
from high to low then ends up accessing recent requests first and making older requests wait that
much longer.
C-SCAN Scheduling
The Circular-SCAN algorithm improves upon SCAN by treating all requests in a circular queue
fashion - Once the head reaches the end of the disk, it returns to the other end without processing any
requests, and then starts again from the beginning of the disk:
LOOK scheduling improves upon SCAN by looking ahead at the queue of pending requests, and not
moving the heads any farther towards the end of the disk than is necessary. The following diagram
illustrates the circular form of LOOK:
Figure -LOOK disk scheduling.
CLOOK: As LOOK is similar to SCAN algorithm, in similar way, CLOOK is similar to CSCAN disk scheduling
algorithm. In CLOOK, the disk arm inspite of going to the end goes only to the last request to be serviced in front of the
head and then from there goes to the other end’s last request. Thus, it also prevents the extra delay which occurred due to
unnecessary traversal to the end of the disk.
With very low loads all algorithms are equal, since there will normally only be one request to process at a time.
For slightly larger loads, SSTF offers better performance than FCFS, but may lead to starvation when
loads become heavy enough.
For busier systems, SCAN and LOOK algorithms eliminate starvation problems.
The actual optimal algorithm may be something even more complex than those discussed here,
but the incremental improvements are generally not worth the additional overhead.
Some improvement to overall filesystem access times can be made by intelligent placement of
directory and/or inode information. If those structures are placed in the middle of the disk instead of at
the beginning of the disk, then the maximum distance from those structures to data blocks is reduced
to only one-half of the disk size. If those structures can be further distributed and furthermore have
their data blocks stored as close as possible to the corresponding directory structures, then that reduces
still further the overall time to find the disk block numbers and then access the corresponding data
blocks.
On modern disks the rotational latency can be almost as significant as the seek time, however it is not
within the OSes control to account for that, because modern disks do not reveal their internal sector
mapping schemes, ( particularly when bad blocks have been remapped to spare sectors. )
Some disk manufacturers provide for disk scheduling algorithms directly on their disk
controllers, ( which do know the actual geometry of the disk as well as any remapping ), so that
if a series of requests are sent from the computer to the controller then those requests can be
processed in an optimal order.
Unfortunately there are some considerations that the OS must take into account that are beyond
the abilities of the on-board disk-scheduling algorithms, such as priorities of some requests over
others, or the need to process certain requests in a particular order. For this reason OSes may
elect to spoon-feed requests to the disk controller one at a time in certain situations.
Disk Management
Before a disk can be used, it has to be low-level formatted, which means laying down all of the headers
and trailers marking the beginning and ends of each sector. Included in the header and trailer are the
linear sector numbers, and error- correcting codes, ECC, which allow damaged sectors to not only be
detected, but in many cases for the damaged data to be recovered ( depending on the extent of the
damage. ) Sector sizes are traditionally 512 bytes, but may be larger, particularly in larger drives.
ECC calculation is performed with every disk read or write, and if damage is detected but the data is
recoverable, then a soft error has occurred. Soft errors are generally handled by the on-board disk
controller, and never seen by the OS. ( See below. )
Once the disk is low-level formatted, the next step is to partition the drive into one or more separate
partitions. This step must be completed even if the disk is to be used as a single large partition, so
that the partition table can be written to the beginning of the disk.
After partitioning, then the filesystems must be logically formatted, which involves laying down the
master directory information ( FAT table or inode structure ), initializing free lists, and creating at least
the root directory of the filesystem. ( Disk partitions which are to be used as raw devices are not
logically formatted. This saves the overhead and disk space of the filesystem structure, but requires that
the application program manage its own disk storage requirements. )
Boot Block
Computer ROM contains a bootstrap program ( OS independent ) with just enough code to find the
first sector on the first hard drive on the first controller, load that sector into memory, and transfer
control over to it. ( The ROM bootstrap program may look in floppy and/or CD drives before
accessing the hard drive, and is smart enough to recognize whether it has found valid boot code or not.
)
The first sector on the hard drive is known as the Master Boot Record, MBR, and contains a very
small amount of code in addition to the partition table. The partition table documents how the disk is
partitioned into logical disks, and indicates specifically which partition is the active or boot partition.
The boot program then looks to the active partition to find an operating system, possibly loading up a
slightly larger / more advanced boot program along the way.
In a dual-boot ( or larger multi-boot ) system, the user may be given a choice of which operating
system to boot, with a default action to be taken in the event of no response within some time frame.
Once the kernel is found by the boot program, it is loaded into memory and then control is transferred
over to the OS. The kernel will normally continue the boot process by initializing all important kernel
data structures, launching important system services ( e.g. network daemons, sched, init, etc. ), and
finally providing one or more login prompts. Boot options at this stage may include single-user a.k.a.
maintenance or safe modes, in which very few system services are started - These modes are designed
for system administrators to repair problems or otherwise maintain the system.
Figure 10.9 - Booting from disk in Windows 2000.
Bad Blocks
No disk can be manufactured to 100% perfection, and all physical objects wear out over time. For
these reasons all disks are shipped with a few bad blocks, and additional blocks can be expected to go
bad slowly over time. If a large number of blocks go bad then the entire disk will need to be replaced,
but a few here and there can be handled through other means. In the old days, bad blocks had to be
checked for manually. Formatting of the disk or running certain disk-analysis tools would identify bad
blocks, and attempt to read the data off of them one last time through repeated tries. Then the bad
blocks would be mapped out and taken out of future service. Sometimes the data could be recovered,
and sometimes it was lost forever. ( Disk analysis tools could be either destructive or non-destructive. )
Modern disk controllers make much better use of the error-correcting codes, so that bad blocks can be
detected earlier and the data usually recovered. ( Recall that blocks are tested with every write as well
as with every read, so often errors can be detected before the write operation is complete, and the data
simply written to a different sector instead. )
Note that re-mapping of sectors from their normal linear progression can throw off the disk scheduling
optimization of the OS, especially if the replacement sector is physically far away from the sector it is
replacing. For this reason most disks normally keep a few spare sectors on each cylinder, as well as at
least one spare cylinder. Whenever possible a bad sector will be mapped to another sector on the same
cylinder, or at least a cylinder as close as possible. Sector slipping may also be performed, in which all
sectors between the bad sector and the replacement sector are moved down by one, so that the linear
progression of sector numbers can be maintained.
If the data on a bad block cannot be recovered, then a hard error has occurred., which requires
replacing the file(s) from backups, or rebuilding them from scratch.
Swap-Space Management
Modern systems typically swap out pages as needed, rather than swapping out entire processes. Hence the
swapping system is part of the virtual memory management system.
Managing swap space is obviously an important task for modern OSes.
Swap-Space Use
The amount of swap space needed by an OS varies greatly according to how it is used. Some systems
require an amount equal to physical RAM; some want a multiple of that; some want an amount equal to
the amount by which virtual memory exceeds physical RAM, and some systems use little or none at all!
Some systems support multiple swap spaces on separate disks in order to speed up the virtual memory system.
Swap-Space Location
As a large file which is part of the regular filesystem. This is easy to implement, but
inefficient. Not only must the swap space be accessed through the directory system, the file is
also subject to fragmentation issues.
Caching the block location helps in finding the physical blocks, but that is not a complete fix.
As a raw partition, possibly on a separate or little-used disk. This allows the OS more control
over swap space management, which is usually faster and more efficient. Fragmentation of swap
space is generally not a big issue, as the space is re-initialized every time the system is rebooted.
The downside of keeping swap space on a raw partition is that it can only be grown by
repartitioning the hard drive.
Historically OSes swapped out entire processes as needed. Modern systems swap out only individual
pages, and only as needed. ( For example process code blocks and other blocks that have not been
changed since they were originally loaded are normally just freed from the virtual memory system
rather than copying them to swap space, because it is faster to go find them again in the filesystem and
read them back in from there than to write them out to swap space and then read them back. )
In the mapping system shown below for Linux systems, a map of swap space is kept in memory,
where each entry corresponds to a 4K block in the swap space. Zeros indicate free slots and non-zeros
refer to how many processes have a mapping to that particular block ( >1 for shared pages only. )
RAID Structure
The general idea behind RAID is to employ a group of hard drives together with some form of duplication, either
to increase reliability or to speed up operations, ( or sometimes both. )
RAID originally stood for Redundant Array of Inexpensive Disks, and was designed to use a bunch of cheap
small disks in place of one or two larger more expensive ones. Today RAID systems employ large possibly
expensive disks as their components, switching the definition to Independent disks.
The more disks a system has, the greater the likelihood that one of them will go bad at any given
time. Hence increasing disks on a system actually decreases the Mean Time To Failure, MTTF of
the system.
If, however, the same data was copied onto multiple disks, then the data would not be lost unless both
( or all ) copies of the data were damaged simultaneously, which is a MUCH lower probability than
for a single disk going bad. More specifically, the second disk would have to go bad before the first
disk was repaired, which brings the Mean Time To Repair into play. For example if two disks were
involved, each with a MTTF of 100,000 hours and a MTTR of 10 hours, then the Mean Time to
Data Loss would be 500 * 10^6 hours, or 57,000 years!
This is the basic idea behind disk mirroring, in which a system contains identical data on two or more disks.
Note that a power failure during a write operation could cause both disks to contain corrupt data, if
both disks were writing simultaneously at the time of the power failure. One solution is to write to
the two disks in series, so that they will not both become corrupted ( at least not in the same way )
by a power failure. And alternate solution involves non-volatile RAM as a write cache, which is
not lost in the event of a power failure and which is protected by error- correcting codes.
There is also a performance benefit to mirroring, particularly with respect to reads. Since every block
of data is duplicated on multiple disks, read operations can be satisfied from any available copy, and
multiple disks can be reading different data blocks simultaneously in parallel. ( Writes could possibly
be sped up as well through careful scheduling algorithms, but it would be complicated in practice. )
Another way of improving disk access time is with striping, which basically means spreading data out
across multiple disks that can be accessed simultaneously.
With bit-level striping the bits of each byte are striped across multiple disks. For example if 8
disks were involved, then each 8-bit byte would be read in parallel by 8 heads on separate disks. A
single disk read would access 8 * 512 bytes = 4K worth of data in the time normally required to
read 512 bytes. Similarly if 4 disks were involved, then two bits of each byte could be stored on
each disk, for 2K worth of disk access per read or write operation.
Block-level striping spreads a filesystem across multiple disks on a block-by-block basis, so if
block N were located on disk 0, then block N + 1 would be on disk 1, and so on. This is
particularly useful when filesystems are accessed in clusters of physical blocks. Other striping
possibilities exist, with block-level striping being the most common.
RAID Levels
Mirroring provides reliability but is expensive; Striping improves performance, but does not
improve reliability. Accordingly there are a number of different schemes that combine the
principals of mirroring and striping in different
ways, in order to balance reliability versus performance versus cost. These are described by different
RAID levels, as follows: ( In the diagram that follows, "C" indicates a copy, and "P" indicates parity,
i.e. checksum bits. )
3. Raid Level 3 - This level is similar to level 2, except that it takes advantage of the fact that each
disk is still doing its own error-detection, so that when an error occurs, there is no question about
which disk in the array has the bad data. As a result a single parity bit is all that is needed to
recover the lost data from an array of disks. Level 3 also includes striping, which improves
performance. The downside with the parity approach is that every disk must take part in every disk
access, and the parity bits must be constantly calculated and checked, reducing performance.
Hardware- level parity calculations and NVRAM cache can help with both of those issues. In
practice level 3 is greatly preferred over level 2.
4. Raid Level 4 - This level is similar to level 3, employing block-level striping instead of bit-level
striping. The benefits are that multiple blocks can be read independently, and changes to a block
only require writing two blocks ( data and parity ) rather than involving all disks. Note that new
disks can be added seamlessly to the system provided they are initialized to all zeros, as this does
not affect the parity results
5. Raid Level 5 - This level is similar to level 4, except the parity blocks are distributed over all
disks, thereby more evenly balancing the load on the system. For any given block on the disk(s),
one of the disks will hold the parity information for that block and the other N-1 disks will hold
the data. Note that the same disk cannot hold both data and parity for the same block, as both
would be lost in the event of a disk crash.
6. Raid Level 6 - This level extends raid level 5 by storing multiple bits of error-recovery codes, (
such as the Reed- Solomon codes ), for each bit position of data, rather than a single parity bit.
In the example shown below 2 bits of ECC are stored for every 4 bits of data, allowing data
recovery in the face of up to two simultaneous disk failures. Note that this still involves only
50% increase in storage needs, as opposed to 100% for simple mirroring which could only
tolerate a single disk failure.
Figure 10.11 - RAID levels.
There are also two RAID levels which combine RAID levels 0 and 1 ( striping and mirroring ) in different
combinations, designed to provide both performance and reliability at the expense of increased cost.
RAID level 0 + 1 disks are first striped, and then the striped disks mirrored to another set.
This level generally provides better performance than RAID level 5.
RAID level 1 + 0 mirrors disks in pairs, and then stripes the mirrored pairs. The storage capacity,
performance, etc. are all the same, but there is an advantage to this approach in the event of
multiple disk failures, as illustrated below:.
In diagram (a) below, the 8 disks have been divided into two sets of four, each of which is
striped, and then one stripe set is used to mirror the other set.
If a single disk fails, it wipes out the entire stripe set, but the system can keep on
functioning using the remaining set.
However if a second disk from the other stripe set now fails, then the entire system is
lost, as a result of two disk failures.
In diagram (b), the same 8 disks are divided into four sets of two, each of which is
mirrored, and then the file system is striped across the four sets of mirrored disks.
If a single disk fails, then that mirror set is reduced to a single disk, but the system rolls
on, and the other three mirror sets continue mirroring.
Now if a second disk fails, ( that is not the mirror of the already failed disk ), then
another one of the mirror sets is reduced to a single disk, but the system can continue
without data loss.
In fact the second arrangement could handle as many as four simultaneously failed
disks, as long as no two of them were from the same mirror pair.
Extensions
RAID concepts have been extended to tape drives ( e.g. striping tapes for faster backups or parity
checking tapes for reliability ), and for broadcasting of data.