From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <1396999856.2660.7.camel@localhost.localdomain> From: Peter Howard Date: Wed, 09 Apr 2014 09:30:56 +1000 In-Reply-To: <5343BEFB.7050402@xenomai.org> References: <1396407588.27578.5.camel@localhost.localdomain> <533BBB11.5090808@xenomai.org> <1396848843.2481.15.camel@localhost.localdomain> <5343BEFB.7050402@xenomai.org> Content-Type: text/plain; charset="UTF-8" Mime-Version: 1.0 Content-Transfer-Encoding: 7bit Subject: Re: [Xenomai] OMAP L138 List-Id: Discussions about the Xenomai project List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Gilles Chanteperdrix Cc: xenomai@xenomai.org On Tue, 2014-04-08 at 11:18 +0200, Gilles Chanteperdrix wrote: > On 04/07/2014 07:34 AM, Peter Howard wrote: > > > > On Wed, 2014-04-02 at 09:24 +0200, Gilles Chanteperdrix wrote: > >> On 04/02/2014 04:59 AM, Peter Howard wrote: > >>> Hi, > >>> > >>> I'm interested in running xenomai on a TI-OMAP L138 board. I found the > >>> following thread in the archives: > >>> > >>> http://www.xenomai.org/pipermail/xenomai/2010-January/018898.html > >>> > >>> where someone was working on porting ipipe and xenomai to that board. > >>> However, the thread ended with problems still unresolved, and the patch > >>> in the thread (just the changes for ipipe) isn't in the ipipe > >>> repository. > >>> > >>> Does anyone know if this work was completed or just faded into the > >>> ether? > >> > >> We never merged a patch for this processor. And a lot of things changed > >> since that time. If you are interested in porting the I-pipe patch to > >> this processor, see: > >> > >> http://www.xenomai.org/index.php/I-pipe-core:ArmPorting > >> > > > > Contrary to what I said last week, I'm working on a patch off the head > > of the ipipe repo. I have built a kernel with an ipipe port and with > > xenomai patched in. However the latency results are bad right now: > > > > root@arago:~# xeno latency -T 25 > > == Sampling period: 1000 us > > == Test mode: periodic user-mode task > > == All results in microseconds > > warming up... > > RTT| 00:00:01 (periodic user-mode task, 1000 us period, priority 99) > > RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst > > RTD| 3.541| 8.833| 60.749| 0| 0| 3.541| 60.749 > > RTD| 3.499| 13.583| 93.916| 0| 0| 3.499| 93.916 > > RTD| 3.666| 88.999| 109.708| 0| 0| 3.499| 109.708 > > RTD| 3.541| 14.958| 95.374| 0| 0| 3.499| 109.708 > > RTD| 3.541| 9.333| 77.583| 0| 0| 3.499| 109.708 > > RTD| 4.041| 88.416| 109.791| 0| 0| 3.499| 109.791 > > RTD| 3.499| 8.958| 72.791| 0| 0| 3.499| 109.791 > > RTD| 3.499| 26.041| 106.874| 0| 0| 3.499| 109.791 > > RTD| 3.874| 82.708| 107.916| 0| 0| 3.499| 109.791 > > RTD| 3.499| 9.083| 73.708| 0| 0| 3.499| 109.791 > > RTD| 3.333| 8.874| 62.458| 0| 0| 3.333| 109.791 > > RTD| 3.333| 8.749| 62.208| 0| 0| 3.333| 109.791 > > RTD| 3.416| 12.708| 99.416| 0| 0| 3.333| 109.791 > > RTD| 3.499| 14.249| 106.749| 0| 0| 3.333| 109.791 > > RTD| 3.541| 9.083| 76.499| 0| 0| 3.333| 109.791 > > RTD| 3.249| 8.791| 63.499| 0| 0| 3.249| 109.791 > > RTD| 3.416| 8.999| 62.499| 0| 0| 3.249| 109.791 > > RTD| 3.541| 26.166| 101.208| 0| 0| 3.249| 109.791 > > RTD| 3.583| 13.624| 92.458| 0| 0| 3.249| 109.791 > > RTD| 3.541| 8.916| 73.708| 0| 0| 3.249| 109.791 > > RTD| 3.541| 8.999| 64.291| 0| 0| 3.249| 109.791 > > RTT| 00:00:22 (periodic user-mode task, 1000 us period, priority 99) > > RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst > > RTD| 3.499| 8.874| 61.374| 0| 0| 3.249| 109.791 > > RTD| 3.499| 13.833| 100.749| 0| 0| 3.249| 109.791 > > RTD| 3.541| 13.083| 99.249| 0| 0| 3.249| 109.791 > > ---|-----------|-----------|-----------|--------|------|------------------------ > > RTS| 3.249| 21.458| 109.791| 0| 0| 00:00:25/00:00:25 > > root@arago:~# > > Note that if the OMAPL138 is an armv4 or armv5, you may want to enable > the FCSE in order to reduce context switch time (and latencies). > > I enabled FCSE, and the max latency is more consistent (though the min and average latency has climbed). How do the below figures look? root@arago:~# xeno latency -T 25 == Sampling period: 1000 us == Test mode: periodic user-mode task == All results in microseconds warming up... RTT| 00:00:01 (periodic user-mode task, 1000 us period, priority 99) RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst RTD| 8.499| 32.874| 105.791| 0| 0| 8.499| 105.791 RTD| 8.041| 18.458| 80.416| 0| 0| 8.041| 105.791 RTD| 8.416| 14.124| 62.374| 0| 0| 8.041| 105.791 RTD| 8.791| 14.666| 66.541| 0| 0| 8.041| 105.791 RTD| 8.249| 14.749| 69.916| 0| 0| 8.041| 105.791 RTD| 8.749| 17.833| 87.208| 0| 0| 8.041| 105.791 RTD| 8.499| 18.291| 77.583| 0| 0| 8.041| 105.791 RTD| 8.291| 14.166| 65.541| 0| 0| 8.041| 105.791 RTD| 8.458| 14.624| 64.874| 0| 0| 8.041| 105.791 RTD| 8.249| 14.208| 66.624| 0| 0| 8.041| 105.791 RTD| 8.708| 17.208| 86.041| 0| 0| 8.041| 105.791 RTD| 8.708| 18.374| 76.291| 0| 0| 8.041| 105.791 RTD| 8.499| 14.958| 71.458| 0| 0| 8.041| 105.791 RTD| 16.041| 24.291| 85.541| 0| 0| 8.041| 105.791 RTD| 8.083| 14.083| 64.749| 0| 0| 8.041| 105.791 RTD| 8.833| 17.416| 87.666| 0| 0| 8.041| 105.791 RTD| 8.749| 24.416| 81.208| 0| 0| 8.041| 105.791 RTD| 8.458| 14.083| 67.374| 0| 0| 8.041| 105.791 RTD| 8.041| 14.624| 64.958| 0| 0| 8.041| 105.791 RTD| 8.666| 23.499| 84.333| 0| 0| 8.041| 105.791 RTD| 7.749| 17.083| 80.249| 0| 0| 7.749| 105.791 RTT| 00:00:22 (periodic user-mode task, 1000 us period, priority 99) RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst RTD| 7.916| 18.208| 81.541| 0| 0| 7.749| 105.791 RTD| 8.541| 27.541| 102.958| 0| 0| 7.749| 105.791 RTD| 8.249| 14.083| 64.416| 0| 0| 7.749| 105.791 ---|-----------|-----------|-----------|--------|------|------------------------ RTS| 7.749| 18.041| 105.791| 0| 0| 00:00:25/00:00:25 root@arago:~# -- Peter Howard