From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <1397017658.2660.16.camel@localhost.localdomain> From: Peter Howard Date: Wed, 09 Apr 2014 14:27:38 +1000 In-Reply-To: <1397003664.2660.14.camel@localhost.localdomain> References: <1396407588.27578.5.camel@localhost.localdomain> <533BBB11.5090808@xenomai.org> <1396848843.2481.15.camel@localhost.localdomain> <5343BEFB.7050402@xenomai.org> <1396999856.2660.7.camel@localhost.localdomain> <53449244.8040502@xenomai.org> <1397003664.2660.14.camel@localhost.localdomain> 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 Wed, 2014-04-09 at 10:34 +1000, Peter Howard wrote: > On Wed, 2014-04-09 at 02:20 +0200, Gilles Chanteperdrix wrote: > > On 04/09/2014 01:30 AM, Peter Howard wrote: > > > 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? > > > > Otherwise, it is hard to say whether there is an issue or not. It is not > > uncommon for armv4 or armv5 to have high latencies like this. > > On what core is this processor based, running at what frequency? > > > > > It's an AMR926EJ-S r5. Datasheet claims 375MHz, U-boot claims 300MHz. > > Load test to follow. > OK, this run was done with LTP running on the board (runltplite.sh), with cpu utilization between 90% and 100% 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| 29.999| 45.083| 80.833| 0| 0| 29.999| 80.833 RTD| 35.416| 49.083| 94.666| 0| 0| 29.999| 94.666 RTD| 19.749| 45.374| 83.874| 0| 0| 19.749| 94.666 RTD| 28.291| 47.999| 96.458| 0| 0| 19.749| 96.458 RTD| 16.999| 54.458| 107.041| 0| 0| 16.999| 107.041 RTD| 15.458| 60.083| 100.374| 0| 0| 15.458| 107.041 RTD| 39.041| 74.333| 97.041| 0| 0| 15.458| 107.041 RTD| 39.416| 73.874| 97.624| 0| 0| 15.458| 107.041 RTD| 39.624| 74.249| 104.749| 0| 0| 15.458| 107.041 RTD| 39.666| 74.458| 103.333| 0| 0| 15.458| 107.041 RTD| 42.499| 74.583| 105.874| 0| 0| 15.458| 107.041 RTD| 38.333| 74.583| 96.416| 0| 0| 15.458| 107.041 RTD| 39.833| 74.083| 99.916| 0| 0| 15.458| 107.041 RTD| 37.749| 75.166| 105.708| 0| 0| 15.458| 107.041 RTD| 40.833| 74.749| 97.791| 0| 0| 15.458| 107.041 RTD| 34.833| 74.083| 98.624| 0| 0| 15.458| 107.041 RTD| 42.249| 74.249| 96.708| 0| 0| 15.458| 107.041 RTD| 41.916| 74.499| 103.208| 0| 0| 15.458| 107.041 RTD| 34.166| 74.374| 102.833| 0| 0| 15.458| 107.041 RTD| 44.583| 74.791| 101.291| 0| 0| 15.458| 107.041 RTD| 38.041| 74.458| 103.083| 0| 0| 15.458| 107.041 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| 43.249| 74.416| 97.124| 0| 0| 15.458| 107.041 RTD| 40.749| 74.166| 104.874| 0| 0| 15.458| 107.041 RTD| 40.791| 74.791| 97.833| 0| 0| 15.458| 107.041 ---|-----------|-----------|-----------|--------|------|------------------------- RTS| 15.458| 68.416| 107.041| 0| 0| 00:00:25/00:00:25 root@arago:~# -- Peter Howard