[Xenomai-help] AT91SAM9260 latency

[Juan Antonio Garcia Redondo <juan-antonio.garcia@domain.hid>]

Hi list,

These are my latency results over a custom board based on AT91SAM9260.

Environment:
	kernel 2.6.20 + xenomai 2.4.0
	Load: dd if=/dev/zero of=/dev/null plus an external ping -f to
	stress the ethernet.

The results:
running: ./run -- -p 500 -T 60 -t0 # latency

== Sampling period: 500 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT|  00:00:01  (periodic user-mode task, 500 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD|      45.747|      62.177|      78.286|       0|      45.747|      78.286
.............................................................................
RTD|      39.948|      61.211|      78.286|       0|      39.304|      88.273
---|------------|------------|------------|--------|-------------------------
RTS|      39.304|      61.855|      88.273|       0|    00:01:00/00:01:00

Thu Mar 30 01:51:36 UTC 2000
running: ./run -- -p 500 -T 60 -t1 # latency
== Sampling period: 500 us
== Test mode: in-kernel periodic task
== All results in microseconds
warming up...
RTT|  00:00:01  (in-kernel periodic task, 500 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD|      19.007|      31.731|      43.813|       0|      19.007|      43.813
.............................................................................
---|------------|------------|------------|--------|-------------------------
RTS|      13.501|      31.126|      71.188|       0|    00:01:00/00:01:00

Thu Mar 30 01:52:52 UTC 2000
running: ./run -- -p 500 -T 60 -t2 # latency
*
*
* Type ^C to stop this application.
*
*
== Sampling period: 500 us
== Test mode: in-kernel timer handler
== All results in microseconds
warming up...
RTT|  00:00:01  (in-kernel timer handler, 500 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
.............................................................................
---|------------|------------|------------|--------|-------------------------
RTS|      -0.977|       8.521|      28.337|       0|    00:01:00/00:01:00

Thu Mar 30 01:54:07 UTC 2000
running: ./run -- -T 120 # switchtest
== Testing FPU check routines...
== FPU check routines: unimplemented, skipping FPU switches tests.
== Threads: sleeper-0 rtk-1 rtk-2 rtup-3 rtup-4 rtus-5 rtus-6 rtuo-7 rtuo-8
RTT|  00:00:01
RTH|ctx switches|-------total
RTD|         756|         756
..............................
RTD|         723|       87717
RTD|         762|       88479
RTD|         750|       89229
RTD|          42|       89271

Thu Mar 30 01:56:22 UTC 2000
running: ./run -- -p500 -h # switchbench
== Sampling period: 500 us
== Do not interrupt this program
RTH|     lat min|     lat avg|     lat max|        lost
RTD|      47.358|      52.512|      68.298|           0
---|---range-|---samples
HSD| 47 - 48 |          1
HSD| 48 - 49 |          5
HSD| 49 - 50 |          6
HSD| 50 - 51 |       2065
HSD| 51 - 52 |      22440
HSD| 52 - 53 |      41582
HSD| 53 - 54 |      19749
HSD| 54 - 55 |      11696
HSD| 55 - 56 |       2131
HSD| 56 - 57 |          1
HSD| 60 - 61 |          1
HSD| 62 - 63 |          1
HSD| 63 - 64 |         21
HSD| 64 - 65 |         95
HSD| 65 - 66 |        107
HSD| 66 - 67 |         63
HSD| 67 - 68 |         29
HSD| 68 - 69 |          3
HSS|     99996|     52.271|      1.278

Thu Mar 30 01:57:25 UTC 2000
running: ./run -- -p 10 -n -l 1000 # cyclictest

T: 0 (    0) P:10 I:    1000 C:       0 Min: 1000000 Act:       0 Avg:       0 Max:-1000000
^[[3A1.30 1.01 0.63 2/33 2107          

...........................................................................................

T: 0 ( 2107) P:10 I:    1000 C:       0 Min: 1000000 Act:       0 Avg:       0 Max:-1000000
^[[3A1.30 1.01 0.63 2/33 2107          

T: 0 ( 2107) P:10 I:    1000 C:       0 Min: 1000000 Act:       0 Avg:       0 Max:-1000000
^[[3A1.30 1.01 0.63 2/33 2107          

T: 0 ( 2107) P:10 I:    1000 C:       0 Min: 1000000 Act:       0 Avg:       0 Max:-1000000
^[[3A1.30 1.01 0.63 2/33 2107          

T: 0 ( 2107) P:10 I:    1000 C:      19 Min:      45 Act:      45 Avg:      69 Max:      78
^[[3A1.30 1.01 0.63 2/33 2107          

...........................................................................................

T: 0 ( 2107) P:10 I:    1000 C:     999 Min:      39 Act:      48 Avg:      65 Max:      84

I see everything OK except for the first samples of cyclictests. Any comments ?

Gilles, I've read your comments on adeos list about the performance
problems which you have to solve before upgrading to 2.6.23. Any news ?
Could you tell me if the above numbers shows the perfomance problem or
if I have to do another kind of test to reproduce it ?

Regards,
	Juan Antonio