[Xenomai-core] Testing the adeos-ipipe-2.6.13-ppc-1.0-00.patch

[Xenomai-core] Testing the adeos-ipipe-2.6.13-ppc-1.0-00.patch

[Wolfgang Grandegger]

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Hello Philippe,

I got Xenomai working on a Ocotea-Board (AMCC 440GX) and a low-end
TQM855L-Module (MPC 855) under Linux 2.6.14-rc3 :-). The patch applied
with a few hunks and one easy to fix reject and I had to correct two
problems. One with FEW_CONTEXT (see attached patch) and the second with
"#include <asm/offsets.h>" in "xenomai/arch/ppc/hal/switch.S". The
include file does not exist (any more) in the kernel tree and therefore
I commented out the line. I'm going to perform latency tests on various
4xx and 8xx boards next week. Here are some preliminary figures of the
TQM855L-Module (CPU 80 MHz, Bus 40 MHz, 4 kB I-Cache 4 kB D-Cache):

bash-2.05b# ./cruncher -p 500
Calibrating cruncher...3025953, 334, 334, 334, 334, done -- ideal
computation time = 334 us.
1000 samples, 1000 hz freq (pid=338, policy=SCHED_FIFO, prio=99)
--------
Nanosleep jitter: min = 118 us, max = 474 us, avg = 155 us
Execution jitter: min = 32 us (9%), max = 100 us (29%), avg = 47 us (14%)
--------

bash-2.05b# ./switch -p 500
== Sampling period: 500 us
== Do not interrupt this program
RTH|     lat min|     lat avg|     lat max|        lost
RTD|      110400|      120200|      206600|           0

bash-2.05b# ./latency -p 500
== Sampling period: 500 us
---|------------|------------|------------|--------|-------------------------
RTS|       70000|       84000|      183200|       0|    00:00:50/00:00:50

Have a nice weekend.

Wolfgang.

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+ diff -u linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c.FEW_CONTEXTS linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c
--- linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c.FEW_CONTEXTS	2005-10-15 12:03:40.000000000 +0200
+++ linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c	2005-10-15 13:56:29.000000000 +0200
@@ -35,6 +35,7 @@
 #include <asm/atomic.h>
 #include <asm/io.h>
 #include <asm/time.h>
+#include <asm/mmu_context.h>
 
 extern irq_desc_t irq_desc[];
 

Re: [Xenomai-core] Testing the adeos-ipipe-2.6.13-ppc-1.0-00.patch

[Heikki Lindholm]

Wolfgang Grandegger kirjoitti:
> Hello Philippe,
> 
> I got Xenomai working on a Ocotea-Board (AMCC 440GX) and a low-end
> TQM855L-Module (MPC 855) under Linux 2.6.14-rc3 :-). The patch applied
> with a few hunks and one easy to fix reject and I had to correct two
> problems. One with FEW_CONTEXT (see attached patch) and the second with
> "#include <asm/offsets.h>" in "xenomai/arch/ppc/hal/switch.S". The
> include file does not exist (any more) in the kernel tree and therefore
> I commented out the line. I'm going to perform latency tests on various
> 4xx and 8xx boards next week. Here are some preliminary figures of the
> TQM855L-Module (CPU 80 MHz, Bus 40 MHz, 4 kB I-Cache 4 kB D-Cache):

If you happen to know some (semi-)comparable figures for the same boards 
using some commercial RTOS, it would be nice to know them also, for 
comparison.

-- Heikki Lindholm

Re: [Xenomai-core] Testing the adeos-ipipe-2.6.13-ppc-1.0-00.patch

[Wolfgang Grandegger]

On 10/15/2005 09:17 PM Heikki Lindholm wrote:
> Wolfgang Grandegger kirjoitti:
>> Hello Philippe,
>> 
>> I got Xenomai working on a Ocotea-Board (AMCC 440GX) and a low-end
>> TQM855L-Module (MPC 855) under Linux 2.6.14-rc3 :-). The patch applied
>> with a few hunks and one easy to fix reject and I had to correct two
>> problems. One with FEW_CONTEXT (see attached patch) and the second with
>> "#include <asm/offsets.h>" in "xenomai/arch/ppc/hal/switch.S". The
>> include file does not exist (any more) in the kernel tree and therefore
>> I commented out the line. I'm going to perform latency tests on various
>> 4xx and 8xx boards next week. Here are some preliminary figures of the
>> TQM855L-Module (CPU 80 MHz, Bus 40 MHz, 4 kB I-Cache 4 kB D-Cache):
> 
> If you happen to know some (semi-)comparable figures for the same boards 
> using some commercial RTOS, it would be nice to know them also, for 
> comparison.

Well, we only deal with "free" software. But I can compare the result
from the klatency test with the one from RTAI/RTHAL under Linux 2.4, of
course.

Wolfgang.

Re: [Xenomai-core] Testing the adeos-ipipe-2.6.13-ppc-1.0-00.patch

[Philippe Gerum]

Wolfgang Grandegger wrote:
> On 10/15/2005 09:17 PM Heikki Lindholm wrote:
> 
>>Wolfgang Grandegger kirjoitti:
>>
>>>Hello Philippe,
>>>
>>>I got Xenomai working on a Ocotea-Board (AMCC 440GX) and a low-end
>>>TQM855L-Module (MPC 855) under Linux 2.6.14-rc3 :-). The patch applied
>>>with a few hunks and one easy to fix reject and I had to correct two
>>>problems. One with FEW_CONTEXT (see attached patch) and the second with
>>>"#include <asm/offsets.h>" in "xenomai/arch/ppc/hal/switch.S". The
>>>include file does not exist (any more) in the kernel tree and therefore
>>>I commented out the line. I'm going to perform latency tests on various
>>>4xx and 8xx boards next week. Here are some preliminary figures of the
>>>TQM855L-Module (CPU 80 MHz, Bus 40 MHz, 4 kB I-Cache 4 kB D-Cache):
>>
>>If you happen to know some (semi-)comparable figures for the same boards 
>>using some commercial RTOS, it would be nice to know them also, for 
>>comparison.
> 
> 
> Well, we only deal with "free" software. But I can compare the result
> from the klatency test with the one from RTAI/RTHAL under Linux 2.4, of
> course.
> 

This would be a good starting point.

-- 

Philippe.

[Xenomai-core] Re: Testing the adeos-ipipe-2.6.13-ppc-1.0-00.patch

[Philippe Gerum]

Wolfgang Grandegger wrote:
> Hello Philippe,
> 
> I got Xenomai working on a Ocotea-Board (AMCC 440GX) and a low-end
> TQM855L-Module (MPC 855) under Linux 2.6.14-rc3 :-). The patch applied
> with a few hunks and one easy to fix reject and I had to correct two
> problems. One with FEW_CONTEXT (see attached patch) and the second with

Applied.

> "#include <asm/offsets.h>" in "xenomai/arch/ppc/hal/switch.S". The
> include file does not exist (any more) in the kernel tree and therefore

This was useless anyway, so I've removed it too.

> I commented out the line. I'm going to perform latency tests on various
> 4xx and 8xx boards next week.

This will help a lot, thanks.

  Here are some preliminary figures of the
> TQM855L-Module (CPU 80 MHz, Bus 40 MHz, 4 kB I-Cache 4 kB D-Cache):
> 
> bash-2.05b# ./cruncher -p 500
> Calibrating cruncher...3025953, 334, 334, 334, 334, done -- ideal
> computation time = 334 us.
> 1000 samples, 1000 hz freq (pid=338, policy=SCHED_FIFO, prio=99)
> --------
> Nanosleep jitter: min = 118 us, max = 474 us, avg = 155 us
> Execution jitter: min = 32 us (9%), max = 100 us (29%), avg = 47 us (14%)
> --------
> 
> bash-2.05b# ./switch -p 500
> == Sampling period: 500 us
> == Do not interrupt this program
> RTH|     lat min|     lat avg|     lat max|        lost
> RTD|      110400|      120200|      206600|           0
> 

Min lat is huge, there's a lot of room for improving the intrinsic latency...

> bash-2.05b# ./latency -p 500
> == Sampling period: 500 us
> ---|------------|------------|------------|--------|-------------------------
> RTS|       70000|       84000|      183200|       0|    00:00:50/00:00:50
> 
> Have a nice weekend.
> 

You too, thanks.

> Wolfgang.
> 
> 
> ------------------------------------------------------------------------
> 
> + diff -u linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c.FEW_CONTEXTS linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c
> --- linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c.FEW_CONTEXTS	2005-10-15 12:03:40.000000000 +0200
> +++ linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c	2005-10-15 13:56:29.000000000 +0200
> @@ -35,6 +35,7 @@
>  #include <asm/atomic.h>
>  #include <asm/io.h>
>  #include <asm/time.h>
> +#include <asm/mmu_context.h>
>  
>  extern irq_desc_t irq_desc[];
>  

-- 

Philippe.