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

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

[Fillod Stephane]

Wolfgang Grandegger wrote:
[...]
>> Load for klatency/latency was ping flooding on FCC (piece of cake),
>> and cache calibrator. IMHO, we can do nastier.
>
>You mean the cache calibrator from http://monetdb.cwi.nl/Calibrator/? I
>tried it on my Ocotea board and it increased the max latency for 25 to
>30 us.

Yes, that very one. In this case, it has been used as a cache trashing
load generator. But IMHO, this Calibrator should be better used in the
Benchmarking Plan to get L1/L2/RAM access latency figures (w/o RT
running),
and offer one more correlation against RT latency results.

We can afford a better cache trashing load generator. Earlier this year,
I proposed flushy(tm) [1], but as Philippe suggested, we can do better.
Flushy should be rewritten as an ADEOS layer, inserted just in front of 
Xenomai in the pipeline. This way, we would be sure the caches
are dead cold when Xenomai enter its domain. Using tools like OProfile,
it should be possible then to track cache misses, and fix them 
by prefetching, where available.

[1] http://rtai.dk/cgi-bin/gratiswiki.pl?Latency_Killer (bottom of page)


Here is the result of my 1.0-01 tests on e500:

$ cat /proc/ipipe/version
1.0-01

SWITCH without load:
RTH|     lat min|     lat avg|     lat max|        lost
RTD|        3660|        3690|        8070|           0	1.0-00
RTD|        4620|        4740|        8730|           0	1.0-01

KLATENCY with load:
RTH|-----lat min|-----lat avg|-----lat max|-overrun|
RTS|       -7350|       -5715|        6420|       0|    00:03:17 1.0-00
RTS|       -6150|       -4384|       12180|       0|    00:03:13 1.0-01

LATENCY with load:
== Sampling period: 100 us
RTH|-----lat min|-----lat avg|-----lat max|-overrun|
RTS|       -6930|       -4260|        8700|       0|    00:08:06 1.0-00
RTS|       -5670|       -4620|       12930|       0|    00:12:39 1.0-01

That's weird. Figures are worse, but since the load (ping -f +
calibrator)
was executed manually, it may not be the same.

-- 
Stephane

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

[Philippe Gerum]

Fillod Stephane wrote:
> Wolfgang Grandegger wrote:
> [...]
> 
>>>Load for klatency/latency was ping flooding on FCC (piece of cake),
>>>and cache calibrator. IMHO, we can do nastier.
>>
>>You mean the cache calibrator from http://monetdb.cwi.nl/Calibrator/? I
>>tried it on my Ocotea board and it increased the max latency for 25 to
>>30 us.
> 
> 
> Yes, that very one. In this case, it has been used as a cache trashing
> load generator. But IMHO, this Calibrator should be better used in the
> Benchmarking Plan to get L1/L2/RAM access latency figures (w/o RT
> running),
> and offer one more correlation against RT latency results.
> 
> We can afford a better cache trashing load generator. Earlier this year,
> I proposed flushy(tm) [1], but as Philippe suggested, we can do better.
> Flushy should be rewritten as an ADEOS layer, inserted just in front of 
> Xenomai in the pipeline. This way, we would be sure the caches
> are dead cold when Xenomai enter its domain. Using tools like OProfile,
> it should be possible then to track cache misses, and fix them 
> by prefetching, where available.
> 
> [1] http://rtai.dk/cgi-bin/gratiswiki.pl?Latency_Killer (bottom of page)
> 
> 
> Here is the result of my 1.0-01 tests on e500:
> 
> $ cat /proc/ipipe/version
> 1.0-01
> 
> SWITCH without load:
> RTH|     lat min|     lat avg|     lat max|        lost
> RTD|        3660|        3690|        8070|           0	1.0-00
> RTD|        4620|        4740|        8730|           0	1.0-01
> 
> KLATENCY with load:
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -7350|       -5715|        6420|       0|    00:03:17 1.0-00
> RTS|       -6150|       -4384|       12180|       0|    00:03:13 1.0-01
> 
> LATENCY with load:
> == Sampling period: 100 us
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -6930|       -4260|        8700|       0|    00:08:06 1.0-00
> RTS|       -5670|       -4620|       12930|       0|    00:12:39 1.0-01
> 
> That's weird. Figures are worse, but since the load (ping -f +
> calibrator)
> was executed manually, it may not be the same.
> 

Ok, I now suspect that another change regarding the size of the interrupt 
counters made this worse. I'm going to revert it and upload -02, just to make sure.

-- 

Philippe.

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

[Philippe Gerum]

Philippe Gerum wrote:
> Fillod Stephane wrote:
> 
>> Wolfgang Grandegger wrote:
>> [...]
>>
>>>> Load for klatency/latency was ping flooding on FCC (piece of cake),
>>>> and cache calibrator. IMHO, we can do nastier.
>>>
>>>
>>> You mean the cache calibrator from http://monetdb.cwi.nl/Calibrator/? I
>>> tried it on my Ocotea board and it increased the max latency for 25 to
>>> 30 us.
>>
>>
>>
>> Yes, that very one. In this case, it has been used as a cache trashing
>> load generator. But IMHO, this Calibrator should be better used in the
>> Benchmarking Plan to get L1/L2/RAM access latency figures (w/o RT
>> running),
>> and offer one more correlation against RT latency results.
>>
>> We can afford a better cache trashing load generator. Earlier this year,
>> I proposed flushy(tm) [1], but as Philippe suggested, we can do better.
>> Flushy should be rewritten as an ADEOS layer, inserted just in front 
>> of Xenomai in the pipeline. This way, we would be sure the caches
>> are dead cold when Xenomai enter its domain. Using tools like OProfile,
>> it should be possible then to track cache misses, and fix them by 
>> prefetching, where available.
>>
>> [1] http://rtai.dk/cgi-bin/gratiswiki.pl?Latency_Killer (bottom of page)
>>
>>
>> Here is the result of my 1.0-01 tests on e500:
>>
>> $ cat /proc/ipipe/version
>> 1.0-01
>>
>> SWITCH without load:
>> RTH|     lat min|     lat avg|     lat max|        lost
>> RTD|        3660|        3690|        8070|           0    1.0-00
>> RTD|        4620|        4740|        8730|           0    1.0-01
>>
>> KLATENCY with load:
>> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
>> RTS|       -7350|       -5715|        6420|       0|    00:03:17 1.0-00
>> RTS|       -6150|       -4384|       12180|       0|    00:03:13 1.0-01
>>
>> LATENCY with load:
>> == Sampling period: 100 us
>> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
>> RTS|       -6930|       -4260|        8700|       0|    00:08:06 1.0-00
>> RTS|       -5670|       -4620|       12930|       0|    00:12:39 1.0-01
>>
>> That's weird. Figures are worse, but since the load (ping -f +
>> calibrator)
>> was executed manually, it may not be the same.
>>
> 
> Ok, I now suspect that another change regarding the size of the 
> interrupt counters made this worse. I'm going to revert it and upload 
> -02, just to make sure.
> 

http://download.gna.org/adeos/patches/v2.6/adeos/ppc/adeos-ipipe-2.6.13-ppc-1.0-02.patch

-- 

Philippe.

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

[Fillod Stephane]

Philippe Gerum wrote:
[..]
>The last significant change between -00 and -01 is actually the one related to 
>the fork pressure (others are cosmetic ones aimed at better sharing stuff with 
>the blackfin port). The patch below against -02 removes it.

Here is the result of tests with version 1.0-02+ (entry.S patch) on e500:
 
load: ~1 minute ping -f, one run of calibrator chewing 64MiB.

SWITCH without load:
RTH|     lat min|     lat avg|     lat max|        lost
RTD|        3660|        3690|        8070|           0    1.0-00
RTD|        4620|        4740|        8730|           0    1.0-01
RTD|        4620|        4740|        8190|           0    1.0-02
RTD|        4650|        4740|        7980|           0    1.0-02+

KLATENCY with load:
RTH|-----lat min|-----lat avg|-----lat max|-overrun|
RTS|       -7350|       -5715|        6420|       0|    00:03:17 1.0-00
RTS|       -6150|       -4384|       12180|       0|    00:03:13 1.0-01
RTS|       -6150|       -4183|       12480|       0|    00:03:38 1.0-02
RTS|       -6120|       -4447|        8370|       0|    00:03:47 1.0-02+

LATENCY with load:
== Sampling period: 100 us
RTH|-----lat min|-----lat avg|-----lat max|-overrun|
RTS|       -6930|       -4260|        8700|       0|    00:08:06 1.0-00
RTS|       -5670|       -4620|       12930|       0|    00:12:39 1.0-01
RTS|       -5700|       -3750|       11280|       0|    00:06:05 1.0-02
RTS|       -5640|       -2250|       11310|       0|    00:10:31 1.0-02+

Load is still generated manually, so the pattern may vary: lat avg
is not meaningful. The amplitude would be a much more interesting value.
Anyway, are the generated load comparable?

The klatency is in better shape, however the latency test did not improve.
The 1.0-00 patch should be rerun as a double check.
I'm afraid we're already entering performance fine tuning, while we have
IMO other higher priority tasks for now. At least, I do :-(

-- 
Stéphane

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

[Philippe Gerum]

Fillod Stephane wrote:
> Philippe Gerum wrote:
> [..]
> 
>>The last significant change between -00 and -01 is actually the one related to 
>>the fork pressure (others are cosmetic ones aimed at better sharing stuff with 
>>the blackfin port). The patch below against -02 removes it.
> 
> 
> Here is the result of tests with version 1.0-02+ (entry.S patch) on e500:
>  
> load: ~1 minute ping -f, one run of calibrator chewing 64MiB.
> 
> SWITCH without load:
> RTH|     lat min|     lat avg|     lat max|        lost
> RTD|        3660|        3690|        8070|           0    1.0-00
> RTD|        4620|        4740|        8730|           0    1.0-01
> RTD|        4620|        4740|        8190|           0    1.0-02
> RTD|        4650|        4740|        7980|           0    1.0-02+
> 
> KLATENCY with load:
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -7350|       -5715|        6420|       0|    00:03:17 1.0-00
> RTS|       -6150|       -4384|       12180|       0|    00:03:13 1.0-01
> RTS|       -6150|       -4183|       12480|       0|    00:03:38 1.0-02
> RTS|       -6120|       -4447|        8370|       0|    00:03:47 1.0-02+
> 
> LATENCY with load:
> == Sampling period: 100 us
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -6930|       -4260|        8700|       0|    00:08:06 1.0-00
> RTS|       -5670|       -4620|       12930|       0|    00:12:39 1.0-01
> RTS|       -5700|       -3750|       11280|       0|    00:06:05 1.0-02
> RTS|       -5640|       -2250|       11310|       0|    00:10:31 1.0-02+
> 
> Load is still generated manually, so the pattern may vary: lat avg
> is not meaningful. The amplitude would be a much more interesting value.
> Anyway, are the generated load comparable?
> 
> The klatency is in better shape, however the latency test did not improve.
> The 1.0-00 patch should be rerun as a double check.
> I'm afraid we're already entering performance fine tuning, while we have

Actually no, such a high variation in latency is the sign of a serious 
regression, not just a fine tuning issue. Let's stop there, I'll remove the fork 
patch for -03 since it had no positive impact anyway. Thanks.


> IMO other higher priority tasks for now. At least, I do :-(
> 

-- 

Philippe.

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

[Fillod Stephane]

Philippe Gerum wrote:
[..]
>
http://download.gna.org/adeos/patches/v2.6/adeos/ppc/adeos-ipipe-2.6.13-
ppc-1.0-02.patch

Here is the result of tests with version 1.0-02 on e500:

load: ~1 minute ping -f, one run of calibrator chewing 64MiB.

$ cat /proc/ipipe/version
1.0-02

SWITCH without load:
RTH|     lat min|     lat avg|     lat max|        lost
RTD|        3660|        3690|        8070|           0    1.0-00
RTD|        4620|        4740|        8730|           0    1.0-01
RTD|        4620|        4740|        8190|           0    1.0-02

KLATENCY with load:
RTH|-----lat min|-----lat avg|-----lat max|-overrun|
RTS|       -7350|       -5715|        6420|       0|    00:03:17 1.0-00
RTS|       -6150|       -4384|       12180|       0|    00:03:13 1.0-01
RTS|       -6150|       -4183|       12480|       0|    00:03:38 1.0-02

LATENCY with load:
== Sampling period: 100 us
RTH|-----lat min|-----lat avg|-----lat max|-overrun|
RTS|       -6930|       -4260|        8700|       0|    00:08:06 1.0-00
RTS|       -5670|       -4620|       12930|       0|    00:12:39 1.0-01
RTS|       -5700|       -3750|       11280|       0|    00:06:05 1.0-02

It looks like the char vs. long in the 1.0-0[12] patch was not the
culprit,
at least not on e500. I'll do the bench again on 1.0-00. Man, if only we
had that automated benchmark suite...

-- 
Stephane

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

[Philippe Gerum]

Fillod Stephane wrote:
> Philippe Gerum wrote:
> [..]
> 
> http://download.gna.org/adeos/patches/v2.6/adeos/ppc/adeos-ipipe-2.6.13-
> ppc-1.0-02.patch
> 
> Here is the result of tests with version 1.0-02 on e500:
> 
> load: ~1 minute ping -f, one run of calibrator chewing 64MiB.
> 
> $ cat /proc/ipipe/version
> 1.0-02
> 
> SWITCH without load:
> RTH|     lat min|     lat avg|     lat max|        lost
> RTD|        3660|        3690|        8070|           0    1.0-00
> RTD|        4620|        4740|        8730|           0    1.0-01
> RTD|        4620|        4740|        8190|           0    1.0-02
> 
> KLATENCY with load:
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -7350|       -5715|        6420|       0|    00:03:17 1.0-00
> RTS|       -6150|       -4384|       12180|       0|    00:03:13 1.0-01
> RTS|       -6150|       -4183|       12480|       0|    00:03:38 1.0-02
> 
> LATENCY with load:
> == Sampling period: 100 us
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -6930|       -4260|        8700|       0|    00:08:06 1.0-00
> RTS|       -5670|       -4620|       12930|       0|    00:12:39 1.0-01
> RTS|       -5700|       -3750|       11280|       0|    00:06:05 1.0-02
> 
> It looks like the char vs. long in the 1.0-0[12] patch was not the
> culprit,

The last significant change between -00 and -01 is actually the one related to 
the fork pressure (others are cosmetic ones aimed at better sharing stuff with 
the blackfin port). The patch below against -02 removes it.

--- 2.6.13/arch/ppc/kernel/entry.S~	2005-10-18 18:42:09.000000000 +0200
+++ 2.6.13/arch/ppc/kernel/entry.S	2005-10-19 15:07:54.000000000 +0200
@@ -316,10 +316,8 @@

  	.globl	ret_from_fork
  ret_from_fork:
-	STALL_ROOT_COND
  	REST_NVGPRS(r1)
  	bl	schedule_tail
-	UNSTALL_ROOT_COND
  	li	r3,0
  	b	ret_from_syscall

> at least not on e500. I'll do the bench again on 1.0-00. Man, if only we
> had that automated benchmark suite...
> 

Indeed... The positive thing being that, we now have the ultimate proof of its 
usefulness :o>

-- 

Philippe.

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

[Fillod Stephane]

Hi Philippe,

Sorry for the late report, Xenomai appears to work fine on a Freescale
e500
board (MPC8541E) under Linux 2.6.13. Xenomai version was v1.9.9, ie. the
daily
snapshot as of today. Here are some preliminary figures (CPU 800MHz, Bus
133MHz, 
32 kiB I-Cache 32 kiB D-Cache, 256 kiB L2):

switch $ ./run
== Sampling period: 100 us
RTH|     lat min|     lat avg|     lat max|        lost
RTD|        3660|        3690|        8070|           0

kaltency $ ./run
RTH|----klat min|----klat avg|----klat max| overrun|
RTS|       -7350|       -5715|        6420|       0|
00:03:17/00:03:17

latency $ ./run
== Sampling period: 100 us
RTT|  00:08:04
RTH|-----lat min|-----lat avg|-----lat max|-overrun|
RTS|       -6930|       -4260|        8700|       0|
00:08:06/00:08:06

Load for klatency/latency was ping flooding on FCC (piece of cake),
and cache calibrator. IMHO, we can do nastier.


Thanks!

-- 
Stephane

PS: some rtai skin patches are to be expected

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

[Philippe Gerum]

Fillod Stephane wrote:
> Hi Philippe,
> 
> Sorry for the late report, Xenomai appears to work fine on a Freescale
> e500
> board (MPC8541E) under Linux 2.6.13. Xenomai version was v1.9.9, ie. the
> daily
> snapshot as of today. Here are some preliminary figures (CPU 800MHz, Bus
> 133MHz, 
> 32 kiB I-Cache 32 kiB D-Cache, 256 kiB L2):
> 
> switch $ ./run
> == Sampling period: 100 us
> RTH|     lat min|     lat avg|     lat max|        lost
> RTD|        3660|        3690|        8070|           0
> 
> kaltency $ ./run
> RTH|----klat min|----klat avg|----klat max| overrun|
> RTS|       -7350|       -5715|        6420|       0|
> 00:03:17/00:03:17
> 
> latency $ ./run
> == Sampling period: 100 us
> RTT|  00:08:04
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -6930|       -4260|        8700|       0|
> 00:08:06/00:08:06
>

Great you tested that, thanks. The calibration looks a bit pessimistic, so I 
guess that a narrowed one would leave us with something in the 10-12 us range 
worst-case in user-space, which would still be quite decent.

> Load for klatency/latency was ping flooding on FCC (piece of cake),
> and cache calibrator. IMHO, we can do nastier.
> 
> 

Mixed LTP stuff and dd loops are quite good punishers AFAICS here.

-- 

Philippe.

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

[Wolfgang Grandegger]

On 10/17/2005 05:42 PM Fillod Stephane wrote:
> Hi Philippe,
> 
> Sorry for the late report, Xenomai appears to work fine on a Freescale
> e500
> board (MPC8541E) under Linux 2.6.13. Xenomai version was v1.9.9, ie. the
> daily
> snapshot as of today. Here are some preliminary figures (CPU 800MHz, Bus
> 133MHz, 
> 32 kiB I-Cache 32 kiB D-Cache, 256 kiB L2):
> 
> switch $ ./run
> == Sampling period: 100 us
> RTH|     lat min|     lat avg|     lat max|        lost
> RTD|        3660|        3690|        8070|           0
> 
> kaltency $ ./run
> RTH|----klat min|----klat avg|----klat max| overrun|
> RTS|       -7350|       -5715|        6420|       0|
> 00:03:17/00:03:17
> 
> latency $ ./run
> == Sampling period: 100 us
> RTT|  00:08:04
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -6930|       -4260|        8700|       0|
> 00:08:06/00:08:06
> 
> Load for klatency/latency was ping flooding on FCC (piece of cake),
> and cache calibrator. IMHO, we can do nastier.

Comparing the corrected latency figures (+9500ns) of your MPC8541E with
my Ocotea-Board (AMCC 440 GX at 533 MHz) gives:

Ocotea   |        3575|        7438|       24474|       0|    00:10:50
MPC8541E |        2570|        5240|       18200|       0|

This scales rather well with the CPU clocks 533/800. L1 and L2 caches
and the memory interface seem almost identical.

Wolfgang.

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

[Wolfgang Grandegger]

On 10/17/2005 05:42 PM Fillod Stephane wrote:
> Hi Philippe,
> 
> Sorry for the late report, Xenomai appears to work fine on a Freescale
> e500
> board (MPC8541E) under Linux 2.6.13. Xenomai version was v1.9.9, ie. the
> daily
> snapshot as of today. Here are some preliminary figures (CPU 800MHz, Bus
> 133MHz, 
> 32 kiB I-Cache 32 kiB D-Cache, 256 kiB L2):
> 
> switch $ ./run
> == Sampling period: 100 us
> RTH|     lat min|     lat avg|     lat max|        lost
> RTD|        3660|        3690|        8070|           0
> 
> kaltency $ ./run
> RTH|----klat min|----klat avg|----klat max| overrun|
> RTS|       -7350|       -5715|        6420|       0|
> 00:03:17/00:03:17
> 
> latency $ ./run
> == Sampling period: 100 us
> RTT|  00:08:04
> RTH|-----lat min|-----lat avg|-----lat max|-overrun|
> RTS|       -6930|       -4260|        8700|       0|
> 00:08:06/00:08:06
> 
> Load for klatency/latency was ping flooding on FCC (piece of cake),
> and cache calibrator. IMHO, we can do nastier.

You mean the cache calibrator from http://monetdb.cwi.nl/Calibrator/? I
tried it on my Ocotea board and it increased the max latency for 25 to
30 us.

Thanks.

Wolfgang.

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

[Wolfgang Grandegger]

[-- Attachment #1: Type: text/plain, Size: 1429 bytes --]

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.

[-- Attachment #2: linux-2.6.14-rc3-ipipe-few-contexts.patch --]
[-- Type: text/plain, Size: 516 bytes --]

+ 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.