[Xenomai-core] Analogy DIO speed

[Xenomai-core] Analogy DIO speed

[Stefan Schaal]

Thanks to Alexis's Analogy development, digital I/O is possible with Xenomai using National Instrument DAQs. While the basic DIO functionality works in the most current xenomai-head, I am  wondering how to achieve maximal I/O speed with the 32 bit digital I/O sub-device on my NI6259 card. 

The options are

1) single acquisition with a4l_sync_dio()
2) instructions and instruction lists using a4l_snd_insnlist() and a4l_snd_insn()
3) streaming acquisition with commands (e.g., a4l_snd_command() and related functions)

My question concerns how many 32-bit DIO instructions per second I
should be able to achieve with the various options.

For instance, option 1) seems to take about 5000 nanoseconds on my
Ubuntu 8 core i386 computer (3Ghz processors).
Is this normal? Or should it be faster?

Option 2) seems to give me about 50% speed up, i.e., roughly 3500
nanoseconds per DIO.

Would option 3) give me a massive speed up and get me closer to the
20Mhz processing power of the NI 6259 board? I have some problems with 
implementing commands on my NI6259 so far.

Thanks a lot for any help!

-Stefan

Re: [Xenomai-core] Analogy DIO speed

[Alexis Berlemont]

Hi,

Stefan Schaal wrote:
> Thanks to Alexis's Analogy development, digital I/O is possible with Xenomai using National Instrument DAQs. While the basic DIO functionality works in the most current xenomai-head, I am  wondering how to achieve maximal I/O speed with the 32 bit digital I/O sub-device on my NI6259 card. 
> 
> The options are
> 
> 1) single acquisition with a4l_sync_dio()
> 2) instructions and instruction lists using a4l_snd_insnlist() and a4l_snd_insn()
> 3) streaming acquisition with commands (e.g., a4l_snd_command() and related functions)
> 
> My question concerns how many 32-bit DIO instructions per second I
> should be able to achieve with the various options.
> 
> For instance, option 1) seems to take about 5000 nanoseconds on my
> Ubuntu 8 core i386 computer (3Ghz processors).
> Is this normal? Or should it be faster?
> 
> Option 2) seems to give me about 50% speed up, i.e., roughly 3500
> nanoseconds per DIO.

With a4l_sync_dio and/or instructions, you perform one ioctl for each
acquisition.

With instruction lists, you perform less syscalls but the count of
copies (user <-> kernel space) is the same.

So 3.5 µs for:
- switching from user to kernel space
- copying a little structure from user space
- calling the suitable insn_bits handler
- performing PCI I/O
- copying data back (few bytes) to user space
- switching back to user space
It is not that bad, no ? Does anybody have an accurate idea on the
duration of a common ioctl on such a powerful machine ?

Wasting 1.5 more µs in a4l_sync_dio() is annoying. You already have
noticed that a4l_sync_dio() is a wrapper function which
relies on the instruction ioctl. This function does not make any more
ioctl, it just computes some pointers.

> 
> Would option 3) give me a massive speed up and get me closer to the
> 20Mhz processing power of the NI 6259 board? 
Yes. Instead of making one syscall per acquisition, you would get a far
more sensible ratio. With a4l_mmap, you would even be able to save
copies from kernel space: instead of using a4l_async_read, your user
process would get direct access on the kernel buffer where PCI DMA shots
arrive.

I have some problems with
> implementing commands on my NI6259 so far.
Could you remind me what was the problem ?

> 
> Thanks a lot for any help!
> 
> -Stefan
> 
> _______________________________________________
> Xenomai-core mailing list
> Xenomai-core@domain.hid
> https://mail.gna.org/listinfo/xenomai-core
> 
Alexis.

Re: [Xenomai-core] Analogy DIO speed

[Thomas Lockhart]

>  It is not that bad, no ? Does anybody have an accurate idea on the
>  duration of a common ioctl on such a powerful machine ?

Yikes! My limited and possibly out of date understanding of the PCI bus 
would say that you risk a much larger latency and jitter in just getting 
access to the bus. I'd be happy with anything in the 1us range (1-5?) 
which afaicr is what it takes to negotiate the bus and to write one or a 
few longwords to a device. This is without something already on the bus 
doing DMA or some other block transfer which could push up the latency 
much higher since a block transfer is not required to give up the bus 
for some larger amount of time (please excuse my possible mangled use of 
terms which may have other specific meaning in the PCI spec).

If folks expect much better performance (perhaps from modern revs of 
PCI??) I'd like to hear of their experience...

                                   - Tom

Re: [Xenomai-core] Analogy DIO speed

[Stefan Schaal]

Hi Alexis,

On Feb 18, 2010, at 14:34, Alexis Berlemont wrote:

> I have some problems with
>> implementing commands on my NI6259 so far.
> Could you remind me what was the problem ?

See the print-outs below for the problem we have.

Thanks so much for looking into this!

-Stefan




Using the cmd_write() function that you provide in analogy, we get the following problem:

root@domain.hid# ./cmd_write -v
cmd_write: device analogy0 opened (fd=0)
cmd_write: basic descriptor retrieved
	 subdevices count = 14
	 read subdevice index = 0
	 write subdevice index = 1
cmd_write: complex descriptor retrieved
cmd_write: channel 0
	 ranges count = 3
	 range's size = 16 (bits)
cmd_write: channel 1
	 ranges count = 3
	 range's size = 16 (bits)
cmd_write: scan size = 4
cmd_write: size to write  = 400
cmd_write: command successfully sent
cmd_write: triggering failed (ret=-32)

root@domain.hid# dmesg -c
[133345.213865] Analogy: analogy_ni_pcimio: ni_mio_common: interrupt: b_status=0002 m1_status=80a80000
[133345.332719] Analogy: analogy_ni_pcimio: ni_ao_wait_for_dma_load: timed out waiting for dma load<3>Analogy: a4l_do_special_insn: execution of the instruction failed (err=-32)


Another problem we have is with the --mmap option:

root@domain.hid# ./cmd_write -v --mmap
cmd_write: device analogy0 opened (fd=0)
cmd_write: basic descriptor retrieved
	 subdevices count = 14
	 read subdevice index = 0
	 write subdevice index = 1
cmd_write: complex descriptor retrieved
cmd_write: channel 0
	 ranges count = 3
	 range's size = 16 (bits)
cmd_write: channel 1
	 ranges count = 3
	 range's size = 16 (bits)
cmd_write: scan size = 4
cmd_write: size to write  = 400
cmd_write: buffer size = 65536 bytes
cmd_write: a4l_mmap() failed (ret=-22)


root@domain.hid# dmesg -c
[133408.942998] Analogy: a4l_ioctl_mmap: mmap not allowed on this subdevice

Re: [Xenomai-core] Analogy DIO speed

[Alexis Berlemont]

Hi,

Stefan Schaal wrote:
> Hi Alexis,
> 
> On Feb 18, 2010, at 14:34, Alexis Berlemont wrote:
> 
>> I have some problems with
>>> implementing commands on my NI6259 so far.
>> Could you remind me what was the problem ?
> 
> See the print-outs below for the problem we have.
> 
> Thanks so much for looking into this!
> 
> -Stefan
> 
> 
> 
> 
> Using the cmd_write() function that you provide in analogy, we get the following problem:
> 
I am currently trying to fix this bug, which is not that easy. I just
have one question (that I remember I have already asked you in some way,
but I just want to be sure):
Does this bug occur the very first time you launched cmd_write (I mean
after a reboot) ?

> root@domain.hid# ./cmd_write -v
> cmd_write: device analogy0 opened (fd=0)
> cmd_write: basic descriptor retrieved
> 	 subdevices count = 14
> 	 read subdevice index = 0
> 	 write subdevice index = 1
> cmd_write: complex descriptor retrieved
> cmd_write: channel 0
> 	 ranges count = 3
> 	 range's size = 16 (bits)
> cmd_write: channel 1
> 	 ranges count = 3
> 	 range's size = 16 (bits)
> cmd_write: scan size = 4
> cmd_write: size to write  = 400
> cmd_write: command successfully sent
> cmd_write: triggering failed (ret=-32)
> 
> root@domain.hid# dmesg -c
> [133345.213865] Analogy: analogy_ni_pcimio: ni_mio_common: interrupt: b_status=0002 m1_status=80a80000
> [133345.332719] Analogy: analogy_ni_pcimio: ni_ao_wait_for_dma_load: timed out waiting for dma load<3>Analogy: a4l_do_special_insn: execution of the instruction failed (err=-32)
> 
> 
> Another problem we have is with the --mmap option:
> 
> root@domain.hid# ./cmd_write -v --mmap
> cmd_write: device analogy0 opened (fd=0)
> cmd_write: basic descriptor retrieved
> 	 subdevices count = 14
> 	 read subdevice index = 0
> 	 write subdevice index = 1
> cmd_write: complex descriptor retrieved
> cmd_write: channel 0
> 	 ranges count = 3
> 	 range's size = 16 (bits)
> cmd_write: channel 1
> 	 ranges count = 3
> 	 range's size = 16 (bits)
> cmd_write: scan size = 4
> cmd_write: size to write  = 400
> cmd_write: buffer size = 65536 bytes
> cmd_write: a4l_mmap() failed (ret=-22)
> 
> 
> root@domain.hid# dmesg -c
> [133408.942998] Analogy: a4l_ioctl_mmap: mmap not allowed on this subdevice
> 
> 

Alexis.

Re: [Xenomai-core] Analogy DIO speed

[Alexis Berlemont]

Alexis Berlemont wrote:
> Hi,
> 
> Stefan Schaal wrote:
>> Hi Alexis,
>>
>> On Feb 18, 2010, at 14:34, Alexis Berlemont wrote:
>>
>>> I have some problems with
>>>> implementing commands on my NI6259 so far.
>>> Could you remind me what was the problem ?
>>
>> See the print-outs below for the problem we have.
>>
>> Thanks so much for looking into this!
>>
>> -Stefan
>>
>>
>>
>>
>> Using the cmd_write() function that you provide in analogy, we get the 
>> following problem:
>>
> I am currently trying to fix this bug, which is not that easy. I just
> have one question (that I remember I have already asked you in some way,
> but I just want to be sure):
> Does this bug occur the very first time you launched cmd_write (I mean
> after a reboot) ?
>
I managed at last to fix the bug you were facing (at least I hope so).
The problem was located in the trigger callback which waited for a
bit-status (fifo half full) before going further; however, sometimes the
DMA interrupt already occurred and cleaned everything behind your back.

I have not made a pull request because the current implementation is not
perfect.

If you have some time, could you clone my git repository (branch:
analogy) and check that a simple call to cmd_write does not trigger the
bug anymore ?

Many thanks.
>> root@domain.hid# ./cmd_write -v
>> cmd_write: device analogy0 opened (fd=0)
>> cmd_write: basic descriptor retrieved
>>      subdevices count = 14
>>      read subdevice index = 0
>>      write subdevice index = 1
>> cmd_write: complex descriptor retrieved
>> cmd_write: channel 0
>>      ranges count = 3
>>      range's size = 16 (bits)
>> cmd_write: channel 1
>>      ranges count = 3
>>      range's size = 16 (bits)
>> cmd_write: scan size = 4
>> cmd_write: size to write  = 400
>> cmd_write: command successfully sent
>> cmd_write: triggering failed (ret=-32)
>>
>> root@domain.hid# dmesg -c
>> [133345.213865] Analogy: analogy_ni_pcimio: ni_mio_common: interrupt: 
>> b_status=0002 m1_status=80a80000
>> [133345.332719] Analogy: analogy_ni_pcimio: ni_ao_wait_for_dma_load: 
>> timed out waiting for dma load<3>Analogy: a4l_do_special_insn: 
>> execution of the instruction failed (err=-32)
>>
>>
>> Another problem we have is with the --mmap option:
>>
>> root@domain.hid# ./cmd_write -v --mmap
>> cmd_write: device analogy0 opened (fd=0)
>> cmd_write: basic descriptor retrieved
>>      subdevices count = 14
>>      read subdevice index = 0
>>      write subdevice index = 1
>> cmd_write: complex descriptor retrieved
>> cmd_write: channel 0
>>      ranges count = 3
>>      range's size = 16 (bits)
>> cmd_write: channel 1
>>      ranges count = 3
>>      range's size = 16 (bits)
>> cmd_write: scan size = 4
>> cmd_write: size to write  = 400
>> cmd_write: buffer size = 65536 bytes
>> cmd_write: a4l_mmap() failed (ret=-22)
>>
>>
>> root@domain.hid# dmesg -c
>> [133408.942998] Analogy: a4l_ioctl_mmap: mmap not allowed on this 
>> subdevice
>>
>>
> 
> Alexis.
Alexis.

Re: [Xenomai-core] Analogy DIO speed

[Stefan Schaal]

Hi Alexis,

 we pulled your analogy branch, and now cmd_write works. Great, and thanks a lot! Next, I tried to use commands with the digital IO subdevice on our board (subdevice #2), but the get an error message:


[ 2482.771913] Analogy: a4l_check_cmddesc: scan_begin_src, trigger unsupported


Is there just missing support for the DIO subdevices using commands?

Best wishes,

-Stefan


ps.: feel free to use our machine for debugging -- it now has the latest version of your software installed with linux kernel 2.6.29.5.





On Feb 28, 2010, at 16:24, Alexis Berlemont wrote:

> Alexis Berlemont wrote:
>> Hi,
>> Stefan Schaal wrote:
>>> Hi Alexis,
>>> 
>>> On Feb 18, 2010, at 14:34, Alexis Berlemont wrote:
>>> 
>>>> I have some problems with
>>>>> implementing commands on my NI6259 so far.
>>>> Could you remind me what was the problem ?
>>> 
>>> See the print-outs below for the problem we have.
>>> 
>>> Thanks so much for looking into this!
>>> 
>>> -Stefan
>>> 
>>> 
>>> 
>>> 
>>> Using the cmd_write() function that you provide in analogy, we get the following problem:
>>> 
>> I am currently trying to fix this bug, which is not that easy. I just
>> have one question (that I remember I have already asked you in some way,
>> but I just want to be sure):
>> Does this bug occur the very first time you launched cmd_write (I mean
>> after a reboot) ?
>> 
> I managed at last to fix the bug you were facing (at least I hope so).
> The problem was located in the trigger callback which waited for a
> bit-status (fifo half full) before going further; however, sometimes the
> DMA interrupt already occurred and cleaned everything behind your back.
> 
> I have not made a pull request because the current implementation is not
> perfect.
> 
> If you have some time, could you clone my git repository (branch:
> analogy) and check that a simple call to cmd_write does not trigger the
> bug anymore ?
> 
> Many thanks.
>>> root@domain.hid# ./cmd_write -v
>>> cmd_write: device analogy0 opened (fd=0)
>>> cmd_write: basic descriptor retrieved
>>>    subdevices count = 14
>>>    read subdevice index = 0
>>>    write subdevice index = 1
>>> cmd_write: complex descriptor retrieved
>>> cmd_write: channel 0
>>>    ranges count = 3
>>>    range's size = 16 (bits)
>>> cmd_write: channel 1
>>>    ranges count = 3
>>>    range's size = 16 (bits)
>>> cmd_write: scan size = 4
>>> cmd_write: size to write  = 400
>>> cmd_write: command successfully sent
>>> cmd_write: triggering failed (ret=-32)
>>> 
>>> root@domain.hid# dmesg -c
>>> [133345.213865] Analogy: analogy_ni_pcimio: ni_mio_common: interrupt: b_status=0002 m1_status=80a80000
>>> [133345.332719] Analogy: analogy_ni_pcimio: ni_ao_wait_for_dma_load: timed out waiting for dma load<3>Analogy: a4l_do_special_insn: execution of the instruction failed (err=-32)
>>> 
>>> 
>>> Another problem we have is with the --mmap option:
>>> 
>>> root@domain.hid# ./cmd_write -v --mmap
>>> cmd_write: device analogy0 opened (fd=0)
>>> cmd_write: basic descriptor retrieved
>>>    subdevices count = 14
>>>    read subdevice index = 0
>>>    write subdevice index = 1
>>> cmd_write: complex descriptor retrieved
>>> cmd_write: channel 0
>>>    ranges count = 3
>>>    range's size = 16 (bits)
>>> cmd_write: channel 1
>>>    ranges count = 3
>>>    range's size = 16 (bits)
>>> cmd_write: scan size = 4
>>> cmd_write: size to write  = 400
>>> cmd_write: buffer size = 65536 bytes
>>> cmd_write: a4l_mmap() failed (ret=-22)
>>> 
>>> 
>>> root@domain.hid# dmesg -c
>>> [133408.942998] Analogy: a4l_ioctl_mmap: mmap not allowed on this subdevice
>>> 
>>> 
>> Alexis.
> Alexis.
> 

Re: [Xenomai-core] Analogy DIO speed

[Alexis Berlemont]

Hi Stefan,

Sorry for the late reply, I was unavailable yesterday.

Stefan Schaal wrote:
> Hi Alexis,
> 
>  we pulled your analogy branch, and now cmd_write works. Great, and thanks a lot! Next, I tried to use commands with the digital IO subdevice on our board (subdevice #2), but the get an error message:
> 
> 
> [ 2482.771913] Analogy: a4l_check_cmddesc: scan_begin_src, trigger unsupported
Unfortunately, cmd_write was not designed to work with digital
subdevices; the command's fields are not appropriate, I am trying to
make it work quite quickly.

> 
> 
> Is there just missing support for the DIO subdevices using commands?
> 
> Best wishes,
> 
> -Stefan
> 
> 
> ps.: feel free to use our machine for debugging -- it now has the latest version of your software installed with linux kernel 2.6.29.5.
> 
> 
> 
> 
> 
> On Feb 28, 2010, at 16:24, Alexis Berlemont wrote:
> 
>> Alexis Berlemont wrote:
>>> Hi,
>>> Stefan Schaal wrote:
>>>> Hi Alexis,
>>>>
>>>> On Feb 18, 2010, at 14:34, Alexis Berlemont wrote:
>>>>
>>>>> I have some problems with
>>>>>> implementing commands on my NI6259 so far.
>>>>> Could you remind me what was the problem ?
>>>> See the print-outs below for the problem we have.
>>>>
>>>> Thanks so much for looking into this!
>>>>
>>>> -Stefan
>>>>
>>>>
>>>>
>>>>
>>>> Using the cmd_write() function that you provide in analogy, we get the following problem:
>>>>
>>> I am currently trying to fix this bug, which is not that easy. I just
>>> have one question (that I remember I have already asked you in some way,
>>> but I just want to be sure):
>>> Does this bug occur the very first time you launched cmd_write (I mean
>>> after a reboot) ?
>>>
>> I managed at last to fix the bug you were facing (at least I hope so).
>> The problem was located in the trigger callback which waited for a
>> bit-status (fifo half full) before going further; however, sometimes the
>> DMA interrupt already occurred and cleaned everything behind your back.
>>
>> I have not made a pull request because the current implementation is not
>> perfect.
>>
>> If you have some time, could you clone my git repository (branch:
>> analogy) and check that a simple call to cmd_write does not trigger the
>> bug anymore ?
>>
>> Many thanks.
>>>> root@domain.hid# ./cmd_write -v
>>>> cmd_write: device analogy0 opened (fd=0)
>>>> cmd_write: basic descriptor retrieved
>>>>    subdevices count = 14
>>>>    read subdevice index = 0
>>>>    write subdevice index = 1
>>>> cmd_write: complex descriptor retrieved
>>>> cmd_write: channel 0
>>>>    ranges count = 3
>>>>    range's size = 16 (bits)
>>>> cmd_write: channel 1
>>>>    ranges count = 3
>>>>    range's size = 16 (bits)
>>>> cmd_write: scan size = 4
>>>> cmd_write: size to write  = 400
>>>> cmd_write: command successfully sent
>>>> cmd_write: triggering failed (ret=-32)
>>>>
>>>> root@domain.hid# dmesg -c
>>>> [133345.213865] Analogy: analogy_ni_pcimio: ni_mio_common: interrupt: b_status=0002 m1_status=80a80000
>>>> [133345.332719] Analogy: analogy_ni_pcimio: ni_ao_wait_for_dma_load: timed out waiting for dma load<3>Analogy: a4l_do_special_insn: execution of the instruction failed (err=-32)
>>>>
>>>>
>>>> Another problem we have is with the --mmap option:
>>>>
>>>> root@domain.hid# ./cmd_write -v --mmap
>>>> cmd_write: device analogy0 opened (fd=0)
>>>> cmd_write: basic descriptor retrieved
>>>>    subdevices count = 14
>>>>    read subdevice index = 0
>>>>    write subdevice index = 1
>>>> cmd_write: complex descriptor retrieved
>>>> cmd_write: channel 0
>>>>    ranges count = 3
>>>>    range's size = 16 (bits)
>>>> cmd_write: channel 1
>>>>    ranges count = 3
>>>>    range's size = 16 (bits)
>>>> cmd_write: scan size = 4
>>>> cmd_write: size to write  = 400
>>>> cmd_write: buffer size = 65536 bytes
>>>> cmd_write: a4l_mmap() failed (ret=-22)
>>>>
>>>>
>>>> root@domain.hid# dmesg -c
>>>> [133408.942998] Analogy: a4l_ioctl_mmap: mmap not allowed on this subdevice
>>>>
>>>>
>>> Alexis.
>> Alexis.
>>
> 
> 
Alexis.

Re: [Xenomai-core] Analogy DIO speed

[Stefan Schaal]

Hi Alexis,

  thanks a lot or the reply. Just to check: is it possible to use commands with digital subdevices at all? I am not sure whether I understood your comment below correctly. Are your *currently* working to enable commands for DIO subdevices?

Thanks a lot!

-Stefan


On Mar 3, 2010, at 15:58, Alexis Berlemont wrote:

> Hi Stefan,
> 
> Sorry for the late reply, I was unavailable yesterday.
> 
> Stefan Schaal wrote:
>> Hi Alexis,
>> we pulled your analogy branch, and now cmd_write works. Great, and thanks a lot! Next, I tried to use commands with the digital IO subdevice on our board (subdevice #2), but the get an error message:
>> [ 2482.771913] Analogy: a4l_check_cmddesc: scan_begin_src, trigger unsupported
> Unfortunately, cmd_write was not designed to work with digital
> subdevices; the command's fields are not appropriate, I am trying to
> make it work quite quickly.
> 
>> Is there just missing support for the DIO subdevices using commands?
>> Best wishes,
>> -Stefan
>> ps.: feel free to use our machine for debugging -- it now has the latest version of your software installed with linux kernel 2.6.29.5.
>> On Feb 28, 2010, at 16:24, Alexis Berlemont wrote:
>>> Alexis Berlemont wrote:
>>>> Hi,
>>>> Stefan Schaal wrote:
>>>>> Hi Alexis,
>>>>> 
>>>>> On Feb 18, 2010, at 14:34, Alexis Berlemont wrote:
>>>>> 
>>>>>> I have some problems with
>>>>>>> implementing commands on my NI6259 so far.
>>>>>> Could you remind me what was the problem ?
>>>>> See the print-outs below for the problem we have.
>>>>> 
>>>>> Thanks so much for looking into this!
>>>>> 
>>>>> -Stefan
>>>>> 
>>>>> 
>>>>> 
>>>>> 
>>>>> Using the cmd_write() function that you provide in analogy, we get the following problem:
>>>>> 
>>>> I am currently trying to fix this bug, which is not that easy. I just
>>>> have one question (that I remember I have already asked you in some way,
>>>> but I just want to be sure):
>>>> Does this bug occur the very first time you launched cmd_write (I mean
>>>> after a reboot) ?
>>>> 
>>> I managed at last to fix the bug you were facing (at least I hope so).
>>> The problem was located in the trigger callback which waited for a
>>> bit-status (fifo half full) before going further; however, sometimes the
>>> DMA interrupt already occurred and cleaned everything behind your back.
>>> 
>>> I have not made a pull request because the current implementation is not
>>> perfect.
>>> 
>>> If you have some time, could you clone my git repository (branch:
>>> analogy) and check that a simple call to cmd_write does not trigger the
>>> bug anymore ?
>>> 
>>> Many thanks.
>>>>> root@domain.hid# ./cmd_write -v
>>>>> cmd_write: device analogy0 opened (fd=0)
>>>>> cmd_write: basic descriptor retrieved
>>>>>   subdevices count = 14
>>>>>   read subdevice index = 0
>>>>>   write subdevice index = 1
>>>>> cmd_write: complex descriptor retrieved
>>>>> cmd_write: channel 0
>>>>>   ranges count = 3
>>>>>   range's size = 16 (bits)
>>>>> cmd_write: channel 1
>>>>>   ranges count = 3
>>>>>   range's size = 16 (bits)
>>>>> cmd_write: scan size = 4
>>>>> cmd_write: size to write  = 400
>>>>> cmd_write: command successfully sent
>>>>> cmd_write: triggering failed (ret=-32)
>>>>> 
>>>>> root@domain.hid# dmesg -c
>>>>> [133345.213865] Analogy: analogy_ni_pcimio: ni_mio_common: interrupt: b_status=0002 m1_status=80a80000
>>>>> [133345.332719] Analogy: analogy_ni_pcimio: ni_ao_wait_for_dma_load: timed out waiting for dma load<3>Analogy: a4l_do_special_insn: execution of the instruction failed (err=-32)
>>>>> 
>>>>> 
>>>>> Another problem we have is with the --mmap option:
>>>>> 
>>>>> root@domain.hid# ./cmd_write -v --mmap
>>>>> cmd_write: device analogy0 opened (fd=0)
>>>>> cmd_write: basic descriptor retrieved
>>>>>   subdevices count = 14
>>>>>   read subdevice index = 0
>>>>>   write subdevice index = 1
>>>>> cmd_write: complex descriptor retrieved
>>>>> cmd_write: channel 0
>>>>>   ranges count = 3
>>>>>   range's size = 16 (bits)
>>>>> cmd_write: channel 1
>>>>>   ranges count = 3
>>>>>   range's size = 16 (bits)
>>>>> cmd_write: scan size = 4
>>>>> cmd_write: size to write  = 400
>>>>> cmd_write: buffer size = 65536 bytes
>>>>> cmd_write: a4l_mmap() failed (ret=-22)
>>>>> 
>>>>> 
>>>>> root@domain.hid# dmesg -c
>>>>> [133408.942998] Analogy: a4l_ioctl_mmap: mmap not allowed on this subdevice
>>>>> 
>>>>> 
>>>> Alexis.
>>> Alexis.
>>> 
> Alexis.
> 

Re: [Xenomai-core] Analogy DIO speed

[Alexis Berlemont]

Hi,

On Thu, Mar 4, 2010 at 1:54 AM, Stefan Schaal <sschaal@domain.hid> wrote:
> Hi Alexis,
>
>  thanks a lot or the reply. Just to check: is it possible to use commands with digital subdevices at all? I am not sure whether I understood your comment below correctly. Are your *currently* working to enable commands for DIO subdevices?
Commands are possible with DIO subdevices. The main problem is my test
application which does not handle all the cases.

>
> Thanks a lot!
>
> -Stefan
>
>
> On Mar 3, 2010, at 15:58, Alexis Berlemont wrote:
>
>> Hi Stefan,
>>
>> Sorry for the late reply, I was unavailable yesterday.
>>
>> Stefan Schaal wrote:
>>> Hi Alexis,
>>> we pulled your analogy branch, and now cmd_write works. Great, and thanks a lot! Next, I tried to use commands with the digital IO subdevice on our board (subdevice #2), but the get an error message:
>>> [ 2482.771913] Analogy: a4l_check_cmddesc: scan_begin_src, trigger unsupported
>> Unfortunately, cmd_write was not designed to work with digital
>> subdevices; the command's fields are not appropriate, I am trying to
>> make it work quite quickly.
>>
>>> Is there just missing support for the DIO subdevices using commands?
>>> Best wishes,
>>> -Stefan
>>> ps.: feel free to use our machine for debugging -- it now has the latest version of your software installed with linux kernel 2.6.29.5.
>>> On Feb 28, 2010, at 16:24, Alexis Berlemont wrote:
>>>> Alexis Berlemont wrote:
>>>>> Hi,
>>>>> Stefan Schaal wrote:
>>>>>> Hi Alexis,
>>>>>>
>>>>>> On Feb 18, 2010, at 14:34, Alexis Berlemont wrote:
>>>>>>
>>>>>>> I have some problems with
>>>>>>>> implementing commands on my NI6259 so far.
>>>>>>> Could you remind me what was the problem ?
>>>>>> See the print-outs below for the problem we have.
>>>>>>
>>>>>> Thanks so much for looking into this!
>>>>>>
>>>>>> -Stefan
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>> Using the cmd_write() function that you provide in analogy, we get the following problem:
>>>>>>
>>>>> I am currently trying to fix this bug, which is not that easy. I just
>>>>> have one question (that I remember I have already asked you in some way,
>>>>> but I just want to be sure):
>>>>> Does this bug occur the very first time you launched cmd_write (I mean
>>>>> after a reboot) ?
>>>>>
>>>> I managed at last to fix the bug you were facing (at least I hope so).
>>>> The problem was located in the trigger callback which waited for a
>>>> bit-status (fifo half full) before going further; however, sometimes the
>>>> DMA interrupt already occurred and cleaned everything behind your back.
>>>>
>>>> I have not made a pull request because the current implementation is not
>>>> perfect.
>>>>
>>>> If you have some time, could you clone my git repository (branch:
>>>> analogy) and check that a simple call to cmd_write does not trigger the
>>>> bug anymore ?
>>>>
>>>> Many thanks.
>>>>>> root@domain.hid# ./cmd_write -v
>>>>>> cmd_write: device analogy0 opened (fd=0)
>>>>>> cmd_write: basic descriptor retrieved
>>>>>>   subdevices count = 14
>>>>>>   read subdevice index = 0
>>>>>>   write subdevice index = 1
>>>>>> cmd_write: complex descriptor retrieved
>>>>>> cmd_write: channel 0
>>>>>>   ranges count = 3
>>>>>>   range's size = 16 (bits)
>>>>>> cmd_write: channel 1
>>>>>>   ranges count = 3
>>>>>>   range's size = 16 (bits)
>>>>>> cmd_write: scan size = 4
>>>>>> cmd_write: size to write  = 400
>>>>>> cmd_write: command successfully sent
>>>>>> cmd_write: triggering failed (ret=-32)
>>>>>>
>>>>>> root@domain.hid# dmesg -c
>>>>>> [133345.213865] Analogy: analogy_ni_pcimio: ni_mio_common: interrupt: b_status=0002 m1_status=80a80000
>>>>>> [133345.332719] Analogy: analogy_ni_pcimio: ni_ao_wait_for_dma_load: timed out waiting for dma load<3>Analogy: a4l_do_special_insn: execution of the instruction failed (err=-32)
>>>>>>
>>>>>>
>>>>>> Another problem we have is with the --mmap option:
>>>>>>
>>>>>> root@domain.hid# ./cmd_write -v --mmap
>>>>>> cmd_write: device analogy0 opened (fd=0)
>>>>>> cmd_write: basic descriptor retrieved
>>>>>>   subdevices count = 14
>>>>>>   read subdevice index = 0
>>>>>>   write subdevice index = 1
>>>>>> cmd_write: complex descriptor retrieved
>>>>>> cmd_write: channel 0
>>>>>>   ranges count = 3
>>>>>>   range's size = 16 (bits)
>>>>>> cmd_write: channel 1
>>>>>>   ranges count = 3
>>>>>>   range's size = 16 (bits)
>>>>>> cmd_write: scan size = 4
>>>>>> cmd_write: size to write  = 400
>>>>>> cmd_write: buffer size = 65536 bytes
>>>>>> cmd_write: a4l_mmap() failed (ret=-22)
>>>>>>
>>>>>>
>>>>>> root@domain.hid# dmesg -c
>>>>>> [133408.942998] Analogy: a4l_ioctl_mmap: mmap not allowed on this subdevice
>>>>>>
>>>>>>
>>>>> Alexis.
>>>> Alexis.
>>>>
>> Alexis.
>>
>
>
>
Alexis.