Re: [Xenomai-core] porting xenomai on imx25

[Roberto Bielli <roberto.bielli@domain.hid>]

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Hi Gilles,

here find the answers.
sorry for the delay.

Il 13/04/2012 15:47, Gilles Chanteperdrix ha scritto:
> On 04/13/2012 10:44 AM, Roberto Bielli wrote:
>> Hi Gilles,
>>
>> you don't feel like to repeat.
>> I'm trying all the things that you told me and i will do all the missing
>> test that you told me.
> So, what is the result of running your test with unpatched Linux, but
> with CONFIG_HIGH_RES_TIMERS enabled?
the result is the same.
With the base linux application and  CONFIG_HIGH_RES_TIMERS all it's ok,
instead with xenomai application the task with less priority halt the 
task with higher priority until it sleeps.
I send you my .config file and the test with pthread base.

>
>> And now this is the result of latency that i ran. It seems correct.
> Is it with or without CONFIG_HIGH_RES_TIMERS?
was without CONFIG_HIGH_RES_TIMERS.
Instead this is the test with CONFIG_HIGH_RES_TIMERS

  ./latency
== 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|     69.533|     77.458|    123.909|       0|     0|     69.533|    
123.909
RTD|     70.571|     77.398|     85.909|       0|     0|     69.533|    
123.909
RTD|     70.887|     77.383|     86.511|       0|     0|     69.533|    
123.909
RTD|     69.458|     77.428|     86.812|       0|     0|     69.458|    
123.909
RTD|     70.330|     77.398|     85.804|       0|     0|     69.458|    
123.909
RTD|     70.691|     77.458|     86.195|       0|     0|     69.458|    
123.909
RTD|     69.578|     77.428|     89.172|       0|     0|     69.458|    
123.909
RTD|     69.548|     77.398|     89.037|       0|     0|     69.458|    
123.909
RTD|     70.631|     77.398|     86.270|       0|     0|     69.458|    
123.909
RTD|     69.819|     77.443|     86.135|       0|     0|     69.458|    
123.909
RTD|     69.609|     77.458|     88.857|       0|     0|     69.458|    
123.909
RTD|     70.511|     77.398|     86.300|       0|     0|     69.458|    
123.909
RTD|     69.368|     77.368|     85.759|       0|     0|     69.368|    
123.909
RTD|     70.045|     77.443|     87.563|       0|     0|     69.368|    
123.909
RTD|     70.812|     77.443|     88.315|       0|     0|     69.368|    
123.909
RTD|     70.586|     77.398|     84.812|       0|     0|     69.368|    
123.909
RTD|     69.548|     77.428|     86.812|       0|     0|     69.368|    
123.909
RTD|     70.857|     77.413|     86.270|       0|     0|     69.368|    
123.909
RTD|     70.751|     77.413|     90.360|       0|     0|     69.368|    
123.909
RTD|     69.548|     77.398|     87.699|       0|     0|     69.368|    
123.909
RTD|     70.030|     77.398|     94.300|       0|     0|     69.368|    
123.909
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|     70.751|     77.428|     85.639|       0|     0|     69.368|    
123.909
RTD|     65.699|     77.443|    122.586|       0|     0|     65.699|    
123.909
RTD|     69.954|     77.428|     86.496|       0|     0|     65.699|    
123.909
RTD|     70.556|     77.413|     86.902|       0|     0|     65.699|    
123.909
RTD|     70.090|     77.413|     86.240|       0|     0|     65.699|    
123.909
RTD|     69.639|     77.533|    162.616|       0|     0|     65.699|    
162.616
---|-----------|-----------|-----------|--------|------|-------------------------
RTS|     65.699|     77.413|    162.616|       0|     0|    
00:00:28/00:00:28
>
>


-- 
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Roberto Bielli
Sviluppo Software					
Axel S.r.l.					
							
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E-mail:   roberto.bielli@domain.hid	
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[-- Attachment #2: testpreemptBase.c --]
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#include <stdio.h>
#include <stdint.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <string.h>

#include <pthread.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/mman.h>	/* for MCL_CURRENT and MCL_FUTURE */


#define GPIO6_ON 		*Gpio2ValAddr |= 1 << 6
#define GPIO6_OFF		*Gpio2ValAddr &= ~(1 << 6);

pthread_t task1;
pthread_t task2;

void CreateRunTask( pthread_t * threadPtr, int prio, void * fnz )
{
	pthread_attr_t thread_attr;
	struct sched_param sched;
	
	pthread_attr_init(&thread_attr);
	
	pthread_attr_setschedpolicy(&thread_attr, SCHED_RR);
	sched.sched_priority = prio;
	pthread_attr_setschedparam(&thread_attr, &sched);

	pthread_create(threadPtr, &thread_attr, fnz, NULL );
	pthread_attr_destroy(&thread_attr);
}

	//dati per la gestione memoria mappata
static unsigned long * Gpio2ValAddr = NULL;

volatile int cnt2ms = 0;
volatile int cntmain = 0;
volatile int x;


void funct2ms( void * params )
{
	struct timespec ts;
    ts.tv_sec = 0;
    ts.tv_nsec = 2000000;
	
	for(;;)
	{
		GPIO6_ON;
		nanosleep( &ts, NULL );
		++ cnt2ms;
		GPIO6_OFF;
	}
}

void funct10ms( void * params )
{
	struct timespec ts;
    ts.tv_sec = 0;
    ts.tv_nsec = 10000000;

	for( ;;)
	{
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		for( x=0; x < 1000000; x++ );
		
		nanosleep( &ts, NULL );
	}
}

int main(int argc, char *argv[])
{
	int count = 0;
	int traceOn = 0;
	int fd, ret;
	unsigned long reg, reg1;
	int device;
	unsigned long memShared=0;

	fd = open( "/dev/mem", O_RDWR | O_SYNC );
	printf( "FD=%d", fd );
	fflush( stdout );

	Gpio2ValAddr = (unsigned long  *)mmap(  NULL, 0x1000, PROT_READ | PROT_WRITE,  MAP_SHARED, fd, 0x53FD0000 );
	GPIO6_ON;
	GPIO6_OFF;

	CreateRunTask( &task1, 99, funct2ms );
	CreateRunTask( &task2, 1, funct10ms );

	while( 1 )
		sleep( 1 );

	return 0;
}

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