[Xenomai] Help with the feasibility of some actions with Xenomai

[Xenomai] Help with the feasibility of some actions with Xenomai

[Sebastian Pavez]

Hi everyone,

I'm using Xenomai to develop a real time control system with educational 
purposes. The idea is to show how a control system is affected by other 
tasks and how a real time approach will help to sustain his execution 
over other threads. To do this, I have a program with a control thread 
(used to control the position and velocity of a DC motor) and other one 
that consist in a for loop wich allow to change the execution time of 
this thread and see the effect on the control. I'm executing this on a 
i7 processor and I would like to know a couple of things, and hopefully 
you could help me with some advice.

- Is there a way to get the information about the times related with the 
tasks? I mean I would like to draw a classic execution time line to 
explain the effect on the control thread with real data. This means 
having the release time, when a task is suspended and reactivated, etc. 
because sometimes I can see the degradation in the control performance 
but other times don't, even with the same conditions and to explain the 
fenomena this would be very helpful. I know that maybe this issue isn't 
so related with the purpose of this mail list but If you have some idea 
on how to do this, if is feasible to do it, or if Xenomai have some logs 
or something to get this data will be preciated.

- I also would like to know if there is a way to assign the execution of 
a thread to a specific CPU and, for instance, force the execution of 
both threads in the same CPU. Or a least to know if there is a way to 
confirm that the threads are allocated in the same CPU.

Sorry if this is not the place to find some answers to this questions 
and thank you for your time and any reply you could gave me.
Sebastián Pavez.