From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <534534FD.5090805@xenomai.org> Date: Wed, 09 Apr 2014 13:54:37 +0200 From: Gilles Chanteperdrix MIME-Version: 1.0 References: <1396407588.27578.5.camel@localhost.localdomain> <533BBB11.5090808@xenomai.org> <1396848843.2481.15.camel@localhost.localdomain> <5343BEFB.7050402@xenomai.org> <1396999856.2660.7.camel@localhost.localdomain> <53449244.8040502@xenomai.org> <1397003664.2660.14.camel@localhost.localdomain> <1397017658.2660.16.camel@localhost.localdomain> In-Reply-To: <1397017658.2660.16.camel@localhost.localdomain> Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 7bit Subject: Re: [Xenomai] OMAP L138 List-Id: Discussions about the Xenomai project List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Peter Howard Cc: xenomai@xenomai.org On 04/09/2014 06:27 AM, Peter Howard wrote: > On Wed, 2014-04-09 at 10:34 +1000, Peter Howard wrote: >> On Wed, 2014-04-09 at 02:20 +0200, Gilles Chanteperdrix wrote: >>> On 04/09/2014 01:30 AM, Peter Howard wrote: >>>> On Tue, 2014-04-08 at 11:18 +0200, Gilles Chanteperdrix wrote: >>>>> On 04/07/2014 07:34 AM, Peter Howard wrote: >>>>>> >>>>>> On Wed, 2014-04-02 at 09:24 +0200, Gilles Chanteperdrix wrote: >>>>>>> On 04/02/2014 04:59 AM, Peter Howard wrote: >>>>>>>> Hi, >>>>>>>> >>>>>>>> I'm interested in running xenomai on a TI-OMAP L138 board. I found the >>>>>>>> following thread in the archives: >>>>>>>> >>>>>>>> http://www.xenomai.org/pipermail/xenomai/2010-January/018898.html >>>>>>>> >>>>>>>> where someone was working on porting ipipe and xenomai to that board. >>>>>>>> However, the thread ended with problems still unresolved, and the patch >>>>>>>> in the thread (just the changes for ipipe) isn't in the ipipe >>>>>>>> repository. >>>>>>>> >>>>>>>> Does anyone know if this work was completed or just faded into the >>>>>>>> ether? >>>>>>> >>>>>>> We never merged a patch for this processor. And a lot of things changed >>>>>>> since that time. If you are interested in porting the I-pipe patch to >>>>>>> this processor, see: >>>>>>> >>>>>>> http://www.xenomai.org/index.php/I-pipe-core:ArmPorting >>>>>>> >>>>>> >>>>>> Contrary to what I said last week, I'm working on a patch off the head >>>>>> of the ipipe repo. I have built a kernel with an ipipe port and with >>>>>> xenomai patched in. However the latency results are bad right now: >>>>>> >>>>>> root@arago:~# xeno latency -T 25 >>>>>> == 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| 3.541| 8.833| 60.749| 0| 0| 3.541| 60.749 >>>>>> RTD| 3.499| 13.583| 93.916| 0| 0| 3.499| 93.916 >>>>>> RTD| 3.666| 88.999| 109.708| 0| 0| 3.499| 109.708 >>>>>> RTD| 3.541| 14.958| 95.374| 0| 0| 3.499| 109.708 >>>>>> RTD| 3.541| 9.333| 77.583| 0| 0| 3.499| 109.708 >>>>>> RTD| 4.041| 88.416| 109.791| 0| 0| 3.499| 109.791 >>>>>> RTD| 3.499| 8.958| 72.791| 0| 0| 3.499| 109.791 >>>>>> RTD| 3.499| 26.041| 106.874| 0| 0| 3.499| 109.791 >>>>>> RTD| 3.874| 82.708| 107.916| 0| 0| 3.499| 109.791 >>>>>> RTD| 3.499| 9.083| 73.708| 0| 0| 3.499| 109.791 >>>>>> RTD| 3.333| 8.874| 62.458| 0| 0| 3.333| 109.791 >>>>>> RTD| 3.333| 8.749| 62.208| 0| 0| 3.333| 109.791 >>>>>> RTD| 3.416| 12.708| 99.416| 0| 0| 3.333| 109.791 >>>>>> RTD| 3.499| 14.249| 106.749| 0| 0| 3.333| 109.791 >>>>>> RTD| 3.541| 9.083| 76.499| 0| 0| 3.333| 109.791 >>>>>> RTD| 3.249| 8.791| 63.499| 0| 0| 3.249| 109.791 >>>>>> RTD| 3.416| 8.999| 62.499| 0| 0| 3.249| 109.791 >>>>>> RTD| 3.541| 26.166| 101.208| 0| 0| 3.249| 109.791 >>>>>> RTD| 3.583| 13.624| 92.458| 0| 0| 3.249| 109.791 >>>>>> RTD| 3.541| 8.916| 73.708| 0| 0| 3.249| 109.791 >>>>>> RTD| 3.541| 8.999| 64.291| 0| 0| 3.249| 109.791 >>>>>> 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| 3.499| 8.874| 61.374| 0| 0| 3.249| 109.791 >>>>>> RTD| 3.499| 13.833| 100.749| 0| 0| 3.249| 109.791 >>>>>> RTD| 3.541| 13.083| 99.249| 0| 0| 3.249| 109.791 >>>>>> ---|-----------|-----------|-----------|--------|------|------------------------ >>>>>> RTS| 3.249| 21.458| 109.791| 0| 0| 00:00:25/00:00:25 >>>>>> root@arago:~# >>>>> >>>>> Note that if the OMAPL138 is an armv4 or armv5, you may want to enable >>>>> the FCSE in order to reduce context switch time (and latencies). >>>>> >>>>> >>>> >>>> I enabled FCSE, and the max latency is more consistent (though the min >>>> and average latency has climbed). How do the below figures look? >>> >>> Otherwise, it is hard to say whether there is an issue or not. It is not >>> uncommon for armv4 or armv5 to have high latencies like this. >>> On what core is this processor based, running at what frequency? >>> >>> >> It's an AMR926EJ-S r5. Datasheet claims 375MHz, U-boot claims 300MHz. >> >> Load test to follow. >> > > OK, this run was done with LTP running on the board (runltplite.sh), > with cpu utilization between 90% and 100% You have to run the latency test while ltp is running, and run this for a few hours (ltp runs a few hours anyway). We provide the xeno-test script to do this (and dohell to generate load). See: http://www.xenomai.org/documentation/xenomai-2.6/html/xeno-test/index.html http://www.xenomai.org/documentation/xenomai-2.6/html/dohell/index.html -- Gilles.