Re: [Xenomai] Cyclictest in Xenomai-3

[Philippe Gerum <rpm@xenomai.org>]

On 08/27/2015 05:55 PM, Konstantinos Chalas wrote:
> The build command for cyclictest was
> 
> gcc -Wall -Wno-nonnull -I/usr/xenomai/include/cobalt
> -I/usr/xenomai/include -march=armv7-a -mfpu=vfp3 -D_GNU_SOURCE
> -D_REENTRANT -D__COBALT__ -O2 -Wl,@/usr/xenomai/lib/cobalt.wrappers  
> /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main
> -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib
> -lcobalt -lpthread -lrt -march=armv7-a -mfpu=vfp3   -o cyclictest
> cyclictest.o -lrt -lpthread -lrttest -L
> 
> Also the clock calibration is (i already run the autotune utility),
> 
> root@beaglebone:~# cat /proc/xenomai/clock/coreclk
> gravity: irq=499 kernel=1999 user=4999
> devices: timer=timer2, clock=ipipe_tsc
>  status: on
>   setup: 999
>   ticks: 350959191461
> 
> and finally i run cyclictest with Thanks for the interest!
> 
> cyclictest -n -p 99 -D 1000 -i 250 -m

No wonder why you get weird results, the cyclictest thread does not run
with a real-time priority since it uses sched_setscheduler() which is
not wrapped by cobalt (pthread_setschedparam() is). You can check this
by looking at /proc/xenomai/sched/threads.

The quick and dirty hack below fixes it, and amends the Makefile to
switch to the Xenomai libs from a cross-compilation root, when the
COBALT variable is mentioned on the make command line. You may need to
do some fixup there if you don't install under $crossroot/usr/xenomai
though.

diff --git a/Makefile b/Makefile
index a48e759..49301b6 100644
--- a/Makefile
+++ b/Makefile
@@ -28,7 +28,7 @@ CPPFLAGS += -D_GNU_SOURCE -Isrc/include
 LDFLAGS ?=

 ifneq ($(filter x86_64 i386 ia64 mips powerpc,$(machinetype)),)
-NUMA 	:= 1
+NUMA 	:= 0
 ifdef HAVE_PARSE_CPUSTRING_ALL
 	CFLAGS += -DHAVE_PARSE_CPUSTRING_ALL
 endif
@@ -47,6 +47,11 @@ ifeq ($(NUMA),1)
 	NUMA_LIBS = -lnuma
 endif

+ifneq ($(COBALT),)
+	CFLAGS += $(shell DESTDIR=$(COBALT) $(COBALT)/usr/bin/xeno-config
--posix --cflags)
+	LDFLAGS += $(shell DESTDIR=$(COBALT) $(COBALT)/usr/bin/xeno-config
--posix --ldflags)
+endif
+
 VPATH	= src/cyclictest:
 VPATH	+= src/signaltest:
 VPATH	+= src/pi_tests:
diff --git a/src/cyclictest/cyclictest.c b/src/cyclictest/cyclictest.c
index 34053c5..92c7043 100644
--- a/src/cyclictest/cyclictest.c
+++ b/src/cyclictest/cyclictest.c
@@ -795,7 +795,7 @@ void *timerthread(void *param)

 	memset(&schedp, 0, sizeof(schedp));
 	schedp.sched_priority = par->prio;
-	if (setscheduler(0, par->policy, &schedp))
+	if (pthread_setschedparam(pthread_self(), par->policy, &schedp))
 		fatal("timerthread%d: failed to set priority to %d\n", par->cpu,
par->prio);

 	/* Get current time */
-- 
Philippe.