I'm happy to report that after adapting hal_parport to use inb/outb I/O instead of ppdev-ioctl, there are no more realtime delays with a soft stepgen/parport based configuration (atom DW5252, kernel 3.2.21-xenomai+).
I would think this can now tried on real machines: http://git.mah.priv.at/gitweb/emc2-dev.git/shortlog/refs/heads/rtos-integration-preview1 - Michael ps: it is interesting to see that soft stepgen takes a lot more CPU than the whole motion, kins and trajectory processing chain - I would have guessed the other way around (so much for intuition versus measurement ;): root@atom:~# cat /proc/xenomai/stat CPU PID MSW CSW PF STAT %CPU NAME 0 0 0 8922182 0 00500080 96.4 ROOT/0 1 0 0 200972431 0 00500080 81.4 ROOT/1 1 22635 0 4895605 0 00300184 17.3 base-thread <-------- isolated CPU doing soft stepgen 0 22636 0 244779 0 00300184 3.3 servo-thread <----- motion/kins/trajectory 0 0 0 10740483 0 00000000 0.3 IRQ2312: [timer] The only config change I did relative to stock configs/stepper/stepper_mm.ini was explicit CPU assignment, see man threads and man motion for details: diff mah_stepper.hal core_stepper.hal 7c7 < loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD base_cpu=1 servo_period_nsec=[EMCMOT]SERVO_PERIOD servo_cpu=0 num_joints=[TRAJ]AXES --- > loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD > servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES ------------------------------------------------------------------------------ Everyone hates slow websites. So do we. Make your web apps faster with AppDynamics Download AppDynamics Lite for free today: http://p.sf.net/sfu/appdyn_d2d_nov _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
