On 8/12/2013 10:48 AM, John Kasunich wrote: > > I think Kirk's prespective is right on target. A real-time system that > misses timing targets is not a very good real time system. A real-time > system that misses timing targets and doesn't even know it isn't a > real-time system at all.
Yes, whatever is going on is scary, particularly since the higher level code doesn't complain. My current theory is that something related to the trajectory planner has a non-obvious non-real-time component (perhaps waiting on a semaphore or lock that was acquired by the user-mode code and not released before a task switch), and that this is either a new issue introduced by the RTOS flavor updates, or it's been lurking in the code for a while and just doesn't appear on the typical multi-core, multi-GHz x86 systems. Alternately, it might be something related to compiling for the ARM architecture. I don't get the impression LinuxCNC has a lot of build history on alternate architectures. :) Whatever the actual cause, this sure seems like a problem that needs fixing. I'll post more details once I've dug out the logic analyzer and captured some real-world data. -- Charles Steinkuehler char...@steinkuehler.net
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