Hey there
Just wanted to share some findings after combining all sorts of "good
practices" for getting a decent MachineKit setup.
The machine is dated and uses a CPU than can be bought for less than a
dollar I think.
The TL;DR is:
Servo thread at 15052
Base thread at 12569
Details:
OS: Debian Jessie with a Xenomai kernel upgraded from a LinuxCNC Wheezy
system
Hardware: Dell Optiplex 745
Bios: Almost everything turned off except USB, parallel port, ethernet and
CPU thermal protection
Hardware details:
cnc@TC3020:~$ lspci00:00.0 Host bridge: Intel Corporation 82Q963/Q965
Memory Controller Hub (rev 02)00:02.0 VGA compatible controller: Intel
Corporation 82Q963/Q965 Integrated Graphics Controller (rev 02)00:02.1
Display controller: Intel Corporation 82Q963/Q965 Integrated Graphics
Controller (rev 02)00:1a.0 USB controller: Intel Corporation 82801H
(ICH8 Family) USB UHCI Controller #4 (rev 02)00:1a.1 USB controller:
Intel Corporation 82801H (ICH8 Family) USB UHCI Controller #5 (rev
02)00:1a.7 USB controller: Intel Corporation 82801H (ICH8 Family) USB2
EHCI Controller #2 (rev 02)00:1c.0 PCI bridge: Intel Corporation
82801H (ICH8 Family) PCI Express Port 1 (rev 02)00:1c.4 PCI bridge:
Intel Corporation 82801H (ICH8 Family) PCI Express Port 5 (rev
02)00:1d.0 USB controller: Intel Corporation 82801H (ICH8 Family) USB
UHCI Controller #1 (rev 02)00:1d.1 USB controller: Intel Corporation
82801H (ICH8 Family) USB UHCI Controller #2 (rev 02)00:1d.2 USB
controller: Intel Corporation 82801H (ICH8 Family) USB UHCI Controller
#3 (rev 02)00:1d.7 USB controller: Intel Corporation 82801H (ICH8
Family) USB2 EHCI Controller #1 (rev 02)00:1e.0 PCI bridge: Intel
Corporation 82801 PCI Bridge (rev f2)00:1f.0 ISA bridge: Intel
Corporation 82801HB/HR (ICH8/R) LPC Interface Controller (rev
02)00:1f.2 IDE interface: Intel Corporation 82801H (ICH8 Family) 4
port SATA Controller [IDE mode] (rev 02)00:1f.3 SMBus: Intel
Corporation 82801H (ICH8 Family) SMBus Controller (rev 02)00:1f.5 IDE
interface: Intel Corporation 82801HR/HO/HH (ICH8R/DO/DH) 2 port SATA
Controller [IDE mode] (rev 02)02:00.0 Ethernet controller: Broadcom
Corporation NetXtreme BCM5754 Gigabit Ethernet PCI Express (rev 02)
cnc@TC3020:~$ lscpu Architecture: i686CPU op-mode(s):
32-bit, 64-bitByte Order: Little EndianCPU(s):
2On-line CPU(s) list: 0,1Thread(s) per core: 1Core(s) per
socket: 2Socket(s): 1Vendor ID:
GenuineIntelCPU family: 6Model: 15Model
name: Intel(R) Pentium(R) Dual CPU E2200 @
2.20GHzStepping: 13CPU MHz:
2192.790BogoMIPS: 4385.58L1d cache: 32KL1i
cache: 32KL2 cache: 1024K
Grub details:
cnc@TC3020:~$ dmesg | grep command[ 0.000000] Kernel command line:
BOOT_IMAGE=/boot/vmlinuz-3.8-1-xenomai.x86-686-pae
root=UUID=63401999-b871-430d-9566-de89b087ffef ro
initrd=/install/initrd.gz quiet rootdelay=5 xeno_hal.smi=1
lapic=notscdeadline hpet=disable i915.i915_enable_rc6=0
i915.powersave=0 intel_idle.max_cstate=1 processor.max_cstate=1
isolcpus=1 idle=poll acpi_irq_nobalance noirqbalance
cnc@TC3020:~$ cat /proc/interrupts
CPU0 CPU1
0: 72 0 IO-APIC-edge timer
1: 3 0 IO-APIC-edge i8042
7: 0 0 IO-APIC-edge parport0
8: 0 0 IO-APIC-edge rtc0
9: 0 0 IO-APIC-fasteoi acpi
12: 4 0 IO-APIC-edge i8042
16: 100272 0 IO-APIC-fasteoi uhci_hcd:usb3, i915, eth0
17: 56226 0 IO-APIC-fasteoi uhci_hcd:usb4, uhci_hcd:usb6
18: 0 0 IO-APIC-fasteoi uhci_hcd:usb7
20: 28260 0 IO-APIC-fasteoi ata_piix, ata_piix, i801_smbus
22: 3 0 IO-APIC-fasteoi ehci_hcd:usb1
23: 0 0 IO-APIC-fasteoi ehci_hcd:usb2,
uhci_hcd:usb5NMI: 2861 2861 Non-maskable interruptsLOC:
1377714 350753 Local timer interruptsSPU: 0
0 Spurious interruptsPMI: 2861 2861 Performance
monitoring interruptsIWI: 0 0 IRQ work
interruptsRTR: 0 0 APIC ICR read retriesRES:
2 2 Rescheduling interruptsCAL: 0 347
Function call interruptsTLB: 0 1 TLB
shootdownsTRM: 0 0 Thermal event interruptsTHR:
0 0 Threshold APIC interruptsMCE: 0
0 Machine check exceptionsMCP: 9 9 Machine check
pollsERR: 0MIS: 0
For the "stress test" itself, I ran 5 glxgears and played repeatedly a
video stream and the latency was not affected at all after 30 minutes.
Here's the evidence: http://i.imgur.com/OnYcAXn.png
That system is driving a 3.2x2.1m CNC router through the parallel port with
the gantry component (adapted from the Probotix BBB one) for auto-squaring,
debouncers for the limit switches, sindle control using PDM (worked best
for us).
Steppers are set to 1/16 and I can get rapids as high as 7.2m/min though
the machine will fall apart since the ballscrews will start jumping up and
down so we're keeping it at 4m/min which is great.
Later today we're going to upgrade the CPU for a Core 2 Duo quad and we may
have different figures. We'll see.
Anyways, I'm pretty happy with this. Ask me anything about OS or hardware
and I'll be happy to share.
-Fernando
--
website: http://www.machinekit.io blog: http://blog.machinekit.io github:
https://github.com/machinekit
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