Steven Scholz wrote: > Hi Gilles, > > I am running xenomai (svn 22.02.2007) with adeos-ipipe-2.6.19-arm-1.6-02.patch > on our AT91RM9200 board. (# CONFIG_PREEMPT is not set) > > When starting latency with 100µs period I get > > ~ # latency > == Sampling period: 100 us > == Test mode: periodic user-mode task > == All results in microseconds > warming up... > BUG: soft lockup detected on CPU#0! > [<c001dce8>] (dump_stack+0x0/0x14) from [<c004ce50>] > (softlockup_tick+0x98/0xb8) > [<c004cdb8>] (softlockup_tick+0x0/0xb8) from [<c0037cf8>] > (run_local_timers+0x18/0x1c) r7 = 00000011 r6 = 00000000 r5 = 00000000 r4 > = C02F8940 > [<c0037ce0>] (run_local_timers+0x0/0x1c) from [<c0037d40>] > (update_process_times+0x44/0x6c)[<c0037cfc>] (update_process_times+0x0/0x6c) > from [<c001db4c>] (timer_tick+0xf8/0x120) r5 = C01F9DE0 r4 = C01F0660 > [<c001da54>] (timer_tick+0x0/0x120) from [<c0023a8c>] > (at91rm9200_timer_interrupt+0x34/0xf8) r5 = C01F9DE0 r4 = C01F0660 > [<c0023a58>] (at91rm9200_timer_interrupt+0x0/0xf8) from [<c004d320>] > (handle_IRQ_event+0x38/0x6c) r5 = 00000000 r4 = C01AD8F0 > [<c004d2e8>] (handle_IRQ_event+0x0/0x6c) from [<c004e5e8>] > (handle_level_irq+0x74/0xcc) r7 = 00000011 r6 = C01AF2C0 r5 = 00000011 r4 > = C01A8440 > [<c004e574>] (handle_level_irq+0x0/0xcc) from [<c001a6c0>] > (asm_do_IRQ+0x48/0x60) r5 = 00000000 r4 = C0213930 > [<c001a678>] (asm_do_IRQ+0x0/0x60) from [<c004f2c0>] > (__ipipe_sync_stage+0x208/0x290) r5 = 00000000 r4 = C01AF2C8 > [<c004f0b8>] (__ipipe_sync_stage+0x0/0x290) from [<c004f86c>] > (__ipipe_walk_pipeline+0xa4/0xc8) > [<c004f7c8>] (__ipipe_walk_pipeline+0x0/0xc8) from [<c001f004>] > (__ipipe_handle_irq+0x18c/0x19c) r7 = 00000011 r6 = C01FC2C0 r5 = 00000011 > r4 = FFFFFFFF > [<c001ee78>] (__ipipe_handle_irq+0x0/0x19c) from [<c001f140>] > (__ipipe_grab_irq+0xbc/0x120) > [<c001f084>] (__ipipe_grab_irq+0x0/0x120) from [<c00199a4>] > (__irq_svc+0x24/0x4c) > [<c004f578>] (__ipipe_unstall_root+0x0/0x4c) from [<c004f5e4>] > (__ipipe_restore_root+0x20/0x24) > [<c004f5c4>] (__ipipe_restore_root+0x0/0x24) from [<c0045a20>] > (hrtimer_try_to_cancel+0x6c/0x74) > [<c00459b4>] (hrtimer_try_to_cancel+0x0/0x74) from [<c0045a40>] > (hrtimer_cancel+0x18/0x24) r7 = 00000000 r6 = 00000001 r5 = C1D82000 r4 = > C1D83F3C > [<c0045a28>] (hrtimer_cancel+0x0/0x24) from [<c0179b08>] > (do_nanosleep+0x50/0x80) r4 = C1D83F3C > [<c0179ab8>] (do_nanosleep+0x0/0x80) from [<c0045d6c>] > (hrtimer_nanosleep+0x4c/0x16c) r6 = 00000001 r5 = C1D83F3C r4 = 00000000 > [<c0045d20>] (hrtimer_nanosleep+0x0/0x16c) from [<c0045f28>] > (sys_nanosleep+0x9c/0xb0)[<c0045e8c>] (sys_nanosleep+0x0/0xb0) from > [<c0019d84>] (ret_fast_syscall+0x0/0x10) r6 = 00000000 r5 = BEAB9D5E r4 = > 00000000 > > > This text is printed very slowly onto teh serial console. Also the timer leds > blinks very slowly. > I'd say 10 times slower. > > Ideas? How can I help with debugging this? >
ARM platforms have hardware-related worst-case latencies in the range of 200 us under Linux (or is the AT91 mmu-less?). So if you set up a task with a 100 us period and load your system, you will more sooner than later see a total overload of both RT and non-RT part - not to speak of countless deadline misses. What happens if you move your task period more in the range of, say, 500 down to 300 us? Jan
signature.asc
Description: OpenPGP digital signature
_______________________________________________ Xenomai-core mailing list Xenomai-core@gna.org https://mail.gna.org/listinfo/xenomai-core
