[Xenomai-git] Philippe Gerum : cobalt/kernel: distinguish u/k/i latencies in Kconfig
Module: xenomai-3
Branch: master
Commit: bc761d8cf25c21944620a2f6f0d67c1b8fce9bed
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=bc761d8cf25c21944620a2f6f0d67c1b8fce9bed
Author: Philippe Gerum
Date: Thu Feb 5 13:22:24 2015 +0100
cobalt/kernel: distinguish u/k/i latencies in Kconfig
---
kernel/cobalt/Kconfig | 60 +++-
.../arch/arm/include/asm/xenomai/calibration.h | 30 +-
.../blackfin/include/asm/xenomai/calibration.h | 12 ++--
.../arch/nios2/include/asm/xenomai/calibration.h | 13 ++---
.../arch/powerpc/include/asm/xenomai/calibration.h | 12 ++--
.../arch/sh/include/asm/xenomai/calibration.h | 11 ++--
.../arch/x86/include/asm/xenomai/calibration.h | 18 +++---
kernel/cobalt/clock.c | 10 ++--
8 files changed, 102 insertions(+), 64 deletions(-)
diff --git a/kernel/cobalt/Kconfig b/kernel/cobalt/Kconfig
index 2e49d37..9c754f5 100644
--- a/kernel/cobalt/Kconfig
+++ b/kernel/cobalt/Kconfig
@@ -173,19 +173,6 @@ config XENO_OPT_AUTOTUNE
adjusting the core timing services to the intrinsic latency of
the platform.
-config XENO_OPT_TIMING_SCHEDLAT
- int "Scheduling latency (ns)"
- default 0
- help
- Scheduling latency is the time between the termination of an
- interrupt handler and the execution of the first instruction
- of the real-time thread this handler resumes. A default value
- of 0 (recommended) will cause a pre-calibrated value to be
- used.
-
- If the auto-tuner is enabled, this value will be used as the
- factory default when running "autotune --reset".
-
config XENO_OPT_SCALABLE_SCHED
bool "O(1) scheduler"
help
@@ -344,6 +331,53 @@ config XENO_OPT_DEBUG_TRACE_LOGSZ
endmenu
+menu "Latency settings"
+
+config XENO_OPT_TIMING_SCHEDLAT
+ int "User scheduling latency (ns)"
+ default 0
+ help
+ The user scheduling latency is the time between the
+ termination of an interrupt handler and the execution of the
+ first instruction of the real-time application thread this
+ handler resumes. A default value of 0 (recommended) will cause
+ a pre-calibrated value to be used.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+config XENO_OPT_TIMING_KSCHEDLAT
+ int "Intra-kernel scheduling latency (ns)"
+ default 0
+ help
+ The intra-kernel scheduling latency is the time between the
+ termination of an interrupt handler and the execution of the
+ first instruction of the RTDM kernel thread this handler
+ resumes. A default value of 0 (recommended) will cause a
+ pre-calibrated value to be used.
+
+ Intra-kernel latency is usually significantly lower than user
+ scheduling latency on MMU-enabled platforms, due to CPU cache
+ latency.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+config XENO_OPT_TIMING_IRQLAT
+ int "Interrupt latency (ns)"
+ default 0
+ help
+
+ The interrupt latency is the time between the occurrence of an
+ IRQ and the first instruction of the interrupt handler which
+ will service it. A default value of 0 (recommended) will cause
+ a pre-calibrated value to be used.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+endmenu
+
menuconfig XENO_OPT_DEBUG
depends on XENO_OPT_VFILE
bool "Debug support"
diff --git a/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
index 6f8f3bf..82ff68d 100644
--- a/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
@@ -22,30 +22,34 @@
#ifndef _COBALT_ARM_ASM_CALIBRATION_H
#define _COBALT_ARM_ASM_CALIBRATION_H
-extern unsigned omap_rev(void);
+unsigned int omap_rev(void);
#define cpu_is_omap44xx() ((omap_rev() & 0xff) == 0x44)
-static inline unsigned long xnarch_get_sched_latency (void)
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
+ unsigned int ulat;
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
- return CONFIG_XENO_OPT_TIMING_SCHEDLAT;
-#else
-#if defined(CONFIG_ARCH_AT91RM9200)
- return 8500;
+ ulat = CONFIG_XENO_OPT_TIMING_SCHEDLAT;
+#elif defined(CONFIG_ARCH_AT91RM9200)
+ ulat = 8500;
#elif defined(CONFIG_ARCH_AT91SAM9263)
- return 11000;
+ ulat = 11000;
+#elif defined(CONFIG_SOC_IMX6Q)
+ ulat = 6000;
#elif defined(CONFIG_ARCH_MX51)
- return 5000;
+ ulat = 5000;
#elif defined(CONFIG_ARCH_MX53)
- return 5000;
+ ulat = 5000;
#elif defined(CONFIG_ARCH_MX6)
- return 2000;
+
[Xenomai-git] Philippe Gerum : cobalt/kernel: distinguish u/k/i latencies in Kconfig
Module: xenomai-3
Branch: next
Commit: bc761d8cf25c21944620a2f6f0d67c1b8fce9bed
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=bc761d8cf25c21944620a2f6f0d67c1b8fce9bed
Author: Philippe Gerum
Date: Thu Feb 5 13:22:24 2015 +0100
cobalt/kernel: distinguish u/k/i latencies in Kconfig
---
kernel/cobalt/Kconfig | 60 +++-
.../arch/arm/include/asm/xenomai/calibration.h | 30 +-
.../blackfin/include/asm/xenomai/calibration.h | 12 ++--
.../arch/nios2/include/asm/xenomai/calibration.h | 13 ++---
.../arch/powerpc/include/asm/xenomai/calibration.h | 12 ++--
.../arch/sh/include/asm/xenomai/calibration.h | 11 ++--
.../arch/x86/include/asm/xenomai/calibration.h | 18 +++---
kernel/cobalt/clock.c | 10 ++--
8 files changed, 102 insertions(+), 64 deletions(-)
diff --git a/kernel/cobalt/Kconfig b/kernel/cobalt/Kconfig
index 2e49d37..9c754f5 100644
--- a/kernel/cobalt/Kconfig
+++ b/kernel/cobalt/Kconfig
@@ -173,19 +173,6 @@ config XENO_OPT_AUTOTUNE
adjusting the core timing services to the intrinsic latency of
the platform.
-config XENO_OPT_TIMING_SCHEDLAT
- int "Scheduling latency (ns)"
- default 0
- help
- Scheduling latency is the time between the termination of an
- interrupt handler and the execution of the first instruction
- of the real-time thread this handler resumes. A default value
- of 0 (recommended) will cause a pre-calibrated value to be
- used.
-
- If the auto-tuner is enabled, this value will be used as the
- factory default when running "autotune --reset".
-
config XENO_OPT_SCALABLE_SCHED
bool "O(1) scheduler"
help
@@ -344,6 +331,53 @@ config XENO_OPT_DEBUG_TRACE_LOGSZ
endmenu
+menu "Latency settings"
+
+config XENO_OPT_TIMING_SCHEDLAT
+ int "User scheduling latency (ns)"
+ default 0
+ help
+ The user scheduling latency is the time between the
+ termination of an interrupt handler and the execution of the
+ first instruction of the real-time application thread this
+ handler resumes. A default value of 0 (recommended) will cause
+ a pre-calibrated value to be used.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+config XENO_OPT_TIMING_KSCHEDLAT
+ int "Intra-kernel scheduling latency (ns)"
+ default 0
+ help
+ The intra-kernel scheduling latency is the time between the
+ termination of an interrupt handler and the execution of the
+ first instruction of the RTDM kernel thread this handler
+ resumes. A default value of 0 (recommended) will cause a
+ pre-calibrated value to be used.
+
+ Intra-kernel latency is usually significantly lower than user
+ scheduling latency on MMU-enabled platforms, due to CPU cache
+ latency.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+config XENO_OPT_TIMING_IRQLAT
+ int "Interrupt latency (ns)"
+ default 0
+ help
+
+ The interrupt latency is the time between the occurrence of an
+ IRQ and the first instruction of the interrupt handler which
+ will service it. A default value of 0 (recommended) will cause
+ a pre-calibrated value to be used.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+endmenu
+
menuconfig XENO_OPT_DEBUG
depends on XENO_OPT_VFILE
bool "Debug support"
diff --git a/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
index 6f8f3bf..82ff68d 100644
--- a/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
@@ -22,30 +22,34 @@
#ifndef _COBALT_ARM_ASM_CALIBRATION_H
#define _COBALT_ARM_ASM_CALIBRATION_H
-extern unsigned omap_rev(void);
+unsigned int omap_rev(void);
#define cpu_is_omap44xx() ((omap_rev() & 0xff) == 0x44)
-static inline unsigned long xnarch_get_sched_latency (void)
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
+ unsigned int ulat;
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
- return CONFIG_XENO_OPT_TIMING_SCHEDLAT;
-#else
-#if defined(CONFIG_ARCH_AT91RM9200)
- return 8500;
+ ulat = CONFIG_XENO_OPT_TIMING_SCHEDLAT;
+#elif defined(CONFIG_ARCH_AT91RM9200)
+ ulat = 8500;
#elif defined(CONFIG_ARCH_AT91SAM9263)
- return 11000;
+ ulat = 11000;
+#elif defined(CONFIG_SOC_IMX6Q)
+ ulat = 6000;
#elif defined(CONFIG_ARCH_MX51)
- return 5000;
+ ulat = 5000;
#elif defined(CONFIG_ARCH_MX53)
- return 5000;
+ ulat = 5000;
#elif defined(CONFIG_ARCH_MX6)
- return 2000;
+
