Hello Philippe,

I got Xenomai working on a Ocotea-Board (AMCC 440GX) and a low-end
TQM855L-Module (MPC 855) under Linux 2.6.14-rc3 :-). The patch applied
with a few hunks and one easy to fix reject and I had to correct two
problems. One with FEW_CONTEXT (see attached patch) and the second with
"#include <asm/offsets.h>" in "xenomai/arch/ppc/hal/switch.S". The
include file does not exist (any more) in the kernel tree and therefore
I commented out the line. I'm going to perform latency tests on various
4xx and 8xx boards next week. Here are some preliminary figures of the
TQM855L-Module (CPU 80 MHz, Bus 40 MHz, 4 kB I-Cache 4 kB D-Cache):

bash-2.05b# ./cruncher -p 500
Calibrating cruncher...3025953, 334, 334, 334, 334, done -- ideal
computation time = 334 us.
1000 samples, 1000 hz freq (pid=338, policy=SCHED_FIFO, prio=99)
--------
Nanosleep jitter: min = 118 us, max = 474 us, avg = 155 us
Execution jitter: min = 32 us (9%), max = 100 us (29%), avg = 47 us (14%)
--------

bash-2.05b# ./switch -p 500
== Sampling period: 500 us
== Do not interrupt this program
RTH|     lat min|     lat avg|     lat max|        lost
RTD|      110400|      120200|      206600|           0

bash-2.05b# ./latency -p 500
== Sampling period: 500 us
---|------------|------------|------------|--------|-------------------------
RTS|       70000|       84000|      183200|       0|    00:00:50/00:00:50

Have a nice weekend.

Wolfgang.
+ diff -u 
linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c.FEW_CONTEXTS 
linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c
--- linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c.FEW_CONTEXTS  
2005-10-15 12:03:40.000000000 +0200
+++ linux-2.6.14-rc3-g4c234921-ipipe/arch/ppc/kernel/ipipe-root.c       
2005-10-15 13:56:29.000000000 +0200
@@ -35,6 +35,7 @@
 #include <asm/atomic.h>
 #include <asm/io.h>
 #include <asm/time.h>
+#include <asm/mmu_context.h>
 
 extern irq_desc_t irq_desc[];
 

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