ROSSIER Daniel wrote:
Hi Philippe,

Any chance to see our work integrated within an official distribution?

Are you still reviewing the code?

It's reviewed and mostly ok, except the "poll mode" boot parameter which is not there (i.e. adding a static compilation option is not the way to go). The main issue that remains is to merge it properly with the latest Adeos codebase (i.e. w/ pipeline head optimizations and wired IRQ support), and optionally, with the existing ARM port for the ARM1136, but since the i.MX21 support needs to be provided by an additional patch, the latter seems unlikely, unfortunately.

Thanks for your feedback


-----Message d'origine-----
la part de ROSSIER Daniel
Envoyé : mardi, 25. avril 2006 15:17
À : Philippe Gerum
Cc :
Objet : RE: [Xenomai-core] Xenomai on Freescale i.MX21 (ARM926J)

-----Message d'origine-----
De : Philippe Gerum [mailto:[EMAIL PROTECTED]
Envoyé : jeudi, 20. avril 2006 15:43
À : ROSSIER Daniel
Cc :
Objet : Re: [Xenomai-core] Xenomai on Freescale i.MX21 (ARM926J)

ROSSIER Daniel wrote:

Dear all,

We finally succeeded in the port of Xenomai on our Freescale i.MX21

board (ARM-926J);

(The board used is the CSB535FS issued from Cogent with the BSP from


To have further technical references, please see there:


So, you will find two patches: the first one (patch-linux-

2.6.14.imx21_1.0.0) is used to patch the Linux 2.6.14 for supporting the
board. Then, the second one (adeos-ipipe-2.6.14-arm-imx21-0.1.00.patch)
can be used against the imx21-enabled kernel for Xenomai, simply using

the script. The patch was originally inspired from the
Integrator/ARM11 patch; thanks to its author :-)

We will publish soon some results regarding the different latencies,


so far we measured about 2us between the IRQ and the timer reprogramming
(at the ipipe level). The problem now is the jitter which is pretty


about 1-2us, with some occasional peaks up to 5us.

Having quite a few experience with this kind of board, we don't know


it comes from the code itself, or purely from the hardware. Any
idea/suggestions would be welcome. For periodic tasks around 20us,
everything works perfecly.

Those results are pretty impressive actually. Assuming that you compare
those figures with those obtained from traditional standalone RTOS e.g.
VxWorks on the same board, the critical difference with Xenomai is that
Linux is competing for the hw resources, and for instance, happily
trashes the cache under Xenomai's feet when scheduling its own tasks
during Xeno's idle time. Additionally, Adeos adds a small overhead due
to the interrupt virtualization, in exchange of real-time predictability
for their delivery. Therefore, in this respect, 5 us does not look that
bad already.

Are 20 us a measure of the worst-case interrupt latency (i.e. running
latency -t2), or scheduling latency in user-space (i.e. running latency

No, I think we can go lower; the measure we actually got between the IRQ
and the timer reprogramming is about 2 us with some jitters up to 5 us; we
normally guarantee not to exceed 5 us between the IRQ and timer
reprogramming. Now, considering the ISR itself, we could get some time
under 10us provided that the ISR remains short.

So far, we measured the reaction time with the oscillo; we are now about
to check the latencies with the latency utility from Xenomai.

I don't know to what extent this (1 or 2) patch(es) can be integrated


the official distribution;
but of course we are willing to make any adaptations to fulfill the
requirements for that.

For the technical part, I guess that anyone interested in the ARM
support for Adeos/Xenomai will review this code; I'll be one of these
people, for sure. The usefulness of such contribution looks obvious to


For the non-technical part, a pre-requisite for adding code to the Adeos
or Xenomai codebases is to properly identify it as coming from a
legitimate source, so if you, as a submitter, can confirm that you may
freely contribute it on behalf of the HEIG-VD (I guess?) or yourself,
that's fine with us. Btw, at first glance, I did not find any additional
GPL copyrights coming with your changes in the patches, it would be
better to have them, so that we always know who contributed to what, as
much as possible.

Yes, it's ok. HEIG-VD is the University of Applied Sciences of Western
Switzerland in Yverdon ( and I'm working at
the REDS Institute (, unfortunately in French only at
the moment). We are granted to publish our work, at least
all part which are not directly bound to some industrial projects (I'm
trying to keep the stuff as open and public as possible ;-).

It's a first step; I hope it will help some other ARM9 developers and

look forward to reading some feedbacks.

I profit to thank a lot the Xenomai team (Philippe, Jan, Gilles and


others) for their excellent work and support).

Xenomai exists because people participate in the Sisyphean task of
making it better, like you just did. In other words, welcome to the
band. Let's roll the rock.


Kind regards




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