We perfomed 3 latency tests on AT91SAM9261-EK board : 
 - one under DD load, latency set to 45µs
 - another one under Calibrator load, latency set to 35µs
 - and the last under Test_switch load, latency set to 45µs
Xeno-test traces are available and the end of this mail.

We used kernel 2.6.20.13, Xenomai snapshot from 08/06/2007, 
adeos-ipipe-2.6.20-arm-1.7-03.patch included.

Latencies are better than previous ones. Preemt seems to work.

Actually we are doing the same tests on AT91SAM9260-EK board.

Here are the results : 

[DD load]
RTT|  17:59:04  (periodic user-mode task, 500 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD|       9.664|      32.538|      44.458|       0|      -4.510|      85.373
RTD|       5.798|      32.538|      44.780|       0|      -4.510|      85.373
RTD|       8.698|      32.538|      44.780|       0|      -4.510|      85.373
RTD|       9.664|      32.538|      45.425|       0|      -4.510|      85.373
RTD|      11.597|      32.538|      45.425|       0|      -4.510|      85.373
RTD|       2.899|      32.538|      43.492|       0|      -4.510|      85.373
RTD|      12.242|      32.538|      44.780|       0|      -4.510|      85.373
RTD|       2.899|      32.538|      44.780|       0|      -4.510|      85.373
RTD|      10.309|      32.538|      45.425|       0|      -4.510|      85.373
RTD|       2.255|      32.538|      49.935|       0|      -4.510|      85.373
RTD|       9.664|      32.538|      44.458|       0|      -4.510|      85.373
RTD|      10.953|      32.538|      44.136|       0|      -4.510|      85.373
RTD|       1.932|      32.538|      43.170|       0|      -4.510|      85.373
RTD|       9.020|      32.538|      44.458|       0|      -4.510|      85.373
RTD|       9.987|      32.538|      44.136|       0|      -4.510|      85.373
RTD|      11.597|      32.538|      45.425|       0|      -4.510|      85.373
RTD|       0.644|      32.538|      47.036|       0|      -4.510|      85.373
---|--param|----range-|--samples
HSD|    min|   0 -  1 |     1091
HSD|    min|   1 -  2 |     3898
HSD|    min|   2 -  3 |     5716
HSD|    min|   3 -  4 |     4689
HSD|    min|   4 -  5 |     1831
HSD|    min|   5 -  6 |      607
HSD|    min|   6 -  7 |      746
HSD|    min|   7 -  8 |     2287
HSD|    min|   8 -  9 |     5553
HSD|    min|   9 - 10 |    11769
HSD|    min|  10 - 11 |    10739
HSD|    min|  11 - 12 |     9920
HSD|    min|  12 - 13 |     4555
HSD|    min|  13 - 14 |     1162
HSD|    min|  14 - 15 |      163
HSD|    min|  15 - 16 |       10
HSD|    min|  16 - 17 |       10
HSD|    min|  17 - 18 |        7
HSD|    min|  18 - 19 |        3
HSD|    min|  19 - 20 |        3
HSD|    min|  25 - 26 |        1
---|--param|----range-|--samples
HSD|    avg|   0 -  1 |     1092
HSD|    avg|   1 -  2 |     3898
HSD|    avg|   2 -  3 |     5717
HSD|    avg|   3 -  4 |     4693
HSD|    avg|   4 -  5 |     1836
HSD|    avg|   5 -  6 |      609
HSD|    avg|   6 -  7 |      763
HSD|    avg|   7 -  8 |     2432
HSD|    avg|   8 -  9 |     6053
HSD|    avg|   9 - 10 |    12767
HSD|    avg|  10 - 11 |    11145
HSD|    avg|  11 - 12 |    10086
HSD|    avg|  12 - 13 |     4637
HSD|    avg|  13 - 14 |     1321
HSD|    avg|  14 - 15 |     1193
HSD|    avg|  15 - 16 |     3160
HSD|    avg|  16 - 17 |    18628
HSD|    avg|  17 - 18 |    27938
HSD|    avg|  18 - 19 |    12775
HSD|    avg|  19 - 20 |     1345
HSD|    avg|  20 - 21 |      222
HSD|    avg|  21 - 22 |      249
HSD|    avg|  22 - 23 |      130
HSD|    avg|  23 - 24 |       49
HSD|    avg|  24 - 25 |     1635
HSD|    avg|  25 - 26 |   128230
HSD|    avg|  26 - 27 |  1263169
HSD|    avg|  27 - 28 |  2694164
HSD|    avg|  28 - 29 |  1799796
HSD|    avg|  29 - 30 |   196947
HSD|    avg|  30 - 31 |   417025
HSD|    avg|  31 - 32 |  8634102
HSD|    avg|  32 - 33 | 78219326
HSD|    avg|  33 - 34 | 32442049
HSD|    avg|  34 - 35 |  2236174
HSD|    avg|  35 - 36 |    83038
HSD|    avg|  36 - 37 |    88527
HSD|    avg|  37 - 38 |    28251
HSD|    avg|  38 - 39 |    47536
HSD|    avg|  39 - 40 |    32562
HSD|    avg|  40 - 41 |    17629
HSD|    avg|  41 - 42 |    89802
HSD|    avg|  42 - 43 |   623640
HSD|    avg|  43 - 44 |   212188
HSD|    avg|  44 - 45 |    55030
HSD|    avg|  45 - 46 |    16578
HSD|    avg|  46 - 47 |    34788
HSD|    avg|  47 - 48 |    18416
HSD|    avg|  48 - 49 |     2078
HSD|    avg|  49 - 50 |     1131
HSD|    avg|  50 - 51 |     2026
HSD|    avg|  51 - 52 |     1425
HSD|    avg|  52 - 53 |     1035
HSD|    avg|  53 - 54 |      223
HSD|    avg|  54 - 55 |       90
HSD|    avg|  55 - 56 |       61
HSD|    avg|  56 - 57 |       16
HSD|    avg|  57 - 58 |       36
HSD|    avg|  58 - 59 |       18
HSD|    avg|  59 - 60 |       15
HSD|    avg|  60 - 61 |       19
HSD|    avg|  61 - 62 |       15
HSD|    avg|  62 - 63 |        6
HSD|    avg|  63 - 64 |        7
HSD|    avg|  64 - 65 |        3
HSD|    avg|  65 - 66 |        4
HSD|    avg|  66 - 67 |        2
HSD|    avg|  67 - 68 |        2
HSD|    avg|  68 - 69 |        4
HSD|    avg|  69 - 70 |        1
HSD|    avg|  71 - 72 |        1
HSD|    avg|  72 - 73 |        2
HSD|    avg|  75 - 76 |        1
HSD|    avg|  76 - 77 |        1
HSD|    avg|  77 - 78 |        2
HSD|    avg|  78 - 79 |        1
HSD|    avg|  79 - 80 |        1
HSD|    avg|  80 - 81 |        1
HSD|    avg|  81 - 82 |        3
HSD|    avg|  82 - 83 |        2
HSD|    avg|  83 - 84 |        5
HSD|    avg|  84 - 85 |        6
HSD|    avg|  85 - 86 |        4
---|--param|----range-|--samples
HSD|    max|  36 - 37 |        1
HSD|    max|  42 - 43 |       61
HSD|    max|  43 - 44 |     6197
HSD|    max|  44 - 45 |    13951
HSD|    max|  45 - 46 |     6233
HSD|    max|  46 - 47 |    17653
HSD|    max|  47 - 48 |    14159
HSD|    max|  48 - 49 |     1722
HSD|    max|  49 - 50 |      814
HSD|    max|  50 - 51 |     1438
HSD|    max|  51 - 52 |     1117
HSD|    max|  52 - 53 |      909
HSD|    max|  53 - 54 |      202
HSD|    max|  54 - 55 |       80
HSD|    max|  55 - 56 |       56
HSD|    max|  56 - 57 |       13
HSD|    max|  57 - 58 |       33
HSD|    max|  58 - 59 |       16
HSD|    max|  59 - 60 |       15
HSD|    max|  60 - 61 |       18
HSD|    max|  61 - 62 |       15
HSD|    max|  62 - 63 |        6
HSD|    max|  63 - 64 |        6
HSD|    max|  64 - 65 |        3
HSD|    max|  65 - 66 |        3
HSD|    max|  66 - 67 |        2
HSD|    max|  67 - 68 |        2
HSD|    max|  68 - 69 |        4
HSD|    max|  69 - 70 |        1
HSD|    max|  71 - 72 |        1
HSD|    max|  72 - 73 |        2
HSD|    max|  75 - 76 |        1
HSD|    max|  76 - 77 |        1
HSD|    max|  77 - 78 |        2
HSD|    max|  78 - 79 |        1
HSD|    max|  79 - 80 |        1
HSD|    max|  80 - 81 |        1
HSD|    max|  81 - 82 |        3
HSD|    max|  82 - 83 |        2
HSD|    max|  83 - 84 |        5
HSD|    max|  84 - 85 |        6
HSD|    max|  85 - 86 |        4
HSH|--param|--samples-|--average--|---stddev--
HSS|    min|     64760|      7.716|      3.672
HSS|    avg| 129521587|     -1.101|     33.205
HSS|    max|     64760|     45.835|      2.195
---|------------|------------|------------|--------|-------------------------
RTS|      -4.510|      32.216|      85.373|       0|    17:59:21/17:59:21

[Calibrator load]
# ---|--param|----range-|--samples
HSD|    min|   0 -  1 |     1395
HSD|    min|   1 -  2 |     1049
HSD|    min|   2 -  3 |       21
HSD|    min|   3 -  4 |        7
HSD|    min|   4 -  5 |       11
HSD|    min|   5 -  6 |       53
HSD|    min|   6 -  7 |      132
HSD|    min|   7 -  8 |       79
HSD|    min|   8 -  9 |       52
HSD|    min|   9 - 10 |      111
HSD|    min|  10 - 11 |      342
HSD|    min|  11 - 12 |      722
HSD|    min|  12 - 13 |      691
HSD|    min|  13 - 14 |      562
HSD|    min|  14 - 15 |      319
HSD|    min|  15 - 16 |      245
HSD|    min|  16 - 17 |      422
HSD|    min|  17 - 18 |     1609
HSD|    min|  18 - 19 |     3899
HSD|    min|  19 - 20 |     6346
HSD|    min|  20 - 21 |     3240
HSD|    min|  21 - 22 |     1180
HSD|    min|  22 - 23 |      233
HSD|    min|  23 - 24 |       29
HSD|    min|  24 - 25 |        7
HSD|    min|  25 - 26 |        1
HSD|    min|  27 - 28 |        3
HSD|    min|  28 - 29 |        3
HSD|    min|  29 - 30 |        2
HSD|    min|  31 - 32 |        1
HSD|    min|  32 - 33 |        2
---|--param|----range-|--samples
HSD|    avg|   0 -  1 |    16244
HSD|    avg|   1 -  2 |     2931
HSD|    avg|   2 -  3 |      655
HSD|    avg|   3 -  4 |      518
HSD|    avg|   4 -  5 |      271
HSD|    avg|   5 -  6 |      624
HSD|    avg|   6 -  7 |     1280
HSD|    avg|   7 -  8 |      761
HSD|    avg|   8 -  9 |      269
HSD|    avg|   9 - 10 |      197
HSD|    avg|  10 - 11 |      403
HSD|    avg|  11 - 12 |      786
HSD|    avg|  12 - 13 |      855
HSD|    avg|  13 - 14 |     1157
HSD|    avg|  14 - 15 |     1038
HSD|    avg|  15 - 16 |      714
HSD|    avg|  16 - 17 |      664
HSD|    avg|  17 - 18 |     1807
HSD|    avg|  18 - 19 |     4161
HSD|    avg|  19 - 20 |     6955
HSD|    avg|  20 - 21 |     3811
HSD|    avg|  21 - 22 |     1925
HSD|    avg|  22 - 23 |     1053
HSD|    avg|  23 - 24 |      629
HSD|    avg|  24 - 25 |      401
HSD|    avg|  25 - 26 |      499
HSD|    avg|  26 - 27 |     6601
HSD|    avg|  27 - 28 |    10179
HSD|    avg|  28 - 29 |     3673
HSD|    avg|  29 - 30 |    28259
HSD|    avg|  30 - 31 |    95506
HSD|    avg|  31 - 32 |    38120
HSD|    avg|  32 - 33 |    12696
HSD|    avg|  33 - 34 |     2512
HSD|    avg|  34 - 35 |     4438
HSD|    avg|  35 - 36 |    14578
HSD|    avg|  36 - 37 |    45120
HSD|    avg|  37 - 38 |   483204
HSD|    avg|  38 - 39 |   626229
HSD|    avg|  39 - 40 |   336021
HSD|    avg|  40 - 41 |   364037
HSD|    avg|  41 - 42 |   468275
HSD|    avg|  42 - 43 |  6663131
HSD|    avg|  43 - 44 | 18935433
HSD|    avg|  44 - 45 |  3222266
HSD|    avg|  45 - 46 |  1132460
HSD|    avg|  46 - 47 |  2254950
HSD|    avg|  47 - 48 |  2461892
HSD|    avg|  48 - 49 |   476141
HSD|    avg|  49 - 50 |    39600
HSD|    avg|  50 - 51 |    25490
HSD|    avg|  51 - 52 |   305313
HSD|    avg|  52 - 53 |   737407
HSD|    avg|  53 - 54 |   257277
HSD|    avg|  54 - 55 |   260007
HSD|    avg|  55 - 56 |   347234
HSD|    avg|  56 - 57 |   398681
HSD|    avg|  57 - 58 |   181010
HSD|    avg|  58 - 59 |    37539
HSD|    avg|  59 - 60 |    18975
HSD|    avg|  60 - 61 |    25659
HSD|    avg|  61 - 62 |    29102
HSD|    avg|  62 - 63 |     4644
HSD|    avg|  63 - 64 |     3381
HSD|    avg|  64 - 65 |     3098
HSD|    avg|  65 - 66 |     1884
HSD|    avg|  66 - 67 |     1215
HSD|    avg|  67 - 68 |     1792
HSD|    avg|  68 - 69 |     1036
HSD|    avg|  69 - 70 |      953
HSD|    avg|  70 - 71 |     1121
HSD|    avg|  71 - 72 |     1090
HSD|    avg|  72 - 73 |     1311
HSD|    avg|  73 - 74 |     1072
HSD|    avg|  74 - 75 |     1273
HSD|    avg|  75 - 76 |     1312
HSD|    avg|  76 - 77 |     1699
HSD|    avg|  77 - 78 |      746
HSD|    avg|  78 - 79 |      504
HSD|    avg|  79 - 80 |      211
HSD|    avg|  80 - 81 |       82
HSD|    avg|  81 - 82 |       54
HSD|    avg|  82 - 83 |       65
HSD|    avg|  83 - 84 |       83
HSD|    avg|  84 - 85 |       57
HSD|    avg|  85 - 86 |      334
HSD|    avg|  86 - 87 |      619
HSD|    avg|  87 - 88 |     1051
HSD|    avg|  88 - 89 |      544
HSD|    avg|  89 - 90 |      353
HSD|    avg|  90 - 91 |     7071
HSD|    avg|  91 - 92 |    30696
HSD|    avg|  92 - 93 |     7361
HSD|    avg|  93 - 94 |      397
HSD|    avg|  94 - 95 |      381
HSD|    avg|  95 - 96 |      637
HSD|    avg|  96 - 97 |     8915
HSD|    avg|  97 - 98 |    30716
HSD|    avg|  98 - 99 |    34872
HSD|    avg|  99 -100 |    27269
HSD|    avg| 100 -101 |    58893
HSD|    avg| 101 -102 |    76860
HSD|    avg| 102 -103 |    17547
HSD|    avg| 103 -104 |    19677
HSD|    avg| 104 -105 |    82218
HSD|    avg| 105 -106 |   404854
HSD|    avg| 106 -107 |   386541
HSD|    avg| 107 -108 |    64958
HSD|    avg| 108 -109 |   209449
HSD|    avg| 109 -110 |   236910
HSD|    avg| 110 -111 |   168711
HSD|    avg| 111 -112 |   194477
HSD|    avg| 112 -113 |    65353
HSD|    avg| 113 -114 |   188428
HSD|    avg| 114 -115 |   205712
HSD|    avg| 115 -116 |   197926
HSD|    avg| 116 -117 |   201026
HSD|    avg| 117 -118 |   113964
HSD|    avg| 118 -119 |   156261
HSD|    avg| 119 -120 |   194091
HSD|    avg| 120 -121 |   123428
HSD|    avg| 121 -122 |   199243
HSD|    avg| 122 -123 |   116735
HSD|    avg| 123 -124 |   109313
HSD|    avg| 124 -125 |   247811
HSD|    avg| 125 -126 |   116763
HSD|    avg| 126 -127 |   262561
HSD|    avg| 127 -128 |   111704
HSD|    avg| 128 -129 |   161566
HSD|    avg| 129 -130 |     7973
HSD|    avg| 130 -131 |     3923
HSD|    avg| 131 -132 |    22350
HSD|    avg| 132 -133 |    40693
HSD|    avg| 133 -134 |     6999
HSD|    avg| 134 -135 |     6472
HSD|    avg| 135 -136 |    33423
HSD|    avg| 136 -137 |    13747
HSD|    avg| 137 -138 |     9982
HSD|    avg| 138 -139 |     9962
HSD|    avg| 139 -140 |    10883
HSD|    avg| 140 -141 |     5818
HSD|    avg| 141 -142 |     5650
HSD|    avg| 142 -143 |    11294
HSD|    avg| 143 -144 |     1629
HSD|    avg| 144 -145 |       94
HSD|    avg| 145 -146 |       50
HSD|    avg| 146 -147 |       29
HSD|    avg| 147 -148 |       31
HSD|    avg| 148 -149 |       28
HSD|    avg| 149 -150 |       45
HSD|    avg| 150 -151 |       57
HSD|    avg| 151 -152 |       26
HSD|    avg| 152 -153 |       38
HSD|    avg| 153 -154 |       54
HSD|    avg| 154 -155 |       36
HSD|    avg| 155 -156 |     1412
HSD|    avg| 156 -157 |     5355
HSD|    avg| 157 -158 |     9306
HSD|    avg| 158 -159 |     7539
HSD|    avg| 159 -160 |     5794
HSD|    avg| 160 -161 |     2990
HSD|    avg| 161 -162 |     4209
HSD|    avg| 162 -163 |     6309
HSD|    avg| 163 -164 |    11366
HSD|    avg| 164 -165 |     3309
HSD|    avg| 165 -166 |     4685
HSD|    avg| 166 -167 |     3083
HSD|    avg| 167 -168 |     6807
HSD|    avg| 168 -169 |      187
HSD|    avg| 169 -170 |       18
HSD|    avg| 170 -171 |        9
HSD|    avg| 171 -172 |        8
HSD|    avg| 172 -173 |        6
HSD|    avg| 173 -174 |        3
HSD|    avg| 174 -175 |        1
HSD|    avg| 175 -176 |        3
HSD|    avg| 176 -177 |        2
HSD|    avg| 177 -178 |        3
HSD|    avg| 178 -179 |        4
HSD|    avg| 179 -180 |        1
HSD|    avg| 180 -181 |        4
HSD|    avg| 181 -182 |        1
HSD|    avg| 182 -183 |        3
HSD|    avg| 183 -184 |        3
HSD|    avg| 184 -185 |        4
HSD|    avg| 185 -186 |        2
HSD|    avg| 186 -187 |        3
HSD|    avg| 187 -188 |        3
HSD|    avg| 188 -189 |        5
HSD|    avg| 189 -190 |        6
HSD|    avg| 190 -191 |        1
HSD|    avg| 191 -192 |        2
HSD|    avg| 192 -193 |        2
HSD|    avg| 196 -197 |        2
HSD|    avg| 198 -199 |        2
HSD|    avg| 199 -200 |        2
HSD|    avg| 201 -202 |        3
HSD|    avg| 202 -203 |        1
HSD|    avg| 203 -204 |        2
HSD|    avg| 204 -205 |        3
---|--param|----range-|--samples
HSD|    max|  52 - 53 |       19
HSD|    max|  53 - 54 |      162
HSD|    max|  54 - 55 |      157
HSD|    max|  55 - 56 |      172
HSD|    max|  56 - 57 |      455
HSD|    max|  57 - 58 |     2673
HSD|    max|  58 - 59 |     2585
HSD|    max|  59 - 60 |      834
HSD|    max|  60 - 61 |      669
HSD|    max|  61 - 62 |      751
HSD|    max|  62 - 63 |      480
HSD|    max|  63 - 64 |      409
HSD|    max|  64 - 65 |      392
HSD|    max|  65 - 66 |      404
HSD|    max|  66 - 67 |      317
HSD|    max|  67 - 68 |      552
HSD|    max|  68 - 69 |      393
HSD|    max|  69 - 70 |      398
HSD|    max|  70 - 71 |      479
HSD|    max|  71 - 72 |      511
HSD|    max|  72 - 73 |      662
HSD|    max|  73 - 74 |      629
HSD|    max|  74 - 75 |      782
HSD|    max|  75 - 76 |      915
HSD|    max|  76 - 77 |     1298
HSD|    max|  77 - 78 |      587
HSD|    max|  78 - 79 |      411
HSD|    max|  79 - 80 |      153
HSD|    max|  80 - 81 |       38
HSD|    max|  81 - 82 |       12
HSD|    max|  82 - 83 |       16
HSD|    max|  83 - 84 |       13
HSD|    max|  84 - 85 |        7
HSD|    max|  85 - 86 |        5
HSD|    max|  86 - 87 |        5
HSD|    max|  87 - 88 |        4
HSD|    max|  88 - 89 |        2
HSD|    max|  89 - 90 |        5
HSD|    max|  90 - 91 |        3
HSD|    max|  91 - 92 |        5
HSD|    max|  92 - 93 |        8
HSD|    max|  93 - 94 |       12
HSD|    max|  94 - 95 |        8
HSD|    max|  95 - 96 |       29
HSD|    max|  96 - 97 |       20
HSD|    max|  97 - 98 |       16
HSD|    max|  98 - 99 |       29
HSD|    max|  99 -100 |       48
HSD|    max| 100 -101 |       27
HSD|    max| 101 -102 |       57
HSD|    max| 102 -103 |       32
HSD|    max| 103 -104 |       68
HSD|    max| 104 -105 |       28
HSD|    max| 105 -106 |       21
HSD|    max| 106 -107 |       16
HSD|    max| 107 -108 |       11
HSD|    max| 108 -109 |       13
HSD|    max| 109 -110 |        9
HSD|    max| 110 -111 |       24
HSD|    max| 111 -112 |       44
HSD|    max| 112 -113 |      119
HSD|    max| 113 -114 |       25
HSD|    max| 114 -115 |       24
HSD|    max| 115 -116 |       27
HSD|    max| 116 -117 |       17
HSD|    max| 117 -118 |       12
HSD|    max| 118 -119 |        9
HSD|    max| 119 -120 |        7
HSD|    max| 120 -121 |        8
HSD|    max| 121 -122 |        6
HSD|    max| 122 -123 |       18
HSD|    max| 123 -124 |       18
HSD|    max| 124 -125 |       25
HSD|    max| 125 -126 |       22
HSD|    max| 126 -127 |       11
HSD|    max| 127 -128 |        5
HSD|    max| 128 -129 |        6
HSD|    max| 129 -130 |        3
HSD|    max| 130 -131 |       14
HSD|    max| 131 -132 |       16
HSD|    max| 132 -133 |       17
HSD|    max| 133 -134 |       10
HSD|    max| 134 -135 |       13
HSD|    max| 135 -136 |       11
HSD|    max| 136 -137 |        4
HSD|    max| 137 -138 |       10
HSD|    max| 138 -139 |        9
HSD|    max| 139 -140 |       19
HSD|    max| 140 -141 |       11
HSD|    max| 141 -142 |        7
HSD|    max| 153 -154 |        1
HSD|    max| 155 -156 |        1
HSD|    max| 156 -157 |        1
HSD|    max| 157 -158 |        1
HSD|    max| 158 -159 |        6
HSD|    max| 159 -160 |        3
HSD|    max| 160 -161 |        2
HSD|    max| 161 -162 |        5
HSD|    max| 162 -163 |       13
HSD|    max| 163 -164 |       23
HSD|    max| 164 -165 |       26
HSD|    max| 165 -166 |       84
HSD|    max| 166 -167 |      247
HSD|    max| 167 -168 |     2683
HSD|    max| 168 -169 |      177
HSD|    max| 169 -170 |       18
HSD|    max| 170 -171 |        7
HSD|    max| 171 -172 |        7
HSD|    max| 172 -173 |        6
HSD|    max| 173 -174 |        3
HSD|    max| 174 -175 |        1
HSD|    max| 175 -176 |        3
HSD|    max| 176 -177 |        2
HSD|    max| 177 -178 |        3
HSD|    max| 178 -179 |        3
HSD|    max| 179 -180 |        1
HSD|    max| 180 -181 |        4
HSD|    max| 181 -182 |        1
HSD|    max| 182 -183 |        3
HSD|    max| 183 -184 |        3
HSD|    max| 184 -185 |        4
HSD|    max| 185 -186 |        2
HSD|    max| 186 -187 |        3
HSD|    max| 187 -188 |        3
HSD|    max| 188 -189 |        5
HSD|    max| 189 -190 |        6
HSD|    max| 190 -191 |        1
HSD|    max| 191 -192 |        2
HSD|    max| 192 -193 |        2
HSD|    max| 196 -197 |        2
HSD|    max| 198 -199 |        2
HSD|    max| 199 -200 |        2
HSD|    max| 201 -202 |        3
HSD|    max| 202 -203 |        1
HSD|    max| 203 -204 |        2
HSD|    max| 204 -205 |        3
HSH|--param|--samples-|--average--|---stddev--
HSS|    min|     22768|     15.813|      6.110
HSS|    avg|  45536251|     51.856|     23.148
HSS|    max|     22768|     82.431|     37.486
---|------------|------------|------------|--------|-------------------------
RTS|      -6.121|      51.868|     204.574|       1|    06:19:30/06:19:30

[Test_switch load]
RTT|  03:47:31  (periodic user-mode task, 500 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD|      10.631|      36.726|      58.311|       0|      -0.322|      91.817
RTD|       8.054|      37.048|      85.373|       0|      -0.322|      91.817
RTD|      10.953|      36.726|      85.373|       0|      -0.322|      91.817
RTD|       2.577|      36.726|      49.613|       0|      -0.322|      91.817
RTD|      12.564|      36.726|      83.440|       0|      -0.322|      91.817
RTD|       2.577|      36.726|      84.085|       0|      -0.322|      91.817
RTD|      11.920|      36.726|      83.762|       0|      -0.322|      91.817
RTD|       1.932|      36.726|      83.440|       0|      -0.322|      91.817
RTD|       3.543|      36.726|      85.051|       0|      -0.322|      91.817
RTD|       2.899|      36.726|      85.051|       0|      -0.322|      91.817
RTD|       8.698|      36.726|      84.085|       0|      -0.322|      91.817
RTD|       2.577|      36.726|      78.930|       0|      -0.322|      91.817
RTD|       9.987|      36.726|      85.373|       0|      -0.322|      91.817
RTD|       2.577|      36.726|      86.018|       0|      -0.322|      91.817
RTD|       9.020|      36.726|      85.051|       0|      -0.322|      91.817
RTD|       2.899|      36.726|      82.796|       0|      -0.322|      91.817
RTD|      10.953|      36.726|      86.018|       0|      -0.322|      91.817
RTD|       2.577|      36.726|      53.479|       0|      -0.322|      91.817
RTD|       9.664|      36.726|      85.373|       0|      -0.322|      91.817
RTD|       5.476|      36.726|      83.440|       0|      -0.322|      91.817
RTD|       9.987|      36.726|      85.373|       0|      -0.322|      91.817
RTT|  03:47:52  (periodic user-mode task, 500 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD|       2.577|      36.726|      84.085|       0|      -0.322|      91.817
RTD|      11.920|      37.048|      85.051|       0|      -0.322|      91.817
RTD|       3.543|      36.726|      84.085|       0|      -0.322|      91.817
RTD|       3.865|      36.726|      50.579|       0|      -0.322|      91.817
RTD|       1.610|      36.726|      85.051|       0|      -0.322|      91.817
RTD|       3.865|      36.726|      67.010|       0|      -0.322|      91.817
RTD|       4.188|      36.726|      75.386|       0|      -0.322|      91.817
RTD|       3.221|      36.726|      51.224|       0|      -0.322|      91.817
RTD|      11.920|      36.726|      53.801|       0|      -0.322|      91.817
RTD|       0.322|      36.726|      85.373|       0|      -0.322|      91.817
RTD|       4.832|      36.726|      86.018|       0|      -0.322|      91.817
RTD|      11.275|      36.726|      83.118|       0|      -0.322|      91.817
RTD|       3.543|      36.726|      83.762|       0|      -0.322|      91.817
---|--param|----range-|--samples
HSD|    min|   0 -  1 |      273
HSD|    min|   1 -  2 |     1442
HSD|    min|   2 -  3 |     2610
HSD|    min|   3 -  4 |     2169
HSD|    min|   4 -  5 |      842
HSD|    min|   5 -  6 |      168
HSD|    min|   6 -  7 |       65
HSD|    min|   7 -  8 |      236
HSD|    min|   8 -  9 |      838
HSD|    min|   9 - 10 |     2182
HSD|    min|  10 - 11 |     1615
HSD|    min|  11 - 12 |      900
HSD|    min|  12 - 13 |      281
HSD|    min|  13 - 14 |       55
HSD|    min|  14 - 15 |        5
HSD|    min|  16 - 17 |        1
HSD|    min|  17 - 18 |        1
HSD|    min|  33 - 34 |        1
---|--param|----range-|--samples
HSD|    avg|   0 -  1 |      273
HSD|    avg|   1 -  2 |     1442
HSD|    avg|   2 -  3 |     2610
HSD|    avg|   3 -  4 |     2169
HSD|    avg|   4 -  5 |      842
HSD|    avg|   5 -  6 |      168
HSD|    avg|   6 -  7 |       65
HSD|    avg|   7 -  8 |      245
HSD|    avg|   8 -  9 |      898
HSD|    avg|   9 - 10 |     2403
HSD|    avg|  10 - 11 |     1713
HSD|    avg|  11 - 12 |      951
HSD|    avg|  12 - 13 |      320
HSD|    avg|  13 - 14 |      132
HSD|    avg|  14 - 15 |     1053
HSD|    avg|  15 - 16 |     3799
HSD|    avg|  16 - 17 |     6396
HSD|    avg|  17 - 18 |     1954
HSD|    avg|  18 - 19 |      550
HSD|    avg|  19 - 20 |       31
HSD|    avg|  20 - 21 |        3
HSD|    avg|  21 - 22 |       22
HSD|    avg|  22 - 23 |        6
HSD|    avg|  23 - 24 |        6
HSD|    avg|  25 - 26 |        1
HSD|    avg|  28 - 29 |       10
HSD|    avg|  29 - 30 |       38
HSD|    avg|  30 - 31 |      223
HSD|    avg|  31 - 32 |     2877
HSD|    avg|  32 - 33 |     3947
HSD|    avg|  33 - 34 |     2685
HSD|    avg|  34 - 35 |     3123
HSD|    avg|  35 - 36 |     6132
HSD|    avg|  36 - 37 | 14549839
HSD|    avg|  37 - 38 | 12350006
HSD|    avg|  38 - 39 |   193022
HSD|    avg|  39 - 40 |     5829
HSD|    avg|  40 - 41 |     5536
HSD|    avg|  41 - 42 |     3830
HSD|    avg|  42 - 43 |      995
HSD|    avg|  43 - 44 |     1954
HSD|    avg|  44 - 45 |    22601
HSD|    avg|  45 - 46 |    22574
HSD|    avg|  46 - 47 |     3639
HSD|    avg|  47 - 48 |     3151
HSD|    avg|  48 - 49 |    52151
HSD|    avg|  49 - 50 |    48667
HSD|    avg|  50 - 51 |    12112
HSD|    avg|  51 - 52 |     3541
HSD|    avg|  52 - 53 |     2075
HSD|    avg|  53 - 54 |     1669
HSD|    avg|  54 - 55 |      371
HSD|    avg|  55 - 56 |      432
HSD|    avg|  56 - 57 |      305
HSD|    avg|  57 - 58 |      453
HSD|    avg|  58 - 59 |      455
HSD|    avg|  59 - 60 |      585
HSD|    avg|  60 - 61 |      561
HSD|    avg|  61 - 62 |      513
HSD|    avg|  62 - 63 |      930
HSD|    avg|  63 - 64 |     1468
HSD|    avg|  64 - 65 |      599
HSD|    avg|  65 - 66 |      634
HSD|    avg|  66 - 67 |      352
HSD|    avg|  67 - 68 |      244
HSD|    avg|  68 - 69 |      100
HSD|    avg|  69 - 70 |       76
HSD|    avg|  70 - 71 |      277
HSD|    avg|  71 - 72 |      445
HSD|    avg|  72 - 73 |      244
HSD|    avg|  73 - 74 |      226
HSD|    avg|  74 - 75 |      218
HSD|    avg|  75 - 76 |      335
HSD|    avg|  76 - 77 |      267
HSD|    avg|  77 - 78 |      232
HSD|    avg|  78 - 79 |      435
HSD|    avg|  79 - 80 |      292
HSD|    avg|  80 - 81 |      322
HSD|    avg|  81 - 82 |     1148
HSD|    avg|  82 - 83 |     3559
HSD|    avg|  83 - 84 |     7381
HSD|    avg|  84 - 85 |     7088
HSD|    avg|  85 - 86 |     8401
HSD|    avg|  86 - 87 |      684
HSD|    avg|  88 - 89 |        1
HSD|    avg|  91 - 92 |        1
---|--param|----range-|--samples
HSD|    max|  40 - 41 |        1
HSD|    max|  49 - 50 |      165
HSD|    max|  50 - 51 |      462
HSD|    max|  51 - 52 |      516
HSD|    max|  52 - 53 |      379
HSD|    max|  53 - 54 |      433
HSD|    max|  54 - 55 |      106
HSD|    max|  55 - 56 |       65
HSD|    max|  56 - 57 |       92
HSD|    max|  57 - 58 |      263
HSD|    max|  58 - 59 |      317
HSD|    max|  59 - 60 |      166
HSD|    max|  60 - 61 |       50
HSD|    max|  61 - 62 |       46
HSD|    max|  62 - 63 |       64
HSD|    max|  63 - 64 |       65
HSD|    max|  64 - 65 |       39
HSD|    max|  65 - 66 |       88
HSD|    max|  66 - 67 |       86
HSD|    max|  67 - 68 |      110
HSD|    max|  68 - 69 |       25
HSD|    max|  69 - 70 |       35
HSD|    max|  70 - 71 |       96
HSD|    max|  71 - 72 |       81
HSD|    max|  72 - 73 |       93
HSD|    max|  73 - 74 |      101
HSD|    max|  74 - 75 |      159
HSD|    max|  75 - 76 |      273
HSD|    max|  76 - 77 |      146
HSD|    max|  77 - 78 |      104
HSD|    max|  78 - 79 |      279
HSD|    max|  79 - 80 |      185
HSD|    max|  80 - 81 |      164
HSD|    max|  81 - 82 |      269
HSD|    max|  82 - 83 |      831
HSD|    max|  83 - 84 |     1797
HSD|    max|  84 - 85 |     1419
HSD|    max|  85 - 86 |     3504
HSD|    max|  86 - 87 |      608
HSD|    max|  88 - 89 |        1
HSD|    max|  91 - 92 |        1
HSH|--param|--samples-|--average--|---stddev--
HSS|    min|     13684|      5.556|      3.762
HSS|    avg|  27369912|     36.575|      2.112
HSS|    max|     13684|     75.492|     12.741
---|------------|------------|------------|--------|-------------------------
RTS|      -0.322|      36.726|      91.817|       0|    03:48:05/03:48:05

[Xeno-test]
xeno-test: started
withBusybox is 1
xeno-test: running tests

Thu Jan  1 00:00:31 UTC 1970
running: ./xeno-config --verbose
xeno-config --verbose
    --version="2.3.50"
    
--cc="/opt/crosstool/gcc-4.1.0-glibc-2.3.2/arm-unknown-linux-gnu/bin/arm-unknown-linux-gnu-gcc"
    --arch="arm"
    --prefix="/usr/xenomai"
    --xeno-cflags="-I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -D__XENO__"
    --xeno-ldflags="-L/usr/xenomai/lib -lpthread "
    --posix-cflags="-I/usr/xenomai/include -I/usr/xenomai/include/posix 
-D_GNU_SOURCE -D_REENTRANT -D__XENO__"
    --posix-ldflags="-L/usr/xenomai/lib -lpthread_rt -lpthread -lrt "
    --library-dir="/usr/xenomai/lib"

Thu Jan  1 00:00:31 UTC 1970
running: ./xeno-info
If some fields are empty or look unusual you may have an old version.
Compare to the current minimal requirements in Documentation/Changes.

BusyBox v1.2.2 (2007.05.18-11:41+0000) multi-call binary
Linux uclibc 2.6.20.13 #1 Mon Jun 11 09:47:24 CEST 2007 armv5tejl unknown

module-init-tools      3.2.2
Modules Loaded

Thu Jan  1 00:00:32 UTC 1970
running: cat /proc/cpuinfo
Processor       : ARM926EJ-S rev 5 (v5l)
BogoMIPS        : 99.12
Features        : swp half fastmult edsp java
CPU implementer : 0x41
CPU architecture: 5TEJ
CPU variant     : 0x0
CPU part        : 0x926
CPU revision    : 5
Cache type      : write-back
Cache clean     : cp15 c7 ops
Cache lockdown  : format C
Cache format    : Harvard
I size          : 16384
I assoc         : 4
I line length   : 32
I sets          : 128
D size          : 16384
D assoc         : 4
D line length   : 32
D sets          : 128

Hardware        : Atmel AT91SAM9261-EK
Revision        : 0000
Serial          : 0000000000000000

Thu Jan  1 00:00:32 UTC 1970
running: md5sum /proc/cpuinfo # cpuinfo fingerprint
21873d869e62eecf8110705915476da6  /proc/cpuinfo

Thu Jan  1 00:00:33 UTC 1970
running: cat /proc/ipipe/Linux
       +----- Handling ([A]ccepted, [G]rabbed, [W]ired, [D]iscarded)
       |+---- Sticky
       ||+--- Locked
       |||+-- Exclusive
       ||||+- Virtual
[IRQ]  |||||
   0:  A....
   1:  A....
   2:  A....
   3:  A....
   4:  A....
   5:  A....
   6:  A....
   7:  A....
   8:  A....
   9:  A....
  10:  A....
  11:  A....
  12:  A....
  13:  A....
  14:  A....
  15:  A....
  16:  A....
  17:  A....
  18:  A....
  19:  A....
  20:  A....
  21:  A....
  22:  A....
  23:  A....
  24:  A....
  25:  A....
  26:  A....
  27:  A....
  28:  A....
  29:  A....
  30:  A....
  31:  A....
  32:  A....
  33:  A....
  34:  A....
  35:  A....
  36:  A....
  37:  A....
  38:  A....
  39:  A....
  40:  A....
  41:  A....
  42:  A....
  43:  A....
  44:  A....
  45:  A....
  46:  A....
  47:  A....
  48:  A....
  49:  A....
  50:  A....
  51:  A....
  52:  A....
  53:  A....
  54:  A....
  55:  A....
  56:  A....
  57:  A....
  58:  A....
  59:  A....
  60:  A....
  61:  A....
  62:  A....
  63:  A....
  64:  A....
  65:  A....
  66:  A....
  67:  A....
  68:  A....
  69:  A....
  70:  A....
  71:  A....
  72:  A....
  73:  A....
  74:  A....
  75:  A....
  76:  A....
  77:  A....
  78:  A....
  79:  A....
  80:  A....
  81:  A....
  82:  A....
  83:  A....
  84:  A....
  85:  A....
  86:  A....
  87:  A....
  88:  A....
  89:  A....
  90:  A....
  91:  A....
  92:  A....
  93:  A....
  94:  A....
  95:  A....
  96:  A....
  97:  A....
  98:  A....
  99:  A....
 100:  A....
 101:  A....
 102:  A....
 103:  A....
 104:  A....
 105:  A....
 106:  A....
 107:  A....
 108:  A....
 109:  A....
 110:  A....
 111:  A....
 112:  A....
 113:  A....
 114:  A....
 115:  A....
 116:  A....
 117:  A....
 118:  A....
 119:  A....
 120:  A....
 121:  A....
 122:  A....
 123:  A....
 124:  A....
 125:  A....
 126:  A....
 127:  A....
 128:  A....
 129:  A....
 130:  A....
 131:  A....
 132:  A....
 133:  A....
 134:  A....
 135:  A....
 136:  A....
 137:  A....
 138:  A....
 139:  A....
 140:  A....
 141:  A....
 142:  A....
 143:  A....
 144:  A....
 145:  A....
 146:  A....
 147:  A....
 148:  A....
 149:  A....
 150:  A....
 151:  A....
 152:  A....
 153:  A....
 154:  A....
 155:  A....
 156:  A....
 157:  A....
 158:  A....
 159:  A....
 160:  G...V
 161:  G...V
[Domain info]
id=0x00000000
priority=100

Thu Jan  1 00:00:33 UTC 1970
running: cat /proc/ipipe/Xenomai
       +----- Handling ([A]ccepted, [G]rabbed, [W]ired, [D]iscarded)
       |+---- Sticky
       ||+--- Locked
       |||+-- Exclusive
       ||||+- Virtual
[IRQ]  |||||
  17:  W..X.
 162:  W...V
[Domain info]
id=0x58454e4f
priority=topmost

Thu Jan  1 00:00:33 UTC 1970
running: cat /proc/ipipe/version
1.7-03

Thu Jan  1 00:00:33 UTC 1970
running: generate_loads 1
dd workload started, pids 314 stored in /var/lock/xeno-test.214.pids

Thu Jan  1 00:00:33 UTC 1970
running: cat /proc/interrupts
           CPU0
  1:       5452         AIC  atmel_serial
 17:       3372         AIC  at91_tick
107:       7806        GPIO  eth0
Err:          0

Thu Jan  1 00:00:33 UTC 1970
running: cat /proc/loadavg
0.00 0.00 0.00 2/25 320

Thu Jan  1 00:00:34 UTC 1970
running: cat /proc/meminfo
MemTotal:        62536 kB
MemFree:         57220 kB
Buffers:             0 kB
Cached:           2328 kB
SwapCached:          0 kB
Active:           2208 kB
Inactive:         1004 kB
SwapTotal:           0 kB
SwapFree:            0 kB
Dirty:               8 kB
Writeback:           0 kB
AnonPages:         904 kB
Mapped:            844 kB
Slab:             1176 kB
SReclaimable:      216 kB
SUnreclaim:        960 kB
PageTables:        148 kB
NFS_Unstable:        0 kB
Bounce:              0 kB
CommitLimit:     31268 kB
Committed_AS:     4612 kB
VmallocTotal:   956416 kB
VmallocUsed:       336 kB
VmallocChunk:   956080 kB

Thu Jan  1 00:00:34 UTC 1970
running: cat /proc/xenomai/affinity
00000001

Thu Jan  1 00:00:34 UTC 1970
running: cat /proc/xenomai/apc
APC          CPU0
  0:            0    (pipe_wakeup)
  1:            0    (lostage_handler)
  2:            0    (registry_export)
  3:            0    (posix_signals_handler)

Thu Jan  1 00:00:34 UTC 1970
running: cat /proc/xenomai/faults
TRAP         CPU0
  0:            0    (Data or instruction access)
  1:            0    (Section fault)
  2:            0    (Generic data abort)
  3:            0    (Unknown exception)
  4:            0    (Instruction breakpoint)
  5:            0    (Floating point exception)
  6:            0    (VFP Floating point exception)
  7:            0    (Undefined instruction)

Thu Jan  1 00:00:35 UTC 1970
running: cat /proc/xenomai/hal
1.7-03

Thu Jan  1 00:00:35 UTC 1970
running: cat /proc/xenomai/heap
size=130560:used=64:pagesz=512

Thu Jan  1 00:00:35 UTC 1970
running: cat /proc/xenomai/irq
IRQ         CPU0
 17:        3561         [timer]
162:           0         [virtual]

Thu Jan  1 00:00:36 UTC 1970
running: cat /proc/xenomai/latency
9664

Thu Jan  1 00:00:36 UTC 1970
running: cat /proc/xenomai/sched
CPU  PID    PRI      PERIOD     TIMEOUT    TIMEBASE  STAT       NAME
  0  0       -1      0          0          master    R          ROOT

Thu Jan  1 00:00:36 UTC 1970
running: cat /proc/xenomai/stat
CPU  PID    MSW        CSW        PF    STAT       %CPU  NAME
  0  0      0          0          0     00400080   99.8  ROOT
  0  0      0          3664       0     00000000    0.2  IRQ17: [timer]

Thu Jan  1 00:00:37 UTC 1970
running: cat /proc/xenomai/timebases
NAME       RESOLUTION     JIFFIES   STATUS
master              1         n/a   enabled

Thu Jan  1 00:00:37 UTC 1970
running: cat /proc/xenomai/timer
status=on:setup=322:clock=115320449

Thu Jan  1 00:00:37 UTC 1970
running: cat /proc/xenomai/version
2.4-devel

Thu Jan  1 00:00:37 UTC 1970
running: cat /proc/xenomai/interfaces/native
0

Thu Jan  1 00:00:38 UTC 1970
running: cat /proc/xenomai/interfaces/posix
Mem: 5548K used, 56988K free, 0K shrd, 0K buff, 2332K cached
Load average: 0.31 0.07 0.02  (Status: S=sleeping R=running, W=waiting)
  PID USER     STATUS   RSS  PPID %MEM COMMAND
  205 root     S        856     1  1.3 sh
  388 root     R        700   387  1.1 top
  214 root     S        660   205  1.0 xeno-test
  174 daemon   S        584     1  0.9 portmap
    1 root     S        564     0  0.8 init
  206 root     S        548     1  0.8 syslogd
  207 root     S        532     1  0.8 klogd


-----Message d'origine-----
De : [EMAIL PROTECTED] [mailto:[EMAIL PROTECTED] la
part de Gilles Chanteperdrix
Envoyé : lundi 4 juin 2007 19:40
À : adeos-main
Objet : [Adeos-main] New I-pipe patch for ARM needs testing.



Hi,

in Xenomai repository (trunk and v2.3.x branch), you will find
adeos-ipipe-2.6.20-arm-1.7-03.patch, the latest version of the I-pipe
patch for ARM. In addition to merging support for two new boards (ixp4xx
and at91sam926x), this patch adds a few important features:
- the at91 patch now applies after the I-pipe patch with no reject ;
- it is now possible for Xenomai to preempt Linux during the mm switch,
which should improve Xenomai scheduling latency significantly;
- Xenomai is now able to access directly I-pipe tsc emulation in
user-space, providing a low overhead timing facility to user-space
applications.

Before including this patch in a new release, and because I could only
test the patch on at91rm9200, we would like people to test the patch on
their hardware and give us feedback about the stability and performance.
In order to adequately stress-test Linux mm context switch, please use
something along the lines of the attached test_switch.c.

As for tsc emulation in user-space, I only implemented it for machines
with a free-running counter, hoping that someone (maybe Sebastian or
Stelian ?) with hardware whose tsc is based on a decrementer could do
the work. This tsc emulation in user-space also required to rework a bit
Xenomai configure script: it is now necessary to pass a
--enable-arm-mach option to configure, and to pass the option
--enable-arm-tsc to enable the tsc.

Thanks in advance.

-- 
                                                 Gilles Chanteperdrix

_______________________________________________
Xenomai-core mailing list
Xenomai-core@gna.org
https://mail.gna.org/listinfo/xenomai-core

Reply via email to