Re: [Xenomai-core] latencys drifting into negative (Xenomai 2.4.2/2.4.3)

[Jan Kiszka]

Sebastian Smolorz wrote:

Gilles Chanteperdrix wrote:

On Wed, Apr 2, 2008 at 5:58 PM, Sebastian Smolorz
<[EMAIL PROTECTED]> wrote:

Jan Kiszka wrote:
 > Sebastian Smolorz wrote:
 >> Jan Kiszka wrote:
 >>> Cornelius Köpp wrote:
 >>>> I talked with Sebastian Smolorz about this and he builds his own

 >>>> with Xenomai 2.4.2 and Xenomai 2.4.3 running latency over several
 >>>> hours. His kernel-config ist attached as
 >>>> 'config-2.6.24-xenomai-2.4.3__ssm'.
 >>>>

 >>>> and Linux 2.6.20.15 without any drifting effects.
 >>> 2.3.x did not incorporate the new TSC-to-ns conversion. Maybe it is

 >> This hint seems to point into the right direction. I tried out a
 >> modified pod_32.h (xnarch_tsc_to_ns() commented out) so that the old

 >> bug disappeared. So there seems so be a buggy x86-specific
 >> implementation of this routine.
 >
 > Hmm, maybe even a conceptional issue: the multiply-shift-based
 > xnarch_tsc_to_ns is not as precise as the still multiply-divide-based
 > xnarch_ns_to_tsc. So when converting from tsc over ns back to tsc, we
 > may loose some bits, maybe too many bits...
 >
 > It looks like this bites us in the kernel latency tests (-t2 should
 > suffer as well). Those recalculate their timeouts each round based on
 > absolute nanoseconds. In contrast, the periodic user mode task of -t0
 > uses a periodic timer that is forwarded via a tsc-based interval.
 >
 > You (or Cornelius) could try to analyse the calculation path of the

 > the calculated one (ns-based).

 So here comes the explanation. The error is inside the function
 rthal_llmulshft(). It returns wrong values which are too small - the
 higher the given TSC value the bigger the error. The function
 rtdm_clock_read_monotonic() calls rthal_llmulshft(). As
 rtdm_clock_read_monotonic() is called every time the latency kernel


 In contrast, the latency task in user space only uses the conversion
 from TSC to ns only once when calling rt_timer_inquire [2].

  deltas in [3] are shifted to a smaller value. This value is constant
 during the runtime of lateny in user space because no more conversion
 from TSC to ns occurs.

>>>> independent kernel-config to check. He got the same drifting-effect >>>> Our kernel-configs are both based on a config used with Xenomai 2.3.4 >>> not a PIC vs. APIC thing, but rather a rounding problem of larger TSC >>> values (that naturally show up when the system runs for a longer time). >> implementation in include/asm-generic/bits/pod.h was used. The drifting > involved timeouts, specifically to understand why the scheduled timeout > of the underlying task timer (which is tsc-based) tend to diverge from thread runs [1] the values reported by latency become smaller over time. timer_info.date is too small, timer_info.tsc is right. So all calculated

latency does conversions from tsc to ns, but it converts time
differences, so the error is small relative to the results.

Of course. I wasn't precise with my last statement. It should be: No more conversions from *absolute* TSC values to ns occur.

Jan

---
 include/asm-x86/bits/init_32.h |    3 ++-
 include/asm-x86/bits/init_64.h |    3 ++-
 include/asm-x86/bits/pod_32.h  |    7 +++++++
 include/asm-x86/bits/pod_64.h  |    7 +++++++
 4 files changed, 18 insertions(+), 2 deletions(-)

Index: b/include/asm-x86/bits/init_32.h
===================================================================
--- a/include/asm-x86/bits/init_32.h
+++ b/include/asm-x86/bits/init_32.h
@@ -73,7 +73,7 @@ int xnarch_calibrate_sched(void)
 
 static inline int xnarch_init(void)
 {
-	extern unsigned xnarch_tsc_scale, xnarch_tsc_shift;
+	extern unsigned xnarch_tsc_scale, xnarch_tsc_shift, xnarch_tsc_divide;
 	int err;
 
 	err = rthal_init();
@@ -89,6 +89,7 @@ static inline int xnarch_init(void)
 
 	xnarch_init_llmulshft(1000000000, RTHAL_CPU_FREQ,
 			      &xnarch_tsc_scale, &xnarch_tsc_shift);
+	xnarch_tsc_divide = 1 << xnarch_tsc_shift;
 
 	err = xnarch_calibrate_sched();
 
Index: b/include/asm-x86/bits/init_64.h
===================================================================
--- a/include/asm-x86/bits/init_64.h
+++ b/include/asm-x86/bits/init_64.h
@@ -70,7 +70,7 @@ int xnarch_calibrate_sched(void)
 
 static inline int xnarch_init(void)
 {
-	extern unsigned xnarch_tsc_scale, xnarch_tsc_shift;
+	extern unsigned xnarch_tsc_scale, xnarch_tsc_shift, xnarch_tsc_divide;
 	int err;
 
 	err = rthal_init();
@@ -86,6 +86,7 @@ static inline int xnarch_init(void)
 
 	xnarch_init_llmulshft(1000000000, RTHAL_CPU_FREQ,
 			      &xnarch_tsc_scale, &xnarch_tsc_shift);
+	xnarch_tsc_divide = 1 << xnarch_tsc_shift;
 
 	err = xnarch_calibrate_sched();
 
Index: b/include/asm-x86/bits/pod_32.h
===================================================================
--- a/include/asm-x86/bits/pod_32.h
+++ b/include/asm-x86/bits/pod_32.h
@@ -25,6 +25,7 @@
 
 unsigned xnarch_tsc_scale;
 unsigned xnarch_tsc_shift;
+unsigned xnarch_tsc_divide;
 
 long long xnarch_tsc_to_ns(long long ts)
 {
@@ -32,6 +33,12 @@ long long xnarch_tsc_to_ns(long long ts)
 }
 #define XNARCH_TSC_TO_NS
 
+long long xnarch_ns_to_tsc(long long ns)
+{
+	return xnarch_llimd(ts, xnarch_tsc_divide, xnarch_tsc_scale);
+}
+#define XNARCH_NS_TO_TSC
+
 #include <asm-generic/xenomai/bits/pod.h>
 #include <asm/xenomai/switch.h>
 
Index: b/include/asm-x86/bits/pod_64.h
===================================================================
--- a/include/asm-x86/bits/pod_64.h
+++ b/include/asm-x86/bits/pod_64.h
@@ -24,6 +24,7 @@
 
 unsigned xnarch_tsc_scale;
 unsigned xnarch_tsc_shift;
+unsigned xnarch_tsc_divide;
 
 long long xnarch_tsc_to_ns(long long ts)
 {
@@ -31,6 +32,12 @@ long long xnarch_tsc_to_ns(long long ts)
 }
 #define XNARCH_TSC_TO_NS
 
+long long xnarch_ns_to_tsc(long long ns)
+{
+	return xnarch_llimd(ts, xnarch_tsc_divide, xnarch_tsc_scale);
+}
+#define XNARCH_NS_TO_TSC
+
 #include <asm-generic/xenomai/bits/pod.h>
 #include <asm/xenomai/switch.h>
 

This patch may do the trick: it uses the inverted tsc-to-ns function instead of the frequency-based one. Be warned, it is totally untested inside Xenomai, I just ran it in a user space test program. But it may give an idea. Gilles, not sure if this is related to my quickly hacked test, but with RTHAL_CPU_FREQ = 800MHz and TSC = 0x7000000000000000 (or larger) I get an arithmetic exception with the rthal_llimd-based conversion to nanoseconds. Is there an input range we may have to exclude for rthal_llimd?

signature.asc
Description: OpenPGP digital signature

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