Hi,

recently, a Xenomai developer in Munich remarked that Debian developers
are sometimes nitpickers. Right. Debian requires a man page for every
executable. Therefore, I wrote the remaining ones. Attached are the
following files:

clocktest.man.in
cyclictest.man.in
irqbench.man.in
irqloop.man.in
klatency.man.in
latency.man.in
rtcanconfig.man.in
rtcanrecv.man.in
rtcansend.man.in
switchbench.man.in
switchtest.man.in

Feel free to integrate them and correct/extend them where I was missing
enough insight.

Thanks,

Roland
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for clocktest
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH CLOCKTEST 1 "2008-04-01" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
clocktest \- Xenomai Clock Test
.SH SYNOPSIS
.\" The general command line
.B clocktest
.SH DESCRIPTION
\fBclocktest\fP is part of the Xenomai test suite and tests the Clock. For each 
CPU, it repeatedly prints a time offset (compared to the reference 
gettimeofday()), a drift value, the number of warps and the maximum warp in 
microseconds.

For this program to work, you need to run a suitable Xenomai enabled kernel 
with the respective module (xeno_posix).
.SH AUTHOR
\fBclocktest\fP was written by Jan Kiszka <[EMAIL PROTECTED]>. This man page
was written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for cyclictest
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH CLOCKTEST 1 "2008-04-01" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
cyclictest \- Xenomai high resolution timer test
.SH SYNOPSIS
.\" The general command line
.B cyclictest
.RI [ options ]
.SH DESCRIPTION
\fBcyclictest\fP is part of the Xenomai test suite and tests the POSIX skin of 
Xenomai with a cyclic timer test.

For this program to work, you need to run a suitable Xenomai enabled kernel 
with the respective module (xeno_posix).
.SH OPTIONS
\fBcyclictest\fP accepts the following options:
.TP
.B \-b USEC, \-\-breaktrace=USEC
send break trace command when latency > USEC
.TP
.B \-c CLOCK, \-\-clock=CLOCK
select clock:
.RS 1.5i
0 = CLOCK_MONOTONIC (default)
.P
1 = CLOCK_REALTIME
.RE
.TP
.B \-d DIST, \-\-distance=DIST
distance of thread intervals in us default=500
.TP
.B \-i INTV, \-\-interval=INTV
base interval of thread in us default=1000
.TP
.B \-l LOOPS, \-\-loops=LOOPS
number of loops: default=0 (endless)
.TP
.B \-n, \-\-nanosleep
use clock_nanosleep
.TP
.B \-p PRIO, \-\-prio=PRIO
priority of highest prio thread
.TP
.B \-q, \-\-quiet
print only a summary on exit
.TP
.B \-r, \-\-relative
use relative timer instead of absolute
.\".TP
.\".B \-s, \-\-system
.\"use sys_nanosleep and sys_setitimer
.TP
.B \-t NUM, \-\-threads=NUM
number of threads: default=1
.TP
.B \-v, \-\-verbose
output values on stdout for statistics

format: n:c:v n=tasknum c=count v=value in us
.SH AUTHOR
\fBcyclictest\fP was written by Thomas Gleixner <[EMAIL PROTECTED]>. This man 
page
was written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for irqbench
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH IRQBENCH 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
irqbench \- Xenomai IRQ benchmark, host control
.SH SYNOPSIS
.\" The general command line
.B irqbench
.RI [ options ]
.SH DESCRIPTION
\fBirqbench\fP is part of the Xenomai test suite and benchmarks IRQs. It is the
controlling part running on a plain Linux host, connected via RS232 or Laplink
with the target which is running a suitable Xenomai enabled kernel with the
respective module (xeno_posix). The target must run \fBirqloop\fP (1).
.SH OPTIONS
\fBirqbench\fP accepts the following options:
.TP
.B \-p <period_us>
signal period, default=100 us
.TP
.B \-T <test_duration_seconds>
default=0, so ^C to end
.TP
.B \-o <port_type>
0=serial (default), 1=parallel
.TP
.B \-a <port_io_address>
default=0x3f8/0x378
.TP
.B \-f
freeze trace for each new max latency
.SH "SEE ALSO"
.BR /usr/share/doc/xenomai-doc/txt/irqbench.txt,
.BR irqloop (1)
.SH AUTHOR
\fBirqbench\fP was written by Jan Kiszka <[EMAIL PROTECTED]>. This man page
was written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for irqloop
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH IRQBENCH 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
irqloop \- Xenomai IRQ benchmark, target program
.SH SYNOPSIS
.\" The general command line
.B irqloop
.RI [ options ]
.SH DESCRIPTION
\fBirqloop\fP is part of the Xenomai test suite and benchmarks IRQs. It is the
program running on the target machine which is running a suitable Xenomai
enabled kernel with the respective module (xeno_posix). The additional tool
\fBirqbench\fP (1) is running on a plain Linux host, connected via RS232 or
Laplink with the target.
.SH OPTIONS
\fBirqloop\fP accepts the following options:
.TP
.B \-D <testing_device_no>
number of testing device, default=0
.TP
.B \-t <test_mode>
.RS 1.5i
0=user task (default)
.P
1=kernel task
.P
2=IRQ handler
.P
3=hard-IRQ handler
.RE
.TP
.B \-P <priority>
task priority (test mode 0 and 1 only)
.TP
.B \-o <port_type>
0=serial (default), 1=parallel
.TP
.B \-a <port_io_address>
default=0x3f8/0x378
.TP
.B \-i <port_irq>
default=4/7

.SH "SEE ALSO"
.BR /usr/share/doc/xenomai-doc/txt/irqloop.txt,
.BR irqbench (1)
.SH AUTHOR
\fBirqloop\fP was written by Jan Kiszka <[EMAIL PROTECTED]>. This man page
was written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for klatency
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH KLATENCY 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
klatency \- Xenomai kernel latency test
.SH SYNOPSIS
.\" The general command line
.B klatency
.RI [ options ]
.SH DESCRIPTION
\fBklatency\fP is part of the Xenomai test suite. It is a latency measurement
tool dedicated to kernel-based activities.  The system must run a suitable
Xenomai enabled kernel with the respective module (klat_pipe).
.SH OPTIONS
\fBklatency\fP accepts the following options:
.TP
.B \-l <data-lines per header>
default=21, 0 to suppress headers
.TP
.B \-T <test_duration_seconds>
default=0, so ^C to end
.TP
.B \-q
supresses RTD, RTH lines if -T is used
.TP
.B \-P <rt_pipe_no>
number of testing pipe, default=auto
.SH AUTHOR
\fBklatency\fP was written by Philippe Gerum <[EMAIL PROTECTED]>. This man page
was written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for latency
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH LATENCY 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
latency \- Xenomai timer latency benchmark
.SH SYNOPSIS
.\" The general command line
.B latency
.RI [ options ]
.SH DESCRIPTION
\fBlatency\fP is part of the Xenomai test suite. It is a timer latency
benchmark program.  The system must run a suitable Xenomai enabled kernel with
the respective module (xeno_timerbench).
.SH OPTIONS
\fBlatency\fP accepts the following options:
.TP
.B \-h
print histograms of min, avg, max latencies
.TP
.B \-s
print statistics of min, avg, max latencies
.TP
.B \-H <histogram-size>
default = 200, increase if your last bucket is full
.TP
.B \-B <bucket-size>
default = 1000ns, decrease for more resolution
.TP
.B \-p <period_us>
sampling period
.TP
.B \-l <data-lines per header>
default=21, 0 to supress headers
.TP
.B \-T <test_duration_seconds>
default=0, so ^C to end
.TP
.B \-q
supresses RTD, RTH lines if -T is used
.TP
.B \-D <testing_device_no>
number of testing device, default=0
.TP
.B \-t <test_mode>
0=user task (default), 1=kernel task, 2=timer IRQ
.TP
.B \-f
freeze trace for each new max latency
.TP
.B \-c <cpu>
pin measuring task down to given CPU
.TP
.B \-P <priority>
task priority (test mode 0 and 1 only)
.SH AUTHOR
\fBlatency\fP was written by Philippe Gerum <[EMAIL PROTECTED]>. This man page
was written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for rtcanconfig
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH RTCANCONFIG 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
rtcanconfig \- Xenomai tool for configuring the CAN controller
.SH SYNOPSIS
.\" The general command line
.B rtcanconfig
.RI "<can-interface> [options] [up|down|start|stop|sleep]"
.SH DESCRIPTION
\fBrtcanconfig\fP is part of Xenomai. It is used to configure the CAN
controller. The system must run a suitable Xenomai enabled kernel with the
respective module (CAN).
.SH OPTIONS
\fBrtcanconfig\fP accepts the following options:
.TP
.B \-v, \-\-verbose
be verbose
.TP
.B \-h, \-\-help
a usage description
.TP
.B \-c, \-\-ctrlmode=CTRLMODE
listenonly, loopback or none
.TP
.B \-b, \-\-baudrate=BPS
baudrate in bits/sec
.TP
.B \-B, \-\-bittime=BTR0:BTR1
BTR or standard bit-time
.TP
.B \-B, \-\-bittime=BRP:PROP_SEG:PHASE_SEG1:PHASE_SEG2:SJW:SAM
.SH AUTHORS
\fBrtcanconfig\fP was written by Wolfgang Grandegger <[EMAIL PROTECTED]> and
Sebastian Smolorz <[EMAIL PROTECTED]>. This man page was
written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for rtcanrecv
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH RTCANRECV 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
rtcanrecv \- Xenomai tool for receiving CAN messages
.SH SYNOPSIS
.\" The general command line
.B rtcanrecv
.RI "[<can-interface>] [Options]"
.SH DESCRIPTION
\fBrtcanrecv\fP is part of Xenomai. It is used to receive messages via a CAN
interface. The system must run a suitable Xenomai enabled kernel with the
respective module (xeno_native and the CAN driver).
.SH OPTIONS
<can-interface> is the CAN interface file.

\fBrtcanrecv\fP accepts the following options:
.TP
.B \-f, \-\-filter=id:mask[:id:mask]...
apply filter
.TP
.B \-e, \-\-error=mask
receive error messages
.TP
.B \-t, \-\-timeout=MS
timeout in ms
.TP
.B \-T, \-\-timestamp
with absolute timestamp
.TP
.B \-R, \-\-timestamp-rel
with relative timestamp
.TP
.B \-v, \-\-verbose
be verbose
.TP
.B \-p, \-\-print=MODULO
print every MODULO message
.TP
.B \-h, \-\-help
this help
.SH "SEE ALSO"
.BR rtcanconfig (1),
.BR rtcanrecv (1)
.SH AUTHORS
\fBrtcanrecv\fP was written by Wolfgang Grandegger <[EMAIL PROTECTED]>, Jan
Kiszka <[EMAIL PROTECTED]> and Philippe Gerum <[EMAIL PROTECTED]>. This man page
was written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for rtcansend
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH RTCANSEND 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
rtcansend \- Xenomai tool for sending CAN messages
.SH SYNOPSIS
.\" The general command line
.B rtcansend
.RI "<can-interface> [Options] <can-msg>"
.SH DESCRIPTION
\fBrtcansend\fP is part of Xenomai. It is used to send messages via a CAN
interface. The system must run a suitable Xenomai enabled kernel with the
respective module (xeno_native and the CAN driver).
.SH OPTIONS
<can-interface> is the CAN interface file.

<can-msg> can consist of up to 8 bytes given as a space separated list.

\fBrtcansend\fP accepts the following options:
.TP
.B \-i, \-\-identifier=ID
CAN Identifier (default = 1)
.TP
.B \-r, \-\-rtr
send remote request
.TP
.B \-e, \-\-extended
send extended frame
.TP
.B \-l, --loop=COUNT
send message COUNT times
.TP
.B \-c, \-\-count
message count in data[0-3]
.TP
.B \-d, \-\-delay=MS
delay in ms (default = 1ms)
.TP
.B \-s, \-\-send
use send instead of sendto
.TP
.B \-t, \-\-timeout=MS
timeout in ms
.TP
.B \-L, \-\-loopback=0|1
switch local loopback off or on
.TP
.B \-v, \-\-verbose
be verbose
.TP
.B \-p, \-\-print=MODULO
print every MODULO message
.TP
.B \-h, \-\-help
a usage description
.SH "SEE ALSO"
.BR rtcanconfig (1),
.BR rtcanrecv (1)
.SH AUTHORS
\fBrtcansend\fP was written by Wolfgang Grandegger <[EMAIL PROTECTED]>, Jan
Kiszka <[EMAIL PROTECTED]> and Philippe Gerum <[EMAIL PROTECTED]>. This man page
was written by Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for switchbench
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH SWITCHBENCH 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
switchbench \- Xenomai latency test for task switches
.SH SYNOPSIS
.\" The general command line
.B switchbench
.RI [ options ]
.SH DESCRIPTION
\fBswitchbench\fP is part of Xenomai. It can be used to test task switch
latencies. A suitable Xenomai enabled kernel with the respective module
(xeno_posix) must be installed.
.SH OPTIONS
\fBswitchbench\fP accepts the following options:
.TP
.B \-h
enable histogram
.TP
.B \-p <period_us>
timer period
.TP
.B \-n <samples>
number of samples to collect
.TP
.B \-i <samples>
number of _first_ samples to ignore
.SH AUTHOR
\fBswitchbench\fP was written by Philippe Gerum <[EMAIL PROTECTED]> and  Max
Krasnyansky <[EMAIL PROTECTED]>. This man page was written by
Roland Stigge <[EMAIL PROTECTED]>.
'\" t
.\" ** The above line should force tbl to be a preprocessor **
.\" Man page for switchtest
.\"
.\" Copyright (C) 2008 Roland Stigge <[EMAIL PROTECTED]>
.\"
.\" You may distribute under the terms of the GNU General Public
.\" License as specified in the file COPYING that comes with the
.\" Xenomai distribution.
.\"
.pc
.TH SWITCHTEST 1 "2008-04-19" "@PACKAGE_VERSION@" "Xenomai"
.SH NAME
switchtest \- Xenomai context switch test
.SH SYNOPSIS
.\" The general command line
.B switchtest
.RI "[options] threadspec threadspec..."
.SH DESCRIPTION
\fBswitchtest\fP is part of Xenomai. It can be used to test thread context
switches. \fBswitchtest\fP creates threads of various types and attempts to
switch context between these threads, printing the count of context switches
every second. A suitable Xenomai enabled kernel with the respective module
(xeno_posix) must be installed.
.SH OPTIONS
Each threadspec specifies the characteristics of a thread to be created:

threadspec = (rtk|rtup|rtus|rtuo)(_fp|_ufpp|_ufps)*[0-9]*

.B rtk
for a kernel-space real-time thread

.B rtup
for a user-space real-time thread running in primary mode

.B rtus
for a user-space real-time thread running in secondary mode

.B rtuo
for a user-space real-time thread oscillating between primary and secondary mode

.B _fp
means that the created thread will have the XNFPU bit armed (only valid for rtk)

.B _ufpp
means that the created thread will use the FPU when in primary mode\n(invalid 
for rtus)

.B _ufps
means that the created thread will use the FPU when in secondary mode (invalid 
for rtk and rtup)

.B "[0-9]*" specifies the ID of the CPU where the created thread will run, 0 if 
unspecified

Passing no
.B threadspec
is equivalent to running:

switchtest rtkN rtkN rtk_fpN rtk_fpN rtk_fp_ufppN rtk_fp_ufppN rtupN rtupN 
rtup_ufppN
rtup_ufppN rtusN rtusN rtus_ufpsN rtus_ufpsN rtuoN rtuoN rtuo_ufppN rtuo_ufppN 
rtuo_ufpsN
rtuo_ufpsN rtuo_ufpp_ufpsN rtuo_ufpp_ufpsN

with N=1,...,nr_cpus, i.e. occurrences of all the arguments for each CPU

Passing only the \-\-nofpu or \-n argument is equivalent to running:

switchtest rtkN rtkN rtupN rtupN rtusN rtusN rtuoN rtuoN

similar to the above.

\fBswitchtest\fP accepts the following options:
.TP
.B \-\-help, \-h
print usage information and exit
.TP
.B \-\-lines <lines>, \-l <lines>
print headers every <lines> lines
.TP
.B \-\-quiet or \-q
prevent this program from printing every second the count of ncontext switches
.TP
.B \-\-timeout <duration>, \-T <duration>
limit the test duration to <duration> seconds
.TP
.B \-\-nofpu, \-n
disables any use of FPU instructions
.SH AUTHOR
\fBswitchtest\fP was written by Philippe Gerum <[EMAIL PROTECTED]> and Gilles
Chanteperdrix <[EMAIL PROTECTED]>. This man page was written by
Roland Stigge <[EMAIL PROTECTED]>.
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