Per Gilles's suggestion, Mark at Stellartech ran latency and klatency
with the TSC enabled "the hack" and without the TSC enabled. He also
posted the CPU task measurements with our app running without the
hack, which is horrible compared to when the TSC is on.
It looks like we are better off with the TSC. The worst case is much
better, anyway.
Steven
***********************************
Results with tsc hack
***********************************
/ # ./latency
== Sampling period: 100 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT| 00:00:01 (periodic user-mode task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| 17.995| 26.691| 59.956| 0| 17.995| 59.956
RTD| 19.125| 29.742| 72.538| 0| 17.995| 72.538
RTD| 20.428| 30.728| 81.350| 0| 17.995| 81.350
RTD| 19.840| 30.781| 61.520| 0| 17.995| 81.350
RTD| 19.833| 29.481| 67.642| 0| 17.995| 81.350
RTD| 19.513| 29.989| 70.172| 0| 17.995| 81.350
RTD| 20.251| 31.119| 67.482| 0| 17.995| 81.350
RTD| 20.064| 30.347| 64.858| 0| 17.995| 81.350
RTD| 19.429| 29.311| 65.019| 0| 17.995| 81.350
RTD| 18.751| 30.116| 68.531| 0| 17.995| 81.350
RTD| 20.455| 31.236| 71.726| 0| 17.995| 81.350
RTD| 20.111| 30.123| 67.341| 0| 17.995| 81.350
RTD| 18.918| 29.612| 71.134| 0| 17.995| 81.350
RTD| 20.047| 30.514| 69.701| 0| 17.995| 81.350
^C---|------------|------------|------------|--------|-------------------------
RTS| 17.995| 29.983| 81.350| 0| 00:00:14/00:00:14
/ # ./klatency
/lib/modules/2.6.27.19-testing-tsc-xenomai/kernel/drivers/xenomai/testing #
/klatency
== Sampling period: 100 us
== Test mode: in-kernel periodic task
== All results in microseconds
warming up...
RTT| 00:00:00 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| -2.080| 1.486| 15.408| 0| -2.080| 15.408
RTD| 0.399| 1.647| 16.724| 0| -2.080| 16.724
RTD| -1.980| 1.665| 15.926| 0| -2.080| 16.724
RTD| -1.995| 1.386| 8.039| 0| -2.080| 16.724
RTD| 0.406| 1.605| 11.556| 0| -2.080| 16.724
RTD| -2.019| 1.402| 18.811| 0| -2.080| 18.811
RTD| 0.387| 1.530| 15.923| 0| -2.080| 18.811
RTD| -2.014| 1.649| 19.122| 0| -2.080| 19.122
RTD| -1.984| 1.491| 15.397| 0| -2.080| 19.122
RTD| 0.412| 1.903| 11.345| 0| -2.080| 19.122
RTD| -2.087| 1.592| 17.973| 0| -2.087| 19.122
RTD| 0.434| 1.644| 25.208| 0| -2.087| 25.208
RTD| -2.033| 1.633| 21.371| 0| -2.087| 25.208
RTD| -2.009| 1.552| 12.160| 0| -2.087| 25.208
RTD| 0.460| 1.750| 14.285| 0| -2.087| 25.208
RTD| -2.015| 1.501| 13.514| 0| -2.087| 25.208
RTD| -0.402| 1.496| 12.506| 0| -2.087| 25.208
RTD| -2.013| 1.639| 14.297| 0| -2.087| 25.208
RTD| -2.025| 1.418| 10.627| 0| -2.087| 25.208
RTD| 0.513| 1.763| 6.998| 0| -2.087| 25.208
RTD| -1.981| 1.475| 10.352| 0| -2.087| 25.208
RTT| 00:00:00 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| 0.410| 1.642| 10.753| 0| -2.087| 25.208
RTD| -2.026| 1.847| 10.811| 0| -2.087| 25.208
RTD| -1.897| 1.563| 20.965| 0| -2.087| 25.208
RTD| 0.440| 1.783| 14.815| 0| -2.087| 25.208
RTD| -2.119| 1.462| 13.438| 0| -2.119| 25.208
RTD| 0.367| 1.661| 11.577| 0| -2.119| 25.208
RTD| -2.021| 1.781| 17.126| 0| -2.119| 25.208
RTD| -2.013| 1.399| 12.564| 0| -2.119| 25.208
RTD| 0.466| 1.706| 5.723| 0| -2.119| 25.208
RTD| -2.024| 1.391| 13.495| 0| -2.119| 25.208
RTD| -0.387| 1.852| 55.675| 0| -2.119| 55.675
RTD| -2.020| 1.541| 13.236| 0| -2.119| 55.675
RTD| -1.429| 1.433| 17.682| 0| -2.119| 55.675
RTD| 0.553| 1.744| 16.433| 0| -2.119| 55.675
RTD| -1.993| 1.420| 18.884| 0| -2.119| 55.675
RTD| 0.398| 1.656| 18.628| 0| -2.119| 55.675
RTD| -2.118| 1.826| 11.203| 0| -2.119| 55.675
RTD| -0.706| 1.566| 23.025| 0| -2.119| 55.675
RTD| 0.555| 1.783| 22.984| 0| -2.119| 55.675
RTD| -2.037| 1.477| 14.043| 0| -2.119| 55.675
RTD| 0.392| 1.679| 12.628| 0| -2.119| 55.675
RTT| 00:00:12 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| -2.000| 1.678| 17.200| 0| -2.119| 55.675
RTD| -0.553| 1.408| 12.061| 0| -2.119| 55.675
RTD| 0.564| 1.665| 13.912| 0| -2.119| 55.675
RTD| -2.006| 1.353| 16.984| 0| -2.119| 55.675
RTD| 0.412| 1.556| 13.559| 0| -2.119| 55.675
RTD| -2.019| 1.624| 14.935| 0| -2.119| 55.675
RTD| -0.450| 1.505| 22.086| 0| -2.119| 55.675
RTD| 0.574| 1.910| 16.389| 0| -2.119| 55.675
RTD| -2.043| 1.469| 15.453| 0| -2.119| 55.675
RTD| 0.387| 1.660| 25.465| 0| -2.119| 55.675
RTD| -2.070| 1.599| 13.185| 0| -2.119| 55.675
RTD| -0.422| 1.590| 13.126| 0| -2.119| 55.675
RTD| 0.555| 1.795| 15.509| 0| -2.119| 55.675
RTD| -1.996| 1.451| 18.445| 0| -2.119| 55.675
RTD| 0.338| 1.515| 14.528| 0| -2.119| 55.675
RTD| -2.013| 1.489| 18.484| 0| -2.119| 55.675
RTD| -0.383| 1.471| 22.710| 0| -2.119| 55.675
RTD| 0.509| 1.736| 15.731| 0| -2.119| 55.675
RTD| -2.015| 1.406| 22.151| 0| -2.119| 55.675
RTD| 0.404| 1.626| 19.137| 0| -2.119| 55.675
RTD| -2.076| 1.747| 22.783| 0| -2.119| 55.675
RTT| 00:00:33 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| -0.373| 1.586| 12.331| 0| -2.119| 55.675
RTD| 0.552| 1.809| 12.310| 0| -2.119| 55.675
RTD| -2.035| 1.524| 24.429| 0| -2.119| 55.675
RTD| 0.377| 1.680| 13.651| 0| -2.119| 55.675
RTD| -2.006| 1.600| 14.234| 0| -2.119| 55.675
RTD| -0.591| 1.452| 21.914| 0| -2.119| 55.675
RTD| 0.444| 1.664| 17.583| 0| -2.119| 55.675
RTD| -2.023| 1.381| 15.504| 0| -2.119| 55.675
RTD| 0.401| 1.571| 19.722| 0| -2.119| 55.675
RTD| -2.005| 1.559| 12.034| 0| -2.119| 55.675
RTD| -0.453| 1.528| 18.904| 0| -2.119| 55.675
RTD| 0.071| 1.958| 11.443| 0| -2.119| 55.675
RTD| -2.109| 1.470| 19.026| 0| -2.119| 55.675
RTD| 0.396| 1.673| 15.646| 0| -2.119| 55.675
RTD| -2.055| 1.559| 11.562| 0| -2.119| 55.675
RTD| -0.395| 1.647| 18.476| 0| -2.119| 55.675
RTD| 0.409| 1.831| 13.920| 0| -2.119| 55.675
RTD| -1.999| 1.386| 16.375| 0| -2.119| 55.675
RTD| 0.310| 1.533| 13.296| 0| -2.119| 55.675
RTD| -2.007| 1.457| 17.216| 0| -2.119| 55.675
RTD| -0.368| 1.596| 13.787| 0| -2.119| 55.675
RTT| 00:00:54 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| 0.098| 1.727| 12.937| 0| -2.119| 55.675
RTD| -1.998| 1.415| 20.423| 0| -2.119| 55.675
RTD| 0.408| 1.717| 20.182| 0| -2.119| 55.675
RTD| -2.101| 1.822| 21.652| 0| -2.119| 55.675
RTD| -0.340| 1.612| 18.109| 0| -2.119| 55.675
RTD| -0.165| 1.764| 16.344| 0| -2.119| 55.675
RTD| -2.114| 1.474| 28.347| 0| -2.119| 55.675
RTD| 0.467| 1.688| 26.743| 0| -2.119| 55.675
RTD| -2.016| 1.593| 25.887| 0| -2.119| 55.675
RTD| -0.403| 1.427| 11.252| 0| -2.119| 55.675
RTD| -0.128| 1.641| 11.446| 0| -2.119| 55.675
RTD| -2.024| 1.356| 17.629| 0| -2.119| 55.675
RTD| 0.420| 1.577| 14.643| 0| -2.119| 55.675
RTD| -2.012| 1.575| 19.857| 0| -2.119| 55.675
RTD| -0.156| 1.560| 24.963| 0| -2.119| 55.675
RTD| -0.332| 1.944| 22.450| 0| -2.119| 55.675
RTD| -2.053| 1.483| 18.985| 0| -2.119| 55.675
RTD| 0.401| 1.675| 15.563| 0| -2.119| 55.675
RTD| -2.106| 1.551| 13.388| 0| -2.119| 55.675
RTD| -0.203| 1.749| 27.646| 0| -2.119| 55.675
RTD| -0.577| 1.811| 30.533| 0| -2.119| 55.675
RTT| 00:01:15 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| -2.014| 1.368| 18.239| 0| -2.119| 55.675
RTD| 0.355| 1.546| 15.007| 0| -2.119| 55.675
RTD| -2.025| 1.444| 21.938| 0| -2.119| 55.675
RTD| 0.062| 1.552| 16.375| 0| -2.119| 55.675
RTD| -0.501| 1.725| 16.789| 0| -2.119| 55.675
RTD| -2.001| 1.415| 20.799| 0| -2.119| 55.675
RTD| 0.439| 1.676| 18.975| 0| -2.119| 55.675
RTD| -2.099| 1.655| 20.731| 0| -2.119| 55.675
RTD| 0.196| 1.620| 18.939| 0| -2.119| 55.675
RTD| -0.608| 1.782| 28.857| 0| -2.119| 55.675
RTD| -1.984| 1.499| 12.757| 0| -2.119| 55.675
RTD| 0.367| 1.687| 23.015| 0| -2.119| 55.675
RTD| -2.020| 1.551| 14.758| 0| -2.119| 55.675
RTD| -0.535| 1.457| 13.797| 0| -2.119| 55.675
RTD| -0.688| 1.625| 13.541| 0| -2.119| 55.675
RTD| -2.021| 1.370| 16.349| 0| -2.119| 55.675
RTD| 0.358| 1.571| 21.423| 0| -2.119| 55.675
RTD| -2.026| 1.561| 17.119| 0| -2.119| 55.675
RTD| 0.332| 1.564| 20.072| 0| -2.119| 55.675
RTD| -0.834| 1.936| 13.682| 0| -2.119| 55.675
RTD| -2.065| 1.508| 12.220| 0| -2.119| 55.675
RTT| 00:01:36 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| 0.374| 1.681| 12.000| 0| -2.119| 55.675
RTD| -2.091| 1.553| 11.520| 0| -2.119| 55.675
RTD| 0.320| 1.652| 13.730| 0| -2.119| 55.675
RTD| -1.000| 1.750| 15.715| 0| -2.119| 55.675
RTD| -2.021| 1.372| 18.243| 0| -2.119| 55.675
RTD| 0.278| 1.551| 17.808| 0| -2.119| 55.675
RTD| -2.015| 1.487| 20.098| 0| -2.119| 55.675
RTD| 0.140| 1.566| 20.535| 0| -2.119| 55.675
RTD| -1.139| 1.716| 17.900| 0| -2.119| 55.675
RTD| -2.015| 1.432| 18.501| 0| -2.119| 55.675
RTD| 0.453| 1.730| 14.905| 0| -2.119| 55.675
RTD| -2.058| 1.656| 11.046| 0| -2.119| 55.675
RTD| 0.246| 1.634| 12.925| 0| -2.119| 55.675
RTD| -1.212| 1.723| 12.317| 0| -2.119| 55.675
RTD| -2.044| 1.517| 16.159| 0| -2.119| 55.675
RTD| 0.394| 1.699| 18.319| 0| -2.119| 55.675
RTD| -2.025| 1.550| 14.146| 0| -2.119| 55.675
RTD| -1.099| 1.453| 14.139| 0| -2.119| 55.675
RTD| -1.521| 1.589| 15.770| 0| -2.119| 55.675
RTD| -2.023| 1.412| 17.870| 0| -2.119| 55.675
RTD| 0.329| 1.620| 21.813| 0| -2.119| 55.675
RTT| 00:01:57 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| -2.026| 1.499| 19.023| 0| -2.119| 55.675
RTD| 0.302| 1.579| 19.284| 0| -2.119| 55.675
RTD| -1.452| 1.866| 13.687| 0| -2.119| 55.675
^CRTD| -2.104| 1.535| 14.196| 0| -2.119| 55.675
---|------------|------------|------------|--------|-------------------------
RTS| -2.119| 1.589| 55.675| 0| 00:02:00/00:02:00
**********************************
Results with nohack
**********************************
/ # ./latency
== Sampling period: 100 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT| 00:00:01 (periodic user-mode task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| 30.394| 43.387| 66.907| 0| 30.394| 66.907
RTD| 25.695| 51.377| 70.890| 0| 25.695| 70.890
RTD| 25.227| 33.682| 85.771| 0| 25.227| 85.771
RTD| 20.722| 31.730| 97.354| 0| 20.722| 97.354
RTD| 23.426| 34.223| 59.628| 0| 20.722| 97.354
RTD| 28.652| 46.772| 74.914| 0| 20.722| 97.354
RTD| 26.206| 51.370| 73.423| 0| 20.722| 97.354
RTD| 24.759| 33.558| 80.748| 0| 20.722| 97.354
RTD| 25.715| 31.690| 75.191| 0| 20.722| 97.354
RTD| 23.763| 34.384| 59.698| 0| 20.722| 97.354
RTD| 30.059| 46.989| 72.150| 0| 20.722| 97.354
RTD| 28.649| 51.567| 70.990| 0| 20.722| 97.354
RTD| 12.471| 33.374| 90.430| 0| 12.471| 97.354
RTD| 24.368| 31.710| 82.165| 0| 12.471| 97.354
RTD| 21.681| 34.491| 59.648| 0| 12.471| 97.354
RTD| 21.314| 47.220| 85.293| 0| 12.471| 97.354
RTD| 27.416| 50.675| 69.994| 0| 12.471| 97.354
RTD| 22.229| 33.221| 68.785| 0| 12.471| 97.354
RTD| 13.120| 31.727| 86.329| 0| 12.471| 97.354
RTD| 22.567| 34.634| 56.898| 0| 12.471| 97.354
RTD| 30.521| 47.387| 74.576| 0| 12.471| 97.354
RTT| 00:00:22 (periodic user-mode task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| 28.549| 50.578| 73.447| 0| 12.471| 97.354
RTD| 20.709| 33.234| 75.909| 0| 12.471| 97.354
RTD| 22.236| 31.720| 75.011| 0| 12.471| 97.354
RTD| 22.450| 34.818| 55.524| 0| 12.471| 97.354
RTD| 31.968| 47.490| 73.136| 0| 12.471| 97.354
RTD| 26.835| 50.284| 83.342| 0| 12.471| 97.354
^C---|------------|------------|------------|--------|-------------------------
RTS| 12.471| 40.122| 97.354| 0| 00:00:27/00:00:27
/ # ./klatency
== Sampling period: 100 us
== Test mode: in-kernel periodic task
== All results in microseconds
warming up...
RTT| 00:00:00 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| -0.058| 0.981| 15.443| 0| -0.098| 15.443
RTD| -0.315| 0.939| 12.596| 0| -0.315| 15.443
RTD| -0.032| 0.978| 13.572| 0| -0.315| 15.443
RTD| -0.300| 1.036| 13.371| 0| -0.315| 15.443
RTD| -0.099| 1.832| 142.261| 2| -0.315| 142.261
RTD| 2.061| 5.328| 13.832| 2| -0.315| 142.261
RTD| -1.428| 10.295| 33.038| 2| -1.428| 142.261
RTD| 0.287| 7.548| 32.728| 2| -1.428| 142.261
RTD| 1.620| 9.494| 27.019| 2| -1.428| 142.261
RTD| 2.034| 4.997| 23.769| 2| -1.428| 142.261
RTD| 1.566| 5.807| 30.386| 2| -1.428| 142.261
RTD| -1.402| 10.267| 34.574| 2| -1.428| 142.261
RTD| -0.987| 7.364| 29.561| 2| -1.428| 142.261
RTD| 1.701| 9.521| 25.052| 2| -1.428| 142.261
RTD| 1.579| 4.980| 28.992| 2| -1.428| 142.261
RTD| 1.860| 5.812| 27.932| 2| -1.428| 142.261
RTD| -1.535| 10.465| 34.133| 2| -1.535| 142.261
RTD| -0.800| 7.295| 30.370| 2| -1.535| 142.261
RTD| 1.753| 9.528| 32.192| 2| -1.535| 142.261
RTD| 1.699| 4.969| 29.681| 2| -1.535| 142.261
RTD| 1.806| 5.850| 40.060| 2| -1.535| 142.261
RTT| 00:00:00 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| -1.522| 10.504| 34.023| 2| -1.535| 142.261
RTD| 0.297| 6.946| 29.632| 2| -1.535| 142.261
RTD| 1.806| 9.544| 24.557| 2| -1.535| 142.261
RTD| 2.223| 4.948| 30.821| 2| -1.535| 142.261
RTD| 1.913| 5.870| 27.388| 2| -1.535| 142.261
RTD| -1.576| 10.669| 32.726| 2| -1.576| 142.261
RTD| 1.790| 6.767| 28.812| 2| -1.576| 142.261
RTD| 1.538| 9.587| 25.439| 2| -1.576| 142.261
RTD| 2.581| 4.955| 30.326| 2| -1.576| 142.261
RTD| 1.806| 5.881| 28.463| 2| -1.576| 142.261
RTD| -0.110| 1.491| 25.369| 4| -1.630| 170.587
RTD| -0.105| 1.002| 14.384| 4| -1.630| 170.587
RTD| -0.062| 0.998| 18.598| 4| -1.630| 170.587
RTD| -0.130| 1.003| 13.834| 4| -1.630| 170.587
RTD| -0.117| 0.995| 13.491| 4| -1.630| 170.587
RTD| -0.077| 1.005| 14.942| 4| -1.630| 170.587
RTD| -0.305| 0.966| 14.116| 4| -1.630| 170.587
RTD| -0.332| 0.974| 17.042| 4| -1.630| 170.587
RTD| -0.304| 0.969| 31.052| 4| -1.630| 170.587
RTD| -0.036| 1.001| 19.745| 4| -1.630| 170.587
RTD| -0.089| 0.996| 15.757| 4| -1.630| 170.587
RTT| 00:00:12 (in-kernel periodic task, 100 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat worst
RTD| -0.040| 1.001| 18.272| 4| -1.630| 170.587
^CRTD| -0.298| 0.990| 14.129| 4| -1.630| 170.587
---|------------|------------|------------|--------|-------------------------
RTS| -1.630| 2.685| 170.587| 4| 00:00:13/00:00:13
*********************************************
Stats without hack during pullback test
********************************************
/ # cat /proc/xenomai/stat
CPU PID MSW CSW PF STAT %CPU NAME
0 0 0 532017 0 00500080 29.2 ROOT
0 952 84 148 0 00300182 0.0 rtlogd
0 954 1 1 0 00300380 0.0 rtlogd socket
0 0 0 1030 0 00000082 0.0 klat_srvr
0 1029 0 2 0 00300182 0.0
0 1032 0 2289 0 00300184 0.0 heartbeat
0 1028 4 44 0 00300380 0.0 main thread
0 1033 1 5811 0 00300184 0.4 xoft watchdog
0 1034 1 43141 0 00300184 5.7 tpanelt
0 1035 1 5730 0 00300184 0.1 watchdog
0 1036 1 228861 0 00300184 5.2 power
0 1037 1 9053 0 00300184 9.9 steppert
0 1038 1 4499 0 00300184 12.5 rstepper meas
0 1039 1 46642 0 00300184 11.3 state
0 1041 148 2912 0 00300186 0.1
0 1145 0 326 0 00300182 0.1
0 1148 374 522 0 00300380 0.6
0 0 0 11963336 0 00000000 24.3 IRQ0: [timer]
/ # cat /proc/xenomai/stat
CPU PID MSW CSW PF STAT %CPU NAME
0 0 0 536828 0 00500080 29.4 ROOT
0 952 84 148 0 00300182 0.0 rtlogd
0 954 1 1 0 00300380 0.0 rtlogd socket
0 0 0 1033 0 00000082 0.0 klat_srvr
0 1029 0 2 0 00300182 0.0
0 1032 0 2320 0 00300184 0.0 heartbeat
0 1028 4 44 0 00300380 0.0 main thread
0 1033 1 5924 0 00300184 0.4 xoft watchdog
0 1034 1 44359 0 00300184 5.8 tpanelt
0 1035 1 5808 0 00300184 0.1 watchdog
0 1036 1 231899 0 00300184 4.9 power
0 1037 1 14587 0 00300184 10.0 steppert
0 1038 1 7261 0 00300184 12.5 rstepper meas
0 1039 1 48365 0 00300184 11.3 state
0 1041 148 2952 0 00300186 0.1
0 1145 0 357 0 00300182 0.1
0 1148 598 839 0 00300380 0.6
0 0 0 12016995 0 00000000 24.2 IRQ0: [timer]
****************************************************
/proc/xenomai/stat during treatment without the hack
****************************************************
/ # cat /proc/xenomai/stat
CPU PID MSW CSW PF STAT %CPU NAME
0 0 0 1503227 0 00500080 16.4 ROOT
0 952 194 353 0 00300182 0.0 rtlogd
0 954 1 1 0 00300380 0.0 rtlogd socket
0 0 0 2033 0 00000082 0.0 klat_srvr
0 1029 0 2 0 00300182 0.0
0 1032 0 11416 0 00300184 0.0 heartbeat
0 1028 4 44 0 00300380 0.0 main thread
0 1033 1 30521 0 00300184 0.4 xoft watchdog
0 1034 1 219814 0 00300184 5.6 tpanelt
0 1035 1 28762 0 00300184 0.1 watchdog
0 1036 1 1141490 0 00300184 5.0 power
0 1037 1 219051 0 00300184 10.2 steppert
0 1038 1 108935 0 00300184 12.4 rstepper meas
0 1039 1 295444 0 00320184 16.8 state
0 1041 550 14219 0 00300186 0.1
0 1426 210 3988 0 00300182 7.9
0 0 0 27768490 0 00000000 24.5 IRQ0: [timer]
/ # cat /proc/xenomai/stat
CPU PID MSW CSW PF STAT %CPU NAME
0 0 0 1504336 0 00500080 17.1 ROOT
0 952 194 353 0 00300182 0.0 rtlogd
0 954 1 1 0 00300380 0.0 rtlogd socket
0 0 0 2036 0 00000082 0.0 klat_srvr
0 1029 0 2 0 00300182 0.0
0 1032 0 11429 0 00300184 0.0 heartbeat
0 1028 4 44 0 00300380 0.0 main thread
0 1033 1 30590 0 00300184 0.4 xoft watchdog
0 1034 1 220302 0 00300184 5.7 tpanelt
0 1035 1 28801 0 00300184 0.1 watchdog
0 1036 1 1142847 0 00300184 5.2 power
0 1037 1 221297 0 00300182 9.6 steppert
0 1038 1 110119 0 00300182 11.7 rstepper meas
0 1039 1 296574 0 00320184 16.7 state
0 1041 550 14237 0 00300186 0.1
0 1426 217 4537 0 00300182 8.3
0 0 0 27793166 0 00000000 24.5 IRQ0: [timer]
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