Module: xenomai-3
Branch: master
Commit: bc761d8cf25c21944620a2f6f0d67c1b8fce9bed
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=bc761d8cf25c21944620a2f6f0d67c1b8fce9bed
Author: Philippe Gerum <r...@xenomai.org>
Date: Thu Feb 5 13:22:24 2015 +0100
cobalt/kernel: distinguish u/k/i latencies in Kconfig
---
kernel/cobalt/Kconfig | 60 +++++++++++++++-----
.../arch/arm/include/asm/xenomai/calibration.h | 30 +++++-----
.../blackfin/include/asm/xenomai/calibration.h | 12 ++--
.../arch/nios2/include/asm/xenomai/calibration.h | 13 ++---
.../arch/powerpc/include/asm/xenomai/calibration.h | 12 ++--
.../arch/sh/include/asm/xenomai/calibration.h | 11 ++--
.../arch/x86/include/asm/xenomai/calibration.h | 18 +++---
kernel/cobalt/clock.c | 10 ++--
8 files changed, 102 insertions(+), 64 deletions(-)
diff --git a/kernel/cobalt/Kconfig b/kernel/cobalt/Kconfig
index 2e49d37..9c754f5 100644
--- a/kernel/cobalt/Kconfig
+++ b/kernel/cobalt/Kconfig
@@ -173,19 +173,6 @@ config XENO_OPT_AUTOTUNE
adjusting the core timing services to the intrinsic latency of
the platform.
-config XENO_OPT_TIMING_SCHEDLAT
- int "Scheduling latency (ns)"
- default 0
- help
- Scheduling latency is the time between the termination of an
- interrupt handler and the execution of the first instruction
- of the real-time thread this handler resumes. A default value
- of 0 (recommended) will cause a pre-calibrated value to be
- used.
-
- If the auto-tuner is enabled, this value will be used as the
- factory default when running "autotune --reset".
-
config XENO_OPT_SCALABLE_SCHED
bool "O(1) scheduler"
help
@@ -344,6 +331,53 @@ config XENO_OPT_DEBUG_TRACE_LOGSZ
endmenu
+menu "Latency settings"
+
+config XENO_OPT_TIMING_SCHEDLAT
+ int "User scheduling latency (ns)"
+ default 0
+ help
+ The user scheduling latency is the time between the
+ termination of an interrupt handler and the execution of the
+ first instruction of the real-time application thread this
+ handler resumes. A default value of 0 (recommended) will cause
+ a pre-calibrated value to be used.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+config XENO_OPT_TIMING_KSCHEDLAT
+ int "Intra-kernel scheduling latency (ns)"
+ default 0
+ help
+ The intra-kernel scheduling latency is the time between the
+ termination of an interrupt handler and the execution of the
+ first instruction of the RTDM kernel thread this handler
+ resumes. A default value of 0 (recommended) will cause a
+ pre-calibrated value to be used.
+
+ Intra-kernel latency is usually significantly lower than user
+ scheduling latency on MMU-enabled platforms, due to CPU cache
+ latency.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+config XENO_OPT_TIMING_IRQLAT
+ int "Interrupt latency (ns)"
+ default 0
+ help
+
+ The interrupt latency is the time between the occurrence of an
+ IRQ and the first instruction of the interrupt handler which
+ will service it. A default value of 0 (recommended) will cause
+ a pre-calibrated value to be used.
+
+ If the auto-tuner is enabled, this value will be used as the
+ factory default when running "autotune --reset".
+
+endmenu
+
menuconfig XENO_OPT_DEBUG
depends on XENO_OPT_VFILE
bool "Debug support"
diff --git a/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
index 6f8f3bf..82ff68d 100644
--- a/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/arm/include/asm/xenomai/calibration.h
@@ -22,30 +22,34 @@
#ifndef _COBALT_ARM_ASM_CALIBRATION_H
#define _COBALT_ARM_ASM_CALIBRATION_H
-extern unsigned omap_rev(void);
+unsigned int omap_rev(void);
#define cpu_is_omap44xx() ((omap_rev() & 0xff) == 0x44)
-static inline unsigned long xnarch_get_sched_latency (void)
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
+ unsigned int ulat;
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
- return CONFIG_XENO_OPT_TIMING_SCHEDLAT;
-#else
-#if defined(CONFIG_ARCH_AT91RM9200)
- return 8500;
+ ulat = CONFIG_XENO_OPT_TIMING_SCHEDLAT;
+#elif defined(CONFIG_ARCH_AT91RM9200)
+ ulat = 8500;
#elif defined(CONFIG_ARCH_AT91SAM9263)
- return 11000;
+ ulat = 11000;
+#elif defined(CONFIG_SOC_IMX6Q)
+ ulat = 6000;
#elif defined(CONFIG_ARCH_MX51)
- return 5000;
+ ulat = 5000;
#elif defined(CONFIG_ARCH_MX53)
- return 5000;
+ ulat = 5000;
#elif defined(CONFIG_ARCH_MX6)
- return 2000;
+ ulat = 2000;
#elif defined(CONFIG_ARCH_OMAP)
- return cpu_is_omap44xx() ? 2500 : 5000;
+ ulat = cpu_is_omap44xx() ? 2500 : 5000;
#else
- return 9500; /* XXX sane ? */
-#endif
+ ulat = 9500; /* XXX sane? */
#endif
+ p->user = xnclock_ns_to_ticks(&nkclock, ulat);
+ p->kernel = xnclock_ns_to_ticks(&nkclock,
CONFIG_XENO_OPT_TIMING_KSCHEDLAT);
+ p->irq = xnclock_ns_to_ticks(&nkclock, CONFIG_XENO_OPT_TIMING_IRQLAT);
}
#endif /* !_COBALT_ARM_ASM_CALIBRATION_H */
diff --git a/kernel/cobalt/arch/blackfin/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/blackfin/include/asm/xenomai/calibration.h
index b1f6464..08895e8 100644
--- a/kernel/cobalt/arch/blackfin/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/blackfin/include/asm/xenomai/calibration.h
@@ -19,13 +19,11 @@
#ifndef _COBALT_BLACKFIN_ASM_CALIBRATION_H
#define _COBALT_BLACKFIN_ASM_CALIBRATION_H
-static inline unsigned long xnarch_get_sched_latency (void)
-
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
#define __sched_latency CONFIG_XENO_OPT_TIMING_SCHEDLAT
-#else
-#ifdef CONFIG_BF533
+#elif defined(CONFIG_BF533)
#define __sched_latency 5000
#elif defined(CONFIG_BF537)
#define __sched_latency 4800
@@ -48,9 +46,9 @@ static inline unsigned long xnarch_get_sched_latency (void)
#else
#error "unsupported Blackfin processor"
#endif
-#endif /* CONFIG_XENO_OPT_TIMING_SCHEDLAT */
-
- return __sched_latency;
+ p->user = __sched_latency;
+ p->kernel = CONFIG_XENO_OPT_TIMING_KSCHEDLAT;
+ p->irq = CONFIG_XENO_OPT_TIMING_IRQLAT;
}
#undef __sched_latency
diff --git a/kernel/cobalt/arch/nios2/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/nios2/include/asm/xenomai/calibration.h
index 0366754..36cc2a5 100644
--- a/kernel/cobalt/arch/nios2/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/nios2/include/asm/xenomai/calibration.h
@@ -19,21 +19,20 @@
#ifndef _COBALT_NIOS2_ASM_CALIBRATION_H
#define _COBALT_NIOS2_ASM_CALIBRATION_H
-static inline unsigned long xnarch_get_sched_latency (void)
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
#define __sched_latency CONFIG_XENO_OPT_TIMING_SCHEDLAT
-#else
-#ifdef CONFIG_ALTERA_DE2
+#elif defined(CONFIG_ALTERA_DE2)
#define __sched_latency 10000
-#elif CONFIG_NEEK
+#elif defined(CONFIG_NEEK)
#define __sched_latency 10000
#else
#error "unsupported NIOS2 platform"
#endif
-#endif /* CONFIG_XENO_OPT_TIMING_SCHEDLAT */
-
- return __sched_latency;
+ p->user = __sched_latency;
+ p->kernel = CONFIG_XENO_OPT_TIMING_KSCHEDLAT;
+ p->irq = CONFIG_XENO_OPT_TIMING_IRQLAT;
}
#undef __sched_latency
diff --git a/kernel/cobalt/arch/powerpc/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/powerpc/include/asm/xenomai/calibration.h
index b801759..e849e41 100644
--- a/kernel/cobalt/arch/powerpc/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/powerpc/include/asm/xenomai/calibration.h
@@ -22,12 +22,11 @@
#ifndef _COBALT_POWERPC_ASM_CALIBRATION_H
#define _COBALT_POWERPC_ASM_CALIBRATION_H
-static inline unsigned long xnarch_get_sched_latency(void)
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
#define __sched_latency CONFIG_XENO_OPT_TIMING_SCHEDLAT
-#else
-#if defined(CONFIG_PPC_PASEMI)
+#elif defined(CONFIG_PPC_PASEMI)
#define __sched_latency 1000
#elif defined(CONFIG_WALNUT)
#define __sched_latency 11000
@@ -99,10 +98,9 @@ static inline unsigned long xnarch_get_sched_latency(void)
#define __sched_latency 4000
#endif
#endif
-
-#endif /* CONFIG_XENO_OPT_TIMING_SCHEDLAT */
-
- return __sched_latency;
+ p->user = xnclock_ns_to_ticks(&nkclock, __sched_latency);
+ p->kernel = xnclock_ns_to_ticks(&nkclock,
CONFIG_XENO_OPT_TIMING_KSCHEDLAT);
+ p->irq = xnclock_ns_to_ticks(&nkclock, CONFIG_XENO_OPT_TIMING_IRQLAT);
}
#undef __sched_latency
diff --git a/kernel/cobalt/arch/sh/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/sh/include/asm/xenomai/calibration.h
index 1ce64e6..834febf 100644
--- a/kernel/cobalt/arch/sh/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/sh/include/asm/xenomai/calibration.h
@@ -19,19 +19,18 @@
#ifndef _COBALT_SH_ASM_CALIBRATION_H
#define _COBALT_SH_ASM_CALIBRATION_H
-static inline unsigned long xnarch_get_sched_latency (void)
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
#define __sched_latency CONFIG_XENO_OPT_TIMING_SCHEDLAT
-#else
-#ifdef CONFIG_SH_ST_MB442
+#elif defined(CONFIG_SH_ST_MB442)
#define __sched_latency 5000
#else
#define __sched_latency 7000
#endif
-#endif /* CONFIG_XENO_OPT_TIMING_SCHEDLAT */
-
- return __sched_latency;
+ p->user = __sched_latency;
+ p->kernel = CONFIG_XENO_OPT_TIMING_KSCHEDLAT;
+ p->irq = CONFIG_XENO_OPT_TIMING_IRQLAT;
}
#undef __sched_latency
diff --git a/kernel/cobalt/arch/x86/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/x86/include/asm/xenomai/calibration.h
index 95f6506..a9190e1 100644
--- a/kernel/cobalt/arch/x86/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/x86/include/asm/xenomai/calibration.h
@@ -21,7 +21,12 @@
#include <asm/processor.h>
-static inline unsigned long xnarch_get_sched_latency (void)
+static inline unsigned long __get_bogomips(void)
+{
+ return this_cpu_read(cpu_info.loops_per_jiffy)/(500000/HZ);
+}
+
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
unsigned long sched_latency;
@@ -48,19 +53,18 @@ static inline unsigned long xnarch_get_sched_latency (void)
sched_latency = 1000;
#endif /* !SMP */
} else {
-#define __bogomips (this_cpu_read(cpu_info.loops_per_jiffy)/(500000/HZ))
- sched_latency = (__bogomips < 250 ? 17000 :
- __bogomips < 2500 ? 4200 :
+ sched_latency = (__get_bogomips() < 250 ? 17000 :
+ __get_bogomips() < 2500 ? 4200 :
3500);
-#undef __bogomips
-
#ifdef CONFIG_SMP
sched_latency += 1000;
#endif /* CONFIG_SMP */
}
#endif /* !CONFIG_XENO_OPT_TIMING_SCHEDLAT */
- return sched_latency;
+ p->user = sched_latency;
+ p->kernel = CONFIG_XENO_OPT_TIMING_KSCHEDLAT;
+ p->irq = CONFIG_XENO_OPT_TIMING_IRQLAT;
}
#endif /* !_COBALT_X86_ASM_CALIBRATION_H */
diff --git a/kernel/cobalt/clock.c b/kernel/cobalt/clock.c
index 2c1219b..31b6fae 100644
--- a/kernel/cobalt/clock.c
+++ b/kernel/cobalt/clock.c
@@ -786,12 +786,14 @@ static int set_core_clock_gravity(struct xnclock *clock,
static void reset_core_clock_gravity(struct xnclock *clock)
{
- xnticks_t schedlat = xnarch_get_sched_latency();
struct xnclock_gravity gravity;
- gravity.user = xnclock_ns_to_ticks(&nkclock, schedlat) + nktimerlat;
- gravity.kernel = gravity.user;
- gravity.irq = nktimerlat;
+ xnarch_get_latencies(&gravity);
+ gravity.user += nktimerlat;
+ if (gravity.kernel == 0)
+ gravity.kernel = gravity.user;
+ if (gravity.irq == 0)
+ gravity.irq = nktimerlat;
set_core_clock_gravity(clock, &gravity);
}
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