Hallo,
I've been using rtai until now and decided to give xenomai (release 2.1) a
try. I followed the instructions from README.INSTALL, and everything (kernel
patching, compilation, etc.) went fine. Then I tried to run the latency test,
which failed:
-----------
/usr/xenomai/testsuite/latency $ ./run
head: `-1' option is obsolete; use `-n 1' since this will be removed in the
future
*
*
* Type ^C to stop this application.
*
*
== Sampling period: 100 us
== Test mode: periodic user-mode task
== All results in microseconds
/usr/xenomai/bin/xeno-load: line 178: 5936 Killed $suflag $*
$cmdargs
-----------
The same for "switch", the same if I call ./latency directly.
Is it correct that the xeno_timerbench module is required for the latency
test? I get the same result wheter or not I load the module.
What am I doing wrong?
Thanks in advance and best regards,
Tobias
Some (hopefully useful) information follows:
-----------
/usr/xenomai/bin $ ./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.
Linux tobi 2.6.14 #3 PREEMPT Thu Apr 13 09:13:53 CEST 2006 i686 AMD Athlon(tm)
XP 1600+ AuthenticAMD GNU/Linux
Gnu C 3.3.6
Gnu make 3.80
util-linux 2.12r
mount 2.12r
module-init-tools 3.2.1
e2fsprogs 1.38
Linux C Library 2.3.5
head: `-1' option is obsolete; use `-n 1' since this will be removed in the
future
Dynamic linker (ldd) 2.3.5
Procps 3.2.5
Net-tools 1.60
Kbd 1.12
Sh-utils 5.2.1
Modules Loaded xeno_timerbench
-----------
~ $ dmesg|grep -i xenomai
I-pipe: Domain Xenomai registered.
Xenomai: hal/x86 started.
Xenomai: real-time nucleus v2.1 (Champagne) loaded.
Xenomai: starting native API services.
Xenomai: starting RTDM services.
-----------
/usr/src/linux $ grep -3i xeno .config
#
# Real-time sub-system
#
CONFIG_XENOMAI=y
CONFIG_XENO_OPT_NUCLEUS=y
CONFIG_XENO_OPT_PERVASIVE=y
CONFIG_XENO_OPT_PIPE=y
CONFIG_XENO_OPT_PIPE_NRDEV=32
CONFIG_XENO_OPT_REGISTRY=y
CONFIG_XENO_OPT_REGISTRY_NRSLOTS=512
CONFIG_XENO_OPT_SYS_HEAPSZ=128
# CONFIG_XENO_OPT_ISHIELD is not set
CONFIG_XENO_OPT_STATS=y
# CONFIG_XENO_OPT_DEBUG is not set
# CONFIG_XENO_OPT_WATCHDOG is not set
#
# Timing
#
CONFIG_XENO_OPT_TIMING_PERIODIC=y
CONFIG_XENO_OPT_TIMING_PERIOD=0
CONFIG_XENO_OPT_TIMING_TIMERLAT=0
CONFIG_XENO_OPT_TIMING_SCHEDLAT=0
#
# Scalability
#
# CONFIG_XENO_OPT_SCALABLE_SCHED is not set
CONFIG_XENO_OPT_TIMER_LIST=y
# CONFIG_XENO_OPT_TIMER_HEAP is not set
#
# Shared interrupts
#
# CONFIG_XENO_OPT_SHIRQ_LEVEL is not set
# CONFIG_XENO_OPT_SHIRQ_EDGE is not set
#
# Machine
#
CONFIG_XENO_HW_FPU=y
#
# NMI watchdog
#
# CONFIG_XENO_HW_NMI_DEBUG_LATENCY is not set
#
# SMI workaround
#
# CONFIG_XENO_HW_SMI_DETECT_DISABLE is not set
CONFIG_XENO_HW_SMI_DETECT=y
# CONFIG_XENO_HW_SMI_WORKAROUND is not set
#
# Interfaces
#
CONFIG_XENO_SKIN_NATIVE=y
CONFIG_XENO_OPT_NATIVE_PIPE=y
CONFIG_XENO_OPT_NATIVE_PIPE_BUFSZ=4096
CONFIG_XENO_OPT_NATIVE_SEM=y
CONFIG_XENO_OPT_NATIVE_EVENT=y
CONFIG_XENO_OPT_NATIVE_MUTEX=y
CONFIG_XENO_OPT_NATIVE_COND=y
CONFIG_XENO_OPT_NATIVE_QUEUE=y
CONFIG_XENO_OPT_NATIVE_HEAP=y
CONFIG_XENO_OPT_NATIVE_ALARM=y
CONFIG_XENO_OPT_NATIVE_MPS=y
# CONFIG_XENO_OPT_NATIVE_INTR is not set
CONFIG_XENO_SKIN_POSIX=m
CONFIG_XENO_SKIN_PSOS=m
CONFIG_XENO_SKIN_UITRON=m
CONFIG_XENO_SKIN_VRTX=m
CONFIG_XENO_SKIN_VXWORKS=m
CONFIG_XENO_SKIN_RTAI=m
CONFIG_XENO_OPT_RTAI_FIFO=y
CONFIG_XENO_OPT_RTAI_SEM=y
CONFIG_XENO_OPT_RTAI_SHM=y
CONFIG_XENO_SKIN_RTDM=y
CONFIG_XENO_SKIN_UVM=m
#
# Drivers
#
# CONFIG_XENO_DRIVERS_16550A is not set
CONFIG_XENO_DRIVERS_TIMERBENCH=m
-----------
/usr/xenomai/bin $ ./xeno-test
running ./xeno-test
Thu Apr 13 09:37:38 CEST 2006
running: cat /proc/cpuinfo
processor : 0
vendor_id : AuthenticAMD
cpu family : 6
model : 6
model name : AMD Athlon(tm) XP 1600+
stepping : 2
cpu MHz : 1400.291
cache size : 256 KB
fpu : yes
fpu_exception : yes
cpuid level : 1
flags : fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca
cmov pat pse36 mmx fxsr sse syscall mp mmxext 3dnowext 3dnow
bogomips : 2804.44
Thu Apr 13 09:37:38 CEST 2006
running: cat /proc/meminfo
MemTotal: 774728 kB
MemFree: 744832 kB
Buffers: 3000 kB
Cached: 12284 kB
SwapCached: 0 kB
Active: 11200 kB
Inactive: 6328 kB
HighTotal: 0 kB
HighFree: 0 kB
LowTotal: 774728 kB
LowFree: 744832 kB
SwapTotal: 1959920 kB
SwapFree: 1959920 kB
Dirty: 0 kB
Writeback: 0 kB
Mapped: 4804 kB
Slab: 8512 kB
CommitLimit: 2347284 kB
Committed_AS: 8200 kB
PageTables: 196 kB
VmallocTotal: 253924 kB
VmallocUsed: 2100 kB
VmallocChunk: 251804 kB
Thu Apr 13 09:37:38 CEST 2006
running: cat /proc/ipipe/Linux
Priority=100, Id=0x00000000
irq0-15: accepted
irq16-206: passed
irq207-208: accepted
irq209-212: passed
irq213-216: accepted
irq217-221: passed
irq222-223: accepted
irq224-225: grabbed, virtual
irq226: passed, virtual
Thu Apr 13 09:37:38 CEST 2006
running: cat /proc/ipipe/Xenomai
Priority=200, Id=0x58454e4f
irq0-215: passed
irq216: grabbed
irq217-223: passed
irq224-225: passed, virtual
irq226: grabbed, virtual
Thu Apr 13 09:37:38 CEST 2006
running: cat /proc/ipipe/version
1.2-01
Thu Apr 13 09:37:38 CEST 2006
running: generate_loads 1
dd workload started, pids 5785
Thu Apr 13 09:37:38 CEST 2006
running: cat /proc/interrupts
CPU0
0: 169640 XT-PIC timer, rthal_broadcast_timer
1: 8 XT-PIC i8042
2: 0 XT-PIC cascade
9: 0 XT-PIC uhci_hcd:usb1, uhci_hcd:usb2, uhci_hcd:usb3
11: 1956 XT-PIC eth0
12: 127 XT-PIC i8042
14: 1246 XT-PIC ide0
15: 16 XT-PIC ide1
NMI: 0
LOC: 169605
ERR: 2
Thu Apr 13 09:37:38 CEST 2006
running: cat /proc/loadavg
0.16 0.03 0.01 2/33 5789
head: `-13' option is obsolete; use `-n 13' since this will be removed in the
future
Thu Apr 13 09:37:38 CEST 2006
running: top -bn1c
top - 09:37:39 up 11 min, 1 user, load average: 0.16, 0.03, 0.01
Tasks: 35 total, 2 running, 33 sleeping, 0 stopped, 0 zombie
Cpu(s): 0.8% us, 0.8% sy, 0.0% ni, 97.4% id, 1.1% wa, 0.0% hi, 0.0% si
Mem: 774728k total, 30400k used, 744328k free, 3008k buffers
Swap: 1959920k total, 0k used, 1959920k free, 12344k cached
PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
5785 root 25 0 1464 356 292 R 98.4 0.0 0:00.63 dd if /dev/zero
of /dev/null
1 root 16 0 1460 488 428 S 0.0 0.1 0:00.06 init [3]
2 root 39 19 0 0 0 S 0.0 0.0 0:00.00 [ksoftirqd/0]
Thu Apr 13 09:37:39 CEST 2006
running: ./run -- -q -s -T 10 -t0
head: `-1' option is obsolete; use `-n 1' since this will be removed in the
future
*
*
* Type ^C to stop this application.
*
*
== Sampling period: 100 us
== Test mode: periodic user-mode task
== All results in microseconds
/usr/xenomai/bin/xeno-load: line 178: 5865 Killed $suflag $*
$cmdargs
Thu Apr 13 09:37:40 CEST 2006
running: ./run -- -q -s -T 10 -t1
head: `-1' option is obsolete; use `-n 1' since this will be removed in the
future
*
*
* Type ^C to stop this application.
*
*
== Sampling period: 100 us
== Test mode: in-kernel periodic task
== All results in microseconds
/usr/xenomai/bin/xeno-load: line 178: 5944 Killed $suflag $*
$cmdargs
Thu Apr 13 09:37:41 CEST 2006
running: ./run -- -q -s -T 10 -t2
head: `-1' option is obsolete; use `-n 1' since this will be removed in the
future
*
*
* Type ^C to stop this application.
*
*
== Sampling period: 100 us
== Test mode: in-kernel timer handler
== All results in microseconds
latency: failed to open benchmark device, code -16
(modprobe xeno_timerbench?)
Thu Apr 13 09:37:42 CEST 2006
running: cat /proc/interrupts
CPU0
0: 170509 XT-PIC timer, rthal_broadcast_timer
1: 8 XT-PIC i8042
2: 0 XT-PIC cascade
9: 0 XT-PIC uhci_hcd:usb1, uhci_hcd:usb2, uhci_hcd:usb3
11: 2055 XT-PIC eth0
12: 127 XT-PIC i8042
14: 1260 XT-PIC ide0
15: 16 XT-PIC ide1
NMI: 0
LOC: 170474
ERR: 2
Thu Apr 13 09:37:42 CEST 2006
running: cat /proc/loadavg
0.16 0.03 0.01 4/33 6033
head: `-13' option is obsolete; use `-n 13' since this will be removed in the
future
Thu Apr 13 09:37:42 CEST 2006
running: top -bn1c
top - 09:37:42 up 11 min, 1 user, load average: 0.16, 0.03, 0.01
Tasks: 35 total, 2 running, 33 sleeping, 0 stopped, 0 zombie
Cpu(s): 1.0% us, 1.1% sy, 0.0% ni, 96.9% id, 1.1% wa, 0.0% hi, 0.0% si
Mem: 774728k total, 30556k used, 744172k free, 3044k buffers
Swap: 1959920k total, 0k used, 1959920k free, 12344k cached
PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
5785 root 25 0 1464 356 292 R 98.9 0.0 0:03.70 dd if /dev/zero
of /dev/null
1 root 19 0 1460 488 428 S 0.0 0.1 0:00.06 init [3]
2 root 39 19 0 0 0 S 0.0 0.0 0:00.00 [ksoftirqd/0]
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