Jan,
Jan Kiszka wrote:
> Let me bet before the race is over: your cyclictest switches to
> secondary (Linux) mode with its high prio threads (e.g. on termination),
> priority coupling is active (that's default), and Linux runs on behalf
> of cyclictest for several hundred us which causes the delay for low prio
> latency. The I-pipe tracer would tell you more BTW, see Xenomai wiki.
>
> Jan
>
I compiled the kernel with option CONFIG_XENO_OPT_RPIDISABLE not set,
but this makes no difference. I am running latency with priority 60,
while the cyclictest is run with priorities from 80 - 71, so latency
does have the lowest priority.
This is the output from latency:
RTD| -5.357| -4.420| -0.648| 0| -5.381| 1.585
RTD| -5.381| -4.276| 38.054| 0| -5.381| 38.054 << Start
RTD| -5.165| -4.060| 11.963| 0| -5.381| 38.054
RTD| -5.213| -4.084| 12.204| 0| -5.381| 38.054
RTD| -5.021| -4.012| 679.759| 7| -5.381| 679.759 << End
RTD| -5.381| -4.396| -1.465| 7| -5.381| 679.759
Grepping for XENO on /proc/config.gz gives the following output:
CONFIG_XENOMAI=y
CONFIG_XENO_OPT_NUCLEUS=m
CONFIG_XENO_OPT_PERVASIVE=y
# CONFIG_XENO_OPT_ISHIELD is not set
# CONFIG_XENO_OPT_RPIDISABLE is not set
CONFIG_XENO_OPT_SECURITY_ACCESS=y
CONFIG_XENO_OPT_PIPELINE_HEAD=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_STATS=y
CONFIG_XENO_OPT_DEBUG=y
# CONFIG_XENO_OPT_DEBUG_NUCLEUS is not set
# CONFIG_XENO_OPT_DEBUG_QUEUES is not set
CONFIG_XENO_OPT_WATCHDOG=y
CONFIG_XENO_OPT_TIMING_PERIODIC=y
CONFIG_XENO_OPT_TIMING_PERIOD=0
CONFIG_XENO_OPT_TIMING_TIMERLAT=0
CONFIG_XENO_OPT_TIMING_SCHEDLAT=0
# CONFIG_XENO_OPT_SCALABLE_SCHED is not set
CONFIG_XENO_OPT_TIMER_LIST=y
# CONFIG_XENO_OPT_TIMER_HEAP is not set
# CONFIG_XENO_OPT_TIMER_WHEEL is not set
# CONFIG_XENO_OPT_SHIRQ_LEVEL is not set
# CONFIG_XENO_OPT_SHIRQ_EDGE is not set
CONFIG_XENO_SKIN_NATIVE=m
CONFIG_XENO_OPT_NATIVE_PIPE=y
CONFIG_XENO_OPT_NATIVE_PIPE_BUFSZ=4096
CONFIG_XENO_OPT_NATIVE_REGISTRY=y
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=y
CONFIG_XENO_SKIN_POSIX=m
CONFIG_XENO_OPT_POSIX_SHM=y
CONFIG_XENO_OPT_POSIX_INTR=y
CONFIG_XENO_OPT_DEBUG_POSIX=y
# CONFIG_XENO_SKIN_PSOS is not set
# CONFIG_XENO_SKIN_UITRON is not set
# CONFIG_XENO_SKIN_VRTX is not set
CONFIG_XENO_SKIN_VXWORKS=m
# CONFIG_XENO_SKIN_RTAI is not set
CONFIG_XENO_SKIN_RTDM=m
CONFIG_XENO_OPT_RTDM_FILDES=128
CONFIG_XENO_OPT_DEBUG_RTDM=y
# CONFIG_XENO_DRIVERS_16550A is not set
CONFIG_XENO_DRIVERS_TIMERBENCH=m
# CONFIG_XENO_DRIVERS_IRQBENCH is not set
CONFIG_XENO_DRIVERS_SWITCHTEST=m
# CONFIG_XENO_DRIVERS_CAN is not set
I will cleanup my cyclictest program and post it ASAP.
Kind regards,
Johan Borkhuis
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