Hello, I ported i-pipe to the board da850 with TI L138 CPU. I have no problems during startup, the system starts quietly. I followed the guide http://www.xenomai.org/index.php/I-pipe-core:ArmPorting, the only thing that I did not (because do not use ) are the changes to the GPIO module. When I run latency program in "user-task period" mode, the latency shows great numbers and even negative, which does not happen if i run latency in "in-kernel task period" mode, with more normal numbers. Of course, before you run latency test, sending "echo 0 > /proc/xenomai/latency".
If I use cyclictest, the numbers are more correct. What could be the problem? Is there any mistake I made or that I missed in porting? Thanks root@Board<mailto:root@Board> ~>./usr/xenomai/bin/latency -t 0 == Sampling period: 1000 us == Test mode: periodic user-mode task == All results in microseconds warming up... RTT| 00:00:01 (periodic user-mode task, 1000 us period, priority 99) RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst RTD| 370370.370| 918802.551|1418302.551| 0| 0| 370370.370|1418302.551 RTD| 370370.370| -81197.449| 418302.551| 0| 0| 370370.370|1418302.551 RTD| 370370.370|-1081197.448|-581697.448| 0| 0| 370370.370|1418302.551 RTD| 370370.370|-2081197.447|-1581697.448| 0| 0| 370370.370|1418302.55 1 RTD| 370370.370|1213769.849|1713269.849| 0| 0| 370370.370|1418302.551 RTD| 370370.370| 213769.850| 713269.849| 0| 0| 370370.370|1418302.551 RTD| 370370.370|-786230.150|-286730.150| 0| 0| 370370.370|1418302.551 RTD| 370370.370|-1786230.149|-1286730.149| 0| 0| 370370.370|1418302.55 1 RTD| 370370.370|1508737.148|2008237.147| 0| 0| 370370.370|1418302.551 RTD| 370370.370| 508737.148|1008237.148| 0| 0| 370370.370|1418302.551 RTD| 370370.370|-491262.851| 8237.148| 0| 0| 370370.370|1418302.551 RTD| 370370.370|-1491262.851|-991762.851| 0| 0| 370370.370|1418302.551 RTD| 370370.370|1803704.446|-1991762.850| 0| 0| 370370.370|1418302.551 RTD| 370370.370| 803704.447|1303204.446| 0| 0| 370370.370|1418302.551 RTD| 370370.370|-196295.553| 303204.447| 0| 0| 370370.370|1418302.551 ?---|-----------|-----------|-----------|--------|------|----------------------- -- RTS| 370370.370|-1786230.149|1418302.551| 0| 0| 00:00:15/00:00:15 root@Board<mailto:root@Board> ~> root@Board<mailto:root@Board> ~>./usr/xenomai/bin/latency -t 1 == Sampling period: 1000 us == Test mode: in-kernel periodic task == All results in microseconds warming up... RTT| 00:00:01 (in-kernel periodic task, 1000 us period, priority 99) RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst RTD| 68.740| 77.299| 130.925| 0| 0| 68.740| 130.925 RTD| 67.554| 76.997| 132.776| 0| 0| 67.554| 132.776 RTD| 68.887| 77.536| 128.924| 0| 0| 67.554| 132.776 RTD| 65.368| 77.235| 136.405| 0| 0| 65.368| 136.405 RTD| 68.145| 77.162| 130.441| 0| 0| 65.368| 136.405 RTD| 68.144| 77.070| 133.292| 0| 0| 65.368| 136.405 RTD| 67.366| 77.239| 129.070| 0| 0| 65.368| 136.405 RTD| 67.514| 77.109| 128.921| 0| 0| 65.368| 136.405 RTD| 68.513| 77.471| 129.031| 0| 0| 65.368| 136.405 RTD| 66.994| 76.907| 132.920| 0| 0| 65.368| 136.405 RTD| 67.956| 77.237| 135.216| 0| 0| 65.368| 136.405 RTD| 67.141| 77.440| 138.104| 0| 0| 65.368| 138.104 RTD| 66.029| 77.157| 130.622| 0| 0| 65.368| 138.104 RTD| 67.436| 77.194| 128.843| 0| 0| 65.368| 138.104 RTD| 67.176| 77.353| 130.732| 0| 0| 65.368| 138.104 ?---|-----------|-----------|-----------|--------|------|----------------------- -- RTS| 65.368| 77.227| 138.104| 0| 0| 00:00:16/00:00:16 root@Board<mailto:root@Board> ~> Startup kernel log: Starting kernel ... Uncompressing Linux... done, booting the kernel. Linux version 3.2.21-ipipe (omap@Sviluppo<mailto:omap@Sviluppo>) (gcc version 4.6.3 (Sourcery CodeBenc h Lite 2012.03-57) ) #56 PREEMPT Sat Dec 15 12:11:05 CET 2012 CPU: ARM926EJ-S [41069265] revision 5 (ARMv5TEJ), cr=00053177 CPU: VIVT data cache, VIVT instruction cache Machine: DaVinci DA850/OMAP-L138/AM18x EVM bootconsole [earlycon0] enabled Memory policy: ECC disabled, Data cache writethrough DaVinci da850/omap-l138 variant 0x0 Built 1 zonelists in Zone order, mobility grouping on. Total pages: 8128 Kernel command line: mem=32M ip=192.168.1.141 console=ttyS2,115200n8 root=/dev/m mcblk0p1 rootfstype=ext2 earlyprintk=serial,ttyS2,115200 PID hash table entries: 128 (order: -3, 512 bytes) Dentry cache hash table entries: 4096 (order: 2, 16384 bytes) Inode-cache hash table entries: 2048 (order: 1, 8192 bytes) Memory: 32MB = 32MB total Memory: 27168k/27168k available, 5600k reserved, 0K highmem Virtual kernel memory layout: vector : 0xffff0000 - 0xffff1000 ( 4 kB) fixmap : 0xfff00000 - 0xfffe0000 ( 896 kB) vmalloc : 0xc2800000 - 0xfea00000 ( 962 MB) lowmem : 0xc0000000 - 0xc2000000 ( 32 MB) modules : 0xbf000000 - 0xc0000000 ( 16 MB) .text : 0xc0008000 - 0xc0475978 (4535 kB) .init : 0xc0476000 - 0xc0499000 ( 140 kB) .data : 0xc049a000 - 0xc04c5ff8 ( 176 kB) .bss : 0xc04c601c - 0xc0526ce8 ( 388 kB) NR_IRQS:245 *** Davinci Clock Rate : 27000000 *** *** Clock Reload : 270000 *** I-pipe, 27.000 MHz clocksource Interrupt pipeline (release #1) Console: colour dummy device 80x30 Calibrating delay loop... 167.32 BogoMIPS (lpj=836608) pid_max: default: 32768 minimum: 301 Mount-cache hash table entries: 512 CPU: Testing write buffer coherency: ok DaVinci: 144 gpio irqs NET: Registered protocol family 16 bio: create slab <bio-0> at 0 pca953x 1-0020: failed reading register pca953x: probe of 1-0020 failed with error -121 pca953x 1-0021: interrupt support not compiled in Switching to clocksource ipipe_tsc NET: Registered protocol family 2 IP route cache hash table entries: 1024 (order: 0, 4096 bytes) TCP established hash table entries: 1024 (order: 1, 8192 bytes) TCP bind hash table entries: 1024 (order: 0, 4096 bytes) TCP: Hash tables configured (established 1024 bind 1024) TCP reno registered UDP hash table entries: 256 (order: 0, 4096 bytes) UDP-Lite hash table entries: 256 (order: 0, 4096 bytes) NET: Registered protocol family 1 RPC: Registered named UNIX socket transport module. RPC: Registered udp transport module. RPC: Registered tcp transport module. RPC: Registered tcp NFSv4.1 backchannel transport module. EMAC: MII PHY configured, RMII PHY will not be functional I-pipe: head domain Xenomai registered. Xenomai: hal/arm started. Xenomai: scheduling class idle registered. Xenomai: scheduling class rt registered. Xenomai: real-time nucleus v2.6.1 (Light Years Away) loaded. Xenomai: debug mode enabled. Xenomai: starting native API services. Xenomai: starting POSIX services. Xenomai: starting RTDM services. msgmni has been set to 53 io scheduler noop registered (default) start plist test end plist test Serial: 8250/16550 driver, 3 ports, IRQ sharing disabled serial8250.0: ttyS0 at MMIO 0x1c42000 (irq = 25) is a 16550A serial8250.0: ttyS1 at MMIO 0x1d0c000 (irq = 53) is a 16550A ÿserial8250.0: ttyS2 at MMIO 0x1d0d000 (irq = 61) is a 16550A console [ttyS2] enabled, bootconsole disabled console [ttyS2] enabled, bootconsole disabled brd: module loaded davinci_mdio davinci_mdio.0: davinci mdio revision 1.5 davinci_mdio davinci_mdio.0: detected phy mask fffffffe davinci_mdio.0: probed davinci_mdio davinci_mdio.0: phy[0]: device 0:00, driver unknown input: gpio-keys-polled as /devices/platform/gpio-keys-polled.1/input/input0 i2c /dev entries driver davinci_mmc davinci_mmc.0: Using DMA, 4-bit mode TCP cubic registered NET: Registered protocol family 17 console [netcon0] enabled netconsole: network logging started davinci_mdio davinci_mdio.0: resetting idled controller net eth0: attached PHY driver [Generic PHY] (mii_bus:phy_addr=0:00, id=7c0f1) mmc0: new SD card at address e624 mmcblk0: mmc0:e624 SD128 120 MiB mmcblk0: p1 PHY: 0:00 - Link is Up - 100/Full IP-Config: Guessing netmask 255.255.255.0 IP-Config: Complete: device=eth0, addr=192.168.1.141, mask=255.255.255.0, gw=255.255.255.255, host=192.168.1.141, domain=, nis-domain=(none), bootserver=255.255.255.255, rootserver=255.255.255.255, rootpath= EXT2-fs (mmcblk0p1): warning: mounting unchecked fs, running e2fsck is recommend ed VFS: Mounted root (ext2 filesystem) on device 179:1. Freeing init memory: 140K init started: BusyBox v1.20.0 (2012-05-31 14:27:57 CEST) _______________________________________________ Xenomai mailing list Xenomai@xenomai.org http://www.xenomai.org/mailman/listinfo/xenomai
