On 2019年11月19日 16:03, Jan Kiszka wrote:
On 19.11.19 08:45, chensong wrote:
On 2019年11月19日 14:49, Jan Kiszka wrote:
On 19.11.19 02:01, chensong via Xenomai wrote:
Dear experts,
i'm new in xenomai, i got an issue, here is the detail:
Main processor architect: ARM64 phytium ft2000ahk
Kernel release number: 4.14.4
cmdline:BOOT_IMAGE=/Image-tmp
root=UUID=9fea0634-a9c9-4e9f-906c-9c36b7249822 console=ttyS1,115200
earlyprintk=uart8250-32bit,0x28001000 rw rootdelay=10 KEYBOARDTYPE=pc
KEYTABLE=us security=
xenomai release number:3.1-devel
xenomai configuration:
kylin@kylin-os:~/workspace/code/nudt-hgj-xenomai-tjrd$ grep
configure config.status
# Generated by configure.
# Compiler output produced by configure, useful for debugging
# configure, is in config.log if it exists.
configured by ./configure, generated by GNU Autoconf 2.69,
ac_configure_extra_args=
ac_configure_extra_args="$ac_configure_extra_args --silent"
set X /bin/bash './configure' '--with-core=cobalt'
'--enable-smp' '--enable-pshared' $ac_configure_extra_args --no-create
--no-recursion
configure_time_dlsearch_path='/lib /usr/lib
/lib/aarch64-linux-gnu /usr/lib/aarch64-linux-gnu
/usr/lib/aarch64-linux-gnu/mesa-egl /usr/lib/aarch64-linux-gnu/mesa
/usr/local/lib '
configure_time_lt_sys_library_path=''
for var in reload_cmds old_postinstall_cmds
old_postuninstall_cmds old_archive_cmds extract_expsyms_cmds
old_archive_from_new_cmds old_archive_from_expsyms_cmds archive_cmds
archive_expsym_cmds module_cmds module_expsym_cmds export_symbols_cmds
prelink_cmds postlink_cmds postinstall_cmds postuninstall_cmds
finish_cmds sys_lib_search_path_spec configure_time_dlsearch_path
configure_time_lt_sys_library_path; do
# on some systems where configure will not decide to define it.
# Let's still pretend it is `configure' which instantiates
(i.e., don't
configure_input='Generated from '`
`' by configure.'
configure_input="$ac_file. $configure_input"
case $configure_input in #(
ac_sed_conf_input=`$as_echo "$configure_input" |
*) ac_sed_conf_input=$configure_input;;
s|@configure_input@|$ac_sed_conf_input|;t t
$as_echo "/* $configure_input */" \
$as_echo "/* $configure_input */" \
# Libtool was configured on host `(hostname || uname -n)
2>/dev/null | sed 1q`:
: \${LT_SYS_LIBRARY_PATH="$configure_time_lt_sys_library_path"}
sys_lib_dlsearch_path_spec=$lt_configure_time_dlsearch_path
# Explicit LT_SYS_LIBRARY_PATH set during ./configure time.
configure_time_lt_sys_library_path=$lt_configure_time_lt_sys_library_path
OR:
kylin@kylin-os:~$ xeno-config --info
Xenomai version: Xenomai/cobalt v3.1-devel -- # ()
Linux kylin-os 4.14.4.kylin.rt-1118-ipipe-trace+ #2 SMP
PREEMPT Mon Nov 18 18:28:17 CST 2019 aarch64 aarch64 aarch64 GNU/Linux
Kernel parameters: BOOT_IMAGE=/Image-tmp
root=UUID=9fea0634-a9c9-4e9f-906c-9c36b7249822 console=ttyS1,115200
earlyprintk=uart8250-32bit,0x28001000 rw rootdelay=10 KEYBOARDTYPE=pc
KEYTABLE=us security=
I-pipe release #2 detected
Cobalt core 3.1-devel detected
Compiler: gcc version 5.4.0 20160609 (Ubuntu/Linaro
5.4.0-6kord1~16.04.10)
Build args: --prefix=/usr --includedir=/usr/include/xenomai
--mandir=/usr/share/man --with-testdir=/usr/lib/xenomai/testsuite
--enable-smp --build aarch64-linux-gnu build_alias=aarch64-linux-gnu
Desktop: kylin 4.0.2 (ubuntu likely desktop)
Issue description:
latency and cyclictest work fine in my system in most of cases,
the worst latency is around 100us ~ 200us. however, when i ran a
script to increase the cpu load in the system, the worst latency
reached 2000us ~ 5000us or even worse. Basically, the script forks 6
processes by default and each process applies a four-pages buffer and
keeps writing without any breath, no warning or error messages in
dmesg. below is the script:
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/wait.h>
#include <sys/stat.h>
#include <fcntl.h>
#define PAGE_SIZE 4096
#define TEST_THREADS 6
unsigned int test_threads;
void do_thread_test(void)
{
void *mm;
char i = 0;
printf("mem test thread start \n");
mm = malloc(PAGE_SIZE * 4); // 1M
while(1) {
for (i = 0; i<100; i++)
memset(mm, i, PAGE_SIZE * 4);
}
You cannot run Xenomai threads at 100% on Linux. You need to leave some
time for the rest of the system to do housekeeping. That explains the
"deadlock" you see. If you turn on CONFIG_XENO_OPT_WATCHDOG, it will
detect such mistakes and kick the task out of RT.
Jan
"do_thread_test" is not an RT task, it's running in linux domain and
latency running in xenomai domain was affected.
Ok, I missed that.
Are you using an official I-pipe release kernel (doesn't look like)?
Please try 4.19.y for that. If it's a downstream kernel (from I-pipe
perspective), your local BSP enablings may not be correct yet, breaking
RT subtly.
Power or also thermal management are further areas of disturbance. They
may either unneeded degrade performance and, thus, latencies or need to
throttle overloaded/overheated CPUs.
Jan
good idea, i will try an official I-pipe release kernel to see if it can
be reproduced and get you back soon, many thanks.
/song
