Xenomai Kernel Testing
Notes to keep the various machines and problems straight during first tests of the Xenomai kernel packages and the LinuxCNC Xenomai threads port
To reduce human error while testing, a script to gather system information and run tests is needed.
- dmesg, lspci -vv, /proc/cpuinfo, dmidecode -t 4, lsb_release -a, /proc/devices, lsusb, lsmod, free -m, report-hw
- How to capture HID devices?
- xeno-regression-test, LinuxCNC latency-test (text version), unit tests
- Issue is with idle loop. Keeping CPU at 100% prevents CPU from going into idle loop.
- Related to latency of transitions of the cpu's idle states
- Reported by skunkworks and Schooner/ArcEye?
- Michael's description on Xeno mailing list http://www.xenomai.org/pipermail/xenomai/2013-February/027675.html
- Henri Roosen's reply fixes skunkworks: add idle=poll to the kernel command-line
- Henri also uses nohlt; Jan Kiszka says that will burn power; idle=poll was sufficient for skunkworks
Places to explore
Schooner's P4 2.4GHz UP
- ich5 chipset
- tested on 3.5.7-xenomai-184.108.40.206
- RTAI 2.6.24 to 2.6.30, 9k us latency
- Xenomai 117736 base thread and 87347 servo thread
- Initial 179000; reset then maxes at above figures
- particularly sensitive to HID
- PS/2 mouse and graphics events increased jitter
- USB mouse did not
- xeno-regr-test: short run; <9us latency
- Michael reports signing key breakage on squeeze