Re: [Xenomai] imx6q xenomai ipipe-3.0-imx6q

[嵌入式工程师 <ericvic@163.com>]

sorry  , I thought of a problem on the cpu0 binding a rt_pipe used to write  and on the cpu1 binding another rt_pipe used to read ,if it can cause realtime lost?












THis is my newtest on my imx6q board with  ipipe-3.0-imx6q 

my boot logs 
WARNING! The remote SSH server rejected X11 forwarding request.
-sh-2.05b# dmesg
Linux version 3.0.43 (lucid@ubuntu) (gcc version 4.4.4 (4.4.4_09.06.2010) ) #10 SMP PREEMPT Fri Mar 28 00:58:23 PDT 2014
CPU: ARMv7 Processor [412fc09a] revision 10 (ARMv7), cr=10c53c7d
CPU: VIPT nonaliasing data cache, VIPT aliasing instruction cache
Machine: Freescale i.MX 6Quad/DualLite/Solo LYNUC EVB Board
======================fire lynuc evb ========================
======================######################## ========================
Ignoring unrecognised tag 0x54410008
Memory policy: ECC disabled, Data cache writealloc
CPU identified as i.MX6Q, silicon rev 1.2
On node 0 totalpages: 229376
free_area_init_node: node 0, pgdat 806e0f80, node_mem_map 8b800000
  DMA zone: 368 pages used for memmap
  DMA zone: 0 pages reserved
  DMA zone: 46736 pages, LIFO batch:15
  Normal zone: 1680 pages used for memmap
  Normal zone: 180592 pages, LIFO batch:31
PERCPU: Embedded 9 pages/cpu @8c008000 s14464 r8192 d14208 u36864
pcpu-alloc: s14464 r8192 d14208 u36864 alloc=9*4096
pcpu-alloc: [0] 0 [0] 1 [0] 2 [0] 3 
Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 227328
Kernel command line: console=ttymxc0,115200 root=/dev/mmcblk0p1 rootwait
PID hash table entries: 4096 (order: 2, 16384 bytes)
Dentry cache hash table entries: 131072 (order: 7, 524288 bytes)
Inode-cache hash table entries: 65536 (order: 6, 262144 bytes)
Memory: 640MB 256MB = 896MB total
Memory: 900976k/900976k available, 147600k reserved, 0K highmem
Virtual kernel memory layout:
    vector  : 0xffff0000 - 0xffff1000   (   4 kB)
    fixmap  : 0xfff00000 - 0xfffe0000   ( 896 kB)
    DMA     : 0xf4600000 - 0xffe00000   ( 184 MB)
    vmalloc : 0xc0800000 - 0xf2000000   ( 792 MB)
    lowmem  : 0x80000000 - 0xc0000000   (1024 MB)
    pkmap   : 0x7fe00000 - 0x80000000   (   2 MB)
    modules : 0x7f000000 - 0x7fe00000   (  14 MB)
      .init : 0x80008000 - 0x80040000   ( 224 kB)
      .text : 0x80040000 - 0x8069bec0   (6512 kB)
      .data : 0x8069c000 - 0x806e2020   ( 281 kB)
       .bss : 0x806e2044 - 0x80731c0c   ( 319 kB)
SLUB: Genslabs=13, HWalign=32, Order=0-3, MinObjects=0, CPUs=4, Nodes=1
Preemptible hierarchical RCU implementation.
NR_IRQS:496
MXC GPIO hardware
sched_clock: 32 bits at 3000kHz, resolution 333ns, wraps every 1431655ms
MXC_Early serial console at MMIO 0x2020000 (options '115200')
bootconsole [ttymxc0] enabled
I-pipe 1.18-13: pipeline enabled.
Console: colour dummy device 80x30
Calibrating delay loop... 1581.05 BogoMIPS (lpj=7905280)
pid_max: default: 32768 minimum: 301
Mount-cache hash table entries: 512
CPU: Testing write buffer coherency: ok
I-pipe, 396.000 MHz timer
I-pipe, 396.000 MHz clocksource
hw perfevents: enabled with ARMv7 Cortex-A9 PMU driver, 7 counters available
CPU1: Booted secondary processor
CPU2: Booted secondary processor
CPU3: Booted secondary processor
Brought up 4 CPUs
SMP: Total of 4 processors activated (6324.22 BogoMIPS).
print_constraints: dummy: 
NET: Registered protocol family 16
print_constraints: vddpu: 725 <--> 1300 mV at 700 mV fast normal 
print_constraints: vddcore: 725 <--> 1300 mV at 1150 mV fast normal 
print_constraints: vddsoc: 725 <--> 1300 mV at 1200 mV fast normal 
print_constraints: vdd2p5: 2000 <--> 2775 mV at 2400 mV fast normal 
print_constraints: vdd1p1: 800 <--> 1400 mV at 1100 mV fast normal 
print_constraints: vdd3p0: 2800 <--> 3150 mV at 3000 mV fast normal 
CLKCTL_CCGR6=c00
cscmr1=12700007
rate=52800000
Warning: emi_slow_clk not set to 132 MHz! WEIM NOR timing may be incorrect!
No AHCI save PWR: PDDQ enabled
hw-breakpoint: found 6 breakpoint and 1 watchpoint registers.
hw-breakpoint: 1 breakpoint(s) reserved for watchpoint single-step.
hw-breakpoint: maximum watchpoint size is 4 bytes.
L310 cache controller enabled
l2x0: 16 ways, CACHE_ID 0x410000c7, AUX_CTRL 0x02870000, Cache size: 1048576 B
IMX usb wakeup probe
the wakeup pdata is 0xbfe37500
bio: create slab <bio-0> at 0
SCSI subsystem initialized
usbcore: registered new interface driver usbfs
usbcore: registered new interface driver hub
usbcore: registered new device driver usb
Freescale USB OTG Driver loaded, $Revision: 1.55 $
add wake up source irq 75
imx-ipuv3 imx-ipuv3.0: IPU DMFC NORMAL mode: 1(0~1), 5B(4,5), 5F(6,7)
imx-ipuv3 imx-ipuv3.1: IPU DMFC NORMAL mode: 1(0~1), 5B(4,5), 5F(6,7)
MIPI CSI2 driver module loaded
Advanced Linux Sound Architecture Driver Version 1.0.24.
Bluetooth: Core ver 2.16
NET: Registered protocol family 31
Bluetooth: HCI device and connection manager initialized
Bluetooth: HCI socket layer initialized
Bluetooth: L2CAP socket layer initialized
Bluetooth: SCO socket layer initialized
cfg80211: Calling CRDA to update world regulatory domain
i2c-core: driver [max17135] using legacy suspend method
i2c-core: driver [max17135] using legacy resume method
Switching to clocksource ipipe_tsc
NET: Registered protocol family 2
IP route cache hash table entries: 32768 (order: 5, 131072 bytes)
TCP established hash table entries: 131072 (order: 8, 1048576 bytes)
TCP bind hash table entries: 65536 (order: 7, 786432 bytes)
TCP: Hash tables configured (established 131072 bind 65536)
TCP reno registered
UDP hash table entries: 512 (order: 2, 16384 bytes)
UDP-Lite hash table entries: 512 (order: 2, 16384 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.
Static Power Management for Freescale i.MX6
wait mode is disabled for i.MX6
cpaddr = c0880000 suspend_iram_base=c08ec000
PM driver module loaded
IMX usb wakeup probe
the wakeup pdata is 0xbfe8bb40
I-pipe: Domain Xenomai registered.
Xenomai: hal/arm started.
Xenomai: scheduling class idle registered.
Xenomai: scheduling class rt registered.
Xenomai: real-time nucleus v2.6.3 (Lies and Truths) loaded.
Xenomai: debug mode enabled.
Xenomai: starting native API services.
Xenomai: starting POSIX services.
Xenomai: starting RTDM services.
JFFS2 version 2.2. (NAND) 漏 2001-2006 Red Hat, Inc.
msgmni has been set to 1759
io scheduler noop registered
io scheduler deadline registered
io scheduler cfq registered (default)
mxc_sdc_fb mxc_sdc_fb.0: register mxc display driver ldb
mxc_sdc_fb mxc_sdc_fb.0: NO mxc display driver found!
mxc_sdc_fb mxc_sdc_fb.1: register mxc display driver ldb
mxc_sdc_fb mxc_sdc_fb.1: NO mxc display driver found!
mxc_sdc_fb mxc_sdc_fb.2: register mxc display driver lcd
imx-sdma imx-sdma: loaded firmware 1.1
imx-sdma imx-sdma: initialized
Serial: IMX driver
imx-uart.0: ttymxc0 at MMIO 0x2020000 (irq = 58) is a IMX
console [ttymxc0] enabled, bootconsole disabled
loop: module loaded
vcan: Virtual CAN interface driver
CAN device driver interface
flexcan netdevice driver
flexcan imx6q-flexcan.0: device registered (reg_base=c0938000, irq=142)
usbcore: registered new interface driver smsc95xx
ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
fsl-ehci fsl-ehci.0: Freescale On-Chip EHCI Host Controller
fsl-ehci fsl-ehci.0: new USB bus registered, assigned bus number 1
fsl-ehci fsl-ehci.0: irq 75, io base 0x02184000
fsl-ehci fsl-ehci.0: USB 2.0 started, EHCI 1.00
hub 1-0:1.0: USB hub found
hub 1-0:1.0: 1 port detected
add wake up source irq 72
fsl-ehci fsl-ehci.1: Freescale On-Chip EHCI Host Controller
fsl-ehci fsl-ehci.1: new USB bus registered, assigned bus number 2
fsl-ehci fsl-ehci.1: irq 72, io base 0x02184200
fsl-ehci fsl-ehci.1: USB 2.0 started, EHCI 1.00
hub 2-0:1.0: USB hub found
hub 2-0:1.0: 1 port detected
Initializing USB Mass Storage driver...
usbcore: registered new interface driver usb-storage
USB Mass Storage support registered.
ARC USBOTG Device Controller driver (1 August 2005)
g_ether gadget: using random self ethernet address
g_ether gadget: using random host ethernet address
usb0: MAC ee:3a:a3:34:e2:9f
usb0: HOST MAC 52:55:42:06:24:27
g_ether gadget: controller 'fsl-usb2-udc' not recognized; trying CDC Ethernet (EEM)
g_ether gadget: Ethernet Gadget, version: Memorial Day 2008
g_ether gadget: g_ether ready
Suspend udc for OTG auto detect
USB Host suspend begins
will suspend roothub and its children
ehci_fsl_bus_suspend begins, DR
ehci_fsl_bus_suspend ends, DR
host suspend ends
USB Gadget resume begins
fsl_udc_resume, Wait for wakeup thread finishes
dr_controller_run: udc enter low power mode 
USB Gadget resume ends
fsl-usb2-udc: bind to driver g_ether 
mousedev: PS/2 mouse device common for all mice
input: gpio-keys as /devices/platform/gpio-keys/input/input0
i2c-core: driver [isl29023] using legacy suspend method
i2c-core: driver [isl29023] using legacy resume method
i2c /dev entries driver
imx2-wdt imx2-wdt.0: IMX2+ Watchdog Timer enabled. timeout=60s (nowayout=1)
Bluetooth: Virtual HCI driver ver 1.3
Bluetooth: HCI UART driver ver 2.2
Bluetooth: HCIATH3K protocol initialized
Bluetooth: Generic Bluetooth USB driver ver 0.6
usbcore: registered new interface driver btusb
sdhci: Secure Digital Host Controller Interface driver
sdhci: Copyright(c) Pierre Ossman
mmc0: no vmmc regulator found
mmc0: SDHCI controller on platform [sdhci-esdhc-imx.2] using DMA
mmc1: no vmmc regulator found
mmc1: SDHCI controller on platform [sdhci-esdhc-imx.1] using DMA
mxc_asrc registered
Thermal calibration data is 0x5ec55d69
Anatop Thermal registered as thermal_zone0
anatop_thermal_probe: default cooling device is cpufreq!
usbcore: registered new interface driver usbhid
usbhid: USB HID core driver
usbcore: registered new interface driver snd-usb-audio
Cirrus Logic CS42888 ALSA SoC Codec Driver
i2c-core: driver [cs42888] using legacy suspend method
i2c-core: driver [cs42888] using legacy resume method
imx_3stack asoc driver
ALSA device list:
  No soundcards found.
TCP cubic registered
NET: Registered protocol family 17
can: controller area network core (rev 20090105 abi 8)
NET: Registered protocol family 29
can: raw protocol (rev 20090105)
can: broadcast manager protocol (rev 20090105 t)
Bluetooth: RFCOMM TTY layer initialized
Bluetooth: RFCOMM socket layer initialized
Bluetooth: RFCOMM ver 1.11
Bluetooth: BNEP (Ethernet Emulation) ver 1.3
Bluetooth: BNEP filters: protocol multicast
Bluetooth: HIDP (Human Interface Emulation) ver 1.2
lib80211: common routines for IEEE802.11 drivers
lib80211_crypt: registered algorithm 'NULL'
lib80211_crypt: registered algorithm 'WEP'
lib80211_crypt: registered algorithm 'CCMP'
lib80211_crypt: registered algorithm 'TKIP'
VFP support v0.3: implementor 41 architecture 3 part 30 variant 9 rev 4
Bus freq driver module loaded
usb 2-1: new high speed USB device number 2 using fsl-ehci
Bus freq driver Enabled
mxc_dvfs_core_probe
DVFS driver module loaded
mmc0: new high speed DDR MMC card at address 0001
drivers/rtc/hctosys.c: unable to open rtc device (rtc0)
Waiting for root device /dev/mmcblk0p1...
mmcblk0: mmc0:0001 SEM04G 3.68 GiB 
mmcblk0boot0: mmc0:0001 SEM04G partition 1 1.00 MiB
mmcblk0boot1: mmc0:0001 SEM04G partition 2 1.00 MiB
 mmcblk0: p1
 mmcblk0boot1: unknown partition table
 mmcblk0boot0: unknown partition table
EXT3-fs: barriers not enabled
smsc95xx v1.0.4
smsc95xx 2-1:1.0: eth0: register 'smsc95xx' at usb-fsl-ehci.1-1, smsc95xx USB 2.0 Ethernet, 00:80:0f:9e:04:23









在 2014-03-27 20:27:15，"Gilles Chanteperdrix" <gilles.chanteperdrix@xenomai.org> 写道：
>On 03/27/2014 06:24 AM, 嵌入式工程师 wrote:
>> I do as you said ,the result is the matter still has ,but when i change  
>> 
>> UIMAGE  arch/arm/boot/uImage
>> Image Name:   Linux-3.0.43-ge13355f
>> Created:      Thu Mar 27 11:07:59 2014
>> Image Type:   ARM Linux Kernel Image (uncompressed)
>> Data Size:    3448764 Bytes = 3367.93 kB = 3.29 MB
>> Load Address: 10008000
>> Entry Point:  10008000
>>   Image arch/arm/boot/uImage is ready
>> 
>> 
>> CONFIG_SMP=y
>> CONFIG_SMP_ON_UP=y
>> to 
>> CONFIG_SMP=n
>> CONFIG_SMP_ON_UP=n
>> CONFIG_BROKEN_ON_SMP=y
>> the up-kernal start  and latency start  and do my program
>
>Turning off SMP improves latency, that is a general rule, for all
>processors. The problem is that if you do that you do not take advantage
>of all the cores your processor has. The question is: what latency did
>you have with the correct branch? If it is, say, less than 80us, it is a
>bit high but may still be normal. If it is 300us, then you may still
>have a problem, it depends on the answer you give to the questions I
>asked about your usage of rt_pipes.
>
>To be sure that you are running the kernel I expect, could you show us
>the boot logs?
>
>Regards.
>
>-- 
>                                                                Gilles.



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