* [PATCH V2 1/3] rtdm/testing: latmus: introduce latmus driver
2021-04-16 5:31 [PATCH V2 0/3] introduce latmus hongzha1
@ 2021-04-16 5:31 ` hongzha1
2021-04-16 5:31 ` [PATCH V2 2/3] drivers/gpio: core: introduce helper to find gpiochip hongzha1
` (2 subsequent siblings)
3 siblings, 0 replies; 11+ messages in thread
From: hongzha1 @ 2021-04-16 5:31 UTC (permalink / raw)
To: xenomai
To support the latmus application for determining the best
gravity values for the cobalt core clock, and measuring
the response time to timer events.
Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
---
include/rtdm/uapi/testing.h | 63 ++
kernel/drivers/testing/Kconfig | 10 +
kernel/drivers/testing/Makefile | 1 +
kernel/drivers/testing/latmus.c | 1237 +++++++++++++++++++++++++++++++
4 files changed, 1311 insertions(+)
create mode 100644 kernel/drivers/testing/latmus.c
diff --git a/include/rtdm/uapi/testing.h b/include/rtdm/uapi/testing.h
index f8207b8c7..b1723b9f8 100644
--- a/include/rtdm/uapi/testing.h
+++ b/include/rtdm/uapi/testing.h
@@ -118,6 +118,52 @@ struct rttst_heap_stathdr {
struct rttst_heap_stats *buf;
};
+/* Latmus context types. */
+#define COBALT_LAT_IRQ 0
+#define COBALT_LAT_KERN 1
+#define COBALT_LAT_USER 2
+#define COBALT_LAT_SIRQ 3
+#define COBALT_LAT_LAST COBALT_LAT_SIRQ
+
+struct latmus_setup {
+ __u32 type;
+ __u64 period;
+ __s32 priority;
+ __u32 cpu;
+ union {
+ struct {
+ __u32 verbosity;
+ } tune;
+ struct {
+ __u32 xfd;
+ __u32 hcells;
+ } measure;
+ } u;
+};
+
+/*
+ * The measurement record which the driver sends to userland each
+ * second through an xbuf channel.
+ */
+struct latmus_measurement {
+ __s64 sum_lat;
+ __s32 min_lat;
+ __s32 max_lat;
+ __u32 overruns;
+ __u32 samples;
+};
+
+struct latmus_measurement_result {
+ __u64 last_ptr; /* (struct latmus_measurement __user *last) */
+ __u64 histogram_ptr; /* (__s32 __user *histogram) */
+ __u32 len;
+};
+
+struct latmus_result {
+ __u64 data_ptr; /* (void __user *data) */
+ __u32 len;
+};
+
#define RTIOC_TYPE_TESTING RTDM_CLASS_TESTING
/*!
@@ -133,6 +179,8 @@ struct rttst_heap_stathdr {
#define RTDM_SUBCLASS_RTDMTEST 3
/** subclase name: "heapcheck" */
#define RTDM_SUBCLASS_HEAPCHECK 4
+/** subclase name: "latmus" */
+#define RTDM_SUBCLASS_LATMUS 5
/** @} */
/*!
@@ -193,6 +241,21 @@ struct rttst_heap_stathdr {
#define RTTST_RTIOC_HEAP_STAT_COLLECT \
_IOR(RTIOC_TYPE_TESTING, 0x45, int)
+#define RTTST_RTIOC_COBALT_LATIOC_TUNE \
+ _IOWR(RTIOC_TYPE_TESTING, 0x50, struct latmus_setup)
+
+#define RTTST_RTIOC_COBALT_LATIOC_MEASURE \
+ _IOWR(RTIOC_TYPE_TESTING, 0x51, struct latmus_setup)
+
+#define RTTST_RTIOC_COBALT_LATIOC_RUN \
+ _IOR(RTIOC_TYPE_TESTING, 0x52, struct latmus_result)
+
+#define RTTST_RTIOC_COBALT_LATIOC_PULSE \
+ _IOW(RTIOC_TYPE_TESTING, 0x53, __u64)
+
+#define RTTST_RTIOC_COBALT_LATIOC_RESET \
+ _IO(RTIOC_TYPE_TESTING, 0x54)
+
/** @} */
#endif /* !_RTDM_UAPI_TESTING_H */
diff --git a/kernel/drivers/testing/Kconfig b/kernel/drivers/testing/Kconfig
index 88c043c82..f5db0c14e 100644
--- a/kernel/drivers/testing/Kconfig
+++ b/kernel/drivers/testing/Kconfig
@@ -26,4 +26,14 @@ config XENO_DRIVERS_RTDMTEST
help
Kernel driver for performing RTDM unit tests.
+config COBALT_LATMUS
+ bool "Timer latency calibration and measurement"
+ depends on DOVETAIL && XENO_OPT_PIPE
+ default y
+ help
+ This driver supports the latmus application for
+ determining the best gravity values for the cobalt core
+ clock, and measuring the response time to timer events.
+ If in doubt, say 'Y'.
+
endmenu
diff --git a/kernel/drivers/testing/Makefile b/kernel/drivers/testing/Makefile
index 09b076348..cad4ad50d 100644
--- a/kernel/drivers/testing/Makefile
+++ b/kernel/drivers/testing/Makefile
@@ -3,6 +3,7 @@ obj-$(CONFIG_XENO_DRIVERS_TIMERBENCH) += xeno_timerbench.o
obj-$(CONFIG_XENO_DRIVERS_SWITCHTEST) += xeno_switchtest.o
obj-$(CONFIG_XENO_DRIVERS_RTDMTEST) += xeno_rtdmtest.o
obj-$(CONFIG_XENO_DRIVERS_HEAPCHECK) += xeno_heapcheck.o
+obj-$(CONFIG_COBALT_LATMUS) += latmus.o
xeno_timerbench-y := timerbench.o
diff --git a/kernel/drivers/testing/latmus.c b/kernel/drivers/testing/latmus.c
new file mode 100644
index 000000000..bef662260
--- /dev/null
+++ b/kernel/drivers/testing/latmus.c
@@ -0,0 +1,1237 @@
+/*
+ * SPDX-License-Identifier: GPL-2.0
+ *
+ * Derived from Xenomai Cobalt's autotune driver, https://xenomai.org/
+ * Copyright (C) 2014, 2018 Philippe Gerum <rpm@xenomai.org>
+ */
+
+#include <linux/types.h>
+#include <linux/init.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/kernel.h>
+#include <linux/sort.h>
+#include <linux/cdev.h>
+#include <linux/fs.h>
+#include <linux/fcntl.h>
+#include <cobalt/kernel/pipe.h>
+#include <cobalt/kernel/sched.h>
+#include <rtdm/ipc.h>
+#include <rtdm/testing.h>
+#include <rtdm/driver.h>
+#include <rtdm/compat.h>
+
+#define ONE_BILLION 1000000000
+#define TUNER_SAMPLING_TIME 500000000UL
+#define TUNER_WARMUP_STEPS 10
+#define TUNER_RESULT_STEPS 40
+
+#define progress(__runner, __fmt, __args...) \
+ do { \
+ if ((__runner)->verbosity > 1) \
+ printk(XENO_INFO "latmus(%s) " __fmt "\n", \
+ (__runner)->name, ##__args); \
+ } while (0)
+
+#define cobalt_init_xntimer_on_cpu(__timer, __cpu, __handler) \
+ rtdm_timer_init_on_cpu(__timer, __handler, \
+ #__handler, __cpu)
+
+struct latmus_message {
+ struct xnpipe_mh mh;
+ char data[];
+};
+
+struct tuning_score {
+ int pmean;
+ int stddev;
+ int minlat;
+ unsigned int step;
+ unsigned int gravity;
+};
+
+struct runner_state {
+ ktime_t ideal;
+ int offset;
+ int min_lat;
+ int max_lat;
+ int allmax_lat;
+ int prev_mean;
+ int prev_sqs;
+ int cur_sqs;
+ int sum;
+ unsigned int overruns;
+ unsigned int cur_samples;
+ unsigned int max_samples;
+};
+
+struct latmus_runner {
+ const char *name;
+ unsigned int (*get_gravity)(struct latmus_runner *runner);
+ void (*set_gravity)(struct latmus_runner *runner, unsigned int gravity);
+ unsigned int (*adjust_gravity)(struct latmus_runner *runner, int adjust);
+ int (*start)(struct latmus_runner *runner, ktime_t start_time);
+ void (*stop)(struct latmus_runner *runner);
+ void (*destroy)(struct latmus_runner *runner);
+ int (*add_sample)(struct latmus_runner *runner, ktime_t timestamp);
+ int (*run)(struct rtdm_fd *fd, struct latmus_runner *runner,
+ struct latmus_result *result);
+ void (*cleanup)(struct latmus_runner *runner);
+ struct runner_state state;
+ struct rtdm_event done;
+ int status;
+ int verbosity;
+ ktime_t period;
+ union {
+ struct {
+ struct tuning_score scores[TUNER_RESULT_STEPS];
+ int nscores;
+ };
+ struct {
+ unsigned int warmup_samples;
+ unsigned int warmup_limit;
+ int socketfd;
+ void *xbuf;
+ u32 hcells;
+ s32 *histogram;
+ };
+ };
+};
+
+struct irq_runner {
+ rtdm_timer_t timer;
+ struct latmus_runner runner;
+};
+
+struct kthread_runner {
+ rtdm_task_t kthread;
+ struct rtdm_event barrier;
+ ktime_t start_time;
+ struct latmus_runner runner;
+};
+
+struct uthread_runner {
+ rtdm_timer_t timer;
+ struct rtdm_event pulse;
+ struct latmus_runner runner;
+};
+
+struct sirq_runner {
+ int sirq;
+ struct sirq_runner * __percpu *sirq_percpu;
+ rtdm_timer_t timer;
+ struct latmus_runner runner;
+};
+
+struct latmus_state {
+ struct latmus_runner *runner;
+ rtdm_lock_t latmus_lock;
+};
+
+static inline void init_runner_base(struct latmus_runner *runner)
+{
+ rtdm_event_init(&runner->done, 0);
+ runner->status = 0;
+ runner->socketfd = -1;
+}
+
+static inline void destroy_runner_base(struct latmus_runner *runner)
+{
+ rtdm_event_destroy(&runner->done);
+ if (runner->cleanup)
+ runner->cleanup(runner);
+}
+
+static inline void done_sampling(struct latmus_runner *runner,
+ int status)
+{
+ runner->status = status;
+ rtdm_event_signal(&runner->done);
+}
+
+static void send_measurement(struct latmus_runner *runner)
+{
+ struct runner_state *state = &runner->state;
+ struct latmus_measurement *meas;
+ struct latmus_message *mbuf;
+ int len;
+
+ len = sizeof(*meas) + sizeof(*mbuf);
+ mbuf = xnmalloc(len);
+ if (mbuf == NULL)
+ return;
+
+ meas = (struct latmus_measurement *)mbuf->data;
+ meas->min_lat = state->min_lat;
+ meas->max_lat = state->max_lat;
+ meas->sum_lat = state->sum;
+ meas->overruns = state->overruns;
+ meas->samples = state->cur_samples;
+
+ runner->xbuf = mbuf;
+ xnpipe_send(runner->socketfd, &mbuf->mh, len, XNPIPE_NORMAL);
+
+ /* Reset counters for next round. */
+ state->min_lat = INT_MAX;
+ state->max_lat = INT_MIN;
+ state->sum = 0;
+ state->overruns = 0;
+ state->cur_samples = 0;
+}
+
+static int add_measurement_sample(struct latmus_runner *runner,
+ ktime_t timestamp)
+{
+ struct runner_state *state = &runner->state;
+ ktime_t period = runner->period;
+ int delta, cell, offset_delta;
+
+ /* Skip samples in warmup time. */
+ if (runner->warmup_samples < runner->warmup_limit) {
+ runner->warmup_samples++;
+ state->ideal = ktime_add(state->ideal, period);
+ return 0;
+ }
+
+ delta = (int)ktime_to_ns(ktime_sub(timestamp, state->ideal));
+ offset_delta = delta - state->offset;
+ if (offset_delta < state->min_lat)
+ state->min_lat = offset_delta;
+ if (offset_delta > state->max_lat)
+ state->max_lat = offset_delta;
+ if (offset_delta > state->allmax_lat) {
+ state->allmax_lat = offset_delta;
+ //trace_evl_latspot(offset_delta);
+ //trace_evl_trigger("latmus");
+ }
+
+ if (runner->histogram) {
+ cell = (offset_delta < 0 ? -offset_delta : offset_delta) / 1000; /* us */
+ if (cell >= runner->hcells)
+ cell = runner->hcells - 1;
+ runner->histogram[cell]++;
+ }
+
+ state->sum += offset_delta;
+ state->ideal = ktime_add(state->ideal, period);
+
+ while (delta > 0 &&
+ (unsigned int)delta > ktime_to_ns(period)) { /* period > 0 */
+ state->overruns++;
+ state->ideal = ktime_add(state->ideal, period);
+ delta -= ktime_to_ns(period);
+ }
+
+ if (++state->cur_samples >= state->max_samples)
+ send_measurement(runner);
+
+ return 0; /* Always keep going. */
+}
+
+static int add_tuning_sample(struct latmus_runner *runner,
+ ktime_t timestamp)
+{
+ struct runner_state *state = &runner->state;
+ int n, delta, cur_mean;
+
+ delta = (int)ktime_to_ns(ktime_sub(timestamp, state->ideal));
+ if (delta < state->min_lat)
+ state->min_lat = delta;
+ if (delta > state->max_lat)
+ state->max_lat = delta;
+ if (delta < 0)
+ delta = 0;
+
+ state->sum += delta;
+ state->ideal = ktime_add(state->ideal, runner->period);
+ n = ++state->cur_samples;
+
+ /* TAOCP (Vol 2), single-pass computation of variance. */
+ if (n == 1)
+ state->prev_mean = delta;
+ else {
+ cur_mean = state->prev_mean + (delta - state->prev_mean) / n;
+ state->cur_sqs = state->prev_sqs + (delta - state->prev_mean)
+ * (delta - cur_mean);
+ state->prev_mean = cur_mean;
+ state->prev_sqs = state->cur_sqs;
+ }
+
+ if (n >= state->max_samples) {
+ done_sampling(runner, 0);
+ return 1; /* Finished. */
+ }
+
+ return 0; /* Keep going. */
+}
+
+static void latmus_irq_handler(rtdm_timer_t *timer) /* hard irqs off */
+{
+ struct irq_runner *irq_runner;
+ ktime_t now;
+
+ irq_runner = container_of(timer, struct irq_runner, timer);
+ now = xnclock_read_raw(&nkclock);
+ if (irq_runner->runner.add_sample(&irq_runner->runner, now))
+ rtdm_timer_stop(timer);
+}
+
+static void destroy_irq_runner(struct latmus_runner *runner)
+{
+ struct irq_runner *irq_runner;
+
+ irq_runner = container_of(runner, struct irq_runner, runner);
+ rtdm_timer_destroy(&irq_runner->timer);
+ destroy_runner_base(runner);
+ kfree(irq_runner);
+}
+
+static unsigned int get_irq_gravity(struct latmus_runner *runner)
+{
+ return nkclock.gravity.irq;
+}
+
+static void set_irq_gravity(struct latmus_runner *runner, unsigned int gravity)
+{
+ nkclock.gravity.irq = gravity;
+}
+
+static unsigned int adjust_irq_gravity(struct latmus_runner *runner, int adjust)
+{
+ return nkclock.gravity.irq += adjust;
+}
+
+static int start_irq_runner(struct latmus_runner *runner,
+ ktime_t start_time)
+{
+ struct irq_runner *irq_runner;
+
+ irq_runner = container_of(runner, struct irq_runner, runner);
+
+ rtdm_timer_start(&irq_runner->timer, start_time,
+ runner->period, RTDM_TIMERMODE_ABSOLUTE);
+
+ return 0;
+}
+
+static void stop_irq_runner(struct latmus_runner *runner)
+{
+ struct irq_runner *irq_runner;
+
+ irq_runner = container_of(runner, struct irq_runner, runner);
+
+ rtdm_timer_stop(&irq_runner->timer);
+}
+
+static struct latmus_runner *create_irq_runner(int cpu)
+{
+ struct irq_runner *irq_runner;
+
+ irq_runner = kzalloc(sizeof(*irq_runner), GFP_KERNEL);
+ if (irq_runner == NULL)
+ return NULL;
+
+ irq_runner->runner = (struct latmus_runner){
+ .name = "irqhand",
+ .destroy = destroy_irq_runner,
+ .get_gravity = get_irq_gravity,
+ .set_gravity = set_irq_gravity,
+ .adjust_gravity = adjust_irq_gravity,
+ .start = start_irq_runner,
+ .stop = stop_irq_runner,
+ };
+
+ init_runner_base(&irq_runner->runner);
+ cobalt_init_xntimer_on_cpu(&irq_runner->timer, cpu, latmus_irq_handler);
+
+ return &irq_runner->runner;
+}
+
+static irqreturn_t latmus_sirq_handler(int sirq, void *dev_id)
+{
+ struct sirq_runner * __percpu *self_percpu = dev_id;
+ struct sirq_runner *sirq_runner = *self_percpu;
+ ktime_t now;
+
+ now = xnclock_read_raw(&nkclock);
+ if (sirq_runner->runner.add_sample(&sirq_runner->runner, now))
+ rtdm_timer_stop(&sirq_runner->timer);
+
+ return IRQ_HANDLED;
+}
+
+static void latmus_sirq_timer_handler(rtdm_timer_t *timer) /* hard irqs off */
+{
+ struct sirq_runner *sirq_runner;
+ struct runner_state *state;
+ ktime_t now;
+
+ now = xnclock_read_raw(&nkclock);
+ sirq_runner = container_of(timer, struct sirq_runner, timer);
+ state = &sirq_runner->runner.state;
+ state->offset = (int)ktime_to_ns(ktime_sub(now, state->ideal));
+ irq_post_inband(sirq_runner->sirq);
+}
+
+static void destroy_sirq_runner(struct latmus_runner *runner)
+{
+ struct sirq_runner *sirq_runner;
+
+ sirq_runner = container_of(runner, struct sirq_runner, runner);
+ rtdm_timer_destroy(&sirq_runner->timer);
+ free_percpu_irq(sirq_runner->sirq, sirq_runner->sirq_percpu);
+ free_percpu(sirq_runner->sirq_percpu);
+ irq_dispose_mapping(sirq_runner->sirq);
+ destroy_runner_base(runner);
+ kfree(sirq_runner);
+}
+
+static int start_sirq_runner(struct latmus_runner *runner,
+ ktime_t start_time)
+{
+ struct sirq_runner *sirq_runner;
+
+ sirq_runner = container_of(runner, struct sirq_runner, runner);
+
+ rtdm_timer_start(&sirq_runner->timer, start_time,
+ runner->period, RTDM_TIMERMODE_ABSOLUTE);
+
+ return 0;
+}
+
+static void stop_sirq_runner(struct latmus_runner *runner)
+{
+ struct sirq_runner *sirq_runner;
+
+ sirq_runner = container_of(runner, struct sirq_runner, runner);
+
+ rtdm_timer_stop(&sirq_runner->timer);
+}
+
+static struct latmus_runner *create_sirq_runner(int cpu)
+{
+ struct sirq_runner * __percpu *sirq_percpu;
+ struct sirq_runner *sirq_runner;
+ int sirq, ret, _cpu;
+
+ sirq_percpu = alloc_percpu(struct sirq_runner *);
+ if (sirq_percpu == NULL)
+ return ERR_PTR(-ENOMEM);
+
+ sirq_runner = kzalloc(sizeof(*sirq_runner), GFP_KERNEL);
+ if (sirq_runner == NULL) {
+ free_percpu(sirq_percpu);
+ return NULL;
+ }
+
+ sirq = irq_create_direct_mapping(synthetic_irq_domain);
+ if (sirq == 0) {
+ free_percpu(sirq_percpu);
+ kfree(sirq_runner);
+ return ERR_PTR(-EAGAIN);
+ }
+
+ sirq_runner->runner = (struct latmus_runner){
+ .name = "sirqhand",
+ .destroy = destroy_sirq_runner,
+ .start = start_sirq_runner,
+ .stop = stop_sirq_runner,
+ };
+ sirq_runner->sirq = sirq;
+ sirq_runner->sirq_percpu = sirq_percpu;
+ init_runner_base(&sirq_runner->runner);
+ cobalt_init_xntimer_on_cpu(&sirq_runner->timer, cpu,
+ latmus_sirq_timer_handler);
+
+ for_each_possible_cpu(_cpu)
+ *per_cpu_ptr(sirq_percpu, _cpu) = sirq_runner;
+
+ ret = __request_percpu_irq(sirq, latmus_sirq_handler,
+ IRQF_NO_THREAD,
+ "latmus sirq",
+ sirq_percpu);
+ if (ret) {
+ rtdm_timer_destroy(&sirq_runner->timer);
+ irq_dispose_mapping(sirq);
+ free_percpu(sirq_percpu);
+ kfree(sirq_runner);
+ return ERR_PTR(ret);
+ }
+
+ return &sirq_runner->runner;
+}
+
+void kthread_handler(void *arg)
+{
+ struct kthread_runner *k_runner = arg;
+ ktime_t now;
+ int ret = 0;
+
+ for (;;) {
+ if (rtdm_task_should_stop())
+ break;
+
+ ret = rtdm_event_wait(&k_runner->barrier);
+ if (ret)
+ break;
+
+ ret = rtdm_task_set_period(&k_runner->kthread,
+ k_runner->start_time,
+ k_runner->runner.period);
+ if (ret)
+ break;
+
+ for (;;) {
+ ret = rtdm_task_wait_period(NULL);
+ if (ret && ret != -ETIMEDOUT)
+ goto out;
+
+ now = xnclock_read_raw(&nkclock);
+ if (k_runner->runner.add_sample(&k_runner->runner, now)) {
+ rtdm_task_set_period(&k_runner->kthread, 0, 0);
+ break;
+ }
+ }
+ }
+out:
+ done_sampling(&k_runner->runner, ret);
+ rtdm_task_destroy(&k_runner->kthread);
+}
+
+static void destroy_kthread_runner(struct latmus_runner *runner)
+{
+ struct kthread_runner *k_runner;
+
+ k_runner = container_of(runner, struct kthread_runner, runner);
+ rtdm_task_destroy(&k_runner->kthread);
+ rtdm_event_destroy(&k_runner->barrier);
+ destroy_runner_base(runner);
+ kfree(k_runner);
+}
+
+static unsigned int get_kthread_gravity(struct latmus_runner *runner)
+{
+ return nkclock.gravity.kernel;
+}
+
+static void
+set_kthread_gravity(struct latmus_runner *runner, unsigned int gravity)
+{
+ nkclock.gravity.kernel = gravity;
+}
+
+static unsigned int
+adjust_kthread_gravity(struct latmus_runner *runner, int adjust)
+{
+ return nkclock.gravity.kernel += adjust;
+}
+
+static int start_kthread_runner(struct latmus_runner *runner,
+ ktime_t start_time)
+{
+ struct kthread_runner *k_runner;
+
+ k_runner = container_of(runner, struct kthread_runner, runner);
+
+ k_runner->start_time = start_time;
+ rtdm_event_signal(&k_runner->barrier);
+
+ return 0;
+}
+
+static struct latmus_runner *
+create_kthread_runner(int priority, int cpu)
+{
+ struct kthread_runner *k_runner;
+ int ret;
+ char *taskname;
+
+ k_runner = kzalloc(sizeof(*k_runner), GFP_KERNEL);
+ if (k_runner == NULL)
+ return NULL;
+
+ k_runner->runner = (struct latmus_runner){
+ .name = "kthread",
+ .destroy = destroy_kthread_runner,
+ .get_gravity = get_kthread_gravity,
+ .set_gravity = set_kthread_gravity,
+ .adjust_gravity = adjust_kthread_gravity,
+ .start = start_kthread_runner,
+ };
+
+ init_runner_base(&k_runner->runner);
+ rtdm_event_init(&k_runner->barrier, 0);
+
+ taskname = kasprintf(GFP_KERNEL, "latmus-klat:%d",
+ task_pid_nr(current));
+ ret = rtdm_task_init_on_cpu(&k_runner->kthread, cpu,
+ taskname,
+ kthread_handler,
+ k_runner,
+ priority,
+ 0);
+ kfree(taskname);
+ if (ret) {
+ kfree(k_runner);
+ return ERR_PTR(ret);
+ }
+
+ return &k_runner->runner;
+}
+
+static void latmus_pulse_handler(rtdm_timer_t *timer)
+{
+ struct uthread_runner *u_runner;
+
+ u_runner = container_of(timer, struct uthread_runner, timer);
+ rtdm_event_signal(&u_runner->pulse);
+}
+
+static void destroy_uthread_runner(struct latmus_runner *runner)
+{
+ struct uthread_runner *u_runner;
+
+ u_runner = container_of(runner, struct uthread_runner, runner);
+ rtdm_timer_destroy(&u_runner->timer);
+ rtdm_event_destroy(&u_runner->pulse);
+ destroy_runner_base(runner);
+ kfree(u_runner);
+}
+
+static unsigned int get_uthread_gravity(struct latmus_runner *runner)
+{
+ return nkclock.gravity.user;
+}
+
+static void set_uthread_gravity(struct latmus_runner *runner,
+ unsigned int gravity)
+{
+ nkclock.gravity.user = gravity;
+}
+
+static unsigned int
+adjust_uthread_gravity(struct latmus_runner *runner, int adjust)
+{
+ return nkclock.gravity.user += adjust;
+}
+
+static int start_uthread_runner(struct latmus_runner *runner,
+ ktime_t start_time)
+{
+ struct uthread_runner *u_runner;
+
+ u_runner = container_of(runner, struct uthread_runner, runner);
+
+ rtdm_timer_start(&u_runner->timer, start_time,
+ runner->period, RTDM_TIMERMODE_ABSOLUTE);
+
+ return 0;
+}
+
+static void stop_uthread_runner(struct latmus_runner *runner)
+{
+ struct uthread_runner *u_runner;
+
+ u_runner = container_of(runner, struct uthread_runner, runner);
+
+ rtdm_timer_stop(&u_runner->timer);
+}
+
+static int add_uthread_sample(struct latmus_runner *runner,
+ ktime_t user_timestamp)
+{
+ struct uthread_runner *u_runner;
+ int ret;
+
+ u_runner = container_of(runner, struct uthread_runner, runner);
+
+ if (user_timestamp &&
+ u_runner->runner.add_sample(runner, user_timestamp)) {
+ rtdm_timer_stop(&u_runner->timer);
+ /* Tell the caller to park until next round. */
+ ret = -EPIPE;
+ } else {
+ ret = rtdm_event_wait(&u_runner->pulse);
+ }
+
+ return ret;
+}
+
+static struct latmus_runner *create_uthread_runner(int cpu)
+{
+ struct uthread_runner *u_runner;
+
+ u_runner = kzalloc(sizeof(*u_runner), GFP_KERNEL);
+ if (u_runner == NULL)
+ return NULL;
+
+ u_runner->runner = (struct latmus_runner){
+ .name = "uthread",
+ .destroy = destroy_uthread_runner,
+ .get_gravity = get_uthread_gravity,
+ .set_gravity = set_uthread_gravity,
+ .adjust_gravity = adjust_uthread_gravity,
+ .start = start_uthread_runner,
+ .stop = stop_uthread_runner,
+ };
+
+ init_runner_base(&u_runner->runner);
+ cobalt_init_xntimer_on_cpu(&u_runner->timer, cpu, latmus_pulse_handler);
+ xntimer_set_gravity(&u_runner->timer, XNTIMER_UGRAVITY);
+ rtdm_event_init(&u_runner->pulse, 0);
+
+ return &u_runner->runner;
+}
+
+static inline void build_score(struct latmus_runner *runner, int step)
+{
+ struct runner_state *state = &runner->state;
+ unsigned int variance, n;
+
+ n = state->cur_samples;
+ runner->scores[step].pmean = state->sum / n;
+ variance = n > 1 ? state->cur_sqs / (n - 1) : 0;
+ runner->scores[step].stddev = int_sqrt(variance);
+ runner->scores[step].minlat = state->min_lat;
+ runner->scores[step].gravity = runner->get_gravity(runner);
+ runner->scores[step].step = step;
+ runner->nscores++;
+}
+
+static int cmp_score_mean(const void *c, const void *r)
+{
+ const struct tuning_score *sc = c, *sr = r;
+
+ return sc->pmean - sr->pmean;
+}
+
+static int cmp_score_stddev(const void *c, const void *r)
+{
+ const struct tuning_score *sc = c, *sr = r;
+
+ return sc->stddev - sr->stddev;
+}
+
+static int cmp_score_minlat(const void *c, const void *r)
+{
+ const struct tuning_score *sc = c, *sr = r;
+
+ return sc->minlat - sr->minlat;
+}
+
+static int cmp_score_gravity(const void *c, const void *r)
+{
+ const struct tuning_score *sc = c, *sr = r;
+
+ return sc->gravity - sr->gravity;
+}
+
+static int filter_mean(struct latmus_runner *runner)
+{
+ sort(runner->scores, runner->nscores,
+ sizeof(struct tuning_score),
+ cmp_score_mean, NULL);
+
+ /* Top half of the best pondered means. */
+
+ return (runner->nscores + 1) / 2;
+}
+
+static int filter_stddev(struct latmus_runner *runner)
+{
+ sort(runner->scores, runner->nscores,
+ sizeof(struct tuning_score),
+ cmp_score_stddev, NULL);
+
+ /* Top half of the best standard deviations. */
+
+ return (runner->nscores + 1) / 2;
+}
+
+static int filter_minlat(struct latmus_runner *runner)
+{
+ sort(runner->scores, runner->nscores,
+ sizeof(struct tuning_score),
+ cmp_score_minlat, NULL);
+
+ /* Top half of the minimum latencies. */
+
+ return (runner->nscores + 1) / 2;
+}
+
+static int filter_gravity(struct latmus_runner *runner)
+{
+ sort(runner->scores, runner->nscores,
+ sizeof(struct tuning_score),
+ cmp_score_gravity, NULL);
+
+ /* Smallest gravity required among the shortest latencies. */
+
+ return runner->nscores;
+}
+
+static void dump_scores(struct latmus_runner *runner)
+{
+ int n;
+
+ if (runner->verbosity < 2)
+ return;
+
+ for (n = 0; n < runner->nscores; n++)
+ printk(XENO_INFO
+ ".. S%.2d pmean=%d stddev=%d minlat=%d gravity=%u\n",
+ runner->scores[n].step,
+ runner->scores[n].pmean,
+ runner->scores[n].stddev,
+ runner->scores[n].minlat,
+ runner->scores[n].gravity);
+}
+
+static inline void filter_score(struct latmus_runner *runner,
+ int (*filter)(struct latmus_runner *runner))
+{
+ runner->nscores = filter(runner);
+ dump_scores(runner);
+}
+
+static void __latmus_free_handler(void *buf, void *skarg) /* nklock free */
+{
+ struct latmus_runner *runner = skarg;
+
+ xnfree(runner->xbuf);
+}
+
+static int measure_continously(struct latmus_runner *runner)
+{
+ struct runner_state *state = &runner->state;
+ ktime_t period = runner->period;
+ int ret;
+
+ state->max_samples = ONE_BILLION / (int)ktime_to_ns(period);
+ runner->add_sample = add_measurement_sample;
+ state->min_lat = INT_MAX;
+ state->max_lat = INT_MIN;
+ state->allmax_lat = INT_MIN;
+ state->sum = 0;
+ state->overruns = 0;
+ state->cur_samples = 0;
+ state->offset = 0; /* for SIRQ latency only. */
+ state->ideal = ktime_add(xnclock_read_raw(&nkclock), period);
+
+ ret = runner->start(runner, state->ideal);
+ if (ret)
+ goto out;
+
+ ret = rtdm_event_wait(&runner->done) ?: runner->status;
+
+ if (runner->stop)
+ runner->stop(runner);
+out:
+ return ret;
+}
+
+static int tune_gravity(struct latmus_runner *runner)
+{
+ struct runner_state *state = &runner->state;
+ int ret, step, gravity_limit, adjust;
+ ktime_t period = runner->period;
+ unsigned int orig_gravity;
+
+ state->max_samples = TUNER_SAMPLING_TIME / (int)ktime_to_ns(period);
+ orig_gravity = runner->get_gravity(runner);
+ runner->add_sample = add_tuning_sample;
+ runner->set_gravity(runner, 0);
+ runner->nscores = 0;
+ adjust = 500; /* Gravity adjustment step */
+ gravity_limit = 0;
+ progress(runner, "warming up...");
+
+ for (step = 0; step < TUNER_WARMUP_STEPS + TUNER_RESULT_STEPS; step++) {
+ state->ideal = ktime_add_ns(xnclock_read_raw(&nkclock),
+ ktime_to_ns(period) * TUNER_WARMUP_STEPS);
+ state->min_lat = INT_MAX;
+ state->max_lat = INT_MIN;
+ state->prev_mean = 0;
+ state->prev_sqs = 0;
+ state->cur_sqs = 0;
+ state->sum = 0;
+ state->cur_samples = 0;
+
+ ret = runner->start(runner, state->ideal);
+ if (ret)
+ goto fail;
+
+ /* Runner stops when posting. */
+ ret = rtdm_event_wait(&runner->done);
+ if (ret)
+ goto fail;
+
+ ret = runner->status;
+ if (ret)
+ goto fail;
+
+ if (step < TUNER_WARMUP_STEPS) {
+ if (state->min_lat > gravity_limit) {
+ gravity_limit = state->min_lat;
+ progress(runner, "gravity limit set to %u ns (%d)",
+ gravity_limit, state->min_lat);
+ }
+ continue;
+ }
+
+ if (state->min_lat < 0) {
+ if (runner->get_gravity(runner) < -state->min_lat) {
+ printk(XENO_WARNING
+ "latmus(%s) failed with early shot (%d ns)\n",
+ runner->name,
+ -(runner->get_gravity(runner) + state->min_lat));
+ ret = -EAGAIN;
+ goto fail;
+ }
+ break;
+ }
+
+ if (((step - TUNER_WARMUP_STEPS) % 5) == 0)
+ progress(runner, "calibrating... (slice %d)",
+ (step - TUNER_WARMUP_STEPS) / 5 + 1);
+
+ build_score(runner, step - TUNER_WARMUP_STEPS);
+
+ /*
+ * Anticipating by more than the minimum latency
+ * detected at warmup would make no sense: cap the
+ * gravity we may try.
+ */
+ if (runner->adjust_gravity(runner, adjust) > gravity_limit) {
+ progress(runner, "beyond gravity limit at %u ns",
+ runner->get_gravity(runner));
+ break;
+ }
+ }
+
+ progress(runner, "calibration scores");
+ dump_scores(runner);
+ progress(runner, "pondered mean filter");
+ filter_score(runner, filter_mean);
+ progress(runner, "standard deviation filter");
+ filter_score(runner, filter_stddev);
+ progress(runner, "minimum latency filter");
+ filter_score(runner, filter_minlat);
+ progress(runner, "gravity filter");
+ filter_score(runner, filter_gravity);
+ runner->set_gravity(runner, runner->scores[0].gravity);
+
+ return 0;
+fail:
+ runner->set_gravity(runner, orig_gravity);
+
+ return ret;
+}
+
+static int setup_tuning(struct latmus_runner *runner,
+ struct latmus_setup *setup)
+{
+ runner->verbosity = setup->u.tune.verbosity;
+ runner->period = setup->period;
+
+ return 0;
+}
+
+static int run_tuning(struct rtdm_fd *fd,
+ struct latmus_runner *runner,
+ struct latmus_result *result)
+{
+ __u32 gravity;
+ int ret;
+
+ ret = tune_gravity(runner);
+ if (ret)
+ return ret;
+
+ gravity = runner->get_gravity(runner);
+
+ if (rtdm_safe_copy_to_user(fd, (void *)(long)result->data_ptr,
+ &gravity, sizeof(gravity)))
+ return -EFAULT;
+
+ return 0;
+}
+
+static int setup_measurement(struct latmus_runner *runner,
+ struct latmus_setup *setup)
+{
+ struct xnpipe_operations ops;
+ int xnpipefd;
+
+ memset(&ops, 0, sizeof(ops));
+ ops.free_obuf = &__latmus_free_handler;
+ xnpipefd = xnpipe_connect(-1, &ops, runner);
+ if (xnpipefd < 0)
+ return xnpipefd;
+ runner->socketfd = xnpipefd;
+ runner->period = setup->period;
+ runner->warmup_limit = ONE_BILLION / (int)ktime_to_ns(setup->period); /* 1s warmup */
+ runner->histogram = NULL;
+ runner->hcells = setup->u.measure.hcells;
+ if (runner->hcells == 0)
+ return 0;
+
+ if (runner->hcells > 1000) /* LART */
+ return -EINVAL;
+
+ runner->histogram = kzalloc(runner->hcells * sizeof(s32),
+ GFP_KERNEL);
+
+ return runner->histogram ? 0 : -ENOMEM;
+}
+
+static int run_measurement(struct rtdm_fd *fd,
+ struct latmus_runner *runner,
+ struct latmus_result *result)
+{
+ struct runner_state *state = &runner->state;
+ struct latmus_measurement_result mr;
+ struct latmus_measurement last;
+ size_t len;
+ int ret;
+
+ if (result->len != sizeof(mr))
+ return -EINVAL;
+
+ if (rtdm_safe_copy_from_user(fd, &mr, (void *)(long)result->data_ptr,
+ sizeof(mr)))
+ return -EFAULT;
+
+ ret = measure_continously(runner);
+ if (ret != -EINTR)
+ return ret;
+
+ /*
+ * Copy the last bulk of consolidated measurements and the
+ * histogram distribution data back to userland.
+ */
+ last.min_lat = state->min_lat;
+ last.max_lat = state->max_lat;
+ last.sum_lat = state->sum;
+ last.overruns = state->overruns;
+ last.samples = state->cur_samples;
+ if (rtdm_safe_copy_to_user(fd, (void *)(long)mr.last_ptr,
+ &last, sizeof(last)))
+ return -EFAULT;
+
+ if (runner->histogram) {
+ len = runner->hcells * sizeof(s32);
+ if (len > mr.len)
+ len = result->len;
+ if (len > 0 &&
+ rtdm_safe_copy_to_user(fd, (void *)(long)mr.histogram_ptr,
+ runner->histogram, len))
+ return -EFAULT;
+ }
+
+ return 0;
+}
+
+static void cleanup_measurement(struct latmus_runner *runner)
+{
+ if (runner->socketfd >= 0) {
+ xnpipe_disconnect(runner->socketfd);
+ runner->socketfd = -1;
+ }
+
+ if (runner->histogram)
+ kfree(runner->histogram);
+}
+
+static int latmus_ioctl(struct rtdm_fd *fd, unsigned int cmd, void *arg)
+{
+ struct latmus_state *ls = rtdm_fd_to_private(fd);
+ int (*setup)(struct latmus_runner *runner,
+ struct latmus_setup *setup_data);
+ int (*run)(struct rtdm_fd *fd,
+ struct latmus_runner *runner,
+ struct latmus_result *result);
+ void (*cleanup)(struct latmus_runner *runner);
+ struct latmus_setup setup_data;
+ struct latmus_runner *runner;
+ int ret;
+
+ if (cmd == RTTST_RTIOC_COBALT_LATIOC_RESET) {
+ xnclock_reset_gravity(&nkclock);
+ return 0;
+ }
+
+ /* All other cmds require a setup struct to be passed. */
+
+ if (rtdm_copy_from_user(fd, &setup_data, arg, sizeof(setup_data)))
+ return -EFAULT;
+
+ if (setup_data.type == COBALT_LAT_SIRQ &&
+ cmd != RTTST_RTIOC_COBALT_LATIOC_MEASURE)
+ return -EINVAL;
+
+ switch (cmd) {
+ case RTTST_RTIOC_COBALT_LATIOC_TUNE:
+ setup = setup_tuning;
+ run = run_tuning;
+ cleanup = NULL;
+ break;
+ case RTTST_RTIOC_COBALT_LATIOC_MEASURE:
+ setup = setup_measurement;
+ run = run_measurement;
+ cleanup = cleanup_measurement;
+ break;
+ default:
+ return -ENOSYS;
+ }
+
+ if (setup_data.period <= 0 ||
+ setup_data.period > ONE_BILLION)
+ return -EINVAL;
+
+ if (setup_data.priority < 1 ||
+ setup_data.priority > XNSCHED_FIFO_MAX_PRIO)
+ return -EINVAL;
+
+ if (setup_data.cpu >= num_possible_cpus() ||
+ !xnsched_supported_cpu(setup_data.cpu))
+ return -EINVAL;
+
+ /* Clear previous runner. */
+ runner = ls->runner;
+ if (runner) {
+ runner->destroy(runner);
+ ls->runner = NULL;
+ }
+
+ switch (setup_data.type) {
+ case COBALT_LAT_IRQ:
+ runner = create_irq_runner(setup_data.cpu);
+ break;
+ case COBALT_LAT_KERN:
+ runner = create_kthread_runner(setup_data.priority,
+ setup_data.cpu);
+ break;
+ case COBALT_LAT_USER:
+ runner = create_uthread_runner(setup_data.cpu);
+ break;
+ case COBALT_LAT_SIRQ:
+ runner = create_sirq_runner(setup_data.cpu);
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ if (IS_ERR(runner))
+ return PTR_ERR(runner);
+
+ ret = setup(runner, &setup_data);
+ if (ret) {
+ runner->destroy(runner);
+ return ret;
+ }
+
+ runner->run = run;
+ runner->cleanup = cleanup;
+ ls->runner = runner;
+
+ return ((cmd == RTTST_RTIOC_COBALT_LATIOC_MEASURE) ?
+ runner->socketfd : 0);
+}
+
+static int latmus_oob_ioctl(struct rtdm_fd *fd, unsigned int cmd, void *arg)
+{
+ struct latmus_state *ls = rtdm_fd_to_private(fd);
+ struct latmus_runner *runner;
+ struct latmus_result result;
+ __u64 timestamp;
+ int ret;
+
+ switch (cmd) {
+ case RTTST_RTIOC_COBALT_LATIOC_RUN:
+ runner = ls->runner;
+ if (runner == NULL)
+ return -EAGAIN;
+ ret = rtdm_safe_copy_from_user(fd, &result,
+ arg, sizeof(result));
+
+ if (ret)
+ return -EFAULT;
+ ret = runner->run(fd, runner, &result);
+ break;
+ case RTTST_RTIOC_COBALT_LATIOC_PULSE:
+ runner = ls->runner;
+ if (runner == NULL)
+ return -EAGAIN;
+ if (runner->start != start_uthread_runner)
+ return -EINVAL;
+ ret = rtdm_safe_copy_from_user(fd, ×tamp,
+ arg, sizeof(timestamp));
+ if (ret)
+ return -EFAULT;
+ ret = add_uthread_sample(runner, ns_to_ktime(timestamp));
+ break;
+ default:
+ ret = -ENOSYS;
+ }
+
+ return ret;
+}
+
+static int latmus_open(struct rtdm_fd *fd, int oflags)
+{
+ struct latmus_state *ls;
+
+ ls = rtdm_fd_to_private(fd);
+ ls->runner = NULL;
+ rtdm_lock_init(&ls->latmus_lock);
+
+ return 0;
+}
+
+static void latmus_close(struct rtdm_fd *fd)
+{
+ struct latmus_state *ls = rtdm_fd_to_private(fd);
+ struct latmus_runner *runner;
+
+ runner = ls->runner;
+ if (runner)
+ runner->destroy(runner);
+
+}
+
+static struct rtdm_driver latmus_driver = {
+ .profile_info = RTDM_PROFILE_INFO(latmus,
+ RTDM_CLASS_TESTING,
+ RTDM_SUBCLASS_LATMUS,
+ RTTST_PROFILE_VER),
+ .device_flags = RTDM_NAMED_DEVICE | RTDM_EXCLUSIVE,
+ .device_count = 1,
+ .context_size = sizeof(struct latmus_state),
+ .ops = {
+ .open = latmus_open,
+ .close = latmus_close,
+ .ioctl_rt = latmus_oob_ioctl,
+ .ioctl_nrt = latmus_ioctl,
+ },
+};
+
+static struct rtdm_device device = {
+ .driver = &latmus_driver,
+ .label = "latmus",
+};
+
+static int __init __latmus_init(void)
+{
+ return rtdm_dev_register(&device);
+}
+
+static void __latmus_exit(void)
+{
+ rtdm_dev_unregister(&device);
+}
+
+module_init(__latmus_init);
+module_exit(__latmus_exit);
+
+MODULE_LICENSE("GPL");
--
2.17.1
^ permalink raw reply related [flat|nested] 11+ messages in thread* [PATCH V2 3/3] testsuite/latmus: introduce latmus benchmark
2021-04-16 5:31 [PATCH V2 0/3] introduce latmus hongzha1
2021-04-16 5:31 ` [PATCH V2 1/3] rtdm/testing: latmus: introduce latmus driver hongzha1
2021-04-16 5:31 ` [PATCH V2 2/3] drivers/gpio: core: introduce helper to find gpiochip hongzha1
@ 2021-04-16 5:31 ` hongzha1
2021-04-16 12:05 ` Jan Kiszka
2021-04-16 12:03 ` [PATCH V2 0/3] introduce latmus Jan Kiszka
3 siblings, 1 reply; 11+ messages in thread
From: hongzha1 @ 2021-04-16 5:31 UTC (permalink / raw)
To: xenomai
Measure response time to GPIO events sent by a remote Zephyr-based
latency monitor (latmon). This monitor collects then sends the latency
data over a network connection to the latmus front-end which displays
the results received:
[Linux device under test running latmus] <--+
|
^ | (GPIO ack) |
| | | TCP/IP network connection
| | | (control & data samples)
| (GPIO pulse) v |
|
[Zephyr-based device running latmon] <--+
The generic latency monitor code running the measurement loop is
available from the zephyr/ directory. This support comes with a Zephyr
device tree patch for enabling this monitor on NXP's FRDM-K64F
development board.
Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
---
configure.ac | 1 +
include/rtdm/uapi/testing.h | 16 +
testsuite/Makefile.am | 4 +-
testsuite/latmus/Makefile.am | 18 +
testsuite/latmus/latmus.c | 1446 ++++++++++++++++++++++++++++++++++
5 files changed, 1484 insertions(+), 1 deletion(-)
create mode 100644 testsuite/latmus/Makefile.am
create mode 100644 testsuite/latmus/latmus.c
diff --git a/configure.ac b/configure.ac
index bd5fd5ba9..e8516e103 100644
--- a/configure.ac
+++ b/configure.ac
@@ -954,6 +954,7 @@ AC_CONFIG_FILES([ \
lib/trank/Makefile \
testsuite/Makefile \
testsuite/latency/Makefile \
+ testsuite/latmus/Makefile \
testsuite/switchtest/Makefile \
testsuite/gpiotest/Makefile \
testsuite/gpiobench/Makefile \
diff --git a/include/rtdm/uapi/testing.h b/include/rtdm/uapi/testing.h
index b1723b9f8..d7e2707e1 100644
--- a/include/rtdm/uapi/testing.h
+++ b/include/rtdm/uapi/testing.h
@@ -256,6 +256,22 @@ struct latmus_result {
#define RTTST_RTIOC_COBALT_LATIOC_RESET \
_IO(RTIOC_TYPE_TESTING, 0x54)
+#define LATMON_NET_PORT 2306
+
+struct latmon_net_request {
+ uint32_t period_usecs;
+ uint32_t histogram_cells;
+} __attribute__((__packed__));
+
+struct latmon_net_data {
+ int32_t sum_lat_hi;
+ int32_t sum_lat_lo;
+ int32_t min_lat;
+ int32_t max_lat;
+ uint32_t overruns;
+ uint32_t samples;
+} __attribute__((__packed__));
+
/** @} */
#endif /* !_RTDM_UAPI_TESTING_H */
diff --git a/testsuite/Makefile.am b/testsuite/Makefile.am
index 4932f6d33..4baff2f19 100644
--- a/testsuite/Makefile.am
+++ b/testsuite/Makefile.am
@@ -1,10 +1,11 @@
-SUBDIRS = latency smokey gpiobench
+SUBDIRS = latency latmus smokey gpiobench
if XENO_COBALT
SUBDIRS += \
clocktest \
gpiotest \
+ latmus \
spitest \
switchtest \
xeno-test
@@ -15,6 +16,7 @@ DIST_SUBDIRS = \
gpiotest \
gpiobench \
latency \
+ latmus \
smokey \
spitest \
switchtest \
diff --git a/testsuite/latmus/Makefile.am b/testsuite/latmus/Makefile.am
new file mode 100644
index 000000000..8eab3d740
--- /dev/null
+++ b/testsuite/latmus/Makefile.am
@@ -0,0 +1,18 @@
+testdir = @XENO_TEST_DIR@
+
+CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
+
+test_PROGRAMS = latmus
+
+latmus_SOURCES = latmus.c
+
+latmus_CPPFLAGS = \
+ $(XENO_USER_CFLAGS) \
+ -I$(top_srcdir)/include
+
+latmus_LDFLAGS = @XENO_AUTOINIT_LDFLAGS@ $(XENO_POSIX_WRAPPERS)
+
+latmus_LDADD = \
+ @XENO_CORE_LDADD@ \
+ @XENO_USER_LDADD@ \
+ -lpthread -lrt -lm
diff --git a/testsuite/latmus/latmus.c b/testsuite/latmus/latmus.c
new file mode 100644
index 000000000..016984444
--- /dev/null
+++ b/testsuite/latmus/latmus.c
@@ -0,0 +1,1446 @@
+/*
+ * SPDX-License-Identifier: MIT
+ *
+ * Derived from Xenomai Cobalt's latency & autotune utilities
+ * (http://git.xenomai.org/xenomai-3.git/)
+ * Copyright (C) 2014 Gilles Chanteperdrix <gch@xenomai.org>
+ * Copyright (C) 2018-2020 Philippe Gerum <rpm@xenomai.org>
+ */
+
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdint.h>
+#include <getopt.h>
+#include <netdb.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <signal.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <limits.h>
+#include <time.h>
+#include <string.h>
+#include <memory.h>
+#include <poll.h>
+#include <signal.h>
+#include <error.h>
+#include <errno.h>
+#include <unistd.h>
+#include <ctype.h>
+#include <sys/ioctl.h>
+#include <arpa/inet.h>
+#include <linux/gpio.h>
+#include <rtdm/testing.h>
+#include <rtdm/gpio.h>
+
+#define COBALT_CPU_OOB (1 << 0)
+#define COBALT_CPU_ISOL (1 << 1)
+#define COBALT_CPU_OFFLINE (1 << 2)
+
+#define ISOLATED_CPU_LIST "/sys/devices/system/cpu/isolated"
+#define OOB_CPU_LIST "/sys/module/xenomai/parameters/supported_cpus"
+
+static cpu_set_t isolated_cpus;
+
+#define OOB_GPIO_LAT 1
+#define INBAND_GPIO_LAT 2
+
+#define LATMON_TIMEOUT_SECS 5
+
+static int test_irqlat, test_klat,
+ test_ulat, test_sirqlat,
+ test_gpiolat;
+
+static bool reset, background,
+ abort_on_switch = true;
+
+static int verbosity = 1,
+ abort_threshold;
+
+static bool tuning;
+
+static time_t timeout;
+
+static time_t start_time;
+
+static unsigned int period_usecs = 1000; /* 1ms */
+
+static int responder_priority = 98;
+
+static int responder_cpu = -1;
+
+static int responder_cpu_state;
+
+static struct in_addr gpio_monitor_ip;
+
+static sigset_t sigmask;
+
+static int latmus_fd = -1;
+
+static int gpio_infd = -1, gpio_outfd = -1;
+
+static int gpio_inpin, gpio_outpin;
+
+static int gpio_hdinflags = GPIOHANDLE_REQUEST_INPUT,
+ gpio_hdoutflags = GPIOHANDLE_REQUEST_OUTPUT;
+
+static int gpio_evinflags;
+
+static pthread_t responder, logger;
+
+static sem_t logger_done;
+
+static bool c_state_restricted;
+
+static bool force_cpu;
+
+#define short_optlist "ikusrqbKmtp:A:T:v::l:g::H:P:c:Z:z:I:O:C:"
+
+static const struct option options[] = {
+ {
+ .name = "irq",
+ .has_arg = no_argument,
+ .val = 'i'
+ },
+ {
+ .name = "kernel",
+ .has_arg = no_argument,
+ .val = 'k'
+ },
+ {
+ .name = "user",
+ .has_arg = no_argument,
+ .val = 'u'
+ },
+ {
+ .name = "sirq",
+ .has_arg = no_argument,
+ .val = 's'
+ },
+ {
+ .name = "reset",
+ .has_arg = no_argument,
+ .val = 'r'
+ },
+ {
+ .name = "quiet",
+ .has_arg = no_argument,
+ .val = 'q'
+ },
+ {
+ .name = "background",
+ .has_arg = no_argument,
+ .val = 'b'
+ },
+ {
+ .name = "keep-going",
+ .has_arg = no_argument,
+ .val = 'K'
+ },
+ {
+ .name = "measure",
+ .has_arg = no_argument,
+ .val = 'm',
+ },
+ {
+ .name = "tune",
+ .has_arg = no_argument,
+ .val = 't',
+ },
+ {
+ .name = "period",
+ .has_arg = required_argument,
+ .val = 'p',
+ },
+ {
+ .name = "timeout",
+ .has_arg = required_argument,
+ .val = 'T',
+ },
+ {
+ .name = "maxlat-abort",
+ .has_arg = required_argument,
+ .val = 'A',
+ },
+ {
+ .name = "verbose",
+ .has_arg = optional_argument,
+ .val = 'v',
+ },
+ {
+ .name = "lines",
+ .has_arg = required_argument,
+ .val = 'l',
+ },
+ {
+ .name = "plot",
+ .has_arg = optional_argument,
+ .val = 'g',
+ },
+ {
+ .name = "histogram",
+ .has_arg = required_argument,
+ .val = 'H',
+ },
+ {
+ .name = "priority",
+ .has_arg = required_argument,
+ .val = 'P',
+ },
+ {
+ .name = "cpu",
+ .has_arg = required_argument,
+ .val = 'c',
+ },
+ {
+ .name = "force-cpu",
+ .has_arg = required_argument,
+ .val = 'C',
+ },
+ {
+ .name = "oob-gpio",
+ .has_arg = required_argument,
+ .val = 'Z',
+ },
+ {
+ .name = "inband-gpio",
+ .has_arg = required_argument,
+ .val = 'z',
+ },
+ {
+ .name = "gpio-in",
+ .has_arg = required_argument,
+ .val = 'I',
+ },
+ {
+ .name = "gpio-out",
+ .has_arg = required_argument,
+ .val = 'O',
+ },
+ { /* Sentinel */ }
+};
+
+static inline unsigned int stack_size(unsigned int size)
+{
+ return size > PTHREAD_STACK_MIN ? size : PTHREAD_STACK_MIN;
+}
+
+static void create_responder(pthread_t *tid, void *(*responder)(void *))
+{
+ struct sched_param param;
+ pthread_attr_t attr;
+ int ret;
+
+ pthread_attr_init(&attr);
+ pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
+ pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+ pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
+ param.sched_priority = responder_priority;
+ pthread_attr_setschedparam(&attr, ¶m);
+ pthread_attr_setstacksize(&attr, stack_size(65536));
+ ret = pthread_create(tid, &attr, responder, NULL);
+ pthread_attr_destroy(&attr);
+ if (ret)
+ error(1, ret, "sampling thread");
+}
+
+#define ONE_BILLION 1000000000
+#define TEN_MILLIONS 10000000
+
+static int lat_xfd = -1;
+
+static int lat_sock = -1;
+
+static int data_lines = 21;
+
+static int32_t *histogram;
+
+static unsigned int histogram_cells = 200;
+
+static struct latmus_measurement last_bulk;
+
+static unsigned int all_overruns;
+
+static unsigned int spurious_inband_switches;
+
+static int32_t all_minlat = TEN_MILLIONS, all_maxlat = -TEN_MILLIONS;
+
+static int64_t all_sum;
+
+static int64_t all_samples;
+
+static time_t peak_time;
+
+static FILE *plot_fp;
+
+#define COBALT_LAT_OOB_GPIO (COBALT_LAT_LAST + 1)
+#define COBALT_LAT_INBAND_GPIO (COBALT_LAT_OOB_GPIO + 1)
+
+static int context_type = COBALT_LAT_USER;
+
+const char *context_labels[] = {
+ [COBALT_LAT_IRQ] = "irq",
+ [COBALT_LAT_SIRQ] = "sirq",
+ [COBALT_LAT_KERN] = "kernel",
+ [COBALT_LAT_USER] = "user",
+ [COBALT_LAT_OOB_GPIO] = "oob-gpio",
+ [COBALT_LAT_INBAND_GPIO] = "inband-gpio",
+};
+
+static void __log_results(struct latmus_measurement *meas)
+{
+ if (meas->min_lat < all_minlat)
+ all_minlat = meas->min_lat;
+ if (meas->max_lat > all_maxlat) {
+ peak_time = time(NULL) - start_time - 1;
+ all_maxlat = meas->max_lat;
+ if (abort_threshold && all_maxlat > abort_threshold) {
+ fprintf(stderr, "latency threshold is exceeded"
+ " (%d >= %.3f), aborting.\n",
+ abort_threshold,
+ (double)all_maxlat / 1000.0);
+ exit(102);
+ }
+ }
+
+ all_sum += meas->sum_lat;
+ all_samples += meas->samples;
+ all_overruns += meas->overruns;
+}
+
+static void log_results(struct latmus_measurement *meas,
+ unsigned int round)
+{
+ double min, avg, max, best, worst;
+ bool oops = false;
+ time_t now, dt;
+
+ if (verbosity > 0 && data_lines && (round % data_lines) == 0) {
+ time(&now);
+ dt = now - start_time - 1; /* -1s warm-up time */
+ printf("RTT| %.2ld:%.2ld:%.2ld (%s, %u us period,",
+ dt / 3600, (dt / 60) % 60, dt % 60,
+ context_labels[context_type], period_usecs);
+ if (context_type != COBALT_LAT_IRQ && context_type != COBALT_LAT_SIRQ)
+ printf(" priority %d,", responder_priority);
+ printf(" CPU%d%s)\n",
+ responder_cpu,
+ responder_cpu_state & COBALT_CPU_ISOL ? "" : "-noisol");
+ printf("RTH|%11s|%11s|%11s|%8s|%6s|%11s|%11s\n",
+ "----lat min", "----lat avg",
+ "----lat max", "-overrun", "---msw",
+ "---lat best", "--lat worst");
+ }
+
+ __log_results(meas);
+ min = (double)meas->min_lat / 1000.0;
+ avg = (double)(meas->sum_lat / (int)meas->samples) / 1000.0;
+ max = (double)meas->max_lat / 1000.0;
+ best = (double)all_minlat / 1000.0;
+ worst = (double)all_maxlat / 1000.0;
+
+ /*
+ * A trivial check on the reported values, so that we detect
+ * and stop on obviously inconsistent results.
+ */
+ if (min > max || min > avg || avg > max ||
+ min > worst || max > worst || avg > worst ||
+ best > worst || worst < best) {
+ oops = true;
+ verbosity = 1;
+ }
+
+ if (verbosity > 0)
+ printf("RTD|%11.3f|%11.3f|%11.3f|%8d|%6u|%11.3f|%11.3f\n",
+ min, avg, max,
+ all_overruns, spurious_inband_switches,
+ best, worst);
+
+ if (max > 1000)
+ exit(103);
+ if (oops) {
+ fprintf(stderr, "results look weird, aborting.\n");
+ exit(103);
+ }
+}
+
+static inline void notify_start(void)
+{
+ if (timeout)
+ alarm(timeout + 1); /* +1 warm-up time */
+}
+
+static void create_logger(pthread_t *tid, void *(*logger)(void *), void *arg)
+{
+ struct sched_param param;
+ pthread_attr_t attr;
+ int ret;
+
+ sem_init(&logger_done, 0, 0);
+
+ pthread_attr_init(&attr);
+ pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
+ pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+ pthread_attr_setschedpolicy(&attr, SCHED_OTHER);
+ param.sched_priority = 0;
+ pthread_attr_setschedparam(&attr, ¶m);
+ pthread_attr_setstacksize(&attr, stack_size(65536));
+ ret = pthread_create(tid, &attr, logger, arg);
+ pthread_attr_destroy(&attr);
+ if (ret)
+ error(1, ret, "logger thread");
+}
+
+static void *xbuf_logger_thread(void *arg)
+{
+ struct latmus_measurement meas;
+ ssize_t ret, round = 0;
+
+ for (;;) {
+ ret = read(lat_xfd, &meas, sizeof(meas));
+ if (ret != sizeof(meas))
+ break;
+ log_results(&meas, round++);
+ }
+
+ /* Nobody waits for logger_done in timer mode. */
+
+ return NULL;
+}
+
+static void *timer_responder(void *arg)
+{
+ __u64 timestamp = 0;
+ struct timespec now;
+ int ret;
+
+ for (;;) {
+ ret = ioctl(latmus_fd, RTTST_RTIOC_COBALT_LATIOC_PULSE,
+ ×tamp);
+ if (ret) {
+ if (errno != EPIPE)
+ error(1, errno, "pulse failed");
+ timestamp = 0; /* Next period. */
+ } else {
+ clock_gettime(CLOCK_MONOTONIC, &now);
+ timestamp = (__u64)now.tv_sec * 1000000000 + now.tv_nsec;
+ }
+ }
+
+ return NULL;
+}
+
+static void *timer_test_sitter(void *arg)
+{
+ struct latmus_measurement_result mr;
+ struct latmus_result result;
+ int ret;
+
+ mr.last_ptr = (__u64)(uintptr_t)&last_bulk;
+ mr.histogram_ptr = (__u64)(uintptr_t)histogram;
+ mr.len = histogram ? histogram_cells * sizeof(int32_t) : 0;
+
+ result.data_ptr = (__u64)(uintptr_t)&mr;
+ result.len = sizeof(mr);
+
+ notify_start();
+
+ /* Run test until signal. */
+ ret = ioctl(latmus_fd, RTTST_RTIOC_COBALT_LATIOC_RUN, &result);
+ if (ret)
+ error(1, errno, "measurement failed");
+
+ return NULL;
+}
+
+static void setup_measurement_on_timer(void)
+{
+ struct latmus_setup setup;
+ pthread_attr_t attr;
+ pthread_t sitter;
+ int ret, sig;
+ char *rtp;
+
+ memset(&setup, 0, sizeof(setup));
+ setup.type = context_type;
+ setup.period = period_usecs * 1000ULL; /* ns */
+ setup.priority = responder_priority;
+ setup.cpu = responder_cpu;
+ setup.u.measure.hcells = histogram ? histogram_cells : 0;
+ ret = ioctl(latmus_fd, RTTST_RTIOC_COBALT_LATIOC_MEASURE, &setup);
+ if (ret < 0)
+ error(1, errno, "measurement setup failed");
+
+ /*open xnpipe to exchange message*/
+ if (asprintf(&rtp, "/dev/rtp%d", ret) < 0)
+ error(1, ENOMEM, "resolve rtp name");
+ lat_xfd = open(rtp, O_RDWR);
+ if (lat_xfd < 0)
+ error(1, -lat_xfd, "cannot create rtp");
+ free(rtp);
+ create_logger(&logger, xbuf_logger_thread, NULL);
+
+ if (context_type == COBALT_LAT_USER)
+ create_responder(&responder, timer_responder);
+
+ pthread_attr_init(&attr);
+ pthread_attr_setstacksize(&attr, stack_size(65536));
+ ret = pthread_create(&sitter, &attr, timer_test_sitter, NULL);
+ pthread_attr_destroy(&attr);
+ if (ret)
+ error(1, ret, "timer_test_sitter");
+
+ sigwait(&sigmask, &sig);
+ pthread_cancel(sitter);
+ pthread_join(sitter, NULL);
+
+ /*
+ * Add results from the last incomplete bulk once the sitter
+ * has returned to user-space from oob_ioctl(COBALT_LATIOC_RUN)
+ * then exited, at which point such bulk contains meaningful
+ * data.
+ */
+ if (last_bulk.samples > 0)
+ __log_results(&last_bulk);
+}
+
+static void setup_gpio_pins(int *fds)
+{
+ int value;
+ int ret;
+
+ ret = ioctl(gpio_infd, GPIO_RTIOC_IRQEN, &gpio_evinflags);
+ if (ret)
+ error(1, errno, "ioctl(GPIO_RTIOC_IRQEN)");
+
+ value = 1;
+ ret = ioctl(gpio_infd, GPIO_RTIOC_TS, &value);
+ if (ret)
+ error(1, errno, "ioctl(GPIO_RTIOC_TS)");
+
+ value = 1;
+ ret = ioctl(gpio_outfd, GPIO_RTIOC_DIR_OUT, &value);
+ if (ret)
+ error(1, errno, "ioctl(GPIO_RTIOC_DIR_OUT)");
+
+ fds[0] = gpio_infd;
+ fds[1] = gpio_outfd;
+}
+
+static void *gpio_responder_thread(void *arg)
+{
+ int value;
+ struct rtdm_gpio_readout rdo;
+ const int ackval = 0; /* Remote observes falling edges. */
+ int fds[2], ret;
+
+ setup_gpio_pins(fds);
+
+ for (;;) {
+ value = !ackval;
+ ret = write(fds[1], &value, sizeof(value));
+ if (ret < 0)
+ error(1, errno, "write failed");
+
+ ret = read(fds[0], &rdo,
+ sizeof(struct rtdm_gpio_readout));
+ if (ret != sizeof(struct rtdm_gpio_readout))
+ break;
+
+ value = ackval;
+ ret = write(fds[1], &value, sizeof(value));
+ if (ret < 0)
+ error(1, errno, "write failed");
+ }
+
+ return NULL;
+}
+
+static ssize_t read_net_data(void *buf, size_t len)
+{
+ ssize_t count = 0, ret;
+ struct pollfd pollfd;
+
+ pollfd.fd = lat_sock;
+ pollfd.events = POLLIN;
+ pollfd.revents = 0;
+
+ do {
+ /* Make sure to detect latmon unresponsivess. */
+ ret = poll(&pollfd, 1, LATMON_TIMEOUT_SECS * 1000);
+ if (ret <= 0)
+ return -ETIMEDOUT;
+ ret = recv(lat_sock, buf + count, len - count, 0);
+ if (ret <= 0)
+ return ret;
+ count += ret;
+ } while (count < len);
+
+ return count;
+}
+
+static void *sock_logger_thread(void *arg)
+{
+ struct latmus_measurement meas;
+ struct latmon_net_data ndata;
+ bool *no_response = arg;
+ ssize_t ret, round = 0;
+ int cell;
+
+ for (;;) {
+ ret = read_net_data(&ndata, sizeof(ndata));
+ if (ret <= 0)
+ goto unresponsive;
+
+ /*
+ * Receiving an empty data record means that we got
+ * the trailing data in the previous round, so
+ * we are done with sample bulks now.
+ */
+ if (ndata.samples == 0)
+ break;
+
+ /* This is valid sample data, log it. */
+ meas.sum_lat = ((__s64)ntohl(ndata.sum_lat_hi)) << 32 |
+ ntohl(ndata.sum_lat_lo);
+ meas.min_lat = ntohl(ndata.min_lat);
+ meas.max_lat = ntohl(ndata.max_lat);
+ meas.overruns = ntohl(ndata.overruns);
+ meas.samples = ntohl(ndata.samples);
+ log_results(&meas, round++);
+ }
+
+ if (histogram == NULL)
+ goto out;
+
+ ret = read_net_data(histogram, histogram_cells * sizeof(int32_t));
+ if (ret <= 0) {
+unresponsive:
+ *no_response = true;
+ kill(getpid(), SIGHUP);
+ } else {
+ for (cell = 0; cell < histogram_cells; cell++)
+ histogram[cell] = ntohl(histogram[cell]);
+ }
+out:
+ sem_post(&logger_done);
+
+ return NULL;
+}
+
+static void setup_measurement_on_gpio(void)
+{
+ struct latmon_net_request req;
+ struct sockaddr_in in_addr;
+ bool latmon_hung = false;
+ struct timespec timeout;
+ int ret, sig;
+
+ lat_sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
+ if (lat_sock < 0)
+ error(1, errno, "socket()");
+
+ if (verbosity)
+ printf("connecting to latmon at %s:%d...\n",
+ inet_ntoa(gpio_monitor_ip), LATMON_NET_PORT);
+
+ memset(&in_addr, 0, sizeof(in_addr));
+ in_addr.sin_family = AF_INET;
+ in_addr.sin_addr = gpio_monitor_ip;
+ in_addr.sin_port = htons(LATMON_NET_PORT);
+ ret = connect(lat_sock, (struct sockaddr *)&in_addr,
+ sizeof(in_addr));
+ if (ret)
+ error(1, errno, "connect()");
+
+ if (verbosity && context_type == COBALT_LAT_INBAND_GPIO)
+ printf("CAUTION: measuring in-band response time (no COBALT there)\n");
+
+ create_responder(&responder, gpio_responder_thread);
+ create_logger(&logger, sock_logger_thread, &latmon_hung);
+
+ notify_start();
+ req.period_usecs = htonl(period_usecs); /* Non-zero, means start. */
+ req.histogram_cells = histogram ? htonl(histogram_cells) : 0;
+ ret = send(lat_sock, &req, sizeof(req), 0);
+ if (ret != sizeof(req))
+ error(1, errno, "send() start");
+
+ sigwait(&sigmask, &sig);
+
+ /*
+ * From now on, we may wait up to LATMON_TIMEOUT_SECS
+ * max. between messages from the remote latency monitor
+ * before declaring it unresponsive.
+ */
+ if (!latmon_hung) {
+ req.period_usecs = 0; /* Zero means stop. */
+ req.histogram_cells = 0;
+ ret = send(lat_sock, &req, sizeof(req), 0);
+ if (ret != sizeof(req)) {
+ error(1, errno, "send() stop");
+ latmon_hung = true;
+ } else {
+ clock_gettime(CLOCK_REALTIME, &timeout);
+ timeout.tv_sec += LATMON_TIMEOUT_SECS;
+ if (sem_timedwait(&logger_done, &timeout))
+ latmon_hung = true;
+ }
+ }
+
+ if (latmon_hung)
+ error(1, ETIMEDOUT, "latmon at %s is unresponsive",
+ inet_ntoa(gpio_monitor_ip));
+
+ close(lat_sock);
+}
+
+static void paste_file_in(const char *path, const char *header)
+{
+ char buf[BUFSIZ];
+ FILE *fp;
+
+ fp = fopen(path, "r");
+ if (fp == NULL)
+ return;
+
+ fprintf(plot_fp, "# %s", header ?: "");
+
+ while (fgets(buf, sizeof(buf), fp))
+ fputs(buf, plot_fp);
+
+ fclose(fp);
+}
+
+static void dump_gnuplot(time_t duration)
+{
+ int first, last, n;
+
+ if (all_samples == 0)
+ return;
+
+ fprintf(plot_fp, "# test started on: %s", ctime(&start_time));
+ paste_file_in("/proc/version", NULL);
+ paste_file_in("/proc/cmdline", NULL);
+ //fprintf(plot_fp, "# libevl version: %s\n", evl_get_version().version_string);
+ fprintf(plot_fp, "# sampling period: %u microseconds\n", period_usecs);
+ paste_file_in("/sys/devices/virtual/clock/monotonic/gravity",
+ "clock gravity: ");
+ paste_file_in("/sys/devices/system/clocksource/clocksource0/current_clocksource",
+ "clocksource: ");
+ paste_file_in("/sys/devices/system/clocksource/clocksource0/vdso_clocksource",
+ "vDSO access: ");
+ fprintf(plot_fp, "# context: %s\n", context_labels[context_type]);
+ if (!(test_irqlat || test_sirqlat)) {
+ fprintf(plot_fp, "# thread priority: %d\n", responder_priority);
+ fprintf(plot_fp, "# thread affinity: CPU%d%s\n",
+ responder_cpu,
+ responder_cpu_state & COBALT_CPU_ISOL ? "" : "-noisol");
+ }
+ if (c_state_restricted)
+ fprintf(plot_fp, "# C-state restricted\n");
+ fprintf(plot_fp, "# duration (hhmmss): %.2ld:%.2ld:%.2ld\n",
+ duration / 3600, (duration / 60) % 60, duration % 60);
+ fprintf(plot_fp, "# peak (hhmmss): %.2ld:%.2ld:%.2ld\n",
+ peak_time / 3600, (peak_time / 60) % 60, peak_time % 60);
+ if (all_overruns > 0)
+ fprintf(plot_fp, "# OVERRUNS: %u\n", all_overruns);
+ if (spurious_inband_switches > 0)
+ fprintf(plot_fp, "# IN-BAND SWITCHES: %u\n", spurious_inband_switches);
+ fprintf(plot_fp, "# min latency: %.3f\n",
+ (double)all_minlat / 1000.0);
+ fprintf(plot_fp, "# avg latency: %.3f\n",
+ (double)(all_sum / all_samples) / 1000.0);
+ fprintf(plot_fp, "# max latency: %.3f\n",
+ (double)all_maxlat / 1000.0);
+ fprintf(plot_fp, "# sample count: %lld\n",
+ (long long)all_samples);
+
+ for (n = 0; n < histogram_cells && histogram[n] == 0; n++)
+ ;
+ first = n;
+
+ for (n = histogram_cells - 1; n >= 0 && histogram[n] == 0; n--)
+ ;
+ last = n;
+
+ for (n = first; n < last; n++)
+ fprintf(plot_fp, "%d %d\n", n, histogram[n]);
+
+ /*
+ * If we have outliers, display a '+' sign after the last cell
+ * index.
+ */
+ fprintf(plot_fp, "%d%s %d\n", last,
+ all_maxlat / 1000 >= histogram_cells ? "+" : "",
+ histogram[last]);
+}
+
+static void do_measurement(int type)
+{
+ const char *cpu_s = "";
+ time_t duration;
+
+ context_type = type;
+
+ if (plot_fp) {
+ histogram = malloc(histogram_cells * sizeof(int32_t));
+ if (histogram == NULL)
+ error(1, ENOMEM, "cannot get memory");
+ }
+
+ if (!(responder_cpu_state & COBALT_CPU_ISOL))
+ cpu_s = " (not isolated)";
+
+ if (verbosity > 0)
+ fprintf(stderr, "warming up on CPU%d%s...\n", responder_cpu, cpu_s);
+ else
+ fprintf(stderr, "running quietly for %ld seconds on CPU%d%s\n",
+ timeout, responder_cpu, cpu_s);
+
+ switch (type) {
+ case COBALT_LAT_OOB_GPIO:
+ case COBALT_LAT_INBAND_GPIO:
+ setup_measurement_on_gpio();
+ break;
+ default:
+ setup_measurement_on_timer();
+ }
+
+ duration = time(NULL) - start_time - 1; /* -1s warm-up time */
+ if (plot_fp) {
+ dump_gnuplot(duration);
+ if (plot_fp != stdout)
+ fclose(plot_fp);
+ free(histogram);
+ }
+
+ if (!timeout)
+ timeout = duration;
+
+ if (all_samples > 0)
+ printf("---|-----------|-----------|-----------|--------"
+ "|------|-------------------------\n"
+ "RTS|%11.3f|%11.3f|%11.3f|%8d|%6u| "
+ "%.2ld:%.2ld:%.2ld/%.2ld:%.2ld:%.2ld\n",
+ (double)all_minlat / 1000.0,
+ (double)(all_sum / all_samples) / 1000.0,
+ (double)all_maxlat / 1000.0,
+ all_overruns, spurious_inband_switches,
+ duration / 3600, (duration / 60) % 60,
+ duration % 60, duration / 3600,
+ (timeout / 60) % 60, timeout % 60);
+
+ if (spurious_inband_switches > 0) {
+ if (all_samples > 0)
+ fputc('\n', stderr);
+ fprintf(stderr, "*** WARNING: unexpected switches to in-band mode detected,\n"
+ " latency figures displayed are NOT reliable.\n"
+ " Please submit a bug report upstream.\n");
+ if (abort_on_switch) {
+ abort_on_switch = false;
+ fprintf(stderr, "*** OOPS: aborting upon spurious switch to in-band mode.\n");
+ }
+ }
+
+ if (responder)
+ pthread_cancel(responder);
+
+ if (logger)
+ pthread_cancel(logger);
+}
+
+static void do_tuning(int type)
+{
+ struct latmus_result result;
+ struct latmus_setup setup;
+ pthread_t responder;
+ __s32 gravity;
+ int ret;
+
+ if (verbosity) {
+ printf("%s gravity...", context_labels[type]);
+ fflush(stdout);
+ }
+
+ memset(&setup, 0, sizeof(setup));
+ setup.type = type;
+ setup.period = period_usecs * 1000ULL; /* ns */
+ setup.priority = responder_priority;
+ setup.cpu = responder_cpu;
+ setup.u.tune.verbosity = verbosity;
+ ret = ioctl(latmus_fd, RTTST_RTIOC_COBALT_LATIOC_TUNE, &setup);
+ if (ret)
+ error(1, errno, "tuning setup failed (%s)", context_labels[type]);
+
+ if (type == COBALT_LAT_USER)
+ create_responder(&responder, timer_responder);
+
+ pthread_sigmask(SIG_UNBLOCK, &sigmask, NULL);
+
+ notify_start();
+
+ result.data_ptr = (__u64)(uintptr_t)&gravity;
+ result.len = sizeof(gravity);
+ ret = ioctl(latmus_fd, RTTST_RTIOC_COBALT_LATIOC_RUN, &result);
+ if (ret)
+ error(1, errno, "measurement failed");
+
+ if (type == COBALT_LAT_USER)
+ pthread_cancel(responder);
+
+ if (verbosity)
+ printf("%u ns\n", gravity);
+}
+
+#ifdef CONFIG_XENO_COBALT
+
+#include <cobalt/uapi/syscall.h>
+
+static void sigdebug_handler(int sig, siginfo_t *si, void *context)
+{
+ unsigned int reason = sigdebug_reason(si);
+
+ if (reason > SIGDEBUG_WATCHDOG)
+ reason = SIGDEBUG_UNDEFINED;
+
+ switch (reason) {
+ case SIGDEBUG_UNDEFINED:
+ case SIGDEBUG_NOMLOCK:
+ case SIGDEBUG_WATCHDOG:
+ exit(99);
+ }
+
+ spurious_inband_switches++;
+ if (abort_on_switch)
+ kill(getpid(), SIGHUP);
+}
+#endif /* CONFIG_XENO_COBALT */
+
+static void set_cpu_affinity(void)
+{
+ cpu_set_t cpu_set;
+ int ret;
+
+ CPU_ZERO(&cpu_set);
+ CPU_SET(responder_cpu, &cpu_set);
+ ret = sched_setaffinity(0, sizeof(cpu_set), &cpu_set);
+ if (ret)
+ error(1, errno, "cannot set affinity to CPU%d",
+ responder_cpu);
+}
+
+static void restrict_c_state(void)
+{
+ __s32 val = 0;
+ int fd;
+
+ fd = open("/dev/cpu_dma_latency", O_WRONLY);
+ if (fd < 0)
+ return;
+
+ if (write(fd, &val, sizeof(val) == sizeof(val)))
+ c_state_restricted = true;
+}
+
+static void parse_host_spec(const char *host, struct in_addr *in_addr)
+{
+ struct addrinfo hints, *res;
+ int ret;
+
+ memset(&hints, 0, sizeof(hints));
+ hints.ai_family = AF_INET;
+ hints.ai_socktype = SOCK_STREAM;
+ hints.ai_flags = AI_ADDRCONFIG;
+ ret = getaddrinfo(host, NULL, &hints, &res);
+ if (ret)
+ error(1, ret == EAI_SYSTEM ? errno : ESRCH,
+ "getaddrinfo(%s)", host);
+
+ *in_addr = ((struct sockaddr_in *)res->ai_addr)->sin_addr;
+}
+
+static int parse_gpio_spec(const char *spec, int *pin,
+ int *hdflags, int *evflags)
+{
+ char *s, *dev, *p, *endptr, *devname;
+ int fd, ret;
+
+ s = strdup(spec);
+ dev = strtok(s, ",");
+ if (dev == NULL)
+ error(1, EINVAL, "no GPIO device in spec: %s", spec);
+
+ p = strtok(NULL, ",");
+ if (p == NULL)
+ error(1, EINVAL, "no GPIO pin in spec: %s", spec);
+
+ *pin = (int)strtol(p, &endptr, 10);
+ if (*pin < 0 || endptr == p)
+ error(1, EINVAL, "invalid GPIO pin number in spec: %s",
+ spec);
+
+ ret = asprintf(&devname, "/dev/rtdm/%s/gpio%d", dev, *pin);
+ if (ret < 0)
+ error(1, ENOMEM, "asprintf()");
+
+ p = strtok(NULL, ",");
+ if (evflags) {
+ if (p) {
+ if (!strcmp(p, "rising-edge"))
+ *evflags = GPIO_TRIGGER_EDGE_FALLING;
+ else if (!strcmp(p, "falling-edge"))
+ *evflags = GPIO_TRIGGER_EDGE_RISING;
+ else
+ error(1, EINVAL, "invalid edge type in spec: %s",
+ spec);
+ } else /* Default is rising edge. */
+ *evflags = GPIO_TRIGGER_EDGE_RISING;
+ } else if (p)
+ error(1, EINVAL, "trailing garbage in spec: %s",
+ spec);
+
+ fd = open(devname, O_RDONLY);
+ if (fd < 0)
+ error(1, errno, "open(%s)", devname);
+
+ free(devname);
+ free(s);
+
+ return fd;
+}
+
+static int get_realtime_cpu_set(cpu_set_t *cpuset)
+{
+ unsigned long long cpumask;
+ char buf[BUFSIZ], *p;
+ FILE *fp;
+ int cpu;
+
+ fp = fopen("/sys/module/xenomai/parameters/supported_cpus", "r");
+ if (fp == NULL)
+ return -ENOENT;
+
+ p = fgets(buf, sizeof(buf), fp);
+ fclose(fp);
+ if (p == NULL)
+ return -EBADF;
+
+ errno = 0;
+ cpumask = strtoll(p, NULL, 10);
+ if (cpumask == LLONG_MAX && errno == ERANGE)
+ cpumask = ULLONG_MAX;
+ for (cpu = 0; cpumask != 0; cpu++, cpumask >>= 1) {
+ if (cpumask & 1ULL)
+ CPU_SET(cpu, cpuset);
+ }
+
+ return 0;
+}
+
+static void parse_cpu_list(const char *path, cpu_set_t *cpuset)
+{
+ char *p, *range, *range_p = NULL, *id, *id_r;
+ int start, end, cpu;
+ char buf[BUFSIZ];
+ FILE *fp;
+
+ CPU_ZERO(cpuset);
+
+ fp = fopen(path, "r");
+ if (fp == NULL)
+ return;
+
+ if (!fgets(buf, sizeof(buf), fp))
+ goto out;
+
+ p = buf;
+ while ((range = strtok_r(p, ",", &range_p)) != NULL) {
+ if (*range == '\0' || *range == '\n')
+ goto next;
+ end = -1;
+ id = strtok_r(range, "-", &id_r);
+ if (id) {
+ start = atoi(id);
+ id = strtok_r(NULL, "-", &id_r);
+ if (id)
+ end = atoi(id);
+ else if (end < 0)
+ end = start;
+ for (cpu = start; cpu <= end; cpu++)
+ CPU_SET(cpu, cpuset);
+ }
+next:
+ p = NULL;
+ }
+out:
+ fclose(fp);
+}
+
+static void determine_responder_cpu(bool inband_test)
+{
+ cpu_set_t oob_cpus, best_cpus;
+ int cpu;
+
+ parse_cpu_list(ISOLATED_CPU_LIST, &isolated_cpus);
+ get_realtime_cpu_set(&oob_cpus);
+ if (responder_cpu >= 0) {
+ if (!inband_test && !CPU_ISSET(responder_cpu, &oob_cpus)) {
+ if (verbosity)
+ printf("CPU%d is not OOB-capable, "
+ "picking a better one\n",
+ responder_cpu);
+ goto pick_oob;
+ }
+ goto finish;
+ }
+
+ if (force_cpu)
+ goto finish;
+
+ if (inband_test)
+ goto pick_isolated;
+
+ /*
+ * Pick a default CPU among the ones which are both
+ * OOB-capable and isolated. If COBALT is not enabled, oob_cpus
+ * is empty so there is no best choice.
+ */
+ CPU_AND(&best_cpus, &isolated_cpus, &oob_cpus);
+ for (cpu = 0; cpu < CPU_SETSIZE; cpu++) {
+ if (CPU_ISSET(cpu, &best_cpus)) {
+ responder_cpu = cpu;
+ goto finish;
+ }
+ }
+
+ /*
+ * If no best choice, pick the first OOB-capable CPU we can
+ * find (if any).
+ */
+pick_oob:
+ for (cpu = 0; cpu < CPU_SETSIZE; cpu++) {
+ if (CPU_ISSET(cpu, &oob_cpus)) {
+ responder_cpu = cpu;
+ goto finish;
+ }
+ }
+
+pick_isolated:
+ /*
+ * This must be a kernel with no COBALT support or we
+ * specifically need an isolated CPU.
+ */
+ for (cpu = 0; cpu < CPU_SETSIZE; cpu++) {
+ if (CPU_ISSET(cpu, &isolated_cpus)) {
+ responder_cpu = cpu;
+ goto finish;
+ }
+ }
+
+ /* Out of luck, run on the current CPU. */
+ if (responder_cpu < 0)
+ responder_cpu = sched_getcpu();
+finish:
+ if (CPU_ISSET(responder_cpu, &isolated_cpus))
+ responder_cpu_state = COBALT_CPU_ISOL;
+}
+
+static void usage(void)
+{
+ fprintf(stderr, "usage: latmus [options]:\n");
+ fprintf(stderr, "-m --measure measure latency on timer event [default]\n");
+ fprintf(stderr, "-t --tune tune the COBALT core timer\n");
+ fprintf(stderr, "-i --irq measure/tune interrupt latency\n");
+ fprintf(stderr, "-k --kernel measure/tune kernel scheduling latency\n");
+ fprintf(stderr, "-u --user measure/tune user scheduling latency\n");
+ fprintf(stderr, " [ if none of --irq, --kernel or --user is given,\n"
+ " tune for all contexts ]\n");
+ fprintf(stderr, "-s --sirq measure in-band response time to synthetic irq\n");
+ fprintf(stderr, "-p --period=<us> sampling period\n");
+ fprintf(stderr, "-P --priority=<prio> responder thread priority [=90]\n");
+ fprintf(stderr, "-c --cpu=<n> pin responder thread to CPU [=current]\n");
+ fprintf(stderr, "-C --force-cpu=<n> similar to -c, accept non-isolated CPU\n");
+ fprintf(stderr, "-r --reset reset core timer gravity to factory default\n");
+ fprintf(stderr, "-b --background run in the background (daemon mode)\n");
+ fprintf(stderr, "-K --keep-going keep going on unexpected switch to in-band mode\n");
+ fprintf(stderr, "-A --max-abort=<us> abort if maximum latency exceeds threshold\n");
+ fprintf(stderr, "-T --timeout=<t>[dhms] stop measurement after <t> [d(ays)|h(ours)|m(inutes)|s(econds)]\n");
+ fprintf(stderr, "-v --verbose[=level] set verbosity level [=1]\n");
+ fprintf(stderr, "-q --quiet quiet mode (i.e. --verbose=0)\n");
+ fprintf(stderr, "-l --lines=<num> result lines per page, 0 = no pagination [=21]\n");
+ fprintf(stderr, "-H --histogram[=<nr>] set histogram size to <nr> cells [=200]\n");
+ fprintf(stderr, "-g --plot=<filename> dump histogram data to file (gnuplot format)\n");
+ fprintf(stderr, "-Z --oob-gpio=<host> measure COBALT response time to GPIO event via <host>\n");
+ fprintf(stderr, "-z --inband-gpio=<host> measure in-band response time to GPIO event via <host>\n");
+ fprintf(stderr, "-I --gpio-in=<spec> input GPIO line configuration\n");
+ fprintf(stderr, " with <spec> = gpiochip-devname,pin-number[,rising-edge|falling-edge]\n");
+ fprintf(stderr, "-O --gpio-out=<spec> output GPIO line configuration\n");
+ fprintf(stderr, " with <spec> = gpiochip-devname,pin-number\n");
+}
+
+static void bad_usage(int argc, char *const argv[])
+{
+ int last = optind < argc ? optind : argc - 1;
+
+ printf("** Uh, you lost me somewhere near '%s' (arg #%d)\n", argv[last], last);
+ usage();
+}
+
+int main(int argc, char *const argv[])
+{
+ int ret, c, spec, type, max_prio, lindex;
+ const char *plot_filename = NULL;
+ struct sigaction sa;
+ char *endptr;
+
+ opterr = 0;
+
+ for (;;) {
+ c = getopt_long(argc, argv, short_optlist, options, &lindex);
+ if (c == EOF)
+ break;
+
+ switch (c) {
+ case 0:
+ break;
+ case 'i':
+ test_irqlat = 1;
+ break;
+ case 'k':
+ test_klat = 1;
+ break;
+ case 'u':
+ test_ulat = 1;
+ break;
+ case 's':
+ test_sirqlat = 1;
+ break;
+ case 'r':
+ reset = true;
+ break;
+ case 'q':
+ verbosity = 0;
+ break;
+ case 'b':
+ background = true;
+ break;
+ case 'K':
+ abort_on_switch = false;
+ break;
+ case 'm':
+ tuning = false;
+ break;
+ case 't':
+ tuning = true;
+ break;
+ case 'p':
+ period_usecs = atoi(optarg);
+ if (period_usecs <= 0 || period_usecs > 1000000)
+ error(1, EINVAL, "invalid sampling period "
+ "(0 < period < 1000000)");
+ break;
+ case 'A':
+ abort_threshold = atoi(optarg) * 1000; /* ns */
+ if (abort_threshold <= 0)
+ error(1, EINVAL, "invalid timeout");
+ break;
+ case 'T':
+ timeout = (int)strtol(optarg, &endptr, 10);
+ if (timeout < 0 || endptr == optarg)
+ error(1, EINVAL, "invalid timeout");
+ switch (*endptr) {
+ case 'd':
+ timeout *= 24;
+ /* Falldown wanted. */
+ case 'h':
+ timeout *= 60;
+ /* Falldown wanted. */
+ case 'm':
+ timeout *= 60;
+ break;
+ case 's':
+ case '\0':
+ break;
+ default:
+ error(1, EINVAL, "invalid time modifier: '%c'",
+ *endptr);
+ }
+ break;
+ case 'v':
+ verbosity = optarg ? atoi(optarg) : 1;
+ break;
+ case 'l':
+ data_lines = atoi(optarg);
+ break;
+ case 'g':
+ if (optarg && strcmp(optarg, "-"))
+ plot_filename = optarg;
+ else
+ plot_fp = stdout;
+ break;
+ case 'H':
+ histogram_cells = atoi(optarg);
+ if (histogram_cells < 1 || histogram_cells > 1000)
+ error(1, EINVAL, "invalid number of histogram cells "
+ "(0 < cells <= 1000)");
+ break;
+ case 'P':
+ max_prio = sched_get_priority_max(SCHED_FIFO);
+ responder_priority = atoi(optarg);
+ if (responder_priority < 0 || responder_priority > max_prio)
+ error(1, EINVAL, "invalid thread priority "
+ "(0 < priority < %d)", max_prio);
+ break;
+ case 'C':
+ force_cpu = true;
+ /* fallthrough */
+ case 'c':
+ responder_cpu = atoi(optarg);
+ if (responder_cpu < 0 || responder_cpu >= CPU_SETSIZE)
+ error(1, EINVAL, "invalid CPU number");
+ break;
+ case 'z':
+ case 'Z':
+ test_gpiolat = (c == 'z') + 1;
+ parse_host_spec(optarg, &gpio_monitor_ip);
+ break;
+ case 'I':
+ gpio_infd = parse_gpio_spec(optarg, &gpio_inpin,
+ &gpio_hdinflags, &gpio_evinflags);
+ break;
+ case 'O':
+ gpio_outfd = parse_gpio_spec(optarg, &gpio_outpin,
+ &gpio_hdoutflags, NULL);
+ break;
+ case '?':
+ default:
+ bad_usage(argc, argv);
+ return 1;
+ }
+ }
+
+ if (optind < argc) {
+ bad_usage(argc, argv);
+ return 1;
+ }
+
+ determine_responder_cpu(test_gpiolat == INBAND_GPIO_LAT);
+
+ setlinebuf(stdout);
+ setlinebuf(stderr);
+
+ if (!tuning && !timeout && !verbosity) {
+ fprintf(stderr, "--quiet requires --timeout, ignoring --quiet\n");
+ verbosity = 1;
+ }
+
+ if (background && verbosity) {
+ fprintf(stderr, "--background requires --quiet, taming verbosity down\n");
+ verbosity = 0;
+ }
+
+ if (tuning && (plot_filename || plot_fp)) {
+ fprintf(stderr, "--plot implies --measure, ignoring --plot\n");
+ plot_filename = NULL;
+ plot_fp = NULL;
+ }
+
+ if (background) {
+ signal(SIGHUP, SIG_IGN);
+ ret = daemon(0, 0);
+ if (ret)
+ error(1, errno, "cannot daemonize");
+ }
+
+ set_cpu_affinity();
+ restrict_c_state();
+
+ sigaddset(&sigmask, SIGINT);
+ sigaddset(&sigmask, SIGTERM);
+ sigaddset(&sigmask, SIGHUP);
+ sigaddset(&sigmask, SIGALRM);
+ pthread_sigmask(SIG_BLOCK, &sigmask, NULL);
+
+#ifdef CONFIG_XENO_COBALT
+ sigemptyset(&sa.sa_mask);
+ sa.sa_sigaction = sigdebug_handler;
+ sa.sa_flags = SA_SIGINFO | SA_RESTART;
+ sigaction(SIGDEBUG, &sa, NULL);
+#endif
+
+ spec = test_irqlat || test_klat || test_ulat || test_sirqlat || test_gpiolat;
+ if (!tuning) {
+ if (!spec)
+ test_ulat = 1;
+ else if (test_irqlat + test_klat + test_ulat + test_sirqlat +
+ (!!test_gpiolat) > 1)
+ error(1, EINVAL, "only one of -u, -k, -i, -s, -z or -Z "
+ "in measurement mode");
+ } else {
+ /* Default to tune for all contexts. */
+ if (!spec)
+ test_irqlat = test_klat = test_ulat = 1;
+ else if (test_sirqlat || test_gpiolat)
+ error(1, EINVAL, "-s/-z and -t are mutually exclusive");
+ }
+
+ if (!test_gpiolat) {
+ latmus_fd = open("/dev/rtdm/latmus", O_RDWR);
+ if (latmus_fd < 0)
+ error(1, errno, "cannot open latmus device");
+
+ if (reset) {
+ ret = ioctl(latmus_fd, RTTST_RTIOC_COBALT_LATIOC_RESET);
+ if (ret)
+ error(1, errno, "reset failed");
+ }
+ } else {
+ if (gpio_infd < 0 || gpio_outfd < 0)
+ error(1, EINVAL, "-[zZ] require -I, -O for GPIO settings");
+ if (test_gpiolat == OOB_GPIO_LAT) {
+ //gpio_hdinflags |= GPIOHANDLE_REQUEST_OOB;
+ //gpio_hdoutflags |= GPIOHANDLE_REQUEST_OOB;
+ }
+ }
+
+ time(&start_time);
+
+ if (!tuning) {
+ if (plot_filename) {
+ if (!access(plot_filename, F_OK))
+ error(1, EINVAL, "declining to overwrite %s",
+ plot_filename);
+ plot_fp = fopen(plot_filename, "w");
+ if (plot_fp == NULL)
+ error(1, errno, "cannot open %s for writing",
+ plot_filename);
+ }
+ type = test_irqlat ? COBALT_LAT_IRQ : test_klat ?
+ COBALT_LAT_KERN : test_sirqlat ? COBALT_LAT_SIRQ :
+ test_ulat ? COBALT_LAT_USER :
+ COBALT_LAT_LAST + test_gpiolat;
+ do_measurement(type);
+ } else {
+ if (verbosity)
+ printf("== latmus started for core tuning, "
+ "period=%d microseconds (may take a while)\n",
+ period_usecs);
+
+ if (test_irqlat)
+ do_tuning(COBALT_LAT_IRQ);
+
+ if (test_klat)
+ do_tuning(COBALT_LAT_KERN);
+
+ if (test_ulat)
+ do_tuning(COBALT_LAT_USER);
+
+ if (verbosity)
+ printf("== tuning completed after %ds\n",
+ (int)(time(NULL) - start_time));
+ }
+
+ return 0;
+}
--
2.17.1
^ permalink raw reply related [flat|nested] 11+ messages in thread