linux+x86+xenomai+igh bug问题记录

Ubuntu16.04

sudo vim /etc/default/grub 后 更改grub配置如下
默认：
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash"
更改：
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash xenomai.smi=enabled"

sudo update-grub
sudo reboot

修改前的日志文档:
[    0.405188] [Xenomai] scheduling class idle registered.
[    0.405189] [Xenomai] scheduling class rt registered.
[    0.405209] [Xenomai] disabling automatic C1E state promotion on Intel processor
[    0.405218] [Xenomai] SMI-enabled chipset found, but SMI workaround disabled
                         (see xenomai.smi parameter). You might encounter
                         high latencies!
[    0.405243] I-pipe: head domain Xenomai registered.
[    0.405770] [Xenomai] Cobalt v3.1 

修改后的日志文档:
[    0.404752] [Xenomai] scheduling class idle registered.
[    0.404754] [Xenomai] scheduling class rt registered.
[    0.404772] [Xenomai] disabling automatic C1E state promotion on Intel processor
[    0.404780] [Xenomai] SMI-enabled chipset found
[    0.404786] [Xenomai] SMI workaround enabled
[    0.404811] I-pipe: head domain Xenomai registered.
[    0.405339] [Xenomai] Cobalt v3.1 

 

 

xenomai系统抖动测试代码：

#include <stdlib.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <sched.h>
#include <time.h>
#include <unistd.h>
#include <signal.h>
#include <rtdm/rtdm.h>
#include <trank/native/task.h>
#include <trank/native/sem.h>
#include <trank/native/mutex.h>
#include <trank/native/timer.h>
#include <pthread.h>
#include <sys/mman.h>
#include <sys/resource.h>
#include <sys/time.h>
#include <sys/types.h>

RT_TASK my_task;
static int run = 1;

#ifndef ONE_BILLION
#define ONE_BILLION             1000000000
#endif

long long period_ns = 1000000;
int32_t minj, maxj, dt, overrun, sumj, value;

void my_task_proc(void *arg)
{    
    RTIME expected_ns, start_ns, fault_threshold, now_ns;
    unsigned int old_relaxed = 0, new_relaxed;
    int ret, count, nsamples, warmup = 1;
    unsigned long ov;
    start_ns = rt_timer_read() + period_ns; /* 1ms from now */
    expected_ns = start_ns;

    rt_task_set_periodic(NULL, start_ns, period_ns); // ns    
    while (run)   
    {        
        
        rt_task_wait_period(NULL);    
        now_ns = rt_timer_read();
        dt = (int32_t)(now_ns - expected_ns);
        value = dt > 0 ? dt: -dt;
        expected_ns = now_ns  + period_ns;
        if (overrun != 0)
        {
            if (value > maxj)
                maxj = value;
            if (value < minj)
                minj = value;
        }
        overrun++;
        
    }
}

static void *display(void *cookie)
{
    int iii = 0;
    while(run)
    {
        printf("%d :: %d Max %dus\n", overrun, dt, maxj/1000);
        usleep(period_ns / 1000);
    }
    
    return NULL;
}

void signal_handler(int sig)
{   
    run = 0;
}

int main(int argc, char *argv[])
{    
    int ret;    

    signal(SIGTERM, signal_handler);    
    signal(SIGINT, signal_handler);    
    mlockall(MCL_CURRENT | MCL_FUTURE); 
    pthread_t display_task;
    pthread_create(&display_task, NULL, display, NULL);
    
    ret = rt_task_create(&my_task, "my_task", 0, 80, T_FPU);    
    if (ret < 0)    
    {        
        fprintf(stderr, "Failed to create task: %s\n", strerror(-ret));        
        return -1;    
    }    
    printf("Starting my_task...\n");    
    ret = rt_task_start(&my_task, &my_task_proc, NULL);    
    if (ret < 0)    
    {        
        fprintf(stderr, "Failed to start task: %s\n", strerror(-ret));        
        return -1;    
    }    
    while (run)    
    {        
        sched_yield();    
    }    

    printf("Deleting realtime task...\n");    
    rt_task_delete(&my_task);    
    printf("End of Program\n");    

    return 0;
}
 

 

x86平台的最大抖动为8us，arm 平台（4核A53架构，比如iMX8系列，zynqmp系列）最大抖动是20us，性能相差较大