Re: rt_task_wait_period hangs system
Jan Benda <[email protected]> Wed, 21 Mar 2018 16:21:25 +0100
| Newsgroups | gmane.linux.real-time.rtai |
|---|---|
| Message-ID | <[email protected]> |
This is a multi-part message in MIME format.
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Hi,
a follow up on Pauls issue:
I installed rtai-5.1 with the hal-linux-4.4.115-x86-10.patch on several=20
intel i3, i5 and i7 machines. The results are mixed - some work out of=20
the box without tweaking (which is really cool) but others hang up when=20
insmoding rtai_sched - i.e. when it runs the calibration. Loading=20
rtai_sched with kernel_latency=3D10 user_latency=3D10, as suggested, work=
s=20
always (no calibration).
I modified the realtime/bin/rtai-load script such that it loads=20
rtai_sched without calibration:
-- rtai-load 2018-03-20 18:32:15.317723122 +0100
+++ /home/benda/rtai-load 2018-03-21 15:53:59.619659835 +0100
@@ -158,7 +158,9 @@
# one. If the latter fails too, assume the feature is built into
# the scheduler or not needed. Obviously, we should _always_ find
# the scheduler...
- if test -r $rtai_moddir/rtai_$mod$modext; then
+ if test "x$mod" =3D "sched"; then
+ $sudo $insmod $rtai_moddir/rtai_$mod$modext kernel_latency=3D10=20
user_latency=3D10
+ elif test -r $rtai_moddir/rtai_$mod$modext; then
test $verbose =3D 1 && echo "+ $insmod=20
$rtai_moddir/rtai_$mod$modext"
$sudo $insmod $rtai_moddir/rtai_$mod$modext
if test $? =3D 0 ; then
With that I can run all user tests (see latencies* file for test results=20
(they are not great, but ok for a first shot) and infos on the machine,=20
config* is the kernel configuration).
Note that on the same machine we had rtai 4.1 running without problems.
However, when I run the kern latency test the machine hangs up - not=20
when insmoding rtai_sched but when executing the periodic task in kernel=20
space. So comedi is not to blame here.
Hanging up means the LEDs on the keyboard blink, the computer is=20
inacessible, and I do not find any hints in the kernel log.
I assume that the calibration feature in rtai_sched also runs a periodic=20
task.
So something goes wrong with the period tasks.
Any ideas?
I also could provide access to the machines.
Best,
Jan
On 03/15/2018 12:46 PM, Paul Pfeiffer wrote:
> Dear RTAI community,
>=20
> after installation of RTAI 5.1 and running the latency tests, I am=20
> trying to run production code, which leads to a system crash. Debguggin=
g=20
> lead me to conclude that it is the call to rt_task_wait_period, that=20
> produced the crash.
>=20
> System info:
> RTAi 5.1, Kernel 4.9.76, Intel i5-6600K
>=20
> In detail, the call happens in a custom kernel module, that first=20
> chooses between oneshot and periodic mode (both lead to the same crash)
>=20
> ```
> #ifdef ONESHOT_MODE
> =C2=A0 rt_set_oneshot_mode();
> =C2=A0 start_rt_timer(1);
> #else
> =C2=A0 rt_set_periodic_mode();
> =C2=A0 #endif
>=20
> ```
>=20
> =C2=A0registers a real time task
>=20
> ```
> rt_linux_use_fpu( usesFPU );=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 /* declare i=
f we use the FPU */
>=20
> retVal =3D rt_task_init( &dynClampTask.rtTask, dynclamp_loop, dummy,=20
> stackSize, priority, usesFPU, signal );
> ```
>=20
> and then makes it periodic
>=20
> ```
> rt_task_make_periodic( &dynClampTask.rtTask, rt_get_time() +=20
> periodTicks, periodTicks )
> ```
> Both of this calls are successful.
>=20
> In the task dynclamp_loop, the only calls to RTAI are
> ```
> rt_get_cpu_time_in_ns()
> ```
> which poses no problem and
>=20
> ```
> rt_task_wait_period()
> ```
> which kills the system.=C2=A0 This has worked in previous RTAI versions=
and=20
> on other machines, so we were wondering whether this a 5.1 specific=20
> problem or related to our new machine? For completeness, I attach the=20
> source code of the kernel module, the functions of interest are=20
> dynclamp_loop, init_dynclamp_loop and cleanup_dynclamp_loop. Any ideas?
>=20
> Maybe related, I have recently been reporting my diffuculties installin=
g=20
> RTAI 5.1, especially the system hig up when rtai_sched was loaded.=20
> Thanks to the help of Paolo, see thread "RTAI in debian 9", this proble=
m=20
> was fixed via manual generation of a calibration file.
>=20
> Sorry, for the long question, but we are really eager to use the latest=
=20
> RTAI version and would like to understand this problem.
>=20
> Best, Paul
>=20
>=20
>=20
>=20
> _______________________________________________
> Rtai mailing list
> [email protected]
> https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai
>=20
--=20
----------------------------------------------------------------------
Prof. Dr. Jan Benda
Abteilung Neuroethologie
Institut fuer Neurobiologie
Universitaet Tuebingen
Auf der Morgenstelle 28 E phone: +49 / 7071 - 29 74573
72076 Tuebingen fax: +49 / 7071 - 29 5144
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