Re: rt_task_wait_period hangs system

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> "My software (www.relacs.net) runs now faster (upto 110kHz) ..."=C2=A0 =
is=20
> something I never seen. Here we never went beyond some 50KHz.
> So, welcome to the club of those thinking that kernel space is the only=
=20
> way to achieve DSP like performances on general purpose CPUs, SMI=20
> permitting.

I cannot believe this myself... the 50kHz was for many years the limit.=20
I had relacs running for several hours this afternoon - just recording=20
from a single channel and writing to an analog output at 110 kHz without=20
any problem.

> As for your excuses they are out of place. I know that RTAI=20
> documentation is far from perfect. Moreover, before being reminded that=
=20
> it could have been the cause of your trouble, after diffing you Linux=20
> config against one of the mine, I even forgot it. The reason is that I=20
> discovered such a trouble, reporting it in that README, in relation to =
a=20
> test case associated to the use of RTAI netrpc support.To me it never=20
> happened in something as simple as the latency test.
>=20
> Thats said I dare asking you to verify that it was also the cause of th=
e=20
> self calibration failur/e, as it should be. /It will not be much work.=20
> Simply "rm rtai_install_dir/calibration/latencies" and run any test, or=
=20
> even your production code, insomoding rtai_sched.ko without any paramet=
er.

Yes, the self calibration works, both with stackprotector none or regular=
.

> Then, when you'll have time to recompile the kernel, I'm curious to kno=
w=20
> if the kernel latency test will still work in your system environment=20
> after setting the STACKPROTECTOR parameter to REGULAR.

Stackprotector set to regular also works. Test results attached (about=20
7us latencies on an idle machine with X).

Why does the latency test (or whatever kernel periodic loop) crash with=20
stackprotection? Do you have any idea?

In the next days Paul and myself will keep testing rtai 5.1 on a couple=20
of other machines. If you do not hear anything from us, then assume that=20
we are happy!

> Anticipated thanks, Paolo.

You are very welcome,
Jan

>=20
> On 03/22/2018 11:52 AM, Jan Benda wrote:
>> Hi Paolo,
>>
>> thank you for your hints regarding the configuration.
>>
>> To make it short, the STACKPROTECTOR stuff solved my issue. My=20
>> software (www.relacs.net) runs now faster (upto 110kHz) and more=20
>> stable than ever before. Thank you for whatever improvements went into=
=20
>> RTAI 5.1!
>>
>> 1) CONFIG_AUDITSYSCALL was unset:
>>
>> CONFIG_AUDIT=3Dy
>> CONFIG_HAVE_ARCH_AUDITSYSCALL=3Dy
>> # CONFIG_AUDITSYSCALL is not set
>>
>> CONFIG_HAVE_ARCH_AUDITSYSCALL cannot be unset from the menu.
>>
>> 2) Indeed I missed your note on stack protector support. Mea culpa! I=20
>> set it to "None" and that solved the issue.
>>
>> Sorry for missing this! Maybe I stopped reading because I was sure=20
>> (why?) that I am not witnessing a stack protector crash...
>>
>> Best,
>> Jan
>>
>>
>> On 03/21/2018 10:02 PM, Paolo Mantegazza wrote:
>>> Before I'll access your system, let's see if there is any trivial=20
>>> problem left.
>>>
>>> =C2=A0From your LInux config I see that there are 2 forgotten suggest=
ions,=20
>>> as given in README.CONF_RMRKS.
>>>
>>> One is that AUDITSYSCALL is enabled, which, since there seems to be=20
>>> no problem from user space, should not be the cause of our troubles.
>>>
>>> The other one instead, i.e.: CONFIG_HAVE_CC_STACKPROTECTOR=3Dy,=20
>>> CONFIG_CC_STACKPROTECTOR=3Dy, CONFIG_CC_STACKPROTECTOR_STRONG=3Dy, ma=
ybe.
>>> Thus, disable all of the STACKPROTECTOR options, including the=20
>>> REGULAR one, recompile the kernel and retry.
>>> Then let me know.
>>>
>>> If we'll still be in trouble, the I'll access your system.
>>>
>>> Paolo
>>>
>>> ________________________________________
>>> From: Rtai [[email protected]] on behalf of Jan Benda=20
>>> [[email protected]]
>>> Sent: Wednesday, March 21, 2018 6:01 PM
>>> To: [email protected]
>>> Subject: Re: [Rtai] rt_task_wait_period hangs system
>>>
>>> Thank you Paolo for the quick response!
>>>
>>> On 03/21/2018 05:21 PM, Paolo Mantegazza wrote:
>>>> First of all, if you can let me in your system I'm ready to take the
>>>> burden of trying to understand what is happening.
>>>> Even if in 20 years of RTAI development-usage I lost my system just
>>>> three times. Nonetheless it would be better if=C2=A0 such a system c=
an go
>>>> ashtray without any trouble for anybody. I do not want to be hold
>>>> responsible for anything.
>>>> On your side you must be ready to be flooded by emails (or phone cal=
ls)
>>>> to push the reset switch of your system.
>>>
>>> I am ready and send you an email with the necessary details.
>>>
>>>> I'm a bit curious to see why neither the calibration nor the kernel
>>>> space latency test are running. The latter is a bit strange indeed,
>>>> especially in view of the fact that 4.1 is OK. In fact the changes o=
f
>>>> 5.1 should affect user space, mostly.
>>>
>>> This is my imrepssion as well - its strange. In particular given the
>>> latency test without overruns.
>>>
>>>> BTW, have you run also the kthread latency test? Let ime know about =
it
>>>> too, please.
>>>
>>> Attached is the kthreads test. This works as well. Only the switch te=
st
>>> does not report on the terminal (it complains about /var/log/messages
>>> not being there - it is indeed not enabled), but the output of dmesg
>>> shows the results (at end of the attached file).
>>>
>>>> As a final comment I do not share the fact that max latencies in the
>>>> range of 10-15 (us) are not great. To me they are indeed, to the poi=
nt
>>>> that of being a bit too optimistic. Likely taken for short time chec=
ks
>>>> with Linux unloaded.
>>>
>>> With "not great" I only meant that I know that with some effort I mig=
ht
>>> get them better. And you are right, they are taken on a machine witho=
ut
>>> load as a first check whether things are working. I am actually amaze=
d
>>> that on a first shot without any tweaking I got these latencies. This=
 is
>>> my general impression with rtai-5.1 that - in case it works - I get
>>> already quite good latencies. First shot means that I start out with =
the
>>> configuration of a matching lowlatency kernel, change a few kernel
>>> configs, and run localmodconfig.
>>>
>>> Jan
>>>
>>>> To have them better I usually have to resort to CPU isolation, match=
ed
>>>> to a few other things I forgot.
>>>>
>>>> Paolo.
>>>>
>>>> On 03/21/2018 04:21 PM, Jan Benda wrote:
>>>>> Hi,
>>>>>
>>>>> a follow up on Pauls issue:
>>>>>
>>>>> I installed rtai-5.1 with the hal-linux-4.4.115-x86-10.patch on
>>>>> several intel i3, i5 and i7 machines. The results are mixed - some
>>>>> work out of the box without tweaking (which is really cool) but oth=
ers
>>>>> hang up when insmoding rtai_sched - i.e. when it runs the calibrati=
on.
>>>>> Loading rtai_sched with kernel_latency=3D10 user_latency=3D10, as
>>>>> suggested, works always (no calibration).
>>>>>
>>>>> I modified the realtime/bin/rtai-load script such that it loads
>>>>> rtai_sched without calibration:
>>>>>
>>>>> -- rtai-load=C2=A0=C2=A0 2018-03-20 18:32:15.317723122 +0100
>>>>> +++ /home/benda/rtai-load=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 2018-=
03-21 15:53:59.619659835 +0100
>>>>> @@ -158,7 +158,9 @@
>>>>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 # one. If the latter fails too=
, assume the feature is built=20
>>>>> into
>>>>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 # the scheduler or not needed.=
 Obviously, we should _always_=20
>>>>> find
>>>>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 # the scheduler...
>>>>> -=C2=A0=C2=A0=C2=A0=C2=A0 if test -r $rtai_moddir/rtai_$mod$modext;=
 then
>>>>> +=C2=A0=C2=A0=C2=A0=C2=A0 if test "x$mod" =3D "sched"; then
>>>>> +=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 $sudo $insmod $rtai_mod=
dir/rtai_$mod$modext kernel_latency=3D10
>>>>> user_latency=3D10
>>>>> +=C2=A0=C2=A0=C2=A0=C2=A0 elif test -r $rtai_moddir/rtai_$mod$modex=
t; then
>>>>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 test $verbos=
e =3D 1 && echo "+ $insmod
>>>>> $rtai_moddir/rtai_$mod$modext"
>>>>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 $sudo $insmo=
d $rtai_moddir/rtai_$mod$modext
>>>>> =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 if test $? =3D 0 ;=
 then
>>>>>
>>>>> With that I can run all user tests (see latencies* file for test
>>>>> results (they are not great, but ok for a first shot) and infos on =
the
>>>>> machine, config* is the kernel configuration).
>>>>>
>>>>> Note that on the same machine we had rtai 4.1 running without=20
>>>>> problems.
>>>>>
>>>>> However, when I run the kern latency test the machine hangs up - no=
t
>>>>> when insmoding rtai_sched but when executing the periodic task in
>>>>> kernel space. So comedi is not to blame here.
>>>>>
>>>>> Hanging up means the LEDs on the keyboard blink, the computer is
>>>>> 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 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,
>>>>>>
>>>>>> after installation of RTAI 5.1 and running the latency tests, I am
>>>>>> trying to run production code, which leads to a system crash.
>>>>>> Debgugging lead me to conclude that it is the call to
>>>>>> rt_task_wait_period, that produced the crash.
>>>>>>
>>>>>> System info:
>>>>>> RTAi 5.1, Kernel 4.9.76, Intel i5-6600K
>>>>>>
>>>>>> In detail, the call happens in a custom kernel module, that first
>>>>>> chooses between oneshot and periodic mode (both lead to the same=20
>>>>>> crash)
>>>>>>
>>>>>> ```
>>>>>> #ifdef ONESHOT_MODE
>>>>>> =C2=A0=C2=A0=C2=A0 rt_set_oneshot_mode();
>>>>>> =C2=A0=C2=A0=C2=A0 start_rt_timer(1);
>>>>>> #else
>>>>>> =C2=A0=C2=A0=C2=A0 rt_set_periodic_mode();
>>>>>> =C2=A0=C2=A0=C2=A0 #endif
>>>>>>
>>>>>> ```
>>>>>>
>>>>>> =C2=A0=C2=A0 registers a real time task
>>>>>>
>>>>>> ```
>>>>>> rt_linux_use_fpu( usesFPU );=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 /* decl=
are if we use the FPU */
>>>>>>
>>>>>> retVal =3D rt_task_init( &dynClampTask.rtTask, dynclamp_loop, dumm=
y,
>>>>>> stackSize, priority, usesFPU, signal );
>>>>>> ```
>>>>>>
>>>>>> and then makes it periodic
>>>>>>
>>>>>> ```
>>>>>> rt_task_make_periodic( &dynClampTask.rtTask, rt_get_time() +
>>>>>> periodTicks, periodTicks )
>>>>>> ```
>>>>>> Both of this calls are successful.
>>>>>>
>>>>>> In the task dynclamp_loop, the only calls to RTAI are
>>>>>> ```
>>>>>> rt_get_cpu_time_in_ns()
>>>>>> ```
>>>>>> which poses no problem and
>>>>>>
>>>>>> ```
>>>>>> rt_task_wait_period()
>>>>>> ```
>>>>>> which kills the system.=C2=A0 This has worked in previous RTAI ver=
sions
>>>>>> and on other machines, so we were wondering whether this a 5.1
>>>>>> specific problem or related to our new machine? For completeness, =
I
>>>>>> attach the source code of the kernel module, the functions of
>>>>>> interest are dynclamp_loop, init_dynclamp_loop and
>>>>>> cleanup_dynclamp_loop. Any ideas?
>>>>>>
>>>>>> Maybe related, I have recently been reporting my diffuculties
>>>>>> installing RTAI 5.1, especially the system hig up when rtai_sched =
was
>>>>>> loaded. Thanks to the help of Paolo, see thread "RTAI in debian 9"=
,
>>>>>> this problem was fixed via manual generation of a calibration file=
.
>>>>>>
>>>>>> Sorry, for the long question, but we are really eager to use the
>>>>>> latest RTAI version and would like to understand this problem.
>>>>>>
>>>>>> Best, Paul
>>>>>>
>>>>>>
>>>>>>
>>>>>>
>>>>>> _______________________________________________
>>>>>> Rtai mailing list
>>>>>> [email protected]
>>>>>> https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai
>>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>> _______________________________________________
>>>>> Rtai mailing list
>>>>> [email protected]
>>>>> https://mail.rtai.org/cgi-bin/mailman/listinfo/rtai
>>>>
>>>>
>>>
>>>
>>> --=20
>>> ---------------------------------------------------------------------=
-
>>>
>>> Prof. Dr. Jan Benda
>>> Abteilung Neuroethologie
>>> Institut fuer Neurobiologie
>>> Universitaet Tuebingen
>>> Auf der Morgenstelle 28 E=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 phone: +49 / 7071 - 2=
9 74573
>>> 72076 Tuebingen=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=
=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 fax: +49 / 7071 - 29 5144
>>>
>>> ---------------------------------------------------------------------=
-
>>>
>>
>>
>=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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