> > Even when the errors described in my previous mail does not occur,
> > massive USB stick transfers cause latencies of 1 to 2 milliseconds,
> > which is way too much for realtime control systems.
>
> do these occur under PREEMPT_RT? If yes, do you get any
> useful trace if
> you enable all the tracing options but keep wakeup-timing off:
>
> # CONFIG_WAKEUP_TIMING is not set
> CONFIG_PREEMPT_TRACE=y
> CONFIG_CRITICAL_PREEMPT_TIMING=y
> CONFIG_CRITICAL_IRQSOFF_TIMING=y
> CONFIG_CRITICAL_TIMING=y
> CONFIG_LATENCY_TIMING=y
> CONFIG_LATENCY_TRACE=y
> CONFIG_MCOUNT=y
>
> this should catch any type of preempt-off section, irqs-off and
> preempt_disable() alike. (unless the tracer has a bug.)
I tried with the trace settings above, but I didn't have good luck:
1.) Tracing slows things down *a lot* (even *before* turned on):
* My own rtc test program causes 97 % CPU load when tracing is on.
On an RT kernel with tracing off, it consumes just below 20 %,
on the standard kernel, it consumes less than 3 %.
* With -f 8192, rtc_wakeup does not even start:
It blocks the whole system for about 1 minute at
"setting up consumer thread".
After that, it starts running and produces output, but ends with
"ringbuffer full" almost immediately.
Surprisingly, when started under the control of "strace", it runs,
but reports tons of missed interrupts.
With "-f 1024", it works.
2.) Tracing still doesn't seem to catch everything:
rtc_wakeup sometimes reported a max. jitter of several milliseconds,
but the max trace from /proc/latency_trace showed around 50
microseconds...
3.) However, I got some interesting traces later (see below).
They seem to be related to USB read load.
4.) When running rtc_wakeup at low rtpri (e.g. 2(12)),
I can still generate very bad "missed interrupts" counts
(even on a kernel *without* latency tracing):
core dumps: Up to 10 missed interrupts, almost continuously
USB reads: Also up to 10 missed interrupts, almost continuously
USB reads, mmap load in parallel: Up to 50, almost continuously
OOM: Up to 500
CF reads: Up to 600
Moreover, rtc_wakeup shows jitter up to 2500 microseconds
Even if there is no special test load running,
rtc_wakeup now and then misses an interrupt!
All the load is generated at shell priority, not at rt priority!
(so, ideally, it should not influence rt threads *at all*)
5.) I still do not understand the effect of "chrt"-ing "IRQ 8" to 95:
"IRQ 8" is at 49 per default, and there is no process with rtpri>49
(except for rtc_wakeup itself).
Hence, to my understanding, there should not be *any* difference
between running "IRQ 8" at 49 or 95!
However, when "IRQ 8" is at 95, a dd from the CF card doesn't hurt much.
When "IRQ 8" is at 49, the dd causes jitter of several milliseconds!
(both measured with rtc_wakeup at 89(99)).
Why? "IRQ 14" (IDE) is at 47! There is nothing except rtc_wakeup
which could block or preempt the RTC "IRQ 8"?
preemption latency trace v1.1.4 on 2.6.12-rc1-RT-V0.7.42-08
--------------------------------------------------------------------
latency: 833 us, #7/7, CPU#0 | (M:rt VP:0, KP:1, SP:1 HP:1 #P:1)
-----------------
| task: IRQ 7-724 (uid:0 nice:-5 policy:1 rt_prio:46)
-----------------
_------=> CPU#
/ _-----=> irqs-off
| / _----=> need-resched
|| / _---=> hardirq/softirq
||| / _--=> preempt-depth
|||| /
||||| delay
cmd pid ||||| time | caller
\ / ||||| \ | /
IRQ 7-724 0d... 0us : do_hardirq (do_irqd)
IRQ 7-724 0d..1 0us : note_interrupt (do_hardirq)
IRQ 7-724 0d..1 1us : end_8259A_irq (do_hardirq)
IRQ 7-724 0d..1 1us!: enable_8259A_irq (do_hardirq)
IRQ 7-724 0d... 832us : do_hardirq (do_irqd)
IRQ 7-724 0d... 833us : trace_irqs_on (do_hardirq)
Some more of those:
preemption latency trace v1.1.4 on 2.6.12-rc1-RT-V0.7.42-08
--------------------------------------------------------------------
latency: 675 us, #47/47, CPU#0 | (M:rt VP:0, KP:1, SP:1 HP:1 #P:1)
-----------------
| task: ksoftirqd/0-2 (uid:0 nice:-10 policy:0 rt_prio:0)
-----------------
_------=> CPU#
/ _-----=> irqs-off
| / _----=> need-resched
|| / _---=> hardirq/softirq
||| / _--=> preempt-depth
|||| /
||||| delay
cmd pid ||||| time | caller
\ / ||||| \ | /
mmap-1000 0d... 0us : common_interrupt ((0))
mmap-1000 0d.h. 0us : do_IRQ (c028e90e 0 0)
mmap-1000 0d.h1 1us+: mask_and_ack_8259A (__do_IRQ)
mmap-1000 0d.h1 5us : redirect_hardirq (__do_IRQ)
mmap-1000 0d.h. 5us : handle_IRQ_event (__do_IRQ)
mmap-1000 0d.h. 6us : timer_interrupt (handle_IRQ_event)
mmap-1000 0d.h1 6us+: mark_offset_tsc (timer_interrupt)
mmap-1000 0d.h1 14us : do_timer (timer_interrupt)
mmap-1000 0d.h1 14us : update_process_times (timer_interrupt)
mmap-1000 0d.h1 15us : account_system_time (update_process_times)
mmap-1000 0d.h1 15us : update_mem_hiwater (update_process_times)
mmap-1000 0d.h1 16us : run_local_timers (update_process_times)
mmap-1000 0d.h1 17us : raise_softirq (update_process_times)
mmap-1000 0d.h1 18us : scheduler_tick (timer_interrupt)
mmap-1000 0d.h1 18us : sched_clock (scheduler_tick)
mmap-1000 0d.h1 20us : profile_hit (timer_interrupt)
mmap-1000 0d.h1 20us : note_interrupt (__do_IRQ)
mmap-1000 0d.h1 21us : end_8259A_irq (__do_IRQ)
mmap-1000 0d.h1 22us!: enable_8259A_irq (__do_IRQ)
mmap-1000 0d.h. 662us : irq_exit (do_IRQ)
mmap-1000 0d..1 662us : do_softirq (irq_exit)
mmap-1000 0d..1 663us : __do_softirq (do_softirq)
mmap-1000 0d..1 663us : wake_up_process (do_softirq)
mmap-1000 0d..1 664us : try_to_wake_up (wake_up_process)
mmap-1000 0d..2 664us : activate_task (try_to_wake_up)
mmap-1000 0d..2 664us : sched_clock (activate_task)
mmap-1000 0d..2 665us : recalc_task_prio (activate_task)
mmap-1000 0d..2 665us : effective_prio (recalc_task_prio)
mmap-1000 0d..2 665us : activate_task <<...>-2> (69 1):
mmap-1000 0d..2 666us : enqueue_task (activate_task)
mmap-1000 0dn.2 666us : try_to_wake_up <<...>-2> (69 76):
mmap-1000 0dn.1 667us : preempt_schedule (try_to_wake_up)
mmap-1000 0dn.1 667us : wake_up_process (do_softirq)
mmap-1000 0dn.. 668us : preempt_schedule_irq (need_resched)
mmap-1000 0dn.. 668us : __schedule (preempt_schedule_irq)
mmap-1000 0dn.. 668us : profile_hit (__schedule)
mmap-1000 0dn.1 669us : sched_clock (__schedule)
mmap-1000 0dn.2 670us : dequeue_task (__schedule)
mmap-1000 0dn.2 671us : recalc_task_prio (__schedule)
mmap-1000 0dn.2 671us : effective_prio (recalc_task_prio)
mmap-1000 0dn.2 671us : enqueue_task (__schedule)
<...>-2 0d..2 672us : __switch_to (__schedule)
<...>-2 0d..2 673us : __schedule <mmap-1000> (76 69):
<...>-2 0d... 674us : schedule (ksoftirqd)
<...>-2 0d... 674us : trace_irqs_on (schedule)
preemption latency trace v1.1.4 on 2.6.12-rc1-RT-V0.7.42-08
--------------------------------------------------------------------
latency: 951 us, #27/27, CPU#0 | (M:rt VP:0, KP:1, SP:1 HP:1 #P:1)
-----------------
| task: IRQ 7-724 (uid:0 nice:-5 policy:1 rt_prio:46)
-----------------
_------=> CPU#
/ _-----=> irqs-off
| / _----=> need-resched
|| / _---=> hardirq/softirq
||| / _--=> preempt-depth
|||| /
||||| delay
cmd pid ||||| time | caller
\ / ||||| \ | /
mmap-1000 0d... 0us : common_interrupt ((0))
mmap-1000 0d.h. 0us : do_IRQ (c012d6d5 7 0)
mmap-1000 0d.h1 2us!: mask_and_ack_8259A (__do_IRQ)
mmap-1000 0d.h1 938us : redirect_hardirq (__do_IRQ)
mmap-1000 0d.h1 939us : wake_up_process (redirect_hardirq)
mmap-1000 0d.h1 939us : try_to_wake_up (wake_up_process)
mmap-1000 0d.h2 940us : activate_task (try_to_wake_up)
mmap-1000 0d.h2 940us : sched_clock (activate_task)
mmap-1000 0d.h2 941us : recalc_task_prio (activate_task)
mmap-1000 0d.h2 941us : effective_prio (recalc_task_prio)
mmap-1000 0d.h2 942us : activate_task <<...>-724> (35 1):
mmap-1000 0d.h2 942us : enqueue_task (activate_task)
mmap-1000 0dnh2 943us : try_to_wake_up <<...>-724> (35 7d):
mmap-1000 0dnh1 943us : preempt_schedule (try_to_wake_up)
mmap-1000 0dnh1 944us : wake_up_process (redirect_hardirq)
mmap-1000 0dnh. 944us : preempt_schedule (__do_IRQ)
mmap-1000 0dnh. 945us : irq_exit (do_IRQ)
mmap-1000 0dn.. 945us : preempt_schedule_irq (need_resched)
mmap-1000 0dn.. 945us : __schedule (preempt_schedule_irq)
mmap-1000 0dn.. 946us : profile_hit (__schedule)
mmap-1000 0dn.1 946us : sched_clock (__schedule)
<...>-724 0d..2 948us : __switch_to (__schedule)
<...>-724 0d..2 949us : __schedule <mmap-1000> (7d 35):
<...>-724 0d... 950us : schedule (do_irqd)
<...>-724 0d... 950us : trace_irqs_on (schedule)
preemption latency trace v1.1.4 on 2.6.12-rc1-RT-V0.7.42-08
--------------------------------------------------------------------
latency: 985 us, #76/76, CPU#0 | (M:rt VP:0, KP:1, SP:1 HP:1 #P:1)
-----------------
| task: ksoftirqd/0-2 (uid:0 nice:-10 policy:0 rt_prio:0)
-----------------
_------=> CPU#
/ _-----=> irqs-off
| / _----=> need-resched
|| / _---=> hardirq/softirq
||| / _--=> preempt-depth
|||| /
||||| delay
cmd pid ||||| time | caller
\ / ||||| \ | /
ksoftirq-2 0...1 0us : ksoftirqd (kthread)
ksoftirq-2 0d.h1 1us : do_IRQ (c01306da 7 0)
ksoftirq-2 0d.h2 2us!: mask_and_ack_8259A (__do_IRQ)
ksoftirq-2 0d.h2 944us : redirect_hardirq (__do_IRQ)
ksoftirq-2 0d.h2 944us : wake_up_process (redirect_hardirq)
ksoftirq-2 0d.h2 944us : try_to_wake_up (wake_up_process)
ksoftirq-2 0d.h3 945us : activate_task (try_to_wake_up)
ksoftirq-2 0d.h3 945us : sched_clock (activate_task)
ksoftirq-2 0d.h3 946us : recalc_task_prio (activate_task)
ksoftirq-2 0d.h3 946us : effective_prio (recalc_task_prio)
ksoftirq-2 0d.h3 947us : activate_task <<...>-724> (35 3):
ksoftirq-2 0d.h3 947us : enqueue_task (activate_task)
ksoftirq-2 0dnh3 948us : try_to_wake_up <<...>-724> (35 6a):
ksoftirq-2 0dnh2 948us : preempt_schedule (try_to_wake_up)
ksoftirq-2 0dnh2 948us : wake_up_process (redirect_hardirq)
ksoftirq-2 0dnh1 949us : preempt_schedule (__do_IRQ)
ksoftirq-2 0dnh1 949us : irq_exit (do_IRQ)
ksoftirq-2 0dn.1 950us < (608)
ksoftirq-2 0dnh1 951us : do_IRQ (c01306da 0 0)
ksoftirq-2 0dnh2 952us : mask_and_ack_8259A (__do_IRQ)
ksoftirq-2 0dnh2 953us : preempt_schedule (__do_IRQ)
ksoftirq-2 0dnh2 954us : redirect_hardirq (__do_IRQ)
ksoftirq-2 0dnh1 954us : preempt_schedule (__do_IRQ)
ksoftirq-2 0dnh1 955us : handle_IRQ_event (__do_IRQ)
ksoftirq-2 0dnh1 955us : timer_interrupt (handle_IRQ_event)
ksoftirq-2 0dnh2 956us+: mark_offset_tsc (timer_interrupt)
ksoftirq-2 0dnh3 959us : preempt_schedule (mark_offset_tsc)
ksoftirq-2 0dnh2 960us : preempt_schedule (mark_offset_tsc)
ksoftirq-2 0dnh2 960us : preempt_schedule (mark_offset_tsc)
ksoftirq-2 0dnh2 961us : do_timer (timer_interrupt)
ksoftirq-2 0dnh2 961us : update_process_times (timer_interrupt)
ksoftirq-2 0dnh2 961us : account_system_time (update_process_times)
ksoftirq-2 0dnh2 962us : update_mem_hiwater (update_process_times)
ksoftirq-2 0dnh2 962us : run_local_timers (update_process_times)
ksoftirq-2 0dnh2 962us : raise_softirq (update_process_times)
ksoftirq-2 0dnh2 963us : scheduler_tick (timer_interrupt)
ksoftirq-2 0dnh2 964us : sched_clock (scheduler_tick)
ksoftirq-2 0dnh2 965us : preempt_schedule (scheduler_tick)
ksoftirq-2 0dnh2 966us : profile_hit (timer_interrupt)
ksoftirq-2 0dnh1 966us : preempt_schedule (timer_interrupt)
ksoftirq-2 0dnh2 967us : note_interrupt (__do_IRQ)
ksoftirq-2 0dnh2 967us : end_8259A_irq (__do_IRQ)
ksoftirq-2 0dnh2 968us : enable_8259A_irq (__do_IRQ)
ksoftirq-2 0dnh2 969us : preempt_schedule (__do_IRQ)
ksoftirq-2 0dnh1 969us : preempt_schedule (__do_IRQ)
ksoftirq-2 0dnh1 970us : irq_exit (do_IRQ)
ksoftirq-2 0dn.2 970us : do_softirq (irq_exit)
ksoftirq-2 0dn.2 970us : __do_softirq (do_softirq)
ksoftirq-2 0dn.2 971us : wake_up_process (do_softirq)
ksoftirq-2 0dn.2 971us : try_to_wake_up (wake_up_process)
ksoftirq-2 0dn.2 972us : preempt_schedule (try_to_wake_up)
ksoftirq-2 0dn.2 972us : wake_up_process (do_softirq)
ksoftirq-2 0dn.1 973us < (608)
ksoftirq-2 0dnh1 974us : do_IRQ (c01306da 8 0)
ksoftirq-2 0dnh2 975us+: mask_and_ack_8259A (__do_IRQ)
ksoftirq-2 0dnh2 978us : preempt_schedule (__do_IRQ)
ksoftirq-2 0dnh2 978us : redirect_hardirq (__do_IRQ)
ksoftirq-2 0dnh2 979us : wake_up_process (redirect_hardirq)
ksoftirq-2 0dnh2 979us : try_to_wake_up (wake_up_process)
ksoftirq-2 0dnh3 979us : activate_task (try_to_wake_up)
ksoftirq-2 0dnh3 979us : sched_clock (activate_task)
ksoftirq-2 0dnh3 980us : recalc_task_prio (activate_task)
ksoftirq-2 0dnh3 980us : effective_prio (recalc_task_prio)
ksoftirq-2 0dnh3 981us : activate_task <<...>-664> (4 4):
ksoftirq-2 0dnh3 981us : enqueue_task (activate_task)
ksoftirq-2 0dnh3 981us : try_to_wake_up <<...>-664> (4 6a):
ksoftirq-2 0dnh2 982us : preempt_schedule (try_to_wake_up)
ksoftirq-2 0dnh2 982us : wake_up_process (redirect_hardirq)
ksoftirq-2 0dnh1 982us : preempt_schedule (__do_IRQ)
ksoftirq-2 0dnh1 983us : irq_exit (do_IRQ)
ksoftirq-2 0dn.2 983us : do_softirq (irq_exit)
ksoftirq-2 0dn.2 983us : __do_softirq (do_softirq)
ksoftirq-2 0dn.1 984us < (608)
ksoftirq-2 0.n.1 984us : ksoftirqd (kthread)
ksoftirq-2 0.n.1 985us : sub_preempt_count (ksoftirqd)
--
Klaus Kusche (Software Development - Control Systems)
KEBA AG Gewerbepark Urfahr, A-4041 Linz, Austria (Europe)
Tel: +43 / 732 / 7090-3120 Fax: +43 / 732 / 7090-8919
E-Mail: [email protected] WWW: www.keba.com
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