Emmanuel Pacaud
2018-07-06 08:43:50 UTC
Hi,
I have installed rtai 5.1 and a patched vanilla linux kernel 4.4.43 on
a CentOS 7 distribution. Compilation and installation went fine after a
few tries in order to understand what kernel options are needed by
CentOS to boot correctly.
But when I run the testsuite, I get some kernel oops, likely when the
userspace API is used.
In fact, as soon rtai_sched module is installed, linux complains:
insmod rtai_hal.ko
[62619.200082] I-pipe: head domain RTAI registered.
[62619.200176] RTAI[hal]: mounted. ISOL_CPUS_MASK: e.
[62619.200210] SYSINFO - # CPUs: 4, TIMER NAME: 'lapic', TIMER IRQ:
4354, TIMER FREQ: 93641996, CLOCK NAME: 'tsc', CLOCK FREQ: 2996554000,
CPU FREQ: 2996554000, LINUX TIMER IRQ: 4354.
[62619.200314]
REMARK: RTAI WILL NOT ACCESS USER SPACE ON STACKS ARGS ITS WAY.
insmod rtai_sched.ko
[62733.070351] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[62733.070478] , kstacks pool size = 524288 bytes.
[62733.070655] RTAI[sched]: hard timer type/freq = lapic/93641996(Hz);
timing: ONESHOT; linear timed lists.
[62733.070860] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq
= 2996554000 hz.
[62733.070968] RTAI[sched]: timer setup = 74 ns, resched latency = 0 ns.
[62733.071664] ------------[ cut here ]------------
[62733.071765] Kernel BUG at ffffffff810a4b90 [verbose debug info
unavailable]
[62733.071872] invalid opcode: 0000 [#9] SMP
[62733.072114] Modules linked in: rtai_sched(O+) rtai_hal(O)
ebtable_nat ebtable_broute bridge stp llc ip6table_mangle ip6table_raw
iptable_mangle iptable_raw ebtable_filter ebtables ip6table_filter
ip6_tables iptable_filter ipmi_devintf dcdbas pcspkr sg ipmi_si
ipmi_msghandler shpchp ip_tables x_tables xfs libcrc32c crc32c_generic
sr_mod sd_mod ahci libahci tg3 libphy igb i2c_algo_bit i2c_core hwmon
ptp pps_core libata megaraid_sas scsi_mod dm_mirror dm_region_hash
dm_log dm_mod ipv6 [last unloaded: rtai_hal]
[62733.076051] CPU: 0 PID: 30482 Comm: calibrate Tainted: G D O
4.4.43-hal-6-rtai-5.0 #14
[62733.076183] Hardware name: Dell Inc. PowerEdge T630/0W9WXC, BIOS
1.0.4 08/29/2014
[62733.076290] task: ffff880468732f00 ti: ffff88046a2bc000 task.ti:
ffff88046a2bc000
[62733.076398] RIP: 0010:[<ffffffff810a4b90>] [<ffffffff810a4b90>]
__audit_syscall_entry+0x2f/0xdc
[62733.076603] RSP: 0018:ffff88046a2bfed8 EFLAGS: 00010202
[62733.076705] RAX: ffff880468732f00 RBX: ffff88046af34800 RCX:
0000000000000000
[62733.076812] RDX: 0000000000000000 RSI: 0000000000000000 RDI:
00000000000000e7
[62733.076919] RBP: ffff88046a2bfee8 R08: ffffffffffffff70 R09:
ffff880468732f00
[62733.077026] R10: ffffffffffffff70 R11: 0000000000000246 R12:
00007f9ce0308838
[62733.077133] R13: 00007f9ce030de80 R14: 0000000000000000 R15:
0000000000000000
[62733.077241] FS: 00007f9ce0958740(0000) GS:ffff88047fc00000(0000)
knlGS:0000000000000000
[62733.077350] CS: 0010 DS: 0000 ES: 0000 CR0: 0000000080050033
[62733.077453] CR2: 00007f9ce000b8d0 CR3: 0000000469d11000 CR4:
00000000001406f0
[62733.077560] I-pipe domain Linux
[62733.077657] Stack:
[62733.077751] ffff88046a2bff58 00007f9ce0308838 0000000000000000
ffffffff810012a0
[62733.078145] 0000000000000000 0000000000010246 0000000000000014
0000000000000000
[62733.078539] 0000000000000000 ffffffff81033f74 0000000000000200
0000000000000000
[62733.078933] Call Trace:
[62733.079030] [<ffffffff810012a0>] ?
syscall_trace_enter_phase1+0xe3/0xec
[62733.079137] [<ffffffff81033f74>] ? do_page_fault+0x4e/0x7e
[62733.079240] [<ffffffff813c5f87>] ? tracesys+0xd/0x44
[62733.079342] Code: 0c 25 c0 ac 00 00 48 89 e5 41 54 53 49 8b 99 70 05
00 00 48 85 db 0f 84 b7 00 00 00 83 7b 04 00 75 09 83 bb 40 02 00 00 00
74 02 <0f> 0b 83 3d 83 30 6b 00 00 0f 84 99 00 00 00 49 8b 41 08 44 8b
[62733.084167] RIP [<ffffffff810a4b90>] __audit_syscall_entry+0x2f/0xdc
[62733.084344] RSP <ffff88046a2bfed8>
[62733.084461] ---[ end trace f782b5ddf448fd9a ]---
[62733.085369] USERMODE CHECK: ERROR.
[62733.085467] USERMODE CHECK PROVIDED (ns): KernelLatency -1,
UserLatency -1.
[62733.398278] KERNEL SPACE LATENCY ENDED AT CYCLE: 3121, LATENCY =
1822, VARIANCE = 13840/10004569, GAIN = 345847/1000000000, LEAST = 1620.
[62733.501148] AFTER KERNEL CALIBRATION (WITH RTAI TASK, ns):
KernelLatency 608, UserLatency -1 (CALIBRATION: PERIOD 10000 (ns), TIME
415573612 (ns)).
[62733.501690] ------------[ cut here ]------------
[62733.501791] Kernel BUG at ffffffff810a4b90 [verbose debug info
unavailable]
[62733.501939] invalid opcode: 0000 [#10] SMP
[62733.502181] Modules linked in: rtai_sched(O+) rtai_hal(O)
ebtable_nat ebtable_broute bridge stp llc ip6table_mangle ip6table_raw
iptable_mangle iptable_raw ebtable_filter ebtables ip6table_filter
ip6_tables iptable_filter ipmi_devintf dcdbas pcspkr sg ipmi_si
ipmi_msghandler shpchp ip_tables x_tables xfs libcrc32c crc32c_generic
sr_mod sd_mod ahci libahci tg3 libphy igb i2c_algo_bit i2c_core hwmon
ptp pps_core libata megaraid_sas scsi_mod dm_mirror dm_region_hash
dm_log dm_mod ipv6 [last unloaded: rtai_hal]
[62733.506078] CPU: 0 PID: 30483 Comm: calibrate Tainted: G D O
4.4.43-hal-6-rtai-5.0 #14
[62733.506210] Hardware name: Dell Inc. PowerEdge T630/0W9WXC, BIOS
1.0.4 08/29/2014
[62733.506318] task: ffff880468732f00 ti: ffff88046a2bc000 task.ti:
ffff88046a2bc000
[62733.506425] RIP: 0010:[<ffffffff810a4b90>] [<ffffffff810a4b90>]
__audit_syscall_entry+0x2f/0xdc
[62733.506630] RSP: 0018:ffff88046a2bfed8 EFLAGS: 00010202
[62733.506732] RAX: ffff880468732f00 RBX: ffff88046af36800 RCX:
0000000000021000
[62733.506839] RDX: 0000000000000000 RSI: 0000000000000000 RDI:
000000000000000c
[62733.506946] RBP: ffff88046a2bfee8 R08: 0000000000021000 R09:
ffff880468732f00
[62733.507053] R10: 0000000000021000 R11: 0000000000003246 R12:
00007f1d1231a4e0
[62733.507160] R13: 0000000000000000 R14: 0000000000000fff R15:
00007f1d12317760
[62733.507267] FS: 00007f1d12963740(0000) GS:ffff88047fc00000(0000)
knlGS:0000000000000000
[62733.507376] CS: 0010 DS: 0000 ES: 0000 CR0: 0000000080050033
[62733.507480] CR2: 00007f1d12034a70 CR3: 0000000469d11000 CR4:
00000000001406f0
[62733.507587] I-pipe domain Linux
[62733.507683] Stack:
[62733.507777] ffff88046a2bff58 00007f1d1231a4e0 0000000000000000
ffffffff810012a0
[62733.508171] 0000000000003082 ffff880468733780 0000000000000000
0000000000400b10
[62733.508564] 00007fff657aeee0 0000000000000000 0000000000000000
ffff88046a2bff58
[62733.508958] Call Trace:
[62733.509054] [<ffffffff810012a0>] ?
syscall_trace_enter_phase1+0xe3/0xec
[62733.509165] [<ffffffffa0861c7a>] ?
lxrt_intercept_syscall+0x81/0x172 [rtai_sched]
[62733.509273] [<ffffffff813c5f87>] ? tracesys+0xd/0x44
[62733.509375] Code: 0c 25 c0 ac 00 00 48 89 e5 41 54 53 49 8b 99 70 05
00 00 48 85 db 0f 84 b7 00 00 00 83 7b 04 00 75 09 83 bb 40 02 00 00 00
74 02 <0f> 0b 83 3d 83 30 6b 00 00 0f 84 99 00 00 00 49 8b 41 08 44 8b
[62733.519504] RIP [<ffffffff810a4b90>] __audit_syscall_entry+0x2f/0xdc
[62733.519681] RSP <ffff88046a2bfed8>
[62733.519785] ---[ end trace f782b5ddf448fd9b ]---
[62733.519891] LXRT releases PID 30483 (ID: calibrate).
[62733.521116] USERMODE USER SPACE CALIBRATION: ERROR.
[62733.521224] AFTER USER CALIBRATION (ns): KernelLatency 608,
UserLatency 0 (CALIBRATION: PERIOD 10000 (ns), TIME 19932389 (ns)).
[62733.521363] FINAL CALIBRATION SUMMARY (ns): KernelLatency 608,
UserLatency 0.
Any idea of what is going wrong ?
I have also tried rtai 5.0 + linux 4.4.43, with the same result. In
fact, with this version, but running Scientific Linux 6, RTAI works
fine. The difference in the kernel configuration between Scinetific
Linux 6 and CentOS 7 is a few options needed by systemd
(CONFIG_FHANDLE, CONFIG_CGROUPS...)
Here are the test suite results:
[***@lappc-f586 testsuite]# cd kern/
[***@lappc-f586 kern]# cd latency/
[***@lappc-f586 latency]# ./run
*
*
* Type ^C to stop this application.
*
*
RTAI Testsuite - KERNEL space latency test (output data in nanoseconds)
*** latency verification tool with RTAI own real time kernel tasks ***
*** period = 100000 (ns), avrgtime = 1 (s) ***
RTH| lat min| ovl min| lat avg| lat max| ovl max|
overruns
RTD| -9| -9| 21| 1434| 1434|
0
RTD| -9| -9| 25| 6247| 6247|
0
RTD| -9| -9| 24| 1265| 6247|
0
RTD| -9| -9| 24| 1833| 6247|
0
RTD| -9| -9| 24| 1686| 6247|
0
RTD| -9| -9| 25| 1691| 6247|
0
^CRTD| -9| -9| 25| 1691| 6247|
0
[***@lappc-f586 latency]# cd ../
latency/ preempt/ switches/
[***@lappc-f586 latency]# cd ../preempt/
[***@lappc-f586 preempt]# ./run
*
*
* Type ^C to stop this application.
*
*
RTAI Testsuite - UP preempt (all data in nanoseconds)
RTH| lat min| lat avg| lat max| jit fast| jit slow
RTD| -3| 16| 952| 1516| 1646
RTD| -3| 16| 1040| 1516| 1646
RTD| -3| 17| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 17| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 17| 1074| 1516| 1646
^CRTD| -3| 17| 1074| 1516| 1646
[***@lappc-f586 preempt]# cd ../
latency/ preempt/ switches/
[***@lappc-f586 preempt]# cd ../switches/
[***@lappc-f586 switches]# ./run
*
*
* Type ^C to stop this application.
*
*
Jul 6 04:42:23 lappc-f586 kernel: #012#012CPU USE SUMMARY
Jul 6 04:42:23 lappc-f586 kernel: # 0 -> 16171
Jul 6 04:42:23 lappc-f586 kernel: # 1 -> 0
Jul 6 04:42:23 lappc-f586 kernel: # 2 -> 0
Jul 6 04:42:23 lappc-f586 kernel: # 3 -> 0
Jul 6 04:42:23 lappc-f586 kernel: END OF CPU USE SUMMARY
Jul 6 04:42:30 lappc-f586 kernel: #012Wait for it ...
Jul 6 04:42:30 lappc-f586 kernel: #012#012FOR 10 TASKS: TIME 5 (ms),
SUSP/RES SWITCHES 40000, SWITCH TIME (INCLUDING FULL FP SUPPORT) 143
(ns)
Jul 6 04:42:30 lappc-f586 kernel: #012FOR 10 TASKS: TIME 5 (ms), SEM
SIG/WAIT SWITCHES 40000, SWITCH TIME (INCLUDING FULL FP SUPPORT) 144
(ns)
Jul 6 04:42:30 lappc-f586 kernel: #012FOR 10 TASKS: TIME 7 (ms),
RPC/RCV-RET SWITCHES 40000, SWITCH TIME (INCLUDING FULL FP SUPPORT) 175
(ns)
^C[***@lappc-f586 switches]# cd ../../user/latency/
[***@lappc-f586 latency]# ./run
*
*
* Type ^C to stop this application.
*
*
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31014 Erreur de segmentation $suflag $*
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31041 Erreur de segmentation $suflag $*
[***@lappc-f586 latency]# cd ../preempt/
[***@lappc-f586 preempt]# ./run
*
*
* Type ^C to stop this application.
*
*
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31167 Erreur de segmentation $suflag $*
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31194 Erreur de segmentation $suflag $*
[***@lappc-f586 preempt]# cd ../
latency/ preempt/ switches/
[***@lappc-f586 preempt]# cd ../switches/
[***@lappc-f586 switches]# ./run
*
*
* Type ^C to stop this application.
*
*
Wait for it ...
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31318 Erreur de segmentation $suflag $*
[***@lappc-f586 switches]#
Cheers,
Emmanuel.
I have installed rtai 5.1 and a patched vanilla linux kernel 4.4.43 on
a CentOS 7 distribution. Compilation and installation went fine after a
few tries in order to understand what kernel options are needed by
CentOS to boot correctly.
But when I run the testsuite, I get some kernel oops, likely when the
userspace API is used.
In fact, as soon rtai_sched module is installed, linux complains:
insmod rtai_hal.ko
[62619.200082] I-pipe: head domain RTAI registered.
[62619.200176] RTAI[hal]: mounted. ISOL_CPUS_MASK: e.
[62619.200210] SYSINFO - # CPUs: 4, TIMER NAME: 'lapic', TIMER IRQ:
4354, TIMER FREQ: 93641996, CLOCK NAME: 'tsc', CLOCK FREQ: 2996554000,
CPU FREQ: 2996554000, LINUX TIMER IRQ: 4354.
[62619.200314]
REMARK: RTAI WILL NOT ACCESS USER SPACE ON STACKS ARGS ITS WAY.
insmod rtai_sched.ko
[62733.070351] RTAI[malloc]: global heap size = 2097152 bytes, <BSD>.
[62733.070478] , kstacks pool size = 524288 bytes.
[62733.070655] RTAI[sched]: hard timer type/freq = lapic/93641996(Hz);
timing: ONESHOT; linear timed lists.
[62733.070860] RTAI[sched]: Linux timer freq = 250 (Hz), TimeBase freq
= 2996554000 hz.
[62733.070968] RTAI[sched]: timer setup = 74 ns, resched latency = 0 ns.
[62733.071664] ------------[ cut here ]------------
[62733.071765] Kernel BUG at ffffffff810a4b90 [verbose debug info
unavailable]
[62733.071872] invalid opcode: 0000 [#9] SMP
[62733.072114] Modules linked in: rtai_sched(O+) rtai_hal(O)
ebtable_nat ebtable_broute bridge stp llc ip6table_mangle ip6table_raw
iptable_mangle iptable_raw ebtable_filter ebtables ip6table_filter
ip6_tables iptable_filter ipmi_devintf dcdbas pcspkr sg ipmi_si
ipmi_msghandler shpchp ip_tables x_tables xfs libcrc32c crc32c_generic
sr_mod sd_mod ahci libahci tg3 libphy igb i2c_algo_bit i2c_core hwmon
ptp pps_core libata megaraid_sas scsi_mod dm_mirror dm_region_hash
dm_log dm_mod ipv6 [last unloaded: rtai_hal]
[62733.076051] CPU: 0 PID: 30482 Comm: calibrate Tainted: G D O
4.4.43-hal-6-rtai-5.0 #14
[62733.076183] Hardware name: Dell Inc. PowerEdge T630/0W9WXC, BIOS
1.0.4 08/29/2014
[62733.076290] task: ffff880468732f00 ti: ffff88046a2bc000 task.ti:
ffff88046a2bc000
[62733.076398] RIP: 0010:[<ffffffff810a4b90>] [<ffffffff810a4b90>]
__audit_syscall_entry+0x2f/0xdc
[62733.076603] RSP: 0018:ffff88046a2bfed8 EFLAGS: 00010202
[62733.076705] RAX: ffff880468732f00 RBX: ffff88046af34800 RCX:
0000000000000000
[62733.076812] RDX: 0000000000000000 RSI: 0000000000000000 RDI:
00000000000000e7
[62733.076919] RBP: ffff88046a2bfee8 R08: ffffffffffffff70 R09:
ffff880468732f00
[62733.077026] R10: ffffffffffffff70 R11: 0000000000000246 R12:
00007f9ce0308838
[62733.077133] R13: 00007f9ce030de80 R14: 0000000000000000 R15:
0000000000000000
[62733.077241] FS: 00007f9ce0958740(0000) GS:ffff88047fc00000(0000)
knlGS:0000000000000000
[62733.077350] CS: 0010 DS: 0000 ES: 0000 CR0: 0000000080050033
[62733.077453] CR2: 00007f9ce000b8d0 CR3: 0000000469d11000 CR4:
00000000001406f0
[62733.077560] I-pipe domain Linux
[62733.077657] Stack:
[62733.077751] ffff88046a2bff58 00007f9ce0308838 0000000000000000
ffffffff810012a0
[62733.078145] 0000000000000000 0000000000010246 0000000000000014
0000000000000000
[62733.078539] 0000000000000000 ffffffff81033f74 0000000000000200
0000000000000000
[62733.078933] Call Trace:
[62733.079030] [<ffffffff810012a0>] ?
syscall_trace_enter_phase1+0xe3/0xec
[62733.079137] [<ffffffff81033f74>] ? do_page_fault+0x4e/0x7e
[62733.079240] [<ffffffff813c5f87>] ? tracesys+0xd/0x44
[62733.079342] Code: 0c 25 c0 ac 00 00 48 89 e5 41 54 53 49 8b 99 70 05
00 00 48 85 db 0f 84 b7 00 00 00 83 7b 04 00 75 09 83 bb 40 02 00 00 00
74 02 <0f> 0b 83 3d 83 30 6b 00 00 0f 84 99 00 00 00 49 8b 41 08 44 8b
[62733.084167] RIP [<ffffffff810a4b90>] __audit_syscall_entry+0x2f/0xdc
[62733.084344] RSP <ffff88046a2bfed8>
[62733.084461] ---[ end trace f782b5ddf448fd9a ]---
[62733.085369] USERMODE CHECK: ERROR.
[62733.085467] USERMODE CHECK PROVIDED (ns): KernelLatency -1,
UserLatency -1.
[62733.398278] KERNEL SPACE LATENCY ENDED AT CYCLE: 3121, LATENCY =
1822, VARIANCE = 13840/10004569, GAIN = 345847/1000000000, LEAST = 1620.
[62733.501148] AFTER KERNEL CALIBRATION (WITH RTAI TASK, ns):
KernelLatency 608, UserLatency -1 (CALIBRATION: PERIOD 10000 (ns), TIME
415573612 (ns)).
[62733.501690] ------------[ cut here ]------------
[62733.501791] Kernel BUG at ffffffff810a4b90 [verbose debug info
unavailable]
[62733.501939] invalid opcode: 0000 [#10] SMP
[62733.502181] Modules linked in: rtai_sched(O+) rtai_hal(O)
ebtable_nat ebtable_broute bridge stp llc ip6table_mangle ip6table_raw
iptable_mangle iptable_raw ebtable_filter ebtables ip6table_filter
ip6_tables iptable_filter ipmi_devintf dcdbas pcspkr sg ipmi_si
ipmi_msghandler shpchp ip_tables x_tables xfs libcrc32c crc32c_generic
sr_mod sd_mod ahci libahci tg3 libphy igb i2c_algo_bit i2c_core hwmon
ptp pps_core libata megaraid_sas scsi_mod dm_mirror dm_region_hash
dm_log dm_mod ipv6 [last unloaded: rtai_hal]
[62733.506078] CPU: 0 PID: 30483 Comm: calibrate Tainted: G D O
4.4.43-hal-6-rtai-5.0 #14
[62733.506210] Hardware name: Dell Inc. PowerEdge T630/0W9WXC, BIOS
1.0.4 08/29/2014
[62733.506318] task: ffff880468732f00 ti: ffff88046a2bc000 task.ti:
ffff88046a2bc000
[62733.506425] RIP: 0010:[<ffffffff810a4b90>] [<ffffffff810a4b90>]
__audit_syscall_entry+0x2f/0xdc
[62733.506630] RSP: 0018:ffff88046a2bfed8 EFLAGS: 00010202
[62733.506732] RAX: ffff880468732f00 RBX: ffff88046af36800 RCX:
0000000000021000
[62733.506839] RDX: 0000000000000000 RSI: 0000000000000000 RDI:
000000000000000c
[62733.506946] RBP: ffff88046a2bfee8 R08: 0000000000021000 R09:
ffff880468732f00
[62733.507053] R10: 0000000000021000 R11: 0000000000003246 R12:
00007f1d1231a4e0
[62733.507160] R13: 0000000000000000 R14: 0000000000000fff R15:
00007f1d12317760
[62733.507267] FS: 00007f1d12963740(0000) GS:ffff88047fc00000(0000)
knlGS:0000000000000000
[62733.507376] CS: 0010 DS: 0000 ES: 0000 CR0: 0000000080050033
[62733.507480] CR2: 00007f1d12034a70 CR3: 0000000469d11000 CR4:
00000000001406f0
[62733.507587] I-pipe domain Linux
[62733.507683] Stack:
[62733.507777] ffff88046a2bff58 00007f1d1231a4e0 0000000000000000
ffffffff810012a0
[62733.508171] 0000000000003082 ffff880468733780 0000000000000000
0000000000400b10
[62733.508564] 00007fff657aeee0 0000000000000000 0000000000000000
ffff88046a2bff58
[62733.508958] Call Trace:
[62733.509054] [<ffffffff810012a0>] ?
syscall_trace_enter_phase1+0xe3/0xec
[62733.509165] [<ffffffffa0861c7a>] ?
lxrt_intercept_syscall+0x81/0x172 [rtai_sched]
[62733.509273] [<ffffffff813c5f87>] ? tracesys+0xd/0x44
[62733.509375] Code: 0c 25 c0 ac 00 00 48 89 e5 41 54 53 49 8b 99 70 05
00 00 48 85 db 0f 84 b7 00 00 00 83 7b 04 00 75 09 83 bb 40 02 00 00 00
74 02 <0f> 0b 83 3d 83 30 6b 00 00 0f 84 99 00 00 00 49 8b 41 08 44 8b
[62733.519504] RIP [<ffffffff810a4b90>] __audit_syscall_entry+0x2f/0xdc
[62733.519681] RSP <ffff88046a2bfed8>
[62733.519785] ---[ end trace f782b5ddf448fd9b ]---
[62733.519891] LXRT releases PID 30483 (ID: calibrate).
[62733.521116] USERMODE USER SPACE CALIBRATION: ERROR.
[62733.521224] AFTER USER CALIBRATION (ns): KernelLatency 608,
UserLatency 0 (CALIBRATION: PERIOD 10000 (ns), TIME 19932389 (ns)).
[62733.521363] FINAL CALIBRATION SUMMARY (ns): KernelLatency 608,
UserLatency 0.
Any idea of what is going wrong ?
I have also tried rtai 5.0 + linux 4.4.43, with the same result. In
fact, with this version, but running Scientific Linux 6, RTAI works
fine. The difference in the kernel configuration between Scinetific
Linux 6 and CentOS 7 is a few options needed by systemd
(CONFIG_FHANDLE, CONFIG_CGROUPS...)
Here are the test suite results:
[***@lappc-f586 testsuite]# cd kern/
[***@lappc-f586 kern]# cd latency/
[***@lappc-f586 latency]# ./run
*
*
* Type ^C to stop this application.
*
*
RTAI Testsuite - KERNEL space latency test (output data in nanoseconds)
*** latency verification tool with RTAI own real time kernel tasks ***
*** period = 100000 (ns), avrgtime = 1 (s) ***
RTH| lat min| ovl min| lat avg| lat max| ovl max|
overruns
RTD| -9| -9| 21| 1434| 1434|
0
RTD| -9| -9| 25| 6247| 6247|
0
RTD| -9| -9| 24| 1265| 6247|
0
RTD| -9| -9| 24| 1833| 6247|
0
RTD| -9| -9| 24| 1686| 6247|
0
RTD| -9| -9| 25| 1691| 6247|
0
^CRTD| -9| -9| 25| 1691| 6247|
0
[***@lappc-f586 latency]# cd ../
latency/ preempt/ switches/
[***@lappc-f586 latency]# cd ../preempt/
[***@lappc-f586 preempt]# ./run
*
*
* Type ^C to stop this application.
*
*
RTAI Testsuite - UP preempt (all data in nanoseconds)
RTH| lat min| lat avg| lat max| jit fast| jit slow
RTD| -3| 16| 952| 1516| 1646
RTD| -3| 16| 1040| 1516| 1646
RTD| -3| 17| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 17| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 16| 1074| 1516| 1646
RTD| -3| 17| 1074| 1516| 1646
^CRTD| -3| 17| 1074| 1516| 1646
[***@lappc-f586 preempt]# cd ../
latency/ preempt/ switches/
[***@lappc-f586 preempt]# cd ../switches/
[***@lappc-f586 switches]# ./run
*
*
* Type ^C to stop this application.
*
*
Jul 6 04:42:23 lappc-f586 kernel: #012#012CPU USE SUMMARY
Jul 6 04:42:23 lappc-f586 kernel: # 0 -> 16171
Jul 6 04:42:23 lappc-f586 kernel: # 1 -> 0
Jul 6 04:42:23 lappc-f586 kernel: # 2 -> 0
Jul 6 04:42:23 lappc-f586 kernel: # 3 -> 0
Jul 6 04:42:23 lappc-f586 kernel: END OF CPU USE SUMMARY
Jul 6 04:42:30 lappc-f586 kernel: #012Wait for it ...
Jul 6 04:42:30 lappc-f586 kernel: #012#012FOR 10 TASKS: TIME 5 (ms),
SUSP/RES SWITCHES 40000, SWITCH TIME (INCLUDING FULL FP SUPPORT) 143
(ns)
Jul 6 04:42:30 lappc-f586 kernel: #012FOR 10 TASKS: TIME 5 (ms), SEM
SIG/WAIT SWITCHES 40000, SWITCH TIME (INCLUDING FULL FP SUPPORT) 144
(ns)
Jul 6 04:42:30 lappc-f586 kernel: #012FOR 10 TASKS: TIME 7 (ms),
RPC/RCV-RET SWITCHES 40000, SWITCH TIME (INCLUDING FULL FP SUPPORT) 175
(ns)
^C[***@lappc-f586 switches]# cd ../../user/latency/
[***@lappc-f586 latency]# ./run
*
*
* Type ^C to stop this application.
*
*
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31014 Erreur de segmentation $suflag $*
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31041 Erreur de segmentation $suflag $*
[***@lappc-f586 latency]# cd ../preempt/
[***@lappc-f586 preempt]# ./run
*
*
* Type ^C to stop this application.
*
*
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31167 Erreur de segmentation $suflag $*
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31194 Erreur de segmentation $suflag $*
[***@lappc-f586 preempt]# cd ../
latency/ preempt/ switches/
[***@lappc-f586 preempt]# cd ../switches/
[***@lappc-f586 switches]# ./run
*
*
* Type ^C to stop this application.
*
*
Wait for it ...
/opt/rtai/linux-4.4.43-x86_64-hal-6-rtai-5.0/realtime/bin/rtai-load :
ligne 185 : 31318 Erreur de segmentation $suflag $*
[***@lappc-f586 switches]#
Cheers,
Emmanuel.