пакет machinekit-xenomai устанавливается, но тоже не работает.
запуск /usr/xenomai/sbin/autotune на результаты тестов не повлиял.
результаты тестов:
Код: Выделить всё
model: Raspberry Pi 2 Model B Rev 1.1
compatible: brcm,bcm2836
My IP address is 192.168.0.6
Xenomai/cobalt v3.0.7
root@raspberrypi:~ # uname -a
Linux raspberrypi 4.9.80-v7-xeno3+ #2 SMP PREEMPT Fri Aug 10 15:04:48 KST 2018 armv7l GNU/Linux
root@raspberrypi:~ # /usr/xenomai/demo/cyclictest -t -p80 -i10000
# /dev/cpu_dma_latency set to 0us
policy: fifo: loadavg: 0.20 0.06 0.02 1/125 12025
T: 0 (11995) P:80 I:10000 C: 4963 Min: 4 Act: 8 Avg: 10 Max: 40
T: 1 (11996) P:80 I:10500 C: 4726 Min: 0 Act: 7 Avg: 9 Max: 35
T: 2 (11997) P:80 I:11000 C: 4511 Min: 4 Act: 13 Avg: 9 Max: 35
T: 3 (11998) P:80 I:11500 C: 4315 Min: 1 Act: 8 Avg: 9 Max: 37
Код: Выделить всё
root@raspberrypi:~ # /usr/xenomai/bin/latency
== Sampling period: 1000 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT| 00:00:01 (periodic user-mode task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD| 2.447| 3.210| 12.082| 0| 0| 2.447| 12.082
RTD| 2.498| 3.174| 18.124| 0| 0| 2.447| 18.124
RTD| 2.446| 3.127| 10.207| 0| 0| 2.446| 18.124
RTD| 2.393| 3.161| 9.842| 0| 0| 2.393| 18.124
RTD| 2.393| 3.133| 9.529| 0| 0| 2.393| 18.124
RTD| 2.445| 3.180| 13.278| 0| 0| 2.393| 18.124
RTD| 2.393| 3.130| 10.674| 0| 0| 2.393| 18.124
RTD| 2.444| 3.150| 8.851| 0| 0| 2.393| 18.124
RTD| 2.444| 3.118| 10.517| 0| 0| 2.393| 18.124
RTD| 2.443| 3.146| 9.267| 0| 0| 2.393| 18.124
RTD| 2.443| 3.130| 9.579| 0| 0| 2.393| 18.124
RTD| 2.443| 3.144| 8.068| 0| 0| 2.393| 18.124
RTD| 2.390| 3.127| 9.734| 0| 0| 2.390| 18.124
RTD| 2.442| 3.152| 9.109| 0| 0| 2.390| 18.124
RTD| 2.442| 3.137| 10.202| 0| 0| 2.390| 18.124
RTD| 2.493| 3.174| 10.202| 0| 0| 2.390| 18.124
RTD| 2.441| 3.124| 9.628| 0| 0| 2.390| 18.124
RTD| 2.492| 3.142| 9.680| 0| 0| 2.390| 18.124
RTD| 2.440| 3.150| 14.523| 0| 0| 2.390| 18.124
RTD| 2.388| 3.162| 11.971| 0| 0| 2.388| 18.124
RTD| 2.439| 3.136| 9.991| 0| 0| 2.388| 18.124
RTT| 00:00:22 (periodic user-mode task, 1000 us period, priority 99)