내가 가야 할 곳은...: i.MX6Q (ARM Cortex-A9 Quad Core) Embedded Linux-Xenomai RTOS Porting

간만에 삽질좀 했다.
ARM Cortex-A9 쿼드코어 기반 AP인 i.MX6Q 프로세서에 Linux-Xenomai RTOS를 포팅해 봤다.
ARMv4/5기반의 오래된 ARM에만 포팅 해보다 나름 최근(?)의 성능 좋은 프로세서에 포팅작업을 하려다 보니 여러가지 삽질들이 좀 많았다.
우선 리눅스 커널 버전과 Xenomai 버전이 올라가면서 바닐라 커널의 Xenomai패치는 한결 수월해 졌으나, 커널에 Device-Tree라는 요상한게 생기고 Cortex-A9의 하드웨어 FPU인 VFPv3 및 NEON을 제대로 지원하는 툴체인을 빌드하느라 시간을 좀 많이 까묵었다 (툴체인 한번 빌드하는데 3~4시간, 커널 빌드하는데 30~40분).
마침내 커널 부팅되고 램디스크 마운팅 되고 Xenomai 어플리케이션 돌아가고...
드디어 1GHz 쿼드코어에서 돌아가는 RTOS가 만들어 졌다. 움하하...

<> 커널 부팅
------------------------------------------------------------------
Booting Linux on physical CPU 0x0
Linux version 3.10.32-xenokang (root@localhost.localdomain) (gcc version 4.9.3 (crosstool-NG crosstool-ng-1.22.0) ) #1 SMP Wed Jun 15 10:43:26 KST 2016
CPU: ARMv7 Processor [412fc09a] revision 10 (ARMv7), cr=10c5387d
CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
Machine: Freescale i.MX6 Quad/DualLite (Device Tree), model: Freescale i.MX6 Quad SABRE Smart Device Board
Truncating RAM at 10000000-8fffffff to -7f7fffff (vmalloc region overlap).
Memory policy: ECC disabled, Data cache writealloc
PERCPU: Embedded 10 pages/cpu @815fc000 s18496 r8192 d14272 u40960
Built 1 zonelists in Zone order, mobility grouping on. Total pages: 453136
Kernel command line: console=ttymxc0,115200 root=/dev/ram0 rw --no-log initrd=0x1E000000,16M ramdisk=32768
PID hash table entries: 4096 (order: 2, 16384 bytes)
Dentry cache hash table entries: 262144 (order: 8, 1048576 bytes)
Inode-cache hash table entries: 131072 (order: 7, 524288 bytes)
Memory: 1784MB = 1784MB total
Memory: 1786168k/1786168k available, 40648k reserved, 0K highmem
Virtual kernel memory layout:
vector : 0xffff0000 - 0xffff1000 ( 4 kB)
fixmap : 0xfff00000 - 0xfffe0000 ( 896 kB)
vmalloc : 0xf0000000 - 0xff000000 ( 240 MB)
lowmem : 0x80000000 - 0xef800000 (1784 MB)
modules : 0x7f000000 - 0x80000000 ( 16 MB)
.text : 0x80008000 - 0x80693ff4 (6704 kB)
.init : 0x80694000 - 0x806ea840 ( 347 kB)
.data : 0x806ec000 - 0x80717fa0 ( 176 kB)
.bss : 0x80717fa0 - 0x807f9464 ( 902 kB)
SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=4, Nodes=1
Hierarchical RCU implementation.
NR_IRQS:16 nr_irqs:16 16
sched_clock: 32 bits at 66MHz, resolution 15ns, wraps every 65075ms
I-pipe, 66.000 MHz clocksource
I-pipe, 396.000 MHz clocksource
CPU identified as i.MX6Q, silicon rev 1.2
Interrupt pipeline (release #5)
Console: colour dummy device 80x30
Calibrating delay loop... 1581.05 BogoMIPS (lpj=7905280)
pid_max: default: 32768 minimum: 301
Mount-cache hash table entries: 512
...
...
Switching to clocksource ipipe_tsc
NET: Registered protocol family 2
TCP established hash table entries: 16384 (order: 5, 131072 bytes)
TCP bind hash table entries: 16384 (order: 5, 131072 bytes)
TCP: Hash tables configured (established 16384 bind 16384)
TCP: reno registered
UDP hash table entries: 1024 (order: 3, 32768 bytes)
UDP-Lite hash table entries: 1024 (order: 3, 32768 bytes)
NET: Registered protocol family 1
RPC: Registered named UNIX socket transport module.
RPC: Registered udp transport module.
RPC: Registered tcp transport module.
RPC: Registered tcp NFSv4.1 backchannel transport module.
Trying to unpack rootfs image as initramfs...
rootfs image is not initramfs (no cpio magic); looks like an initrd
Freeing initrd memory: 16384K (8e000000 - 8f000000)
hw perfevents: enabled with ARMv7 Cortex-A9 PMU driver, 7 counters available
I-pipe: head domain Xenomai registered.
Xenomai: hal/arm started.
Xenomai: scheduling class idle registered.
Xenomai: scheduling class rt registered.
Xenomai: real-time nucleus v2.6.4 (Jumpin' Out) loaded.
Xenomai: starting native API services.
Xenomai: starting POSIX services.
Xenomai: starting RTDM services.
VFS: Disk quotas dquot_6.5.2
Dquot-cache hash table entries: 1024 (order 0, 4096 bytes)
NFS: Registering the id_resolver key type
Key type id_resolver registered
Key type id_legacy registered
jffs2: version 2.2. (NAND) ⓒ 2001-2006 Red Hat, Inc.
fuse init (API version 7.22)
msgmni has been set to 3520
io scheduler noop registered
io scheduler deadline registered
io scheduler cfq registered (default)
imx-sdma 20ec000.sdma: initialized
Serial: IMX driver
2020000.serial: ttymxc0 at MMIO 0x2020000 (irq = 58) is a IMX
console [ttymxc0] enabled
...
...
RAMDISK: gzip image found at block 0
VFS: Mounted root (ext2 filesystem) on device 1:0.
devtmpfs: mounted
Freeing unused kernel memory: 344K (80694000 - 806ea000)
init started: BusyBox v1.22.1 (2016-06-15 10:43:42 KST)
starting pid 56, tty '': '/etc/init.d/rcS'

Please press Enter to activate this console.
starting pid 64, tty '': '-/bin/sh'
[root@imx6q /]#
[root@imx6q /]#
[root@imx6q /]# ls -al
drwxr-xr-x 17 0 0 1024 Jan 1 00:57 .
drwxr-xr-x 17 0 0 1024 Jan 1 00:57 ..
-rw------- 1 0 0 7 Jan 1 00:57 .ash_history
drwxr-xr-x 2 0 0 1024 Jun 15 2016 app
drwxr-xr-x 2 0 0 1024 Jun 15 2016 bin
drwxr-xr-x 5 0 0 2840 Jan 1 00:00 dev
drwxr-xr-x 3 0 0 1024 Jun 15 2016 etc
drwxr-xr-x 2 0 0 1024 Jun 15 2016 lib
lrwxrwxrwx 1 0 0 11 Jun 15 2016 linuxrc -> bin/busybox
drwx------ 2 0 0 12288 Jun 15 2016 lost+found
drwxr-xr-x 2 0 0 1024 Jun 15 2016 nand
dr-xr-xr-x 64 0 0 0 Jan 1 00:00 proc
drwxr-xr-x 2 0 0 1024 Jun 15 2016 root
drwxr-xr-x 2 0 0 1024 Jun 15 2016 sbin
drwxr-xr-x 2 0 0 1024 Jun 15 2016 sdcard
dr-xr-xr-x 12 0 0 0 Jan 1 00:00 sys
drwxr-xr-x 2 0 0 1024 Jun 15 2016 tmp
drwxr-xr-x 5 0 0 1024 Jun 15 2016 usr
drwxr-xr-x 2 0 0 1024 Jun 15 2016 xenomai
[root@imx6q /]#

------------------------------------------------------------------

<> Xenomai latency 측정

------------------------------------------------------------------
[root@imx6q /xenomai/bin]#
[root@imx6q /xenomai/bin]# ./latency -t 0 -p 1000
== 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| -3.043| -2.028| 0.108| 0| 0| -3.043| 0.108
RTD| -3.152| -1.927| 12.189| 0| 0| -3.152| 12.189
RTD| -3.013| -1.902| 9.260| 0| 0| -3.152| 12.189
RTD| -3.109| -1.935| 10.295| 0| 0| -3.152| 12.189
RTD| -3.006| -1.879| 12.530| 0| 0| -3.152| 12.530
RTD| -3.028| -1.947| 11.944| 0| 0| -3.152| 12.530
RTD| -3.175| -1.940| 11.242| 0| 0| -3.175| 12.530
RTD| -3.102| -1.975| 9.166| 0| 0| -3.175| 12.530
RTD| -3.104| -1.950| 12.343| 0| 0| -3.175| 12.530
RTD| -3.091| -1.958| 10.580| 0| 0| -3.175| 12.530
RTD| -3.089| -1.955| 11.234| 0| 0| -3.175| 12.530
RTD| -3.003| -1.973| 11.452| 0| 0| -3.175| 12.530
RTD| -3.086| -1.920| 8.444| 0| 0| -3.175| 12.530
RTD| -3.124| -1.925| 12.068| 0| 0| -3.175| 12.530
RTD| -3.185| -1.953| 12.439| 0| 0| -3.185| 12.530
RTD| -2.973| -1.955| 11.510| 0| 0| -3.185| 12.530
RTD| -3.079| -1.955| 11.401| 0| 0| -3.185| 12.530
RTD| -3.096| -1.955| 9.636| 0| 0| -3.185| 12.530
RTD| -3.056| -1.958| 10.664| 0| 0| -3.185| 12.530
RTD| -3.081| -1.877| 11.353| 0| 0| -3.185| 12.530
RTD| -2.958| -1.872| 11.348| 0| 0| -3.185| 12.530
RTT| 00:00:22 (periodic user-mode task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD| -3.099| -1.958| 11.406| 0| 0| -3.185| 12.530
RTD| -3.190| -1.917| 11.838| 0| 0| -3.190| 12.530
RTD| -3.104| -1.958| 12.045| 0| 0| -3.190| 12.530
RTD| -3.033| -1.940| 9.477| 0| 0| -3.190| 12.530
RTD| -2.980| -1.892| 11.714| 0| 0| -3.190| 12.530
^C---|-----------|-----------|-----------|--------|------|-------------------------
RTS| -3.190| -1.937| 12.530| 0| 0| 00:00:27/00:00:27
[root@imx6q /xenomai/bin]#
[root@imx6q /xenomai/bin]# ./latency -t 1 -p 1000
== Sampling period: 1000 us
== Test mode: in-kernel periodic task
== All results in microseconds
warming up...
RTT| 00:00:01 (in-kernel periodic task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD| -5.809| -4.296| -1.410| 0| 0| -5.809| -1.410
RTD| -5.299| -4.212| 7.689| 0| 0| -5.809| 7.689
RTD| -5.839| -4.229| 5.860| 0| 0| -5.839| 7.689
RTD| -6.036| -4.262| 6.257| 0| 0| -6.036| 7.689
RTD| -5.807| -4.261| 4.067| 0| 0| -6.036| 7.689
RTD| -5.832| -4.239| 5.286| 0| 0| -6.036| 7.689
RTD| -5.719| -4.238| 6.799| 0| 0| -6.036| 7.689
RTD| -5.164| -4.241| 6.147| 0| 0| -6.036| 7.689
RTD| -5.704| -4.271| 5.980| 0| 0| -6.036| 7.689
RTD| -5.659| -4.252| 4.008| 0| 0| -6.036| 7.689
RTD| -5.422| -4.270| 3.601| 0| 0| -6.036| 7.689
RTD| -5.033| -4.244| 5.464| 0| 0| -6.036| 7.689
RTD| -5.599| -4.255| 6.290| 0| 0| -6.036| 7.689
RTD| -5.844| -4.233| 5.909| 0| 0| -6.036| 7.689
RTD| -5.829| -4.246| 6.244| 0| 0| -6.036| 7.689
RTD| -5.226| -4.236| 3.805| 0| 0| -6.036| 7.689
RTD| -5.741| -4.213| 4.822| 0| 0| -6.036| 7.689
RTD| -5.004| -4.231| 3.398| 0| 0| -6.036| 7.689
RTD| -5.721| -4.277| 5.842| 0| 0| -6.036| 7.689
RTD| -5.095| -4.245| 6.205| 0| 0| -6.036| 7.689
RTD| -5.777| -4.270| 4.114| 0| 0| -6.036| 7.689
RTT| 00:00:22 (in-kernel periodic task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD| -5.394| -4.246| 8.788| 0| 0| -6.036| 8.788
RTD| -5.677| -4.195| 4.803| 0| 0| -6.036| 8.788
RTD| -5.715| -4.183| 5.942| 0| 0| -6.036| 8.788
RTD| -5.798| -4.256| 6.323| 0| 0| -6.036| 8.788
RTD| -4.904| -4.132| 3.240| 0| 0| -6.036| 8.788
RTD| -5.564| -4.200| 7.257| 0| 0| -6.036| 8.788
RTD| -5.779| -4.227| 4.143| 0| 0| -6.036| 8.788
RTD| -5.693| -4.237| 5.726| 0| 0| -6.036| 8.788
RTD| -5.572| -4.254| 6.375| 0| 0| -6.036| 8.788
RTD| -5.067| -4.142| 3.623| 0| 0| -6.036| 8.788
^C---|-----------|-----------|-----------|--------|------|-------------------------
RTS| -6.036| -4.235| 8.788| 0| 0| 00:00:32/00:00:32
[root@imx6q /xenomai/bin]#
[root@imx6q /xenomai/bin]# ./latency -t 2 -p 1000
== Sampling period: 1000 us
== Test mode: in-kernel timer handler
== All results in microseconds
warming up...
RTT| 00:00:01 (in-kernel timer handler, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD| -8.207| -8.152| -6.869| 0| 0| -8.207| -6.869
RTD| -8.207| -8.094| -2.076| 0| 0| -8.207| -2.076
RTD| -8.205| -8.123| -2.359| 0| 0| -8.207| -2.076
RTD| -8.205| -8.105| -2.311| 0| 0| -8.207| -2.076
RTD| -8.195| -8.113| -2.102| 0| 0| -8.207| -2.076
RTD| -8.208| -8.119| -0.008| 0| 0| -8.208| -0.008
RTD| -8.203| -8.123| -2.276| 0| 0| -8.208| -0.008
RTD| -8.196| -8.111| -2.676| 0| 0| -8.208| -0.008
RTD| -8.209| -8.092| -1.744| 0| 0| -8.209| -0.008
RTD| -8.196| -8.111| -2.721| 0| 0| -8.209| -0.008
RTD| -8.204| -8.122| -0.729| 0| 0| -8.209| -0.008
RTD| -8.202| -8.119| -0.676| 0| 0| -8.209| -0.008
RTD| -8.202| -8.108| -2.487| 0| 0| -8.209| -0.008
RTD| -8.194| -8.104| -2.184| 0| 0| -8.209| -0.008
RTD| -8.202| -8.103| -1.919| 0| 0| -8.209| -0.008
RTD| -8.210| -8.125| -2.677| 0| 0| -8.210| -0.008
RTD| -8.205| -8.119| -0.187| 0| 0| -8.210| -0.008
RTD| -8.205| -8.117| -2.655| 0| 0| -8.210| -0.008
RTD| -8.208| -8.107| 0.115| 0| 0| -8.210| 0.115
RTD| -8.206| -8.123| -2.494| 0| 0| -8.210| 0.115
RTD| -8.193| -8.102| -2.380| 0| 0| -8.210| 0.115
RTT| 00:00:22 (in-kernel timer handler, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD| -8.209| -8.118| -0.395| 0| 0| -8.210| 0.115
^C---|-----------|-----------|-----------|--------|------|-------------------------
RTS| -8.210| -8.114| 0.115| 0| 0| 00:00:23/00:00:23
[root@imx6q /xenomai/bin]#

------------------------------------------------------------------

UART, I2C, SPI, PWM, CAN, Ethernet, USB, SDIO, SATA, CAM, HDMI, 2D/3D Video 및 4개 1GHz 코어와 hardware-FPU를 탑재한 원칩 SoC에서 SMP를 지원하는 RTOS가 불과 1W 언저리에서 돌아간다... 우와, 막강이구먼.
안되는 제어가 없겠다.
어디에 쓰면 좋을까?

댓글 4개:

익명2016년 10월 21일 오전 1:44
진짜 완벽합니다. 제가 진행중인 프로젝트도 매우 유사한 부분이 많습니다. 어떤 방식으로라도 의뢰를 드리고 싶은 부분이 있는데 어떻게 연락드릴 수 있을 지 몰라 제 이메일을 남깁니다. 연락받으실 수 있는 편한 시간과 연락처를 알려주시면 시간에 맞춰 연락드리겠습니다. limegriin@gmail.com
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익명2017년 6월 16일 오후 11:29
안녕하세요
지금 현제 achro imx6q의 카메라 모듈과 opencv를 이용한 프로젝트를 하는데 초보자라 막히는 부분이 너무 많습니다.. 혹여 조언이나 도와주실수있으면 메일 간곡히 부탁드립니다.!
jun3575@naver.com 입니다
감사합니다
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