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| <section id="cyclictest-benchmark-utility"> |
| <h1><code class="docutils literal notranslate"><span class="pre">Cyclictest</span></code> benchmark utility<a class="headerlink" href="#cyclictest-benchmark-utility" title="Permalink to this heading"></a></h1> |
| <p>Cyclictest is a simple program used to measure the real-time capabilities |
| of a RTOS. Originally, this program comes from the Linux <code class="docutils literal notranslate"><span class="pre">rt-tests</span></code>. |
| However, NuttX features its own cyclictest utility which is heavily inspired |
| by the original program but does not use some advanced features, while adding |
| features that are NuttX related.</p> |
| <p>The creation of the new cyclictest arose from the fact that as of February |
| 2025, POSIX time functions (such as <code class="docutils literal notranslate"><span class="pre">clock_gettime</span></code> and <code class="docutils literal notranslate"><span class="pre">clock_nanosleep</span></code>) |
| depend on the systemtick (if the system is not compiled in the Tickless mode) |
| which makes small delays practically impossible. However, if we utilize |
| a hardware device timer, small periodic delays can be achieved with some <code class="docutils literal notranslate"><span class="pre">ioctl</span></code> |
| calls.</p> |
| <p>The documentation needs to be revisited to see how cyclictest performs |
| when NuttX is compiled in tickless mode.</p> |
| <section id="replacement-for-clock-gettime-and-clock-nanosleep-in-nuttx"> |
| <h2>Replacement for <code class="docutils literal notranslate"><span class="pre">clock_gettime</span></code> and <code class="docutils literal notranslate"><span class="pre">clock_nanosleep</span></code> in NuttX<a class="headerlink" href="#replacement-for-clock-gettime-and-clock-nanosleep-in-nuttx" title="Permalink to this heading"></a></h2> |
| <p>Configuring such device timer is simple: firstly, the timer’s timeout is set using |
| the <code class="docutils literal notranslate"><span class="pre">TCIOC_SETTIMEOUT</span></code> <code class="docutils literal notranslate"><span class="pre">ioctl</span></code> call. Then the <code class="docutils literal notranslate"><span class="pre">TCIOC_NOTIFICATION</span></code> <code class="docutils literal notranslate"><span class="pre">ioctl</span></code> call |
| is performed. Afterwards, the timer can be polled using the <code class="docutils literal notranslate"><span class="pre">poll</span></code> function |
| which returns when the timer timeouts.</p> |
| <p>The thread latency wakeup can be measured using this timer by calling |
| <code class="docutils literal notranslate"><span class="pre">TCIOC_GETSTATUS</span></code> <code class="docutils literal notranslate"><span class="pre">ioctl</span></code> call after the <code class="docutils literal notranslate"><span class="pre">poll</span></code> function has returned. |
| The <code class="docutils literal notranslate"><span class="pre">ioctl</span></code> call fills the <code class="docutils literal notranslate"><span class="pre">timer_status_s</span></code> struct which contains two important |
| fields: <code class="docutils literal notranslate"><span class="pre">uint32_t</span> <span class="pre">timeleft</span></code> and <code class="docutils literal notranslate"><span class="pre">uint32_t</span> <span class="pre">timeout</span></code>. The latency of the thread can |
| then be calculated as <code class="docutils literal notranslate"><span class="pre">timeout</span> <span class="pre">-</span> <span class="pre">timeleft</span></code>.</p> |
| </section> |
| <section id="usage-of-this-program"> |
| <h2>Usage of this program<a class="headerlink" href="#usage-of-this-program" title="Permalink to this heading"></a></h2> |
| <p>Despite some differences, the NuttX port stays as faithful as possible to the original |
| program, keeping the most important command-line parameters the same. |
| The user can choose one of two “waiting methods”:</p> |
| <ul class="simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">clock_nanosleep</span></code> (<code class="docutils literal notranslate"><span class="pre">W_NANOSLEEP</span></code>),</p></li> |
| <li><p>polling the device (<code class="docutils literal notranslate"><span class="pre">W_DEVTIMER</span></code>).</p></li> |
| </ul> |
| <p>The user can also choose one of two “measuring methods”:</p> |
| <ul class="simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">clock_gettime</span></code> (<code class="docutils literal notranslate"><span class="pre">M_GETTIME</span></code>),</p></li> |
| <li><p>utilizing the device timer (<code class="docutils literal notranslate"><span class="pre">M_TIMER_API</span></code>).</p></li> |
| </ul> |
| <p>It is possible to combine the waiting and measuring methods. As of February 2025, |
| using <code class="docutils literal notranslate"><span class="pre">W_DEVTIMER</span></code> and <code class="docutils literal notranslate"><span class="pre">M_TIMER_API</span></code> produces the best results. |
| However, it requires a timer device to be registered by your BSP (such as <code class="docutils literal notranslate"><span class="pre">/dev/timer1</span></code>). |
| Be also advised that when <code class="docutils literal notranslate"><span class="pre">W_DEVTIMER</span></code> is used, only one thread can poll the timer.</p> |
| <p>Following command-line parameters can be supplied:</p> |
| <ul class="simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-c</span> <span class="pre">--clock</span> <span class="pre">[CLOCK]</span></code>: 0 selects <code class="docutils literal notranslate"><span class="pre">CLOCK_REALTIME</span></code>, 1 selects <code class="docutils literal notranslate"><span class="pre">CLOCK_MONOTONIC</span></code> (default)</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-d</span> <span class="pre">--distance</span> <span class="pre">[US]</span></code>: The distance of thread intervals. Default is 500 us.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-D</span> <span class="pre">--duration</span> <span class="pre">[TIME]</span></code>: Set the test duration in seconds. Default is 0 (endless).</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-e</span> <span class="pre">--help</span></code>: Displays help and exits.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-h</span> <span class="pre">--histogram</span> <span class="pre">[US]</span></code>: Output the histogram data to stdout. US is the maximum value to be printed.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-H</span> <span class="pre">--histofall</span></code>: Same as <code class="docutils literal notranslate"><span class="pre">-h</span></code> except that an additional histogram column is displayed at the right that contains summary data of all thread histograms. If cyclictest runs a single thread only, the <code class="docutils literal notranslate"><span class="pre">-H</span></code> option is equivalent to <code class="docutils literal notranslate"><span class="pre">-h</span></code>.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-i</span> <span class="pre">--interval</span> <span class="pre">[US]</span></code>: The thread interval. Default is 1000 us.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-l</span> <span class="pre">--loops</span> <span class="pre">[N]</span></code>: The number of measurement loops. Default is 0 (endless).</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-m</span> <span class="pre">--measurement</span> <span class="pre">[METHODS]</span></code>: Sets the time measurement method. 0 selects <code class="docutils literal notranslate"><span class="pre">clock_gettime</span></code>, 1 uses the NuttX timer API. Be advised that if 1 is selected, you need to specify a timer device (e.g. <code class="docutils literal notranslate"><span class="pre">/dev/timer0</span></code>) in <code class="docutils literal notranslate"><span class="pre">-T</span></code>.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-n</span> <span class="pre">--nanosleep</span> <span class="pre">[METHOD]</span></code>: Sets the waiting method: 0 selects <code class="docutils literal notranslate"><span class="pre">clock_nanosleep</span></code>, 1 waits for the POLLIN flag on a timer device. Default is 0. Choosing 1 works only with one thread, the <code class="docutils literal notranslate"><span class="pre">-t</span></code> value is therefore set to 1. If METHOD 1 is selected, you need to specify a timer device (e.g. <code class="docutils literal notranslate"><span class="pre">/dev/timer0</span></code>) in <code class="docutils literal notranslate"><span class="pre">-T</span></code>.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-q</span> <span class="pre">--quiet</span></code>: Prints a summary only on exit.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-p</span> <span class="pre">--prio</span></code>: Sets the priority of the first thread.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-t</span> <span class="pre">--threads</span> <span class="pre">[N]</span></code>: The number of test threads to be created. Default is 1.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-T</span> <span class="pre">--timer-device</span> <span class="pre">[DEV]</span></code>: The measuring timer device. Must be specified when <code class="docutils literal notranslate"><span class="pre">-m=1</span></code> or <code class="docutils literal notranslate"><span class="pre">-n=1</span></code>.</p></li> |
| <li><p><code class="docutils literal notranslate"><span class="pre">-y</span> <span class="pre">--policy</span> <span class="pre">[NAME]</span></code>: Set the scheduler policy, where NAME is fifo, rr, batch, idle, normal, other.</p></li> |
| </ul> |
| </section> |
| <section id="example-usage"> |
| <h2>Example usage<a class="headerlink" href="#example-usage" title="Permalink to this heading"></a></h2> |
| <p><code class="docutils literal notranslate"><span class="pre">cyclictest</span> <span class="pre">-p</span> <span class="pre">150</span> <span class="pre">-T</span> <span class="pre">/dev/timer1</span> <span class="pre">-m</span> <span class="pre">1</span> <span class="pre">-n</span> <span class="pre">1</span> <span class="pre">-h</span> <span class="pre">20</span> <span class="pre">-D</span> <span class="pre">100</span> <span class="pre">-i</span> <span class="pre">50</span></code></p> |
| <p>Since <code class="docutils literal notranslate"><span class="pre">W_DEVTIMER</span></code> is used, only one thread runs every 50 us. |
| The measurement method is the device timer itself, specified in <code class="docutils literal notranslate"><span class="pre">-T</span></code>. |
| The test runs for 100 seconds. The priority is boosted to 150, so the |
| measurement is not affected by other tasks or communication.</p> |
| <p>Output of the command (tested on Microchip ATSAMV71Q21B @ 300 MHz):</p> |
| <div class="highlight-text notranslate"><div class="highlight"><pre><span></span># Histogram |
| 000000 000000 |
| 000001 000000 |
| 000002 000000 |
| 000003 000000 |
| 000004 000000 |
| 000005 000000 |
| 000006 000000 |
| 000007 000000 |
| 000008 000000 |
| 000009 000000 |
| 000010 603045 |
| 000011 1395782 |
| 000012 000804 |
| 000013 000153 |
| 000014 000034 |
| 000015 000083 |
| 000016 000030 |
| 000017 000000 |
| 000018 000000 |
| 000019 000000 |
| # Total: 001999931 |
| # Min Latencies: 00010 |
| # Avg Latencies: 00010 |
| # Max Latencies: 00016 |
| # Histogram Overflows: 00000 |
| </pre></div> |
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