Xenomai on Freescale i.MX21 (ARM926J)

Dear all,

We finally succeeded in the port of Xenomai on our Freescale i.MX21 board 
(ARM-926J);
(The board used is the CSB535FS issued from Cogent with the BSP from Microcross)

To have further technical references, please see there: 
http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=i.MX_LITEKIT&parentCode=i.MX21&nodeId=0162468rH31143ZrDR

So, you will find two patches: the first one (patch-linux-2.6.14.imx21_1.0.0) 
is used to patch the Linux 2.6.14 for supporting the board. Then, the second 
one (adeos-ipipe-2.6.14-arm-imx21-0.1.00.patch) can be used against the 
imx21-enabled kernel for Xenomai, simply using the prepare-kernel.sh script. 
The patch was originally inspired from the Integrator/ARM11 patch; thanks to 
its author :-)

We will publish soon some results regarding the different latencies, but so far 
we measured about 2us between the IRQ and the timer reprogramming (at the ipipe 
level). The problem now is the jitter which is pretty high: about 1-2us, with 
some occasional peaks up to 5us.
Having quite a few experience with this kind of board, we don't know if it 
comes from the code itself, or purely from the hardware. Any idea/suggestions 
would be welcome. For periodic tasks around 20us, everything works perfecly.

I don't know to what extent this (1 or 2) patch(es) can be integrated in the 
official distribution; but of course we are willing to make any adaptations to 
fulfill the requirements for that.

It's a first step; I hope it will help some other ARM9 developers and look 
forward to reading some feedbacks.

I profit to thank a lot the Xenomai team (Philippe, Jan, Gilles and the others) 
for their excellent work and support).

Kind regards

Daniel

adeos-ipipe-2.6.14-arm-imx21-0.1-00.patch
Description: adeos-ipipe-2.6.14-arm-imx21-0.1-00.patch

patch-linux-2.6.14.imx21_1.0.0
Description: patch-linux-2.6.14.imx21_1.0.0

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