jlaitine commented on PR #16673:
URL: https://github.com/apache/nuttx/pull/16673#issuecomment-3112192443
I made some testing; executed some px4 based FC apps on MFPS with
CONFIG_BUILD_KERNEL=y, CONFIG_SMP_NCPUS=4, CONFIG_DEBUG_ASSERTIONS=y,
CONFIG_PRIORITY_INHERITANCE=y
This is a very semaphore heavy data-driven app, with data producers
(sensors) frequencies varying between 800Hz to 2KHz (several pipelines running
in parallel), and also communication between kernel and userspace is based on
semaphores (+ lots of context switches).
With an earlier version of this PR (the SMP code is the same, just some
cosmetic changes after that), the test has been succesfully running for 2 days
8 hours without errors:
```
nsh> uptime
15:25:05 up 2 days, 8:27
```
From the current PR version, I measured some CPU load with PX4 tools (px4
top):
px4 top:
```
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) TSLICE
FD
0 CPU0 IDLE 77818 59.735 392/ 2048 0 ( 0) 0 5
1 CPU1 IDLE 75126 74.300 632/ 2016 0 ( 0) 0 5
2 CPU2 IDLE 104611 86.036 584/ 2016 0 ( 0) 0 5
3 CPU3 IDLE 111112 92.352 584/ 2016 0 ( 0) 0 5
...
Processes: 96 total, 5 running, 91 sleeping
CPU usage: 21.89% tasks, 0.00% sched, 78.11% idle
Uptime: 120.440s total, 77.818s idle
```
With the current upstream version of the scheduling, the same tool gives me
```
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) TSLICE
FD
0 CPU0 IDLE 86933 61.260 408/ 2048 0 ( 0) 0 5
1 CPU1 IDLE 118468 73.182 616/ 2016 0 ( 0) 0 5
2 CPU2 IDLE 134880 81.970 584/ 2016 0 ( 0) 0 5
3 CPU3 IDLE 144453 91.641 584/ 2016 0 ( 0) 0 5
...
Processes: 96 total, 5 running, 91 sleeping
CPU usage: 22.62% tasks, 0.00% sched, 77.38% idle
Uptime: 458.290s total, 276.382s idle
```
So initially it seems that the PR gives a small performance gain over the
current version.
Additionally, I used the px4 "perf" tool, which measures a bunch of
latencies and latency deviations, also these show some smaller deviations in
latencies with this PR.
Also tested the rv-virt:smp64 target on qemu with ostest, which passes.
Additionally I enabled CONFIG_PRIORITY_INHERITANCE and
CONFIG_DEBUG_ASSERTIONS on the rv-virt:smp64 target and checked with ostest.
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