2011-09-20 10:29:32 dist 2010R1-RC4 and xenomai
Thorsten Pohlmann (GERMANY)
Message: 103460
Hi!
Me again. Since we still have not found a solution for
we tried the newest distro 2010R1-RC5. Even less luck here. But now we can provide a very basic test appl which leads to an immediate freeze. I hope somone can reproduce this behavior or can tell me what my mistake is.
The program is as simple as that:
main creates a rt_event and spawns two rt_threads. The first does a loop with rt_wait_event(INFINITE), the second rt_sleep and a event_signal. The system freezes immediately.
Its a custom BF537-0.3 board running with 600/120MHz 64MB, attached is the eclipse-project with the test-appl and the kernel-config.
regards, Thorsten
make all
Building file: ../main.cpp
Invoking: GCC C++ Compiler
/opt/uClinux/bfin-linux-uclibc/bin/bfin-linux-uclibc-g++ -mcpu=bf537-0.3 -I/opt/ucLinux/2010R1-RC5/blackfin-linux-dist/staging/usr/include -I/opt/ucLinux/2010R1-RC5/blackfin-linux-dist/linux-2.6.x/drivers/udaks/ -O1 -g3 -Wall -c -fmessage-length=0 -mcpu=bf537-0.2 -MMD -MP -MF"main.d" -MT"main.d" -o"main.o" "../main.cpp"
Finished building: ../main.cpp
Building target: allestester1
Invoking: GCC C++ Linker
/opt/uClinux/bfin-linux-uclibc/bin/bfin-linux-uclibc-g++ -L/opt/ucLinux/2010R1-RC5/blackfin-linux-dist/staging/usr/lib -o"allestester1" ./main.o -lpthread -lrtdm -lxenomai -lnative
Finished building target: allestester1
Linux version 2.6.34.7-ADI-2010R1 (pohlmann@z-tp-30suse102) (gcc version 4.3.5 (ADI-2010R1-RC4) ) #26 Thu Sep 15 11:37:55 CEST 2011
Bytes transferred = 10844247 (a57857 hex)
## Booting image at 01000000 ...
Image Name: bf537-2.6.34.7-ADI-2010R1
Created: 2011-09-15 9:38:25 UTC
Image Type: Blackfin Linux Kernel Image (gzip compressed)
Data Size: 10844183 Bytes = 10.3 MB
Load Address: 00001000
Entry Point: 00313748
Verifying Checksum ... OK
Uncompressing Kernel Image ... OK
Starting Kernel at = 313748
console [ttyBF0] enabled, bootconsole disabled
Calibrating delay loop... 1183.74 BogoMIPS (lpj=2367488)
Security Framework initialized
Mount-cache hash table entries: 512
Blackfin Scratchpad data SRAM: 4 KB
Blackfin L1 Data A SRAM: 16 KB (4 KB free)
Blackfin L1 Data B SRAM: 32 KB (32 KB free)
Blackfin L1 Instruction SRAM: 48 KB (32 KB free)
NET: Registered protocol family 16
Blackfin DMA Controller
uDAKS: registering device resources
Warning: Hardware-watchdog is disabled
bio: create slab <bio-0> at 0
bfin-spi bfin-spi.0: Blackfin on-chip SPI Controller Driver, Version 1.0, regs_base@ffc00500, dma channel@7
i2c-bfin-twi i2c-bfin-twi.0: Blackfin BF5xx on-chip I2C TWI Contoller, regs_base@ffc01400
NET: Registered protocol family 2
IP route cache hash table entries: 1024 (order: 0, 4096 bytes)
TCP established hash table entries: 2048 (order: 2, 16384 bytes)
TCP bind hash table entries: 2048 (order: 3, 40960 bytes)
TCP: Hash tables configured (established 2048 bind 2048)
TCP reno registered
UDP hash table entries: 128 (order: 0, 6144 bytes)
UDP-Lite hash table entries: 128 (order: 0, 6144 bytes)
NET: Registered protocol family 1
RPC: Registered udp transport module.
RPC: Registered tcp transport module.
RPC: Registered tcp NFSv4.1 backchannel transport module.
I-pipe: Domain Xenomai registered.
Xenomai: hal/blackfin started.
Xenomai: scheduling class idle registered.
Xenomai: scheduling class rt registered.
Xenomai: real-time nucleus v2.5.3 (Hordes Of Locusts) loaded.
Xenomai: starting default API services.
Xenomai: starting POSIX services.
Xenomai: starting RTDM services.
Installing knfsd (copyright (C) 1996 okir@monad.swb.de).
msgmni has been set to 92
alg: No test for stdrng (krng)
io scheduler noop registered
io scheduler cfq registered (default)
bfin-uart: Blackfin serial driver
bfin-uart.0: ttyBF0 at MMIO 0xffc00400 (irq = 18) is a BFIN-UART
bfin-uart.1: ttyBF1 at MMIO 0xffc02000 (irq = 20) is a BFIN-UART
brd: module loaded
loop: module loaded
bfin_mii_bus: probed
bfin_mac: attached PHY driver [SMSC LAN83C185] (mii_bus:phy_addr=0:01, irq=-1, mdc_clk=2500000Hz(mdc_div=23)@sclk=120MHz)
bfin_mac bfin_mac.0: Blackfin on-chip Ethernet MAC driver, Version 1.1
rtc-bfin rtc-bfin: rtc core: registered rtc-bfin as rtc0
i2c /dev entries driver
bfin-wdt: initialized: timeout=20 sec (nowayout=0)
mmc_spi spi0.6: ASSUMING 3.2-3.4 V slot power
mmc_spi spi0.6: SD/MMC host mmc0, no DMA, no WP, no poweroff
TCP cubic registered
NET: Registered protocol family 17
mmc_spi spi0.6: can't change chip-select polarity
rtc-bfin rtc-bfin: setting system clock to 2011-09-20 14:11:06 UTC (1316527866)
mmc0: host does not support reading read-only switch. assuming write-enable.
mmc0: new SD card on SPI
mmcblk0: mmc0:0000 SU01G 968 MiB
mmcblk0:
p1 p2 p3 p4
dma_alloc_init: dma_page @ 0x030d6000 - 256 pages at 0x03f00000
IP-Config: Complete:
device=eth0, addr=192.168.5.33, mask=255.255.248.0, gw=192.168.0.254,
host=bf537-udaks-linux, domain=, nis-domain=(none),
bootserver=192.168.6.34, rootserver=192.168.6.34, rootpath=
Freeing unused kernel memory: 13680k freed
config
allestester1.tar.gz
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2011-09-20 10:40:49 Re: dist 2010R1-RC4 and xenomai
Thorsten Pohlmann (GERMANY)
Message: 103461
Hm, file not found error for the attachments?
allestester1.tar.gz
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2011-09-20 10:45:26 Re: dist 2010R1-RC4 and xenomai
Thorsten Pohlmann (GERMANY)
Message: 103462
tried again...
config
allestester1.tar.gz
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2011-09-20 10:47:54 Re: dist 2010R1-RC4 and xenomai
Thorsten Pohlmann (GERMANY)
Message: 103463
OK, plain text then...
#include "stdio.h"
#include <unistd.h>
#include <sys/mman.h>
#include <rtdm/rtdm.h>
#include <default/task.h>
#include <default/timer.h>
#include <default/event.h>
#include <default/intr.h>
#include <stdlib.h>
static RT_TASK task1, task2;
static RT_EVENT event __attribute__ ((l1_data));
static void th1(void* p) __attribute__ ((l1_text));
static void th1(void* p)
{
RT_EVENT ev;
int ret = rt_event_bind(&ev,"at_evt",TM_NONBLOCK);
if(ret)
{
printf("bind at_evt failed: %s\r\n",strerror(-ret));
exit(1);
}
unsigned long ix;
do
{
int e = rt_event_wait(&ev,(unsigned long)-1,&ix,EV_ANY,TM_INFINITE);
if(e)
{
printf("at_evt failed: %s\r\n",strerror(-e));
}
ix = 0;
rt_event_clear(&ev,(unsigned long)-1,0L);
printf("evt\r\n");
}while(1);
}
static void th2(void* p) __attribute__ ((l1_text));
static void th2(void* p)
{
RT_EVENT ev;
int ret = rt_event_bind(&ev,"at_evt",TM_NONBLOCK);
if(ret)
{
printf("bind at_evt failed: %s\r\n",strerror(-ret));
exit(1);
}
do
{
rt_task_sleep(100*1000*1000);
rt_event_signal(&ev,1);
}while(1);
}
int main(int argc, const char*argv[])
{
static RT_TASK th;
mlockall(MCL_CURRENT|MCL_FUTURE);
if(rt_task_shadow(&th,"xudaks_main",50,0) != 0)
{
printf("rt_task_shadow failed\r\n");
exit(1);
}
int ret = rt_event_create(&event,"at_evt",0,EV_PRIO);
if(ret)
{
printf("rt_event_create returned %i\r\n",ret);
}
ret = rt_task_create(&task1,"th1",32768,90,T_FPU|T_CPU(0));
rt_task_sleep(0);
if(ret)
{
printf("rt_task_create returned %i\r\n",ret);
}
if(ret == 0)
{
ret = rt_task_start(&task1,th1,0);
rt_task_sleep(0);
if(ret)
{
printf("rt_task_start returned %i\r\n",ret);
}
}
ret = rt_task_create(&task2,"th2",32768,90,T_FPU|T_CPU(0));
rt_task_sleep(0);
if(ret)
{
printf("rt_task_create returned %i\r\n",ret);
}
if(ret == 0)
{
ret = rt_task_start(&task2,th2,0);
rt_task_sleep(0);
if(ret)
{
printf("rt_task_start returned %i\r\n",ret);
}
}
rt_task_sleep(100*1000*1000);
printf("rt_task_sleep\r\n");
do
{
usleep(100000);
printf("usleep\r\n");
}while(1);
return(0);
}
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2011-09-20 10:50:32 Re: dist 2010R1-RC4 and xenomai
Thorsten Pohlmann (GERMANY)
Message: 103464
Why can't i edit/erase a post?? Buttons are disabled...
And an excerpt from .config:
#
# Real-time sub-system
#
CONFIG_XENOMAI=y
CONFIG_XENO_GENERIC_STACKPOOL=y
CONFIG_XENO_OPT_NUCLEUS=y
CONFIG_XENO_OPT_PERVASIVE=y
CONFIG_XENO_OPT_PRIOCPL=y
CONFIG_XENO_OPT_PIPELINE_HEAD=y
# CONFIG_XENO_OPT_SCHED_CLASSES is not set
CONFIG_XENO_OPT_PIPE=y
CONFIG_XENO_OPT_PIPE_NRDEV=32
CONFIG_XENO_OPT_REGISTRY_NRSLOTS=512
CONFIG_XENO_OPT_SYS_HEAPSZ=256
CONFIG_XENO_OPT_SYS_STACKPOOLSZ=128
CONFIG_XENO_OPT_SEM_HEAPSZ=12
CONFIG_XENO_OPT_GLOBAL_SEM_HEAPSZ=12
CONFIG_XENO_OPT_STATS=y
# CONFIG_XENO_OPT_DEBUG is not set
CONFIG_XENO_OPT_SHIRQ=y
CONFIG_XENO_OPT_SELECT=y
#
# Timing
#
# CONFIG_XENO_OPT_TIMING_PERIODIC is not set
CONFIG_XENO_OPT_TIMING_VIRTICK=1000
CONFIG_XENO_OPT_TIMING_SCHEDLAT=0
#
# Scalability
#
# CONFIG_XENO_OPT_SCALABLE_SCHED is not set
CONFIG_XENO_OPT_TIMER_LIST=y
# CONFIG_XENO_OPT_TIMER_HEAP is not set
# CONFIG_XENO_OPT_TIMER_WHEEL is not set
#
# Machine
#
#
# NMI watchdog
#
# CONFIG_XENO_HW_NMI_DEBUG_LATENCY is not set
#
# Interfaces
#
CONFIG_XENO_SKIN_NATIVE=y
CONFIG_XENO_OPT_NATIVE_PERIOD=0
CONFIG_XENO_OPT_NATIVE_PIPE=y
CONFIG_XENO_OPT_NATIVE_PIPE_BUFSZ=16384
CONFIG_XENO_OPT_NATIVE_SEM=y
CONFIG_XENO_OPT_NATIVE_EVENT=y
CONFIG_XENO_OPT_NATIVE_MUTEX=y
CONFIG_XENO_OPT_NATIVE_COND=y
CONFIG_XENO_OPT_NATIVE_QUEUE=y
CONFIG_XENO_OPT_NATIVE_BUFFER=y
CONFIG_XENO_OPT_NATIVE_HEAP=y
CONFIG_XENO_OPT_NATIVE_ALARM=y
CONFIG_XENO_OPT_NATIVE_MPS=y
CONFIG_XENO_OPT_NATIVE_INTR=y
CONFIG_XENO_SKIN_POSIX=y
CONFIG_XENO_OPT_POSIX_PERIOD=0
# CONFIG_XENO_OPT_POSIX_SHM is not set
# CONFIG_XENO_OPT_POSIX_INTR is not set
# CONFIG_XENO_OPT_POSIX_SELECT is not set
# CONFIG_XENO_OPT_DEBUG_POSIX is not set
# CONFIG_XENO_SKIN_PSOS is not set
# CONFIG_XENO_SKIN_UITRON is not set
# CONFIG_XENO_SKIN_VRTX is not set
# CONFIG_XENO_SKIN_VXWORKS is not set
# CONFIG_XENO_SKIN_RTAI is not set
# CONFIG_XENO_OPT_NOWARN_DEPRECATED is not set
CONFIG_XENO_SKIN_RTDM=y
CONFIG_XENO_OPT_RTDM_PERIOD=0
CONFIG_XENO_OPT_RTDM_FILDES=128
CONFIG_XENO_OPT_RTDM_SELECT=y
#
# Drivers
#
#
# Serial drivers
#
# CONFIG_XENO_DRIVERS_16550A is not set
#
# Testing drivers
#
# CONFIG_XENO_DRIVERS_TESTING_LEGACY_NAMES is not set
CONFIG_XENO_DRIVERS_TIMERBENCH=y
# CONFIG_XENO_DRIVERS_KLATENCY is not set
# CONFIG_XENO_DRIVERS_IRQBENCH is not set
CONFIG_XENO_DRIVERS_SWITCHTEST=y
# CONFIG_XENO_DRIVERS_SIGTEST is not set
# CONFIG_XENO_DRIVERS_RTDMTEST is not set
#
# CAN drivers
#
# CONFIG_XENO_DRIVERS_CAN is not set
#
# ANALOGY drivers
#
# CONFIG_XENO_DRIVERS_ANALOGY is not set
#
# Real-time IPC drivers
#
# CONFIG_XENO_DRIVERS_RTIPC is not set
# CONFIG_PREEMPT_NONE is not set
CONFIG_PREEMPT_VOLUNTARY=y
# CONFIG_PREEMPT is not set
# CONFIG_FREEZER is not set
#
# Blackfin Processor Options
#
CONFIG_IPIPE=y
CONFIG_IPIPE_DOMAINS=4
CONFIG_IPIPE_DELAYED_ATOMICSW=y
# CONFIG_IPIPE_UNMASKED_CONTEXT_SWITCH is not set
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2011-09-21 02:07:14 Re: dist 2010R1-RC4 and xenomai
Aaron Wu (CHINA)
Message: 103470
Thanks for the information, I will try your test app.
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2011-09-23 05:05:02 Re: dist 2010R1-RC4 and xenomai
Aaron Wu (CHINA)
Message: 103512
Hi Pohlmann,
I managed to compile your main.cpp, and link it against the xenomai libs manually, trying to run on my side, get errors like attached. Do you have a plain Makefile to build you test app other than the elips Proj? I am building and linking it manually, this difference should not be a problem but if we could keep sync that would be the best.
Also could you share me your built executable for me to have a try?
Xenomai: WARNING, this version of Xenomai kernel is anterior to 2.5.2.
It can cause memory corruption on thread termination.
Upgrade is recommended.
rt_task_shadow failed
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2011-09-26 03:50:50 Re: dist 2010R1-RC4 and xenomai
Thorsten Pohlmann (GERMANY)
Message: 103537
Hi!
Sorry, but i only have the Eclipse project. But there should really be no difference...
Attached (hopefully) is my binary.
regards,
allestester1.tar.gz
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2011-09-26 05:06:34 Re: dist 2010R1-RC4 and xenomai
Aaron Wu (CHINA)
Message: 103538
Thanks for your binary. It's has been running on my board for more than an hour, keep printing "usleep".
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2011-09-26 05:18:44 Re: dist 2010R1-RC4 and xenomai
Thorsten Pohlmann (GERMANY)
Message: 103539
Hm, interesting.
It should print "evt" and "usleep" at approx the same rate.. (th2 signaling th1 every 100ms)
I dont even get a printout here at all; system is freezing immediatly.
I took the blackfin-linux-dist-2010R1-RC5.tar.bz2, a blackfin-toolchain-uclibc-full-RC4.i386.rpm and a blackfin-toolchain-elf-gcc-4.3-2010R1-RC4.i386.rpm, installed it on a plain machine, config like posted, everything compiled, system is booting... And very different behavior?!
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2011-09-26 05:21:52 Re: dist 2010R1-RC4 and xenomai
Thorsten Pohlmann (GERMANY)
Message: 103540
blackfin-toolchain-uclibc-full-2010R1-RC4.i386.rpm of course
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2011-09-27 01:29:34 Re: dist 2010R1-RC4 and xenomai
Aaron Wu (CHINA)
Message: 103554
Attached is my config for kernel and the uClinux distribution, it's running on a 537-v0.3 CPU on 2010R1 release
config_537_xeno_dist
config_537_xenomai
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