Hi Michael,
I've been whacking away ('hacking' is too glamorous a term for my clumsy
bumbling) at getting xenomai-kernel to work today. I did make some
progress; there's a new commit that fixes a problem where symbols in
xeno_math.ko are not being shared with other modules, resulting in
rtapi.ko not loading.
Xenomai seems to work properly. The Xenomai 'latency' and 'xeno-test'
programs look great, with <3uS/<9uS latency in kernel task and user task
modes, respectively. I followed all the guides I could find, and added
'--enable-dlopen-skins' to the user tools build, per your instructions.
The LinuxCNC latency-test, however, results in one of a few bad endings.
- Exits after writing the lines from 'Symptom 1' below into syslog; this
probably happens on the first run after a reboot.
- (One time only) a kernel oops, see 'Symptom 2' below; system kept running
- Machine hangs; CPU fan spins at max speed until system reset.
Let me know what bells these ring.
John
Symptom 1:
RTAI[math]: loaded.
HAL_LIB: ERROR: clock period too long: 1000000000000
THREADS: ERROR: could not create thread 'slow'
RTAI[math]: unloaded.
Symptom 2:
RTAI[math]: loaded.
divide error: 0000 [#1] PREEMPT SMP
last sysfs file: /sys/module/xeno_nucleus/parameters/xenomai_gid
CPU 0
Modules linked in: threads(+) hal_lib rtapi xeno_math nfs fscache
nfs_acl auth_rpcgss autofs4 lockd sunrpc ipv6 uinput ppdev parport_pc
parport sg pcspkr k8temp edac_core edac_mce_amd forcedeth i2c_nforce2
ext4 mbcache jbd2 raid1 firewire_ohci firewire_core crc_itu_t sd_mod
crc_t10dif sr_mod cdrom pata_amd pata_acpi ata_generic sata_nv radeon
ttm drm_kms_helper drm i2c_algo_bit i2c_core dm_mirror dm_region_hash
dm_log dm_mod [last unloaded: xeno_math]
Pid: 17143, comm: insmod Not tainted 2.6.38.8-2.xenomai.el6.x86_64 #1
/M61P-S3
RIP: 0010:[<ffffffffa04aad0c>] [<ffffffffa04aad0c>]
hal_create_thread+0x1fc/0x530 [hal_lib]
RSP: 0000:ffff8801c09afea8 EFLAGS: 00010256
RAX: 00000000000186a0 RBX: ffffc90004ffde58 RCX: 0000000000000000
RDX: 0000000000000000 RSI: 0000000000000000 RDI: 0000000000000063
RBP: ffff8801c09aff08 R08: 0000000000000000 R09: 0000000000000000
R10: 0000000000000000 R11: 0000000000000000 R12: ffff8801c097f410
R13: 00000000000186a0 R14: 0000000000000001 R15: ffffc90004ffde80
FS: 00007f19885c1700(0000) GS:ffff8800dfc00000(0000) knlGS:0000000000000000
CS: 0010 DS: 0000 ES: 0000 CR0: 0000000080050033
CR2: 00007f7109cc90f0 CR3: 00000001c09e2000 CR4: 00000000000006f0
DR0: 0000000000000000 DR1: 0000000000000000 DR2: 0000000000000000
DR3: 0000000000000000 DR6: 00000000ffff0ff0 DR7: 0000000000000400
Process insmod (pid: 17143, threadinfo ffff8801c09ac000, task
ffff88020e728e40)
Stack:
ffff8801c09afee8 ffffffff814b67c4 657268745f4c4148 ffffffff00736461
ffffc90004fbe000 0000000000000001 ffffffffa04bd540 ffffffffa04bd540
0000000000000000 ffffffffa04bd020 0000000001276050 0000000000000004
Call Trace:
[<ffffffff814b67c4>] ? notifier_call_chain+0x54/0x80
[<ffffffffa04bd020>] ? init_module+0x0/0x1f4 [threads]
[<ffffffffa04bd121>] init_module+0x101/0x1f4 [threads]
[<ffffffff810001e3>] do_one_initcall+0x43/0x1a0
[<ffffffff8109678a>] sys_init_module+0xba/0x200
[<ffffffff81002fff>] system_call_fastpath+0x16/0x1b
Code: 48 8b 48 08 8b 78 10 48 8b b2 98 00 00 00 49 39 f5 0f 82 61 02 00
00 48 89 f0 31 d2 48 c1 e8 3f 48 01 f0 48 d1 f8 49 8d 44 05 00 <48> f7
f6 48 98 48 0f af c6 48 39 c1 48 89 43 08 0f 8f cb 01 00
RIP [<ffffffffa04aad0c>] hal_create_thread+0x1fc/0x530 [hal_lib]
RSP <ffff8801c09afea8>
---[ end trace 3a9286738b179516 ]---
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