Jeroen Van den Keybus wrote:
 > Gilles, Jan,
 > The offending program is quite complex (several .c files and
 > a considerable .h file tree) and involves 2 computers. However, I think I
 > can narrow down the problem to concurrent access (from 2 Xenomai threads in
 > 2nd domain) to the same Linux file descriptor for a TCP/IP connection.
 > In order to rule this out, I have put RT_MUTEXes around the send() and
 > recv() calls.However, I still received 'scheduling while atomic'. Further
 > investigation, however, has shown that the mutexes seem to fail:
 > rt_mutex_enquire() returns 0 or even -1 after acquisition of the lock. With
 > this program, I didn't (yet) receive the 'scheduling...' error, but by
 > increasing the task repetition rate, it should be a matter of (a long) time
 > (both tasks arriving at a blocking write).
 > I have compiled a program that represents the structure of the original
 > program. Could you have a look and see if I'm not making a mistake here ?
 > For proper following up, I've also attached the dmesg log asked for earlier
 > by Jan.

Looking at the message log, it seems xnshadow_harden is called at a
point where irqs are disabled. But is there no other error before these
"scheduling while atomic" messages ? If not, could you try and enable
the nucleus debugging ?

In case there is no error before the error messages, even with nucleus
debugging activated, I attached a patch which breaks nklock and
activates interrupts on xnshadow_harden entry and restore the caller
state on xnshadow_harden exit. Could you test it and report if you still
see the "scheduling while atomic" messages ?


                                            Gilles Chanteperdrix.
Index: ksrc/nucleus/shadow.c
--- ksrc/nucleus/shadow.c       (revision 464)
+++ ksrc/nucleus/shadow.c       (working copy)
@@ -439,13 +439,17 @@
        preemption. */
     struct __gatekeeper *gk = &gatekeeper[task_cpu(this_task)];
     xnthread_t *thread = xnshadow_thread(this_task);
+    spl_t s;
     if (!thread)
        return -EPERM;
+    xnlock_get_irqsave(&nklock, s);
+    xnlock_clear_irqon(&nklock);
     if (signal_pending(this_task) ||
        down_interruptible(&gk->sync)) /* Grab the request token. */
-       return -ERESTARTSYS;
+        goto out_interrupted;
@@ -495,6 +499,8 @@
+            xnlock_put_irqrestore(&nklock, s);
            return -ERESTARTSYS;
@@ -510,7 +516,7 @@
     if (xnthread_signaled_p(thread))
-    xnlock_clear_irqon(&nklock);
+    xnlock_put_irqrestore(&nklock, s);
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