Hi Gilles,

I am running xenomai (svn 22.02.2007) with adeos-ipipe-2.6.19-arm-1.6-02.patch
on our AT91RM9200 board. (# CONFIG_PREEMPT is not set)

When starting latency with 100┬Ás period I get

~ # latency
== Sampling period: 100 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
BUG: soft lockup detected on CPU#0!
[<c001dce8>] (dump_stack+0x0/0x14) from [<c004ce50>] (softlockup_tick+0x98/0xb8)
[<c004cdb8>] (softlockup_tick+0x0/0xb8) from [<c0037cf8>] 
(run_local_timers+0x18/0x1c) r7 = 00000011  r6 = 00000000  r5 = 00000000  r4 = 
C02F8940
[<c0037ce0>] (run_local_timers+0x0/0x1c) from [<c0037d40>] 
(update_process_times+0x44/0x6c)[<c0037cfc>] (update_process_times+0x0/0x6c) 
from [<c001db4c>] (timer_tick+0xf8/0x120) r5 = C01F9DE0  r4 = C01F0660
[<c001da54>] (timer_tick+0x0/0x120) from [<c0023a8c>] 
(at91rm9200_timer_interrupt+0x34/0xf8) r5 = C01F9DE0  r4 = C01F0660
[<c0023a58>] (at91rm9200_timer_interrupt+0x0/0xf8) from [<c004d320>] 
(handle_IRQ_event+0x38/0x6c) r5 = 00000000  r4 = C01AD8F0
[<c004d2e8>] (handle_IRQ_event+0x0/0x6c) from [<c004e5e8>] 
(handle_level_irq+0x74/0xcc) r7 = 00000011  r6 = C01AF2C0  r5 = 00000011  r4 = 
C01A8440
[<c004e574>] (handle_level_irq+0x0/0xcc) from [<c001a6c0>] 
(asm_do_IRQ+0x48/0x60) r5 = 00000000  r4 = C0213930
[<c001a678>] (asm_do_IRQ+0x0/0x60) from [<c004f2c0>] 
(__ipipe_sync_stage+0x208/0x290) r5 = 00000000  r4 = C01AF2C8
[<c004f0b8>] (__ipipe_sync_stage+0x0/0x290) from [<c004f86c>] 
(__ipipe_walk_pipeline+0xa4/0xc8)
[<c004f7c8>] (__ipipe_walk_pipeline+0x0/0xc8) from [<c001f004>] 
(__ipipe_handle_irq+0x18c/0x19c) r7 = 00000011  r6 = C01FC2C0  r5 = 00000011  
r4 = FFFFFFFF
[<c001ee78>] (__ipipe_handle_irq+0x0/0x19c) from [<c001f140>] 
(__ipipe_grab_irq+0xbc/0x120)
[<c001f084>] (__ipipe_grab_irq+0x0/0x120) from [<c00199a4>] 
(__irq_svc+0x24/0x4c)
[<c004f578>] (__ipipe_unstall_root+0x0/0x4c) from [<c004f5e4>] 
(__ipipe_restore_root+0x20/0x24)
[<c004f5c4>] (__ipipe_restore_root+0x0/0x24) from [<c0045a20>] 
(hrtimer_try_to_cancel+0x6c/0x74)
[<c00459b4>] (hrtimer_try_to_cancel+0x0/0x74) from [<c0045a40>] 
(hrtimer_cancel+0x18/0x24) r7 = 00000000  r6 = 00000001  r5 = C1D82000  r4 = 
C1D83F3C
[<c0045a28>] (hrtimer_cancel+0x0/0x24) from [<c0179b08>] 
(do_nanosleep+0x50/0x80) r4 = C1D83F3C
[<c0179ab8>] (do_nanosleep+0x0/0x80) from [<c0045d6c>] 
(hrtimer_nanosleep+0x4c/0x16c) r6 = 00000001  r5 = C1D83F3C  r4 = 00000000
[<c0045d20>] (hrtimer_nanosleep+0x0/0x16c) from [<c0045f28>] 
(sys_nanosleep+0x9c/0xb0)[<c0045e8c>] (sys_nanosleep+0x0/0xb0) from 
[<c0019d84>] (ret_fast_syscall+0x0/0x10) r6 = 00000000  r5 = BEAB9D5E  r4 = 
00000000


This text is printed very slowly onto teh serial console. Also the timer leds 
blinks very slowly.
I'd say 10 times slower.

Ideas? How can I help with debugging this?

-- 
Steven

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