Stefan Schaal wrote: > Hi, > > I am working with the latest xenomai-head tree (we need analogy for > our NI board ...). Under Xenomai 2.4.8 our code did not have any mode > switches. Using the xenomai-head, we get a lot of mode switches. Using > he backtrace_symbols_fd, we get print-outs like: > > > xsimulation[0x808553b] > [0xffffe400] > /usr/xenomai/lib/librtdk.so.0(assert_nrt+0x85)[0xb7fa2ea5] > /usr/xenomai/lib/librtdk.so.0(__wrap_clock_gettime+0x17)[0xb7fa2ef7] > xsimulation[0x807cd16] > xsimulation[0x807d7fb] > /usr/xenomai/lib/libnative.so.3[0xb7fab689] > /lib/tls/i686/cmov/libpthread.so.0[0xb7f824ff] > /lib/tls/i686/cmov/libc.so.6(clone+0x5e)[0xb7e8f49e] > > Which indicates that the wrapper for clock_gettime causes this > trouble, which is also confirmed by commenting clock_gettime out, and > the mode switches disappear. > > Maybe something that needs fixing?
Do you wrap & link against the POSIX library, ie. use that skin as well? If not, your code is actually using clock_gettime incorrectly as it then falls back to the Linux service which can trigger syscalls (or even deadlocks when the TSC is used). If you do use libpthread_rt, then my next question is if your work is based on today's git head or some older version not including 4a2cb7b817. Jan
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