Sven Kjaergaard wrote: > Hi, > > I have to port a driver mainly written for VxWorks to Xenomai. In this > way, I link it with the vxworks skin and it built successfully. > > But when inserting the module in the kernel (with debug nucleus set) > the following error occur meaning that the driver is in the linux > domain and not in the priority one. What did I missed ? Did I have to > convert some call to rthal_ ones for those where the corresponding > function exists ? I don't think rtdm is mandatory for driver writting > ?
RTDM is not mandatory, just recommended for future driver development. Mainly because it increases portability (and re-usability) across skins and motivates the definition of generic driver interfaces. > > TIA for any tips, > Sven > > Xenomai: fatal: attempt to suspend root thread ROOT > CPU PID PRI TIMEOUT STAT NAME > 0 0 -1 0 00400080 ROOT > Timer: periodic [tickval=1000000 ns, elapsed=10965] > > [<c00223f0>] (show_stack+0x0/0x54) from [<c0060d34>] (xnpod_suspend_thread > +0x24c/0)[<c0060ae8>] (xnpod_suspend_thread+0x0/0x58c) from [<bf006418>] > (taskDelay+0x7c/0x)[<bf00639c>] (taskDelay+0x0/0x120 [xeno_vxworks]) from > [<bf011130>] (bus_init+) r6 = BF016304 r5 = C1CAF400 r4 = 000003E8 > [<bf011090>] (bus_init+0x0/0x6a4 [rtconbus]) from [<bf01a0f8>] > (rtconbus_init+) r7 = BF015B00 r6 = C28633FC r5 = C1CAF400 r4 = BF015C80 > [<bf01a000>] (rtconbus_init+0x0/0x284 [rtconbus]) from [<c0051c6c>] > (sys_init_modu) r4 = BF015B00 [<c0051b34>] (sys_init_module+0x0/0x15b8) > from [<c001e3a4>] (ret_fast_syscall+0x0/) Argh, your mailer makes reading this backtrace not very handy. Anyway, you called taskDelay over the root thread, here in the context of module_init of your driver. Either switch to true Linux suspension services (usleep, msleep, etc.) for initialisation work or move that work already into a (temporary?) VxWorks task. [There is the chance that we will do such context wrapping on demand in a future release, but that doesn't help right now.] Jan
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