Wolfgang Grandegger wrote:
> Philippe Gerum wrote:
>> Wolfgang Grandegger wrote:
>>> Philippe Gerum wrote:
>>>> Wolfgang Grandegger wrote:
>>>>> Wolfgang Grandegger wrote:
>>>>>> Philippe Gerum wrote:
>>>>>>> Wolfgang Grandegger wrote:
>>>>>>>> Hello,
>>>>>>>>
>>>>>>>> I want to use a Xenomai task overtaking the duties of a watchdog
>>>>>>>> running
>>>>>>>> under Linux as soon as the Xenomai layer is available during boot up.
>>>>>>>> Is
>>>>>>>> there a function or variable I could inspect? With 2.3.x, I called
>>>>>>>> rtdm_init_task() until it returned without error but with 2.4.x it
>>>>>>>> results in a kernel crash :-(.
>>>>>>>>
>>>>>>> What is the value of CONFIG_XENO_OPT_SYS_STACKPOOLSZ?
>>>>>> #
>>>>>> # Nucleus options
>>>>>> #
>>>>>> CONFIG_XENO_OPT_PERVASIVE=y
>>>>>> CONFIG_XENO_OPT_SYS_STACKPOOLSZ=32
>>>>>> # CONFIG_XENO_OPT_PRIOCPL is not set
>>>>>> CONFIG_XENO_OPT_PIPE=y
>>>>> Some more input on that issue. Here is the oops and the NIP location:
>>>>>
>>>>> XLB Arb cnf: 8000a006
>>>>> mpc5xxx_ide: Setting up IDE interface ide0...
>>>>> Probing IDE interface ide0...
>>>>> Oops: kernel access of bad area, sig: 11
>>>>> NIP: C0113364 XER: 20000000 LR: C0113320 SP: C047DB30 REGS: c047da80
>>>>> TRAP: 0300 Not tainted
>>>>> MSR: 00001032 EE: 0 PR: 0 FP: 0 ME: 1 IR/DR: 11
>>>>> DAR: 0000003C, DSISR: 20000000
>>>>> TASK = c047c000[1] 'swapper' Last syscall: 120
>>>>> last math 00000000 last altivec 00000000
>>>>> GPR00: 00000003 C047DB30 C047C000 00000009 FFFFFFF7 C01CF395 C0220000
>>>>> 00000000
>>>>> GPR08: 00000038 C01ECC00 C02445F4 00000000 00000000 100803B0 07FCF000
>>>>> 08099000
>>>>> GPR16: C0220000 FFFFFF7F C0230000 FFF75F97 C022B3C0 00000000 C01ECC0C
>>>>> C0230000
>>>>> GPR24: 00000000 00000000 00000010 C02446F4 3B9A0000 00000000 00000000
>>>>> C0244590
>>>>> Call backtrace:
>>>>> C0113320 C0111F00 C010DD0C C013D810 C00DA48C C001EAB4 C001A70C
>>>>> C001A598 C001A254 C00079C0 C000D63C C0024C50 C00243AC C000D298
>>>>> C000D508 C0005CF4 0039FBC0 C00F0A4C C00F0EA0 C00F15C0 C00F210C
>>>>> C02149C8 C0214A14 C020A64C C00039A0 C0008678
>>>>> Kernel panic: Aiee, killing interrupt handler!
>>>>> In interrupt handler - not syncing
>>>>> <0>Rebooting in 180 seconds..
>>>>>
>>>>> $ ppc_6xx-gdb vmlinux:
>>>>> ...
>>>>> (gdb) l *0xC0113364
>>>>> 0xc0113364 is in __xntimer_init (queue.h:51).
>>>>> 46 holder->last = holder;
>>>>> 47 holder->next = holder;
>>>>> 48 }
>>>>> 49
>>>>> 50 static inline void ath(xnholder_t *head, xnholder_t *holder)
>>>>> 51 {
>>>>> 52 /* Inserts the new element right after the heading one */
>>>>> 53 holder->last = head;
>>>>> 54 holder->next = head->next;
>>>>> 55 holder->next->last = holder;
>>>>>
>>>>> Wolfgang.
>>>>>
>>>> Thanks. Could you send me the full boot log until the oops occurs as well?
>>>> TIA,
>>> Ses below. As mentioned earlier, rtdm_task_init() is called early before the
>>> Xenomai sub-system gets initialized.
>>>
>> The point is, how much earlier, and as a matter of fact, at least one skin
>> should have initialized before any service creating a Xenomai task could be
>> invoked, like rtdm_task_init(). As you mentioned and from your boot log, not
>> even the nucleus was started, so I don't understand how this could have ever
>> worked with any Xenomai version actually (the gist of the matter is that we
>
> Maybe just pure luck ;-). At least rtdm_task_init() did not crash and
> even return an error under Xenomai 2.3.5 and Linux 2.4.25.
>
With v2.3.x, it would really depend on the random memory contents the main
allocator would use as its internal descriptor for setting up the task stack.
v2.4.x does not use the main allocator but a specific stack pool instead; this
might be the reason why you can't be lucky anymore.
>> don't have the internal allocator set up for grabbing stack memory for the
>> new
>> task at that point). You may want to make your task creation routine a
>> late_initcall to fix this.
>
> It's actually called from the watchdog driver, which needs to be trigger
> early. Is there a function or variable telling that the Xenomai layer is
> initialized.
xnpod_active_p().
>
> Wolfgang.
>
--
Philippe.
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