I am running Xenomai 2.5.3, I-pipe version 2.9-00, with Linux 2.6.33.4
on a PowerPC MPC5121. With small values of sleep ticks passed to
rt_task_sleep, I get various sorts of crashes. Here is a simple program
using a delay loop that exhibits the behavior.
-----
#include <stdio.h>
#include <errno.h>
#include <native/task.h>
#include <native/timer.h>
int main(int argc, char **argv)
{
int cnt=0;
while(1)
{
int ret;
if((ret = rt_task_sleep(rt_timer_ns2ticks(1000UL)))) {
errno = -ret;
perror("rt_task_sleep");
}
if(cnt++ > 100)
break;
}
return 0;
}
If I increase the tick count, it seems to not occur. The errors I get
are not quite consistent. Here are a few examples of the output I get
from the kernel log.
-----
[ 22.213774] Xenomai: Switching to secondary mode after exception
#769 from user-space at 0xff7c7ac (pid 571)
[ 22.226494] I-pipe: Detected illicit call from domain 'Xenomai'
[ 22.226505] <3> into a service reserved for domain 'Linux' and
below.
-----
[ 216.495518] BUG: scheduling while atomic: gatekeeper/0/155/0x00000002
[ 216.501932] Modules linked in:
[ 216.504933] Call Trace:
[ 216.507414] [c7883ed0] [c0008ba0] show_stack+0x3c/0x160 (unreliable)
[ 216.513727] [c7883f00] [c001b338] __schedule_bug+0x6c/0x80
[ 216.519211] [c7883f20] [c02792ec] schedule+0x5a8/0x5bc
[ 216.524345] [c7883f70] [c00737cc] gatekeeper_thread+0x150/0x194
[ 216.530250] [c7883fc0] [c003f250] kthread+0x78/0x7c
[ 216.535111] [c7883ff0] [c0012ee8] kernel_thread+0x4c/0x68
I'm not sure if I have something misconfigured or what. I am upgrading
from Xenomai 2.4.10 on an older kernel and I did not have this same
problem.
Thanks.
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