From mboxrd@z Thu Jan 1 00:00:00 1970 Date: Thu, 10 May 2012 15:26:27 +0200 (CEST) From: aubin.rebillat@domain.hid Message-ID: <1466485845.144436688.1336656387004.JavaMail.root@domain.hid> In-Reply-To: <80969791.144436365.1336656376390.JavaMail.root@domain.hid> MIME-Version: 1.0 Content-Type: text/plain; charset=utf-8 Content-Transfer-Encoding: quoted-printable Subject: [Xenomai-help] Xenomai on the TS-7553 ARM SBC List-Id: Help regarding installation and common use of Xenomai List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: xenomai@xenomai.org Hello,=20 I am trying to port Xenomai on the TS-7553 SBC from Technologic systems, ba= sed on the ECONA CNS2132 (STAR8132) from Cavium networks (250 MHz arm922t). A Linux kernel is available for this board, version 2.6.24.4, which is runn= ing fine. I patched this kernel with adeos-ipipe-2.6.24-arm-1.9-01.patch and I implem= ented all the IPIPE code for the CNS2132 and everything is compiling and bo= oting fine. Therefore, I applied the procedure to add the Xenomai nucleus (version 2.5.= 6) to my IPIPE patched kernel: > prepare_kernel.sh --arch=3Darm --linux=3D../linux-2.6.24.4 make=20 > O=3D../build_root ts7500_defconfig make O=3D../build_root bzImage modules And everything is compiling fine (Just an error due to the non-existence of= the phy_addr_t type in 2.6.24 kernel which is easy to fix). Also, This board does not support standard bootloaders (GRUB, U-BOOT, =E2= =80=A6), it uses a specific one (TS-BOOTROM) developed by the board manufac= turer. The bootloader is quite simple, it initialises some hardware and loads the = kernel and initrd into ram before jumping on the kernel code. Then after the kernel boot, an initialisation script in the initrd mounts a= debian partition, executes pivot_root on it and launches the debian init p= rogram. Due to this boot process to have a debian environment, I preferred to have = a fine running kernel with Xenomai before adding any user space support. My problem is that during the initialisation script in the initrd the kerne= l hangs and only if Xenomai is enabled in the kernel configuration. Without= Xenomai, the kernel is booting to debian correctly. Could it be because of the lack of user space support ?=20 It does not seem likely because if Xenomai crashes a log should be printed.= Am I wrong ? Could it be because of the initrd ? Do I need a xenomai specific initrd ?= =20 I did not see anything about initrd and xenomai anywhere so I assume that t= he answers are ''no''. Am I wrong ? In my tests, I disabled the pivot_root call in the init script but it does = not change anything. Nevertheless, here is the boot log : [ 0.000000] Built 1 zonelists in Zone order, mobility grouping on. Tota= l pages: 16256 [ 0.000000] Kernel command line: root=3D/dev/ram0 init=3D/linuxrc consol= e=3Dnull lpj=3D958464 [ 0.000000] PID hash table entries: 256 (order: 8, 1024 bytes) [ 0.000000] I-pipe 1.9-01: pipeline enabled. [ 0.000000] Dentry cache hash table entries: 8192 (order: 3, 32768 bytes= ) [ 0.010000] Inode-cache hash table entries: 4096 (order: 2, 16384 bytes) [ 0.020000] Memory:MB64MB total [ 0.020000] Memory: 58252KB available (2100K code, 329K data, 88K init) [ 0.030000] Calibrating delay loop (skipped)... 191.69 BogoMIPS preset [ 0.030000] Mount-cache hash table entries: 512 [ 0.040000] CPU: Testing write buffer coherency: [ 0.050000] net_name= space: 64 bytes [ 0.050000] NET: Registered protocol family 16 [ 0.060000] PCI clock at 33M [ 0.060000] PCI: bus0: Fast back to back transfers disabled [ 0.060000] PCI Bridge found [ 0.070000] PCI: enabling device 0000:00:00.0 (0140 -> 0142) [ 0.070000] PCI map irq: 00:00.00 slot 0, pin 1, irq: 0 [ 0.150000] NET: Registered protocol family 2 [ 0.250000] IP route cache hash table entries: 1024 (order: 0, 4096 byte= s) [ 0.250000] IPv4 FIB: Using LC-trie version 0.408 [ 0.250000] TCP established hash table entries: 2048 (order: 2, 16384 by= tes) [ 0.260000] TCP bind hash table entries: 2048 (order: 1, 8192 bytes) [ 0.270000] TCP: Hash tables configured (established 2048 bind 2048) [ 0.270000] TCP reno registered [ 0.310000] checking if image is initramfs...isn't (bad gzip magic numbe= rs); looks like an d [ 0.480000] Freeing initrd memory: 4096K [ 0.480000] NetWinder Floating Point Emulator V0.97 (extended precision) [ 0.490000] I-pipe: Domain Xenomai registered. [ 0.490000] Xenomai: hal/arm started. [ 0.500000] Xenomai: scheduling class idle registered. [ 0.500000] Xenomai: scheduling class rt registered. [ 0.540000] Xenomai: real-time nucleus v2.5.6 (Wormhole Wizards) loaded. [ 0.550000] Xenomai: starting native API services. [ 0.550000] Xenomai: starting POSIX services. [ 0.560000] Xenomai: starting RTDM services. [ 0.560000] io scheduler noop registered [ 0.560000] io scheduler deadline registered (default) [ 0.560000] Serial: 8250/16550 driver $Revision: 1.1.1.1 $ 2 ports, IRQ = sharing disabled [ 0.560000] serial8250: ttyS0 at MMIO 0x78000000 (irq =3D 9) is a 16550A [ 0.560000] serial8250: ttyS1 at MMIO 0x78800000 (irq =3D 10) is a 16550= A [ 0.560000] RAMDISK driver initialized: 4 RAM disks of 16384K size 1024 = blocksize [ 0.560000] nbd: registered device at major 43 [ 0.560000] Star NIC Driver(for Linux Kernel 2.6) - Star Semiconductor [ 0.560000] rxring.vir_addr=3D0xFFC00000 rxring.phy_addr=3D0x0355200= 0 [ 0.560000] txring.vir_addr=3D0xFFC01000 txring.phy_addr=3D0x0355300= 0 [ 0.560000] Star Internal PHY [ 0.560000] MAC Addr: 00:d0:69:45:40:14 [ 0.560000]=20 [ 0.560000] star_nic_init_module: internal phy patch included. [ 0.560000] star_nic_init_module: scatter/gather enabled. [ 0.560000]=20 [ 0.560000] i2c /dev entries driver [ 0.560000] str8100_i2c_dev_init: i2c module version 1.0.0 [ 0.560000] str8100_i2c_init: current_clock=3D400000l, CLKDIV=3D77 [ 0.560000] TCP cubic registered [ 0.560000] NET: Registered protocol family 1 [ 0.560000] NET: Registered protocol family 17 [ 0.560000] RPC: Registered udp transport module. [ 0.560000] RPC: Registered tcp transport module. [ 0.560000] RAMDISK: ext2 filesystem found at block 0 [ 0.560000] RAMDISK: Loading 2048KiB [1 disk] into ram disk... e. [ 0.560000] EXT2-fs warning: mounting unchecked fs, running e2fsck is re= commended [ 0.560000] VFS: Mounted root (ext2 filesystem). [ 0.560000] Freeing init memory: 88K [ 0.560000] Warning: unable to open an initial console. As you can see no problem is reported at all. Does anyone have an idea about what may go wrong ? Thank you very much, Best regards, --=20 Aubin REBILLAT