[Xenomai] RPi zero: high resolution clock not working

[Gustav Johansson <gusjohan@kth.se>]

Hi!


I have managed to boot RPI zero with Cobalt on kernel version 4.9.51, with ipipe #4.

Im using the mainline. I used config multi_v7_defconfig and chose armv6 from there.

Im using the device tree bcm2835-rpi-zero.dtb


During the boot I receives errors:

[    0.000027] sched_clock: 32 bits at 1000kHz, resolution 1000ns, wraps every 2147483647500ns
[    0.000074] clocksource: timer: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 1911260446275 ns
[    0.000698] Interrupt pipeline (release #4)
[    0.069805] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns
[    0.107627] PTP clock support registered
[    0.111409] clocksource: Switched to clocksource timer
[    0.180098] [Xenomai] scheduling class idle registered.
[    0.180287] [Xenomai] scheduling class rt registered.
[    0.180527] I-pipe: high-resolution clock not working
[    0.180726] [Xenomai] init failed, code -19
[    0.207251] clk: couldn't get clock 0 for /soc/pwm@7e20c000
[    0.572597] i2c-bcm2835 20805000.i2c: Could not read clock-frequency property
[    5.063088] systemd[1]: System time before build time, advancing clock.
[    6.685798] systemd[1]: Mounting RPC Pipe File System...


So the error tells me that the high-resolution clock is not working and Xenomai failed the init with error code -19.


The boot continues and I can use it as regular but /proc/xenomai does not exist.


Any ideas on ways I can make it work? I have included the dmesg log and kernel config.


Regards,

Gustav
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