[Xenomai-help] rt_task crash kernel

[Xenomai-help] rt_task crash kernel

[Patrick]

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Hi,

 

I'm using Xenomai 2.3.4 with 2.6.20 kernel on an ARM PXA270 board.

The installation was executed successfully.

 

Now I'm trying to insert a small test module (source code is attached) but
the kernel crashes on rt_task_start().

I have tried the same module on another x86 machine and there is no problem.


I have tried with or without rt_task_set_periodic in aperiodic and periodic
timer mode but the result is the same.

 

Do you have an idea?

 

Regards

 

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[-- Attachment #2: myModule_m.c --]
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/*******************************************************************
 * isrtimer_m.c 
 *******************************************************************/

#include <native/task.h>
#include <native/intr.h>
#include <native/alarm.h>

#define STACK_SIZE         8192        /* Taille de la pile par défaut */
#define MS                 1000000     /* 1 ms exprimé en ns */
#define TIMER_PERIODIC     1           /* 1: timer périodique, 0: timer apériodique */

RT_TASK myTask;
RT_ALARM myAlarm;

int err; /* stockage du code d'erreur */


/* cleanup_module() */
void __exit cleanup_module (void) {

  printk("#irqtimer: cleanup\n");

  rt_task_delete(&myTask);

  printk("Bye bye!\n");
}

/* Tâche périodique */
void periodic(void *cookie) {
   while(1) {
      printk("debut 20ms\n");
      rt_timer_spin(20 * MS);
      printk("fin 20ms\n");
      rt_task_wait_period(NULL);
   }
}

/* init_module() */
int __init init_module (void) {

  printk("#module de test: starting...\n");

  
  /* Timer initialization */
  if (TIMER_PERIODIC)
    err = rt_timer_set_mode(MS);   /* periodic mode, one tick will be equal to 1 ms */ 
  else
    err = rt_timer_set_mode(TM_ONESHOT);

  if (err != 0) {
    printk("Error timer: %d\n", err);
    return -1;
  }


  /*Création de la tache*/
  rt_task_create(&myTask, "taskCharge", STACK_SIZE, 10, 0);
  //rt_task_set_periodic(&myTask,TM_NOW,50*(TIMER_PERIODIC?1:MS));
  rt_task_start(&myTask, periodic, NULL);

  return 0;
}

MODULE_LICENSE("GPL");

Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

On 10/2/07, Patrick <kpa_info@domain.hid> wrote:
>
>
>
>
> Hi,
>
>
>
> I'm using Xenomai 2.3.4 with 2.6.20 kernel on an ARM PXA270 board.
>
> The installation was executed successfully.
>
>
>
> Now I'm trying to insert a small test module (source code is attached) but the kernel crashes on rt_task_start().
>
> I have tried the same module on another x86 machine and there is no problem.
>
> I have tried with or without rt_task_set_periodic in aperiodic and periodic timer mode but the result is the same.
>
>
>
> Do you have an idea?

Do you observe the same behaviour with the latency test ?

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Patrick]

-----Message d'origine-----
De : Patrick [mailto:kpa_info@domain.hid
Envoyé : mardi, 2. octobre 2007 12:46
À : 'Gilles Chanteperdrix'
Objet : RE: [Xenomai-help] rt_task crash kernel

Yes, I have tried with latency -p 1000 and the issues is the same.

-----Message d'origine-----
De : Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Envoyé : mardi, 2. octobre 2007 11:46
À : Patrick
Cc : xenomai-core
Objet : Re: [Xenomai-help] rt_task crash kernel

On 10/2/07, Patrick <kpa_info@domain.hid> wrote:
>
>
>
>
> Yes, I have tried with bin/latency user space application and the system
> crashes.

latency appears to crash on ARM when launched with the default 100us
period, the system is just too busy. Do you observe the crash with a 1
ms period ?

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Patrick]

No I have not a JTAG probe.

But I found that the system crashes when the xnlock_put_irqrestore function
is called in the task.c file at (in rt_task_create function).

Thanks

-----Message d'origine-----
De : Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Envoyé : mardi, 2. octobre 2007 14:29
À : Patrick
Objet : Re: [Xenomai-help] rt_task crash kernel

On 10/2/07, Patrick <kpa_info@domain.hid> wrote:
> > -----Message d'origine-----
> > De: Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org]
> > Envoyé: mardi, 2. octobre 2007 11:46
> > À: Patrick
> > Cc: xenomai-core
> > Objet: Re: [Xenomai-help] rt_task crash kernel
> >
> > On 10/2/07, Patrick <kpa_info@domain.hid> wrote:
> > >
> > >
> > >
> > >
> > > Yes, I have tried with bin/latency user space application and the
system
> > > crashes.
> >
> > latency appears to crash on ARM when launched with the default 100us
> > period, the system is just too busy. Do you observe the crash with a 1
> > ms period ?
>
> Yes, I have tried with latency -p 1000 and the issues is the same.

Ok, so I-pipe for PXA has a problem. Next question: do you have a JTAG probe
?

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
>
> No I have not a JTAG probe.
>
> But I found that the system crashes when the xnlock_put_irqrestore function
> is called in the task.c file at (in rt_task_create function).

Ok, next step is to put a printk (or better a printascii) in the tick
handler to check if the timer interrupt is ticking ?

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
> Ok, but where is the tick handler?

ksrc/nucleus/intr.c, function xnintr_clock_handler.

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Patrick]

Yes, the timer work !

-----Message d'origine-----
De : Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Envoyé : mercredi, 3. octobre 2007 09:22
À : Patrick
Cc : xenomai@xenomai.org
Objet : Re: [Xenomai-help] rt_task crash kernel

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
>
> No I have not a JTAG probe.
>
> But I found that the system crashes when the xnlock_put_irqrestore
function
> is called in the task.c file at (in rt_task_create function).

Ok, next step is to put a printk (or better a printascii) in the tick
handler to check if the timer interrupt is ticking ?

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
> Yes, the timer work !

Even when the system seems to be locked up when running latency ?

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Patrick]

It's not possible to test this case because adding printk in tick handler
saturates the console with messages and it's impossible to work and the
target boot very, very slow. 

-----Message d'origine-----
De : Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Envoyé : mercredi, 3. octobre 2007 10:45
À : Patrick
Cc : xenomai@xenomai.org
Objet : Re: [Xenomai-help] rt_task crash kernel

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
> Yes, the timer work !

Even when the system seems to be locked up when running latency ?

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
> It's not possible to test this case because adding printk in tick handler
> saturates the console with messages and it's impossible to work and the
> target boot very, very slow.

You can do something like:

static int ticks;

if (!(++ticks % 1000))
    printk("%d ticks\n", ticks);

Which will only print something once every 1000 ticks.

>
> -----Message d'origine-----
> De: Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org]
> Envoyé: mercredi, 3. octobre 2007 10:45
> À: Patrick
> Cc: xenomai@xenomai.org
> Objet: Re: [Xenomai-help] rt_task crash kernel
>
> On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
> > Yes, the timer work !
>
> Even when the system seems to be locked up when running latency ?
>
> --
>                                                Gilles Chanteperdrix
>
>


-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Patrick]

Ok, some messages occur on the console with latency.

For information I have successfully installed and used Xenomai 2.3.1 with
2.6.15 kernel on the same board. 

-----Message d'origine-----
De : Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Envoyé : mercredi, 3. octobre 2007 14:19
À : Patrick
Cc : xenomai@xenomai.org
Objet : Re: [Xenomai-help] rt_task crash kernel

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
> It's not possible to test this case because adding printk in tick handler
> saturates the console with messages and it's impossible to work and the
> target boot very, very slow.

You can do something like:

static int ticks;

if (!(++ticks % 1000))
    printk("%d ticks\n", ticks);

Which will only print something once every 1000 ticks.

>
> -----Message d'origine-----
> De: Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org]
> Envoyé: mercredi, 3. octobre 2007 10:45
> À: Patrick
> Cc: xenomai@xenomai.org
> Objet: Re: [Xenomai-help] rt_task crash kernel
>
> On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
> > Yes, the timer work !
>
> Even when the system seems to be locked up when running latency ?
>
> --
>                                                Gilles Chanteperdrix
>
>


-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
> Ok, some messages occur on the console with latency.

Continuously, or does it stop ? If the timer is still ticking, it is
surprising that latency does not print anything. If the timer stops,
then we have a problem. You may also want to enable all Xenomai/I-pipe
debugging options in order to see if it prints something before
locking up.

>
> For information I have successfully installed and used Xenomai 2.3.1 with
> 2.6.15 kernel on the same board.

But for the 2.6.15, you had no EABI, have you tried compiling the
v2.3.4 without EABI ? Another thing that you could try is to compile
v2.3.4 with the patch
http://download.gna.org/adeos/patches/v2.6/arm/older/adeos-ipipe-2.6.20-arm-1.7-02.patch.

This patch was the last patch before reworking the tsc emulation,
knowing whether it works could help find what part of the patch is
causing the issue you observe.

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Patrick]

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The timer is ticking but stops after some times

I have enabled all debug options in menuconfig but no message is printed
before the crash.

I try to patch new kernel with 2.6.20-arm-1.7-02 patch but is the same.

 

For the 2.6.15 kernel I hadn’t eabi toolchain and the kernel was not
compiled with eabi. 

For 2.6.20 kernel I have an eabi toolchain and the kernel is compiled with
eabi. 

 

In yours PXA270 board 2.6.20 kernel with xenomai 2.3.4 works?

 

Thank’s

 

-----Message d'origine-----
De : Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Envoyé : mercredi, 3. octobre 2007 15:43
À : Patrick
Cc : xenomai@xenomai.org
Objet : Re: [Xenomai-help] rt_task crash kernel

 

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:

> Ok, some messages occur on the console with latency.

 

Continuously, or does it stop ? If the timer is still ticking, it is

surprising that latency does not print anything. If the timer stops,

then we have a problem. You may also want to enable all Xenomai/I-pipe

debugging options in order to see if it prints something before

locking up.

 

> 

> For information I have successfully installed and used Xenomai 2.3.1 with

> 2.6.15 kernel on the same board.

 

But for the 2.6.15, you had no EABI, have you tried compiling the

v2.3.4 without EABI ? Another thing that you could try is to compile

v2.3.4 with the patch

http://download.gna.org/adeos/patches/v2.6/arm/older/adeos-ipipe-2.6.20-arm-
1.7-02.patch.

 

This patch was the last patch before reworking the tsc emulation,

knowing whether it works could help find what part of the patch is

causing the issue you observe.

 

-- 

                                               Gilles Chanteperdrix


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Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
>
>
>
>
> The timer is ticking but stops after some times
>
> I have enabled all debug options in menuconfig but no message is printed
> before the crash.
>
> I try to patch new kernel with 2.6.20-arm-1.7-02 patch but is the same.

Ok. So the bug is not in the tsc emulation rework.

>
>
>
> For the 2.6.15 kernel I hadn't eabi toolchain and the kernel was not
> compiled with eabi.
>
> For 2.6.20 kernel I have an eabi toolchain and the kernel is compiled with
> eabi.

It would be nice if you could try with the no eabi toolchain.

>
>
>
> In yours PXA270 board 2.6.20 kernel with xenomai 2.3.4 works?

I do not have a PXA270 board, I test the patch on AT91.
I sent a mail around 1.7-05 asking people to test the patch on their
box and report, but did not receive an answer about the PXA board, so
I am afraid you are the first to ever test the new patch on PXA.

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Patrick]

Hi,

I have tryed to compile the 2.6.20 kernel without eabi but the issue is the
same: the kernel crashes when I insert the module.

Thanks for your help.

Patrick

-----Message d'origine-----
De : Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Envoyé : mercredi, 3. octobre 2007 17:13
À : Patrick
Cc : xenomai@xenomai.org
Objet : Re: [Xenomai-help] rt_task crash kernel

On 10/3/07, Patrick <kpa_info@domain.hid> wrote:
>
>
>
>
> The timer is ticking but stops after some times
>
> I have enabled all debug options in menuconfig but no message is printed
> before the crash.
>
> I try to patch new kernel with 2.6.20-arm-1.7-02 patch but is the same.

Ok. So the bug is not in the tsc emulation rework.

>
>
>
> For the 2.6.15 kernel I hadn't eabi toolchain and the kernel was not
> compiled with eabi.
>
> For 2.6.20 kernel I have an eabi toolchain and the kernel is compiled with
> eabi.

It would be nice if you could try with the no eabi toolchain.

>
>
>
> In yours PXA270 board 2.6.20 kernel with xenomai 2.3.4 works?

I do not have a PXA270 board, I test the patch on AT91.
I sent a mail around 1.7-05 asking people to test the patch on their
box and report, but did not receive an answer about the PXA board, so
I am afraid you are the first to ever test the new patch on PXA.

-- 
                                               Gilles Chanteperdrix

Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

Patrick wrote:
 > Hi,
 > 
 > I have tryed to compile the 2.6.20 kernel without eabi but the issue is the
 > same: the kernel crashes when I insert the module.
 > 
 > Thanks for your help.

Ok, so I have not broken the EABI stuff.

From now on, if you want to work with this new patch, you will have to
debug it yourself. Of course, we will provide some help on this list.

There are two ways you can go:
- either you bisect in the Adeos patches to see which patch introduced
  the bug (all I-pipe patches should work with Xenomai v2.3.4, except
  specifically 1.7-05);
- either you try and debug the crash. Hopefully, the kernel tries to
  print something before it dies, so what you can do is modify printk so
  that it does a vsnprintf and uses the printascii function (in order to
  have a working printascii, you have to enable low-level debugging
  functions in the kernel configuration "kernel hacking"
  section). Then, if you succeed, you will have to try to use the tracer
  to understand what happens.

This reminds me, last time we solved such a bug on ARM, the "schedule"
function ended up called in a loop in Xenomai domain. To detect this,
enable I-pipe debugging in kernel configuration and select the "Check
for illicit cross-domain calls" option.

Good luck if you decide to debug this new patch.

-- 


					    Gilles Chanteperdrix.

Re: [Xenomai-help] rt_task crash kernel

[Patrick]

I have tried to compile Xenomai 2.3.2 with adeos patch 1.7-03 but the system
doesn't boot correctly. If I disable RealTime subsystem in kernel
configuration the system boots right.

I have tried to compile Xenomai 2.3.4 with adeos patch 1.7-01. The system
boots but when I insert my module the system crashes. Exactly like with the
1.7-06.

So I think that the bug is not in adeos patch but in Xenomai ?!?

Thanks

-----Message d'origine-----
De : Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Envoyé : jeudi, 4. octobre 2007 21:24
À : Patrick
Cc : xenomai@xenomai.org
Objet : RE: [Xenomai-help] rt_task crash kernel

Patrick wrote:
 > Hi,
 > 
 > I have tryed to compile the 2.6.20 kernel without eabi but the issue is
the
 > same: the kernel crashes when I insert the module.
 > 
 > Thanks for your help.

Ok, so I have not broken the EABI stuff.

>From now on, if you want to work with this new patch, you will have to
debug it yourself. Of course, we will provide some help on this list.

There are two ways you can go:
- either you bisect in the Adeos patches to see which patch introduced
  the bug (all I-pipe patches should work with Xenomai v2.3.4, except
  specifically 1.7-05);
- either you try and debug the crash. Hopefully, the kernel tries to
  print something before it dies, so what you can do is modify printk so
  that it does a vsnprintf and uses the printascii function (in order to
  have a working printascii, you have to enable low-level debugging
  functions in the kernel configuration "kernel hacking"
  section). Then, if you succeed, you will have to try to use the tracer
  to understand what happens.

This reminds me, last time we solved such a bug on ARM, the "schedule"
function ended up called in a loop in Xenomai domain. To detect this,
enable I-pipe debugging in kernel configuration and select the "Check
for illicit cross-domain calls" option.

Good luck if you decide to debug this new patch.

-- 


					    Gilles Chanteperdrix.

Re: [Xenomai-help] rt_task crash kernel

[Gilles Chanteperdrix]

On 10/5/07, Patrick <kpa_info@domain.hid> wrote:
> I have tried to compile Xenomai 2.3.2 with adeos patch 1.7-03 but the system
> doesn't boot correctly. If I disable RealTime subsystem in kernel
> configuration the system boots right.
>
> I have tried to compile Xenomai 2.3.4 with adeos patch 1.7-01. The system
> boots but when I insert my module the system crashes. Exactly like with the
> 1.7-06.
>
> So I think that the bug is not in adeos patch but in Xenomai ?!?

We already knew that 1.7-02 did not work, so testing 1.7-03 was
useless. Please do not use your module to test, use latency -p 1000.

Now, you also know that I-pipe 2.6.15-1.5-08 works.
Instead of trying the patches one after the other, you should try to
do it the same was as a bisection (dichotomie en francais). That is,
when you have a version n that works and version m that does not work,
try version (n+m)/2. This will converge much faster.

-- 
                                               Gilles Chanteperdrix