From mboxrd@z Thu Jan  1 00:00:00 1970
Date: Wed, 4 Nov 2009 12:15:36 +0100
From: Richard Cochran <richardcochran@domain.hid>
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Subject: Re: [Xenomai-core] [Xenomai core] Freeze on MPC8572 and P2020 with
	SMP
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To: Philippe Gerum <rpm@xenomai.org>
Cc: xenomai@xenomai.org

On Wed, Nov 04, 2009 at 10:54:24AM +0100, Philippe Gerum wrote:
> 
> The issue is more likely in the interrupt pipeline. When Xenomai is
> compiled as modules, does the system lock up when loading the nucleus,

Yes.

I looked at this problem using my shiny new BDI3000.

mpcl8572>select 0
    Target CPU        : MPC8572 Core#0
    Core state        : halted
    Debug entry cause : COP halt
    Current PC        : 0xc000aae4
    Current CR        : 0x44044022
    Current MSR       : 0x00021000
    Current LR        : 0xc000aabc
    Current CCSRBAR   : 0x0_ffe00000

mpc8572>select 1
    Target CPU        : MPC8572 Core#1
    Core state        : halted
    Debug entry cause : COP halt
    Current PC        : 0xc006db38
    Current CR        : 0x22000022
    Current MSR       : 0x00021000
    Current LR        : 0xc006ed10
    Current CCSRBAR   : 0x0_ffe00000

System.map:

c000a794 T __ipipe_send_ipi
c000a968 T ipipe_critical_enter
c000ab50 T __ipipe_enable_pipeline

c006da60 T ipipe_release_tickdev
c006daf8 T __ipipe_check_percpu_access
c006dbf4 T __ipipe_set_irq_pending

So, were stuck in ipipe_critical_enter() and __ipipe_check_percpu_access().

I'll try and pull this apart some more...

Richard