From mboxrd@z Thu Jan  1 00:00:00 1970
Message-ID: <45CA5C43.4030403@domain.hid>
Date: Thu, 08 Feb 2007 00:09:55 +0100
From: Jan Kiszka <kiszka@domain.hid>
MIME-Version: 1.0
Subject: Re: [Xenomai-core] Linux lock-up with rtcanrecv
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To: Philippe Gerum <rpm@xenomai.org>, Wolfgang Grandegger <wg@domain.hid>
Cc: xenomai-core <xenomai@xenomai.org>

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Jan Kiszka wrote:
> Hi all,
>=20
> fiddling with latest Xenomai trunk and 2.3.x on one of our robots (ther=
e
> is still a bug in trunk /wrt broken timeouts of rt_dev_read on
> xeno_16550A - different issue...), I ran into a weird behaviour of
> rtcanrecv:
>=20
> I have a continuous stream of a few thousand packets/s towards the
> robot. When I start up two "rtcanrecv rtcan0 -p1000" instances (or one =
+
> our own receiver application), the second one causes a Linux lock-up.
> Sometimes this happens during startup of the second rtcanrecv, but at
> latest on its termination. Other RT tasks are still running. I can
> resolve the lock-up by pulling the CAN cable, everyone is fine
> afterwards and can be cleaned up. I played with quite a few combination=
s
> of recent ipipe patches and Xenomai revisions (even back to #1084 in
> v2.3.x), no noticeable difference.
>=20

Forgot to mention one further observation: removing the usleep form
rtcanrecv's cleanup() works around the shutdown lock-up. I can't
interpret this yet. [BTW, Wolfgang, what is it good for?]

Jan


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