Philippe Gerum wrote:
> Our development trunk now contains the necessary support for running
> Xenomai over 2.6.22/x86. This work boils down to enabling Xenomai to use
> the generic clock event device abstraction that comes with newest
> kernels. Other archs / kernel versions still work the older way, until
> all archs eventually catch up with clockevents upstream.
> 
> This support won't be backported to 2.3.x, because it has some
> significant impact on the nucleus. Tested as thoroughly as possible here
> on low-end and mid-range x86 boxen, including SMP.
> 
> Please give this hell.
> 
> http://download.gna.org/adeos/patches/v2.6/i386/adeos-ipipe-2.6.22-rc6-i386-1.9-00.patch
> 

Running some tests, the gate to hell just opened:

[  210.247006] BUG: sleeping function called from invalid context at
kernel/sched.c:3941
[  210.248171] in_atomic():1, irqs_disabled():1
[  210.248828] no locks held by frag-ip/881.
[  210.249494]  [<c01040e9>] show_trace_log_lvl+0x1f/0x34
[  210.250523]  [<c0104d6c>] show_trace+0x17/0x19
[  210.257778]  [<c0104e6a>] dump_stack+0x1b/0x1d
[  210.258070]  [<c0112030>] __might_sleep+0xda/0xe1
[  210.258365]  [<c028bacf>] wait_for_completion+0x1f/0xc3
[  210.258688]  [<c01143d8>] set_cpus_allowed+0x77/0x95
[  210.258992]  [<c89cc202>] lostage_handler+0x75/0x201 [xeno_nucleus]
[  210.259551]  [<c0146fe2>] rthal_apc_handler+0x5c/0x89
[  210.259869]  [<c0143ba9>] __ipipe_sync_stage+0x13a/0x147
[  210.260204]  [<c010e6b6>] __ipipe_syscall_root+0x1a6/0x1c8
[  210.260536]  [<c0102809>] system_call+0x29/0x41

Setup is latest SVN + a "few" patches (the well-known ones), CONFIG_SMP,
qemu -smp 2, RTnet in loopback mode, just terminating the frag-ip example.

However, this gremlin looks like it is /far/ older than 2.6.22 support.
Calling set_cpus_allowed() from atomic lostage_handler is simply bogus,
I'm afraid. :-/

Jan