Re: [Xenomai-help] Problem to cross-compile Xenomai user-space support

[Patrice Kadionik <kadionik@domain.hid>]

Le 30/03/2010 00:20, Huan Fang a écrit :
> Hi Patrice,
>    
Hi Huan,

Have you really used  uClinux with NIOS2 without MMU in your Quartus II 
design? Have you synchronized the µClinux kernel file version with the 
NIOS2 ipipe version?

> Many thanks for the tutorial, Now I am able to run xenomai patched uclinux on my DE2-70 board.
> But the kernel doesn't boot unless I modified one file :linux-2.6/arch/nios2/kernel/time.c
>
> na_timer0 ->  na_sys_clock_timer which I guess is the clock timer used by Linux. Did you manually patch this file?
> The adeos patch doesn't seem to change this part.
>    
Not at all.

If you have done this:
$ make vendor_hwselect SYSPTF=my_design.ptf
it generates a nios2.h under uClinux-dist/linux-2.6.x/include/asm-nios2
in which you have na_sys_clk_timer redefined as na_timer0.
For example, in my nios2.h generated file, I have:
/* Executing ...scripts/nios2.h/altera_avalon_timer.pm */

/* system timer input clock frequency */
#define nasys_clock_freq                                        50000000
#define nasys_clock_freq_1000                                      50000

/* Redefining sys_clk_timer -> timer0 */
#undef na_sys_clk_timer
#undef na_sys_clk_timer_irq

#define na_timer0                                  ((void *) 0x00810800)

Please send me in a private email your nios2.h file.

Patrice



> currently my timer settings are
>
> /proc/xenomai>cat timer
> status=on+watchdog:setup=1030:clock=1638046732:timerdev=hrtimer:clockdev=hrclock
> Does it looks all right?
>
> Best Regards,
> Huan
> ________________________________________
> From: xenomai-help-bounces@domain.hid [xenomai-help-bounces@domain.hid] On Behalf Of Patrice Kadionik [kadionik@domain.hid]
> Sent: 28 March 2010 15:26
> To: Chtourou Sonda
> Cc: xenomai@xenomai.org
> Subject: Re: [Xenomai-help] Problem to cross-compile Xenomai user-space support
>
> Le 20:59, Chtourou Sonda a écrit :
> Dears,
> Hi,
>
>
> I built the uClinux kernel for NIOS II and it run well on the target board. I followed the typical actions available here : http://www.nioswiki.com/
>
> Now, I want to add a co-scheduler xenomai to the kernel (uclinux) to reduce its latency. I followed these steps: (http://www.xenomai.org/documentation/xenomai-2.5/README.INSTALL)
> I've tried to reproduce your compilation error but without success.
>
> For using Xenomai on NIOS II processor with uClinux, you must add extra hardware in your SoPC design as explained in this tutorial (http://uuu.enseirb.fr/~kadionik/nios2-xenomai/Xenomai%20on%20NIOS%20II%20Softcore%20Processor%20Guide-v1.1.pdf).
>
> It is OK on my Altera 1S10 board  with Xenomai v2.5.1 (see traces).
>
> Sincerely;
>
> Patrice
> ========================================
>
> Uncompressing Linux... Ok, booting the kernel.
> Linux version 2.6.30 (kadionik@domain.hid) (gcc version 3.4.6) #4 PREEMPT Sun Mar 0
>
>
> uClinux/Nios II
> Built 1 zonelists in Zone order, mobility grouping off.  Total pages: 4064
> Kernel command line:
> NR_IRQS:32
> PID hash table entries: 64 (order: 6, 256 bytes)
> I-pipe 1.1-00: pipeline enabled.
> Dentry cache hash table entries: 2048 (order: 1, 8192 bytes)
> Inode-cache hash table entries: 1024 (order: 0, 4096 bytes)
> Memory available: 12108k/3990k RAM, 0k/0k ROM (1931k kernel code, 2059k data)
> Calibrating delay loop... 24.06 BogoMIPS (lpj=120320)
> Mount-cache hash table entries: 512
> net_namespace: 264 bytes
> NET: Registered protocol family 16
> init_BSP(): registering device resources
> bio: create slab<bio-0>  at 0
> NET: Registered protocol family 2
> IP route cache hash table entries: 1024 (order: 0, 4096 bytes)
> TCP established hash table entries: 512 (order: 0, 4096 bytes)
> TCP bind hash table entries: 512 (order: -1, 2048 bytes)
> TCP: Hash tables configured (established 512 bind 512)
> TCP reno registered
> NET: Registered protocol family 1
> I-pipe: Domain Xenomai registered.
> Xenomai: hal/nios2 started.
> Xenomai: scheduling class idle registered.
> Xenomai: scheduling class rt registered.
> Xenomai: real-time nucleus v2.5.1 (Speed Of Light) loaded.
> Xenomai: starting native API services.
> Xenomai: starting POSIX services.
> Xenomai: starting RTDM services.
> io scheduler noop registered
> io scheduler deadline registered (default)
> ttyS0 at MMIO 0x810840 (irq = 5) is a Altera UART
> console [ttyS0] enabled
>
>
>
>
> $ $xenomai-2.5.1/scripts/prepare-kernel.sh --arch=nios2 --adeos=$xenomai-2.5.1/ksrc/arch/nios2/patches/adeos-ipipe-2.6.30-nios2-1.1-00.patch
>    --linux=$linux_tree
> $ $xenomai-2.5.1/configure --host=nios2-linux
> $ make install DESTDIR=$uClinux-dist/romfs
>
> But, in this step, I got this error:
>
> eck_vdso-check-vdso.o ../../skins/native/libnative.la -lpthread -lm
> libtool: link: ../../../scripts/wrap-link.sh nios2-linux-gcc -Wl,-elf2flt -o check-vdso check_vdso-check-vdso.o  ../../skins/native/.libs/libnative.a -lpthread -lm
> check-vdso.elf2flt(.text+0x16c): In function `main':
> : undefined reference to `xeno_sem_heap'
> check-vdso.elf2flt(.text+0x170): In function `main':
> : undefined reference to `xeno_sem_heap'
> collect2: ld returned 1 exit status
> make[3]: *** [check-vdso] Erreur 1
> make[3]: quittant le répertoire « /home/sonda/Desktop/xenomai-2.5.1/src/testsuite/unit »
> make[2]: *** [all-recursive] Erreur 1
> make[2]: quittant le répertoire « /home/sonda/Desktop/xenomai-2.5.1/src/testsuite »
> make[1]: *** [all-recursive] Erreur 1
> make[1]: quittant le répertoire « /home/sonda/Desktop/xenomai-2.5.1/src »
> make: *** [all-recursive] Erreur 1
>
> what can I do? Please help
> Regards,
>
>
>
>
>
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>
>
> --
> Patrice Kadionik. F6KQH / F4CUQ
> -----------
>
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> +----------------------------------------------------------------------+
> + Patrice Kadionik             http://www.enseirb-matmeca.fr/~kadionik +
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>    


-- 
--
Patrice Kadionik. F6KQH / F4CUQ
-----------

+----------------------------------------------------------------------+
+"Tout doit etre aussi simple que possible, pas seulement plus simple" +
+----------------------------------------------------------------------+
+ Patrice Kadionik             http://www.enseirb-matmeca.fr/~kadionik +
+ IMS Laboratory               http://www.ims-bordeaux.fr/             +
+ ENSEIRB-MATMECA              http://www.enseirb-matmeca.fr           +
+ PO BOX 99                    fax   : +33 5.56.37.20.23               +
+ 33402 TALENCE Cedex          voice : +33 5.56.84.23.47               +
+ FRANCE                       mailto:patrice.kadionik@domain.hid +
+----------------------------------------------------------------------+