From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <4BB22A99.4010705@domain.hid> Date: Tue, 30 Mar 2010 18:45:13 +0200 From: Patrice Kadionik MIME-Version: 1.0 References: <162274.76484.qm@domain.hid> In-Reply-To: <162274.76484.qm@domain.hid> Content-Type: multipart/alternative; boundary="------------020008040409050001080703" Subject: Re: [Xenomai-help] Problem to cross-compile Xenomai user-space support List-Id: Help regarding installation and common use of Xenomai List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Chtourou Sonda Cc: xenomai@xenomai.org This is a multi-part message in MIME format. --------------020008040409050001080703 Content-Type: text/plain; charset=UTF-8; format=flowed Content-Transfer-Encoding: quoted-printable X-MIME-Autoconverted: from 8bit to quoted-printable by plan.enseirb.fr id o2UGiWIs002997 Le 30/03/2010 17:40, Chtourou Sonda a =C3=A9crit : > Hi Patrice, > Thanks a lot for your answer and for the tutorial. > I had used xenomai-2.5.0 and I had modified (ligne 11) one file:=20 > xenomai-2.5.0/src/testsuite/unit/check-vdso.c > extern unsigned long xeno_sem_heap[2]; --> unsigned long=20 > xeno_sem_heap[2]; > You may use Xenomai v2.5.2 now. Everything is fixed now. See the other=20 messages of this thread. > Then, I had no more error to cross-compile Xenomai user-space support. > > But, when I run the kernel on the board 1s40, the xenomai didn't=20 > start. I explain: > > As motioned in the tutorial=20 > (http://uuu.enseirb.fr/~kadionik/nios2-xenomai/Xenomai%20on%20NIOS%20II= %20Softcore%20Processor%20Guide-v1.1.pdf):=20 > > The main points to respect are: > =E2=80=A2 Peripheral name. > =E2=80=A2 IRQ attributions. > =E2=80=A2 Memory mapping for each peripheral. > > I had respected the Peripheral name and the Memory mapping for each=20 > peripheral. But for IRQ attribution, if I put (as shown on attached=20 > document figure1): > IRO =3D 1 for hrtimer > IRQ =3D 2 for hrclock > IRQ =3D 3 for sys_clk_timer > > > On the board, I got only this message: > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > Uncompressing Linux... Ok, booting the kernel > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > So, the kernel can't boot. > > But if I put (as shown on figure2): > IRO =3D 7 for hrtimer > IRQ =3D 8 for hrclock > IRQ =3D 1 for sys_clk_timer > On the borad, I've got this message: > OK. Please, verify first that you can boot =C2=B5Clinux without Xenomai o= n=20 your board with the 2 extra hrtimer and hrclock peripherals. There is no priority on IRQ with NIOS. Please verify that you have correctly enabled all the right options=20 under SOPC builder for hrtimer and hrclock. Because we have flexibility in HW configuration with SoPC, we must be=20 more careful. For uCLinux configuration leave, do: $ cd uClinux_dist $ make menuconfig In the menuconfig screens, verify that the following options are enabled: Vendor/Product Selection ---> --- Select the Vendor you wish to target Vendor (Altera) ---> --- Select the Product you wish to target Altera Products (nios2) ---> Kernel/Library/Defaults Selection ---> --- Kernel is linux-2.6.x Libc Version (None) ---> [*] Default all settings (lose changes) [ ] Customize Kernel Settings [ ] Customize Vendor/User Settings [ ] Update Default Vendor Settings and follow the doc from page 25 (keep all options by default). According to errno.h, code -19 is ENODEV, please verify your timer=20 configuration and respect naming convention. Patrice > > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > > > Uncompressing Linux... Ok, booting the kernel. > Linux version 2.6.30 (root@domain.hid) (gcc version 3.4.6) #40 PREEMPT=20 > Tue Mar 30 10:45:46 CEST 2010 > > > uClinux/Nios II > Built 1 zonelists in Zone order, mobility grouping off. Total pages: 40= 64 > 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: 11772k/4324k RAM, 0k/0k ROM (1932k kernel code,=20 > 2391k data) > Calibrating delay loop... 24.06 BogoMIPS (lpj=3D120320) > Mount-cache hash table entries: 512 > net_namespace: 264 bytes > NET: Registered protocol family 16 > init_BSP(): registering device resources > bio: create slab 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: system init failed, code -19. > Xenomai: native skin init failed, code -19. > Xenomai: starting POSIX services. > Xenomai: POSIX skin init failed, code -19. > Xenomai: RTDM skin init failed, code -19. > io scheduler noop registered > io scheduler deadline registered (default) > ttyJ0 at MMIO 0x810820 (irq =3D 4) is a Altera JTAG UART > console [ttyJ0] enabled > ttyS0 at MMIO 0x810840 (irq =3D 5) is a Altera UART > ttyS1 at MMIO 0x8108e0 (irq =3D 8) is a Altera UART > smc91x.c: v1.1, sep 22 2004 by Nicolas Pitre > eth0: SMC91C11xFD (rev 1) at 80800300 IRQ 7 [nowait] > eth0: Invalid ethernet MAC address. Please set using ifconfig > dm9000 Ethernet Driver, V1.31 > TCP cubic registered > NET: Registered protocol family 17 > RPC: Registered udp transport module. > RPC: Registered tcp transport module. > Freeing unused kernel memory: 2076k freed (0x1232000 - 0x1438000) > Shell invoked to run file: /etc/rc > Command: hostname uClinux > Command: mount -t proc proc /proc -o noexec,nosuid,nodev > Command: mount -t sysfs sysfs /sys -o noexec,nosuid,nodev > Command: mount -t devpts devpts /dev/pts -o noexec,nosuid > Command: mount -t usbfs none /proc/bus/usb > mount: mounting none on /proc/bus/usb failed: No such file or directory > Command: mkdir /var/tmp > Command: mkdir /var/log > Command: mkdir /var/run > Command: mkdir /var/lock > Command: mkdir /var/empty > Command: ifconfig lo 127.0.0.1 > Command: route add -net 127.0.0.0 netmask 255.0.0.0 lo > Command: cat /etc/motd > Welcome to > ____ _ _ > / __| ||_| > _ _| | | | _ ____ _ _ _ _ > | | | | | | || | _ \| | | |\ \/ / > | |_| | |__| || | | | | |_| |/ \ > | ___\____|_||_|_| |_|\____|\_/\_/ > | | > |_| > > For further information check: > http://www.uclinux.org/ > > Execution Finished, Exiting > > Sash command shell (version 1.1.1) > /> > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > > So, the xenomai didn't start: > > I-pipe: Domain Xenomai registered. > Xenomai: hal/nios2 started. > Xenomai: system init failed, code -19. > Xenomai: native skin init failed, code -19. > Xenomai: starting POSIX services. > Xenomai: POSIX skin init failed, code -19. > Xenomai: RTDM skin init failed, code -19. > > > > So, I wonder if the number IQR had caused this error. > What should I do? > > RQ: In the configuration of the xenomai, I chose the default parameter: > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > > linux-n0mi:/home/sonda/Desktop/nios2-linux/uClinux-dist # make=20 > vendor_hwselect SYSPTF=3D/home/sonda/Desktop/f/standard/std_1s40.ptf > make ARCH=3Dnios2 -C vendors vendor_hwselect > make[1]: entrant dans le r=C3=A9pertoire =C2=AB=20 > /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors =C2=BB > make -C=20 > /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/Altera/nios2/.=20 > dir_v=3D/home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/Altera/nio= s2/.=20 > -f=20 > /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/vendors-common.mak= vendor_hwselect=20 > > make[2]: entrant dans le r=C3=A9pertoire =C2=AB=20 > /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/Altera/nios2 =C2=BB > [ -d /home/sonda/Desktop/nios2-linux/uClinux-dist/romfs/$i ] || mkdir=20 > -p /home/sonda/Desktop/nios2-linux/uClinux-dist/romfs > make ARCH=3Dnios2 CROSS_COMPILE=3Dnios2-linux-uclibc- -C=20 > /home/sonda/Desktop/nios2-linux/uClinux-dist/../linux-2.6=20 > O=3D/home/sonda/Desktop/nios2-linux/uClinux-dist/linux-2.6.x hwselect > make[3]: entrant dans le r=C3=A9pertoire =C2=AB=20 > /home/sonda/Desktop/nios2-linux/linux-2.6 =C2=BB > no emulation specific options. > no emulation specific options. > GEN /home/sonda/Desktop/nios2-linux/uClinux-dist/linux-2.6.x/Makefile > scripts/kconfig/conf -s arch/nios2/Kconfig > * > * Restart config... > * > * > * Real-time sub-system > * > Xenomai (XENOMAI) [Y/n/?] (NEW) y > Nucleus (XENO_OPT_NUCLEUS) [Y/n] (NEW) y > Pervasive real-time support in user-space (XENO_OPT_PERVASIVE) [Y/n/?]=20 > (NEW) y > Priority coupling support (XENO_OPT_PRIOCPL) [Y/n/?] (NEW) y > Optimize as pipeline head (XENO_OPT_PIPELINE_HEAD) [Y/n/?] (NEW) y > Extra scheduling classes (XENO_OPT_SCHED_CLASSES) [N/y/?] (NEW) n > Number of pipe devices (XENO_OPT_PIPE_NRDEV) [32] (NEW) 32 > Number of registry slots (XENO_OPT_REGISTRY_NRSLOTS) [512] (NEW) 512 > Size of the system heap (Kb) (XENO_OPT_SYS_HEAPSZ) [256] (NEW) 256 > Size of the private stack pool (Kb) (XENO_OPT_SYS_STACKPOOLSZ) [128]=20 > (NEW) 128 > Size of private semaphores heap (Kb) (XENO_OPT_SEM_HEAPSZ) [12] (NEW) 1= 2 > Size of global semaphores heap (Kb) (XENO_OPT_GLOBAL_SEM_HEAPSZ) [12]=20 > (NEW) 12 > Statistics collection (XENO_OPT_STATS) [Y/n/?] (NEW) y > Debug support (XENO_OPT_DEBUG) [N/y/?] (NEW) n > Shared interrupts (XENO_OPT_SHIRQ) [N/y/?] (NEW) n > * > * Timing > * > Enable periodic timing (XENO_OPT_TIMING_PERIODIC) [N/y/?] (NEW) n > Virtual tick duration in aperiodic mode (us) (XENO_OPT_TIMING_VIRTICK)=20 > [1000] (NEW) 1000 > Scheduling latency (ns) (XENO_OPT_TIMING_SCHEDLAT) [0] (NEW) 0 > * > * Scalability > * > O(1) scheduler (XENO_OPT_SCALABLE_SCHED) [N/y/?] (NEW) n > Timer indexing method > > 1. Linear (XENO_OPT_TIMER_LIST) (NEW) > 2. Tree (XENO_OPT_TIMER_HEAP) (NEW) > 3. Hash (XENO_OPT_TIMER_WHEEL) (NEW) > choice[1-3?]: 1 > * > * Native API > * > Native API (XENO_SKIN_NATIVE) [Y/n/?] (NEW) y > Message pipes (XENO_OPT_NATIVE_PIPE) [Y/n/?] (NEW) y > Bytes in buffer space (XENO_OPT_NATIVE_PIPE_BUFSZ) [1024] (NEW) 1024 > Counting semaphores (XENO_OPT_NATIVE_SEM) [Y/n/?] (NEW) y > Event flags (XENO_OPT_NATIVE_EVENT) [Y/n/?] (NEW) y > Mutexes (XENO_OPT_NATIVE_MUTEX) [Y/n/?] (NEW) y > Condition variables (XENO_OPT_NATIVE_COND) [Y/n/?] (NEW) y > Message queues (XENO_OPT_NATIVE_QUEUE) [Y/n/?] (NEW) y > Buffers (XENO_OPT_NATIVE_BUFFER) [Y/n/?] (NEW) y > Memory heaps (XENO_OPT_NATIVE_HEAP) [Y/n/?] (NEW) y > Alarms (XENO_OPT_NATIVE_ALARM) [Y/n/?] (NEW) y > Message passing support (XENO_OPT_NATIVE_MPS) [Y/n/?] (NEW) y > Interrupts (XENO_OPT_NATIVE_INTR) [N/y/?] (NEW) n > * > * POSIX API > * > POSIX API (XENO_SKIN_POSIX) [Y/n/?] (NEW) y > Shared memory (XENO_OPT_POSIX_SHM) [N/y/?] (NEW) n > Interrupts (XENO_OPT_POSIX_INTR) [N/y/?] (NEW) n > Select syscall (XENO_OPT_POSIX_SELECT) [N/y/?] (NEW) n > Debugging support (XENO_OPT_DEBUG_POSIX) [N/y/?] (NEW) n > * > * pSOS+ emulator > * > pSOS+ emulator (XENO_SKIN_PSOS) [N/y/?] (NEW) n > * > * uITRON API > * > uITRON API (XENO_SKIN_UITRON) [N/y/?] (NEW) n > * > * VRTX emulator > * > VRTX emulator (XENO_SKIN_VRTX) [N/y/?] (NEW) n > * > * VxWorks emulator > * > VxWorks emulator (XENO_SKIN_VXWORKS) [N/y/?] (NEW) n > * > * RTAI emulator > * > RTAI emulator (XENO_SKIN_RTAI) [N/y/?] (NEW) n > * > * Interfaces > * > Do not warn about deprecated skin usage (XENO_OPT_NOWARN_DEPRECATED)=20 > [N/y/?] (NEW) n > * > * Real-Time Driver Model > * > Real-Time Driver Model (XENO_SKIN_RTDM) [Y/n/?] (NEW) y > Maximum number of RTDM file descriptors (XENO_OPT_RTDM_FILDES) [128]=20 > (NEW) 128 > Select support for RTDM file descriptors (XENO_OPT_RTDM_SELECT)=20 > [N/y/?] (NEW) n > * > * Serial drivers > * > 16550A UART driver (XENO_DRIVERS_16550A) [N/y/?] (NEW) n > * > * Testing drivers > * > Timer benchmark driver (XENO_DRIVERS_TIMERBENCH) [Y/n/?] (NEW) y > IRQ benchmark driver (XENO_DRIVERS_IRQBENCH) [N/y/?] (NEW) n > Context switch unit testing driver (XENO_DRIVERS_SWITCHTEST) [Y/n/?]=20 > (NEW) y > * > * CAN drivers > * > RT-Socket-CAN, CAN raw socket interface (XENO_DRIVERS_CAN) [N/y/?]=20 > (NEW) n > * > * ANALOGY drivers > * > ANALOGY interface (XENO_DRIVERS_ANALOGY) [N/y/?] (NEW) n > * > * Real-time IPC drivers > * > RTIPC protocol family (XENO_DRIVERS_RTIPC) [N/y/?] (NEW) n > * > * Processor type and features > * > * > * Platform dependant setup > * > CPU > > 1. NIOS2 (NIOS2) > choice[1]: 1 > MMU support (MMU) [N/y/?] n > Platform > 1. Microtronix uKit board support (MICROTRONIX_UKIT) > 2. Microtronix Stratix board support (MICROTRONIX_STRATIX) > 3. Microtronix Cyclone board support (MICROTRONIX_CYCLONE) > 4. Microtronix PSK (Product Starter Kit) support (MICROTRONIX_PSK) > 5. Altera Stratix Development board support (ALTERA_STRATIX) > 6. Altera Stratix Pro Development board support (ALTERA_STRATIX_PRO) > 7. Altera Stratix II Development board support (ALTERA_STRATIX_II) > 8. Altera Cyclone Development board support (ALTERA_CYCLONE) > 9. Altera CYCLONE II Development board support (ALTERA_CYCLONE_II) > 10. Altera Cyclone 1C12 Evaluation board support=20 > (ALTERA_CYCLONE_1C12_EVAL) > > 11. Altera DE2 Development board support (ALTERA_DE2) > 12. Altera Nios II Embedded Evaluation Kit support (ALTERA_NEEK_C3) > 13. Altera CYCLONE III 3C120 Development board support=20 > (ALTERA_CYCLONE_III) > choice[1-13]: 11 > Nios II Hardware Multiply Support > 1. None (NIOS2_HW_MUL_OFF) > > 2. Enable mul instruction (NIOS2_HW_MUL) > 3. Enable mul and mulx instructions (NIOS2_HW_MULX) > choice[1-3?]: 2 > * > * Platform drivers Options > * > GPIO interface (GENERIC_GPIO) [N/y/?] n > Support of DMA controller with Avalon interface (AVALON_DMA) [N/y/?] n > Altera PCI host bridge (PCI_ALTPCI) [N/y] n > Remote update support (ALTERA_REMOTE_UPDATE) [N/y/?] n > * > * Miscellaneous Options > * > Include breakpoint trap on kernel startup (BREAK_ON_START) [N/y/?] n > Kernel executes from > > 1. RAM (RAMKERNEL) > choice[1]: 1 > Preemption Model > 1. No Forced Preemption (Server) (PREEMPT_NONE) > 2. Voluntary Kernel Preemption (Desktop) (PREEMPT_VOLUNTARY) > > 3. Preemptible Kernel (Low-Latency Desktop) (PREEMPT) > choice[1-3]: 3 > Timer frequency > > 1. 100 HZ (HZ_100) > 2. 250 HZ (HZ_250) > 3. 300 HZ (HZ_300) > 4. 1000 HZ (HZ_1000) > choice[1-4?]: 1 > Default kernel command string (CMDLINE) [] > Passed kernel command line from u-boot (PASS_CMDLINE) [N/y/?] n > Interrupt pipeline (IPIPE) [Y/?] (NEW) y > Max domains (IPIPE_DOMAINS) [4] (NEW) 4 > Maintain code compatibility with older releases (IPIPE_COMPAT) [Y/n/?]=20 > (NEW) y > Memory model > > 1. Flat Memory (FLATMEM_MANUAL) > choice[1]: 1 > Add LRU list to track non-evictable pages (UNEVICTABLE_LRU) [Y/n/?] y > Turn on mmap() excess space trimming before booting=20 > (NOMMU_INITIAL_TRIM_EXCESS) [1] 1 > Link address offset for booting (BOOT_LINK_OFFSET) [0x00500000]=20 > 0x00500000 > * > * Kernel hacking > * > Show timing information on printks (PRINTK_TIME) [N/y/?] n > Enable __deprecated logic (ENABLE_WARN_DEPRECATED) [Y/n/?] y > Enable __must_check logic (ENABLE_MUST_CHECK) [N/y/?] n > Warn for stack frames larger than (needs gcc 4.4) (FRAME_WARN) [1024]=20 > 1024 > Magic SysRq key (MAGIC_SYSRQ) [N/y/?] n > Enable unused/obsolete exported symbols (UNUSED_SYMBOLS) [N/y/?] n > Debug Filesystem (DEBUG_FS) [N/y/?] n > Run 'make headers_check' when building vmlinux (HEADERS_CHECK) [N/y/?] = n > I-pipe debugging (IPIPE_DEBUG) [N/y] (NEW) n > Kernel debugging (DEBUG_KERNEL) [Y/n/?] y > Debug shared IRQ handlers (DEBUG_SHIRQ) [N/y/?] n > Detect Soft Lockups (DETECT_SOFTLOCKUP) [Y/n/?] y > Panic (Reboot) On Soft Lockups (BOOTPARAM_SOFTLOCKUP_PANIC) [N/y/?] n > Detect Hung Tasks (DETECT_HUNG_TASK) [Y/n/?] y > Panic (Reboot) On Hung Tasks (BOOTPARAM_HUNG_TASK_PANIC) [N/y/?] n > Collect scheduler debugging info (SCHED_DEBUG) [Y/n/?] y > Collect scheduler statistics (SCHEDSTATS) [N/y/?] n > Collect kernel timers statistics (TIMER_STATS) [N/y/?] n > Debug object operations (DEBUG_OBJECTS) [N/y/?] n > Debug slab memory allocations (DEBUG_SLAB) [N/y/?] n > RT Mutex debugging, deadlock detection (DEBUG_RT_MUTEXES) [N/y/?] n > Built-in scriptable tester for rt-mutexes (RT_MUTEX_TESTER) [N/y/?] n > Spinlock and rw-lock debugging: basic checks (DEBUG_SPINLOCK) [N/y/?] n > Mutex debugging: basic checks (DEBUG_MUTEXES) [N/y/?] n > Spinlock debugging: sleep-inside-spinlock checking=20 > (DEBUG_SPINLOCK_SLEEP) [N/y/?] n > Locking API boot-time self-tests (DEBUG_LOCKING_API_SELFTESTS) [N/y/?] = n > kobject debugging (DEBUG_KOBJECT) [N/y/?] n > Compile the kernel with debug info (DEBUG_INFO) [Y/n/?] y > Debug VM (DEBUG_VM) [N/y/?] n > Debug the global anon/private NOMMU mapping region tree=20 > (DEBUG_NOMMU_REGIONS) [N/y/?] n > Debug filesystem writers count (DEBUG_WRITECOUNT) [N/y/?] n > Debug memory initialisation (DEBUG_MEMORY_INIT) [N/y/?] n > Debug linked list manipulation (DEBUG_LIST) [N/y/?] n > Debug SG table operations (DEBUG_SG) [N/y/?] n > Debug notifier call chains (DEBUG_NOTIFIERS) [N/y/?] n > Delay each boot printk message by N milliseconds (BOOT_PRINTK_DELAY)=20 > [N/y/?] n > torture tests for RCU (RCU_TORTURE_TEST) [N/y/?] n > Check for stalled CPUs delaying RCU grace periods=20 > (RCU_CPU_STALL_DETECTOR) [N/y/?] n > Self test for the backtrace code (BACKTRACE_SELF_TEST) [N/y/?] n > Force extended block device numbers and spread them=20 > (DEBUG_BLOCK_EXT_DEVT) [N/y/?] n > Fault-injection framework (FAULT_INJECTION) [N/y/?] n > Debug page memory allocations (PAGE_POISONING) [N/y/?] n > # > # configuration written to .config > # > no emulation specific options. > RUNNING hwselect > > --- Please select which CPU you wish to build the kernel against: > > (1) cpu - Class: altera_nios2 Type: s Version: 7.080910 > > Selection: 1 > > --- Please select a device to execute kernel from: > > (1) ext_flash > Class: altera_avalon_cfi_flash > Size: 8388608 bytes > > (2) onchip_ram_64_kbytes > Class: altera_avalon_onchip_memory2 > Size: 65536 bytes > > (3) ext_ram > Class: altera_nios_dev_kit_stratix_edition_sram2 > Size: 1048576 bytes > > (4) sdram > Class: altera_avalon_new_sdram_controller > Size: 16777216 bytes > > Selection: 4 > > --- Summary using > > PTF: /home/sonda/Desktop/f/standard/std_1s40.ptf > CPU: cpu > Program memory to execute from: sdram > > --- Settings written to=20 > /home/sonda/Desktop/nios2-linux/uClinux-dist/linux-2.6.x/arch/nios2/har= dware.mk=20 > > > make[3]: quittant le r=C3=A9pertoire =C2=AB=20 > /home/sonda/Desktop/nios2-linux/linux-2.6 =C2=BB > make[2]: quittant le r=C3=A9pertoire =C2=AB=20 > /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/Altera/nios2 =C2=BB > make[1]: quittant le r=C3=A9pertoire =C2=AB=20 > /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors =C2=BB > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > -----------------------------------------------------------------------= -----------------------------------------------------------------------=20 > > > Regards, > > --- En date de : *Dim 28.3.10, Patrice Kadionik=20 > //* a =C3=A9crit : > > > De: Patrice Kadionik > Objet: Re: [Xenomai-help] Problem to cross-compile Xenomai > user-space support > =C3=80: "Chtourou Sonda" > Cc: xenomai@xenomai.org > Date: Dimanche 28 mars 2010, 13h26 > > Le 20:59, Chtourou Sonda a =C3=A9crit : >> >> 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 > =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D= =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D > > 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=3D120320) > Mount-cache hash table entries: 512 > net_namespace: 264 bytes > NET: Registered protocol family 16 > init_BSP(): registering device resources > bio: create slab 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 =3D 5) is a Altera UART > console [ttyS0] enabled > > > > >> $ $xenomai-2.5.1/scripts/prepare-kernel.sh --arch=3Dnios2 >> --adeos=3D$xenomai-2.5.1/ksrc/arch/nios2/patches/adeos-ipipe-2.6.3= 0-nios2-1.1-00.patch >> --linux=3D$linux_tree >> $ $xenomai-2.5.1/configure --host=3Dnios2-linux >> $ make install DESTDIR=3D$uClinux-dist/romfs >> >> But, in this step, I got this error: >> >> eck_vdso-check-vdso.o ../../skins/native/libnative.la -lpthread -l= m >> libtool: link: ../../../scripts/wrap-link.sh nios2-linux-gcc >> -Wl,-elf2flt -o check-vdso check_vdso-check-vdso.o=20 >> ../../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 r=C3=A9pertoire =C2=AB >> /home/sonda/Desktop/xenomai-2.5.1/src/testsuite/unit =C2=BB >> make[2]: *** [all-recursive] Erreur 1 >> make[2]: quittant le r=C3=A9pertoire =C2=AB >> /home/sonda/Desktop/xenomai-2.5.1/src/testsuite =C2=BB >> make[1]: *** [all-recursive] Erreur 1 >> make[1]: quittant le r=C3=A9pertoire =C2=AB >> /home/sonda/Desktop/xenomai-2.5.1/src =C2=BB >> make: *** [all-recursive] Erreur 1 >> >> what can I do? Please help >> >> Regards, >> >> >> >> _______________________________________________ >> Xenomai-help mailing list >> Xenomai-help@domain.hid >> https://mail.gna.org/listinfo/xenomai-help >> =20 > > > --=20 > Patrice Kadionik. F6KQH / F4CUQ > ----------- > > +------------------------------------------------------------------= ----+ > +"Tout doit etre aussi simple que possible, pas seulement plus simp= le" + > +------------------------------------------------------------------= ----+ > + Patrice Kadionikhttp://www.enseirb-matmeca.fr/~kadionik + > + IMS Laboratoryhttp://www.ims-bordeaux.fr/ + > + ENSEIRB-MATMECAhttp://www.enseirb-matmeca.fr + > + PO BOX 99 fax : +33 5.56.37.20.23 = + > + 33402 TALENCE Cedex > voice : +33 5.56.84.23.47 + > + FRANCEmailto:patrice.kadionik@domain.hid + > +------------------------------------------------------------------= ----+ > =20 > > --=20 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 + +----------------------------------------------------------------------+ --------------020008040409050001080703 Content-Type: text/html; charset=UTF-8 Content-Transfer-Encoding: quoted-printable X-MIME-Autoconverted: from 8bit to quoted-printable by plan.enseirb.fr id o2UGiWIs002997 Le 30/03/2010 17:40, Chtourou Sonda a =C3=A9crit=C2=A0:
Hi Patrice,=C2=A0
Thanks a lot for your answer and for the tutorial.
I had used xenomai-2.5.0 and I had modified (ligne 11) one file: xenomai-2.5.0/src/testsuite/unit/check-vdso.c
extern unsigned long xeno_sem_heap[2]; --> unsigned long xeno_sem_heap[2];
You may use Xenomai v2.5.2 now. Everything is fixed now. See the other messages of this thread.
Then, I had no more error to cross-compile Xenomai user-space support.
=C2=A0
But, when I run the kernel on the board 1s40, the xenomai didn't start. I explain:
=C2=A0
As motioned in the tutorial (http://uuu.enseirb.fr/~kadionik/nios2-xenomai/Xenomai%20on%20NI= OS%20II%20Softcore%20Processor%20Guide-v1.1.pdf):=C2=A0
The main points to respect are:
=E2=80=A2 Peripheral name.
=E2=80=A2 IRQ attributions.
=E2=80=A2 Memory mapping for each peripheral.
=C2=A0
I had respected the Peripheral name and the Memory mapping for each peripheral. But for IRQ attribution, if I put (as shown on attached document figure1):
IRO =3D 1 for hrtimer=C2=A0
IRQ =3D 2 for hrclock
IRQ =3D 3 for sys_clk_timer
=C2=A0
=C2=A0
On the board, I got only this message:
-------------------------------------------------------------------------= ---------------------------------------------------------------------
-------------------------------------------------------------------------= ---------------------------------------------------------------------
Uncompressing Linux... Ok, booting the kernel
-------------------------------------------------------------------------= ---------------------------------------------------------------------
-------------------------------------------------------------------------= ---------------------------------------------------------------------
So, the kernel can't boot.
=C2=A0
But if I put (as shown on figure2):
IRO =3D 7 for hrtimer=C2=A0
IRQ =3D 8 for hrclock
IRQ =3D 1 for sys_clk_timer
On the borad, I've got this message:
OK. Please, verify first that you can boot =C2=B5Clinux without Xenomai o= n your board with the 2 extra hrtimer and hrclock peripherals.
There is no priority on IRQ with NIOS.
Please verify that you have correctly enabled all the right options under SOPC builder for hrtimer and hrclock.
Because we have flexibility in HW configuration with SoPC, we must be more careful.

For uCLinux configuration leave, do:
$ cd uClinux_dist
$ make menuconfig
In the menuconfig screens, verify that the following options are enabled:
Vendor/Product Selection --->
--- Select the Vendor you wish to target
Vendor (Altera) --->
--- Select the Product you wish to target
Altera Products (nios2) --->
Kernel/Library/Defaults Selection --->
--- Kernel is linux-2.6.x
Libc Version (None) --->
[*] Default all settings (lose changes)
[ ] Customize Kernel Settings
[ ] Customize Vendor/User Settings
[ ] Update Default Vendor Settings

and follow the doc from page 25 (keep all options by default).

According to errno.h, code -19=C2=A0 is ENODEV, please verify your timer configuration and respect naming convention.

Patrice
=C2=A0
-------------------------------------------------------------------------= ---------------------------------------------------------------------
-------------------------------------------------------------------------= ---------------------------------------------------------------------
=C2=A0
=C2=A0
Uncompressing Linux... Ok, booting the kernel.
Linux version 2.6.30 (root@domain.hid) (gcc version 3.4.6) #40 PREEMPT Tue Mar 30 10:45:46 CEST 2010
=C2=A0
=C2=A0
uClinux/Nios II
Built 1 zonelists in Zone order, mobility grouping off. Total pages: 4064
Kernel command line:=C2=A0
NR_IRQS:32=C2=A0
PID hash table entries: 64 (order: 6, 256 bytes)=C2=A0
I-pipe 1.1-00: pipeline enabled.=C2=A0
Dentry cache hash table entries: 2048 (order: 1, 8192 bytes)=C2=A0
Inode-cache hash table entries: 1024 (order: 0, 4096 bytes)=C2=A0
Memory available: 11772k/4324k RAM, 0k/0k ROM (1932k kernel code, 2391k data)
Calibrating delay loop... 24.06 BogoMIPS (lpj=3D120320)=C2=A0
Mount-cache hash table entries: 512=C2=A0
net_namespace: 264 bytes=C2=A0
NET: Registered protocol family 16=C2=A0
init_BSP(): registering device resources=C2=A0
bio: create slab <bio-0> at 0=C2=A0
NET: Registered protocol family 2=C2=A0
IP route cache hash table entries: 1024 (order: 0, 4096 bytes)=C2=A0
TCP established hash table entries: 512 (order: 0, 4096 bytes)=C2=A0
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: system init failed, code -19.
Xenomai: native skin init failed, code -19.
Xenomai: starting POSIX services.
Xenomai: POSIX skin init failed, code -19.
Xenomai: RTDM skin init failed, code -19.
io scheduler noop registered
io scheduler deadline registered (default)
ttyJ0 at MMIO 0x810820 (irq =3D 4) is a Altera JTAG UART
console [ttyJ0] enabled
ttyS0 at MMIO 0x810840 (irq =3D 5) is a Altera UART
ttyS1 at MMIO 0x8108e0 (irq =3D 8) is a Altera UART
smc91x.c: v1.1, sep 22 2004 by Nicolas Pitre <nico@domain.hid>
eth0: SMC91C11xFD (rev 1) at 80800300 IRQ 7 [nowait]
eth0: Invalid ethernet MAC address. Please set using ifconfig
dm9000 Ethernet Driver, V1.31
TCP cubic registered
NET: Registered protocol family 17
RPC: Registered udp transport module.
RPC: Registered tcp transport module.
Freeing unused kernel memory: 2076k freed (0x1232000 - 0x1438000)
Shell invoked to run file: /etc/rc=C2=A0
Command: hostname uClinux=C2=A0
Command: mount -t proc proc /proc -o noexec,nosuid,nodev=C2=A0
Command: mount -t sysfs sysfs /sys -o noexec,nosuid,nodev=C2=A0
Command: mount -t devpts devpts /dev/pts -o noexec,nosuid=C2=A0
Command: mount -t usbfs none /proc/bus/usb
mount: mounting none on /proc/bus/usb failed: No such file or directory
Command: mkdir /var/tmp
Command: mkdir /var/log
Command: mkdir /var/run
Command: mkdir /var/lock
Command: mkdir /var/empty
Command: ifconfig lo 127.0.0.1
Command: route add -net 127.0.0.0 netmask 255.0.0.0 lo
Command: cat /etc/motd
Welcome to
____ _ _
/ __| ||_|
_ _| | | | _ ____ _ _ _ _
| | | | | | || | _ \| | | |\ \/ /
| |_| | |__| || | | | | |_| |/ \
| ___\____|_||_|_| |_|\____|\_/\_/
| |
|_|
=C2=A0
For further information check:
http:= //www.uclinux.org/
=C2=A0
Execution Finished, Exiting
=C2=A0
Sash command shell (version 1.1.1)
/>
-------------------------------------------------------------------------= ---------------------------------------------------------------------
-------------------------------------------------------------------------= ---------------------------------------------------------------------
=C2=A0
So, the xenomai didn't start:
=C2=A0
I-pipe: Domain Xenomai registered.
Xenomai: hal/nios2 started.
Xenomai: system init failed, code -19.
Xenomai: native skin init failed, code -19.
Xenomai: starting POSIX services.
Xenomai: POSIX skin init failed, code -19.
Xenomai: RTDM skin init failed, code -19.
=C2=A0
=C2=A0
=C2=A0
So, I wonder if the number IQR had caused this error.
What should I do?=C2=A0
=C2=A0
RQ: In the configuration of the xenomai, I chose the default parameter:
-------------------------------------------------------------------------= ---------------------------------------------------------------------
-------------------------------------------------------------------------= ---------------------------------------------------------------------
=C2=A0
linux-n0mi:/home/sonda/Desktop/nios2-linux/uClinux-dist # make vendor_hwselect SYSPTF=3D/home/sonda/Desktop/f/standard/std_1s40.ptf=C2=A0
make ARCH=3Dnios2 -C vendors vendor_hwselect=C2=A0
make[1]: entrant dans le r=C3=A9pertoire =C2=AB /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors =C2=BB=C2=A0
make -C /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/Altera/nios2/. dir_v=3D/home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/Altera/nios2= /. -f /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/vendors-common.mak vendor_hwselect=C2=A0
make[2]: entrant dans le r=C3=A9pertoire =C2=AB /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/Altera/nios2 =C2=BB=C2= =A0
[ -d /home/sonda/Desktop/nios2-linux/uClinux-dist/romfs/$i ] || mkdir -p /home/sonda/Desktop/nios2-linux/uClinux-dist/romfs=C2=A0
make ARCH=3Dnios2 CROSS_COMPILE=3Dnios2-linux-uclibc- -C /home/sonda/Desktop/nios2-linux/uClinux-dist/../linux-2.6 O=3D/home/sonda/Desktop/nios2-linux/uClinux-dist/linux-2.6.x hwselect=C2=A0
make[3]: entrant dans le r=C3=A9pertoire =C2=AB /home/sonda/Desktop/nios2-linux/linux-2.6 =C2=BB=C2=A0
no emulation specific options.=C2=A0
no emulation specific options.=C2=A0
GEN /home/sonda/Desktop/nios2-linux/uClinux-dist/linux-2.6.x/Makefile=C2=A0
scripts/kconfig/conf -s arch/nios2/Kconfig=C2=A0
*=C2=A0
* Restart config...=C2=A0
*=C2=A0
*=C2=A0
* Real-time sub-system=C2=A0
*=C2=A0
Xenomai (XENOMAI) [Y/n/?] (NEW) y=C2=A0
Nucleus (XENO_OPT_NUCLEUS) [Y/n] (NEW) y=C2=A0
Pervasive real-time support in user-space (XENO_OPT_PERVASIVE) [Y/n/?] (NEW) y=C2=A0
Priority coupling support (XENO_OPT_PRIOCPL) [Y/n/?] (NEW) y=C2=A0
Optimize as pipeline head (XENO_OPT_PIPELINE_HEAD) [Y/n/?] (NEW) y=C2=A0
Extra scheduling classes (XENO_OPT_SCHED_CLASSES) [N/y/?] (NEW) n=C2=A0
Number of pipe devices (XENO_OPT_PIPE_NRDEV) [32] (NEW) 32=C2=A0
Number of registry slots (XENO_OPT_REGISTRY_NRSLOTS) [512] (NEW) 512=C2=A0
Size of the system heap (Kb) (XENO_OPT_SYS_HEAPSZ) [256] (NEW) 256=C2=A0
Size of the private stack pool (Kb) (XENO_OPT_SYS_STACKPOOLSZ) [128] (NEW) 128=C2=A0
Size of private semaphores heap (Kb) (XENO_OPT_SEM_HEAPSZ) [12] (NEW) 12=C2=A0
Size of global semaphores heap (Kb) (XENO_OPT_GLOBAL_SEM_HEAPSZ) [12] (NEW) 12=C2=A0
Statistics collection (XENO_OPT_STATS) [Y/n/?] (NEW) y=C2=A0
Debug support (XENO_OPT_DEBUG) [N/y/?] (NEW) n=C2=A0
Shared interrupts (XENO_OPT_SHIRQ) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* Timing=C2=A0
*=C2=A0
Enable periodic timing (XENO_OPT_TIMING_PERIODIC) [N/y/?] (NEW) n=C2=A0
Virtual tick duration in aperiodic mode (us) (XENO_OPT_TIMING_VIRTICK) [1000] (NEW) 1000=C2=A0
Scheduling latency (ns) (XENO_OPT_TIMING_SCHEDLAT) [0] (NEW) 0=C2=A0
*=C2=A0
* Scalability=C2=A0
*=C2=A0
O(1) scheduler (XENO_OPT_SCALABLE_SCHED) [N/y/?] (NEW) n=C2=A0
Timer indexing method=C2=A0
> 1. Linear (XENO_OPT_TIMER_LIST) (NEW)=C2=A0
2. Tree (XENO_OPT_TIMER_HEAP) (NEW)=C2=A0
3. Hash (XENO_OPT_TIMER_WHEEL) (NEW)=C2=A0
choice[1-3?]: 1=C2=A0
*=C2=A0
* Native API=C2=A0
*=C2=A0
Native API (XENO_SKIN_NATIVE) [Y/n/?] (NEW) y=C2=A0
Message pipes (XENO_OPT_NATIVE_PIPE) [Y/n/?] (NEW) y=C2=A0
Bytes in buffer space (XENO_OPT_NATIVE_PIPE_BUFSZ) [1024] (NEW) 1024=C2=A0
Counting semaphores (XENO_OPT_NATIVE_SEM) [Y/n/?] (NEW) y=C2=A0
Event flags (XENO_OPT_NATIVE_EVENT) [Y/n/?] (NEW) y=C2=A0
Mutexes (XENO_OPT_NATIVE_MUTEX) [Y/n/?] (NEW) y=C2=A0
Condition variables (XENO_OPT_NATIVE_COND) [Y/n/?] (NEW) y=C2=A0
Message queues (XENO_OPT_NATIVE_QUEUE) [Y/n/?] (NEW) y=C2=A0
Buffers (XENO_OPT_NATIVE_BUFFER) [Y/n/?] (NEW) y=C2=A0
Memory heaps (XENO_OPT_NATIVE_HEAP) [Y/n/?] (NEW) y=C2=A0
Alarms (XENO_OPT_NATIVE_ALARM) [Y/n/?] (NEW) y=C2=A0
Message passing support (XENO_OPT_NATIVE_MPS) [Y/n/?] (NEW) y=C2=A0
Interrupts (XENO_OPT_NATIVE_INTR) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* POSIX API=C2=A0
*=C2=A0
POSIX API (XENO_SKIN_POSIX) [Y/n/?] (NEW) y=C2=A0
Shared memory (XENO_OPT_POSIX_SHM) [N/y/?] (NEW) n=C2=A0
Interrupts (XENO_OPT_POSIX_INTR) [N/y/?] (NEW) n=C2=A0
Select syscall (XENO_OPT_POSIX_SELECT) [N/y/?] (NEW) n=C2=A0
Debugging support (XENO_OPT_DEBUG_POSIX) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* pSOS+ emulator=C2=A0
*=C2=A0
pSOS+ emulator (XENO_SKIN_PSOS) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* uITRON API=C2=A0
*=C2=A0
uITRON API (XENO_SKIN_UITRON) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* VRTX emulator=C2=A0
*=C2=A0
VRTX emulator (XENO_SKIN_VRTX) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* VxWorks emulator=C2=A0
*=C2=A0
VxWorks emulator (XENO_SKIN_VXWORKS) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* RTAI emulator=C2=A0
*=C2=A0
RTAI emulator (XENO_SKIN_RTAI) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* Interfaces=C2=A0
*=C2=A0
Do not warn about deprecated skin usage (XENO_OPT_NOWARN_DEPRECATED) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* Real-Time Driver Model=C2=A0
*=C2=A0
Real-Time Driver Model (XENO_SKIN_RTDM) [Y/n/?] (NEW) y=C2=A0
Maximum number of RTDM file descriptors (XENO_OPT_RTDM_FILDES) [128] (NEW) 128=C2=A0
Select support for RTDM file descriptors (XENO_OPT_RTDM_SELECT) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* Serial drivers=C2=A0
*=C2=A0
16550A UART driver (XENO_DRIVERS_16550A) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* Testing drivers=C2=A0
*=C2=A0
Timer benchmark driver (XENO_DRIVERS_TIMERBENCH) [Y/n/?] (NEW) y=C2=A0
IRQ benchmark driver (XENO_DRIVERS_IRQBENCH) [N/y/?] (NEW) n=C2=A0
Context switch unit testing driver (XENO_DRIVERS_SWITCHTEST) [Y/n/?] (NEW) y=C2=A0
*=C2=A0
* CAN drivers=C2=A0
*=C2=A0
RT-Socket-CAN, CAN raw socket interface (XENO_DRIVERS_CAN) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* ANALOGY drivers=C2=A0
*=C2=A0
ANALOGY interface (XENO_DRIVERS_ANALOGY) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* Real-time IPC drivers=C2=A0
*=C2=A0
RTIPC protocol family (XENO_DRIVERS_RTIPC) [N/y/?] (NEW) n=C2=A0
*=C2=A0
* Processor type and features=C2=A0
*=C2=A0
*=C2=A0
* Platform dependant setup=C2=A0
*=C2=A0
CPU=C2=A0
> 1. NIOS2 (NIOS2)=C2=A0
choice[1]: 1=C2=A0
MMU support (MMU) [N/y/?] n=C2=A0
Platform=C2=A0
1. Microtronix uKit board support (MICROTRONIX_UKIT)=C2=A0
2. Microtronix Stratix board support (MICROTRONIX_STRATIX)=C2=A0
3. Microtronix Cyclone board support (MICROTRONIX_CYCLONE)=C2=A0
4. Microtronix PSK (Product Starter Kit) support (MICROTRONIX_PSK)=C2=A0
5. Altera Stratix Development board support (ALTERA_STRATIX)=C2=A0
6. Altera Stratix Pro Development board support (ALTERA_STRATIX_PRO)=C2=A0
7. Altera Stratix II Development board support (ALTERA_STRATIX_II)=C2=A0
8. Altera Cyclone Development board support (ALTERA_CYCLONE)=C2=A0
9. Altera CYCLONE II Development board support (ALTERA_CYCLONE_II)=C2=A0
10. Altera Cyclone 1C12 Evaluation board support (ALTERA_CYCLONE_1C12_EVAL)=C2=A0
> 11. Altera DE2 Development board support (ALTERA_DE2)=C2=A0
12. Altera Nios II Embedded Evaluation Kit support (ALTERA_NEEK_C3)=C2=A0
13. Altera CYCLONE III 3C120 Development board support (ALTERA_CYCLONE_III)=C2=A0
choice[1-13]: 11=C2=A0
Nios II Hardware Multiply Support=C2=A0
1. None (NIOS2_HW_MUL_OFF)=C2=A0
> 2. Enable mul instruction (NIOS2_HW_MUL)=C2=A0
3. Enable mul and mulx instructions (NIOS2_HW_MULX)=C2=A0
choice[1-3?]: 2=C2=A0
*=C2=A0
* Platform drivers Options=C2=A0
*=C2=A0
GPIO interface (GENERIC_GPIO) [N/y/?] n=C2=A0
Support of DMA controller with Avalon interface (AVALON_DMA) [N/y/?] n=C2= =A0
Altera PCI host bridge (PCI_ALTPCI) [N/y] n=C2=A0
Remote update support (ALTERA_REMOTE_UPDATE) [N/y/?] n=C2=A0
*=C2=A0
* Miscellaneous Options=C2=A0
*=C2=A0
Include breakpoint trap on kernel startup (BREAK_ON_START) [N/y/?] n=C2=A0
Kernel executes from=C2=A0
> 1. RAM (RAMKERNEL)=C2=A0
choice[1]: 1=C2=A0
Preemption Model=C2=A0
1. No Forced Preemption (Server) (PREEMPT_NONE)=C2=A0
2. Voluntary Kernel Preemption (Desktop) (PREEMPT_VOLUNTARY)=C2=A0
> 3. Preemptible Kernel (Low-Latency Desktop) (PREEMPT)=C2=A0
choice[1-3]: 3=C2=A0
Timer frequency=C2=A0
> 1. 100 HZ (HZ_100)=C2=A0
2. 250 HZ (HZ_250)=C2=A0
3. 300 HZ (HZ_300)=C2=A0
4. 1000 HZ (HZ_1000)=C2=A0
choice[1-4?]: 1=C2=A0
Default kernel command string (CMDLINE) []=C2=A0
Passed kernel command line from u-boot (PASS_CMDLINE) [N/y/?] n=C2=A0
Interrupt pipeline (IPIPE) [Y/?] (NEW) y=C2=A0
Max domains (IPIPE_DOMAINS) [4] (NEW) 4=C2=A0
Maintain code compatibility with older releases (IPIPE_COMPAT) [Y/n/?] (NEW) y=C2=A0
Memory model=C2=A0
> 1. Flat Memory (FLATMEM_MANUAL)=C2=A0
choice[1]: 1=C2=A0
Add LRU list to track non-evictable pages (UNEVICTABLE_LRU) [Y/n/?] y=C2=A0
Turn on mmap() excess space trimming before booting (NOMMU_INITIAL_TRIM_EXCESS) [1] 1=C2=A0
Link address offset for booting (BOOT_LINK_OFFSET) [0x00500000] 0x00500000=C2=A0
*=C2=A0
* Kernel hacking=C2=A0
*=C2=A0
Show timing information on printks (PRINTK_TIME) [N/y/?] n=C2=A0
Enable __deprecated logic (ENABLE_WARN_DEPRECATED) [Y/n/?] y=C2=A0
Enable __must_check logic (ENABLE_MUST_CHECK) [N/y/?] n=C2=A0
Warn for stack frames larger than (needs gcc 4.4) (FRAME_WARN) [1024] 1024=C2=A0
Magic SysRq key (MAGIC_SYSRQ) [N/y/?] n=C2=A0
Enable unused/obsolete exported symbols (UNUSED_SYMBOLS) [N/y/?] n=C2=A0
Debug Filesystem (DEBUG_FS) [N/y/?] n=C2=A0
Run 'make headers_check' when building vmlinux (HEADERS_CHECK) [N/y/?] n=C2=A0
I-pipe debugging (IPIPE_DEBUG) [N/y] (NEW) n=C2=A0
Kernel debugging (DEBUG_KERNEL) [Y/n/?] y=C2=A0
Debug shared IRQ handlers (DEBUG_SHIRQ) [N/y/?] n=C2=A0
Detect Soft Lockups (DETECT_SOFTLOCKUP) [Y/n/?] y=C2=A0
Panic (Reboot) On Soft Lockups (BOOTPARAM_SOFTLOCKUP_PANIC) [N/y/?] n=C2=A0
Detect Hung Tasks (DETECT_HUNG_TASK) [Y/n/?] y=C2=A0
Panic (Reboot) On Hung Tasks (BOOTPARAM_HUNG_TASK_PANIC) [N/y/?] n=C2=A0
Collect scheduler debugging info (SCHED_DEBUG) [Y/n/?] y=C2=A0
Collect scheduler statistics (SCHEDSTATS) [N/y/?] n=C2=A0
Collect kernel timers statistics (TIMER_STATS) [N/y/?] n=C2=A0
Debug object operations (DEBUG_OBJECTS) [N/y/?] n=C2=A0
Debug slab memory allocations (DEBUG_SLAB) [N/y/?] n=C2=A0
RT Mutex debugging, deadlock detection (DEBUG_RT_MUTEXES) [N/y/?] n=C2=A0
Built-in scriptable tester for rt-mutexes (RT_MUTEX_TESTER) [N/y/?] n=C2=A0
Spinlock and rw-lock debugging: basic checks (DEBUG_SPINLOCK) [N/y/?] n=C2=A0
Mutex debugging: basic checks (DEBUG_MUTEXES) [N/y/?] n=C2=A0
Spinlock debugging: sleep-inside-spinlock checking (DEBUG_SPINLOCK_SLEEP) [N/y/?] n=C2=A0
Locking API boot-time self-tests (DEBUG_LOCKING_API_SELFTESTS) [N/y/?] n=C2=A0
kobject debugging (DEBUG_KOBJECT) [N/y/?] n=C2=A0
Compile the kernel with debug info (DEBUG_INFO) [Y/n/?] y=C2=A0
Debug VM (DEBUG_VM) [N/y/?] n=C2=A0
Debug the global anon/private NOMMU mapping region tree (DEBUG_NOMMU_REGIONS) [N/y/?] n=C2=A0
Debug filesystem writers count (DEBUG_WRITECOUNT) [N/y/?] n=C2=A0
Debug memory initialisation (DEBUG_MEMORY_INIT) [N/y/?] n=C2=A0
Debug linked list manipulation (DEBUG_LIST) [N/y/?] n=C2=A0
Debug SG table operations (DEBUG_SG) [N/y/?] n=C2=A0
Debug notifier call chains (DEBUG_NOTIFIERS) [N/y/?] n=C2=A0
Delay each boot printk message by N milliseconds (BOOT_PRINTK_DELAY) [N/y/?] n=C2=A0
torture tests for RCU (RCU_TORTURE_TEST) [N/y/?] n=C2=A0
Check for stalled CPUs delaying RCU grace periods (RCU_CPU_STALL_DETECTOR) [N/y/?] n=C2=A0
Self test for the backtrace code (BACKTRACE_SELF_TEST) [N/y/?] n=C2=A0
Force extended block device numbers and spread them (DEBUG_BLOCK_EXT_DEVT) [N/y/?] n=C2=A0
Fault-injection framework (FAULT_INJECTION) [N/y/?] n=C2=A0
Debug page memory allocations (PAGE_POISONING) [N/y/?] n=C2=A0
#=C2=A0
# configuration written to .config=C2=A0
#=C2=A0
no emulation specific options.=C2=A0
RUNNING hwselect=C2=A0
=C2=A0
--- Please select which CPU you wish to build the kernel against:
=C2=A0
(1) cpu - Class: altera_nios2 Type: s Version: 7.080910
=C2=A0
Selection: 1
=C2=A0
--- Please select a device to execute kernel from:
=C2=A0
(1) ext_flash
Class: altera_avalon_cfi_flash
Size: 8388608 bytes=C2=A0
=C2=A0
(2) onchip_ram_64_kbytes
Class: altera_avalon_onchip_memory2
Size: 65536 bytes
=C2=A0
(3) ext_ram
Class: altera_nios_dev_kit_stratix_edition_sram2
Size: 1048576 bytes
=C2=A0
(4) sdram
Class: altera_avalon_new_sdram_controller
Size: 16777216 bytes
=C2=A0
Selection: 4
=C2=A0
--- Summary using
=C2=A0
PTF: /home/sonda/Desktop/f/standard/std_1s40.ptf
CPU: cpu
Program memory to execute from: sdram
=C2=A0
--- Settings written to /home/sonda/Desktop/nios2-linux/uClinux-dist/linux-2.6.x/arch/nios2/hardw= are.mk
=C2=A0
make[3]: quittant le r=C3=A9pertoire =C2=AB /home/sonda/Desktop/nios2-linux/linux-2.6 =C2=BB
make[2]: quittant le r=C3=A9pertoire =C2=AB /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors/Altera/nios2 =C2=BB
make[1]: quittant le r=C3=A9pertoire =C2=AB /home/sonda/Desktop/nios2-linux/uClinux-dist/vendors =C2=BB
-------------------------------------------------------------------------= ---------------------------------------------------------------------
-------------------------------------------------------------------------= ---------------------------------------------------------------------
=C2=A0
Regards,

--- En date de=C2=A0: Dim 28.3.10, Patrice Kadionik <kadio= nik@domain.hid> a =C3=A9crit=C2=A0:

De: Patrice Kadionik <kadionik@domain.hid>
Objet: Re: [Xenomai-help] Problem to cross-compile Xenomai user-space support
=C3=80: "Chtourou Sonda" <chtourou_sonda@domain.hid>
Cc: xenomai@xenomai.org
Date: Dimanche 28 mars 2010, 13h26

Le 20:59, Chtourou Sonda a =C3=A9cri= t=C2=A0:

Dears,

Hi,


I built the uClinux ker= nel 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%20= Guide-v1.1.pdf).

It is OK on my Altera 1S10 board=C2=A0 with Xenomai v2.5.1 (see traces).<= br>
Sincerely;

Patrice
=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D= =3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D=3D

Uncompressing Linux... Ok, booting the kernel.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0
Linux version 2.6.30 (kadionik@domain.hid) (gcc version 3.4.6) #4 PREEMPT Sun Mar 0
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0
=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0
uClinux/Nios II=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0
Built 1 zonelists in Zone order, mobility grouping off.=C2=A0 Total pages= : 4064=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
Kernel command line:=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
NR_IRQS:32=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
PID hash table entries: 64 (order: 6, 256 bytes)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
I-pipe 1.1-00: pipeline enabled.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
Dentry cache hash table entries: 2048 (order: 1, 8192 bytes)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
Inode-cache hash table entries: 1024 (order: 0, 4096 bytes)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
Memory available: 12108k/3990k RAM, 0k/0k ROM (1931k kernel code, 2059k data)=C2=A0=C2=A0
Calibrating delay loop... 24.06 BogoMIPS (lpj=3D120320)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0
Mount-cache hash table entries: 512=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
net_namespace: 264 bytes=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
NET: Registered protocol family 16=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
init_BSP(): registering device resources=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0
bio: create slab <bio-0> at 0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0
NET: Registered protocol family 2=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
IP route cache hash table entries: 1024 (order: 0, 4096 bytes)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
TCP established hash table entries: 512 (order: 0, 4096 bytes)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
TCP bind hash table entries: 512 (order: -1, 2048 bytes)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 TCP: Hash tables configured (established 512 bind 512)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0
TCP reno registered=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0 =
NET: Registered protocol family 1=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
I-pipe: Domain Xenomai registered.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
Xenomai: hal/nios2 started.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0
Xenomai: scheduling class idle registered.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0
Xenomai: scheduling class rt registered.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0
Xenomai: real-time nucleus v2.5.1 (Speed Of Light) loaded.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
Xenomai: starting native API services.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
Xenomai: starting POSIX services.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
Xenomai: starting RTDM services.=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
io scheduler noop registered=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0
io scheduler deadline registered (default)=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0
ttyS0 at MMIO 0x810840 (irq =3D 5) is a Altera UART=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0= =C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0
console [ttyS0] enabled=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2=A0=C2= =A0=C2=A0




$ $xenomai-2.5.1/scripts/prepare-kernel.sh --arch=3Dnios2 --adeos=3D$xenomai-2.5.1/ksrc/arch/nios2/patches/adeos-ipipe-2.6.30-nios2= -1.1-00.patch
=C2=A0 --linux=3D$linux_tree
$ $xenomai-2.5.1/configure --host=3Dnios2-linux
$ make install DESTDIR=3D$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=C2=A0 ../../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 r=C3=A9pertoire =C2=AB /home/sonda/Desktop/xenomai-2.5.1/src/testsuite/unit =C2=BB
make[2]: *** [all-recursive] Erreur 1
make[2]: quittant le r=C3=A9pertoire =C2=AB /home/sonda/Desktop/xenomai-2.5.1/src/testsuite =C2=BB
make[1]: *** [all-recursive] Erreur 1
make[1]: quittant le r=C3=A9pertoire =C2=AB /home/sonda/Desktop/xenomai-2= .5.1/src =C2=BB
make: *** [all-recursive] Erreur 1

what can I do? Please help

Regards,= 



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--=20
Patrice Kadionik. F6KQH / F4CUQ
-----------

+----------------------------------------------------------------------+
+"Tout doit etre aussi simple que possible, pas seulement plus simple" +
+----------------------------------------------------------------------+
+ Patrice Kadionik             http://www.enseirb-ma=
tmeca.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 =20
        voice : +33 5.56.84.23.47               +
+ FRANCE                       mailto:patric=
e.kadionik@domain.hid +
+----------------------------------------------------------------------+
          



--=20
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=
deaux.fr +
+----------------------------------------------------------------------+
--------------020008040409050001080703--