[Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Steve Deiters]

I am running Xenomai 2.5.3, I-pipe version 2.9-00, with Linux 2.6.33.4
on a PowerPC MPC5121.  With small values of sleep ticks passed to
rt_task_sleep, I get various sorts of crashes.  Here is a simple program
using a delay loop that exhibits the behavior.


-----
#include <stdio.h>
#include <errno.h>
#include <native/task.h>
#include <native/timer.h>

int main(int argc, char **argv)
{
   int cnt=0;
   while(1)
   {
      int ret;
      if((ret = rt_task_sleep(rt_timer_ns2ticks(1000UL)))) {
         errno = -ret;
         perror("rt_task_sleep");
      }
      if(cnt++ > 100)
         break;
   }
   return 0;
}

If I increase the tick count, it seems to not occur.  The errors I get
are not quite consistent.  Here are a few examples of the output I get
from the kernel log.

-----

[   22.213774] Xenomai: Switching  to secondary mode after exception
#769 from user-space at 0xff7c7ac (pid 571)
[   22.226494] I-pipe: Detected illicit call from domain 'Xenomai'
[   22.226505] <3>        into a service reserved for domain 'Linux' and
below.

-----

[  216.495518] BUG: scheduling while atomic: gatekeeper/0/155/0x00000002
[  216.501932] Modules linked in:
[  216.504933] Call Trace:
[  216.507414] [c7883ed0] [c0008ba0] show_stack+0x3c/0x160 (unreliable)
[  216.513727] [c7883f00] [c001b338] __schedule_bug+0x6c/0x80
[  216.519211] [c7883f20] [c02792ec] schedule+0x5a8/0x5bc
[  216.524345] [c7883f70] [c00737cc] gatekeeper_thread+0x150/0x194
[  216.530250] [c7883fc0] [c003f250] kthread+0x78/0x7c
[  216.535111] [c7883ff0] [c0012ee8] kernel_thread+0x4c/0x68


I'm not sure if I have something misconfigured or what.  I am upgrading
from Xenomai 2.4.10 on an older kernel and I did not have this same
problem.

Thanks.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Philippe Gerum]

On Fri, 2010-05-14 at 19:18 -0500, Steve Deiters wrote:
> I am running Xenomai 2.5.3, I-pipe version 2.9-00, with Linux 2.6.33.4
> on a PowerPC MPC5121.  With small values of sleep ticks passed to
> rt_task_sleep, I get various sorts of crashes.  Here is a simple program
> using a delay loop that exhibits the behavior.

<snip>

> 
> I'm not sure if I have something misconfigured or what.  I am upgrading
> from Xenomai 2.4.10 on an older kernel and I did not have this same
> problem.
> 

Bug confirmed here. Your setup is not involved, I'll send a fix asap.

> Thanks.
> 
> 
> _______________________________________________
> Xenomai-help mailing list
> Xenomai-help@domain.hid
> https://mail.gna.org/listinfo/xenomai-help


-- 
Philippe.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Philippe Gerum]

On Sun, 2010-05-16 at 23:57 +0200, Philippe Gerum wrote:
> On Fri, 2010-05-14 at 19:18 -0500, Steve Deiters wrote:
> > I am running Xenomai 2.5.3, I-pipe version 2.9-00, with Linux 2.6.33.4
> > on a PowerPC MPC5121.  With small values of sleep ticks passed to
> > rt_task_sleep, I get various sorts of crashes.  Here is a simple program
> > using a delay loop that exhibits the behavior.
> 
> <snip>
> 
> > 
> > I'm not sure if I have something misconfigured or what.  I am upgrading
> > from Xenomai 2.4.10 on an older kernel and I did not have this same
> > problem.
> > 
> 
> Bug confirmed here. Your setup is not involved, I'll send a fix asap.

It turned out to be a stack overflow issue, which could happen under
very high IRQ pressure with unlocked context switch enabled. In short,
the smaller the tick passed in your example, the more likely the Xenomai
rescheduling code to accept another IRQ while switching thread contexts,
then enter a deadly recursive rescheduling loop, eating the underlying
stack space up to a complete overflow.

For that to happen, a significant (i.e. long enough) IRQ burst must hit
the system at a frequency which is higher than what the platform can
cope with, or at least close to the limit.

rt_task_sleep() is not directly involved in the bug, it just happened to
trigger the next incoming timer IRQ, but any timed service would have
caused the same issue, or any external IRQ flood leading some interrupt
handler to raise the need-to-reschedule bit continuously.
 
Please try this fix:
http://git.xenomai.org/?p=xenomai-rpm.git;a=commit;h=5f1d30a5da27b7f57c486a3a25caf3c26a709073

If you don't want to patch your tree yet, a work around for this bug is
to disable the support for unlocked context switching from the "Machine"
menu (CONFIG_XENO_HW_UNLOCKED_SWITCH).

The bad news is that all archs implementing unlocked context switching
are affected by this bug in all 2.5.x releases, meaning arm and powerpc
for now. The good news, is... Crap. There is no good news.

PS: Xenomai 2.4.x is immune to this bug (it does not have unlocked
context switching support in the first place).

-- 
Philippe.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Abhijit Majumdar]

Hi

I get similar problem the xenomai posix skin. I have the latest version
of Xenomai (2.5.3) and kernel 2.6.28. 

I am using clock_nanosleep(CLOCK_REALTIME, ......) to wait for 1
millisecond. It freezes the system. However if I sleep for a second it
is fine.

Philippe, should your fix work in my case too? If so, can you please
send the fix.

thanks
Abhijit

-----Original Message-----
From: xenomai-help-bounces@domain.hid [mailto:xenomai-help-bounces@domain.hid]
On Behalf Of Philippe Gerum
Sent: Sunday, May 16, 2010 2:58 PM
To: Steve Deiters
Cc: xenomai@xenomai.org
Subject: Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

On Fri, 2010-05-14 at 19:18 -0500, Steve Deiters wrote:
> I am running Xenomai 2.5.3, I-pipe version 2.9-00, with Linux 2.6.33.4
> on a PowerPC MPC5121.  With small values of sleep ticks passed to
> rt_task_sleep, I get various sorts of crashes.  Here is a simple
program
> using a delay loop that exhibits the behavior.

<snip>

> 
> I'm not sure if I have something misconfigured or what.  I am
upgrading
> from Xenomai 2.4.10 on an older kernel and I did not have this same
> problem.
> 

Bug confirmed here. Your setup is not involved, I'll send a fix asap.

> Thanks.
> 
> 
> _______________________________________________
> Xenomai-help mailing list
> Xenomai-help@domain.hid
> https://mail.gna.org/listinfo/xenomai-help


-- 
Philippe.



_______________________________________________
Xenomai-help mailing list
Xenomai-help@domain.hid
https://mail.gna.org/listinfo/xenomai-help

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Philippe Gerum]

On Wed, 2010-05-26 at 14:03 -0700, Abhijit Majumdar wrote:
> Hi
> 
> I get similar problem the xenomai posix skin. I have the latest version
> of Xenomai (2.5.3) and kernel 2.6.28. 
> 
> I am using clock_nanosleep(CLOCK_REALTIME, ......) to wait for 1
> millisecond. It freezes the system. However if I sleep for a second it
> is fine.
> 
> Philippe, should your fix work in my case too? 

I have no idea which platform you are running your code on, so my answer
won't be specific, but in short: it is unlikely. This could rather be an
application error. You may want to try the failing code in a small
standalone unit test, and post that code to the list if it still fails
in that context, so we could have a look.

> If so, can you please
> send the fix.
> 
> thanks
> Abhijit
> 
> -----Original Message-----
> From: xenomai-help-bounces@domain.hid [mailto:xenomai-help-bounces@domain.hid]
> On Behalf Of Philippe Gerum
> Sent: Sunday, May 16, 2010 2:58 PM
> To: Steve Deiters
> Cc: xenomai@xenomai.org
> Subject: Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC
> 
> On Fri, 2010-05-14 at 19:18 -0500, Steve Deiters wrote:
> > I am running Xenomai 2.5.3, I-pipe version 2.9-00, with Linux 2.6.33.4
> > on a PowerPC MPC5121.  With small values of sleep ticks passed to
> > rt_task_sleep, I get various sorts of crashes.  Here is a simple
> program
> > using a delay loop that exhibits the behavior.
> 
> <snip>
> 
> > 
> > I'm not sure if I have something misconfigured or what.  I am
> upgrading
> > from Xenomai 2.4.10 on an older kernel and I did not have this same
> > problem.
> > 
> 
> Bug confirmed here. Your setup is not involved, I'll send a fix asap.
> 
> > Thanks.
> > 
> > 
> > _______________________________________________
> > Xenomai-help mailing list
> > Xenomai-help@domain.hid
> > https://mail.gna.org/listinfo/xenomai-help
> 
> 


-- 
Philippe.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Abhijit Majumdar]

[-- Attachment #1: Type: text/plain, Size: 4089 bytes --]

Hi Philippe

I have attached a standalone test program which crashes my system. It
uses poxis skin to create a simple task which sleeps for 10 micro sec
and wakes up and continues to do so until the user kills the process.

Interesting things note -- 

	1. If I uncomment the printf statement at the beginning of the
while loop the program does not crash any more.
	2. OR if I use rt_task_sleep instead of clock_nanosleep it does
not crash.

I am using xenomai 2.5.2 and the arm platform has kernel 2.6.28. I've
cc-ed this email to a tech expert (Travis) of the vendor (EMAC) of the
arm system. 

At the time of crashing I see the following error message on the screen
----

WARNING: at
/home/travis/projects/customers/pivotal_systems/workspace/linux-2.6.
28-xenomai-pivotal/kernel/sched.c:4382 add_preempt_count+0x84/0x98()
Modules linked in: at91_udc
[<c002e374>] (dump_stack+0x0/0x14) from [<c004510c>]
(warn_on_slowpath+0x4c/0x68
)
[<c00450c0>] (warn_on_slowpath+0x0/0x68) from [<c003dd44>]
(add_preempt_count+0x
84/0x98)
 r6:c38dc02c r5:00000000 r4:00000001
[<c003dcc0>] (add_preempt_count+0x0/0x98) from [<c0045d24>]
(vprintk+0x2c/0x3d4)
[<c0045cf8>] (vprintk+0x0/0x3d4) from [<c00466c8>] (printk+0xe0/0x194)
[<c00465e8>] (printk+0x0/0x194) from [<c00768f0>]
(__xnpod_schedule+0x38c/0x550)
 r3:00000003 r2:c039e3a0 r1:c3854000 r0:c032f630
 r8:c480d408 r7:c3b98ca0 r6:c3b98ca0 r5:00000000 r4:c03a0d10
[<c0076564>] (__xnpod_schedule+0x0/0x550) from [<c007698c>]
(__xnpod_schedule+0x
428/0x550)
[<c0076564>] (__xnpod_schedule+0x0/0x550) from [<c007698c>]
(__xnpod_schedule+0x
428/0x550)
[<c0076564>] (__xnpod_schedule+0x0/0x550) from [<c007698c>]
(__xnpod_schedule+0x
428/0x550)
[<c0076564>] (__xnpod_schedule+0x0/0x550) <1>Unable to handle kernel
paging requ
est at virtual address 00001008



Thanks for your help

Abhijit






-----Original Message-----
From: Philippe Gerum [mailto:rpm@xenomai.org
Sent: Friday, May 28, 2010 1:05 AM
To: Abhijit Majumdar
Cc: Steve Deiters; xenomai@xenomai.org
Subject: RE: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

On Wed, 2010-05-26 at 14:03 -0700, Abhijit Majumdar wrote:
> Hi
> 
> I get similar problem the xenomai posix skin. I have the latest
version
> of Xenomai (2.5.3) and kernel 2.6.28. 
> 
> I am using clock_nanosleep(CLOCK_REALTIME, ......) to wait for 1
> millisecond. It freezes the system. However if I sleep for a second it
> is fine.
> 
> Philippe, should your fix work in my case too? 

I have no idea which platform you are running your code on, so my answer
won't be specific, but in short: it is unlikely. This could rather be an
application error. You may want to try the failing code in a small
standalone unit test, and post that code to the list if it still fails
in that context, so we could have a look.

> If so, can you please
> send the fix.
> 
> thanks
> Abhijit
> 
> -----Original Message-----
> From: xenomai-help-bounces@domain.hid
[mailto:xenomai-help-bounces@domain.hid]
> On Behalf Of Philippe Gerum
> Sent: Sunday, May 16, 2010 2:58 PM
> To: Steve Deiters
> Cc: xenomai@xenomai.org
> Subject: Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC
> 
> On Fri, 2010-05-14 at 19:18 -0500, Steve Deiters wrote:
> > I am running Xenomai 2.5.3, I-pipe version 2.9-00, with Linux
2.6.33.4
> > on a PowerPC MPC5121.  With small values of sleep ticks passed to
> > rt_task_sleep, I get various sorts of crashes.  Here is a simple
> program
> > using a delay loop that exhibits the behavior.
> 
> <snip>
> 
> > 
> > I'm not sure if I have something misconfigured or what.  I am
> upgrading
> > from Xenomai 2.4.10 on an older kernel and I did not have this same
> > problem.
> > 
> 
> Bug confirmed here. Your setup is not involved, I'll send a fix asap.
> 
> > Thanks.
> > 
> > 
> > _______________________________________________
> > Xenomai-help mailing list
> > Xenomai-help@domain.hid
> > https://mail.gna.org/listinfo/xenomai-help
> 
> 


-- 
Philippe.



[-- Attachment #2: sleeptest.c --]
[-- Type: application/octet-stream, Size: 1609 bytes --]


#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <posix.h>
#include <pthread.h>

bool terminate = false;


pthread_t task1;
pthread_attr_t attr1;
struct sched_param sch1;


void* func_task1(void *arg){

  timespec interval;
  int err = 0;

  while (!terminate){
    //printf("inside while loop \n");

    interval.tv_sec = 0;
    interval.tv_nsec = 10000;

    if ((err = clock_nanosleep(CLOCK_REALTIME, 0, &interval, NULL)) != 0){
      printf("clock nanosleep failed \n");
      if (err == EINTR)
        printf("Interrupted by signal \n");
      else if (err == EINVAL)
        printf("interval is out of range \n");
      else if (err == ENOTSUP)
        printf("clock ID is not supported \n");

      break;
    }
  }

  printf("end of task1 \n");
  return NULL;
}


void handleShutdownSignal(int sig) {
  terminate = true;

  sleep(1);

  pthread_cancel(task1);

  pthread_attr_destroy(&attr1);

  printf("\nProgram reaches end\n");
}



int main(){

  /* no memory-swapping for this programm */
  mlockall(MCL_CURRENT | MCL_FUTURE);

  signal(SIGTERM, handleShutdownSignal);
  signal(SIGINT, handleShutdownSignal);

  int err = 0;

  pthread_attr_init(&attr1);
  pthread_attr_setinheritsched(&attr1,PTHREAD_EXPLICIT_SCHED);
  pthread_attr_setschedpolicy(&attr1, SCHED_FIFO);
  sch1.sched_priority = 90;
  pthread_attr_setschedparam(&attr1, &sch1);

  printf("program started \n");

  err = pthread_create(&task1, &attr1, func_task1, NULL);

  if (err){
    printf("task1 thread could not be created %d\n", err);
    return err;
  }

  pause();

  return 0;


}

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Travis Stratman]

Abhijit,

On Wed, 2010-06-16 at 11:34 -0700, Abhijit Majumdar wrote:
> Hi Philippe
> 
> I have attached a standalone test program which crashes my system. It
> uses poxis skin to create a simple task which sleeps for 10 micro sec
> and wakes up and continues to do so until the user kills the process.
> 
> Interesting things note -- 
> 
> 	1. If I uncomment the printf statement at the beginning of the
> while loop the program does not crash any more.
> 	2. OR if I use rt_task_sleep instead of clock_nanosleep it does
> not crash.

What happens if you use rt_printf() rather than printf() inside the
real-time loop. Some of the examples that I have sent you show the
correct usage for this function.

> 
> I am using xenomai 2.5.2 and the arm platform has kernel 2.6.28. I've
> cc-ed this email to a tech expert (Travis) of the vendor (EMAC) of the
> arm system. 
> 
> At the time of crashing I see the following error message on the screen
> ----
> 
> WARNING: at
> /home/travis/projects/customers/pivotal_systems/workspace/linux-2.6.
> 28-xenomai-pivotal/kernel/sched.c:4382 add_preempt_count+0x84/0x98()
> Modules linked in: at91_udc
> [<c002e374>] (dump_stack+0x0/0x14) from [<c004510c>]
> (warn_on_slowpath+0x4c/0x68
> )
> [<c00450c0>] (warn_on_slowpath+0x0/0x68) from [<c003dd44>]
> (add_preempt_count+0x
> 84/0x98)
>  r6:c38dc02c r5:00000000 r4:00000001
> [<c003dcc0>] (add_preempt_count+0x0/0x98) from [<c0045d24>]
> (vprintk+0x2c/0x3d4)
> [<c0045cf8>] (vprintk+0x0/0x3d4) from [<c00466c8>] (printk+0xe0/0x194)
> [<c00465e8>] (printk+0x0/0x194) from [<c00768f0>]
> (__xnpod_schedule+0x38c/0x550)
>  r3:00000003 r2:c039e3a0 r1:c3854000 r0:c032f630
>  r8:c480d408 r7:c3b98ca0 r6:c3b98ca0 r5:00000000 r4:c03a0d10
> [<c0076564>] (__xnpod_schedule+0x0/0x550) from [<c007698c>]
> (__xnpod_schedule+0x
> 428/0x550)
> [<c0076564>] (__xnpod_schedule+0x0/0x550) from [<c007698c>]
> (__xnpod_schedule+0x
> 428/0x550)
> [<c0076564>] (__xnpod_schedule+0x0/0x550) from [<c007698c>]
> (__xnpod_schedule+0x
> 428/0x550)
> [<c0076564>] (__xnpod_schedule+0x0/0x550) <1>Unable to handle kernel
> paging requ
> est at virtual address 00001008
> 
> 
> 
> Thanks for your help
> 
> Abhijit
> 
> 
> 
> 
> 
> 
> -----Original Message-----
> From: Philippe Gerum [mailto:rpm@xenomai.org] 
> Sent: Friday, May 28, 2010 1:05 AM
> To: Abhijit Majumdar
> Cc: Steve Deiters; xenomai@xenomai.org
> Subject: RE: [Xenomai-help] rt_task_sleep causing crashes on PowerPC
> 
> On Wed, 2010-05-26 at 14:03 -0700, Abhijit Majumdar wrote:
> > Hi
> > 
> > I get similar problem the xenomai posix skin. I have the latest
> version
> > of Xenomai (2.5.3) and kernel 2.6.28. 
> > 
> > I am using clock_nanosleep(CLOCK_REALTIME, ......) to wait for 1
> > millisecond. It freezes the system. However if I sleep for a second it
> > is fine.
> > 
> > Philippe, should your fix work in my case too? 
> 
> I have no idea which platform you are running your code on, so my answer
> won't be specific, but in short: it is unlikely. This could rather be an
> application error. You may want to try the failing code in a small
> standalone unit test, and post that code to the list if it still fails
> in that context, so we could have a look.
> 
> > If so, can you please
> > send the fix.
> > 
> > thanks
> > Abhijit
> > 
> > -----Original Message-----
> > From: xenomai-help-bounces@domain.hid
> [mailto:xenomai-help-bounces@domain.hid]
> > On Behalf Of Philippe Gerum
> > Sent: Sunday, May 16, 2010 2:58 PM
> > To: Steve Deiters
> > Cc: xenomai@xenomai.org
> > Subject: Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC
> > 
> > On Fri, 2010-05-14 at 19:18 -0500, Steve Deiters wrote:
> > > I am running Xenomai 2.5.3, I-pipe version 2.9-00, with Linux
> 2.6.33.4
> > > on a PowerPC MPC5121.  With small values of sleep ticks passed to
> > > rt_task_sleep, I get various sorts of crashes.  Here is a simple
> > program
> > > using a delay loop that exhibits the behavior.
> > 
> > <snip>
> > 
> > > 
> > > I'm not sure if I have something misconfigured or what.  I am
> > upgrading
> > > from Xenomai 2.4.10 on an older kernel and I did not have this same
> > > problem.
> > > 
> > 
> > Bug confirmed here. Your setup is not involved, I'll send a fix asap.
> > 
> > > Thanks.
> > > 
> > > 
> > > _______________________________________________
> > > Xenomai-help mailing list
> > > Xenomai-help@domain.hid
> > > https://mail.gna.org/listinfo/xenomai-help
> > 
> > 
> 
> 

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Gilles Chanteperdrix]

Abhijit Majumdar wrote:
> Hi Philippe
> 
> I have attached a standalone test program which crashes my system. It
> uses poxis skin to create a simple task which sleeps for 10 micro sec
> and wakes up and continues to do so until the user kills the process.
> 
> Interesting things note -- 
> 
> 	1. If I uncomment the printf statement at the beginning of the
> while loop the program does not crash any more.
> 	2. OR if I use rt_task_sleep instead of clock_nanosleep it does
> not crash.
> 
> I am using xenomai 2.5.2 and the arm platform has kernel 2.6.28.

That is a not vague. In any case, 10us on an ARM is much too short. As I
think I already told someone at pivotal systems, ARM latencies are
larger than 50 us, and most of the time larger than 100us. So, asking
for a 10us sleep is preposterous.

However, if you want your report to be useful:
- please try the latest version (that would be Xenomai 2.5.3)
- send us the full log of the serial console, not the part you think is
relevant (the error comes here while xnpod_schedule is trying to print a
message, the interesting part is not the failure of add_preempt_count,
but probably more the error message which xnpod_schedule wants to print).
- sens us your kernel configuration.

-- 
					    Gilles.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Gilles Chanteperdrix]

Gilles Chanteperdrix wrote:
> Abhijit Majumdar wrote:
>> Hi Philippe
>>
>> I have attached a standalone test program which crashes my system. It
>> uses poxis skin to create a simple task which sleeps for 10 micro sec
>> and wakes up and continues to do so until the user kills the process.
>>
>> Interesting things note -- 
>>
>> 	1. If I uncomment the printf statement at the beginning of the
>> while loop the program does not crash any more.
>> 	2. OR if I use rt_task_sleep instead of clock_nanosleep it does
>> not crash.
>>
>> I am using xenomai 2.5.2 and the arm platform has kernel 2.6.28.
> 
> That is a not vague. In any case, 10us on an ARM is much too short. As I
> think I already told someone at pivotal systems, ARM latencies are
> larger than 50 us, and most of the time larger than 100us. So, asking
> for a 10us sleep is preposterous.
> 
> However, if you want your report to be useful:
> - please try the latest version (that would be Xenomai 2.5.3)
> - send us the full log of the serial console, not the part you think is
> relevant (the error comes here while xnpod_schedule is trying to print a
> message, the interesting part is not the failure of add_preempt_count,
> but probably more the error message which xnpod_schedule wants to print).
> - sens us your kernel configuration.

And include the version of the I-pipe patch you are using.

> 


-- 
					    Gilles.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Abhijit Majumdar]

We use adeos-ipipe-2.6.28.10-arm-1.12-07.patch.

--Abhijit

-----Original Message-----
From: Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Sent: Wednesday, June 16, 2010 11:53 AM
To: Abhijit Majumdar
Cc: xenomai@xenomai.org; Steve Deiters
Subject: Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

Gilles Chanteperdrix wrote:
> Abhijit Majumdar wrote:
>> Hi Philippe
>>
>> I have attached a standalone test program which crashes my system. It
>> uses poxis skin to create a simple task which sleeps for 10 micro sec
>> and wakes up and continues to do so until the user kills the process.
>>
>> Interesting things note -- 
>>
>> 	1. If I uncomment the printf statement at the beginning of the
>> while loop the program does not crash any more.
>> 	2. OR if I use rt_task_sleep instead of clock_nanosleep it does
>> not crash.
>>
>> I am using xenomai 2.5.2 and the arm platform has kernel 2.6.28.
> 
> That is a not vague. In any case, 10us on an ARM is much too short. As
I
> think I already told someone at pivotal systems, ARM latencies are
> larger than 50 us, and most of the time larger than 100us. So, asking
> for a 10us sleep is preposterous.
> 
> However, if you want your report to be useful:
> - please try the latest version (that would be Xenomai 2.5.3)
> - send us the full log of the serial console, not the part you think
is
> relevant (the error comes here while xnpod_schedule is trying to print
a
> message, the interesting part is not the failure of add_preempt_count,
> but probably more the error message which xnpod_schedule wants to
print).
> - sens us your kernel configuration.

And include the version of the I-pipe patch you are using.

> 


-- 
					    Gilles.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Gilles Chanteperdrix]

Abhijit Majumdar wrote:
> We use adeos-ipipe-2.6.28.10-arm-1.12-07.patch.

Ok. That is the latest I-pipe patch for 2.6.28. However, why are you
using a 2.6.28 kernel? If you are starting a new project, there is no
reason not to pick the latest kernel.

-- 
					    Gilles.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Travis Stratman]

Gilles,

On Thu, 2010-06-17 at 10:50 +0200, Gilles Chanteperdrix wrote:
> Abhijit Majumdar wrote:
> > We use adeos-ipipe-2.6.28.10-arm-1.12-07.patch.
> 
> Ok. That is the latest I-pipe patch for 2.6.28. However, why are you
> using a 2.6.28 kernel? If you are starting a new project, there is no
> reason not to pick the latest kernel.

The 2.6.28.10 kernel that they are using is the latest release that we
provide that has support patches for the board that they are using. We
pick a stable version and develop with that for awhile before updating
to a newer version, as we simply don't have enough developers to
continually update and re-test newer kernel versions for all of our
products. We are working on a newer version for a new board but that
hasn't been tested yet.

Abhijit: it would be possible to compile a new kernel (i.e. 2.6.33) with
Xenomai 2.5.3 for the AT91SAM9G20 eval board that would work with your
board (after some configuration changes). It wouldn't support all of the
custom I/O but you would be able to test the failure that you are
seeing. The AT91 patch set for 2.6.33 would also need to be applied. The
at91 experimental patch set is not ported to 2.6.33 yet, but this
shouldn't be a problem for initial testing.

Thanks,

TAS

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Gilles Chanteperdrix]

Travis Stratman wrote:
> Gilles,
> 
> On Thu, 2010-06-17 at 10:50 +0200, Gilles Chanteperdrix wrote:
>> Abhijit Majumdar wrote:
>>> We use adeos-ipipe-2.6.28.10-arm-1.12-07.patch.
>> Ok. That is the latest I-pipe patch for 2.6.28. However, why are you
>> using a 2.6.28 kernel? If you are starting a new project, there is no
>> reason not to pick the latest kernel.
> 
> The 2.6.28.10 kernel that they are using is the latest release that we
> provide that has support patches for the board that they are using. We
> pick a stable version and develop with that for awhile before updating
> to a newer version, as we simply don't have enough developers to
> continually update and re-test newer kernel versions for all of our
> products. We are working on a newer version for a new board but that
> hasn't been tested yet.
> 
> Abhijit: it would be possible to compile a new kernel (i.e. 2.6.33) with
> Xenomai 2.5.3 for the AT91SAM9G20 eval board that would work with your
> board (after some configuration changes). It wouldn't support all of the
> custom I/O but you would be able to test the failure that you are
> seeing. The AT91 patch set for 2.6.33 would also need to be applied. The
> at91 experimental patch set is not ported to 2.6.33 yet, but this
> shouldn't be a problem for initial testing.

Ok, forget it, 2.6.28 is fine.

-- 
					    Gilles.

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Abhijit Majumdar]

[-- Attachment #1: Type: text/plain, Size: 2362 bytes --]

Hi Gilles

I attached the kernel configuration.

Actually I sent whatever error message I saw in the console. However
next couple of times I saw different error messages.

One time I saw --

WARNING: at
/home/travis/projects/customers/pivotal_systems/workspace/linux-2.6.28-x
enomai-pivotal/kernel/sched.c:4382 add_preempt_count+0x84
/0x98()
Unable to handle kernel NULL pointer dereference at virtual address
0000000c


Another time ---

Xenomai: fatal: zombie thread ROOT (c03a0d10) would not die...
 CPU  PID    PRI      TIMEOUT  STAT      NAME
>  0  0       -1      0        00400080  ROOT
   0  971      0      0        00200380  sleep_test
   0  972     90      0        00200188  sleep_test
Master time base: clock=91270892


thanks
Abhijit

-----Original Message-----
From: Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org
Sent: Wednesday, June 16, 2010 11:51 AM
To: Abhijit Majumdar
Cc: Philippe Gerum; xenomai@xenomai.org; Steve Deiters
Subject: Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

Abhijit Majumdar wrote:
> Hi Philippe
> 
> I have attached a standalone test program which crashes my system. It
> uses poxis skin to create a simple task which sleeps for 10 micro sec
> and wakes up and continues to do so until the user kills the process.
> 
> Interesting things note -- 
> 
> 	1. If I uncomment the printf statement at the beginning of the
> while loop the program does not crash any more.
> 	2. OR if I use rt_task_sleep instead of clock_nanosleep it does
> not crash.
> 
> I am using xenomai 2.5.2 and the arm platform has kernel 2.6.28.

That is a not vague. In any case, 10us on an ARM is much too short. As I
think I already told someone at pivotal systems, ARM latencies are
larger than 50 us, and most of the time larger than 100us. So, asking
for a 10us sleep is preposterous.

However, if you want your report to be useful:
- please try the latest version (that would be Xenomai 2.5.3)
- send us the full log of the serial console, not the part you think is
relevant (the error comes here while xnpod_schedule is trying to print a
message, the interesting part is not the failure of add_preempt_count,
but probably more the error message which xnpod_schedule wants to
print).
- sens us your kernel configuration.

-- 
					    Gilles.

[-- Attachment #2: config-2.6.28.10-xenomai_20100610 --]
[-- Type: application/octet-stream, Size: 39040 bytes --]

#
# Automatically generated make config: don't edit
# Linux kernel version: 2.6.28.10
# Wed Jun  9 18:13:03 2010
#
CONFIG_ARM=y
CONFIG_SYS_SUPPORTS_APM_EMULATION=y
CONFIG_GENERIC_GPIO=y
CONFIG_GENERIC_TIME=y
CONFIG_GENERIC_CLOCKEVENTS=y
CONFIG_MMU=y
# CONFIG_NO_IOPORT is not set
CONFIG_GENERIC_HARDIRQS=y
CONFIG_STACKTRACE_SUPPORT=y
CONFIG_HAVE_LATENCYTOP_SUPPORT=y
CONFIG_LOCKDEP_SUPPORT=y
CONFIG_TRACE_IRQFLAGS_SUPPORT=y
CONFIG_HARDIRQS_SW_RESEND=y
CONFIG_GENERIC_IRQ_PROBE=y
CONFIG_RWSEM_GENERIC_SPINLOCK=y
# CONFIG_ARCH_HAS_ILOG2_U32 is not set
# CONFIG_ARCH_HAS_ILOG2_U64 is not set
CONFIG_GENERIC_HWEIGHT=y
CONFIG_GENERIC_CALIBRATE_DELAY=y
CONFIG_GENERIC_HARDIRQS_NO__DO_IRQ=y
CONFIG_VECTORS_BASE=0xffff0000
CONFIG_DEFCONFIG_LIST="/lib/modules/$UNAME_RELEASE/.config"

#
# General setup
#
CONFIG_EXPERIMENTAL=y
CONFIG_BROKEN_ON_SMP=y
CONFIG_LOCK_KERNEL=y
CONFIG_INIT_ENV_ARG_LIMIT=32
CONFIG_LOCALVERSION=""
# CONFIG_LOCALVERSION_AUTO is not set
CONFIG_SWAP=y
CONFIG_SYSVIPC=y
CONFIG_SYSVIPC_SYSCTL=y
CONFIG_POSIX_MQUEUE=y
# CONFIG_BSD_PROCESS_ACCT is not set
# CONFIG_TASKSTATS is not set
# CONFIG_AUDIT is not set
# CONFIG_IKCONFIG is not set
CONFIG_LOG_BUF_SHIFT=14
# CONFIG_CGROUPS is not set
CONFIG_GROUP_SCHED=y
CONFIG_FAIR_GROUP_SCHED=y
# CONFIG_RT_GROUP_SCHED is not set
CONFIG_USER_SCHED=y
# CONFIG_CGROUP_SCHED is not set
CONFIG_SYSFS_DEPRECATED=y
CONFIG_SYSFS_DEPRECATED_V2=y
# CONFIG_RELAY is not set
# CONFIG_NAMESPACES is not set
CONFIG_BLK_DEV_INITRD=y
CONFIG_INITRAMFS_SOURCE=""
CONFIG_CC_OPTIMIZE_FOR_SIZE=y
CONFIG_SYSCTL=y
CONFIG_ANON_INODES=y
CONFIG_EMBEDDED=y
CONFIG_UID16=y
CONFIG_SYSCTL_SYSCALL=y
CONFIG_KALLSYMS=y
# CONFIG_KALLSYMS_ALL is not set
# CONFIG_KALLSYMS_EXTRA_PASS is not set
CONFIG_HOTPLUG=y
CONFIG_PRINTK=y
CONFIG_BUG=y
# CONFIG_ELF_CORE is not set
CONFIG_BASE_FULL=y
CONFIG_FUTEX=y
CONFIG_EPOLL=y
CONFIG_SIGNALFD=y
CONFIG_TIMERFD=y
CONFIG_EVENTFD=y
CONFIG_SHMEM=y
CONFIG_AIO=y
CONFIG_VM_EVENT_COUNTERS=y
# CONFIG_COMPAT_BRK is not set
CONFIG_SLAB=y
# CONFIG_SLUB is not set
# CONFIG_SLOB is not set
# CONFIG_PROFILING is not set
# CONFIG_MARKERS is not set
CONFIG_HAVE_OPROFILE=y
# CONFIG_KPROBES is not set
CONFIG_HAVE_KPROBES=y
CONFIG_HAVE_KRETPROBES=y
CONFIG_HAVE_CLK=y
CONFIG_HAVE_GENERIC_DMA_COHERENT=y
CONFIG_SLABINFO=y
CONFIG_RT_MUTEXES=y
# CONFIG_TINY_SHMEM is not set
CONFIG_BASE_SMALL=0
CONFIG_MODULES=y
# CONFIG_MODULE_FORCE_LOAD is not set
CONFIG_MODULE_UNLOAD=y
# CONFIG_MODULE_FORCE_UNLOAD is not set
# CONFIG_MODVERSIONS is not set
# CONFIG_MODULE_SRCVERSION_ALL is not set
CONFIG_KMOD=y
CONFIG_BLOCK=y
# CONFIG_LBD is not set
# CONFIG_BLK_DEV_IO_TRACE is not set
# CONFIG_LSF is not set
# CONFIG_BLK_DEV_BSG is not set
# CONFIG_BLK_DEV_INTEGRITY is not set

#
# IO Schedulers
#
CONFIG_IOSCHED_NOOP=y
# CONFIG_IOSCHED_AS is not set
CONFIG_IOSCHED_DEADLINE=y
# CONFIG_IOSCHED_CFQ is not set
# CONFIG_DEFAULT_AS is not set
CONFIG_DEFAULT_DEADLINE=y
# CONFIG_DEFAULT_CFQ is not set
# CONFIG_DEFAULT_NOOP is not set
CONFIG_DEFAULT_IOSCHED="deadline"
CONFIG_CLASSIC_RCU=y

#
# Real-time sub-system
#
CONFIG_XENOMAI=y
CONFIG_XENO_GENERIC_STACKPOOL=y
CONFIG_XENO_FASTSYNCH_DEP=y
CONFIG_XENO_FASTSYNCH=y
CONFIG_XENO_OPT_NUCLEUS=y
CONFIG_XENO_OPT_PERVASIVE=y
CONFIG_XENO_OPT_PRIOCPL=y
CONFIG_XENO_OPT_PIPELINE_HEAD=y
# CONFIG_XENO_OPT_SCHED_CLASSES is not set
CONFIG_XENO_OPT_PIPE=y
CONFIG_XENO_OPT_PIPE_NRDEV=32
CONFIG_XENO_OPT_REGISTRY_NRSLOTS=512
CONFIG_XENO_OPT_SYS_HEAPSZ=256
CONFIG_XENO_OPT_SYS_STACKPOOLSZ=128
CONFIG_XENO_OPT_SEM_HEAPSZ=12
CONFIG_XENO_OPT_GLOBAL_SEM_HEAPSZ=12
CONFIG_XENO_OPT_STATS=y
# CONFIG_XENO_OPT_DEBUG is not set
CONFIG_XENO_OPT_SHIRQ=y
CONFIG_XENO_OPT_SELECT=y

#
# Timing
#
CONFIG_XENO_OPT_TIMING_PERIODIC=y
CONFIG_XENO_OPT_TIMING_VIRTICK=1000
CONFIG_XENO_OPT_TIMING_SCHEDLAT=0

#
# Scalability
#
# CONFIG_XENO_OPT_SCALABLE_SCHED is not set
CONFIG_XENO_OPT_TIMER_LIST=y
# CONFIG_XENO_OPT_TIMER_HEAP is not set
# CONFIG_XENO_OPT_TIMER_WHEEL is not set

#
# Machine
#
CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH=y
# CONFIG_XENO_HW_FPU is not set
CONFIG_XENO_HW_UNLOCKED_SWITCH=y

#
# Interfaces
#
CONFIG_XENO_SKIN_NATIVE=y
CONFIG_XENO_OPT_NATIVE_PERIOD=0
CONFIG_XENO_OPT_NATIVE_PIPE=y
CONFIG_XENO_OPT_NATIVE_PIPE_BUFSZ=1024
CONFIG_XENO_OPT_NATIVE_SEM=y
CONFIG_XENO_OPT_NATIVE_EVENT=y
CONFIG_XENO_OPT_NATIVE_MUTEX=y
CONFIG_XENO_OPT_NATIVE_COND=y
CONFIG_XENO_OPT_NATIVE_QUEUE=y
CONFIG_XENO_OPT_NATIVE_BUFFER=y
CONFIG_XENO_OPT_NATIVE_HEAP=y
CONFIG_XENO_OPT_NATIVE_ALARM=y
CONFIG_XENO_OPT_NATIVE_MPS=y
CONFIG_XENO_OPT_NATIVE_INTR=y
CONFIG_XENO_SKIN_POSIX=y
CONFIG_XENO_OPT_POSIX_PERIOD=0
CONFIG_XENO_OPT_POSIX_SHM=y
CONFIG_XENO_OPT_POSIX_INTR=y
CONFIG_XENO_OPT_POSIX_SELECT=y
# CONFIG_XENO_OPT_DEBUG_POSIX is not set
# CONFIG_XENO_SKIN_PSOS is not set
# CONFIG_XENO_SKIN_UITRON is not set
# CONFIG_XENO_SKIN_VRTX is not set
# CONFIG_XENO_SKIN_VXWORKS is not set
CONFIG_XENO_SKIN_RTAI=m
CONFIG_XENO_OPT_RTAI_PERIOD=0
CONFIG_XENO_OPT_RTAI_FIFO=y
CONFIG_XENO_OPT_RTAI_SEM=y
CONFIG_XENO_OPT_RTAI_SHM=y
# CONFIG_XENO_OPT_NOWARN_DEPRECATED is not set
CONFIG_XENO_SKIN_RTDM=y
CONFIG_XENO_OPT_RTDM_PERIOD=0
CONFIG_XENO_OPT_RTDM_FILDES=128
CONFIG_XENO_OPT_RTDM_SELECT=y

#
# Drivers
#

#
# Serial drivers
#
# CONFIG_XENO_DRIVERS_16550A is not set

#
# Testing drivers
#
CONFIG_XENO_TESTING_MODULE=m
CONFIG_XENO_DRIVERS_TIMERBENCH=m
CONFIG_XENO_DRIVERS_KLATENCY=m
CONFIG_XENO_DRIVERS_IRQBENCH=m
CONFIG_XENO_DRIVERS_SWITCHTEST=m
CONFIG_XENO_DRIVERS_SIGTEST=m

#
# CAN drivers
#
# CONFIG_XENO_DRIVERS_CAN is not set

#
# ANALOGY drivers
#
# CONFIG_XENO_DRIVERS_ANALOGY is not set

#
# Real-time IPC drivers
#
# CONFIG_XENO_DRIVERS_RTIPC is not set
# CONFIG_FREEZER is not set

#
# System Type
#
# CONFIG_ARCH_AAEC2000 is not set
# CONFIG_ARCH_INTEGRATOR is not set
# CONFIG_ARCH_REALVIEW is not set
# CONFIG_ARCH_VERSATILE is not set
CONFIG_ARCH_AT91=y
# CONFIG_ARCH_CLPS7500 is not set
# CONFIG_ARCH_CLPS711X is not set
# CONFIG_ARCH_EBSA110 is not set
# CONFIG_ARCH_EP93XX is not set
# CONFIG_ARCH_FOOTBRIDGE is not set
# CONFIG_ARCH_NETX is not set
# CONFIG_ARCH_H720X is not set
# CONFIG_ARCH_IMX is not set
# CONFIG_ARCH_IOP13XX is not set
# CONFIG_ARCH_IOP32X is not set
# CONFIG_ARCH_IOP33X is not set
# CONFIG_ARCH_IXP23XX is not set
# CONFIG_ARCH_IXP2000 is not set
# CONFIG_ARCH_IXP4XX is not set
# CONFIG_ARCH_L7200 is not set
# CONFIG_ARCH_KIRKWOOD is not set
# CONFIG_ARCH_KS8695 is not set
# CONFIG_ARCH_NS9XXX is not set
# CONFIG_ARCH_LOKI is not set
# CONFIG_ARCH_MV78XX0 is not set
# CONFIG_ARCH_MXC is not set
# CONFIG_ARCH_ORION5X is not set
# CONFIG_ARCH_PNX4008 is not set
# CONFIG_ARCH_PXA is not set
# CONFIG_ARCH_RPC is not set
# CONFIG_ARCH_SA1100 is not set
# CONFIG_ARCH_S3C2410 is not set
# CONFIG_ARCH_SHARK is not set
# CONFIG_ARCH_LH7A40X is not set
# CONFIG_ARCH_DAVINCI is not set
# CONFIG_ARCH_OMAP is not set
# CONFIG_ARCH_MSM is not set

#
# Boot options
#

#
# Power management
#

#
# Atmel AT91 System-on-Chip
#
# CONFIG_ARCH_AT91RM9200 is not set
# CONFIG_ARCH_AT91SAM9260 is not set
# CONFIG_ARCH_AT91SAM9261 is not set
# CONFIG_ARCH_AT91SAM9263 is not set
# CONFIG_ARCH_AT91SAM9RL is not set
CONFIG_ARCH_AT91SAM9G20=y
# CONFIG_ARCH_AT91CAP9 is not set
# CONFIG_ARCH_AT91X40 is not set
CONFIG_AT91_PMC_UNIT=y

#
# AT91SAM9G20 Board Type
#
# CONFIG_MACH_AT91SAM9G20EK is not set
CONFIG_MACH_SOM9G20M=y

#
# Adeos I-pipe Options
#
CONFIG_IPIPE_AT91_TC=1

#
# AT91 Board Options
#
CONFIG_SOM9G20M_EXTRA_SERIAL=y
CONFIG_SOM_150ES=y
CONFIG_SOM_150ES_REV3=y
# CONFIG_SOM_150ES_REV2 is not set
# CONFIG_SOM_150ES_REV1 is not set
CONFIG_GFC_BOARD=y
# CONFIG_RIMS_MCB is not set
# CONFIG_RDAC_CARRIER is not set
# CONFIG_EVENT_MEDICAL is not set

#
# AT91 Feature Selections
#
CONFIG_AT91_PROGRAMMABLE_CLOCKS=y
CONFIG_AT91_TIMER_HZ=250
CONFIG_AT91_TC_PWM=y
CONFIG_RTSCLS=y
# CONFIG_SOM_9260_1K_TC is not set
# CONFIG_AT91_EARLY_DBGU is not set
# CONFIG_AT91_EARLY_USART0 is not set
# CONFIG_AT91_EARLY_USART1 is not set
# CONFIG_AT91_EARLY_USART2 is not set
CONFIG_AT91_EARLY_USART3=y
# CONFIG_AT91_EARLY_USART4 is not set
# CONFIG_AT91_EARLY_USART5 is not set

#
# Processor Type
#
CONFIG_CPU_32=y
CONFIG_CPU_ARM926T=y
CONFIG_CPU_32v5=y
CONFIG_CPU_ABRT_EV5TJ=y
CONFIG_CPU_PABRT_NOIFAR=y
CONFIG_CPU_CACHE_VIVT=y
CONFIG_CPU_COPY_V4WB=y
CONFIG_CPU_TLB_V4WBI=y
CONFIG_CPU_CP15=y
CONFIG_CPU_CP15_MMU=y

#
# Processor Features
#
CONFIG_ARM_THUMB=y
# CONFIG_CPU_ICACHE_DISABLE is not set
# CONFIG_CPU_DCACHE_DISABLE is not set
# CONFIG_CPU_DCACHE_WRITETHROUGH is not set
# CONFIG_CPU_CACHE_ROUND_ROBIN is not set
# CONFIG_OUTER_CACHE is not set
CONFIG_ARM_FCSE=y
# CONFIG_ARM_FCSE_GUARANTEED is not set
CONFIG_ARM_FCSE_BEST_EFFORT=y

#
# Bus support
#
# CONFIG_PCI_SYSCALL is not set
# CONFIG_ARCH_SUPPORTS_MSI is not set
# CONFIG_PCCARD is not set

#
# Kernel Features
#
# CONFIG_NO_HZ is not set
# CONFIG_HIGH_RES_TIMERS is not set
CONFIG_GENERIC_CLOCKEVENTS_BUILD=y
CONFIG_VMSPLIT_3G=y
# CONFIG_VMSPLIT_2G is not set
# CONFIG_VMSPLIT_1G is not set
CONFIG_PAGE_OFFSET=0xC0000000
CONFIG_IPIPE=y
CONFIG_IPIPE_DOMAINS=4
CONFIG_IPIPE_COMPAT=y
CONFIG_IPIPE_DELAYED_ATOMICSW=y
# CONFIG_IPIPE_UNMASKED_CONTEXT_SWITCH is not set
CONFIG_PREEMPT=y
CONFIG_HZ=250
CONFIG_AEABI=y
CONFIG_OABI_COMPAT=y
CONFIG_ARCH_FLATMEM_HAS_HOLES=y
# CONFIG_ARCH_SPARSEMEM_DEFAULT is not set
# CONFIG_ARCH_SELECT_MEMORY_MODEL is not set
CONFIG_SELECT_MEMORY_MODEL=y
CONFIG_FLATMEM_MANUAL=y
# CONFIG_DISCONTIGMEM_MANUAL is not set
# CONFIG_SPARSEMEM_MANUAL is not set
CONFIG_FLATMEM=y
CONFIG_FLAT_NODE_MEM_MAP=y
CONFIG_PAGEFLAGS_EXTENDED=y
CONFIG_SPLIT_PTLOCK_CPUS=4096
# CONFIG_RESOURCES_64BIT is not set
# CONFIG_PHYS_ADDR_T_64BIT is not set
CONFIG_ZONE_DMA_FLAG=0
CONFIG_VIRT_TO_BUS=y
CONFIG_UNEVICTABLE_LRU=y
# CONFIG_LEDS is not set
CONFIG_ALIGNMENT_TRAP=y

#
# Boot options
#
CONFIG_ZBOOT_ROM_TEXT=0x0
CONFIG_ZBOOT_ROM_BSS=0x0
CONFIG_CMDLINE="mem=64M console=ttyS0,115200 root=/dev/mtdblock1 rw rootfstype=jffs2"
# CONFIG_XIP_KERNEL is not set
# CONFIG_KEXEC is not set

#
# CPU Power Management
#
# CONFIG_CPU_IDLE is not set

#
# Floating point emulation
#

#
# At least one emulation must be selected
#
CONFIG_FPE_NWFPE=y
# CONFIG_FPE_NWFPE_XP is not set
# CONFIG_FPE_FASTFPE is not set
# CONFIG_VFP is not set

#
# Userspace binary formats
#
CONFIG_BINFMT_ELF=y
# CONFIG_CORE_DUMP_DEFAULT_ELF_HEADERS is not set
CONFIG_HAVE_AOUT=y
# CONFIG_BINFMT_AOUT is not set
# CONFIG_BINFMT_MISC is not set

#
# Power management options
#
# CONFIG_PM is not set
CONFIG_ARCH_SUSPEND_POSSIBLE=y
CONFIG_NET=y

#
# Networking options
#
CONFIG_PACKET=y
# CONFIG_PACKET_MMAP is not set
CONFIG_UNIX=y
CONFIG_XFRM=y
# CONFIG_XFRM_USER is not set
# CONFIG_XFRM_SUB_POLICY is not set
# CONFIG_XFRM_MIGRATE is not set
# CONFIG_XFRM_STATISTICS is not set
# CONFIG_NET_KEY is not set
CONFIG_INET=y
# CONFIG_IP_MULTICAST is not set
# CONFIG_IP_ADVANCED_ROUTER is not set
CONFIG_IP_FIB_HASH=y
CONFIG_IP_PNP=y
CONFIG_IP_PNP_DHCP=y
# CONFIG_IP_PNP_BOOTP is not set
# CONFIG_IP_PNP_RARP is not set
# CONFIG_NET_IPIP is not set
# CONFIG_NET_IPGRE is not set
# CONFIG_ARPD is not set
# CONFIG_SYN_COOKIES is not set
# CONFIG_INET_AH is not set
# CONFIG_INET_ESP is not set
# CONFIG_INET_IPCOMP is not set
# CONFIG_INET_XFRM_TUNNEL is not set
CONFIG_INET_TUNNEL=y
CONFIG_INET_XFRM_MODE_TRANSPORT=y
CONFIG_INET_XFRM_MODE_TUNNEL=y
CONFIG_INET_XFRM_MODE_BEET=y
# CONFIG_INET_LRO is not set
CONFIG_INET_DIAG=y
CONFIG_INET_TCP_DIAG=y
# CONFIG_TCP_CONG_ADVANCED is not set
CONFIG_TCP_CONG_CUBIC=y
CONFIG_DEFAULT_TCP_CONG="cubic"
# CONFIG_TCP_MD5SIG is not set
CONFIG_IPV6=y
# CONFIG_IPV6_PRIVACY is not set
# CONFIG_IPV6_ROUTER_PREF is not set
# CONFIG_IPV6_OPTIMISTIC_DAD is not set
# CONFIG_INET6_AH is not set
# CONFIG_INET6_ESP is not set
# CONFIG_INET6_IPCOMP is not set
# CONFIG_IPV6_MIP6 is not set
# CONFIG_INET6_XFRM_TUNNEL is not set
# CONFIG_INET6_TUNNEL is not set
CONFIG_INET6_XFRM_MODE_TRANSPORT=y
CONFIG_INET6_XFRM_MODE_TUNNEL=y
CONFIG_INET6_XFRM_MODE_BEET=y
# CONFIG_INET6_XFRM_MODE_ROUTEOPTIMIZATION is not set
CONFIG_IPV6_SIT=y
CONFIG_IPV6_NDISC_NODETYPE=y
# CONFIG_IPV6_TUNNEL is not set
# CONFIG_IPV6_MULTIPLE_TABLES is not set
# CONFIG_IPV6_MROUTE is not set
# CONFIG_NETWORK_SECMARK is not set
# CONFIG_NETFILTER is not set
# CONFIG_IP_DCCP is not set
# CONFIG_IP_SCTP is not set
# CONFIG_TIPC is not set
# CONFIG_ATM is not set
# CONFIG_BRIDGE is not set
# CONFIG_NET_DSA is not set
# CONFIG_VLAN_8021Q is not set
# CONFIG_DECNET is not set
# CONFIG_LLC2 is not set
# CONFIG_IPX is not set
# CONFIG_ATALK is not set
# CONFIG_X25 is not set
# CONFIG_LAPB is not set
# CONFIG_ECONET is not set
# CONFIG_WAN_ROUTER is not set
# CONFIG_NET_SCHED is not set

#
# Network testing
#
# CONFIG_NET_PKTGEN is not set
# CONFIG_HAMRADIO is not set
# CONFIG_CAN is not set
# CONFIG_IRDA is not set
# CONFIG_BT is not set
# CONFIG_AF_RXRPC is not set
# CONFIG_PHONET is not set
# CONFIG_WIRELESS is not set
# CONFIG_RFKILL is not set
# CONFIG_NET_9P is not set

#
# Device Drivers
#

#
# Generic Driver Options
#
CONFIG_UEVENT_HELPER_PATH="/sbin/hotplug"
CONFIG_STANDALONE=y
CONFIG_PREVENT_FIRMWARE_BUILD=y
# CONFIG_FW_LOADER is not set
# CONFIG_DEBUG_DRIVER is not set
# CONFIG_DEBUG_DEVRES is not set
# CONFIG_SYS_HYPERVISOR is not set
# CONFIG_CONNECTOR is not set
CONFIG_MTD=y
# CONFIG_MTD_DEBUG is not set
CONFIG_MTD_CONCAT=y
CONFIG_MTD_PARTITIONS=y
# CONFIG_MTD_REDBOOT_PARTS is not set
CONFIG_MTD_CMDLINE_PARTS=y
# CONFIG_MTD_AFS_PARTS is not set
# CONFIG_MTD_AR7_PARTS is not set

#
# User Modules And Translation Layers
#
CONFIG_MTD_CHAR=y
CONFIG_MTD_BLKDEVS=y
CONFIG_MTD_BLOCK=y
# CONFIG_FTL is not set
# CONFIG_NFTL is not set
# CONFIG_INFTL is not set
# CONFIG_RFD_FTL is not set
# CONFIG_SSFDC is not set
# CONFIG_MTD_OOPS is not set

#
# RAM/ROM/Flash chip drivers
#
# CONFIG_MTD_CFI is not set
# CONFIG_MTD_JEDECPROBE is not set
CONFIG_MTD_MAP_BANK_WIDTH_1=y
CONFIG_MTD_MAP_BANK_WIDTH_2=y
CONFIG_MTD_MAP_BANK_WIDTH_4=y
# CONFIG_MTD_MAP_BANK_WIDTH_8 is not set
# CONFIG_MTD_MAP_BANK_WIDTH_16 is not set
# CONFIG_MTD_MAP_BANK_WIDTH_32 is not set
CONFIG_MTD_CFI_I1=y
CONFIG_MTD_CFI_I2=y
# CONFIG_MTD_CFI_I4 is not set
# CONFIG_MTD_CFI_I8 is not set
# CONFIG_MTD_RAM is not set
# CONFIG_MTD_ROM is not set
# CONFIG_MTD_ABSENT is not set

#
# Mapping drivers for chip access
#
# CONFIG_MTD_COMPLEX_MAPPINGS is not set
# CONFIG_MTD_PLATRAM is not set

#
# Self-contained MTD device drivers
#
# CONFIG_MTD_SLRAM is not set
# CONFIG_MTD_PHRAM is not set
# CONFIG_MTD_MTDRAM is not set
# CONFIG_MTD_BLOCK2MTD is not set

#
# Disk-On-Chip Device Drivers
#
# CONFIG_MTD_DOC2000 is not set
# CONFIG_MTD_DOC2001 is not set
# CONFIG_MTD_DOC2001PLUS is not set
CONFIG_MTD_NAND=y
CONFIG_MTD_NAND_VERIFY_WRITE=y
# CONFIG_MTD_NAND_ECC_SMC is not set
# CONFIG_MTD_NAND_MUSEUM_IDS is not set
# CONFIG_MTD_NAND_GPIO is not set
CONFIG_MTD_NAND_IDS=y
# CONFIG_MTD_NAND_DISKONCHIP is not set
CONFIG_MTD_NAND_ATMEL=y
# CONFIG_MTD_NAND_ATMEL_ECC_HW is not set
# CONFIG_MTD_NAND_ATMEL_ECC_HW_HSIAO is not set
CONFIG_MTD_NAND_ATMEL_ECC_SOFT=y
# CONFIG_MTD_NAND_ATMEL_ECC_NONE is not set
# CONFIG_MTD_NAND_NANDSIM is not set
# CONFIG_MTD_NAND_PLATFORM is not set
# CONFIG_MTD_ALAUDA is not set
# CONFIG_MTD_ONENAND is not set

#
# UBI - Unsorted block images
#
# CONFIG_MTD_UBI is not set
# CONFIG_PARPORT is not set
CONFIG_BLK_DEV=y
# CONFIG_BLK_DEV_COW_COMMON is not set
CONFIG_BLK_DEV_LOOP=y
# CONFIG_BLK_DEV_CRYPTOLOOP is not set
# CONFIG_BLK_DEV_NBD is not set
# CONFIG_BLK_DEV_UB is not set
CONFIG_BLK_DEV_RAM=y
CONFIG_BLK_DEV_RAM_COUNT=2
CONFIG_BLK_DEV_RAM_SIZE=8192
# CONFIG_BLK_DEV_XIP is not set
# CONFIG_CDROM_PKTCDVD is not set
# CONFIG_ATA_OVER_ETH is not set
CONFIG_MISC_DEVICES=y
# CONFIG_ATMEL_TCLIB is not set
# CONFIG_EEPROM_93CX6 is not set
# CONFIG_ICS932S401 is not set
CONFIG_ATMEL_SSC=y
# CONFIG_ENCLOSURE_SERVICES is not set
# CONFIG_C2PORT is not set

#
# misc device classes
#
CONFIG_GPIOCLASS=y
CONFIG_GPIOCLASS_SYSFS=y
CONFIG_GPIOCLASS_RTDM=y
CONFIG_GPIOCLASS_CHAR=y
CONFIG_PWMCLASS=y
CONFIG_PWMCLASS_SYSFS=y
CONFIG_PWMCLASS_RTDM=y
CONFIG_SPICLASS=y
CONFIG_SPICLASS_SYSFS=y
CONFIG_SPICLASS_CHAR=y
CONFIG_SPICLASS_RTDM=y
CONFIG_RT_SPI_MASTER=y
CONFIG_RT_SPI_ATMEL=y
CONFIG_HAVE_IDE=y
# CONFIG_IDE is not set

#
# SCSI device support
#
# CONFIG_RAID_ATTRS is not set
CONFIG_SCSI=y
CONFIG_SCSI_DMA=y
# CONFIG_SCSI_TGT is not set
# CONFIG_SCSI_NETLINK is not set
CONFIG_SCSI_PROC_FS=y

#
# SCSI support type (disk, tape, CD-ROM)
#
CONFIG_BLK_DEV_SD=y
# CONFIG_CHR_DEV_ST is not set
# CONFIG_CHR_DEV_OSST is not set
# CONFIG_BLK_DEV_SR is not set
# CONFIG_CHR_DEV_SG is not set
# CONFIG_CHR_DEV_SCH is not set

#
# Some SCSI devices (e.g. CD jukebox) support multiple LUNs
#
CONFIG_SCSI_MULTI_LUN=y
# CONFIG_SCSI_CONSTANTS is not set
# CONFIG_SCSI_LOGGING is not set
# CONFIG_SCSI_SCAN_ASYNC is not set
CONFIG_SCSI_WAIT_SCAN=m

#
# SCSI Transports
#
# CONFIG_SCSI_SPI_ATTRS is not set
# CONFIG_SCSI_FC_ATTRS is not set
# CONFIG_SCSI_ISCSI_ATTRS is not set
# CONFIG_SCSI_SAS_LIBSAS is not set
# CONFIG_SCSI_SRP_ATTRS is not set
# CONFIG_SCSI_LOWLEVEL is not set
# CONFIG_SCSI_DH is not set
# CONFIG_ATA is not set
# CONFIG_MD is not set
CONFIG_NETDEVICES=y
# CONFIG_DUMMY is not set
# CONFIG_BONDING is not set
# CONFIG_MACVLAN is not set
# CONFIG_EQUALIZER is not set
# CONFIG_TUN is not set
# CONFIG_VETH is not set
CONFIG_PHYLIB=y

#
# MII PHY device drivers
#
# CONFIG_MARVELL_PHY is not set
# CONFIG_DAVICOM_PHY is not set
CONFIG_MICREL_PHY=y
# CONFIG_QSEMI_PHY is not set
# CONFIG_LXT_PHY is not set
# CONFIG_CICADA_PHY is not set
# CONFIG_VITESSE_PHY is not set
# CONFIG_SMSC_PHY is not set
# CONFIG_BROADCOM_PHY is not set
# CONFIG_ICPLUS_PHY is not set
# CONFIG_REALTEK_PHY is not set
# CONFIG_FIXED_PHY is not set
# CONFIG_MDIO_BITBANG is not set
CONFIG_NET_ETHERNET=y
CONFIG_MII=y
CONFIG_MACB=y
# CONFIG_AX88796 is not set
# CONFIG_SMC91X is not set
# CONFIG_DM9000 is not set
# CONFIG_SMC911X is not set
# CONFIG_IBM_NEW_EMAC_ZMII is not set
# CONFIG_IBM_NEW_EMAC_RGMII is not set
# CONFIG_IBM_NEW_EMAC_TAH is not set
# CONFIG_IBM_NEW_EMAC_EMAC4 is not set
# CONFIG_IBM_NEW_EMAC_NO_FLOW_CTRL is not set
# CONFIG_IBM_NEW_EMAC_MAL_CLR_ICINTSTAT is not set
# CONFIG_IBM_NEW_EMAC_MAL_COMMON_ERR is not set
# CONFIG_B44 is not set
# CONFIG_NETDEV_1000 is not set
# CONFIG_NETDEV_10000 is not set

#
# Wireless LAN
#
# CONFIG_WLAN_PRE80211 is not set
# CONFIG_WLAN_80211 is not set
# CONFIG_IWLWIFI_LEDS is not set

#
# USB Network Adapters
#
# CONFIG_USB_CATC is not set
# CONFIG_USB_KAWETH is not set
# CONFIG_USB_PEGASUS is not set
# CONFIG_USB_RTL8150 is not set
# CONFIG_USB_USBNET is not set
# CONFIG_WAN is not set
CONFIG_PPP=m
CONFIG_PPP_MULTILINK=y
CONFIG_PPP_FILTER=y
CONFIG_PPP_ASYNC=m
CONFIG_PPP_SYNC_TTY=m
CONFIG_PPP_DEFLATE=m
CONFIG_PPP_BSDCOMP=m
CONFIG_PPP_MPPE=m
CONFIG_PPPOE=m
# CONFIG_PPPOL2TP is not set
CONFIG_SLIP=m
# CONFIG_SLIP_COMPRESSED is not set
CONFIG_SLHC=m
# CONFIG_SLIP_SMART is not set
# CONFIG_SLIP_MODE_SLIP6 is not set
# CONFIG_NETCONSOLE is not set
# CONFIG_NETPOLL is not set
# CONFIG_NET_POLL_CONTROLLER is not set
# CONFIG_ISDN is not set

#
# Input device support
#
CONFIG_INPUT=y
# CONFIG_INPUT_FF_MEMLESS is not set
# CONFIG_INPUT_POLLDEV is not set

#
# Userland interfaces
#
# CONFIG_INPUT_MOUSEDEV is not set
# CONFIG_INPUT_JOYDEV is not set
CONFIG_INPUT_EVDEV=y
# CONFIG_INPUT_EVBUG is not set

#
# Input Device Drivers
#
# CONFIG_INPUT_KEYBOARD is not set
# CONFIG_INPUT_MOUSE is not set
# CONFIG_INPUT_JOYSTICK is not set
# CONFIG_INPUT_TABLET is not set
# CONFIG_INPUT_TOUCHSCREEN is not set
# CONFIG_INPUT_MISC is not set

#
# Hardware I/O ports
#
# CONFIG_SERIO is not set
# CONFIG_GAMEPORT is not set

#
# IO expansion
#
CONFIG_ECOREEX=y
# CONFIG_ECOREEX_TGPIO is not set
# CONFIG_ECOREEX_SGPWM is not set
# CONFIG_ECOREEX_GCMB is not set
# CONFIG_ECOREEX_DENM is not set
# CONFIG_ECOREEX_HWMS is not set
# CONFIG_ECOREEX_RDAC is not set
CONFIG_ECOREEX_SOM150=y
# CONFIG_ECOREEX_KEY is not set
CONFIG_BOARDSPEC=y

#
# Character devices
#
# CONFIG_VT is not set
CONFIG_DEVKMEM=y
# CONFIG_SERIAL_NONSTANDARD is not set

#
# Serial drivers
#
# CONFIG_SERIAL_8250 is not set

#
# Non-8250 serial port support
#
CONFIG_SERIAL_ATMEL=y
CONFIG_SERIAL_ATMEL_CONSOLE=y
CONFIG_SERIAL_ATMEL_PDC=y
# CONFIG_SERIAL_ATMEL_TTYAT is not set
CONFIG_SERIAL_CORE=y
CONFIG_SERIAL_CORE_CONSOLE=y
CONFIG_UNIX98_PTYS=y
# CONFIG_LEGACY_PTYS is not set
# CONFIG_IPMI_HANDLER is not set
# CONFIG_HW_RANDOM is not set
# CONFIG_NVRAM is not set
CONFIG_LCD447=y
CONFIG_KEYPAD=y
# CONFIG_R3964 is not set
# CONFIG_RAW_DRIVER is not set
# CONFIG_TCG_TPM is not set
CONFIG_I2C=y
CONFIG_I2C_BOARDINFO=y
CONFIG_I2C_CHARDEV=y
CONFIG_I2C_HELPER_AUTO=y
CONFIG_I2C_ALGOBIT=y

#
# I2C Hardware Bus support
#

#
# I2C system bus drivers (mostly embedded / system-on-chip)
#
CONFIG_I2C_GPIO=y
# CONFIG_I2C_OCORES is not set
# CONFIG_I2C_SIMTEC is not set

#
# External I2C/SMBus adapter drivers
#
# CONFIG_I2C_PARPORT_LIGHT is not set
# CONFIG_I2C_TAOS_EVM is not set
# CONFIG_I2C_TINY_USB is not set

#
# Other I2C/SMBus bus drivers
#
# CONFIG_I2C_PCA_PLATFORM is not set
# CONFIG_I2C_STUB is not set

#
# Miscellaneous I2C Chip support
#
# CONFIG_DS1682 is not set
# CONFIG_AT24 is not set
# CONFIG_SENSORS_EEPROM is not set
# CONFIG_SENSORS_PCF8574 is not set
# CONFIG_PCF8575 is not set
# CONFIG_SENSORS_PCA9539 is not set
# CONFIG_SENSORS_PCF8591 is not set
# CONFIG_SENSORS_MAX6875 is not set
# CONFIG_SENSORS_TSL2550 is not set
# CONFIG_I2C_DEBUG_CORE is not set
# CONFIG_I2C_DEBUG_ALGO is not set
# CONFIG_I2C_DEBUG_BUS is not set
# CONFIG_I2C_DEBUG_CHIP is not set
# CONFIG_SPI is not set
# CONFIG_W1 is not set
# CONFIG_POWER_SUPPLY is not set
# CONFIG_HWMON is not set
# CONFIG_THERMAL is not set
# CONFIG_THERMAL_HWMON is not set
CONFIG_WATCHDOG=y
CONFIG_WATCHDOG_NOWAYOUT=y

#
# Watchdog Device Drivers
#
# CONFIG_SOFT_WATCHDOG is not set
# CONFIG_AT91SAM9X_WATCHDOG is not set
CONFIG_SOM9G20_WATCHDOG=y

#
# USB-based Watchdog Cards
#
# CONFIG_USBPCWATCHDOG is not set
CONFIG_SSB_POSSIBLE=y

#
# Sonics Silicon Backplane
#
# CONFIG_SSB is not set

#
# Multifunction device drivers
#
# CONFIG_MFD_CORE is not set
# CONFIG_MFD_SM501 is not set
# CONFIG_HTC_PASIC3 is not set
# CONFIG_MFD_TMIO is not set
# CONFIG_MFD_T7L66XB is not set
# CONFIG_MFD_TC6387XB is not set
# CONFIG_PMIC_DA903X is not set
# CONFIG_MFD_WM8400 is not set
# CONFIG_MFD_WM8350_I2C is not set

#
# Multimedia devices
#

#
# Multimedia core support
#
# CONFIG_VIDEO_DEV is not set
# CONFIG_DVB_CORE is not set
# CONFIG_VIDEO_MEDIA is not set

#
# Multimedia drivers
#
# CONFIG_DAB is not set

#
# Graphics support
#
# CONFIG_VGASTATE is not set
# CONFIG_VIDEO_OUTPUT_CONTROL is not set
# CONFIG_FB is not set
# CONFIG_BACKLIGHT_LCD_SUPPORT is not set

#
# Display device support
#
CONFIG_DISPLAY_SUPPORT=y

#
# Display hardware drivers
#
# CONFIG_SOUND is not set
CONFIG_HID_SUPPORT=y
CONFIG_HID=y
# CONFIG_HID_DEBUG is not set
# CONFIG_HIDRAW is not set

#
# USB Input Devices
#
CONFIG_USB_HID=y
# CONFIG_HID_PID is not set
# CONFIG_USB_HIDDEV is not set

#
# Special HID drivers
#
CONFIG_HID_COMPAT=y
CONFIG_HID_A4TECH=y
CONFIG_HID_APPLE=y
CONFIG_HID_BELKIN=y
CONFIG_HID_BRIGHT=y
CONFIG_HID_CHERRY=y
CONFIG_HID_CHICONY=y
CONFIG_HID_CYPRESS=y
CONFIG_HID_DELL=y
CONFIG_HID_EZKEY=y
CONFIG_HID_GYRATION=y
CONFIG_HID_LOGITECH=y
# CONFIG_LOGITECH_FF is not set
# CONFIG_LOGIRUMBLEPAD2_FF is not set
CONFIG_HID_MICROSOFT=y
CONFIG_HID_MONTEREY=y
CONFIG_HID_PANTHERLORD=y
# CONFIG_PANTHERLORD_FF is not set
CONFIG_HID_PETALYNX=y
CONFIG_HID_SAMSUNG=y
CONFIG_HID_SONY=y
CONFIG_HID_SUNPLUS=y
# CONFIG_THRUSTMASTER_FF is not set
# CONFIG_ZEROPLUS_FF is not set
CONFIG_USB_SUPPORT=y
CONFIG_USB_ARCH_HAS_HCD=y
CONFIG_USB_ARCH_HAS_OHCI=y
# CONFIG_USB_ARCH_HAS_EHCI is not set
CONFIG_USB=y
# CONFIG_USB_DEBUG is not set
CONFIG_USB_ANNOUNCE_NEW_DEVICES=y

#
# Miscellaneous USB options
#
CONFIG_USB_DEVICEFS=y
# CONFIG_USB_DEVICE_CLASS is not set
CONFIG_USB_DYNAMIC_MINORS=y
# CONFIG_USB_OTG is not set
# CONFIG_USB_OTG_WHITELIST is not set
# CONFIG_USB_OTG_BLACKLIST_HUB is not set
# CONFIG_USB_MON is not set
# CONFIG_USB_WUSB is not set
# CONFIG_USB_WUSB_CBAF is not set

#
# USB Host Controller Drivers
#
# CONFIG_USB_C67X00_HCD is not set
# CONFIG_USB_ISP116X_HCD is not set
CONFIG_USB_OHCI_HCD=y
# CONFIG_USB_OHCI_BIG_ENDIAN_DESC is not set
# CONFIG_USB_OHCI_BIG_ENDIAN_MMIO is not set
CONFIG_USB_OHCI_LITTLE_ENDIAN=y
# CONFIG_USB_SL811_HCD is not set
# CONFIG_USB_R8A66597_HCD is not set
# CONFIG_USB_HWA_HCD is not set
# CONFIG_USB_MUSB_HDRC is not set
# CONFIG_USB_GADGET_MUSB_HDRC is not set

#
# USB Device Class drivers
#
# CONFIG_USB_ACM is not set
# CONFIG_USB_PRINTER is not set
# CONFIG_USB_WDM is not set
# CONFIG_USB_TMC is not set

#
# NOTE: USB_STORAGE depends on SCSI but BLK_DEV_SD may also be needed;
#

#
# see USB_STORAGE Help for more information
#
CONFIG_USB_STORAGE=y
# CONFIG_USB_STORAGE_DEBUG is not set
# CONFIG_USB_STORAGE_DATAFAB is not set
# CONFIG_USB_STORAGE_FREECOM is not set
# CONFIG_USB_STORAGE_ISD200 is not set
# CONFIG_USB_STORAGE_DPCM is not set
# CONFIG_USB_STORAGE_USBAT is not set
# CONFIG_USB_STORAGE_SDDR09 is not set
# CONFIG_USB_STORAGE_SDDR55 is not set
# CONFIG_USB_STORAGE_JUMPSHOT is not set
# CONFIG_USB_STORAGE_ALAUDA is not set
# CONFIG_USB_STORAGE_ONETOUCH is not set
# CONFIG_USB_STORAGE_KARMA is not set
# CONFIG_USB_STORAGE_CYPRESS_ATACB is not set
# CONFIG_USB_LIBUSUAL is not set

#
# USB Imaging devices
#
# CONFIG_USB_MDC800 is not set
# CONFIG_USB_MICROTEK is not set

#
# USB port drivers
#
CONFIG_USB_SERIAL=m
# CONFIG_USB_EZUSB is not set
CONFIG_USB_SERIAL_GENERIC=y
# CONFIG_USB_SERIAL_AIRCABLE is not set
# CONFIG_USB_SERIAL_ARK3116 is not set
# CONFIG_USB_SERIAL_BELKIN is not set
# CONFIG_USB_SERIAL_CH341 is not set
# CONFIG_USB_SERIAL_WHITEHEAT is not set
# CONFIG_USB_SERIAL_DIGI_ACCELEPORT is not set
# CONFIG_USB_SERIAL_CP2101 is not set
# CONFIG_USB_SERIAL_CYPRESS_M8 is not set
# CONFIG_USB_SERIAL_EMPEG is not set
# CONFIG_USB_SERIAL_FTDI_SIO is not set
# CONFIG_USB_SERIAL_FUNSOFT is not set
# CONFIG_USB_SERIAL_VISOR is not set
# CONFIG_USB_SERIAL_IPAQ is not set
# CONFIG_USB_SERIAL_IR is not set
# CONFIG_USB_SERIAL_EDGEPORT is not set
# CONFIG_USB_SERIAL_EDGEPORT_TI is not set
# CONFIG_USB_SERIAL_GARMIN is not set
# CONFIG_USB_SERIAL_IPW is not set
# CONFIG_USB_SERIAL_IUU is not set
# CONFIG_USB_SERIAL_KEYSPAN_PDA is not set
# CONFIG_USB_SERIAL_KEYSPAN is not set
# CONFIG_USB_SERIAL_KLSI is not set
# CONFIG_USB_SERIAL_KOBIL_SCT is not set
# CONFIG_USB_SERIAL_MCT_U232 is not set
# CONFIG_USB_SERIAL_MOS7720 is not set
# CONFIG_USB_SERIAL_MOS7840 is not set
# CONFIG_USB_SERIAL_MOTOROLA is not set
# CONFIG_USB_SERIAL_NAVMAN is not set
# CONFIG_USB_SERIAL_PL2303 is not set
# CONFIG_USB_SERIAL_OTI6858 is not set
# CONFIG_USB_SERIAL_SPCP8X5 is not set
# CONFIG_USB_SERIAL_HP4X is not set
# CONFIG_USB_SERIAL_SAFE is not set
# CONFIG_USB_SERIAL_SIERRAWIRELESS is not set
# CONFIG_USB_SERIAL_TI is not set
# CONFIG_USB_SERIAL_CYBERJACK is not set
# CONFIG_USB_SERIAL_XIRCOM is not set
# CONFIG_USB_SERIAL_OPTION is not set
# CONFIG_USB_SERIAL_OMNINET is not set
# CONFIG_USB_SERIAL_DEBUG is not set

#
# USB Miscellaneous drivers
#
# CONFIG_USB_EMI62 is not set
# CONFIG_USB_EMI26 is not set
# CONFIG_USB_ADUTUX is not set
# CONFIG_USB_SEVSEG is not set
# CONFIG_USB_RIO500 is not set
# CONFIG_USB_LEGOTOWER is not set
# CONFIG_USB_LCD is not set
# CONFIG_USB_BERRY_CHARGE is not set
# CONFIG_USB_LED is not set
# CONFIG_USB_CYPRESS_CY7C63 is not set
# CONFIG_USB_CYTHERM is not set
# CONFIG_USB_PHIDGET is not set
# CONFIG_USB_IDMOUSE is not set
# CONFIG_USB_FTDI_ELAN is not set
# CONFIG_USB_APPLEDISPLAY is not set
# CONFIG_USB_LD is not set
# CONFIG_USB_TRANCEVIBRATOR is not set
# CONFIG_USB_IOWARRIOR is not set
# CONFIG_USB_TEST is not set
# CONFIG_USB_ISIGHTFW is not set
# CONFIG_USB_VST is not set
CONFIG_USB_GADGET=m
# CONFIG_USB_GADGET_DEBUG is not set
# CONFIG_USB_GADGET_DEBUG_FILES is not set
CONFIG_USB_GADGET_VBUS_DRAW=2
CONFIG_USB_GADGET_SELECTED=y
CONFIG_USB_GADGET_AT91=y
CONFIG_USB_AT91=m
# CONFIG_USB_GADGET_ATMEL_USBA is not set
# CONFIG_USB_GADGET_FSL_USB2 is not set
# CONFIG_USB_GADGET_LH7A40X is not set
# CONFIG_USB_GADGET_OMAP is not set
# CONFIG_USB_GADGET_PXA25X is not set
# CONFIG_USB_GADGET_PXA27X is not set
# CONFIG_USB_GADGET_S3C2410 is not set
# CONFIG_USB_GADGET_M66592 is not set
# CONFIG_USB_GADGET_AMD5536UDC is not set
# CONFIG_USB_GADGET_FSL_QE is not set
# CONFIG_USB_GADGET_NET2280 is not set
# CONFIG_USB_GADGET_GOKU is not set
# CONFIG_USB_GADGET_DUMMY_HCD is not set
# CONFIG_USB_GADGET_DUALSPEED is not set
CONFIG_USB_ZERO=m
CONFIG_USB_ETH=m
CONFIG_USB_ETH_RNDIS=y
CONFIG_USB_GADGETFS=m
CONFIG_USB_FILE_STORAGE=m
# CONFIG_USB_FILE_STORAGE_TEST is not set
CONFIG_USB_G_SERIAL=m
# CONFIG_USB_MIDI_GADGET is not set
# CONFIG_USB_G_PRINTER is not set
CONFIG_USB_CDC_COMPOSITE=m
CONFIG_MMC=y
# CONFIG_MMC_DEBUG is not set
# CONFIG_MMC_UNSAFE_RESUME is not set

#
# MMC/SD/SDIO Card Drivers
#
CONFIG_MMC_BLOCK=y
CONFIG_MMC_BLOCK_BOUNCE=y
# CONFIG_SDIO_UART is not set
# CONFIG_MMC_TEST is not set

#
# MMC/SD/SDIO Host Controller Drivers
#
# CONFIG_MMC_SDHCI is not set
CONFIG_MMC_AT91=y
# CONFIG_MEMSTICK is not set
# CONFIG_ACCESSIBILITY is not set
# CONFIG_NEW_LEDS is not set
CONFIG_RTC_LIB=y
CONFIG_RTC_CLASS=y
CONFIG_RTC_HCTOSYS=y
CONFIG_RTC_HCTOSYS_DEVICE="rtc0"
# CONFIG_RTC_DEBUG is not set

#
# RTC interfaces
#
CONFIG_RTC_INTF_SYSFS=y
CONFIG_RTC_INTF_PROC=y
CONFIG_RTC_INTF_DEV=y
# CONFIG_RTC_INTF_DEV_UIE_EMUL is not set
# CONFIG_RTC_DRV_TEST is not set

#
# I2C RTC drivers
#
# CONFIG_RTC_DRV_DS1307 is not set
# CONFIG_RTC_DRV_DS1374 is not set
# CONFIG_RTC_DRV_DS1672 is not set
# CONFIG_RTC_DRV_MAX6900 is not set
# CONFIG_RTC_DRV_RS5C372 is not set
# CONFIG_RTC_DRV_ISL1208 is not set
# CONFIG_RTC_DRV_X1205 is not set
# CONFIG_RTC_DRV_PCF8563 is not set
# CONFIG_RTC_DRV_PCF8583 is not set
# CONFIG_RTC_DRV_M41T80 is not set
# CONFIG_RTC_DRV_S35390A is not set
# CONFIG_RTC_DRV_FM3130 is not set
# CONFIG_RTC_DRV_RX8581 is not set

#
# SPI RTC drivers
#

#
# Platform RTC drivers
#
# CONFIG_RTC_DRV_CMOS is not set
# CONFIG_RTC_DRV_DS1286 is not set
# CONFIG_RTC_DRV_DS1511 is not set
# CONFIG_RTC_DRV_DS1553 is not set
# CONFIG_RTC_DRV_DS1742 is not set
# CONFIG_RTC_DRV_STK17TA8 is not set
# CONFIG_RTC_DRV_M48T86 is not set
# CONFIG_RTC_DRV_M48T35 is not set
# CONFIG_RTC_DRV_M48T59 is not set
# CONFIG_RTC_DRV_BQ4802 is not set
# CONFIG_RTC_DRV_V3020 is not set

#
# on-CPU RTC drivers
#
CONFIG_RTC_DRV_AT91SAM9=y
CONFIG_RTC_DRV_AT91SAM9_RTT=0
CONFIG_RTC_DRV_AT91SAM9_GPBR=0
# CONFIG_DMADEVICES is not set
# CONFIG_REGULATOR is not set
# CONFIG_UIO is not set

#
# File systems
#
CONFIG_EXT2_FS=y
# CONFIG_EXT2_FS_XATTR is not set
# CONFIG_EXT2_FS_XIP is not set
CONFIG_EXT3_FS=y
# CONFIG_EXT3_FS_XATTR is not set
# CONFIG_EXT4_FS is not set
CONFIG_JBD=y
# CONFIG_REISERFS_FS is not set
# CONFIG_JFS_FS is not set
# CONFIG_FS_POSIX_ACL is not set
CONFIG_FILE_LOCKING=y
# CONFIG_XFS_FS is not set
# CONFIG_OCFS2_FS is not set
CONFIG_DNOTIFY=y
CONFIG_INOTIFY=y
CONFIG_INOTIFY_USER=y
# CONFIG_QUOTA is not set
# CONFIG_AUTOFS_FS is not set
# CONFIG_AUTOFS4_FS is not set
# CONFIG_FUSE_FS is not set

#
# CD-ROM/DVD Filesystems
#
# CONFIG_ISO9660_FS is not set
# CONFIG_UDF_FS is not set

#
# DOS/FAT/NT Filesystems
#
CONFIG_FAT_FS=y
CONFIG_MSDOS_FS=y
CONFIG_VFAT_FS=y
CONFIG_FAT_DEFAULT_CODEPAGE=437
CONFIG_FAT_DEFAULT_IOCHARSET="iso8859-1"
# CONFIG_NTFS_FS is not set

#
# Pseudo filesystems
#
CONFIG_PROC_FS=y
CONFIG_PROC_SYSCTL=y
CONFIG_PROC_PAGE_MONITOR=y
CONFIG_SYSFS=y
CONFIG_TMPFS=y
# CONFIG_TMPFS_POSIX_ACL is not set
# CONFIG_HUGETLB_PAGE is not set
# CONFIG_CONFIGFS_FS is not set

#
# Miscellaneous filesystems
#
# CONFIG_ADFS_FS is not set
# CONFIG_AFFS_FS is not set
# CONFIG_HFS_FS is not set
# CONFIG_HFSPLUS_FS is not set
# CONFIG_BEFS_FS is not set
# CONFIG_BFS_FS is not set
# CONFIG_EFS_FS is not set
CONFIG_JFFS2_FS=y
CONFIG_JFFS2_FS_DEBUG=0
CONFIG_JFFS2_FS_WRITEBUFFER=y
# CONFIG_JFFS2_FS_WBUF_VERIFY is not set
CONFIG_JFFS2_SUMMARY=y
# CONFIG_JFFS2_FS_XATTR is not set
# CONFIG_JFFS2_COMPRESSION_OPTIONS is not set
CONFIG_JFFS2_ZLIB=y
# CONFIG_JFFS2_LZO is not set
CONFIG_JFFS2_RTIME=y
# CONFIG_JFFS2_RUBIN is not set
CONFIG_CRAMFS=m
# CONFIG_VXFS_FS is not set
CONFIG_MINIX_FS=m
# CONFIG_OMFS_FS is not set
# CONFIG_HPFS_FS is not set
# CONFIG_QNX4FS_FS is not set
# CONFIG_ROMFS_FS is not set
# CONFIG_SYSV_FS is not set
# CONFIG_UFS_FS is not set
CONFIG_NETWORK_FILESYSTEMS=y
CONFIG_NFS_FS=y
CONFIG_NFS_V3=y
# CONFIG_NFS_V3_ACL is not set
# CONFIG_NFS_V4 is not set
CONFIG_ROOT_NFS=y
# CONFIG_NFSD is not set
CONFIG_LOCKD=y
CONFIG_LOCKD_V4=y
CONFIG_NFS_COMMON=y
CONFIG_SUNRPC=y
# CONFIG_SUNRPC_REGISTER_V4 is not set
# CONFIG_RPCSEC_GSS_KRB5 is not set
# CONFIG_RPCSEC_GSS_SPKM3 is not set
# CONFIG_SMB_FS is not set
# CONFIG_CIFS is not set
# CONFIG_NCP_FS is not set
# CONFIG_CODA_FS is not set
# CONFIG_AFS_FS is not set

#
# Partition Types
#
# CONFIG_PARTITION_ADVANCED is not set
CONFIG_MSDOS_PARTITION=y
CONFIG_NLS=y
CONFIG_NLS_DEFAULT="iso8859-1"
CONFIG_NLS_CODEPAGE_437=y
# CONFIG_NLS_CODEPAGE_737 is not set
# CONFIG_NLS_CODEPAGE_775 is not set
CONFIG_NLS_CODEPAGE_850=y
# CONFIG_NLS_CODEPAGE_852 is not set
# CONFIG_NLS_CODEPAGE_855 is not set
# CONFIG_NLS_CODEPAGE_857 is not set
# CONFIG_NLS_CODEPAGE_860 is not set
# CONFIG_NLS_CODEPAGE_861 is not set
# CONFIG_NLS_CODEPAGE_862 is not set
# CONFIG_NLS_CODEPAGE_863 is not set
# CONFIG_NLS_CODEPAGE_864 is not set
# CONFIG_NLS_CODEPAGE_865 is not set
# CONFIG_NLS_CODEPAGE_866 is not set
# CONFIG_NLS_CODEPAGE_869 is not set
# CONFIG_NLS_CODEPAGE_936 is not set
# CONFIG_NLS_CODEPAGE_950 is not set
# CONFIG_NLS_CODEPAGE_932 is not set
# CONFIG_NLS_CODEPAGE_949 is not set
# CONFIG_NLS_CODEPAGE_874 is not set
# CONFIG_NLS_ISO8859_8 is not set
# CONFIG_NLS_CODEPAGE_1250 is not set
# CONFIG_NLS_CODEPAGE_1251 is not set
CONFIG_NLS_ASCII=y
CONFIG_NLS_ISO8859_1=y
# CONFIG_NLS_ISO8859_2 is not set
# CONFIG_NLS_ISO8859_3 is not set
# CONFIG_NLS_ISO8859_4 is not set
# CONFIG_NLS_ISO8859_5 is not set
# CONFIG_NLS_ISO8859_6 is not set
# CONFIG_NLS_ISO8859_7 is not set
# CONFIG_NLS_ISO8859_9 is not set
# CONFIG_NLS_ISO8859_13 is not set
# CONFIG_NLS_ISO8859_14 is not set
CONFIG_NLS_ISO8859_15=y
# CONFIG_NLS_KOI8_R is not set
# CONFIG_NLS_KOI8_U is not set
CONFIG_NLS_UTF8=y
# CONFIG_DLM is not set

#
# Kernel hacking
#
# CONFIG_PRINTK_TIME is not set
CONFIG_ENABLE_WARN_DEPRECATED=y
CONFIG_ENABLE_MUST_CHECK=y
CONFIG_FRAME_WARN=1024
# CONFIG_MAGIC_SYSRQ is not set
# CONFIG_UNUSED_SYMBOLS is not set
# CONFIG_DEBUG_FS is not set
# CONFIG_HEADERS_CHECK is not set
CONFIG_IPIPE_DEBUG=y
CONFIG_IPIPE_DEBUG_CONTEXT=y
# CONFIG_IPIPE_TRACE is not set
CONFIG_DEBUG_KERNEL=y
# CONFIG_DEBUG_SHIRQ is not set
CONFIG_DETECT_SOFTLOCKUP=y
# CONFIG_BOOTPARAM_SOFTLOCKUP_PANIC is not set
CONFIG_BOOTPARAM_SOFTLOCKUP_PANIC_VALUE=0
CONFIG_SCHED_DEBUG=y
# CONFIG_SCHEDSTATS is not set
# CONFIG_TIMER_STATS is not set
# CONFIG_DEBUG_OBJECTS is not set
# CONFIG_DEBUG_SLAB is not set
CONFIG_DEBUG_PREEMPT=y
# CONFIG_DEBUG_RT_MUTEXES is not set
# CONFIG_RT_MUTEX_TESTER is not set
# CONFIG_DEBUG_SPINLOCK is not set
# CONFIG_DEBUG_MUTEXES is not set
# CONFIG_DEBUG_LOCK_ALLOC is not set
# CONFIG_PROVE_LOCKING is not set
# CONFIG_LOCK_STAT is not set
# CONFIG_DEBUG_SPINLOCK_SLEEP is not set
# CONFIG_DEBUG_LOCKING_API_SELFTESTS is not set
# CONFIG_DEBUG_KOBJECT is not set
# CONFIG_DEBUG_BUGVERBOSE is not set
# CONFIG_DEBUG_INFO is not set
CONFIG_DEBUG_VM=y
# CONFIG_DEBUG_WRITECOUNT is not set
# CONFIG_DEBUG_MEMORY_INIT is not set
# CONFIG_DEBUG_LIST is not set
# CONFIG_DEBUG_SG is not set
CONFIG_FRAME_POINTER=y
# CONFIG_BOOT_PRINTK_DELAY is not set
# CONFIG_RCU_TORTURE_TEST is not set
# CONFIG_RCU_CPU_STALL_DETECTOR is not set
# CONFIG_BACKTRACE_SELF_TEST is not set
# CONFIG_DEBUG_BLOCK_EXT_DEVT is not set
# CONFIG_FAULT_INJECTION is not set
# CONFIG_LATENCYTOP is not set
# CONFIG_SYSCTL_SYSCALL_CHECK is not set
CONFIG_HAVE_FUNCTION_TRACER=y

#
# Tracers
#
# CONFIG_FUNCTION_TRACER is not set
# CONFIG_IRQSOFF_TRACER is not set
# CONFIG_PREEMPT_TRACER is not set
# CONFIG_SCHED_TRACER is not set
# CONFIG_CONTEXT_SWITCH_TRACER is not set
# CONFIG_BOOT_TRACER is not set
# CONFIG_STACK_TRACER is not set
# CONFIG_DYNAMIC_PRINTK_DEBUG is not set
# CONFIG_SAMPLES is not set
CONFIG_HAVE_ARCH_KGDB=y
# CONFIG_KGDB is not set
CONFIG_DEBUG_USER=y
# CONFIG_DEBUG_ERRORS is not set
# CONFIG_DEBUG_STACK_USAGE is not set
# CONFIG_DEBUG_LL is not set

#
# Security options
#
# CONFIG_KEYS is not set
# CONFIG_SECURITY is not set
# CONFIG_SECURITYFS is not set
# CONFIG_SECURITY_FILE_CAPABILITIES is not set
CONFIG_CRYPTO=y

#
# Crypto core or helper
#
# CONFIG_CRYPTO_FIPS is not set
CONFIG_CRYPTO_ALGAPI=m
CONFIG_CRYPTO_ALGAPI2=m
CONFIG_CRYPTO_AEAD2=m
CONFIG_CRYPTO_BLKCIPHER=m
CONFIG_CRYPTO_BLKCIPHER2=m
CONFIG_CRYPTO_HASH2=m
CONFIG_CRYPTO_RNG2=m
CONFIG_CRYPTO_MANAGER=m
CONFIG_CRYPTO_MANAGER2=m
# CONFIG_CRYPTO_GF128MUL is not set
# CONFIG_CRYPTO_NULL is not set
# CONFIG_CRYPTO_CRYPTD is not set
# CONFIG_CRYPTO_AUTHENC is not set
# CONFIG_CRYPTO_TEST is not set

#
# Authenticated Encryption with Associated Data
#
# CONFIG_CRYPTO_CCM is not set
# CONFIG_CRYPTO_GCM is not set
# CONFIG_CRYPTO_SEQIV is not set

#
# Block modes
#
# CONFIG_CRYPTO_CBC is not set
# CONFIG_CRYPTO_CTR is not set
# CONFIG_CRYPTO_CTS is not set
CONFIG_CRYPTO_ECB=m
# CONFIG_CRYPTO_LRW is not set
# CONFIG_CRYPTO_PCBC is not set
# CONFIG_CRYPTO_XTS is not set

#
# Hash modes
#
# CONFIG_CRYPTO_HMAC is not set
# CONFIG_CRYPTO_XCBC is not set

#
# Digest
#
# CONFIG_CRYPTO_CRC32C is not set
# CONFIG_CRYPTO_MD4 is not set
# CONFIG_CRYPTO_MD5 is not set
# CONFIG_CRYPTO_MICHAEL_MIC is not set
# CONFIG_CRYPTO_RMD128 is not set
# CONFIG_CRYPTO_RMD160 is not set
# CONFIG_CRYPTO_RMD256 is not set
# CONFIG_CRYPTO_RMD320 is not set
CONFIG_CRYPTO_SHA1=m
# CONFIG_CRYPTO_SHA256 is not set
# CONFIG_CRYPTO_SHA512 is not set
# CONFIG_CRYPTO_TGR192 is not set
# CONFIG_CRYPTO_WP512 is not set

#
# Ciphers
#
# CONFIG_CRYPTO_AES is not set
# CONFIG_CRYPTO_ANUBIS is not set
CONFIG_CRYPTO_ARC4=m
# CONFIG_CRYPTO_BLOWFISH is not set
# CONFIG_CRYPTO_CAMELLIA is not set
# CONFIG_CRYPTO_CAST5 is not set
# CONFIG_CRYPTO_CAST6 is not set
# CONFIG_CRYPTO_DES is not set
# CONFIG_CRYPTO_FCRYPT is not set
# CONFIG_CRYPTO_KHAZAD is not set
# CONFIG_CRYPTO_SALSA20 is not set
# CONFIG_CRYPTO_SEED is not set
# CONFIG_CRYPTO_SERPENT is not set
# CONFIG_CRYPTO_TEA is not set
# CONFIG_CRYPTO_TWOFISH is not set

#
# Compression
#
# CONFIG_CRYPTO_DEFLATE is not set
# CONFIG_CRYPTO_LZO is not set

#
# Random Number Generation
#
# CONFIG_CRYPTO_ANSI_CPRNG is not set
# CONFIG_CRYPTO_HW is not set

#
# Library routines
#
CONFIG_BITREVERSE=y
CONFIG_CRC_CCITT=m
# CONFIG_CRC16 is not set
# CONFIG_CRC_T10DIF is not set
# CONFIG_CRC_ITU_T is not set
CONFIG_CRC32=y
# CONFIG_CRC7 is not set
# CONFIG_LIBCRC32C is not set
CONFIG_ZLIB_INFLATE=y
CONFIG_ZLIB_DEFLATE=y
CONFIG_PLIST=y
CONFIG_HAS_IOMEM=y
CONFIG_HAS_IOPORT=y
CONFIG_HAS_DMA=y

Re: [Xenomai-help] rt_task_sleep causing crashes on PowerPC

[Gilles Chanteperdrix]

Abhijit Majumdar wrote:
> Hi Gilles
> 
> I attached the kernel configuration.
> 
> Actually I sent whatever error message I saw in the console. However
> next couple of times I saw different error messages.
> 
> One time I saw --
> 
> WARNING: at
> /home/travis/projects/customers/pivotal_systems/workspace/linux-2.6.28-x
> enomai-pivotal/kernel/sched.c:4382 add_preempt_count+0x84
> /0x98()
> Unable to handle kernel NULL pointer dereference at virtual address
> 0000000c
> 
> 
> Another time ---
> 
> Xenomai: fatal: zombie thread ROOT (c03a0d10) would not die...
>  CPU  PID    PRI      TIMEOUT  STAT      NAME
>>  0  0       -1      0        00400080  ROOT
>    0  971      0      0        00200380  sleep_test
>    0  972     90      0        00200188  sleep_test
> Master time base: clock=91270892

Apparently, I have not made myself clear, so, I am going to try again.

So, from your configuration, I see that the ARM you are using is an
AT91SAM9G20.

First, try Xenomai 2.5.3 to see if you still get the bug.

If you still get the bug, then include in your full report the full
serial console log, from the boot up to the bug.

-- 
					    Gilles.