[Xenomai-help] build xenomai userspace app, illegal instruction

[Xenomai-help] build xenomai userspace app, illegal instruction

[Koenig, Florian]

Hi,
i have a powerpc 405GP without FPU and want to build a xenomai application. I
installed and setup eldk-4.2 for ppc_4xx,  to have a cross toolchain on my
x86 computer. After that, i patched the linux-2.6.36 kernel with

scripts/prepare-kernel.sh --linux=/usr/src/linux-2.6.36/
--adeos=ksrc/arch/powerpc/patches/adeos-ipipe-2.6.36-powerpc-2.12-03.patch

Then i configured and build the kernel. I tested the kernel on the cpu, and
it runs well.
Now i switched into the xenomai directory and to build the user-space
support, i called:

./configure --host=ppc-linux CFLAGS="-msoft-float" LDFLAGS="-msoft-float"
;make;make install

This builds without any errors. Now i simply try to build the hello_world
example from http://www.cs.ru.nl/lab/xenomai/exercises/ex01/Exercise-1.html
with:

powerpc-linux-gcc -msoft-float -L/usr/xenomai/lib -lnative -lxenomai
-lpthread_rt -lrtdk -I/usr/xenomai/include -o test test.c

The build of the test app is without any errors, but when i run it on the
405GP cpu (which has no FPU) it returns: ILLEGAL INSTRUCTION. If i look at
/proc/xenomai/faults there are only zero´s.

I know i need soft-float for this cpu, but i think a got everything correctly
setup/build, or?

After reading and doing, i found in the xenomai directory a file called
scripts/defconfig.frag, where the last line is:

CONFIG_XENO_HW_FPU=y

Now i dont know, what the file defconfig.frag is for, and why is there
hardware fpu set to yes?

Thanks for help

florian


----------------------------------------------------------------------------------------------------------------------------
Omicron NanoTechnology GmbH
Limburger Str. 75
65232 Taunusstein, GERMANY 
Registration: HRB Nr.: 16116, Amtsgericht Wiesbaden, VAT no. DE111361420
Geschäftsführer / Managing Director: Norbert Nold               www.omicron.de 

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Wolfgang Grandegger]

On 05/13/2011 02:46 PM, Koenig, Florian wrote:
> Hi,
> i have a powerpc 405GP without FPU and want to build a xenomai application. I
> installed and setup eldk-4.2 for ppc_4xx,  to have a cross toolchain on my
> x86 computer. After that, i patched the linux-2.6.36 kernel with
> 
> scripts/prepare-kernel.sh --linux=/usr/src/linux-2.6.36/
> --adeos=ksrc/arch/powerpc/patches/adeos-ipipe-2.6.36-powerpc-2.12-03.patch
> 
> Then i configured and build the kernel. I tested the kernel on the cpu, and
> it runs well.
> Now i switched into the xenomai directory and to build the user-space
> support, i called:
> 
> ./configure --host=ppc-linux CFLAGS="-msoft-float" LDFLAGS="-msoft-float"
> ;make;make install

Please just use:

 $ ./configure --host=powerpc-linux --prefix=/usr/xenomai-2.5

The toolchain knows that it has to use -msoft-float. Next you need to
build and *install* the user-space libs, tools, etc.:

  $ make
  $ export DESTDIR=/opt/eldk-4.2/ppc_4xx
  $ make install

> This builds without any errors. Now i simply try to build the hello_world
> example from http://www.cs.ru.nl/lab/xenomai/exercises/ex01/Exercise-1.html
> with:
> 
> powerpc-linux-gcc -msoft-float -L/usr/xenomai/lib -lnative -lxenomai
> -lpthread_rt -lrtdk -I/usr/xenomai/include -o test test.c

Then you should be able to compile that program with

  $ ${CROSS_COMPILE}gcc -o test test.c
`$DESTDIR//usr/xenomai-2.5/bin/xeno-config --skin native --cflags
--ldflags` -lrtdk

Can't tell if that example is OK, though. The one coming with the
Xenomai tree in "examples" are known to work.

> The build of the test app is without any errors, but when i run it on the
> 405GP cpu (which has no FPU) it returns: ILLEGAL INSTRUCTION. If i look at
> /proc/xenomai/faults there are only zero´s.
> 
> I know i need soft-float for this cpu, but i think a got everything correctly
> setup/build, or?

See above.

> After reading and doing, i found in the xenomai directory a file called
> scripts/defconfig.frag, where the last line is:
> 
> CONFIG_XENO_HW_FPU=y
> 
> Now i dont know, what the file defconfig.frag is for, and why is there
> hardware fpu set to yes?

I think you can switch that option off.

Wolfgang.

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Koenig, Florian]

Hi,

i installed eldk into /opt/eldk-4.2, then i installed (make install) xenomai
user-space into /opt/eldk-4.2/ppc_4xx .

Now when i try to build the xenomai examples with

$ make XENO=/opt/eldk-4.2/usr/xenomai-2.5.6/bin

It uses /lib/modules/2.6.32-5-686 from the local kernel, so i used

$ make XENO=/opt/eldk-4.2/usr/xenomai-2.5.6/bin KSRC=/usr/src/linux-2.6.36

But then it returns:
make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/native'
powerpc-linux-gcc -I/usr/xenomai-2.5.6/include -D_GNU_SOURCE -D_REENTRANT
-Wall -pipe -D__XENO__   -L/usr/xenomai-2.5.6/lib -lxenomai -lpthread
-lnative -Xlinker -rpath -Xlinker /usr/xenomai-2.5.6/lib  trivial-periodic.c
-o trivial-periodic
trivial-periodic.c: In function 'main':
trivial-periodic.c:72: warning: control reaches end of non-void function

When i now use trivial-periodic on the 405GP cpu, it also returns: illegal
instruction

When i try to build the hello_world app with your command it returns:

powerpc-linux-gcc -o test test.c
'XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai-2.5.6/bin/xeno-config --skin native
--cflags --ldflags' -lrtdk
powerpc-linux-gcc:
XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai-2.5.6/bin/xeno-config --skin native
--cflags --ldflags: No such file or directory

Why is xenomai using local /lib/modules/2.6.32-5-686 directory ? what do i
wrong with xenomai userspace part ?


Thanks for help
Florian





> This builds without any errors. Now i simply try to build the hello_world
> example from http://www.cs.ru.nl/lab/xenomai/exercises/ex01/Exercise-1.html
> with:
> 
> powerpc-linux-gcc -msoft-float -L/usr/xenomai/lib -lnative -lxenomai
> -lpthread_rt -lrtdk -I/usr/xenomai/include -o test test.c

Then you should be able to compile that program with

  $ ${CROSS_COMPILE}gcc -o test test.c
`$DESTDIR//usr/xenomai-2.5/bin/xeno-config --skin native --cflags
--ldflags` -lrtdk

Can't tell if that example is OK, though. The one coming with the
Xenomai tree in "examples" are known to work.

> The build of the test app is without any errors, but when i run it on the
> 405GP cpu (which has no FPU) it returns: ILLEGAL INSTRUCTION. If i look at
> /proc/xenomai/faults there are only zero´s.
> 
> I know i need soft-float for this cpu, but i think a got everything
correctly
> setup/build, or?

See above.

> After reading and doing, i found in the xenomai directory a file called
> scripts/defconfig.frag, where the last line is:
> 
> CONFIG_XENO_HW_FPU=y
> 
> Now i dont know, what the file defconfig.frag is for, and why is there
> hardware fpu set to yes?

I think you can switch that option off.

Wolfgang.

----------------------------------------------------------------------------------------------------------------------------
Omicron NanoTechnology GmbH
Limburger Str. 75
65232 Taunusstein, GERMANY 
Registration: HRB Nr.: 16116, Amtsgericht Wiesbaden, VAT no. DE111361420
Geschäftsführer / Managing Director: Norbert Nold               www.omicron.de 

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Wolfgang Grandegger]

On 05/16/2011 12:23 PM, Koenig, Florian wrote:
> Hi,
> 
> i installed eldk into /opt/eldk-4.2, then i installed (make install) xenomai
> user-space into /opt/eldk-4.2/ppc_4xx .
> 
> Now when i try to build the xenomai examples with
> 
> $ make XENO=/opt/eldk-4.2/usr/xenomai-2.5.6/bin
> 
> It uses /lib/modules/2.6.32-5-686 from the local kernel, so i used
> 
> $ make XENO=/opt/eldk-4.2/usr/xenomai-2.5.6/bin KSRC=/usr/src/linux-2.6.36

For building kernel space modules you need to specifiy KSRC as well, but
not for user space apps.

> But then it returns:
> make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/native'
> powerpc-linux-gcc -I/usr/xenomai-2.5.6/include -D_GNU_SOURCE -D_REENTRANT
> -Wall -pipe -D__XENO__   -L/usr/xenomai-2.5.6/lib -lxenomai -lpthread
> -lnative -Xlinker -rpath -Xlinker /usr/xenomai-2.5.6/lib  trivial-periodic.c
> -o trivial-periodic
> trivial-periodic.c: In function 'main':
> trivial-periodic.c:72: warning: control reaches end of non-void function

I think you didn't specify DESTDIR? Or did you install xenomai-2.5.6
into /usr ? Normally you do:

  cd xenomai-2.5.6
  ./configure --host=powerpc-linux --prefix=/usr/xenomai
  make
  export DESTDIR=/opt/eldk/ppc_4xx
  make install

You also need the DESTDIR for building your apps.

> When i now use trivial-periodic on the 405GP cpu, it also returns: illegal
> instruction
> 
> When i try to build the hello_world app with your command it returns:
> 
> powerpc-linux-gcc -o test test.c
> 'XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai-2.5.6/bin/xeno-config --skin native
> --cflags --ldflags' -lrtdk
> powerpc-linux-gcc:
> XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai-2.5.6/bin/xeno-config --skin native
> --cflags --ldflags: No such file or directory
> 
> Why is xenomai using local /lib/modules/2.6.32-5-686 directory ? what do i
> wrong with xenomai userspace part ?

See above? Hope it helps.

Wolfgang.

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Wolfgang Grandegger]

On 05/16/2011 12:56 PM, Wolfgang Grandegger wrote:
> On 05/16/2011 12:23 PM, Koenig, Florian wrote:
>> Hi,
>>
>> i installed eldk into /opt/eldk-4.2, then i installed (make install) xenomai
>> user-space into /opt/eldk-4.2/ppc_4xx .
>>
>> Now when i try to build the xenomai examples with
>>
>> $ make XENO=/opt/eldk-4.2/usr/xenomai-2.5.6/bin
>>
>> It uses /lib/modules/2.6.32-5-686 from the local kernel, so i used
>>
>> $ make XENO=/opt/eldk-4.2/usr/xenomai-2.5.6/bin KSRC=/usr/src/linux-2.6.36
> 
> For building kernel space modules you need to specifiy KSRC as well, but
> not for user space apps.
> 
>> But then it returns:
>> make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/native'
>> powerpc-linux-gcc -I/usr/xenomai-2.5.6/include -D_GNU_SOURCE -D_REENTRANT
>> -Wall -pipe -D__XENO__   -L/usr/xenomai-2.5.6/lib -lxenomai -lpthread
>> -lnative -Xlinker -rpath -Xlinker /usr/xenomai-2.5.6/lib  trivial-periodic.c
>> -o trivial-periodic
>> trivial-periodic.c: In function 'main':
>> trivial-periodic.c:72: warning: control reaches end of non-void function
> 
> I think you didn't specify DESTDIR? Or did you install xenomai-2.5.6
> into /usr ? Normally you do:
> 
>   cd xenomai-2.5.6
>   ./configure --host=powerpc-linux --prefix=/usr/xenomai
>   make
>   export DESTDIR=/opt/eldk/ppc_4xx
>   make install
> 
> You also need the DESTDIR for building your apps.
> 
>> When i now use trivial-periodic on the 405GP cpu, it also returns: illegal
>> instruction
>>
>> When i try to build the hello_world app with your command it returns:
>>
>> powerpc-linux-gcc -o test test.c
>> 'XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai-2.5.6/bin/xeno-config --skin native
>> --cflags --ldflags' -lrtdk
>> powerpc-linux-gcc:
>> XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai-2.5.6/bin/xeno-config --skin native
>> --cflags --ldflags: No such file or directory
>>
>> Why is xenomai using local /lib/modules/2.6.32-5-686 directory ? what do i
>> wrong with xenomai userspace part ?
> 
> See above? Hope it helps.

Just to be sure. The installed Xenomai programs from the test suite like
"latency" or "cyclictest" do work fine, right?

Wolfgang.

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Koenig, Florian]

Hi,
i started from new and have done the following:


i deleted /opt/eldk-4.2 and installed it new with:
$ ./install -d /opt/eldk-4.2 ppc_4xx

Then i setup env-vars and goto /usr/src/xenomai-2.5.6:
$ export ARCH=powerpc
$ export DESTDIR=/opt/eldk-4.2/ppc_4xx
$ export PATH=$PATH:/opt/eldk-4.2/usr/bin:/opt/eldk-4.2/bin

Then i configured xenomai userspace with:
$ ./configure --host=powerpc-linux      (without --prefix=)
$ make
$ make install

Then i goto /usr/src/xenomai/examples and run:
$ make XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai/bin

And then it returns, where it searches for includes in
-I/lib/modules/2.6.32-5-686/build/include/xenomai/posix
Which is my local x86 kernel, not the powerpc kernel?


make XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai/
--xeno-cflags is deprecated, use --skin=name --cflags instead --xeno-ldflags
is deprecated, use --skin=name --ldflags instead
make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/rtdm/driver-api'
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__   -L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
-lxenomai -lpthread  -lnative -lrtdm -Xlinker -rpath -Xlinker
/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib  tut01-skeleton-app.c   -o
tut01-skeleton-app
tut01-skeleton-app.c:54: warning: second argument of 'main' should be 'char
**'
--xeno-cflags is deprecated, use --skin=name --cflags instead --xeno-ldflags
is deprecated, use --skin=name --ldflags instead
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__   -L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
-lxenomai -lpthread  -lnative -lrtdm -Xlinker -rpath -Xlinker
/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib  tut02-skeleton-app.c   -o
tut02-skeleton-app
make -C /lib/modules/2.6.32-5-686/build
SUBDIRS=/usr/src/xenomai-2.5.6/examples/rtdm/driver-api modules
make: Entering an unknown directory
make: *** /lib/modules/2.6.32-5-686/build: Datei oder Verzeichnis nicht
gefunden.  Schluss.
make: Leaving an unknown directory
make[1]: *** [all] Fehler 2
make[1]: Leaving directory `/usr/src/xenomai-2.5.6/examples/rtdm/driver-api'
--xeno-cflags is deprecated, use --skin=name --cflags instead --xeno-ldflags
is deprecated, use --skin=name --ldflags instead
make[1]: Entering directory
`/usr/src/xenomai-2.5.6/examples/rtdm/profiles/serial'
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__   -L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
-lxenomai -lpthread  -lnative -lrtdm -Xlinker -rpath -Xlinker
/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib  cross-link.c   -o cross-link
make[1]: Leaving directory
`/usr/src/xenomai-2.5.6/examples/rtdm/profiles/serial'
--posix-cflags is deprecated, use --skin=posix --cflags instead
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
make[1]: Entering directory
`/usr/src/xenomai-2.5.6/examples/rtdm/profiles/can'
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-lrtdm -Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
rtcan_rtt.c   -o rtcan_rtt
make[1]: Leaving directory
`/usr/src/xenomai-2.5.6/examples/rtdm/profiles/can'
--posix-cflags is deprecated, use --skin=posix --cflags instead
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
make[1]: Entering directory
`/usr/src/xenomai-2.5.6/examples/rtdm/profiles/ipc'
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-lrtdm -lrtdk -Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
xddp-echo.c   -o xddp-echo
--posix-cflags is deprecated, use --skin=posix --cflags instead
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-lrtdm -lrtdk -Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
xddp-label.c   -o xddp-label
xddp-label.c: In function 'realtime_thread1':
xddp-label.c:99: warning: unused variable 'len'
xddp-label.c: In function 'realtime_thread2':
xddp-label.c:161: warning: unused variable 'buf'
--posix-cflags is deprecated, use --skin=posix --cflags instead
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-lrtdm -lrtdk -Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
xddp-stream.c   -o xddp-stream
--posix-cflags is deprecated, use --skin=posix --cflags instead
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-lrtdm -lrtdk -Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
iddp-sendrecv.c   -o iddp-sendrecv
iddp-sendrecv.c: In function 'client':
iddp-sendrecv.c:103: warning: unused variable 'buf'
--posix-cflags is deprecated, use --skin=posix --cflags instead
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-lrtdm -lrtdk -Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
iddp-label.c   -o iddp-label
iddp-label.c: In function 'client':
iddp-label.c:124: warning: unused variable 'buf'
--posix-cflags is deprecated, use --skin=posix --cflags instead
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-lrtdm -lrtdk -Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
bufp-readwrite.c   -o bufp-readwrite
bufp-readwrite.c: In function 'client':
bufp-readwrite.c:97: warning: unused variable 'buf'
--posix-cflags is deprecated, use --skin=posix --cflags instead
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-lrtdm -lrtdk -Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
bufp-label.c   -o bufp-label
bufp-label.c: In function 'client':
bufp-label.c:119: warning: unused variable 'buf'
make[1]: Leaving directory
`/usr/src/xenomai-2.5.6/examples/rtdm/profiles/ipc'
--xeno-cflags is deprecated, use --skin=name --cflags instead --xeno-ldflags
is deprecated, use --skin=name --ldflags instead
make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/native'
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__   -L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
-lxenomai -lpthread  -lnative -Xlinker -rpath -Xlinker
/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib  trivial-periodic.c   -o
trivial-periodic
trivial-periodic.c: In function 'main':
trivial-periodic.c:72: warning: control reaches end of non-void function
--xeno-cflags is deprecated, use --skin=name --cflags instead --xeno-ldflags
is deprecated, use --skin=name --ldflags instead
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__   -L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
-lxenomai -lpthread  -lnative -Xlinker -rpath -Xlinker
/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib  sigdebug.c   -o sigdebug
--xeno-cflags is deprecated, use --skin=name --cflags instead --xeno-ldflags
is deprecated, use --skin=name --ldflags instead powerpc-linux-gcc
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -Wall
-pipe -D__XENO__  rtprint.c -L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lxenomai
-lpthread  -lnative -Xlinker -rpath -Xlinker
/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lrtdk -o rtprint
make[1]: Leaving directory `/usr/src/xenomai-2.5.6/examples/native'
--xeno-cflags is deprecated, use --skin=name --cflags instead --xeno-ldflags
is deprecated, use --skin=name --ldflags instead
make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/common'
powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
-D_REENTRANT -Wall -pipe -D__XENO__   -L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
-lxenomai -lpthread  -O -Xlinker -rpath -Xlinker
/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib  hw_direct_io.c   -o hw_direct_io
In file included from hw_direct_io.c:23:
/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix/pthread.h:469: warning:
'struct sched_param_ex' declared inside parameter list
/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix/pthread.h:469: warning: its
scope is only this definition or declaration, which is probably not what you
want
/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix/pthread.h:473: warning:
'struct sched_param_ex' declared inside parameter list
make[1]: Leaving directory `/usr/src/xenomai-2.5.6/examples/common'
sed: kann /lib/modules/2.6.32-5-686/build/Makefile nicht lesen: Datei oder
Verzeichnis nicht gefunden --posix-cflags is deprecated, use --skin=posix
--cflags instead
make: *** /lib/modules/2.6.32-5-686/build: Datei oder Verzeichnis nicht
gefunden.  Schluss.
--posix-ldflags is deprecated, use --skin=posix --ldflags instead
make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/posix'
powerpc-linux-gcc -DCONSUMER -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include
-D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-I/lib/modules/2.6.32-5-686/build/include/xenomai
-I/lib/modules/2.6.32-5-686/build/include/xenomai/compat
-I/lib/modules/2.6.32-5-686/build/include/xenomai/posix
-Wl,@/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib/posix.wrappers
-L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt
-Xlinker -rpath -Xlinker /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib  satch.c   -o
satch
--posix-cflags is deprecated, use --skin=posix --cflags instead
make: *** /lib/modules/2.6.32-5-686/build: Datei oder Verzeichnis nicht
gefunden.  Schluss.
powerpc-linux-gcc -DCONSUMER -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include
-D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__
-I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include/posix
-I/lib/modules/2.6.32-5-686/build/include/xenomai
-I/lib/modules/2.6.32-5-686/build/include/xenomai/compat
-I/lib/modules/2.6.32-5-686/build/include/xenomai/posix   -c -o satch.o
satch.c
make[1]: Leaving directory `/usr/src/xenomai-2.5.6/examples/posix'


After copying trivial-periodic to 405GP cpu, it returns illegal instruction.



Is /opt/eldk-4.2 meant to be the rootfs of the 405GP cpu ? I use a initramfs,
which is placed in /usr/src/initramfs, so i only copy the xenomai lib/ folder
from /opt/eldk-4.2/ppc_4xx/lib into my initramfs/lib folder.

Florian



-----Ursprüngliche Nachricht-----
Von: Wolfgang Grandegger [mailto:wg@domain.hid
Gesendet: Montag, 16. Mai 2011 13:17
An: Koenig, Florian
Cc: xenomai@xenomai.org
Betreff: Re: [Xenomai-help] build xenomai userspace app, illegal instruction

On 05/16/2011 12:56 PM, Wolfgang Grandegger wrote:
> On 05/16/2011 12:23 PM, Koenig, Florian wrote:
>> Hi,
>>
>> i installed eldk into /opt/eldk-4.2, then i installed (make install)
xenomai
>> user-space into /opt/eldk-4.2/ppc_4xx .
>>
>> Now when i try to build the xenomai examples with
>>
>> $ make XENO=/opt/eldk-4.2/usr/xenomai-2.5.6/bin
>>
>> It uses /lib/modules/2.6.32-5-686 from the local kernel, so i used
>>
>> $ make XENO=/opt/eldk-4.2/usr/xenomai-2.5.6/bin KSRC=/usr/src/linux-2.6.36
> 
> For building kernel space modules you need to specifiy KSRC as well, but
> not for user space apps.
> 
>> But then it returns:
>> make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/native'
>> powerpc-linux-gcc -I/usr/xenomai-2.5.6/include -D_GNU_SOURCE -D_REENTRANT
>> -Wall -pipe -D__XENO__   -L/usr/xenomai-2.5.6/lib -lxenomai -lpthread
>> -lnative -Xlinker -rpath -Xlinker /usr/xenomai-2.5.6/lib
trivial-periodic.c
>> -o trivial-periodic
>> trivial-periodic.c: In function 'main':
>> trivial-periodic.c:72: warning: control reaches end of non-void function
> 
> I think you didn't specify DESTDIR? Or did you install xenomai-2.5.6
> into /usr ? Normally you do:
> 
>   cd xenomai-2.5.6
>   ./configure --host=powerpc-linux --prefix=/usr/xenomai
>   make
>   export DESTDIR=/opt/eldk/ppc_4xx
>   make install
> 
> You also need the DESTDIR for building your apps.
> 
>> When i now use trivial-periodic on the 405GP cpu, it also returns: illegal
>> instruction
>>
>> When i try to build the hello_world app with your command it returns:
>>
>> powerpc-linux-gcc -o test test.c
>> 'XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai-2.5.6/bin/xeno-config --skin
native
>> --cflags --ldflags' -lrtdk
>> powerpc-linux-gcc:
>> XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai-2.5.6/bin/xeno-config --skin native
>> --cflags --ldflags: No such file or directory
>>
>> Why is xenomai using local /lib/modules/2.6.32-5-686 directory ? what do i
>> wrong with xenomai userspace part ?
> 
> See above? Hope it helps.

Just to be sure. The installed Xenomai programs from the test suite like
"latency" or "cyclictest" do work fine, right?

Wolfgang.

----------------------------------------------------------------------------------------------------------------------------
Omicron NanoTechnology GmbH
Limburger Str. 75
65232 Taunusstein, GERMANY 
Registration: HRB Nr.: 16116, Amtsgericht Wiesbaden, VAT no. DE111361420
Geschäftsführer / Managing Director: Norbert Nold               www.omicron.de 

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Wolfgang Grandegger]

Hello,

On 05/16/2011 03:27 PM, Koenig, Florian wrote:
> Hi,
> i started from new and have done the following:
> 
> 
> i deleted /opt/eldk-4.2 and installed it new with:
> $ ./install -d /opt/eldk-4.2 ppc_4xx

BTW: also be aware of ELDK_FIXOWER and ELDK_MAKEDEV.b

> Then i setup env-vars and goto /usr/src/xenomai-2.5.6:
> $ export ARCH=powerpc
> $ export DESTDIR=/opt/eldk-4.2/ppc_4xx
> $ export PATH=$PATH:/opt/eldk-4.2/usr/bin:/opt/eldk-4.2/bin
> 
> Then i configured xenomai userspace with:
> $ ./configure --host=powerpc-linux      (without --prefix=)
> $ make
> $ make install
> 
> Then i goto /usr/src/xenomai/examples and run:
> $ make XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai/bin
> 
> And then it returns, where it searches for includes in
> -I/lib/modules/2.6.32-5-686/build/include/xenomai/posix
> Which is my local x86 kernel, not the powerpc kernel?

The kernel is used just for build Xenomai kernel modules. For
cross-compilation you must provide "KSRC=<path-to-your-kernel>. But it's
*not* used for building user-space apps.

> make XENO=/opt/eldk-4.2/ppc_4xx/usr/xenomai/
> --xeno-cflags is deprecated, use --skin=name --cflags instead --xeno-ldflags
> is deprecated, use --skin=name --ldflags instead
> make[1]: Entering directory `/usr/src/xenomai-2.5.6/examples/rtdm/driver-api'
> powerpc-linux-gcc -I/opt/eldk-4.2/ppc_4xx/usr/xenomai/include -D_GNU_SOURCE
> -D_REENTRANT -Wall -pipe -D__XENO__   -L/opt/eldk-4.2/ppc_4xx/usr/xenomai/lib
> -lxenomai -lpthread  -lnative -lrtdm -Xlinker -rpath -Xlinker
> /opt/eldk-4.2/ppc_4xx/usr/xenomai/lib  tut01-skeleton-app.c   -o
> tut01-skeleton-app
> tut01-skeleton-app.c:54: warning: second argument of 'main' should be 'char
> **'

Looks good now. The path is pointing to the Xenomai installation dir:
/opt/eldk-4.2/ppc_4xx/usr/xenomai/

> After copying trivial-periodic to 405GP cpu, it returns illegal instruction.

Hm, in a previous mail I asked if the installed Xenomai programs from
the test suite like "latency" or "cyclictest" do work. Is that the case?
If not, it's most likely not a build problem.

> Is /opt/eldk-4.2 meant to be the rootfs of the 405GP cpu ? I use a initramfs,
> which is placed in /usr/src/initramfs, so i only copy the xenomai lib/ folder
> from /opt/eldk-4.2/ppc_4xx/lib into my initramfs/lib folder.

It's up to you to define the rootfs and install the Xenomai programs into:

  $ export DESTDIR=/usr/src/initramfs
  $ cd xenomai-2.5.6
  $ make install

That's likely to much data. The following should work as well:

  $ make install-exec


Wolfgang.

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Koenig, Florian]

Hi,

> After copying trivial-periodic to 405GP cpu, it returns illegal
instruction.

Hm, in a previous mail I asked if the installed Xenomai programs from
the test suite like "latency" or "cyclictest" do work. Is that the case?
If not, it's most likely not a build problem.

The latency and cyclictest also return illegal instruction. What could it
else be, misconfigured kernel?

florian


----------------------------------------------------------------------------------------------------------------------------
Omicron NanoTechnology GmbH
Limburger Str. 75
65232 Taunusstein, GERMANY 
Registration: HRB Nr.: 16116, Amtsgericht Wiesbaden, VAT no. DE111361420
Geschaftsfuhrer / Managing Director: Norbert Nold               www.omicron.de 

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Wolfgang Grandegger]

On 05/17/2011 09:03 AM, Koenig, Florian wrote:
> Hi,
> 
>> After copying trivial-periodic to 405GP cpu, it returns illegal
> instruction.
> 
> Hm, in a previous mail I asked if the installed Xenomai programs from
> the test suite like "latency" or "cyclictest" do work. Is that the case?
> If not, it's most likely not a build problem.
> 
> The latency and cyclictest also return illegal instruction. What could it
> else be, misconfigured kernel?

Do you have CONFIG_XENO_HW_FPU disabled? If not, please disable and
retry. Illegal instructions are maybe due to hard-float instructions in
the binary. I will check on our Walnut board when time permits...
hopefully today.

Wolfgang.

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Wolfgang Grandegger]

On 05/17/2011 09:53 AM, Koenig, Florian wrote:
> Hi,
> 
> Do you have CONFIG_XENO_HW_FPU disabled? If not, please disable and
> retry. Illegal instructions are maybe due to hard-float instructions in
> the binary. I will check on our Walnut board when time permits...
> hopefully today.

Nobody will understand that the above paragraph was written by myself
without proper quoting!
 
> I set CONFIG_XENO_HW_FPU to 
> # CONFIG_XENO_HW_FPU is not set

Well, that should not be done manually and it could not be set via
"menuconfig", I just realized. It's not the problem anyway, I believe.

> I rebuild the xenomai userspace stuff (make clean;./configure
> --host=powerpc-linux;make;make install), but the same (illegal instruction),
> when i run it on powerpc cpu.

I just tried latency on my Walnut board and it works fine:

-bash-3.2# cat /proc/cpuinfo 
processor	: 0
cpu		: 405GP
clock		: 200.000000MHz
revision	: 1.69 (pvr 4011 0145)
bogomips	: 400.00
timebase	: 200000000
platform	: Walnut
model		: ibm,walnut
Memory		: 32 MB

-bash-3.2# cd /home/wolf/bin/
-bash-3.2# ./latency 
== Sampling period: 100 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT|  00:00:01  (periodic user-mode task, 100 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD|     10.840|     11.570|     35.235|       0|     0|     10.840|     35.235
RTD|      9.710|     10.675|     37.205|       0|     0|      9.710|     37.205
RTD|      9.710|     10.465|     35.995|       0|     0|      9.710|     37.205
RTD|      9.710|     10.475|     43.635|       0|     0|      9.710|     43.635
RTD|      9.710|     13.885|     45.525|       0|     0|      9.710|     45.525
RTD|      9.710|     11.605|     37.505|       0|     0|      9.710|     45.525
^C---|-----------|-----------|-----------|--------|------|-------------------------
RTS|      9.710|     11.445|     45.525|       0|     0|    00:00:07/00:00:07

And also the example trivial-periodic works:

-bash-3.2# export LD_LIBRARY_PATH=/home/wolf/lib
-bash-3.2# ./trivial-periodic
Time since last turn: 1000.009340 ms
Time since last turn: 1000.008920 ms
Time since last turn: 1000.001100 ms
Time since last turn: 999.989450 ms


> All other "normal" apps are running, only when i link to xenomai userspace
> libs i get illegal instructions. On linux side i dont need
> CONFIG_MATH_EMULATION enabled, because i want to use soft-float, that is
> correct, or?

I'm really puzzled what you are doing. It makes sense that you show us
your build commands step by step.

Wolfgang.

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Gilles Chanteperdrix]

On 05/17/2011 11:27 AM, Wolfgang Grandegger wrote:
> On 05/17/2011 09:53 AM, Koenig, Florian wrote:
>> Hi,
>>
>> Do you have CONFIG_XENO_HW_FPU disabled? If not, please disable and
>> retry. Illegal instructions are maybe due to hard-float instructions in
>> the binary. I will check on our Walnut board when time permits...
>> hopefully today.
> 
> Nobody will understand that the above paragraph was written by myself
> without proper quoting!
>  
>> I set CONFIG_XENO_HW_FPU to 
>> # CONFIG_XENO_HW_FPU is not set
> 
> Well, that should not be done manually and it could not be set via
> "menuconfig", I just realized. It's not the problem anyway, I believe.

You can set CONFIG_XENO_HW_FPU, it is located in the "Real-time
system"/"nucleus"/"Machine" menu.

-- 
                                                                Gilles.

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Wolfgang Grandegger]

On 05/17/2011 01:11 PM, Gilles Chanteperdrix wrote:
> On 05/17/2011 11:27 AM, Wolfgang Grandegger wrote:
>> On 05/17/2011 09:53 AM, Koenig, Florian wrote:
>>> Hi,
>>>
>>> Do you have CONFIG_XENO_HW_FPU disabled? If not, please disable and
>>> retry. Illegal instructions are maybe due to hard-float instructions in
>>> the binary. I will check on our Walnut board when time permits...
>>> hopefully today.
>>
>> Nobody will understand that the above paragraph was written by myself
>> without proper quoting!
>>  
>>> I set CONFIG_XENO_HW_FPU to 
>>> # CONFIG_XENO_HW_FPU is not set
>>
>> Well, that should not be done manually and it could not be set via
>> "menuconfig", I just realized. It's not the problem anyway, I believe.
> 
> You can set CONFIG_XENO_HW_FPU, it is located in the "Real-time
> system"/"nucleus"/"Machine" menu.

Ah, right. Didn't look really carefully.

Wolfgang.

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Koenig, Florian]

Hi,
in linux-2.6.36 menuconfig is in Real-time syste/nucleus/machine only "Enable
unlocked context switch" to choose, no hw-fpu ?


> You can set CONFIG_XENO_HW_FPU, it is located in the "Real-time
> system"/"nucleus"/"Machine" menu.
> 
> --
>                                                                 Gilles. 



florian

----------------------------------------------------------------------------------------------------------------------------
Omicron NanoTechnology GmbH
Limburger Str. 75
65232 Taunusstein, GERMANY 
Registration: HRB Nr.: 16116, Amtsgericht Wiesbaden, VAT no. DE111361420
Geschäftsführer / Managing Director: Norbert Nold               www.omicron.de 

Re: [Xenomai-help] build xenomai userspace app, illegal instruction

[Wolfgang Grandegger]

On 05/17/2011 03:21 PM, Koenig, Florian wrote:
> Hi,
> in linux-2.6.36 menuconfig is in Real-time syste/nucleus/machine only "Enable
> unlocked context switch" to choose, no hw-fpu ?
> 
> 
>> You can set CONFIG_XENO_HW_FPU, it is located in the "Real-time
>> system"/"nucleus"/"Machine" menu.

I had a closer look:

Symbol: XENO_HW_FPU [=n]
   Type  : boolean
   Prompt: Enable FPU support
     Defined at arch/powerpc/xenomai/Kconfig:24
     Depends on: XENO_OPT_NUCLEUS [=y] && PPC_FPU [=n]
     Location:
       -> Real-time sub-system
         -> Nucleus (XENO_OPT_NUCLEUS [=y])
           -> Machine

It depends on PPC_FPU and therefore the option is not selectable
for a system without FPU. I'm really surprised that it is on
for your 405GP board. Maybe your BSP is broken.

Wolfgang.