Re: [Xenomai-help] Xenomai 2.6.0 - kernel seg faults on AT91

[at91_enthus <nwromania@domain.hid>]

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On 11/06/2011 12:10 PM, at91_enthus wrote:
> On 11/06/2011 12:01 PM, Gilles Chanteperdrix wrote:
>> On 11/06/2011 06:56 PM, at91_enthus wrote:
>>> Hi.
>>>
>>> I gave Xenomai 2.6.0 a try and installed a newly patched kernel on my
>>> AT91SAM9G20 board.
>>>
>>> Here is my setup:
>>>
>>> proc:   AT91SAM9G20
>>> kernel: 2.6.35.9
>>> OS: embedded Debian Squeeze
>>>
>>> The board boots fine up to stage 2 (user terminal). Sometimes, I am able
>>> to get a login terminal, despite seg fault messages.
>>>
>>> A similar behavior occurs in a Xenomai capable 2.6.37 kernel, only
>>> without the fault messages. In this case the board simply freezes.
>>>
>>> I included the files (.config and fault messages) in the attachments.
>>>
>> You enabled CONFIG_FCSE_GUARANTEED, I do not think Debian squeeze can
>> boot with that, you need a real embedded filesystem, or use
>> CONFIG_FCSE_BEST_EFFORT.
>>
>>
> Since I've started looking in to Xenomai, I have been using FCSE
> "guaranteed" and "best efort"  along with both Debian Squeeze and Lenny
> (Xenomai 2.5 series) without any issues.
>
> I'll change the FCSE setting to see if I get a different behavior.
>
> Regards.

I put the results for CONFIG_FCSE_BEST_EFFORT in the attachment.

thanks

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Loading file "uImage-xen" from mmc device 0:1 (xxa1)
1503036 bytes read
## Booting kernel from Legacy Image at 20100000 ...
   Image Name:   Linux-2.6.35.9-xenomai
   Image Type:   ARM Linux Kernel Image (uncompressed)
   Data Size:    1502972 Bytes = 1.4 MiB
   Load Address: 20008000
   Entry Point:  20008000
   Verifying Checksum ... OK
   Loading Kernel Image ... OK
OK

Starting kernel ...

Uncompressing Linux... done, booting the kernel.
Linux version 2.6.35.9-xenomai (user@hive64) (gcc version 4.3.2 (Debian 4.3.2-1.1) ) #3 Sun Nov 6 12:17:25 CST 2011
CPU: ARM926EJ-S [41069265] revision 5 (ARMv5TEJ), cr=00057177
CPU: VIVT data cache, VIVT instruction cache
Machine: Micromint Electrum 100
Memory policy: ECC disabled, Data cache writeback
Clocks: CPU 396 MHz, master 132 MHz, main 18.432 MHz
Built 1 zonelists in Zone order, mobility grouping on.  Total pages: 16256
Kernel command line: console=ttyS0,115200 root=/dev/mmcblk0p2 rootwait lpj=98304 noswap
PID hash table entries: 256 (order: -2, 1024 bytes)
Dentry cache hash table entries: 8192 (order: 3, 32768 bytes)
Inode-cache hash table entries: 4096 (order: 2, 16384 bytes)
Memory: 64MB = 64MB total
Memory: 61840k/61840k available, 3696k reserved, 0K highmem
Virtual kernel memory layout:
    vector  : 0xffff0000 - 0xffff1000   (   4 kB)
    fixmap  : 0xfff00000 - 0xfffe0000   ( 896 kB)
    DMA     : 0xffc00000 - 0xffe00000   (   2 MB)
    vmalloc : 0xc4800000 - 0xfee00000   ( 934 MB)
    lowmem  : 0xc0000000 - 0xc4000000   (  64 MB)
    modules : 0xbf000000 - 0xc0000000   (  16 MB)
      .init : 0xc0008000 - 0xc0020000   (  96 kB)
      .text : 0xc0020000 - 0xc02b7000   (2652 kB)
      .data : 0xc02cc000 - 0xc02e5ca0   ( 104 kB)
Hierarchical RCU implementation.
	RCU-based detection of stalled CPUs is disabled.
	Verbose stalled-CPUs detection is disabled.
NR_IRQS:192
AT91: 96 gpio irqs in 3 banks
AT91 I-pipe timer: div: 128, freq: 1.032000 MHz, wrap: 63.503875 ms
I-pipe, 1.032 MHz clocksource
I-pipe 1.18-03: pipeline enabled.
Console: colour dummy device 80x30
Calibrating delay loop (skipped) preset value.. 196.60 BogoMIPS (lpj=98304)
pid_max: default: 32768 minimum: 301
Mount-cache hash table entries: 512
CPU: Testing write buffer coherency: ok
NET: Registered protocol family 16
AT91: Power Management
AT91: Starting after user reset
bio: create slab <bio-0> at 0
usbcore: registered new interface driver usbfs
usbcore: registered new interface driver hub
usbcore: registered new device driver usb
Switching to clocksource ipipe_tsc
NET: Registered protocol family 2
IP route cache hash table entries: 1024 (order: 0, 4096 bytes)
TCP established hash table entries: 2048 (order: 2, 16384 bytes)
TCP bind hash table entries: 2048 (order: 1, 8192 bytes)
TCP: Hash tables configured (established 2048 bind 2048)
TCP reno registered
UDP hash table entries: 256 (order: 0, 4096 bytes)
UDP-Lite hash table entries: 256 (order: 0, 4096 bytes)
NET: Registered protocol family 1
NetWinder Floating Point Emulator V0.97 (double precision)
I-pipe: Domain Xenomai registered.
Xenomai: hal/arm started.
Xenomai: scheduling class idle registered.
Xenomai: scheduling class rt registered.
Xenomai: real-time nucleus v2.6.0 (Movin' On) loaded.
Xenomai: debug mode enabled.
Xenomai: starting native API services.
Xenomai: starting POSIX services.
Xenomai: starting RTDM services.
msgmni has been set to 120
Block layer SCSI generic (bsg) driver version 0.4 loaded (major 253)
io scheduler noop registered (default)
atmel_usart.0: ttyS0 at MMIO 0xfffb0000 (irq = 6) is a ATMEL_SERIAL
console [ttyS0] enabled
atmel_usart.1: ttyS1 at MMIO 0xfefff200 (irq = 1) is a ATMEL_SERIAL
brd: module loaded
loop: module loaded
atmel_spi atmel_spi.0: Atmel SPI Controller at 0xfffc8000 (irq 12)
atmel_spi atmel_spi.1: Atmel SPI Controller at 0xfffcc000 (irq 13)
MACB_mii_bus: probed
eth0: Atmel MACB at 0xfffc4000 irq 21 (00:21:a3:00:02:89)
eth0: attached PHY driver [Generic PHY] (mii_bus:phy_addr=ffffffff:00, irq=-1)
ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver
at91_ohci at91_ohci: AT91 OHCI
at91_ohci at91_ohci: new USB bus registered, assigned bus number 1
at91_ohci at91_ohci: irq 20, io mem 0x00500000
hub 1-0:1.0: USB hub found
hub 1-0:1.0: 2 ports detected
udc: at91_udc version 3 May 2006
mice: PS/2 mouse device common for all mice
rtc-at91sam9 at91_rtt.0: rtc core: registered at91_rtt as rtc0
i2c /dev entries driver
cpuidle: using governor ladder
TCP cubic registered
NET: Registered protocol family 17
rtc-at91sam9 at91_rtt.0: setting system clock to 2011-11-06 13:18:15 UTC (1320585495)
Waiting for root device /dev/mmcblk0p2...
mmc0: host does not support reading read-only switch. assuming write-enable.
mmc0: new SD card at address 3375
mmcblk0: mmc0:3375 SD02G 1.83 GiB 
 mmcblk0: p1 p2 p3 p4
EXT4-fs (mmcblk0p2): warning: maximal mount count reached, running e2fsck is recommended
EXT4-fs (mmcblk0p2): recovery complete
EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
VFS: Mounted root (ext2 filesystem) on device 179:2.
Freeing init memory: 96K
INIT: version 2.88 booting
INIT: Entering runlevel: 2
Unable to handle kernel paging request at virtual address c4000000
fcse pid: 5, 0x0a000000
pgd = c3db0000
[c4000000] *pgd=00000000
Internal error: Oops: 805 [#1]
last sysfs file: 
Modules linked in:
CPU: 0    Not tainted  (2.6.35.9-xenomai #3)
PC is at __memzero+0x30/0x80
LR is at 0x0
pc : [<c0153bf0>]    lr : [<00000000>]    psr: 20000013
sp : c3dc3ec8  ip : 00000000  fp : 0001c50c
r10: 00000000  r9 : c3dc2000  r8 : 7ffff000
r7 : 00028248  r6 : c3dc3f1c  r5 : c3dc3ee4  r4 : 00000000
r3 : 00000000  r2 : 00000000  r1 : 7fdc2ee0  r0 : c3fffff4
Flags: nzCv  IRQs on  FIQs on  Mode SVC_32  ISA ARM  Segment user
Control: 0005717f  Table: 23db0000  DAC: 00000015
Process rc.local (pid: 432, stack limit = 0xc3dc2270)
Stack: (0xc3dc3ec8 to 0xc3dc4000)
3ec0:                   c0228d54 7ffde260 7ffff000 c007a3c0 c02d9a78 c007a3f0
3ee0: ffffff9c 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3f00: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3f20: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3f40: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3f60: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3f80: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3fa0: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3fc0: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3fe0: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[<c0153bf0>] (__memzero+0x30/0x80) from [<7ffde260>] (0x7ffde260)
Code: e2511040 a8a0500c a8a0500c a8a0500c (a8a0500c) 
---[ end trace 6337ffe4aab0aaf0 ]---