Re: [Xenomai-help] Linux Serial Does not work with CONFIG_XENO_OPT_PERVASIVE enabled

[Philippe Gerum <rpm@xenomai.org>]

On 03/20/2012 04:17 PM, Glen Wernersbach wrote:
> Don't have a full dev enviroment on my embedded arm. Here is the
> program. Very very basic:

Ok, actually I was after the link flags used for building this app.

> -------
> #include <stdio.h>
> #include <termios.h>
> #include <errno.h>
> #include <fcntl.h>
>
>
> /*Artila*/
> #define MATRIX500_GET_UART_TYPE 0xe001
> #define MATRIX500_SET_UART_TYPE 0xe002
> #define MATRIX500_GET_UART_MODE9 0xe003
> #define MATRIX500_SET_UART_MODE9 0xe004
> #define MATRIX500_UART_SET_BAUD 0xe006
>
> #define MATRIX500_UART_TYPE_232 232
> #define MATRIX500_UART_TYPE_422 422
> #define MATRIX500_UART_TYPE_485 485
> int
> main(argc, argv)
> int argc;
> char *argv[];
> {
>
> int fd, ret;
> struct termios term;
> char buf[]="XBCDEFHIJKM\0";
> char buf2[1024] ;
>
> struct termios T_new;
>
> /*open tty port*/
> fd = open("/dev/ttyS4", O_RDWR | O_NOCTTY | O_NDELAY);
> if (fd == -1) {
> printf("open /dev/ttyS0 Failed, errno: %d\r\n", errno);
> return 0;
> }
>
> unsigned long interface2=0;
> ioctl(fd, MATRIX500_GET_UART_TYPE, &interface2) ;
> printf("set UART type: %d...Failed, errno: %d\r\n", interface2, errno);
>
> /*set serial interface: RS-422*/
> interface2 = MATRIX500_UART_TYPE_422;
> if(ioctl(fd, MATRIX500_SET_UART_TYPE, &interface2) != 0) {
> printf("set UART type: %d...Failed, errno: %d\r\n", interface2, errno);
> close(fd);
> return 0;
> }
>
> unsigned long mode9 = 0;
> ioctl(fd, MATRIX500_GET_UART_MODE9, &mode9);
> printf("mode: %d...Failed, errno: %d\r\n", mode9, errno);
>
> mode9=0;
>
> if (ioctl(fd, MATRIX500_SET_UART_MODE9, &mode9)!= 0) {
> printf("mode: %d...Failed, errno: %d\r\n", mode9, errno);
> close(fd);
> return 0;
> }
> //it appears this is not getting set but no error.
>
> if(tcgetattr(fd,&term) != 0) {
> printf("tcgetattr failed\n");
>
> }
> term.c_cflag = (B921600 | CS8 | CREAD | CLOCAL | HUPCL);
> term.c_oflag = 0;
> term.c_iflag = 0;
> term.c_lflag = 0;
> if(tcsetattr(fd,TCSANOW,&term) != 0) {
> printf("tcsetattr failed\n");
>
> }
> //set baud rate at 4 times 921.6m
>
> unsigned long baud = 921600UL*4;
> if (ioctl(fd , MATRIX500_UART_SET_BAUD , &baud ) != 0) {
> printf("set baud: %d...Failed, errno: %d\r\n", baud, errno);
> close(fd);
> return 0;
> }
>
>
> close(fd);
>
>
>
>
>
>
> fd = open("/dev/ttyS4", O_RDWR | O_NOCTTY | O_NDELAY);
> if (fd == -1) {
> printf("open /dev/ttyS0 Failed, errno: %d\r\n", errno);
> return 0;
> }
>
>
> //write the data to my device which echos them back
> write(fd, buf, sizeof(buf)-1);
>
> //will wait forever here.
> while(1) {
> //wait for all 12 characters to received in fifo and then print them to
> the console
>
>
> ret = read(fd, buf2, sizeof(buf)-1);
> if (ret ==sizeof(buf)-1) {
> buf2[ret] ='\0' ;
> printf("got data %s\n", buf2) ;
> break;
>
> }
>
>
> }
>
>
> close(fd) ;
> return 0;
> }
>
> ------
>
>
>
> On 3/20/12 11:06 AM, "Philippe Gerum" <rpm@xenomai.org> wrote:
>
>>  On 03/20/2012 03:53 PM, Glen Wernersbach wrote:
>> > Ipipe version:
>> > 1.13-05
>> >
>> >
>> > Yes, I do have the co kernel and interrupt pipeline enabled
>>
>>  ldd <your-serial-app> ?
>>
>> >
>> >
>> > On 3/20/12 10:47 AM, "Philippe Gerum"<rpm@xenomai.org> wrote:
>> >
>> >> On 03/20/2012 03:34 PM, Glen Wernersbach wrote:
>> >>> Working on the Strace.
>> >>>
>> >>> I don't have the /proc/xenomai/hal file??
>> >>
>> >> /proc/ipipe/version then.
>> >>
>> >>>
>> >>> Again. Nothing I am running is xeno. Its just a xeno patched kernel.
>> >>>
>> >>
>> >> Ok, but you do have the Xenomai co-kernel enabled in your kernel build,
>> >> and the interrupt pipeline is enabled as well, right?
>> >>
>> >>>
>> >>>
>> >>>
>> >>> On 3/20/12 10:31 AM, "Philippe Gerum"<rpm@xenomai.org> wrote:
>> >>>
>> >>>> On 03/20/2012 03:17 PM, Philippe Gerum wrote:
>> >>>>> On 03/20/2012 03:07 PM, Glen Wernersbach wrote:
>> >>>>>> I went through and disabled everything in xeno except
>> >>>>>> CONFIG_XENO_OPT_PERVASIVE, did not work. Take that option out and it
>> >>>>>> works.
>> >>>>>>
>> >>>>>> Take that option out at anytime it works.
>> >>>>>>
>> >>>>>> My program basic writes a few characters a serial port and then
> reads
>> >>>>>> them
>> >>>>>> back in from the same port. I have a loop back cable connected
> to the
>> >>>>>> port.
>> >>>>>>
>> >>>>>> It writes the data but waits forever to read them back in
>> >>>>>>
>> >>>>>>> From my tests, it appears that the termois tcsetaddr settings
> is not
>> >>>>>>> getting
>> >>>>>> set when I call it when this option is on.
>> >>>>>
>> >>>>> Can you strace your app when it runs, please?
>> >>>>
>> >>>> The interrupt pipeline release number would help as well
>> >>>> (/proc/xenomai/hal).
>> >>>>
>> >>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>>
>> >>>>>> On 3/20/12 9:57 AM, "Philippe Gerum"<rpm@xenomai.org> wrote:
>> >>>>>>
>> >>>>>>> On 03/20/2012 02:48 PM, Glen Wernersbach wrote:
>> >>>>>>>> I don't think this is it directly.
>> >>>>>>>>
>> >>>>>>>> This program was made on the same kernel prior to patching it with
>> >>>>>>>> Xeno.
>> >>>>>>>>
>> >>>>>>>> It should still run like any other linux program.
>> >>>>>>>
>> >>>>>>> - what does "program not working" mean in your case? Any errno
> return
>> >>>>>>> we
>> >>>>>>> could interpret? Any strace output?
>> >>>>>>>
>> >>>>>>> - what if you disable CONFIG_XENO_OPT_SKIN_RTDM, leaving
> PERVASIVE on?
>> >>>>>>>
>> >>>>>>>
>> >>>>>>>>
>> >>>>>>>>
>> >>>>>>>>
>> >>>>>>>>
>> >>>>>>>> On 3/20/12 9:44 AM, "Philippe Gerum"<rpm@xenomai.org> wrote:
>> >>>>>>>>
>> >>>>>>>>> On 03/20/2012 02:28 PM, Glen Wernersbach wrote:
>> >>>>>>>>>> Hi All,
>> >>>>>>>>>>
>> >>>>>>>>>> I install Xenomai 2.6.0 on AT91SAM9G20 system and have found
> that
>> >>>>>>>>>> when
>> >>>>>>>>>> CONFIG_XENO_OPT_PERVASIVE is enabled my standard non real
> time linux
>> >>>>>>>>>> serial write then read serial program does not work.
>> >>>>>>>>>>
>> >>>>>>>>>> If I turn off CONFIG_XENO_OPT_PERVASIVE, my serial program does
>> >>>>>>>>>> work.
>> >>>>>>>>>>
>> >>>>>>>>>> Any ideas why?????
>> >>>>>>>>>>
>> >>>>>>>>>
>> >>>>>>>>> A possible explanation would be that your application links
> with the
>> >>>>>>>>> Xenomai POSIX lib (libpthread_rt), albeit it should not.
>> >>>>>>>>>
>> >>>>>>>>> With pervasive support disabled, any routing from the overloaded
>> >>>>>>>>> POSIX
>> >>>>>>>>> I/O calls to the Xenomai kernel would then fail.
>> >>>>>>>>>
>> >>>>>>>>> If so, you should not link against the Xenomai libs if you
> need no
>> >>>>>>>>> -rt
>> >>>>>>>>> service, or prevent symbol wrapping only for the POSIX I/O
> calls by
>> >>>>>>>>> prefixing them by __real_* if you want Xenomai-enabled POSIX
> services
>> >>>>>>>>> except the I/O support.
>> >>>>>>>>>
>> >>>>>>>>> See
>> >>>>>>>>>
> http://xenomai.org/index.php/Porting_POSIX_applications_to_Xenomai
>> >>>>>>>>>
>> >>>>>>>>>>
>> >>>>>>>>>> Also, when you turn CONFIG_XENO_OPT_PERVASIVE you get this
> error:
>> >>>>>>>>>> CC kernel/xenomai/nucleus/synch.o
>> >>>>>>>>>> kernel/xenomai/nucleus/synch.c: In function
>> >>>>>>>>>> 'xnsynch_release_thread':
>> >>>>>>>>>> kernel/xenomai/nucleus/synch.c:688:3: error: implicit
> declaration of
>> >>>>>>>>>> function 'xnthread_get_rescnt'
>> >>>>>>>>>> kernel/xenomai/nucleus/synch.c:689:4: error: implicit
> declaration of
>> >>>>>>>>>> function 'xnshadow_send_sig'
>> >>>>>>>>>>
>> >>>>>>>>>> I had to go in and make the code for that option befor it always
>> >>>>>>>>>> false.
>> >>>>>>>>>>
>> >>>>>>>>>
>> >>>>>>>>>
> http://git.xenomai.org/?p=xenomai-2.6.git;a=commit;h=41b4f9c0f4bdf061
>> >>>>>>>>> 07
>> >>>>>>>>> a7
>> >>>>>>>>> 88b
>> >>>>>>>>>
>> >>>>>>>>> 76
>> >>>>>>>>> 2b5cf662b1d4108
>> >>>>>>>>>
>> >>>>>>>>>
>> >>>>>>>>>> Glen
>> >>>>>>>>>> --
>> >>>>>>>>>> Glen Wernersbach
>> >>>>>>>>>> President& CTO
>> >>>>>>>>>>
>> >>>>>>>>>> Jetsoft Development Co.
>> >>>>>>>>>> 629 Old St Rt. 74 – Suite 210
>> >>>>>>>>>> Cincinnati, Oh 45244
>> >>>>>>>>>> Custom Programming Web Site: www.jetsoftdev.com
>> >>>>>>>>>> Retail Products Web Site: www.scanhelp.com
>> >>>>>>>>>> Phone: 513-528-6660
>> >>>>>>>>>> Fax: 513-528-3470
>> >>>>>>>>>> Cell 513-240-9929
>> >>>>>>>>>> ----
>> >>>>>>>>>> Partner for Software Technology
>> >>>>>>>>>> Jacobs Automation
>> >>>>>>>>>> 2365 Progress Drive
>> >>>>>>>>>> Hebron, KY 41048
>> >>>>>>>>>> (513) 297-7550
>> >>>>>>>>>> ----
>> >>>>>>>>>> "Support Dyslexia Research"
>> >>>>>>>>>>
>> >>>>>>>>>>
>> >>>>>>>>>> _______________________________________________
>> >>>>>>>>>> Xenomai-help mailing list
>> >>>>>>>>>> Xenomai-help@domain.hid
>> >>>>>>>>>> https://mail.gna.org/listinfo/xenomai-help
>> >>>>>>>>>
>> >>>>>>>>
>> >>>>>>>
>> >>>>>>
>> >>>>>
>> >>>>>
>> >>>>
>> >>>
>> >>
>> >
>>
>
> --
> Glen Wernersbach
> President & CTO
>
> Jetsoft Development Co.
> 629 Old St Rt. 74 – Suite 210
> Cincinnati, Oh 45244
> Custom Programming Web Site: www.jetsoftdev.com
> Retail Products Web Site: www.scanhelp.com
> Phone: 513-528-6660
> Fax: 513-528-3470
> Cell 513-240-9929
> ----
> Partner for Software Technology
> Jacobs Automation
> 2365 Progress Drive
> Hebron, KY 41048
> (513) 297-7550
> ----
> "Support Dyslexia Research"


-- 
Philippe.