[Xenomai] Problem with bringing up Xenomai User Space

[Xenomai] Problem with bringing up Xenomai User Space

[Dharma R Bhushan]

Hello Community Members,

I am trying to run test cases present in xenomai-2.5.6 test suite. We are getting the "Segmentation fault".

Environment is as follows

 Board:                         Bagle-board XM rev C
 Kernel:                      2.6.35.14(2.6.35 from kernel.org+patch-2.6.35.10+linaro-2.6.35.10 patch+ patch-2.6.35.11+ patch-2.6.35.12+patch-2.6.35.13+ patch-2.6.35.14)
 I-Pipe patch:          adeos-ipipe-2.6.35.9-arm-1.18-03.patch(slightly modified to apply the above kernel)
 Tool chain:                  arm-none-linux-gnueabi-
 Config command:              ./configure --build=i686-pc-linux-gnu --host=arm-none-linux-gnueabi --enable-arm-mach=omap3 --enable-arm-tsc --enable-arm-eabi
                          make DESTDIR=/root/nfsroot install

 Then I tried to run the xenomai latency test case. Then got the following error

 root@armv7a-target:~# /usr/xenomai/bin/latency == Sampling period: 1000
 us == Test mode: periodic user-mode task == All results in microseconds
 Segmentation fault

 Strace log of is attached. Upon debug I found a simple program with one
 rt_task_create and rt_task_start is also giving segmentation fault.

 I tried the approach in the below post without any success.
 http://www.mail-archive.com/xenomai-help@gna.org/msg02216.html

 I am getting the same working with the following combination.
 Board:                         Bagle-board XM rev C
 Kernel:                      3.2.21(3.2.21-kernel.org+minor fixes to boot the board)
 I-Pipe patch:          ipipe-core-3.2.21-arm-1.patch
 Tool chain:                  arm-none-linux-gnueabi-
 Config command:              ./configure CFLAGS="-march=armv7-a" LDFLAGS="-march=armv7-a" --build=i686-pc-linux-gnu --host=arm-none-linux-gnueabi-
                         make DESTDIR=/root/nfsroot install

 I feel I am missing something w.r.t ./configure command in xenomai
 2.5.6. I have attached my kernel config(2.6.35.14 kernel) too for the
 reference.

Regards,
Dharma

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Re: [Xenomai] Problem with bringing up Xenomai User Space

[Gilles Chanteperdrix]

On 11/30/2012 03:04 PM, Dharma R Bhushan wrote:
> Hello Community Members,
> 
> I am trying to run test cases present in xenomai-2.5.6 test suite. We are getting the "Segmentation fault".
> 
> Environment is as follows
> 
>  Board:                         Bagle-board XM rev C
>  Kernel:                      2.6.35.14(2.6.35 from kernel.org+patch-2.6.35.10+linaro-2.6.35.10 patch+ patch-2.6.35.11+ patch-2.6.35.12+patch-2.6.35.13+ patch-2.6.35.14)
>  I-Pipe patch:          adeos-ipipe-2.6.35.9-arm-1.18-03.patch(slightly modified to apply the above kernel)
>  Tool chain:                  arm-none-linux-gnueabi-

If the toolchain is a linaro toolchain (all toolchains have been called
arm-none-linux-gnueabi- for a few years now, so the information you give
us is essentially a non-information) with a thumb glibc, you absolutely
need CONFIG_ARM_ERRATA_430973 enabled in the kernel configuration, even
and especially if xenomai is configured in arm mode (which is required
with xenomai 2.5.6 anyway).

Other than that, I urge you to update to xenomai 2.6.1.

-- 
					    Gilles.

Re: [Xenomai] Problem with bringing up Xenomai User Space

[Dharma R Bhushan]

Hello Gilles,

Thanks for the reply.
I followed your suggestions and tried out few things. I was able to progress with the 2.6.1 approach. But got stuck as explained below. Kindly help me out in this.

I am using code-sourcery tool chain. Tool chain information is as follows.
***************************************************************************************
$arm-none-linux-gnueabi-gcc -v

Target: arm-none-linux-gnueabi
Configured with: /scratch/janisjo/arm-linux-lite/src/gcc-4.5-2011.03/configure --build=i686-pc-linux-gnu --host=i686-pc-linux-gnu --target=arm-none-linux-gnueabi --enable-threads --disable-libmudflap --disable-libssp --disable-libstdcxx-pch --enable-extra-sgxxlite-multilibs --with-arch=armv5te --with-gnu-as --with-gnu-ld --with-specs='%{save-temps: -fverbose-asm} %{funwind-tables|fno-unwind-tables|mabi=*|ffreestanding|nostdlib:;:-funwind-tables} -D__CS_SOURCERYGXX_MAJ__=2011 -D__CS_SOURCERYGXX_MIN__=3 -D__CS_SOURCERYGXX_REV__=41 %{O2:%{!fno-remove-local-statics: -fremove-local-statics}} %{O*:%{O|O0|O1|O2|Os:;:%{!fno-remove-local-statics: -fremove-local-statics}}}' --enable-languages=c,c++ --enable-shared --enable-lto --enable-symvers=gnu --enable-__cxa_atexit --with-pkgversion='Sourcery G++ Lite 2011.03-41' --with-bugurl=https://support.codesourcery.com/GNUToolchain/ --disable-nls --prefix=/opt/codesourcery --with-sysroot=/opt/codesourcery/arm-none-linux-gnueabi/libc --with-build-sysroot=/scratch/janisjo/arm-linux-lite/install/arm-none-linux-gnueabi/libc --with-gmp=/scratch/janisjo/arm-linux-lite/obj/host-libs-2011.03-41-arm-none-linux-gnueabi-i686-pc-linux-gnu/usr --with-mpfr=/scratch/janisjo/arm-linux-lite/obj/host-libs-2011.03-41-arm-none-linux-gnueabi-i686-pc-linux-gnu/usr --with-mpc=/scratch/janisjo/arm-linux-lite/obj/host-libs-2011.03-41-arm-none-linux-gnueabi-i686-pc-linux-gnu/usr --with-ppl=/scratch/janisjo/arm-linux-lite/obj/host-libs-2011.03-41-arm-none-linux-gnueabi-i686-pc-linux-gnu/usr --with-host-libstdcxx='-static-libgcc -Wl,-Bstatic,-lstdc++,-Bdynamic -lm' --with-cloog=/scratch/janisjo/arm-linux-lite/obj/host-libs-2011.03-41-arm-none-linux-gnueabi-i686-pc-linux-gnu/usr --with-libelf=/scratch/janisjo/arm-linux-lite/obj/host-libs-2011.03-41-arm-none-linux-gnueabi-i686-pc-linux-gnu/usr --disable-libgomp --enable-poison-system-directories --with-build-time-tools=/scratch/janisjo/arm-linux-lite/install/arm-none-linux-gnueabi/bin --with-build-time-tools=/scratch/janisjo/arm-linux-lite/install/arm-none-linux-gnueabi/bin
Thread model: posix
gcc version 4.5.2 (Sourcery G++ Lite 2011.03-41)
****************************************************************************************

I have tried with CONFIG_ARM_ERRATA_430973 enabled. No success.

Further, I have tried to migrate to Xenomai-2.6.1. Kernel boots up without any issues.

I have built the user space as follows
$./configure CFLAGS="-march=armv7-a" LDFLAGS="-march=armv7-a" --build=i686-pc-linux-gnu --host=arm-none-linux-gnueabi
$make DESTDIR=../nfsroot/ install

I am getting the following output when the latency test case is executed.

root@armv7a-target:~# /usr/xenomai/bin/latency -t0
== Sampling period: 1000 us
== Test mode: periodic user-mode task
== All results in microseconds
Xenomai: registered exported object dispsem-1147 (semaphores)
Xenomai: Switching sampling-1147 to secondary mode after exception #0 from user-space at 0x400ab878 (pid 1149)
Xenomai: native: cleaning up sem "dispsem-1147" (ret=0).
Xenomai: unregistered exported object dispsem-1147 (semaphores)
Segmentation fault

root@armv7a-target:~# /usr/xenomai/bin/latency -t1
== Sampling period: 1000 us
== Test mode: in-kernel periodic task
== All results in microseconds
warming up...
RTT|  00:00:01  (in-kernel periodic task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD|      3.960|      4.188|      9.076|       0|     0|      3.960|      9.076
RTD|      3.998|      4.222|     11.806|       0|     0|      3.960|     11.806
RTD|      3.997|      4.230|     21.074|       0|     0|      3.960|     21.074
^C---|-----------|-----------|-----------|--------|------|-------------------------
RTS|      3.960|      4.213|     21.074|       0|     0|    00:00:04/00:00:04

root@armv7a-target:~# /usr/xenomai/bin/latency -t2
== Sampling period: 1000 us
== Test mode: in-kernel timer handler
== All results in microseconds
warming up...
RTT|  00:00:01  (in-kernel timer handler, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst
RTD|     -2.770|     -2.665|     -0.616|       0|     0|     -2.770|     -0.616
RTD|     -2.732|     -2.647|     -0.193|       0|     0|     -2.770|     -0.193
RTD|     -2.733|     -2.652|     -0.309|       0|     0|     -2.770|     -0.193
^C---|-----------|-----------|-----------|--------|------|-------------------------
RTS|     -2.770|     -2.654|     -0.193|       0|     0|    00:00:03/00:00:03



In src/testsuite/latency/latency.c

Latency_task is created with priority value as 99(default).

err = rt_task_create(&latency_task, task_name, 0, priority, T_FPU | cpu | T_WARNSW);

Now if I make priority=0; forcefully, then segmentation fault is not occurring though the latency values are not the ones to consider.

I have no idea why the seg fault is happening for any priority value except 0 for latency_task creation.


Regards,
Dharma.

> -----Original Message-----
> From: Gilles Chanteperdrix [mailto:gilles.chanteperdrix@xenomai.org]
> Sent: Friday, November 30, 2012 7:42 PM
> To: Dharma R Bhushan
> Cc: xenomai@xenomai.org
> Subject: Re: [Xenomai] Problem with bringing up Xenomai User Space
>
> On 11/30/2012 03:04 PM, Dharma R Bhushan wrote:
> > Hello Community Members,
> >
> > I am trying to run test cases present in xenomai-2.5.6 test suite. We
> are getting the "Segmentation fault".
> >
> > Environment is as follows
> >
> >  Board:                         Bagle-board XM rev C
> >  Kernel:                      2.6.35.14(2.6.35 from kernel.org+patch-
> 2.6.35.10+linaro-2.6.35.10 patch+ patch-2.6.35.11+ patch-
> 2.6.35.12+patch-2.6.35.13+ patch-2.6.35.14)
> >  I-Pipe patch:          adeos-ipipe-2.6.35.9-arm-1.18-
> 03.patch(slightly modified to apply the above kernel)
> >  Tool chain:                  arm-none-linux-gnueabi-
>
> If the toolchain is a linaro toolchain (all toolchains have been called
> arm-none-linux-gnueabi- for a few years now, so the information you give
> us is essentially a non-information) with a thumb glibc, you absolutely
> need CONFIG_ARM_ERRATA_430973 enabled in the kernel configuration, even
> and especially if xenomai is configured in arm mode (which is required
> with xenomai 2.5.6 anyway).
>
> Other than that, I urge you to update to xenomai 2.6.1.
>
> --
>                                           Gilles.

This e-mail and any files transmitted with it are confidential and intended solely for the use of the individual(s) or entity addressed above. If you are not the intended recipient of this e-mail, then (i) please notify us at cipl.administrator@canon.co.in (ii) do not use the information contained  & (iii) delete it from your system. E-mail communications are not secure. Though efforts have been taken to ensure that this communication has not been tampered with; however,  Canon India Pvt. Ltd. is not responsible for any changes made to the contents of or any attachments to this message without its consent.
All information contained in this message which are not of an official nature shall not be deemed as given or endorsed by Canon India Pvt. Ltd.

Re: [Xenomai] Problem with bringing up Xenomai User Space

[Gilles Chanteperdrix]

On 12/03/2012 05:16 PM, Dharma R Bhushan wrote:
> Gilles wrote:

>> If the toolchain is a linaro toolchain (...), you absolutely
>> need CONFIG_ARM_ERRATA_430973 enabled in the kernel configuration,

>

> I am using code-sourcery tool chain.

> (...)

> I have tried with CONFIG_ARM_ERRATA_430973 enabled. No success.


Please stop top posting. No surprise if you read carefully my answer.

The problem probably comes from your configuration, a simple look at it
shows that you have some options enabled which should be disabled, and
it is documentd, namely CONFIG_CPU_FREQ.

Please also try disabling:
- CONFIG_ARCH_OMAP2
- CONFIG_PERF_EVENTS
- CONFIG_KPROBES
- CONFIG_FTRACE
- CONFIG_PM_SLEEP

Could you post the boot logs if this still fails?

-- 
                                                                Gilles.