From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <5277C3FB.2000600@xenomai.org> Date: Mon, 04 Nov 2013 16:57:47 +0100 From: Gilles Chanteperdrix MIME-Version: 1.0 References: <20131104101653.20482fgez8ylxblx@webmail.upv.es> <5277B186.7010300@xenomai.org> <20131104162027.62643ch6wg2u2nuj@webmail.upv.es> In-Reply-To: <20131104162027.62643ch6wg2u2nuj@webmail.upv.es> Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: 8bit Subject: Re: [Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai List-Id: Discussions about the Xenomai project List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Jose Ignacio Cazalilla Morenas Cc: xenomai@xenomai.org On 11/04/2013 04:20 PM, Jose Ignacio Cazalilla Morenas wrote: > > Gilles Chanteperdrix escribió: > >> On 11/04/2013 10:16 AM, Jose Ignacio Cazalilla Morenas wrote: >>> Hi all. >>> I'm trying to use Xenomai+Linaro under a IGEPv2, in order to install >>> Orocos (with the RT_TARGET=xenomai). >>> I've been working with the IGEPv2 and ROS+Orocos, but with the >>> RTT_TARGET=gnulinux, instead of Xenomai. >>> >>> Now, I've downloaded from git.isee.biz the kernel patched with Xenomai: >>> >>> $git clone git://git.isee.biz/pub/scm/linux-omap-2.6.git >>> $cd linux-omap-2.6/ >>> $git checkout linux-2.6.35.y-rt >>> $make ARCH=arm igep00x0_defconfig >>> $make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- zImage modules >>> $sudo make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- >>> INSTALL_MOD_PATH=/media/root modules_install >>> >>> /*Copy&Paste the zImage to the Boot partition*/ >>> >>> When I run the IgepV2, the kernel informs that Xenomai have been >>> installed properly (dmesg). >>> >>> [ 0.108093] I-pipe: Domain Xenomai registered. >>> [ 0.108123] Xenomai: hal/arm started. >>> [ 0.109252] Xenomai: scheduling class idle registered. >>> [ 0.109283] Xenomai: scheduling class rt registered. >>> [ 0.117645] Xenomai: real-time nucleus v2.6.0 (Movin' On) loaded. >>> [ 0.117675] Xenomai: debug mode enabled. >>> [ 0.118164] Xenomai: starting native API services. >>> [ 0.118164] Xenomai: starting POSIX services. >>> [ 0.118316] Xenomai: starting RTDM services. >>> >>> >>> Then, I have to install Xenomai at the user-space in order to use it >>> with Orocos (or other application), so I did (inside the IGEPv2, an >>> ARM embedded board): >>> >>> wget http://download.gna.org/xenomai/stable/xenomai-2.6.0.tar.bz2 >>> tar jxf xenomai-2.6.0.tar.bz2 >>> cd xenomai-2.6.0 >>> ./configure CFLAGS="-march=armv7-a -mfpu=vfp3 -marm" >>> make >>> make install >>> >>> If I run /usr/xenomai/bin/xeno-test, it works fine (it seems). >>> >>> So, I compile Orocos. It detects the Xenomai installation and compile. >>> However, when I run "deployer-xenomai" in order to start Orocos, I get >>> this error: >>> >>> root@igep2:~/orocos/orocos-toolchain# deployer-xenomai >>> Xenomai Posix skin init: pthread_setschedparam: Device or resource busy >>> >>> Therefore, it doesn't work due to this error: "Xenomai Posix skin >>> init: pthread_setschedparam: Device or resource busy". >>> I think it could be related to the configuration of Xenomai at the >>> user-space for the IGEPv2. >>> Any idea? >> >> Do you have the same issue with Xenomai latest release, that is Xenomai >> 2.6.3? >> >> >> -- >> Gilles. >> > > > Thanks for your answer, Gilles. > I'm just installing Xenomai 2.6.3 for the user-space, with the kernel > patched with Xenomai 2.6.0 (this kernel is provided by IgepV2 > developers). I don't know if different versions of Kernel and > user-space are suitable... Xenomai 2.6.3 is ABI and API compatible with 2.6.0. However a lot of things have been fixed since 2.6.0. Besides, I routinely test Xenomai on IGEPv2 board, so I am pretty sure that the vanilla kernel works on IGEP, you do not need to rely on a fork. -- Gilles.