[Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai

[Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai

[Jose Ignacio Cazalilla Morenas]

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?

Regards,
Jose

Re: [Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai

[Gilles Chanteperdrix]

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.

Re: [Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai

[Jose Ignacio Cazalilla Morenas]

Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org> 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...

If it is unsuccessful, I'll patch the sources with Xenoami latest  
release 2.6.3.
Do you agree?

Re: [Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai

[Gilles Chanteperdrix]

On 11/04/2013 04:20 PM, Jose Ignacio Cazalilla Morenas wrote:
> 
> Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org> 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.

Re: [Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai

[Jose Ignacio Cazalilla Morenas]

Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org> escribió:

> On 11/04/2013 04:20 PM, Jose Ignacio Cazalilla Morenas wrote:
>>
>> Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org> 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.
>

Which vanilla kernel do you mean exactly?
Maybe this one for omap devices?  
https://git.kernel.org/cgit/linux/kernel/git/tmlind/linux-omap.git/

Thanks.
Jose

Re: [Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai

[Gilles Chanteperdrix]

On 11/05/2013 10:35 AM, Jose Ignacio Cazalilla Morenas wrote:
> 
> Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org> escribió:
> 
>> On 11/04/2013 04:20 PM, Jose Ignacio Cazalilla Morenas wrote:
>>>
>>> Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org> 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.
>>
> 
> Which vanilla kernel do you mean exactly?
> Maybe this one for omap devices?  
> https://git.kernel.org/cgit/linux/kernel/git/tmlind/linux-omap.git/

I mean the one and only Linux kernel, downloadable from ftp.kernel.org.
The latest release for which a patch is included in Xenomai 2.6.3 is 3.8.13.


-- 
                                                                Gilles.

Re: [Xenomai] "Xenomai Posix skin init: pthread_setschedparam: Device or resource busy" in ARM IgepV2 Orocos+Xenomai

[Jose Ignacio Cazalilla Morenas]

Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org> escribió:

> On 11/04/2013 04:20 PM, Jose Ignacio Cazalilla Morenas wrote:
>>
>> Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org> 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.
>

Only to inform that using Xenomai 2.6.3 at user-space (instead of  
2.6.0), and Xenomai 2.6.0 in the kernel, WORKS FINE WITHOUT ERRORS.  
However, I'm going to compile and patch a vanilla kernel in order to  
use the same version of Xenomai (2.6.3) in my IgepV2, following the  
advice of Gilles.

Jose