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

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

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.