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Date: Mon, 06 Jan 2014 23:11:05 +0100
From: Gilles Chanteperdrix <gilles.chanteperdrix@xenomai.org>
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Subject: Re: [Xenomai] rtdm_task_init call freezes the system
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To: Nima Nourozi <n.nourozi@gmail.com>
Cc: xenomai@xenomai.org

On 01/06/2014 10:54 PM, Gilles Chanteperdrix wrote:
> On 01/06/2014 10:52 PM, Nima Nourozi wrote:
>> On Mon, Jan 6, 2014 at 1:45 PM, Gilles Chanteperdrix <
>> gilles.chanteperdrix@xenomai.org> wrote:
>>
>>> On 01/06/2014 08:10 PM, Nima Nourozi wrote:
>>>> Here is the task initialization code:
>>>>
>>>> *rtdm_printk("kicking of tasklet...\n");*
>>>> * retval = rtdm_task_init(&heartbeat_task, "spi_transfer",
>>>> xx_start_transfer, NULL, 99, 100000000 /* 100 ms */);*
>>>> * __ipipe_serial_debug("*******return value = %d\n", retval);*
>>>> * if(retval)*
>>>> * {*
>>>> * __ipipe_serial_debug("error initializing task: %i\n", retval);*
>>>> * }*
>>>>
>>>> Here is the task function:
>>>>
>>>> void xx_start_transfer(void *arg)
>>>> {
>>>>
>>>> int ret;
>>>>
>>>> while (1) {
>>>> ret = rtdm_task_wait_period();
>>>> __ipipe_serial_debug("*******return value = %d\n", ret);
>>>> gpio_set_value(LED, 1);
>>>> rtdm_task_sleep(0);
>>>> }
>>>> }
>>>
>>> I can not reproduce your problem, it works fine here. Could you post the
>>> full code of a simplified driver which triggers the problem ?
>>>
>>>
>>> --
>>>                                                                 Gilles.
>>>
>>
>> Sure, please find it attached. It's just the standard atmel_spi.c with
>> task_init command added in atmel_spi_probe() function.
>>
> Whatever happened to "simplified"? Please try to reduce your code to the
> minimum code which triggers the bug. By doing so, you may even find the
> problem yourself.
> 
For instance, following your bug report, I wrote the following module:

#include <rtdm/rtdm_driver.h>

static rtdm_task_t t;

void xx_start_transfer(void *arg)
{
	rtdm_task_wait_period();
	rtdm_printk("!!!!!!!!!!!tick!\n");
}

int init(void)
{
	rtdm_task_init(&t, "spi_transfer", xx_start_transfer, NULL, 99, 100000000);
	return 0;
}

module_init(init);
MODULE_LICENSE("GPL");

Which works here. As I said, you can confirm whether rtdm_task_init 
works for your configuration by launching latency -t 1 -p 100000

-- 
                                                                Gilles.