Hello, with Xenomai 2.4 on Linux 2.6.18 on PowerPC I have seen the following trace: Feb 26 19:37:25 (none) user.err kernel: BUG: sleeping function called from invalid context at kernel/rwsem.c:20 Feb 26 19:37:25 (none) user.warn kernel: in_atomic():0, irqs_disabled():1 Feb 26 19:37:25 (none) user.warn kernel: Call Trace: Feb 26 19:37:25 (none) user.warn kernel: [C19BFE50] [C000C114] show_stack+0x58/0x188 (unreliable) Feb 26 19:37:25 (none) user.warn kernel: [C19BFEA0] [C00128B0] __might_sleep+0xdc/0xf0 Feb 26 19:37:25 (none) user.warn kernel: [C19BFEC0] [C0032304] down_read+0x24/0x58 Feb 26 19:37:25 (none) user.warn kernel: [C19BFED0] [C00192C8] exit_mm+0x34/0xec Feb 26 19:37:25 (none) user.warn kernel: [C19BFEF0] [C001B000] do_exit+0x21c/0x98c Feb 26 19:37:25 (none) user.warn kernel: [C19BFF30] [C001B810] complete_and_exit+0x0/0x28 Feb 26 19:37:25 (none) user.warn kernel: [C19BFF40] [C00041A0] ret_from_syscall+0x0/0x38 This happens (sometimes) when a pSOS-task exits by returning from its main function. I have changed the return statement into t_delete(0) and there was no error anymore, so this isn't a major issue. But anyway I would like to know whether this is a xenomai bug or it isn't allowed to exit a pSOS-task by returning from main function. I have seen at end of psos_task_trampoline that there is a pthread_exit() instead of a t_delete(). Thanks Markus
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