I've tried with your patch and asking to do latency test with 1000ns but the result is still the same :( Do you have any other ideas? I'm very lost in space :( Thanks Roberto
r...@mx27:~# latency -p1000 == Sampling period: 1000 us == Test mode: periodic user-mode task == All results in microseconds [ 156.780000] BUG: scheduling while atomic: sampling-1478/0x00000001/1480 [ 156.790000] [<c002bef0>] (dump_stack+0x0/0x14) from [<c02ceb18>] (schedule+0x 60/0x7f0) [ 156.800000] [<c02ceab8>] (schedule+0x0/0x7f0) from [<c00882b4>] (xnshadow_har den+0xd4/0x240) [ 156.810000] [<c00881e0>] (xnshadow_harden+0x0/0x240) from [<c0088a40>] (xnsha dow_wait_barrier+0x104/0x11c) [ 156.820000] r8:00000018 r7:00000000 r6:c33a4000 r5:c33a5fb0 r4:c4801410 [ 156.820000] [<c008893c>] (xnshadow_wait_barrier+0x0/0x11c) from [<c0088a6c>] (xnshadow_sys_barrier+0x14/0x18) [ 156.830000] r5:c33a5fb0 r4:00000001 [ 156.840000] [<c0088a58>] (xnshadow_sys_barrier+0x0/0x18) from [<c008882c>] (l osyscall_event+0xcc/0x1dc) [ 156.850000] [<c0088760>] (losyscall_event+0x0/0x1dc) from [<c0073288>] (__ipi pe_dispatch_event+0xd0/0x1c8) [ 156.860000] [<c00731b8>] (__ipipe_dispatch_event+0x0/0x1c8) from [<c002d1b8>] (__ipipe_syscall_root+0x80/0x130) [ 156.870000] [<c002d138>] (__ipipe_syscall_root+0x0/0x130) from [<c0027294>] ( vector_swi+0x74/0xb4) [ 156.880000] r6:40032c94 r5:bef14c6c r4:00100000 [ 156.880000] I-pipe: Detected illicit call from domain 'Xenomai' [ 156.880000] into a service reserved for domain 'Linux' and below. [ 156.880000] [<c002bef0>] (dump_stack+0x0/0x14) from [<c00726fc>] (ipipe_check _context+0xbc/0xdc) [ 156.880000] [<c0072640>] (ipipe_check_context+0x0/0xdc) from [<c02cf23c>] (sc hedule+0x784/0x7f0) [ 156.880000] r4:c3c79c40 [ 156.880000] [<c02ceab8>] (schedule+0x0/0x7f0) from [<c00882b4>] (xnshadow_har den+0xd4/0x240) [ 156.880000] [<c00881e0>] (xnshadow_harden+0x0/0x240) from [<c0088a40>] (xnsha dow_wait_barrier+0x104/0x11c) [ 156.880000] r8:00000018 r7:00000000 r6:c33a4000 r5:c33a5fb0 r4:c4801410 [ 156.880000] [<c008893c>] (xnshadow_wait_barrier+0x0/0x11c) from [<c0088a6c>] (xnshadow_sys_barrier+0x14/0x18) [ 156.880000] r5:c33a5fb0 r4:00000001 [ 156.880000] [<c0088a58>] (xnshadow_sys_barrier+0x0/0x18) from [<c008882c>] (l osyscall_event+0xcc/0x1dc) [ 156.880000] [<c0088760>] (losyscall_event+0x0/0x1dc) from [<c0073288>] (__ipi pe_dispatch_event+0xd0/0x1c8) [ 156.880000] [<c00731b8>] (__ipipe_dispatch_event+0x0/0x1c8) from [<c002d1b8>] (__ipipe_syscall_root+0x80/0x130) [ 156.880000] [<c002d138>] (__ipipe_syscall_root+0x0/0x130) from [<c0027294>] ( vector_swi+0x74/0xb4) [ 156.880000] r6:40032c94 r5:bef14c6c r4:00100000 [ 156.880000] Xenomai: fatal: bug at kernel/xenomai/nucleus/shadow.c:1128 (!irq s_disabled_hw()) [ 156.880000] CPU PID PRI TIMEOUT STAT NAME [ 156.880000] 0 0 -1 0 00400088 ROOT [ 156.880000] 0 1479 0 0 00300380 display-1478 [ 156.880000] > 0 1480 99 0 00300180 sampling-1478 [ 156.880000] Master time base: clock=2610156463 [ 156.880000] [ 156.880000] [<c002b648>] (show_stack+0x0/0x48) from [<c00883c4>] (xnshadow_ha rden+0x1e4/0x240) [ 156.880000] [<c00881e0>] (xnshadow_harden+0x0/0x240) from [<c0088a40>] (xnsha dow_wait_barrier+0x104/0x11c) [ 156.880000] r8:00000018 r7:00000000 r6:c33a4000 r5:c33a5fb0 r4:c4801410 [ 156.880000] [<c008893c>] (xnshadow_wait_barrier+0x0/0x11c) from [<c0088a6c>] (xnshadow_sys_barrier+0x14/0x18) [ 156.880000] r5:c33a5fb0 r4:00000001 [ 156.880000] [<c0088a58>] (xnshadow_sys_barrier+0x0/0x18) from [<c008882c>] (l osyscall_event+0xcc/0x1dc) [ 156.880000] [<c0088760>] (losyscall_event+0x0/0x1dc) from [<c0073288>] (__ipi pe_dispatch_event+0xd0/0x1c8) [ 156.880000] [<c00731b8>] (__ipipe_dispatch_event+0x0/0x1c8) from [<c002d1b8>] (__ipipe_syscall_root+0x80/0x130) [ 156.880000] [<c002d138>] (__ipipe_syscall_root+0x0/0x130) from [<c0027294>] ( vector_swi+0x74/0xb4) [ 156.880000] r6:40032c94 r5:bef14c6c r4:00100000
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