Wolfgang Grandegger wrote:
> Wolfgang Grandegger wrote:
>> Hi Gilles,
>>
>> Gilles Chanteperdrix wrote:
>>> Wolfgang Grandegger wrote:
>>>> I'm also puzzled why pthread_setschedparam() does make a mode switch
>>>> to secondary mode (sometimes).
>>> That is normal. The glibc caches threads priority value, so we have to
>>> call __real_pthread_setschedparam to update them. This issue has been
>>> solved differently on trunk, but unfortunately, we can not backport this
>>> modification on v2.4.x branch.
>> To get you right. With v2.4.x it is not possible with the POSIX skin to
>> change the priority of a real-time thread in the primary mode without
>> loosing determinism (because it will switch to secondary mode). What
>> options do I have?
>
> I gave Xenomai trunk a try and pthread_setschedparam() does not switch
> to secondary mode any more on my PowerPC test system. Nice, I just get
> an Oops in thread_delete from time to time. More on that issue later.
> For my ARM i.mx31 system, a need a few patches to get the Xenomai src's
> compiled:
>
> Index: include/asm-generic/bits/bind.h
> ===================================================================
> --- include/asm-generic/bits/bind.h (revision 4450)
> +++ include/asm-generic/bits/bind.h (working copy)
> @@ -72,7 +72,7 @@
> err = XENOMAI_SYSCALL1(__xn_sys_current, ¤t);
> if (err) {
> fprintf(stderr, "Xenomai: error obtaining handle for current "
> - "thread: %s\n", strerror(err));
> + "thread: %s\n", strerror(-err));
> exit(1);
> }
> __xeno_set_current(current);
> Index: include/asm-arm/syscall.h
> ===================================================================
> --- include/asm-arm/syscall.h (revision 4450)
> +++ include/asm-arm/syscall.h (working copy)
> @@ -228,7 +228,7 @@
> volatile unsigned long long *const tscp = __xn_tscinfo.u.fr.tsc;
> volatile unsigned *const counterp = __xn_tscinfo.u.fr.counter;
> const unsigned mask = __xn_tscinfo.u.fr.mask;
> - register unsigned long long after, before;
> + register unsigned long long result;
> unsigned counter;
>
> __asm__ ("ldmia %1, %M0\n": "=r"(result): "r"(tscp), "m"(*tscp));
>
>
> When I then start my application or cyclictest I get:
>
> -bash-3.2# ./cyclictest -n
> Xenomai: error obtaining handle for current thread: Operation not permitted
>
> As the latency program works fine, it seems to be a problem with the
> POSIX skin. Any idea what it is?
What version of gcc are you using ? When trying to get xenomai running
on an ARM platform, I found out that gcc 4.3.1 and 4.3.2 have a bug on
ARM which thrashes the parameters passed to some xenomai syscalls.
--
Gilles.
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