Hi,
As I already told u, we upgraded to the newest Xenomai version (2.4.9)
and now we are experiencing problems when trying to step through
the application with gdb/gdbserver which we haven't seen with previous
version of Xenomai/Linux kernel. Basically, if I run the whole thing
as described below on Xenomai 2.4.8 (with the alignment patch)
everything works fine...
Configuration:
- MPC8360
- Linux 2.6.30
- Ipipe 2.7-00
- Xenomai 2.4.9
- Alignment patch applied (see previous post)
I included some source code with this Email with
which I verified that it's not just on our side :p
1) I cross-compiled the source with:
<snip>
powerpc-linux-gnu-gcc --version
powerpc-linux-gnu-gcc (GCC) 4.1.3 20080704 (prerelease) (Debian
4.1.2-25)
powerpc-linux-gnu-gcc -Wall -O0 -g -o main
-I/opt/ROX-target/powerpc/usr/include/ -D_GNU_SOURCE -D_REENTRANT
-D__XENO__ -L/opt/ROX-target/powerpc//usr/lib -lpthread -lrtdk -lnative
main.c
</snip>
2) I started gdbserver 6.8 on the target with:
<snip>
/root/gdbserver --multi :2345 &
</snip>
3) I started powerpc-linux-gnu-gdb (6.8) on my host:
<snip>
powerpc-linux-gnu-gdb -x gdbinit_ROX_MPC83XX_hu
GNU gdb 6.8-debian
Copyright (C) 2008 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later
<http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show
copying"
and "show warranty" for details.
This GDB was configured as "--host=i486-linux-gnu
--target=powerpc-linux-gnu".
Breakpoint 1 at 0x10001c98: file main.c, line 37.
(gdb) b main.c:24
Breakpoint 2 at 0x10001b68: file main.c, line 24.
(gdb) run
Starting
program: /home/andreasglatz/ROX-RCLib/ROX-RCLibrary/ROX-MPC83XX/out/main
[New Thread 3316]
Error while mapping shared library sections:
/usr/lib/librtdk.so.0: No such file or directory.
Error while mapping shared library sections:
/usr/lib/libnative.so.1: No such file or directory.
warning: .dynamic section for "/usr/powerpc-linux-gnu/lib/libgcc_s.so.1"
is not at the expected address (wrong library or version mismatch?)
[Switching to Thread 3316]
Breakpoint 1, main () at main.c:37
37 mlockall(MCL_CURRENT|MCL_FUTURE);
(gdb) c
Continuing.
[New Thread 3319]
[Switching to Thread 3319]
Breakpoint 2, first_task_body (cookie=0x10012390) at main.c:25
25
second_task_body, (void*)n2);
(gdb) s
rt_task_spawn (task=0x100123a0, name=0x10012398 "second", stksize=0,
prio=2, mode=0,
entry=0x10001b0c <second_task_body>, cookie=0x10012398)
at /opt/ROX-target/powerpc/usr/include/native/task.h:322
322 int err = rt_task_create(task,name,stksize,prio,mode);
(gdb)
^C^CInterrupted while waiting for the program.
Give up (and stop debugging it)? (y or n) ^C^Cy
y
Ignoring packet error, continuing...
(gdb) Quit
(gdb)
The program is not being run.
(gdb)
</snip>
4) That's how it looks on the remote side, which
is still responsive:
<snip>
Remote debugging from host 10.200.19.189
Process /tmp/main created; pid = 3194
Info: In linux task
Info: In linux task
Info: In linux task
Info: In linux task
Info: In linux task
input_interrupt, count = 1 c = 36 ('$')
input_interrupt, count = 1 c = 63 ('?')
input_interrupt, count = 1 c = 35 ('#')
input_interrupt, count = 1 c = 51 ('3')
input_interrupt, count = 1 c = 102 ('f')
input_interrupt, count = 1 c = 36 ('$')
input_interrupt, count = 1 c = 63 ('?')
rx5000:~#
</snip>
5) Additionally, dmesg shows that there was no crash.
That's the info I got from /proc/xenomai :
<snip>
rx5000:~# cat /proc/xenomai/
affinity faults heap irq registry/ sched
timebases timerstat/
apc hal interfaces/ latency rtdm/ stat
timer version
rx5000:~# cat /proc/xenomai/faults
TRAP CPU0
0: 1 (Data or instruction access)
1: 0 (Alignment)
2: 0 (Altivec unavailable)
3: 1 (Program check exception)
4: 0 (Machine check exception)
5: 0 (Unknown)
6: 0 (Instruction breakpoint)
7: 0 (Run mode exception)
8: 0 (Single-step exception)
9: 0 (Non-recoverable exception)
10: 0 (Software emulation)
11: 0 (Debug)
12: 0 (SPE)
13: 0 (Altivec assist)
14: 0 (Cache-locking exception)
15: 0 (Kernel FP unavailable)
rx5000:~# cat /proc/xenomai/sched
CPU PID PRI PERIOD TIMEOUT TIMEBASE STAT NAME
0 0 -1 0 0 master R ROOT
0 3196 3 0 0 master XT first
rx5000:~# cat /proc/xenomai/stat
CPU PID MSW CSW PF STAT %CPU NAME
0 0 0 1248 0 00500080 100.0 ROOT
0 3196 1 1 0 00301380 0.0 first
0 0 0 267261 0 00000000 0.0 IRQ512: [timer]
rx5000:~#
</snip>
Well, that's all I got for now... I'll try and recompile the
kernel with debugging enabled tomorrow.
Again, everything works fine with 2.6.26, Xeno 2.4.8, ... :S
Andreas
#include <sys/mman.h>
#include <unistd.h>
#include <signal.h>
#include <string.h>
#include <stdarg.h>
#include <native/task.h>
#include <rtdk.h>
RT_TASK first_task;
RT_TASK second_task;
const char n1[] = "first";
const char n2[] = "second";
void second_task_body(void* cookie)
{
while(1) {
rt_printf("Info: In %s task\n", (char*)cookie);
rt_task_sleep(10000000);
}
}
void first_task_body(void* cookie)
{
int err = rt_task_spawn(&second_task, n2, 0, 2, 0,
second_task_body, (void*)n2);
while(!err) {
rt_printf("Info: In %s task\n", (char*)cookie);
rt_task_sleep(10000000);
}
}
int main(void)
{
int err;
mlockall(MCL_CURRENT|MCL_FUTURE);
rt_print_auto_init(1);
err = rt_task_spawn(&first_task, n1, 0, 3, 0,
first_task_body, (void*)n1);
if(!err) {
while(1) {
rt_printf("Info: In linux task\n");
sleep(1);
}
}
return err;
}
##
# Author: [email protected]
#
# This file contains commands required for
# starting a remote debug session, assuming that
# on the target gdbserver was started as follows:
#
# ./gdbserver --multi :2345 &
#
# Connect to the remote target
target extended-remote 10.200.19.228:2345
# Copy 'main' to remote target
remote put out/main /tmp/main
# Load symbol table
file out/main
# Set 'main' as main executable
set remote exec-file /tmp/main
# Set breakpoint at main()
b main
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