Hello,
I've some difficulties to run Xenomai with a little 'hello' example
(that create/start a task)
on a target 486 processor (without fpu).
I successfully compiled the Linux kernel 2.6.38.8 with
adeos-ipipe-2.6.38.8-x86-2.11-02.patch (Xenomai version is 2.5.6)
(modify file xenomai-2.5.6/include/asm-x86/calibration.h
"current_cpu_data"->"cpu_info" were required)
dmesg extract:
[ 0.000000] I-pipe 2.11-02: pipeline enabled.
...
[ 0.140008] CPU: Cyrix Cx486SLC
...
[ 1.440804] Xenomai: hal/i386 started.
[ 1.448804] Xenomai: scheduling class idle registered.
[ 1.452804] Xenomai: scheduling class rt registered.
[ 1.488806] Xenomai: real-time nucleus v2.5.6 (Wormhole Wizards) loaded.
[ 1.496807] Xenomai: starting native API services.
[ 1.500807] Xenomai: starting POSIX services.
[ 1.504807] Xenomai: starting RTDM services.
After compiling user-space Xenomai part with
./configure --disable-x86-sep --disable-x86-tsc / make / sudo make install
and copy /usr/xenomai/lib on the target
I've got "illegal instruction" with my little 'hello test' example that
create/start a task.
Then I've tried to add flag to set 486 instruction set to gcc...
For that, to compile user-space this time I used :
./configure CFLAGS="-march=i486" LDFLAGS="-march=i486" --disable-x86-sep
--disable-x86-tsc / make / sudo make install
Now, at rt_task_start, I've got an error code -38 !
Any one have an idea on the trouble ?
(at start thinking on the fpu missing, but seems not to be used !? no
libm dependance)
Many thanks.
Here my little hello_test example code used :
============================
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>
#include <native/task.h>
#include <native/timer.h>
RT_TASK task_desc;
static void task(void *arg)
{
RTIME now,previous;
rt_task_set_periodic( NULL, TM_NOW, 1000000000 );
previous = rt_timer_read( );
while( 1 )
{
rt_task_wait_period( NULL );
now = rt_timer_read( );
printf("Hello world xenomai test! %ld.%06ld ms\n",
(long)(now-previous)/1000000, (long)(now-previous)%1000000 );
/* Outch... printf accesses a Linux ressource so we are now
in secondary mode */
}
}
void catch_signal( int sig )
{
}
int main (void)
{
int err;
printf("starting...\n");
signal( SIGTERM,catch_signal );
signal( SIGINT,catch_signal );
/* disable memory swap */
mlockall( MCL_CURRENT | MCL_FUTURE );
err = rt_task_create( &task_desc, "demo_task", 0, 99, 0 );
if (err!=0 )
{
printf("rt_task_create error : %d\n",err);
return 1;
}
/* wait for task function termination */
err = rt_task_start( &task_desc, &task, NULL );
if (err!=0 )
{
printf("rt_task_start error : %d\n",err);
return 1;
}
printf("running!\n");
pause( );
rt_task_delete( &task_desc );
return 0;
}
And the Makefile :
===========
CFLAGS = -march=i486 -O2
LDFLAGS = -march=i486 -O2
CFLAGS += `/usr/xenomai/bin/xeno-config --skin=native --cflags`
LDFLAGS += `/usr/xenomai/bin/xeno-config --skin=native --ldflags`
all:
gcc hello_test.c $(CFLAGS) $(LDFLAGS) -o hello_test
cflags:
echo $(CFLAGS)
ldflags:
echo $(LDFLAGS)
_______________________________________________
Xenomai mailing list
[email protected]
http://www.xenomai.org/mailman/listinfo/xenomai
