Hi, Sorry about the horrible formatting on that. Hoping this is easier to read:
I'm trying to update our systems to use a new kernel and Xenomai 2.6.0, with ipipe 2.6.38.8-x86-2.11-02. (Previously, I've tested 2.5.6 with ipipe 2.6.37-x86-2.9.00; there was no ipipe log with that version.) Everything seems to be running fine, but I get an error message and a call trace in the kernel logs. The message is "I-pipe: Detected illicit call from domain 'Xenomai'". This happens pretty much as soon as our first Xenomai tasks start running, and it doesn't appear to be hurting anything. The tasks mentioned in the tracer log are both low-priority native-skin tasks that use Xenomai services to communicate with our realtime tasks, but also use Linux services. The configClient task uses rt_mutex and condition variables to receive requests from another Xenomai task in the same process. Its job is to talk on a tcp socket with a java server. It expects to go into secondary mode when doing that, and is careful not to hold the rt_mutex when blocking. (But I mention that, because I'm not sure if the ipipe message could be caused by a mistake of that sort in userspace.) configClient sometimes also sends rt_queue messages to the loggingTask, which is also mentioned in the tracer log. (It looks like the loggingTask had recently received a message from somewhere, but I don't understand the trace well enough to say for certain whether that message came from the configClient.) When loggingTask receives a message, it will write() it to disk; again, it expects to go to secondary mode for that. We're building Xenomai for 32-bit x86, with --enable-x86-sep and CFLAGS="-fno-omit-frame-pointer". The trace follows. Thank you, -Josh [ 30.582794] I-pipe: Domain Xenomai registered. [ 30.582814] Xenomai: hal/i386 started. [ 30.582873] Xenomai: scheduling class idle registered. [ 30.582876] Xenomai: scheduling class rt registered. [ 30.617841] Xenomai: real-time nucleus v2.6.0 (Movin' On) loaded. [ 30.617846] Xenomai: debug mode enabled. [ 30.693068] Xenomai: starting native API services. [ 45.619810] I-pipe: Detected illicit call from domain 'Xenomai' [ 45.619815] <3> into a service reserved for domain 'Linux' and below. [ 45.619827] Pid: 885, comm: configClient.88 Not tainted 2.6.38.8+1.1.0ubu6 #1 [ 45.619833] Call Trace: [ 45.619853] [<c01a3cfd>] ? ipipe_check_context+0x1ad/0x1f0 [ 45.619863] [<c0199d97>] ? kgdb_cpu_enter+0xa7/0x560 [ 45.619870] [<c019a44f>] ? kgdb_handle_exception+0xef/0x150 [ 45.619877] [<c01a7fda>] ? ipipe_trace_function+0x2a/0x30 [ 45.619886] [<c011a59d>] ? __ipipe_handle_exception+0x7d/0x670 [ 45.619897] [<c05a7cef>] ? error_code+0x5f/0x70 [ 45.619902] I-pipe tracer log (100 points): [ 45.619906] | + func 0 ipipe_trace_panic_freeze+0x4 (ipipe_check_context+0x155) [ 45.619930] | + func 0 ipipe_check_context+0xf (kgdb_cpu_enter+0xa7) [ 45.619950] | + func -1 kgdb_disable_hw_debug+0x9 (kgdb_cpu_enter+0x5f) [ 45.619973] | + func -2 kgdb_cpu_enter+0x9 (kgdb_handle_exception+0xef) [ 45.619993] | + func -3 kgdb_handle_exception+0x8 (__ipipe_handle_exception+0x7d) [ 45.620021] | + func -4 __ipipe_handle_exception+0x9 (error_code+0x5f) [ 45.620041] | + begin 0x80000001 -39 __ipipe_syscall_root+0xd3 (sysenter_past_esp+0x55) [ 45.620045] | + end 0x80000001 -39 __ipipe_dispatch_event+0x2a3 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -39 __ipipe_dispatch_event+0x213 (__ipipe_syscall_root+0x53) [ 45.620045] | + end 0x80000000 -39 __ipipe_restore_pipeline_head+0x83 (xnlock_put_irqrestore.constprop.12+0xf5 [xeno_native]) [ 45.620045] | # func -39 __ipipe_restore_pipeline_head+0xf (xnlock_put_irqrestore.constprop.12+0xf5 [xeno_native]) [ 45.620045] | # func -40 xnlock_put_irqrestore.constprop.12+0xf [xeno_native] (__rt_queue_send+0x142 [xeno_native]) [ 45.620045] | # [ 885] configCl 4 -40 __xnpod_schedule+0x5aa [xeno_nucleus] (rt_queue_send+0x2bc [xeno_native]) [ 45.620045] | # func -41 xnsched_pick_next+0xf [xeno_nucleus] (__xnpod_schedule+0x273 [xeno_nucleus]) [ 45.620045] | # [ 877] loggingT 8 -41 __xnpod_schedule+0x12e [xeno_nucleus] (xnpod_suspend_thread+0x53b [xeno_nucleus]) [ 45.620045] | # func -41 __xnpod_schedule+0x9 [xeno_nucleus] (xnpod_suspend_thread+0x53b [xeno_nucleus]) [ 45.620045] | # func -42 xnarch_ns_to_tsc+0xf [xeno_nucleus] (xntimer_start_aperiodic+0x8f [xeno_nucleus]) [ 45.620045] | # func -43 xntimer_start_aperiodic+0x9 [xeno_nucleus] (xnpod_suspend_thread+0x300 [xeno_nucleus]) [ 45.620045] | # func -44 xntimer_migrate+0x9 [xeno_nucleus] (xnpod_suspend_thread+0x2dc [xeno_nucleus]) [ 45.620045] | # func -45 xnpod_suspend_thread+0x9 [xeno_nucleus] (xnsynch_sleep_on+0x13b [xeno_nucleus]) [ 45.620045] | # func -46 xnsynch_sleep_on+0x9 [xeno_nucleus] (rt_queue_receive_inner+0x3ef [xeno_native]) [ 45.620045] | # func -46 rt_queue_receive_inner+0x9 [xeno_native] (__rt_queue_receive+0x141 [xeno_native]) [ 45.620045] | # func -47 xnregistry_fetch+0x3 [xeno_nucleus] (__rt_queue_receive+0x11d [xeno_native]) [ 45.620045] | + begin 0x80000000 -47 __rt_queue_receive+0x1a3 [xeno_native] (hisyscall_event+0x1f0 [xeno_nucleus]) [ 45.620045] + func -47 __copy_from_user_ll_nozero+0xf (__xn_safe_copy_from_user+0x31 [xeno_native]) [ 45.620045] + func -47 __xn_safe_copy_from_user+0xf [xeno_native] (__rt_queue_receive+0x58 [xeno_native]) [ 45.620045] + func -47 __copy_from_user_ll_nozero+0xf (__rt_queue_receive+0x40 [xeno_native]) [ 45.620045] + func -48 __rt_queue_receive+0x9 [xeno_native] (hisyscall_event+0x1f0 [xeno_nucleus]) [ 45.620045] + func -48 hisyscall_event+0xf [xeno_nucleus] (__ipipe_dispatch_event+0xef) [ 45.620045] | + end 0x80000001 -48 __ipipe_dispatch_event+0x222 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -48 __ipipe_dispatch_event+0x2cb (__ipipe_syscall_root+0x53) [ 45.620045] + func -48 __ipipe_dispatch_event+0x9 (__ipipe_syscall_root+0x53) [ 45.620045] + func -49 __ipipe_syscall_root+0xf (sysenter_past_esp+0x55) [ 45.620045] | + begin 0x80000001 -50 __ipipe_syscall_root+0xd3 (sysenter_past_esp+0x55) [ 45.620045] | + end 0x80000001 -50 __ipipe_dispatch_event+0x2a3 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -50 __ipipe_dispatch_event+0x213 (__ipipe_syscall_root+0x53) [ 45.620045] | + end 0x80000000 -50 __ipipe_restore_pipeline_head+0x83 (xnlock_put_irqrestore.constprop.12+0xf5 [xeno_native]) [ 45.620045] | # func -51 __ipipe_restore_pipeline_head+0xf (xnlock_put_irqrestore.constprop.12+0xf5 [xeno_native]) [ 45.620045] | # func -51 xnlock_put_irqrestore.constprop.12+0xf [xeno_native] (__rt_queue_free+0x12a [xeno_native]) [ 45.620045] | # func -52 __queue_check_msg+0x3 [xeno_native] (xnheap_test_and_free+0x335 [xeno_nucleus]) [ 45.620045] | # func -54 xnheap_test_and_free+0x9 [xeno_nucleus] (rt_queue_free+0x1f8 [xeno_native]) [ 45.620045] | # func -55 rt_queue_free+0x9 [xeno_native] (__rt_queue_free+0x11e [xeno_native]) [ 45.620045] | # func -55 xnregistry_fetch+0x3 [xeno_nucleus] (__rt_queue_free+0xff [xeno_native]) [ 45.620045] | + begin 0x80000000 -55 __rt_queue_free+0x143 [xeno_native] (hisyscall_event+0x1f0 [xeno_nucleus]) [ 45.620045] + func -56 __copy_from_user_ll_nozero+0xf (__rt_queue_free+0x3b [xeno_native]) [ 45.620045] + func -56 __rt_queue_free+0x9 [xeno_native] (hisyscall_event+0x1f0 [xeno_nucleus]) [ 45.620045] + func -56 hisyscall_event+0xf [xeno_nucleus] (__ipipe_dispatch_event+0xef) [ 45.620045] | + end 0x80000001 -57 __ipipe_dispatch_event+0x222 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -57 __ipipe_dispatch_event+0x2cb (__ipipe_syscall_root+0x53) [ 45.620045] + func -57 __ipipe_dispatch_event+0x9 (__ipipe_syscall_root+0x53) [ 45.620045] + func -57 __ipipe_syscall_root+0xf (sysenter_past_esp+0x55) [ 45.620045] | + begin 0x80000001 -94 __ipipe_syscall_root+0xd3 (sysenter_past_esp+0x55) [ 45.620045] | + end 0x80000001 -94 __ipipe_dispatch_event+0x2a3 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -95 __ipipe_dispatch_event+0x213 (__ipipe_syscall_root+0x53) [ 45.620045] + func -95 __copy_to_user_ll+0xf (__rt_timer_read+0x4d [xeno_native]) [ 45.620045] + func -95 xnarch_tsc_to_ns+0xc [xeno_nucleus] (xnarch_get_cpu_time+0xf [xeno_nucleus]) [ 45.620045] + func -95 xnarch_get_cpu_time+0x3 [xeno_nucleus] (__rt_timer_read+0x1a [xeno_native]) [ 45.620045] + func -95 __rt_timer_read+0x8 [xeno_native] (hisyscall_event+0x1f0 [xeno_nucleus]) [ 45.620045] + func -96 hisyscall_event+0xf [xeno_nucleus] (__ipipe_dispatch_event+0xef) [ 45.620045] | + end 0x80000001 -96 __ipipe_dispatch_event+0x222 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -96 __ipipe_dispatch_event+0x2cb (__ipipe_syscall_root+0x53) [ 45.620045] + func -96 __ipipe_dispatch_event+0x9 (__ipipe_syscall_root+0x53) [ 45.620045] + func -96 __ipipe_syscall_root+0xf (sysenter_past_esp+0x55) [ 45.620045] | + begin 0x80000001 -102 __ipipe_syscall_root+0xd3 (sysenter_past_esp+0x55) [ 45.620045] | + end 0x80000001 -102 __ipipe_dispatch_event+0x2a3 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -102 __ipipe_dispatch_event+0x213 (__ipipe_syscall_root+0x53) [ 45.620045] | + end 0x80000000 -104 __ipipe_restore_pipeline_head+0x83 (xnlock_put_irqrestore.constprop.12+0xf5 [xeno_native]) [ 45.620045] | # func -104 __ipipe_restore_pipeline_head+0xf (xnlock_put_irqrestore.constprop.12+0xf5 [xeno_native]) [ 45.620045] | # func -104 xnlock_put_irqrestore.constprop.12+0xf [xeno_native] (__rt_queue_receive+0x162 [xeno_native]) [ 45.620045] | # [ 877] loggingT 8 -107 __xnpod_schedule+0x5aa [xeno_nucleus] (xnpod_suspend_thread+0x53b [xeno_nucleus]) [ 45.620045] | # func -109 xnsched_pick_next+0xf [xeno_nucleus] (__xnpod_schedule+0x273 [xeno_nucleus]) [ 45.620045] | # [ 885] configCl 4 -109 __xnpod_schedule+0x12e [xeno_nucleus] (rt_queue_send+0x2bc [xeno_native]) [ 45.620045] | # func -109 __xnpod_schedule+0x9 [xeno_nucleus] (rt_queue_send+0x2bc [xeno_native]) [ 45.620045] | # func -110 xntimer_stop_aperiodic+0x5 [xeno_nucleus] (xnpod_resume_thread+0x46f [xeno_nucleus]) [ 45.620045] | # [ 877] loggingT 8 -111 xnpod_resume_thread+0xe2 [xeno_nucleus] (xnsynch_wakeup_one_sleeper+0xfc [xeno_nucleus]) [ 45.620045] | # func -111 xnpod_resume_thread+0x9 [xeno_nucleus] (xnsynch_wakeup_one_sleeper+0xfc [xeno_nucleus]) [ 45.620045] | # func -113 xnsynch_wakeup_one_sleeper+0x9 [xeno_nucleus] (rt_queue_send+0x268 [xeno_native]) [ 45.620045] | # func -114 xnheap_check_block+0x9 [xeno_nucleus] (rt_queue_send+0x226 [xeno_native]) [ 45.620045] | # func -115 rt_queue_send+0x9 [xeno_native] (__rt_queue_send+0x138 [xeno_native]) [ 45.620045] | # func -115 xnregistry_fetch+0x3 [xeno_nucleus] (__rt_queue_send+0x113 [xeno_native]) [ 45.620045] | + begin 0x80000000 -116 __rt_queue_send+0x15b [xeno_native] (hisyscall_event+0x1f0 [xeno_nucleus]) [ 45.620045] + func -116 __copy_from_user_ll_nozero+0xf (__rt_queue_send+0x40 [xeno_native]) [ 45.620045] + func -117 __rt_queue_send+0x9 [xeno_native] (hisyscall_event+0x1f0 [xeno_nucleus]) [ 45.620045] + func -117 hisyscall_event+0xf [xeno_nucleus] (__ipipe_dispatch_event+0xef) [ 45.620045] | + end 0x80000001 -117 __ipipe_dispatch_event+0x222 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -117 __ipipe_dispatch_event+0x2cb (__ipipe_syscall_root+0x53) [ 45.620045] + func -118 __ipipe_dispatch_event+0x9 (__ipipe_syscall_root+0x53) [ 45.620045] + func -118 __ipipe_syscall_root+0xf (sysenter_past_esp+0x55) [ 45.620045] | + begin 0x80000001 -139 __ipipe_syscall_root+0xd3 (sysenter_past_esp+0x55) [ 45.620045] | + end 0x80000001 -139 __ipipe_dispatch_event+0x2a3 (__ipipe_syscall_root+0x53) [ 45.620045] | + begin 0x80000001 -139 __ipipe_dispatch_event+0x213 (__ipipe_syscall_root+0x53) [ 45.620045] + func -139 __copy_to_user_ll+0xf (__rt_task_inquire+0x96 [xeno_native]) [ 45.620045] | + end 0x80000000 -140 __ipipe_restore_pipeline_head+0x83 (rt_task_inquire+0x12c [xeno_native]) [ 45.620045] | # func -140 __ipipe_restore_pipeline_head+0xf (rt_task_inquire+0x12c [xeno_native]) [ 45.620045] | # func -140 xnarch_tsc_to_ns+0xc [xeno_nucleus] (rt_task_inquire+0x2b9 [xeno_native]) [ 45.620045] | # func -141 strcpy+0xc (rt_task_inquire+0x266 [xeno_native]) [ 45.620045] | + begin 0x80000000 -141 rt_task_inquire+0x23b [xeno_native] (__rt_task_inquire+0x68 [xeno_native]) [ 45.620045] + func -142 rt_task_inquire+0x9 [xeno_native] (__rt_task_inquire+0x68 [xeno_native]) [ 45.620045] + func -142 __rt_task_lookup+0x4 [xeno_native] (__rt_task_inquire+0x39 [xeno_native]) [ 45.620045] + func -143 __copy_from_user_ll_nozero+0xf (__xn_safe_copy_from_user+0x31 [xeno_native]) _______________________________________________ Xenomai mailing list [email protected] http://www.xenomai.org/mailman/listinfo/xenomai
