Hi, I have installed Ubuntu 12.04, with kernel 3.2.21 patched with xenomai-2.6.1
Xenomai installation is confirmed by output of dmesg | grep Xenomai automata@automata-xenomai:/usr/xenomai/bin$ dmesg | grep Xenomai [ 0.614338] I-pipe: head domain Xenomai registered. [ 0.614398] Xenomai: hal/i386 started. [ 0.614438] Xenomai: scheduling class idle registered. [ 0.614444] Xenomai: scheduling class rt registered. [ 0.617750] Xenomai: real-time nucleus v2.6.1 (Light Years Away) loaded. [ 0.617758] Xenomai: debug mode enabled. [ 0.618082] Xenomai: starting native API services. [ 0.618089] Xenomai: starting POSIX services. [ 0.618148] Xenomai: starting RTDM services. I have also compiled the xenomai libraries and binaries and they are installed in /usr/xenomai I can run xeno-test and latency test: automata@automata-xenomai:/usr/xenomai/bin$ sudo xeno-test [sudo] password for automata: sudo: xeno-test: command not found automata@automata-xenomai:/usr/xenomai/bin$ sudo ./xeno-test Started child 19191: /bin/bash /usr/xenomai/bin/xeno-test-run-wrapper ./xeno-test ++ echo 0 ++ /usr/xenomai/bin/arith mul: 0x79364d93, shft: 26 integ: 30, frac: 0x4d9364d9364d9364 signed positive operation: 0x03ffffffffffffff * 1000000000 / 33000000 inline calibration: 0x0000000000000000: 24.552 ns, rejected 8/10000 inlined llimd: 0x79364d9364d9362f: 84.518 ns, rejected 2/10000 inlined llmulshft: 0x79364d92ffffffe1: 29.296 ns, rejected 1/10000 inlined nodiv_llimd: 0x79364d9364d9362f: 49.936 ns, rejected 4/10000 out of line calibration: 0x0000000000000000: 30.676 ns, rejected 2/10000 out of line llimd: 0x79364d9364d9362f: 98.387 ns, rejected 1/10000 out of line llmulshft: 0x79364d92ffffffe1: 31.840 ns, rejected 1/10000 out of line nodiv_llimd: 0x79364d9364d9362f: 64.135 ns, rejected 3/10000 signed negative operation: 0xfc00000000000001 * 1000000000 / 33000000 inline calibration: 0x0000000000000000: 24.324 ns, rejected 34/10000 inlined llimd: 0x86c9b26c9b26c9d1: 97.735 ns, rejected 1/10000 inlined llmulshft: 0x86c9b26d0000001e: 29.303 ns, rejected 0/10000 inlined nodiv_llimd: 0x86c9b26c9b26c9d1: 60.508 ns, rejected 3/10000 out of line calibration: 0x0000000000000000: 30.666 ns, rejected 0/10000 out of line llimd: 0x86c9b26c9b26c9d1: 106.155 ns, rejected 1/10000 out of line llmulshft: 0x86c9b26d0000001e: 34.611 ns, rejected 1/10000 out of line nodiv_llimd: 0x86c9b26c9b26c9d1: 71.221 ns, rejected 4/10000 unsigned operation: 0x03ffffffffffffff * 1000000000 / 33000000 inline calibration: 0x0000000000000000: 24.546 ns, rejected 8/10000 inlined nodiv_ullimd: 0x79364d9364d9362f: 49.761 ns, rejected 0/10000 out of line calibration: 0x0000000000000000: 30.513 ns, rejected 1/10000 out of line nodiv_ullimd: 0x79364d9364d9362f: 59.564 ns, rejected 1/10000 ++ /usr/xenomai/bin/clocktest -C 42 -T 30 == Tested clock: 42 (CLOCK_HOST_REALTIME) CPU ToD offset [us] ToD drift [us/s] warps max delta [us] --- -------------------- ---------------- ---------- -------------- 0 1.1 -0.000 0 0.0 1 1.0 0.013 0 0.0 ++ /usr/xenomai/bin/switchtest -T 30 == Testing FPU check routines... r0: 1 != 2 r1: 1 != 2 r2: 1 != 2 r3: 1 != 2 r4: 1 != 2 r5: 1 != 2 r6: 1 != 2 r7: 1 != 2 == FPU check routines: OK. == Threads: sleeper_ufps0-0 rtk0-1 rtk0-2 rtk_fp0-3 rtk_fp0-4 rtk_fp_ufpp0-5 rtk_fp_ufpp0-6 rtup0-7 rtup0-8 rtup_ufpp0-9 rtup_ufpp0-10 rtus0-11 rtus0-12 rtus_ufps0-13 rtus_ufps0-14 rtuo0-15 rtuo0-16 rtuo_ufpp0-17 rtuo_ufpp0-18 rtuo_ufps0-19 rtuo_ufps0-20 rtuo_ufpp_ufps0-21 rtuo_ufpp_ufps0-22 sleeper_ufps1-0 rtk1-1 rtk1-2 rtk_fp1-3 rtk_fp1-4 rtk_fp_ufpp1-5 rtk_fp_ufpp1-6 rtup1-7 rtup1-8 rtup_ufpp1-9 rtup_ufpp1-10 rtus1-11 rtus1-12 rtus_ufps1-13 rtus_ufps1-14 rtuo1-15 rtuo1-16 rtuo_ufpp1-17 rtuo_ufpp1-18 rtuo_ufps1-19 rtuo_ufps1-20 rtuo_ufpp_ufps1-21 rtuo_ufpp_ufps1-22 RTT| 00:00:01 RTH|---------cpu|ctx switches|-------total RTD| 1| 23975| 23975 RTD| 0| 24544| 24544 RTD| 0| 24529| 49073 RTD| 1| 23710| 47685 RTD| 1| 23654| 71339 RTD| 0| 23960| 73033 RTD| 1| 24667| 96006 RTD| 0| 25501| 98534 RTD| 1| 23564| 119570 RTD| 0| 24544| 123078 RTD| 1| 23299| 142869 RTD| 0| 24276| 147354 RTD| 1| 23857| 166726 RTD| 0| 24317| 171671 RTD| 1| 23395| 190121 RTD| 0| 24469| 196140 RTD| 1| 23556| 213677 RTD| 0| 24032| 220172 RTD| 1| 23686| 237363 RTD| 0| 24138| 244310 RTD| 1| 24376| 261739 RTT| 00:00:11 RTH|---------cpu|ctx switches|-------total RTD| 0| 24581| 268891 RTD| 1| 24092| 285831 RTD| 0| 24527| 293418 RTD| 1| 24173| 310004 RTD| 0| 25045| 318463 RTD| 1| 24170| 334174 RTD| 0| 24444| 342907 RTD| 1| 23736| 357910 RTD| 0| 24445| 367352 RTD| 1| 23236| 381146 RTD| 0| 24721| 392073 RTD| 1| 23578| 404724 RTD| 0| 24246| 416319 ^CRTD| 0| 9981| 426300 RTD| 1| 9539| 414263 latency test also runs fine: automata@automata-xenomai:/usr/xenomai/bin$ sudo ./latency -t1 -p25 == Sampling period: 25 us == Test mode: in-kernel periodic task == All results in microseconds warming up... RTT| 00:00:01 (in-kernel periodic task, 25 us period, priority 99) RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst RTD| 1.517| 3.143| 17.557| 0| 0| 1.517| 17.557 RTD| 1.670| 3.075| 16.978| 0| 0| 1.517| 17.557 RTD| 1.521| 3.070| 6.853| 0| 0| 1.517| 17.557 RTD| 1.588| 3.056| 6.250| 0| 0| 1.517| 17.557 RTD| 1.668| 3.056| 5.917| 0| 0| 1.517| 17.55 Now For my problem... I cannot compile the examples in xenomai-2.6.1/examples/native running make in examples/native directory gives following: automata@automata-xenomai:~/xenomai-2.6.1/examples/native$ make gcc -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -D__XENO__ -lnative -L/usr/xenomai/lib -lxenomai -lpthread -lrt -Xlinker -rpath -Xlinker /usr/xenomai/lib trivial-periodic.c -o trivial-periodic /tmp/ccJuIj7p.o: In function `demo': trivial-periodic.c:(.text+0x2f): undefined reference to `rt_task_set_periodic' trivial-periodic.c:(.text+0x34): undefined reference to `rt_timer_read' trivial-periodic.c:(.text+0x46): undefined reference to `rt_task_wait_period' trivial-periodic.c:(.text+0x4b): undefined reference to `rt_timer_read' /tmp/ccJuIj7p.o: In function `main': trivial-periodic.c:(.text+0x133): undefined reference to `rt_task_create' trivial-periodic.c:(.text+0x14f): undefined reference to `rt_task_start' trivial-periodic.c:(.text+0x160): undefined reference to `rt_task_delete' collect2: ld returned 1 exit status make: *** [trivial-periodic] Error 1 xeno-config is installed properly: output of xeno-config <[email protected]>automata@automata-xenomai:~/xenomai-2.6.1/examples/native$ /usr/xenomai/bin/xeno-config --v xeno-config --verbose --version="2.6.1" --cc="gcc" --arch="x86" --prefix="/usr/xenomai" --xeno-cflags="-I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -D__XENO__" --xeno-ldflags="-L/usr/xenomai/lib -lxenomai -lpthread -lrt " --posix-cflags="" --posix-ldflags="-Wl,@/usr/xenomai/lib/posix.wrappers -L/usr/xenomai/lib -lpthread_rt -lxenomai -lpthread -lrt " --library-dir="/usr/xenomai/lib" So what am I doing wrong? Any clues? -amit _______________________________________________ Xenomai mailing list [email protected] http://www.xenomai.org/mailman/listinfo/xenomai
