On 11/04/2013 10:16 AM, Jose Ignacio Cazalilla Morenas wrote:
> Hi all.
> I'm trying to use Xenomai+Linaro under a IGEPv2, in order to install
> Orocos (with the RT_TARGET=xenomai).
> I've been working with the IGEPv2 and ROS+Orocos, but with the
> RTT_TARGET=gnulinux, instead of Xenomai.
>
> Now, I've downloaded from git.isee.biz the kernel patched with Xenomai:
>
> $git clone git://git.isee.biz/pub/scm/linux-omap-2.6.git
> $cd linux-omap-2.6/
> $git checkout linux-2.6.35.y-rt
> $make ARCH=arm igep00x0_defconfig
> $make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- zImage modules
> $sudo make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi-
> INSTALL_MOD_PATH=/media/root modules_install
>
> /*Copy&Paste the zImage to the Boot partition*/
>
> When I run the IgepV2, the kernel informs that Xenomai have been
> installed properly (dmesg).
>
> [ 0.108093] I-pipe: Domain Xenomai registered.
> [ 0.108123] Xenomai: hal/arm started.
> [ 0.109252] Xenomai: scheduling class idle registered.
> [ 0.109283] Xenomai: scheduling class rt registered.
> [ 0.117645] Xenomai: real-time nucleus v2.6.0 (Movin' On) loaded.
> [ 0.117675] Xenomai: debug mode enabled.
> [ 0.118164] Xenomai: starting native API services.
> [ 0.118164] Xenomai: starting POSIX services.
> [ 0.118316] Xenomai: starting RTDM services.
>
>
> Then, I have to install Xenomai at the user-space in order to use it
> with Orocos (or other application), so I did (inside the IGEPv2, an
> ARM embedded board):
>
> wget http://download.gna.org/xenomai/stable/xenomai-2.6.0.tar.bz2
> tar jxf xenomai-2.6.0.tar.bz2
> cd xenomai-2.6.0
> ./configure CFLAGS="-march=armv7-a -mfpu=vfp3 -marm"
> make
> make install
>
> If I run /usr/xenomai/bin/xeno-test, it works fine (it seems).
>
> So, I compile Orocos. It detects the Xenomai installation and compile.
> However, when I run "deployer-xenomai" in order to start Orocos, I get
> this error:
>
> root@igep2:~/orocos/orocos-toolchain# deployer-xenomai
> Xenomai Posix skin init: pthread_setschedparam: Device or resource busy
>
> Therefore, it doesn't work due to this error: "Xenomai Posix skin
> init: pthread_setschedparam: Device or resource busy".
> I think it could be related to the configuration of Xenomai at the
> user-space for the IGEPv2.
> Any idea?
Do you have the same issue with Xenomai latest release, that is Xenomai
2.6.3?
--
Gilles.
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