On 11/04/2013 04:20 PM, Jose Ignacio Cazalilla Morenas wrote:
>
> Gilles Chanteperdrix <[email protected]> escribió:
>
>> 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.
>>
>
>
> Thanks for your answer, Gilles.
> I'm just installing Xenomai 2.6.3 for the user-space, with the kernel
> patched with Xenomai 2.6.0 (this kernel is provided by IgepV2
> developers). I don't know if different versions of Kernel and
> user-space are suitable...
Xenomai 2.6.3 is ABI and API compatible with 2.6.0. However a lot of
things have been fixed since 2.6.0. Besides, I routinely test Xenomai on
IGEPv2 board, so I am pretty sure that the vanilla kernel works on IGEP,
you do not need to rely on a fork.
--
Gilles.
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