Gilles Chanteperdrix <[email protected]> escribió:
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.
Only to inform that using Xenomai 2.6.3 at user-space (instead of
2.6.0), and Xenomai 2.6.0 in the kernel, WORKS FINE WITHOUT ERRORS.
However, I'm going to compile and patch a vanilla kernel in order to
use the same version of Xenomai (2.6.3) in my IgepV2, following the
advice of Gilles.
Jose
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