I was having the same problem of freezes in RPi (RPi3 in this case) for quite some time as explained in the following topic (kernel 4.1.21 with xenomai 3.0.3): http://www.xenomai.org/pipermail/xenomai/2017-February/037090.html
I think that I achieved to solve the problem by disabling the FIQ capabilities of the USB driver. There are problems by using the FIQ USB driver with RT patches as shown in: https://community.emlid.com/t/rpi-2-fiq-usb-driver-problems/508/8 https://www.raspberrypi.org/forums/viewtopic.php?f=29&t=39951&start=75 The solution is as simple as adding the following parameters in the "cmdline.txt" file in the boot partition: dwc_otg.fiq_enable=0 dwc_otg.fiq_fsm_enable=0 dwc_otg.nak_holdoff=0 If these parameters are loaded, introducing "dmesg | grep dwc_otg" in a terminal (e.g. by SSH) will give you the following information: [ 0.511322] dwc_otg: FIQ disabled [ 0.511327] dwc_otg: NAK holdoff disabled [ 0.511331] dwc_otg: FIQ split-transaction FSM disabled I was doing several tests which consist of copying several folders with GBs of data from a PC to the RPi SD through WiFi (using rsync). With the USB FIQ driver, RPi freezes after some time (less than an hour). Without the USB FIQ driver, I have not had any freeze at the moment. More info about this driver (USB FIQ) can be obtained in: https://www.raspberrypi.org/forums/viewtopic.php?t=70437 Regards, Geber _______________________________________________ Xenomai mailing list [email protected] https://xenomai.org/mailman/listinfo/xenomai
