Hello Jan,
thank you for your answer.
My Xenomai version is:
Xenomai/cobalt v3.0.9 -- #5b99a61 (2019-11-04 19:44:03 +0100)
My kernel version is:
Linux arm 4.4.113-ti-xenomai-r149.1 #1 SMP Mon Oct 21 11:55:55 CEST 2019
armv7l GNU/Linux
If it can be useful the result of xeno-test is:
Started child 676: /bin/bash /usr/xenomai/bin/xeno-test-run-wrapper
./xeno-test
++ echo 0
++ testdir=/usr/xenomai/bin
++ /usr/xenomai/bin/smokey --run
arith OK
bufp skipped (no kernel support)
cpu_affinity OK
iddp skipped (no kernel support)
leaks OK
net_packet_dgram skipped (no kernel support)
net_packet_raw skipped (no kernel support)
net_udp skipped (no kernel support)
posix_clock OK
posix_cond OK
posix_fork OK
mutex_trylock not supported
posix_mutex OK
posix_select OK
rtdm skipped (no kernel support)
sched_quota skipped (no kernel support)
sched_tp skipped (no kernel support)
setsched OK
sigdebug skipped (no kernel support)
timerfd OK
tsc OK
vdso_access OK
xddp skipped (no kernel support)
++ /usr/xenomai/bin/clocktest -D -T 30 -C CLOCK_HOST_REALTIME
hostrt data area is live
sequence counter : 197044
wall_time_sec : 1575475032
wall_time_nsec : 492643503
wall_to_monotonic_sec : -1575471617
wall_to_monotonic_nsec : 197320093
cycle_last : 81979795008
mask : 0xffffffffffffffff
mult : 699025481
shift : 24
== Testing built-in CLOCK_HOST_REALTIME (32)
CPU ToD offset [us] ToD drift [us/s] warps max delta [us]
--- -------------------- ---------------- ---------- --------------
0 3.3 0.054 0 0.0
++ /usr/xenomai/bin/switchtest -T 30
== Testing FPU check routines...
d0: 1 != 2
d1: 1 != 2
d2: 1 != 2
d3: 1 != 2
d4: 1 != 2
d5: 1 != 2
d6: 1 != 2
d7: 1 != 2
d8: 1 != 2
d9: 1 != 2
d10: 1 != 2
d11: 1 != 2
d12: 1 != 2
d13: 1 != 2
d14: 1 != 2
d15: 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
RTT| 00:00:01
RTH|---------cpu|ctx switches|-------total
RTD| 0| 15937| 15937
RTD| 0| 15732| 31669
RTD| 0| 15736| 47405
RTD| 0| 15797| 63202
RTD| 0| 15801| 79003
RTD| 0| 15667| 94670
RTD| 0| 15730| 110400
RTD| 0| 15661| 126061
RTD| 0| 15801| 141862
RTD| 0| 15801| 157663
RTD| 0| 15801| 173464
RTD| 0| 15801| 189265
RTD| 0| 15736| 205001
RTD| 0| 15801| 220802
RTD| 0| 15866| 236668
RTD| 0| 15732| 252400
RTD| 0| 15736| 268136
RTD| 0| 15866| 284002
RTD| 0| 15732| 299734
RTD| 0| 15663| 315397
RTD| 0| 15732| 331129
RTT| 00:00:22
RTH|---------cpu|ctx switches|-------total
RTD| 0| 15801| 346930
RTD| 0| 15734| 362664
RTD| 0| 15734| 378398
RTD| 0| 15799| 394197
RTD| 0| 15799| 409996
RTD| 0| 15801| 425797
RTD| 0| 15734| 441531
RTD| 0| 15799| 457330
RTD| 0| 14490| 471820
++ start_load
++ echo start_load
++ false
++ check_alive /usr/xenomai/bin/latency
++ echo check_alive /usr/xenomai/bin/latency
++ wait_load
++ read rc
Started child 744: dohell 900
Started child 745: /usr/xenomai/bin/latency
== Sampling period: 1000 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT| 00:00:01 (periodic user-mode task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat
best|--lat worst
RTD| 14.416| 29.666| 55.416| 0| 0| 14.416| 55.416
RTD| 14.374| 29.543| 53.583| 0| 0| 14.374| 55.416
RTD| 14.374| 28.730| 54.582| 0| 0| 14.374| 55.416
RTD| 14.374| 28.170| 56.249| 0| 0| 14.374| 56.249
RTD| 14.374| 28.609| 54.374| 0| 0| 14.374| 56.249
RTD| 14.332| 27.711| 55.874| 0| 0| 14.332| 56.249
RTD| 14.331| 28.196| 57.956| 0| 0| 14.331| 57.956
RTD| 14.373| 27.163| 54.915| 0| 0| 14.331| 57.956
RTD| 14.331| 28.497| 61.623| 0| 0| 14.331| 61.623
RTD| 11.414| 28.633| 56.914| 0| 0| 11.414| 61.623
RTD| 14.414| 27.801| 60.914| 0| 0| 11.414| 61.623
RTD| 14.372| 27.482| 57.289| 0| 0| 11.414| 61.623
RTD| 14.372| 28.480| 56.038| 0| 0| 11.414| 61.623
RTD| 14.371| 28.990| 56.413| 0| 0| 11.414| 61.623
RTD| 14.371| 28.460| 54.371| 0| 0| 11.414| 61.623
RTD| 14.371| 27.868| 54.704| 0| 0| 11.414| 61.623
RTD| 14.412| 27.557| 53.746| 0| 0| 11.414| 61.623
RTD| 14.287| 27.530| 53.287| 0| 0| 11.414| 61.623
RTD| 14.370| 26.841| 55.829| 0| 0| 11.414| 61.623
RTD| 14.412| 26.846| 52.912| 0| 0| 11.414| 61.623
RTD| 14.411| 26.671| 53.953| 0| 0| 11.414| 61.623
RTT| 00:00:22 (periodic user-mode task, 1000 us period, priority 99)
RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat
best|--lat worst
RTD| 14.411| 26.720| 54.245| 0| 0| 11.414| 61.623
RTD| 14.369| 26.391| 57.869| 0| 0| 11.414| 61.623
RTD| 14.411| 26.184| 55.536| 0| 0| 11.414| 61.623
RTD| 14.411| 26.052| 54.286| 0| 0| 11.414| 61.623
RTD| 14.410| 26.045| 54.369| 0| 0| 11.414| 61.623
RTD| 13.577| 26.106| 56.410| 0| 0| 11.414| 61.623
RTD| 9.243| 25.842| 54.452| 0| 0| 9.243| 61.623
RTD| 14.285| 26.535| 54.701| 0| 0| 9.243| 61.623
RTD| 14.326| 26.546| 54.409| 0| 0| 9.243| 61.623
RTD| 14.368| 26.472| 52.284| 0| 0| 9.243| 61.623
RTD| 14.409| 26.455| 53.867| 0| 0| 9.243| 61.623
RTD| 14.409| 26.570| 54.784| 0| 0| 9.243| 61.623
RTD| 14.325| 26.518| 54.367| 0| 0| 9.243| 61.623
RTD| 14.325| 26.566| 52.492| 0| 0| 9.243| 61.623
RTD| 14.241| 26.803| 53.616| 0| 0| 9.243| 61.623
RTD| 14.408| 26.506| 53.783| 0| 0| 9.243| 61.623
RTD| 14.324| 26.520| 54.407| 0| 0| 9.243| 61.623
RTD| 14.282| 26.762| 52.616| 0| 0| 9.243| 61.623
RTD| 14.365| 26.757| 53.657| 0| 0| 9.243| 61.623
RTD| 14.323| 26.326| 53.657| 0| 0| 9.243| 61.623
RTD| 14.406| 26.473| 55.907| 0| 0| 9.243| 61.623
Thank you for your help.
Best Regards
Davide Brunelli
*Electronic Vbm Group*
e-mail: electron...@vbm-grp.com <mailto:electron...@vbm-grp.com>
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Il 04/12/2019 12:10, Jan Kiszka ha scritto:
On 04.12.19 12:01, Electronic Dept. - Vbm Group via Xenomai wrote:
Goodmorning,
I'm using a Beaglebone black and I'm doing the first tests with Xenomai.
I've created a kernel patched with Xenomai from here:
https://github.com/RobertCNelson/ti-linux-kernel-dev/tree/ti-linux-xenomai-4.4.y
and installed Xenomai libraries following:
https://forum.digikey.com/t/how-to-cross-compile-application-for-xenomai-with-beaglebone/4943/3
I've made a test file named cyclic_test.c and the following Makefile:
MAIN_SRC= cyclic_test
TARGET = cyclic_test
SKIN := alchemy
CFLAGS := $(shell /usr/xenomai/bin/xeno-config --skin=$(skin) --cflags)
LDFLAGS := $(shell /usr/xenomai/bin/xeno-config --skin=$(skin) --ldflags)
CC := $(shell /usr/xenomai/bin/xeno-config --cc)
$(TARGET): $(MAIN_SRC).c
$(CC) -o $@ $< $(CFLAGS) $(LDFLAGS)
clean:
@rm $(MAIN_SRC)
And I get the following response:
gcc -o cyclic_test cyclic_test.c -I/usr/xenomai/include/cobalt
-I/usr/xenomai/in
clude -march=armv7-a -mfpu=vfp3 -D_GNU_SOURCE -D_REENTRANT
-fasynchronous-unwind
-tables -D__COBALT__ -Wl,--no-as-needed
-Wl,@/usr/xenomai/lib/modechk.wrappers
/usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main
-Wl,--dynamic-list=/usr/xen
omai/lib/dynlist.ld -L/usr/xenomai/lib -lcobalt -lmodechk -lpthread -lrt
-march=
armv7-a -mfpu=vfp3
/tmp/ccNmb1Fm.o: In function `rt_timer_read':
cyclic_test.c:(.text+0xe): undefined reference to `clockobj_get_time'
cyclic_test.c:(.text+0x20): undefined reference to `alchemy_clock'
/tmp/ccNmb1Fm.o: In function `loop_task_proc':
cyclic_test.c:(.text+0x32): undefined reference to `rt_task_self'
cyclic_test.c:(.text+0x40): undefined reference to `rt_task_inquire'
cyclic_test.c:(.text+0x76): undefined reference to `rt_task_set_periodic'
cyclic_test.c:(.text+0xc4): undefined reference to `rt_task_wait_period'
/tmp/ccNmb1Fm.o: In function `main':
cyclic_test.c:(.text+0x11c): undefined reference to `rt_task_create'
cyclic_test.c:(.text+0x12e): undefined reference to `rt_task_start'
collect2: error: ld returned 1 exit status
Makefile:10: recipe for target 'cyclic_test' failed
make: *** [cyclic_test] Error 1
Can you advise me plase?
Thank you very much.
You are missing "-lalchemy" in your linker flags. Normally, xeno-config
--skin=alchemy --ldflags returns this, at least for me here with both
latest stable and the 3.1-rc. What version are you using?
Jan
