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Issue

Orocos and Xenomai fails with the deployer

posted in IGEPv2
Thursday, October 31 2013, 11:50 AM
Cazalilla
Cazalilla
Offline
0
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):

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?

Regards,
Jose
Responses (4)
  • Accepted Answer

    mcaro
    mcaro
    Offline
    Thursday, October 31 2013, 07:09 PM - #permalink
    0
    Hi Jose,

    I don't have experience with this issue but IGEPv2 is supported by Xenomai maybe you can send one email to Xenomai mail list,
    so after that I found in the Orocos Project this message:

    http://www.orocos.org/category/rtt-version/rtt-2x?page=7

    [solved]: [Xenomai-help] Xenomai Posix skin init, device or resource busy


    I hope it helps you ...

    Manel
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  • Accepted Answer

    Cazalilla
    Cazalilla
    Offline
    Monday, November 04 2013, 09:46 AM - #permalink
    1
    mcaro wrote:

    Hi Jose,

    I don't have experience with this issue but IGEPv2 is supported by Xenomai maybe you can send one email to Xenomai mail list,
    so after that I found in the Orocos Project this message:

    http://www.orocos.org/category/rtt-version/rtt-2x?page=7

    [solved]: [Xenomai-help] Xenomai Posix skin init, device or resource busy


    I hope it helps you ...

    Manel



    Hi Manel.
    Thanks for your answer. I saw that message and the trick (for this guy) was to configure the user-space without "--enable-dlopen-skins". In my ./configure I didn't put this option so... the issue is different.
    I'm trying to build the user-space with Xenomai 2.6.0 (according to the version I see with "dmesg"). Should I try with a different version?
    I'm going to send an email to Xenomai mail list.

    Thank you!
    We are in touch.
    Jose
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  • Accepted Answer

    Cazalilla
    Cazalilla
    Offline
    Wednesday, November 06 2013, 12:20 PM - #permalink
    0
    Hi all.

    I've been talking with Xenomai developers and they said this was a bug solved in next releases (e.g. Xenomai 2.6.3). I proposed them to install Xenomai 2.6.3 in user-space, using Xenomai 2.6.0 in the kernel (using the kernel provided by ISEE).
    The good new is that it works!

    However, it would be great to have kernel and user-space with the same version of Xenomai. I'm going to try to patch and compile a vanilla kernel (concretely 3.8.13) for the IgepV2 (following the advice of Xenomai developers) with the latest version.
    One question... Could I use the igep00x0_defconfig to configure this vanilla kernel?

    Thanks guys!
    The reply is currently minimized Show
  • Accepted Answer

    Friday, November 08 2013, 03:22 PM - #permalink
    0
    The reply is currently minimized Show
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