Re: [Xenomai-help] Problem to cross-compile Xenomai user-space support

[Huan Fang <huanf@domain.hid>]

Hi Patrice,

Many thanks for the tutorial, Now I am able to run xenomai patched uclinux on my DE2-70 board.
But the kernel doesn't boot unless I modified one file :linux-2.6/arch/nios2/kernel/time.c

na_timer0 -> na_sys_clock_timer which I guess is the clock timer used by Linux. Did you manually patch this file?
The adeos patch doesn't seem to change this part.

currently my timer settings are

/proc/xenomai>cat timer
status=on+watchdog:setup=1030:clock=1638046732:timerdev=hrtimer:clockdev=hrclock
Does it looks all right?

Best Regards,
Huan
________________________________________
From: xenomai-help-bounces@domain.hid [xenomai-help-bounces@domain.hid] On Behalf Of Patrice Kadionik [kadionik@domain.hid]
Sent: 28 March 2010 15:26
To: Chtourou Sonda
Cc: xenomai@xenomai.org
Subject: Re: [Xenomai-help] Problem to cross-compile Xenomai user-space support

Le 20:59, Chtourou Sonda a écrit :
Dears,
Hi,


I built the uClinux kernel for NIOS II and it run well on the target board. I followed the typical actions available here : http://www.nioswiki.com/

Now, I want to add a co-scheduler xenomai to the kernel (uclinux) to reduce its latency. I followed these steps: (http://www.xenomai.org/documentation/xenomai-2.5/README.INSTALL)
I've tried to reproduce your compilation error but without success.

For using Xenomai on NIOS II processor with uClinux, you must add extra hardware in your SoPC design as explained in this tutorial (http://uuu.enseirb.fr/~kadionik/nios2-xenomai/Xenomai%20on%20NIOS%20II%20Softcore%20Processor%20Guide-v1.1.pdf).

It is OK on my Altera 1S10 board  with Xenomai v2.5.1 (see traces).

Sincerely;

Patrice
========================================

Uncompressing Linux... Ok, booting the kernel.
Linux version 2.6.30 (kadionik@domain.hid) (gcc version 3.4.6) #4 PREEMPT Sun Mar 0


uClinux/Nios II
Built 1 zonelists in Zone order, mobility grouping off.  Total pages: 4064
Kernel command line:
NR_IRQS:32
PID hash table entries: 64 (order: 6, 256 bytes)
I-pipe 1.1-00: pipeline enabled.
Dentry cache hash table entries: 2048 (order: 1, 8192 bytes)
Inode-cache hash table entries: 1024 (order: 0, 4096 bytes)
Memory available: 12108k/3990k RAM, 0k/0k ROM (1931k kernel code, 2059k data)
Calibrating delay loop... 24.06 BogoMIPS (lpj=120320)
Mount-cache hash table entries: 512
net_namespace: 264 bytes
NET: Registered protocol family 16
init_BSP(): registering device resources
bio: create slab <bio-0> at 0
NET: Registered protocol family 2
IP route cache hash table entries: 1024 (order: 0, 4096 bytes)
TCP established hash table entries: 512 (order: 0, 4096 bytes)
TCP bind hash table entries: 512 (order: -1, 2048 bytes)
TCP: Hash tables configured (established 512 bind 512)
TCP reno registered
NET: Registered protocol family 1
I-pipe: Domain Xenomai registered.
Xenomai: hal/nios2 started.
Xenomai: scheduling class idle registered.
Xenomai: scheduling class rt registered.
Xenomai: real-time nucleus v2.5.1 (Speed Of Light) loaded.
Xenomai: starting native API services.
Xenomai: starting POSIX services.
Xenomai: starting RTDM services.
io scheduler noop registered
io scheduler deadline registered (default)
ttyS0 at MMIO 0x810840 (irq = 5) is a Altera UART
console [ttyS0] enabled




$ $xenomai-2.5.1/scripts/prepare-kernel.sh --arch=nios2 --adeos=$xenomai-2.5.1/ksrc/arch/nios2/patches/adeos-ipipe-2.6.30-nios2-1.1-00.patch
  --linux=$linux_tree
$ $xenomai-2.5.1/configure --host=nios2-linux
$ make install DESTDIR=$uClinux-dist/romfs

But, in this step, I got this error:

eck_vdso-check-vdso.o ../../skins/native/libnative.la -lpthread -lm
libtool: link: ../../../scripts/wrap-link.sh nios2-linux-gcc -Wl,-elf2flt -o check-vdso check_vdso-check-vdso.o  ../../skins/native/.libs/libnative.a -lpthread -lm
check-vdso.elf2flt(.text+0x16c): In function `main':
: undefined reference to `xeno_sem_heap'
check-vdso.elf2flt(.text+0x170): In function `main':
: undefined reference to `xeno_sem_heap'
collect2: ld returned 1 exit status
make[3]: *** [check-vdso] Erreur 1
make[3]: quittant le répertoire « /home/sonda/Desktop/xenomai-2.5.1/src/testsuite/unit »
make[2]: *** [all-recursive] Erreur 1
make[2]: quittant le répertoire « /home/sonda/Desktop/xenomai-2.5.1/src/testsuite »
make[1]: *** [all-recursive] Erreur 1
make[1]: quittant le répertoire « /home/sonda/Desktop/xenomai-2.5.1/src »
make: *** [all-recursive] Erreur 1

what can I do? Please help
Regards,





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Patrice Kadionik. F6KQH / F4CUQ
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