[Xenomai-help] building xenomai for AT91SAM9263

[Xenomai-help] building xenomai for AT91SAM9263

[yi zheng]

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Hi,all
      i am a newer to xenomai.Now i want to build xenomai for my target
platform with AT91SAM9263 ARM and linux kernel vision 2.6.25.I use
arm-linux-gcc 3.4.1 for compiler,is it suitable for build
xenomai？which xenomai vision is better for me?

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Re: [Xenomai-help] building xenomai for AT91SAM9263

[Gilles Chanteperdrix]

On 08/19/2011 07:29 AM, yi zheng wrote:
> Hi,all
>       i am a newer to xenomai.Now i want to build xenomai for my target
> platform with AT91SAM9263 ARM and linux kernel vision 2.6.25.I use
> arm-linux-gcc 3.4.1 for compiler,
> is it suitable for build
> xenomai？which xenomai vision is better for me?

Xenomai 2.5.6 is the latest stable release, it should work. But I-pipe
patches for later linux kernel releases have support for FCSE, which
greatly improves latencies. As for the version of gcc, I have only been
using gcc 4 for a long time.

-- 
					    Gilles.

[Xenomai-help] Fwd: building xenomai for AT91SAM9263

[yi zheng]

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>
> >> Hi,all
> >>       i am a newer to xenomai.Now i want to build xenomai for my target
> >> platform with AT91SAM9263 ARM and linux kernel vision 2.6.25.I use
> >> arm-linux-gcc 3.4.1 for compiler,
> >> is it suitable for build
> >> xenomai？which xenomai vision is better for me?
>
> >Xenomai 2.5.6 is the latest stable release, it should work. But I-pipe
> >patches for later linux kernel releases have support for FCSE, which
> >greatly improves latencies. As for the version of gcc, I have only been
> >using gcc 4 for a long time.
>
> --
>



>                                             Gilles.
>
     Hi Gilles
           thank you for your kindly replying.I have used linux-2.6.25
and Xenomai 2.4.4 today.I compiled both linux kernel and Xenomai
successfully following "2.6 Building for ARM" in Xenomai 2.4.4's document
named "readme.install" .But i didn't know how to run test program,that is to
say i didn't know whether Xenomai could run smoothly on my target
platform.As mentioned earlier my embedded platform is AT91SAM9263 ARM.And
arm-linux-gcc I used is 3.4.1.
           I used 2.6.25-at91.patch patching the kernel.And then compiling
linux kernel and Xenomai 2.4.4 as followed：
         compiling linux kernel
         1）  scripts/prepare-kernel.sh
             --arch=arm
 --adeos=ksrc/arch/arm/patches/adeos-ipipe-2.6.25-arm-1.9-02.patch
            --linux=/usr/src/xenomai/linux-2.6.25
         2）make ARCH=arm CROSS_COMPILE=arm-linux-  at91sam9263ek_defconfig
         3） make ARCH=arm CROSS_COMPILE=arm-linux-  uImage modules
         compiling  Xenomai
         4）ARCH=arm  CROSS_COMPILE=arm-linux-
             ./configure --host=arm-linux
              --enable-arm-mach=at91sam926x  --enable-arm-tsc
          5）make install
         Xenomai installation directory is  /usr/xenomai.executing "ls",i
got
          [root@domain.hid xenomai]# ls
         bin  include  lib  sbin  share

         I downloaded kernel and /usr/xenomai to my target platform in
a suitable way.Linux kernel can run successfully.
 [@NewMsg9263: bin]# pwd
 /usr/xenomai/bin
[@NewMsg9263: bin]# ./xeno-info
If some fields are empty or look unusual you may have an old version.
Compare to the current minimal requirements in Documentation/Changes.

BusyBox v1.15.3 (2010-03-30 15:34:10 CST) multi-call binary
Linux NewMsg9263 2.6.25 #3 Sat Aug 20 09:40:50 CST 2011 armv5tejl GNU/Linux

module-init-tools      V
Modules Loaded

when i tried to run xeno-info directory，i got information above.

if there is something wrong with compiling kernel and Xenomai，please correct
me.and how can i check out that Xenomai can run smoothly with my target
platform.look forward to your reply.
yizhneg

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Re: [Xenomai-help] Fwd: building xenomai for AT91SAM9263

[Gilles Chanteperdrix]

On 08/20/2011 04:20 AM, yi zheng wrote:
>>
>>>> Hi,all
>>>>       i am a newer to xenomai.Now i want to build xenomai for my target
>>>> platform with AT91SAM9263 ARM and linux kernel vision 2.6.25.I use
>>>> arm-linux-gcc 3.4.1 for compiler,
>>>> is it suitable for build
>>>> xenomai？which xenomai vision is better for me?
>>
>>> Xenomai 2.5.6 is the latest stable release, it should work. But I-pipe
>>> patches for later linux kernel releases have support for FCSE, which
>>> greatly improves latencies. As for the version of gcc, I have only been
>>> using gcc 4 for a long time.
>>
>> --
>>
> 
> 
> 
>>                                             Gilles.
>>
>      Hi Gilles
>            thank you for your kindly replying.I have used linux-2.6.25
> and Xenomai 2.4.4 today.I compiled both linux kernel and Xenomai

If you have no special reason for using such old versions, you should
probably use the latest releases. Really. Even if you are stuck  with
linux 2.6.25 (which probably means that the I-pipe patch you use does
not have the FCSE option), you can use Xenomai 2.5.6

how can i check out that Xenomai can run smoothly with my target
> platform.look forward to your reply.

Just run the latency test. But without FCSE, you will not get good
latencies.

-- 
                                                                Gilles.

Re: [Xenomai-help] Fwd: building xenomai for AT91SAM9263

[yi zheng]

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>
>
> >>>>> Hi,all
> >>>>>       i am a newer to xenomai.Now i want to build xenomai for my
> target
> >>>>> platform with AT91SAM9263 ARM and linux kernel vision 2.6.25.I use
> >>>>> arm-linux-gcc 3.4.1 for compiler,
> >>>>> is it suitable for build
> >>>>> xenomai？which xenomai vision is better for me?
> >>>
> >>>> Xenomai 2.5.6 is the latest stable release, it should work. But I-pipe
> >>>> patches for later linux kernel releases have support for FCSE, which
> >>>> greatly improves latencies. As for the version of gcc, I have only
> been
> >>>>using gcc 4 for a long time.
> >>>
> >>> --
> >>>
> >>
> >>
> >>
> >>>                                             Gilles.
> >>>
> >>      Hi Gilles
> >>            thank you for your kindly replying.I have used linux-2.6.25
> >> and Xenomai 2.4.4 today.I compiled both linux kernel and Xenomai
>
> >If you have no special reason for using such old versions, you should
> >probably use the latest releases.

     Actually,I want to use RTnet-0.9.12 for my target platform.The network
card driver contained in RTnet-0.9.12 comes from linux kernel vision2.6.25.I
prepare to use the same kernel vision as the author who ported standard
linux network card driver to RTnet.

> >Really. Even if you are stuck  with linux 2.6.25 (which probably means
> that the I-pipe patch you use does not have the FCSE

   FCSE is a completely new concept for me，I will get more information about
it.

> >option), you can use Xenomai 2.5.6

  I have already compiled  Xenomai 2.4.4 and linux kernel 2.6.25
> successfully on my target platform.
> >>how can i check out that Xenomai can run smoothly with my
> target  platform.look forward to your reply.
>
> >Just run the latency test. But without FCSE, you will not get
> good latencies.
>

      I run latency test,and I got the following result:
[@NewMsg9263: bin]# pwd
/usr/xenomai/bin
[@NewMsg9263: bin]# ./latency -t0 -T60 -p200 -h
== Sampling period: 200 us
== Test mode: periodic user-mode task
== All results in microseconds
warming up...
RTT|  00:00:01  (periodic user-mode task, 200 us period, priority 99)
RTH|-----lat min|-----lat avg|-----lat max|-overrun|----lat best|---lat
worst
RTD|      33.730|      50.453|      84.750|       0|      33.730|
 84.750
RTD|      23.242|      50.736|      85.034|       0|      23.242|
 85.034
RTD|      20.975|      50.453|      85.034|       0|      20.975|
 85.034
RTD|      24.659|      50.453|      85.884|       0|      20.975|
 85.884
RTD|      24.376|      50.453|      85.600|       0|      20.975|
 85.884
RTD|      24.092|      50.453|      84.750|       0|      20.975|
 85.884
RTD|      23.242|      50.453|      85.034|       0|      20.975|
 85.884
RTD|      24.376|      50.453|      86.167|       0|      20.975|
 86.167
RTD|      22.675|      50.453|      85.600|       0|      20.975|
 86.167
RTD|      23.809|      50.453|      85.317|       0|      20.975|
 86.167
^C---|--param|----range-|--samples
HSD|    min|  20 - 21 |        1
HSD|    min|  22 - 23 |        1
HSD|    min|  23 - 24 |        3
HSD|    min|  24 - 25 |        4
HSD|    min|  33 - 34 |        1
---|--param|----range-|--samples
HSD|    avg|  20 - 21 |        1
HSD|    avg|  22 - 23 |        1
HSD|    avg|  23 - 24 |        7
HSD|    avg|  24 - 25 |       16
HSD|    avg|  25 - 26 |       18
HSD|    avg|  26 - 27 |       18
HSD|    avg|  27 - 28 |        6
HSD|    avg|  28 - 29 |       11
HSD|    avg|  29 - 30 |        4
HSD|    avg|  30 - 31 |        2
HSD|    avg|  32 - 33 |        6
HSD|    avg|  33 - 34 |       13
HSD|    avg|  34 - 35 |       13
HSD|    avg|  35 - 36 |        3
HSD|    avg|  36 - 37 |        1
HSD|    avg|  37 - 38 |       11
HSD|    avg|  38 - 39 |       15
HSD|    avg|  41 - 42 |       29
HSD|    avg|  42 - 43 |      109
HSD|    avg|  43 - 44 |      104
HSD|    avg|  44 - 45 |        6
HSD|    avg|  45 - 46 |       14
HSD|    avg|  46 - 47 |       17
HSD|    avg|  47 - 48 |       15
HSD|    avg|  48 - 49 |       38
HSD|    avg|  49 - 50 |     2084
HSD|    avg|  50 - 51 |    38208
HSD|    avg|  51 - 52 |    11706
HSD|    avg|  52 - 53 |      283
HSD|    avg|  53 - 54 |       96
HSD|    avg|  54 - 55 |       18
latency: failed to pend on semaphore, code -3
HSD|    avg|  55 - 56 |       12
HSD|    avg|  56 - 57 |       31
HSD|    avg|  57 - 58 |       13
HSD|    avg|  58 - 59 |        4
HSD|    avg|  59 - 60 |        7
HSD|    avg|  60 - 61 |       75
HSD|    avg|  61 - 62 |      103
HSD|    avg|  62 - 63 |       38
HSD|    avg|  63 - 64 |       11
HSD|    avg|  64 - 65 |       11
HSD|    avg|  65 - 66 |        2
HSD|    avg|  66 - 67 |        4
HSD|    avg|  67 - 68 |        3
HSD|    avg|  73 - 74 |       19
HSD|    avg|  74 - 75 |        4
HSD|    avg|  82 - 83 |        1
HSD|    avg|  83 - 84 |       32
HSD|    avg|  84 - 85 |       36
HSD|    avg|  85 - 86 |       19
HSD|    avg|  86 - 87 |        2
---|--param|----range-|--samples
HSD|    max|  84 - 85 |        2
HSD|    max|  85 - 86 |        7
HSD|    max|  86 - 87 |        1
HSH|--param|--samples-|--average--|---stddev--
HSS|    min|        10|     24.000|      3.399
HSS|    avg|     53300|     50.229|      2.137
HSS|    max|        10|     84.900|      0.568
---|------------|------------|------------|--------|-------------------------
RTS|      20.975|      50.453|      86.167|       0|    00:00:11/00:01:00

I think my Xenomai environment built successfully.And I want to do more
performance test on Xenomai,is there any other existing test program i can
use?

With above-mentioned linux and Xenomai I compiled RTnet0.9.12.There seems
something wrong with RTnet.
 [@NewMsg9263: modules]# insmod rt_macb.ko
RTnet: registered rteth0
MACB_mii_bus: probed
rteth0: Atmel MACB at 0xfffbc000 irq 21 (12:34:56:78:90:12)
rteth0: attached PHY driver [Davicom DM9161A] (mii_bus:phy_addr=ffffffff:00,
irq=-1)
[@NewMsg9263: modules]# lsmod
rt_macb 8164 0 - Live 0xbf014000
rt_loopback 2404 0 - Live 0xbf012000
rtipv4 25484 0 - Live 0xbf00a000
rtnet 33360 3 rt_macb,rt_loopback,rtipv4, Live 0xbf000000
[@NewMsg9263: sbin]# ./rtifconfig rteth0 up
[@NewMsg9263: sbin]# rteth0: link up (100/Full)
RTnet: host 192.168.0.255 unreachable
RTnet: unable to forward packet from 192.168.0.8
RTnet: host 255.255.255.255 unreachable
RTnet: unable to forward packet from 192.168.0.100
RTnet: host 192.168.0.255 unreachable
RTnet: unable to forward packet from 192.168.0.122
RTnet: host 255.255.255.255 unreachable
RTnet: unable to forward packet from 192.168.0.100
I know this is Xenomai maillist，but if you know where is my problem.Please
tell me.

> >--
> >                                                               Gilles.
>
thank you for your kindly help.
regards
yizheng

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Re: [Xenomai-help] Fwd: building xenomai for AT91SAM9263

[Gilles Chanteperdrix]

On 08/22/2011 10:55 AM, yi zheng wrote:
>>
>>
>>>>>>> Hi,all
>>>>>>>       i am a newer to xenomai.Now i want to build xenomai for my
>> target
>>>>>>> platform with AT91SAM9263 ARM and linux kernel vision 2.6.25.I use
>>>>>>> arm-linux-gcc 3.4.1 for compiler,
>>>>>>> is it suitable for build
>>>>>>> xenomai？which xenomai vision is better for me?
>>>>>
>>>>>> Xenomai 2.5.6 is the latest stable release, it should work. But I-pipe
>>>>>> patches for later linux kernel releases have support for FCSE, which
>>>>>> greatly improves latencies. As for the version of gcc, I have only
>> been
>>>>>> using gcc 4 for a long time.
>>>>>
>>>>> --
>>>>>
>>>>
>>>>
>>>>
>>>>>                                             Gilles.
>>>>>
>>>>      Hi Gilles
>>>>            thank you for your kindly replying.I have used linux-2.6.25
>>>> and Xenomai 2.4.4 today.I compiled both linux kernel and Xenomai
>>
>>> If you have no special reason for using such old versions, you should
>>> probably use the latest releases.
> 
>      Actually,I want to use RTnet-0.9.12 for my target platform.The network
> card driver contained in RTnet-0.9.12 comes from linux kernel vision2.6.25.I
> prepare to use the same kernel vision as the author who ported standard
> linux network card driver to RTnet.

As I already told you, you can use Xenomai 2.5.6 with linux 2.6.25, so,
that is not a good reason.

> ---|------------|------------|------------|--------|-------------------------
> RTS|      20.975|      50.453|      86.167|       0|    00:00:11/00:01:00
> 
> I think my Xenomai environment built successfully.And I want to do more
> performance test on Xenomai,is there any other existing test program i can
> use?

The usual way to assess the latencies of your system is with the
"latency" test, but running it several hours with the machine under
load. latency results, when run 11seconds on an idle machine are
meaningless.

> 
> With above-mentioned linux and Xenomai I compiled RTnet0.9.12.There seems
> something wrong with RTnet.
>  [@NewMsg9263: modules]# insmod rt_macb.ko
> RTnet: registered rteth0
> MACB_mii_bus: probed
> rteth0: Atmel MACB at 0xfffbc000 irq 21 (12:34:56:78:90:12)
> rteth0: attached PHY driver [Davicom DM9161A] (mii_bus:phy_addr=ffffffff:00,
> irq=-1)
> [@NewMsg9263: modules]# lsmod
> rt_macb 8164 0 - Live 0xbf014000
> rt_loopback 2404 0 - Live 0xbf012000
> rtipv4 25484 0 - Live 0xbf00a000
> rtnet 33360 3 rt_macb,rt_loopback,rtipv4, Live 0xbf000000
> [@NewMsg9263: sbin]# ./rtifconfig rteth0 up
> [@NewMsg9263: sbin]# rteth0: link up (100/Full)
> RTnet: host 192.168.0.255 unreachable
> RTnet: unable to forward packet from 192.168.0.8
> RTnet: host 255.255.255.255 unreachable
> RTnet: unable to forward packet from 192.168.0.100
> RTnet: host 192.168.0.255 unreachable
> RTnet: unable to forward packet from 192.168.0.122
> RTnet: host 255.255.255.255 unreachable
> RTnet: unable to forward packet from 192.168.0.100
> I know this is Xenomai maillist，but if you know where is my problem.Please
> tell me.

Now, the natural question is: do you get the same problems with xenomai
2.5.6? Because if you do not get them with xenomai 2.5.6, it means that
you hit a bug that was already solved. As long as you persist in using
outdated versions, nobody will lift a finger to try and debug issues
that may have already been fixed in later releases.

-- 
                                                                Gilles.

Re: [Xenomai-help] Fwd: building xenomai for AT91SAM9263

[yi zheng]

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>
>
> >>>
> >>>
> >>>>>>>> Hi,all
> >>>>>>>>       i am a newer to xenomai.Now i want to build xenomai for my
> >>> target
> >>>>>>>> platform with AT91SAM9263 ARM and linux kernel vision 2.6.25.I use
> >>>>>>>> arm-linux-gcc 3.4.1 for compiler,
> >>>>>>>> is it suitable for build
> >>>>>>>> xenomai？which xenomai vision is better for me?
> >>>>>>>
> >>>>>>>> Xenomai 2.5.6 is the latest stable release, it should work. But
> I-pipe
> >>>>>>>> patches for later linux kernel releases have support for FCSE,
> which
> >>>>>>>> greatly improves latencies. As for the version of gcc, I have only
> >>> been
> >>>>>>> using gcc 4 for a long time.
> >>>>>>
> >>>>>> --
> >>>>>>
> >>>>>
> >>>>>
> >>>>>
> >>>>>>                                             Gilles.
> >>>>>>
> >>>>>      Hi Gilles
> >>>>>            thank you for your kindly replying.I have used
> linux-2.6.25
> >>>>> and Xenomai 2.4.4 today.I compiled both linux kernel and Xenomai
> >>>
> >>>> If you have no special reason for using such old versions, you should
> >>>> probably use the latest releases.
> >>
> >>      Actually,I want to use RTnet-0.9.12 for my target platform.The
> network
> >> card driver contained in RTnet-0.9.12 comes from linux kernel
> vision2.6.25.I
> >> prepare to use the same kernel vision as the author who ported standard
> >> linux network card driver to RTnet.
>
> >As I already told you, you can use Xenomai 2.5.6 with linux 2.6.25, so,
> >that is not a good reason.
>
   I have used  Xenomai 2.5.6 with linux 2.6.25,but i got errors when
compiled linux kernel. compilation process is described  as follows.
   1)patch linux kernel with 2.6.25-at91.patch.
   2)[root@domain.hid xenomai-2.5.6]# pwd
/usr/src/xenomai/xenomai-2.5.6
[root@domain.hid xenomai-2.5.6]# scripts/prepare-kernel.sh --arch=arm
--adeos=ksrc/arch/arm/patches/adeos-ipipe-2.6.25-arm-1.9-02.patch
--linux=/usr/src/xenomai/linux-2.6.25
   3)configure linux kernel.
   4)[root@domain.hid linux-2.6.25]# make uImage
 and  I got：
 In file included from include/asm/xenomai/system.h:29,
                 from include/xenomai/nucleus/types.h:41,
                 from include/xenomai/nucleus/queue.h:24,
                 from include/xenomai/nucleus/heap.h:25,
                 from kernel/xenomai/nucleus/bufd.c:144:
include/asm-generic/xenomai/system.h:452: error: parse error before
"phys_addr_t"
include/asm-generic/xenomai/system.h:455: warning: function declaration
isn't a prototype
include/asm-generic/xenomai/system.h: In function
`xnarch_remap_io_page_range':
include/asm-generic/xenomai/system.h:456: error: `vma' undeclared (first use
in this function)
include/asm-generic/xenomai/system.h:456: error: (Each undeclared identifier
is reported only once
include/asm-generic/xenomai/system.h:456: error: for each function it
appears in.)
include/asm-generic/xenomai/system.h:456: error: `from' undeclared (first
use in this function)
include/asm-generic/xenomai/system.h:456: error: `to' undeclared (first use
in this function)
include/asm-generic/xenomai/system.h:456: error: `size' undeclared (first
use in this function)
include/asm-generic/xenomai/system.h:456: error: `prot' undeclared (first
use in this function)
make[3]: *** [kernel/xenomai/nucleus/bufd.o] error 1
make[2]: *** [kernel/xenomai/nucleus] error 2
make[1]: *** [kernel/xenomai] error 2
make: *** [kernel] error 2
I think it was because linux kernel vision does not match Xenomai vision,so
I give up.

>
> >>
> ---|------------|------------|------------|--------|-------------------------
> >> RTS|      20.975|      50.453|      86.167|       0|
>  00:00:11/00:01:00
> >>
> >> I think my Xenomai environment built successfully.And I want to do more
> >> performance test on Xenomai,is there any other existing test program i
> can
> >> use?
>
> >The usual way to assess the latencies of your system is with the
> >"latency" test, but running it several hours with the machine under
> >load. latency results, when run 11seconds on an idle machine are
> >meaningless.
> This time I only want to make sure Xenomai can run successfully on my
> platform.I will take your advise when testing the performance of Xenomai.
> >>
> >> With above-mentioned linux and Xenomai I compiled RTnet0.9.12.There
> seems
> >> something wrong with RTnet.
> >>  [@NewMsg9263: modules]# insmod rt_macb.ko
> >> RTnet: registered rteth0
> >> MACB_mii_bus: probed
> >> rteth0: Atmel MACB at 0xfffbc000 irq 21 (12:34:56:78:90:12)
> >> rteth0: attached PHY driver [Davicom DM9161A]
> (mii_bus:phy_addr=ffffffff:00,
> >> irq=-1)
> >> [@NewMsg9263: modules]# lsmod
> >> rt_macb 8164 0 - Live 0xbf014000
> >> rt_loopback 2404 0 - Live 0xbf012000
> >> rtipv4 25484 0 - Live 0xbf00a000
> >> rtnet 33360 3 rt_macb,rt_loopback,rtipv4, Live 0xbf000000
> >> [@NewMsg9263: sbin]# ./rtifconfig rteth0 up
> >> [@NewMsg9263: sbin]# rteth0: link up (100/Full)
> >> RTnet: host 192.168.0.255 unreachable
> >> RTnet: unable to forward packet from 192.168.0.8
> >> RTnet: host 255.255.255.255 unreachable
> >> RTnet: unable to forward packet from 192.168.0.100
> >> RTnet: host 192.168.0.255 unreachable
> >> RTnet: unable to forward packet from 192.168.0.122
> >> RTnet: host 255.255.255.255 unreachable
> >> RTnet: unable to forward packet from 192.168.0.100
> >> I know this is Xenomai maillist，but if you know where is my
> problem.Please
> >> tell me.
>
> >Now, the natural question is: do you get the same problems with xenomai
> >2.5.6? Because if you do not get them with xenomai 2.5.6, it means that
> >you hit a bug that was already solved. As long as you persist in using
> >outdated versions, nobody will lift a finger to try and debug issues
> >that may have already been fixed in later releases.
>
   As previously mentioned I have tried Xenomai 2.5.6 with failure，so I
thought linux kernel vision and Xenomai vision must match wrong.I
have neither used Xenomai and RTnet before.Now i only want to insure Xenomai
and RTnet can  run smoothly with the minimum effort.

>
> >--
> >                                                             Gilles.
>
   Thank you for your help.
   regards
   yizheng

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Re: [Xenomai-help] Fwd: building xenomai for AT91SAM9263

[Gilles Chanteperdrix]

On 08/22/2011 02:09 PM, yi zheng wrote:
>>
>>
>>>>>
>>>>>
>>>>>>>>>> Hi,all
>>>>>>>>>>       i am a newer to xenomai.Now i want to build xenomai for my
>>>>> target
>>>>>>>>>> platform with AT91SAM9263 ARM and linux kernel vision 2.6.25.I use
>>>>>>>>>> arm-linux-gcc 3.4.1 for compiler,
>>>>>>>>>> is it suitable for build
>>>>>>>>>> xenomai？which xenomai vision is better for me?
>>>>>>>>>
>>>>>>>>>> Xenomai 2.5.6 is the latest stable release, it should work. But
>> I-pipe
>>>>>>>>>> patches for later linux kernel releases have support for FCSE,
>> which
>>>>>>>>>> greatly improves latencies. As for the version of gcc, I have only
>>>>> been
>>>>>>>>> using gcc 4 for a long time.
>>>>>>>>
>>>>>>>> --
>>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>
>>>>>>>>                                             Gilles.
>>>>>>>>
>>>>>>>      Hi Gilles
>>>>>>>            thank you for your kindly replying.I have used
>> linux-2.6.25
>>>>>>> and Xenomai 2.4.4 today.I compiled both linux kernel and Xenomai
>>>>>
>>>>>> If you have no special reason for using such old versions, you should
>>>>>> probably use the latest releases.
>>>>
>>>>      Actually,I want to use RTnet-0.9.12 for my target platform.The
>> network
>>>> card driver contained in RTnet-0.9.12 comes from linux kernel
>> vision2.6.25.I
>>>> prepare to use the same kernel vision as the author who ported standard
>>>> linux network card driver to RTnet.
>>
>>> As I already told you, you can use Xenomai 2.5.6 with linux 2.6.25, so,
>>> that is not a good reason.
>>
>    I have used  Xenomai 2.5.6 with linux 2.6.25,but i got errors when
> compiled linux kernel. compilation process is described  as follows.
>    1)patch linux kernel with 2.6.25-at91.patch.
>    2)[root@domain.hid xenomai-2.5.6]# pwd
> /usr/src/xenomai/xenomai-2.5.6
> [root@domain.hid xenomai-2.5.6]# scripts/prepare-kernel.sh --arch=arm
> --adeos=ksrc/arch/arm/patches/adeos-ipipe-2.6.25-arm-1.9-02.patch
> --linux=/usr/src/xenomai/linux-2.6.25
>    3)configure linux kernel.
>    4)[root@domain.hid linux-2.6.25]# make uImage
>  and  I got：
>  In file included from include/asm/xenomai/system.h:29,
>                  from include/xenomai/nucleus/types.h:41,
>                  from include/xenomai/nucleus/queue.h:24,
>                  from include/xenomai/nucleus/heap.h:25,
>                  from kernel/xenomai/nucleus/bufd.c:144:
> include/asm-generic/xenomai/system.h:452: error: parse error before
> "phys_addr_t"

Ok. That is because phys_addr_t is only defined by linux 2.6.27 and
later. You just have to add a typedef for phys_addr_t, but you are
right, we have not tested with old linux releases for some time, and it
finally broke.

>>> Now, the natural question is: do you get the same problems with xenomai
>>> 2.5.6? Because if you do not get them with xenomai 2.5.6, it means that
>>> you hit a bug that was already solved. As long as you persist in using
>>> outdated versions, nobody will lift a finger to try and debug issues
>>> that may have already been fixed in later releases.
>>
>    As previously mentioned I have tried Xenomai 2.5.6 with failure，so I
> thought linux kernel vision and Xenomai vision must match wrong.I
> have neither used Xenomai and RTnet before.Now i only want to insure Xenomai
> and RTnet can  run smoothly with the minimum effort.

If you want to run xenomai and rtnet with the minimum effort, you should
use the latest releases. xenomai 2.5.6, with the latest patch for ARM it
contains, with rtnet 0.9.12. If that does not work, you can ask
questions here, you will get support.

There should not be any reason why an rtnet driver would be written for
a specific linux kernel version.

-- 
					    Gilles.