[Xenomai] Illegal instruction/bad syscall

[Xenomai] Illegal instruction/bad syscall

[Gustav Johansson]

Hi!


I recently managed to run a cobalt core for raspberry pi 3, Im using ipipe #9 for arm,  kernel version 4.1.21, Xenomai 3.0.6.


I managed to build the xenomai API but when I try every executable file, for example latency test bench,  I get "illegal instruction", and in dmesg I get "[Xenomai] bad syscall <0xff7000af> ...".


The crosscompiler Im using is https://github.com/raspberrypi/tools/tree/master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian and I have also tried compiling it on the RPI3 itself but Im getting the same error.


I have compared my kernel config next to Harco Kuppens  working image (http://www.cs.ru.nl/lab/xenomai/) But the only difference is that I have higher values in XENO_OPT_SYS_HEAP, XENO_PRIVATE_HEAPS, XENO_OPT_SHARED_HEAPSZ, XENO_OPT_TIMERS.


Im uploading a readme with the steps I have taken with the installation and also my kernel config.


Any ideas on why I get "Illegal instruction"?


Regards

Gustav Johansson

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Re: [Xenomai] Illegal instruction/bad syscall

[Greg Gallagher]

Have you considered using mainline?  I'm not sure if anyone has been
testing the raspberry pi tree against stable xenomai-3.  I've
validated most of the xenomai-3 stable branch against raspberry pi 2b
(mainline) so I've looked at most of the bcm code recently and i
haven't git the syscall issue.  Some of the maintainers are also
looking to test ARM64 rpi3 so if you want to try getting the 64-bit
mainline kernel running on your board I can give you some help.

-Greg

On Tue, Apr 24, 2018 at 8:38 AM, Gustav Johansson <gusjohan@kth.se> wrote:
> Hi!
>
>
> I recently managed to run a cobalt core for raspberry pi 3, Im using ipipe #9 for arm,  kernel version 4.1.21, Xenomai 3.0.6.
>
>
> I managed to build the xenomai API but when I try every executable file, for example latency test bench,  I get "illegal instruction", and in dmesg I get "[Xenomai] bad syscall <0xff7000af> ...".
>
>
> The crosscompiler Im using is https://github.com/raspberrypi/tools/tree/master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian and I have also tried compiling it on the RPI3 itself but Im getting the same error.
>
>
> I have compared my kernel config next to Harco Kuppens  working image (http://www.cs.ru.nl/lab/xenomai/) But the only difference is that I have higher values in XENO_OPT_SYS_HEAP, XENO_PRIVATE_HEAPS, XENO_OPT_SHARED_HEAPSZ, XENO_OPT_TIMERS.
>
>
> Im uploading a readme with the steps I have taken with the installation and also my kernel config.
>
>
> Any ideas on why I get "Illegal instruction"?
>
>
> Regards
>
> Gustav Johansson
>
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Re: [Xenomai] Illegal instruction/bad syscall

[Philippe Gerum]

On 04/24/2018 02:38 PM, Gustav Johansson wrote:
> Hi!
> 
> 
> I recently managed to run a cobalt core for raspberry pi 3, Im using ipipe #9 for arm,  kernel version 4.1.21, Xenomai 3.0.6.
> 
> 
> I managed to build the xenomai API but when I try every executable file, for example latency test bench,  I get "illegal instruction", and in dmesg I get "[Xenomai] bad syscall <0xff7000af> ...".
> 
> 
> The crosscompiler Im using is https://github.com/raspberrypi/tools/tree/master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian and I have also tried compiling it on the RPI3 itself but Im getting the same error.
> 
> 
> I have compared my kernel config next to Harco Kuppens  working image (http://www.cs.ru.nl/lab/xenomai/) But the only difference is that I have higher values in XENO_OPT_SYS_HEAP, XENO_PRIVATE_HEAPS, XENO_OPT_SHARED_HEAPSZ, XENO_OPT_TIMERS.
> 
> 
> Im uploading a readme with the steps I have taken with the installation and also my kernel config.
> 
> 
> Any ideas on why I get "Illegal instruction"?
> 
> 

Maybe EABI vs OABI issue. Try disabling CONFIG_OABI_COMPAT, I suspect
that the code supporting the OABI in Xenomai has not been exercised
since ages.

-- 
Philippe.

[Xenomai] RPI, pinctrl-bcm2835 now working

[Gustav Johansson]

Hi!

I have now successfully booted the mainline kernel on RPi3. 
The problem I have now instead is the pinctrl-bcm2835 driver. 
In /dev/rtdm/pinctrl-bcm2835/ are the pins in wrong numbers, 
they start at 400+ and end at 500+. 

When I looked inside /drivers/pinctrl/bcm/pinctrl-bcm2835.c 
It is very different from the one in rpi-kernel. Im guessing 
that the driver pinctrl-bcm2835.c in the mainline is for the
 older RPi's while rpi-kernel got the for the newer models.

Do you have any ideas on how I should continue?

Do you have a working pinctrl-bcm2835 driver on your RPi2?

Regards
Gustav 

 
________________________________________
From: Greg Gallagher <greg@embeddedgreg.com>
Sent: 24 April 2018 15:34
To: Gustav Johansson
Cc: Xenomai@xenomai.org
Subject: Re: [Xenomai] Illegal instruction/bad syscall

Have you considered using mainline?  I'm not sure if anyone has been
testing the raspberry pi tree against stable xenomai-3.  I've
validated most of the xenomai-3 stable branch against raspberry pi 2b
(mainline) so I've looked at most of the bcm code recently and i
haven't git the syscall issue.  Some of the maintainers are also
looking to test ARM64 rpi3 so if you want to try getting the 64-bit
mainline kernel running on your board I can give you some help.

-Greg

On Tue, Apr 24, 2018 at 8:38 AM, Gustav Johansson <gusjohan@kth.se> wrote:
> Hi!
>
>
> I recently managed to run a cobalt core for raspberry pi 3, Im using ipipe #9 for arm,  kernel version 4.1.21, Xenomai 3.0.6.
>
>
> I managed to build the xenomai API but when I try every executable file, for example latency test bench,  I get "illegal instruction", and in dmesg I get "[Xenomai] bad syscall <0xff7000af> ...".
>
>
> The crosscompiler Im using is https://github.com/raspberrypi/tools/tree/master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian and I have also tried compiling it on the RPI3 itself but Im getting the same error.
>
>
> I have compared my kernel config next to Harco Kuppens  working image (http://www.cs.ru.nl/lab/xenomai/) But the only difference is that I have higher values in XENO_OPT_SYS_HEAP, XENO_PRIVATE_HEAPS, XENO_OPT_SHARED_HEAPSZ, XENO_OPT_TIMERS.
>
>
> Im uploading a readme with the steps I have taken with the installation and also my kernel config.
>
>
> Any ideas on why I get "Illegal instruction"?
>
>
> Regards
>
> Gustav Johansson
>
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Re: [Xenomai] RPI, pinctrl-bcm2835 now working

[Greg Gallagher]

Hi,
  The gpio driver that controls /dev/rtdm/pinctrl-bcm2835 is the rtdm driver that works with the cobalt kernell. The Linux driver is still present and loaded but using it will cause the Xenomai to move to secondary mode. The source for the rtdm driver is in the Xenomai tree under kernel/drivers/gpio.
    The driver does work, what isn't working for you? What gpiochip number is being used in sysfs? The pin numbers should be the same in both the rtdm case and the normal Linux case.  The base gpio number for mainline may be different then for the rpi distros. The mainline driver may be different then what is in the raspberry Pi tree but they shouldnt differ in functionality. 
    If it's just different pin numbers that should not effect the functionality of the gpio pins.

Greg 

  Original Message  
From: gusjohan@kth.se
Sent: April 27, 2018 6:05 AM
To: Xenomai@xenomai.org
Subject: [Xenomai] RPI, pinctrl-bcm2835 now working

Hi!

I have now successfully booted the mainline kernel on RPi3. 
The problem I have now instead is the pinctrl-bcm2835 driver. 
In /dev/rtdm/pinctrl-bcm2835/ are the pins in wrong numbers, 
they start at 400+ and end at 500+. 

When I looked inside /drivers/pinctrl/bcm/pinctrl-bcm2835.c 
It is very different from the one in rpi-kernel. Im guessing 
that the driver pinctrl-bcm2835.c in the mainline is for the
older RPi's while rpi-kernel got the for the newer models.

Do you have any ideas on how I should continue?

Do you have a working pinctrl-bcm2835 driver on your RPi2?

Regards
Gustav 


________________________________________
From: Greg Gallagher <greg@embeddedgreg.com>
Sent: 24 April 2018 15:34
To: Gustav Johansson
Cc: Xenomai@xenomai.org
Subject: Re: [Xenomai] Illegal instruction/bad syscall

Have you considered using mainline?  I'm not sure if anyone has been
testing the raspberry pi tree against stable xenomai-3.  I've
validated most of the xenomai-3 stable branch against raspberry pi 2b
(mainline) so I've looked at most of the bcm code recently and i
haven't git the syscall issue.  Some of the maintainers are also
looking to test ARM64 rpi3 so if you want to try getting the 64-bit
mainline kernel running on your board I can give you some help.

-Greg

On Tue, Apr 24, 2018 at 8:38 AM, Gustav Johansson <gusjohan@kth.se> wrote:
> Hi!
>
>
> I recently managed to run a cobalt core for raspberry pi 3, Im using ipipe #9 for arm,  kernel version 4.1.21, Xenomai 3.0.6.
>
>
> I managed to build the xenomai API but when I try every executable file, for example latency test bench,  I get "illegal instruction", and in dmesg I get "[Xenomai] bad syscall <0xff7000af> ...".
>
>
> The crosscompiler Im using is https://github.com/raspberrypi/tools/tree/master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian and I have also tried compiling it on the RPI3 itself but Im getting the same error.
>
>
> I have compared my kernel config next to Harco Kuppens  working image (http://www.cs.ru.nl/lab/xenomai/) But the only difference is that I have higher values in XENO_OPT_SYS_HEAP, XENO_PRIVATE_HEAPS, XENO_OPT_SHARED_HEAPSZ, XENO_OPT_TIMERS.
>
>
> Im uploading a readme with the steps I have taken with the installation and also my kernel config.
>
>
> Any ideas on why I get "Illegal instruction"?
>
>
> Regards
>
> Gustav Johansson
>
> -------------- next part --------------
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> Size: 126604 bytes
> Desc: rpi3_cobalt_4.1.21_config
> URL: <http://xenomai.org/pipermail/xenomai/attachments/20180424/fd49797a/attachment.obj>
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> _______________________________________________
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> Xenomai@xenomai.org
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