Analogy: analogy_config freezes computer

* Analogy: analogy_config freezes computer
@ 2019-04-24 13:44 Florent Legendre
  2019-04-25 15:09 ` Jorge Ramirez
  0 siblings, 1 reply; 4+ messages in thread
From: Florent Legendre @ 2019-04-24 13:44 UTC (permalink / raw)
  To: xenomai

Hello everyone !

I'm new to Xenomai and I encounter some problem. I wondered if someone could give me some help. :)

I am trying to use Analogy to handle a NI PCI-5269 and I am having troubles to make it works. My computer freezes when I try to use the analogy_config command.
I tried different variations in the kernel configuration, two different kernels and I still end up with the same problem. So I suppose that something is wrong in my .config or maybe there is something that I didn't understood about Analogy, or both.

First of all, I installed Xenomai using the following protocol:

>From a fresh and updated Ubuntu 18.04 installation:
I patch the kernel 4.14.111 found there: https://mirrors.edge.kernel.org/pub/linux/kernel/v4.x/
Using the ipipe patch "ipipe-core-4.14.111-x86-3.patch" found there: https://xenomai.org/downloads/ipipe/v4.x/x86/
And using the Xenomai version 3.0.8 found there: https://xenomai.org/downloads/xenomai/stable/

1: Extract the Linux kernel and the Xenomai sources in /usr/src/

2: Install the need package to build the kernel:
sudo apt-get install libncurses5 libncurses5-dev build-essential kernel-package fakeroot libssl-dev

3: From the Xenomai folder prepare the kernel:

sudo /usr/src/xenomai-3.0.8/scripts/prepare-kernel.sh --linux=/usr/src/linux-4.14.111 --ipipe=/usr/src/ipipe-core-4.14.111-x86-3.patch --arch=x86_64

4: From the Linux folder, configure the compilation following the indications found there : https://gitlab.denx.de/Xenomai/xenomai/wikis/Configuring_For_X86_Based_Dual_Kernels

sudo make menuconfig

In short, the modification to the default configuration are the following:
In "Processor type and features":
- Select the right processor family: "Core 2/newer Xeon". My processor is an Intel i7-4770. It's an old processor, I don't know if it can impact Xenomai .
- In order to disable the "CPU Frequency scaling" (CONFIG_CPU_FREQ), uncheck "Multi-core scheduler support" (CONFIG_SCHED_MC) , "ScaleMP vSMP" (CONFIG_X86_VSMP) and "Linux guest support" (CONFIG_HYPERVISOR_GUEST).
- Also uncheck "Enable Maximum number of SMP Processor and NUMA Nodes" (CONFIG_MAXSMP) because if not the boot freeze after "Loading initial ramdisk".

In "Power management and ACPI options":
- Uncheck "CPU idle PM support" (CONFIG_CPU_IDLE)
- Uncheck "CPU Frequency scaling" (CONFIG_CPU_FREQ)
- Uncheck "Processor" (CONFIG_ACPI_PROCESSOR)

In "Device driver":
- Uncheck "PC Speaker support" (CONFIG_INPUT_PCSPKR)

Since I want to use Analogy, I also enable it in the Xenomai menu and check "NI PCIMIO driver" (XENO_DRIVERS_ANALOGY_NI_PCIMIO) and "Analogy debug trace" (XENO_DRIVERS_ANALOGY_DEBUG)

The resulting .config is attached to the email.

5: Build the kernel and install it:
sudo make bzImage modules -j4
sudo make modules_install
sudo make install

6: Update the grub to disable hiding and update the default.
sudo nano /etc/default/grub
sudo update-grub

7: I reboot on the new kernel.

8: From the Xenomai folder, create a build folder:
sudo mkdir build_root

9: Configure the Xenomai compilation:
cd build_root
sudo /usr/src/xenomai-3.0.8/configure --with-core=cobalt --enable-smp --enable-pshared

10: Build and install the Xenomai libraries:
sudo make install

11: Reboot.

At this point, Xenomai seems to work well.
I run:
- The autotune program: sudo /usr/xenomai/sbin/autotune
- The latency test: sudo /usr/xenomai/bin/latency
- The xeno-test program: sudo /usr/xenomai/bin/xeno-test

Everything seems fine.

In order to configure the NI PCI-5269, I notice that I need to blacklist the driver "ni_pcimio". If not, the "comedi" module auto-configure the PCI and I didn't find a solution to take it back. The comedi_config command permit to unconfig the PCI, but Analogy still can't see it.
I can then run the following command to configure the PCI:
sudo /usr/xenomai/sbin/analogy_config analogy0 analogy_ni_pcimio 0x5,0

At this stage, I can configure the PCI. I tried several times, after several reboots.

But after a while, the previous analogy command begin to crash the computer randomly. The screen freezes and I have to shut down the computer manually.

The PCI is found at startup and can be seen in the system log. So the problem seems to be when Analogy try to attach the driver.

Obviously, something is happening in the kernel, but I don't know what.
I tried to use a different configuration using kernel 4.4.166 on a ubuntu 16.04, but I had the exact same problem. I also tried to switch the processor family back to "Generic-x86-64", still the same.

Maybe I am missing something obvious, I am not a expert of Linux.

Next to that, it seems that there is also some troubles with Ethernet connections. My computer have two Ethernet ports, one on the motherboard and one on a PCIe card, and the connection doesn't seems to be well detected, quite randomly too.

Finally, I use Qt to run my program and it seems to have a problem with the debug.h file in /usr/xenomai/include/copperplate, in particular with this line.
#define debug(fmt, args...)  do { } while (0)

It can compile when the line is commented, but I don't know if it might impact the rest of xenomai.

I tried to give a maximum details. If someone have any suggestions, please feel free to speak out. :)

Thanks a lot for your great work, I wish you all a nice day !

Best regards,
Florent

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