rtai in skyeye编译过程及出错信息

yeahnix

最近编译了rtai for xscale in skyeye ，编译通过了，但是运行时候有问题，没有搞懂原因，还请各位大侠指点。

                                                           －－yeahnix

所需文件：

lubboock060203,用了二进制编译器 和 initrd.img文件系统
rootfs.tar.gz //直接用二进制，由于太大，去掉了qpe和libstdc++,libnss*，使其在8M范围内
arm-linux-toolchain-bin-05-23-03.tgz //直接用二进制，解压缩

linux-2.4.19.tar.gz
patch-2.4.19-rmk7.gz
diff-2.4.19-rmk7-pxa2.gz
rtai-24.1.13.tgz
patch-2.4.19-rmk-pxa-arm-rthal5

rtai-3.1-test4.tar.bz2//测试时这个编译也通过了，只是不支持版本化的内核。

编译过程：
1、安装toolchain
arm-linux-toolchain-bin-05-23-03.tgz
        tar xzvf -C /usr/local

2、编译内核：
* linux-2.4.19.tar.gz                  - kernel sources from ftp://ftp.kernel.org
* patch-2.4.19-rmk7.gz                 - patches by Russell King from ftp://ftp.arm.linux.org.uk
* diff-2.4.19-rmk7-pxa2.gz             - patches by Nicolas Pitre
* patch-2.4.19-rmk-pxa-arm-rthal5 －rtai patch for pxa250 from rtai-24.1.13.tgz

Kernel build steps:

1.1) Untar the Linux kernel sources (downloaded from ftp.kernel.org):

   % tar xvzf linux-2.4.19.tar.gz

   if the Linux sources were compressed with  bzip2,  use the following command:

   % bzip2 -dc linux-2.4.19.tar.bz2 | tar xvf -

1.2) Apply Russell's arm-linux patches:

   % gzip -dc patch-2.4.19-rmk7.gz | patch -p1

1.3) Apply Nicolas' PXA255 and PXA262 development platforms Linux patches:

   % gzip -dc diff-2.4.19-rmk7-pxa2.gz | patch -p1

1.4) Apply rtai patches:
cd linux
patch -p0 < patch-2.4.19-rmk-pxa-arm-rthal5

   

1.5) Build the kernel (after patching):

   % make lubbock_config
   % make oldconfig
   make xconfig //去掉了pcmcia(否则好像启动不了)，去掉网卡（不知道skyeye支持不，也不知道选什么，所以直接不用）
   % make dep
   % make zImage
   直接编译缺省会有问题，并没有使用ramdisk，所以，

3、使用ramdisk：
修改linux下的.config 参数指定为8M ramdisk
.config
CONFIG_CMDLINE="mem=64M root=/dev/ram ramdisk=8192 ramdisk_start=0xc1000000 console=ttyS0,115200"

修改如下文件
arch/arm/mach-pxa/lubbock.c
fixup_lubbock function //1
去掉下面的注释，使得ramdisk起作用。同时修改 4 * 1024 * 1024为
8 * 1024 * 1024
#if 0
#endif  //1 此处是参考版主的文章，实际上由于diff-2.4.19-rmk7-pxa2.gz和pxa1不同，且没有使用diff-2.4.19-rmk7-pxa1-intc1，所以直接将上述对应的内容拷贝到这里就行了。
make oldconfig
make xconfig
General Setup
* default kernel command string: mem=64M root=/dev/ram ramdisk=8192 ramdisk_start=0xc1000000 console=ttyS0,115200
Block Device
* Initial RAM disk (initrd) support
参照rtai的说明，在选择时，必须使得内核支持rtai。
然后编译内核，生成zImage


4、skyeye.conf
cpu: xscale
mach: pxa_lubbock
mem_bank: map=I, type=RW, addr=0x40000000, size=0x0c000000
mem_bank: map=M, type=RW, addr=0xa0000000, size=0x00200000
mem_bank: map=M, type=RW, addr=0xa0200000, size=0x00100000, file=zImage, boot=yes
mem_bank: map=M, type=RW, addr=0xa0300000, size=0x00d00000
mem_bank: map=M, type=RW, addr=0xa1000000, size=0x00800000, file=./initrd.img
mem_bank: map=M, type=RW, addr=0xa1800000, size=0x02800000

5、initrd.img
直接用lubbock的bin目录下的rootfs.tar.gz，由于比较大，我去掉了qpe以及libnss*和libstdc++*
制作过程：
dd if/dev/zero of=initrd.img bs=1k count=8192
mkfs.ext2 -c initrd.img
mount -o loop -t ext2 initrd.img /tmp
cd rootfs
cp -av * /tmp//2
umount /tmp//3

6，编译rtai
cd rtai-24.1.13,
make menuconfig 选择使用老版本，新版本好像编译不能通过，而rtai3.1新版本可以，只是不支持版本华内核
make dep
make
./setsched up
make install INSTALL_MOD_PATH=/tmp //刚才的//2处 //3前
make dev INSTALL_MOD_PATH=/tmp


7、将zImage和vmlinux拷贝到skyeye.conf目录下（建立符号链接也可以）运行skyeye
版本0.7.7
skyeye
target sim
load
run

8、运行过程
skyeye vmlinux
***************************************************************
****                                                       ****
****   SkyEye  Simulator Ver 0.7.7 with  GDB 5.3 Interface ****
****                                                       ****
***************************************************************
GNU gdb 5.3
Copyright 2002 Free Software Foundation, Inc.
GDB is free software, covered by the GNU General Public License, and you are
welcome to change it and/or distribute copies of it under certain conditions.
Type "show copying" to see the conditions.
There is absolutely no warranty for GDB.  Type "show warranty" for details.
This SkyEye was configured as "--host=i686-pc-linux-gnu --target=arm-elf"...targ
et sim
(SkyEye) target sim
cpu info: xscale, xscale, 69052100, fffffff0, 2
mach info: name pxa_lubbock, mach_init addr 0x81415f8
SKYEYE: use xscale mmu ops
Loaded ROM zImage
Loaded ROM ./initrd.img
Connected to the simulator.
(SkyEye) load
Loading section .init, size 0x14000 vma 0xc0008000
Loading section .text, size 0x14c900 vma 0xc001c000
Loading section .kstrtab, size 0x5630 vma 0xc0168900
Loading section __ex_table, size 0x9b8 vma 0xc016df30
Loading section __ksymtab, size 0x24b0 vma 0xc016e8e8
Loading section .data, size 0x1124f vma 0xc0172000
rStart address 0xc0008000
Transfer rate: 12386104 bits/sec.
(SkyEye) r
Starting program: /test/vmlinux
Uncompressing Linux................................................... done, boo
ting the kernel.
Linux version 2.4.19-rmk7-pxa2-rthal5 (root@ysh) (gcc version 3.2.1) #8 二 8月 3
1 21:27:31 CST 2004
CPU: XScale-PXA250 revision 0
Machine: Intel DBPXA250 Development Platform
Ignoring unrecognised tag 0x00000000
Memory clock: 99.53MHz (*27)
Run Mode clock: 99.53MHz (*1)
Turbo Mode clock: 99.53MHz (*1.0, inactive)
On node 0 totalpages: 16384
zone(0): 16384 pages.
zone(1): 0 pages.
zone(2): 0 pages.
Kernel command line: mem=64M root=/dev/ram ramdisk=8192 ramdisk_start=0xc1000000
console=ttyS0,115200
Console: colour dummy device 80x30
Calibrating delay loop... 7.27 BogoMIPS
Memory: 64MB = 64MB total
Memory: 54888KB available (1330K code, 303K data, 80K init)
Dentry cache hash table entries: 8192 (order: 4, 65536 bytes)
Inode cache hash table entries: 4096 (order: 3, 32768 bytes)
Mount-cache hash table entries: 1024 (order: 1, 8192 bytes)
Buffer-cache hash table entries: 4096 (order: 2, 16384 bytes)
Page-cache hash table entries: 16384 (order: 4, 65536 bytes)
POSIX conformance testing by UNIFIX
Linux NET4.0 for Linux 2.4
Based upon Swansea University Computer Society NET3.039
Initializing RT netlink socket
Disabling CPU frequency change support.
CPU clock: 0.000 MHz (0.000-0.000 MHz)
Starting kswapd
JFFS2 version 2.1. (C) 2001 Red Hat, Inc., designed by Axis Communications AB.
Console: switching to colour frame buffer device 80x30
Keyboard interface test failed[1]: 00
Keyboard interface test failed[2]: 00
Keyboard interface test failed[3]: 00
initialize_kbd: Keyboard reset failed, no ACK
pty: 256 Unix98 ptys configured
Serial driver version 5.05c (2001-07-0 with no serial options enabled
ttyS00 at 0x0000 (irq = 15) is a PXA UART
ttyS01 at 0x0000 (irq = 14) is a PXA UART
ttyS02 at 0x0000 (irq = 13) is a PXA UART
SA1100 Real Time Clock driver v1.00
rtc: warning: initializing default clock divider/trim value
Keyboard timed out[1]
keyboard: Timeout - AT keyboard not present?
Keyboard timed out[1]
keyboard: Timeout - AT keyboard not present?
Uniform Multi-Platform E-IDE driver Revision: 6.31
ide: Assuming 50MHz system bus speed for PIO modes; override with idebus=xx
RAMDISK driver initialized: 16 RAM disks of 8192K size 1024 blocksize
loop: loaded (max 8 devices)
Probing Lubbock flash at physical address 0x00000000 (32-bit buswidth)
CFI: Found no Lubbock flash device at location zero
NET4: Linux TCP/IP 1.0 for NET4.0
IP Protocols: ICMP, UDP, TCP
IP: routing cache hash table of 512 buckets, 4Kbytes
TCP: Hash tables configured (established 4096 bind 8192)
NET4: Unix domain sockets 1.0/SMP for Linux NET4.0.
NetWinder Floating Point Emulator V0.95 (c) 1998-1999 Rebel.com
RAMDISK: ext2 filesystem found at block -1056964608
RAMDISK: Loading 8192 blocks [1 disk] into ram disk... done.
Freeing initrd memory: 8192K
VFS: Mounted root (ext2 filesystem) readonly.
Freeing init memory: 80K
INIT:version 2.78 booting
INIT:Entering runlevel: 3


PXA Linux Preview Kit
Kernel 2.4.19-rmk7-pxa2-rthal5 on an armv5tel
Linux login: root
login[49]: root login  on `ttyS0'

[I have no name!@Linux root]#insmod
BusyBox v0.60.3 (2003.04.18-01:40+0000) multi-call binary

Usage: insmod [OPTION]... MODULE [symbol=value]...

[I have no name!@Linux root]#insmod rtai
Using /lib/modules/2.4.19-rmk7-pxa2-rthal5/rtai/rtai.o
SKYEYE ARMul_MRC,CANT UndefInstr  CPnum is f, instr ee153f10
insmod (54): undefined instruction: pc=c00265a0
Code: 00000000 00000000 00000000 00000000 (ee153f10)
Internal error: Oops - undefined instruction: c001f9d0
CPU: 0
pc : [<c00265a0>]    lr : [<c001e4b0>]    Not tainted
sp : c1641fb0  ip : c4898000  fp : 00000000
r10: 0006f890  r9 : 0000001e  r8 : c48a1bf0
r7 : 00003907  r6 : 0006b6c0  r5 : c1641fec  r4 : ffffffff
r3 : 80000000  r2 : 00026094  r1 : 00001002  r0 : 00026094
Flags: Nzcv  IRQs off  FIQs on  Mode SVC_32  Segment user
Control: 3907  Table: A1688000  DAC: 00000015
Process insmod (pid: 54, stack limit = 0xc164036
Stack: (0xc1641fb0 to 0xc1642000)
1fa0:                                     00000000 00001002 0006f090 00000002
1fc0: 000a7448 0006f7ee 0006b6c0 c4898006 c48a1bf0 0000001e 0006f890 000a6148
1fe0: c4898000 bfffbb34 c48a1b48 00026094 80000010 ffffffff 65756c61 786e7100
Backtrace: no frame pointer
Code: 00000000 00000000 00000000 00000000 (ee153f10)
Segmentation fault
[I have no name!@Linux root]#rmmod rtai
[I have no name!@Linux root]#insmod rtai
Using /lib/modules/2.4.19-rmk7-pxa2-rthal5/rtai/rtai.o
SKYEYE ARMul_MRC,CANT UndefInstr  CPnum is f, instr ee153f10
insmod (56): undefined instruction: pc=c00265a0
Code: 00000000 00000000 00000000 00000000 (ee153f10)
Internal error: Oops - undefined instruction: c001f9d0
CPU: 0
pc : [<c00265a0>]    lr : [<c001e4b0>]    Not tainted
sp : c1641fb0  ip : c4898000  fp : 00000000
r10: 0006f890  r9 : 0000001e  r8 : c48a1bf0
r7 : 00003907  r6 : 0006b6c0  r5 : c1641fec  r4 : ffffffff
r3 : 80000000  r2 : 00026094  r1 : 00001002  r0 : 00026094
Flags: Nzcv  IRQs off  FIQs on  Mode SVC_32  Segment user
Control: 3907  Table: A1688000  DAC: 00000015
Process insmod (pid: 56, stack limit = 0xc164036
Stack: (0xc1641fb0 to 0xc1642000)
1fa0:                                     00000000 00001002 0006f090 00000002
1fc0: 000a7448 0006f7ee 0006b6c0 c4898006 c48a1bf0 0000001e 0006f890 000a6148
1fe0: c4898000 bfffbb34 c48a1b48 00026094 80000010 ffffffff 65756c61 786e7100
Backtrace: no frame pointer
Code: 00000000 00000000 00000000 00000000 (ee153f10)
Segmentation fault
[I have no name!@Linux root]

chyyuu

欢迎yeahix工作，很有意思！我将让学生也参与这些工作，这样你们也可以探讨一下！