Re: The state of Xenomai 4 on Xilinx Zynq-7000 (or ARM32 in general)

On 17.08.26 12:11, Gerte Hoogewerf wrote:
> Hi Philippe,
> 
> Thanks for the reply.
> 
> I built and ran the kernel with said options.  It's probably not
> conclusive, since the tests passed.  With these options, the kernel
> booted all the way into userland (because CONFIG_EVL=n).
> 
> See output below.
> 
> [    0.000000] Booting Linux on physical CPU 0x0
> [    0.000000] Linux version 6.18.29-01153-g1e9f8ec43dcd
> (ghoogewerf@NLKRLTF0FQR04) (arm-none-linux-gnueabihf-gcc (LMI3D G++
> 11.4.1-p1) 11.4.1 20240321, GNU ld (LMI3D G++ 11.4.1-p1) 2.40) #4 SMP
> PREEMPT EVL Mon Aug 17 11:49:17 CEST 2026
> [    0.000000] CPU: ARMv7 Processor [413fc090] revision 0 (ARMv7), cr=18c5387d
> [    0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing
> instruction cache
> [    0.000000] OF: fdt: Machine model: Xilinx Zynq
> [    0.000000] Memory policy: Data cache writealloc
> [    0.000000] cma: Reserved 750 MiB at 0x11000000
> [    0.000000] Zone ranges:
> [    0.000000]   Normal   [mem 0x0000000000000000-0x000000003fffffff]
> [    0.000000] Movable zone start for each node
> [    0.000000] Early memory node ranges
> [    0.000000]   node   0: [mem 0x0000000000000000-0x000000003fffffff]
> [    0.000000] Initmem setup node 0 [mem 0x0000000000000000-0x000000003fffffff]
> [    0.000000] OF: reserved mem: Reserved memory: No reserved-memory
> node in the DT
> [    0.000000] percpu: Embedded 12 pages/cpu s19468 r8192 d21492 u49152
> [    0.000000] Kernel command line: console=ttyPS0,115200 cma=750M
> l2x0_write_through=1
> [    0.000000] Unknown kernel command line parameters
> "l2x0_write_through=1", will be passed to user space.
> [    0.000000] printk: log buffer data + meta data: 16384 + 51200 = 67584 bytes
> [    0.000000] Dentry cache hash table entries: 32768 (order: 5,
> 131072 bytes, linear)
> [    0.000000] Inode-cache hash table entries: 16384 (order: 4, 65536
> bytes, linear)
> [    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 262144
> [    0.000000] mem auto-init: stack:off, heap alloc:off, heap free:off
> [    0.000000] SLUB: HWalign=32, Order=0-3, MinObjects=0, CPUs=2, Nodes=1
> [    0.000000] rcu: Preemptible hierarchical RCU implementation.
> [    0.000000] rcu:     RCU event tracing is enabled.
> [    0.000000] rcu: RCU calculated value of scheduler-enlistment delay
> is 100 jiffies.
> [    0.000000] NR_IRQS: 16, nr_irqs: 16, preallocated irqs: 16
> [    0.000000] slcr mapped to (ptrval)
> [    0.000000] L2C: platform provided aux values match the hardware,
> so have no effect.  Please remove them.
> [    0.000000] L2C-310 erratum 769419 enabled
> [    0.000000] L2C-310 enabling early BRESP for Cortex-A9
> [    0.000000] L2C-310 full line of zeros enabled for Cortex-A9
> [    0.000000] L2C-310 D prefetch enabled, offset 9 lines
> [    0.000000] L2C-310 dynamic clock gating enabled, standby mode enabled
> [    0.000000] L2C-310 cache controller enabled, 8 ways, 512 kB
> [    0.000000] L2C-310: CACHE_ID 0x410000c8, AUX_CTRL 0x56760001
> [    0.000000] IRQ pipeline enabled
> [    0.000000] rcu: srcu_init: Setting srcu_struct sizes based on contention.
> [    0.000000] zynq_clock_init: clkc starts at (ptrval)
> [    0.000000] Zynq clock init
> [    0.000000] ps_clk frequency not specified, using 33 MHz.
> [    0.000001] sched_clock: 64 bits at 500MHz, resolution 2ns, wraps
> every 4398046511103ns
> [    0.000018] clocksource: arm_global_timer: freq: 499999995 Hz,
> mask: 0xffffffffffffffff max_cycles: 0xe6a171a037, max_idle_ns:
> 881590485102 ns
> [    0.000043] Switching to timer-based delay loop, resolution 2ns
> [    0.000325] Console: colour dummy device 80x30
> [    0.000351] Calibrating delay loop (skipped), value calculated
> using timer frequency.. 999.99 BogoMIPS (lpj=499999)
> [    0.000361] CPU: Testing write buffer coherency: ok
> [    0.000390] CPU0: Spectre v2: using BPIALL workaround
> [    0.000395] pid_max: default: 32768 minimum: 301
> [    0.000541] Mount-cache hash table entries: 1024 (order: 0, 4096
> bytes, linear)
> [    0.000552] Mountpoint-cache hash table entries: 1024 (order: 0,
> 4096 bytes, linear)
> [    0.001231] CPU0: thread -1, cpu 0, socket 0, mpidr 80000000
> [    0.001262] cacheinfo: Unable to detect cache hierarchy for CPU 0
> [    0.002306] Setting up static identity map for 0x100000 - 0x10003c
> [    0.002473] rcu: Hierarchical SRCU implementation.
> [    0.002478] rcu:     Max phase no-delay instances is 400.
> [    0.002999] smp: Bringing up secondary CPUs ...
> [    0.003680] CPU1: thread -1, cpu 1, socket 0, mpidr 80000001
> [    0.003731] CPU1: Spectre v2: using BPIALL workaround
> [    0.003844] smp: Brought up 1 node, 2 CPUs
> [    0.003854] SMP: Total of 2 processors activated (1999.99 BogoMIPS).
> [    0.003862] CPU: All CPU(s) started in SVC mode.
> [    0.004053] Memory: 256456K/1048576K available (6144K kernel code,
> 224K rwdata, 1456K rodata, 1024K init, 84K bss, 20992K reserved,
> 770048K cma-reserved)
> [    0.004557] devtmpfs: initialized
> [    0.008386] VFP support v0.3: implementor 41 architecture 3 part 30
> variant 9 rev 4
> [    0.008531] clocksource: jiffies: freq: 0 Hz, mask: 0xffffffff
> max_cycles: 0xffffffff, max_idle_ns: 1911260446275000 ns
> [    0.008552] posixtimers hash table entries: 1024 (order: 1, 8192
> bytes, linear)
> [    0.008608] futex hash table entries: 512 (32768 bytes on 1 NUMA
> nodes, total 32 KiB, linear).
> [    0.019015] pinctrl core: initialized pinctrl subsystem
> [    0.019919] NET: Registered PF_NETLINK/PF_ROUTE protocol family
> [    0.021704] DMA: preallocated 256 KiB pool for atomic coherent allocations
> [    0.022681] thermal_sys: Registered thermal governor 'step_wise'
> [    0.024823] /axi/etb@f8801000: Fixed dependency cycle(s) with /replicator
> [    0.024940] /axi/tpiu@f8803000: Fixed dependency cycle(s) with /replicator
> [    0.024967] /axi/funnel@f8804000: Fixed dependency cycle(s) with
> /axi/ptm@f889d000
> [    0.024987] /axi/funnel@f8804000: Fixed dependency cycle(s) with
> /axi/ptm@f889c000
> [    0.025008] /axi/funnel@f8804000: Fixed dependency cycle(s) with /replicator
> [    0.025047] /axi/ptm@f889c000: Fixed dependency cycle(s) with
> /axi/funnel@f8804000
> [    0.025079] /axi/ptm@f889d000: Fixed dependency cycle(s) with
> /axi/funnel@f8804000
> [    0.027727] /replicator: Fixed dependency cycle(s) with /axi/etb@f8801000
> [    0.027820] /axi/etb@f8801000: Fixed dependency cycle(s) with /replicator
> [    0.028053] /replicator: Fixed dependency cycle(s) with /axi/tpiu@f8803000
> [    0.028162] /axi/tpiu@f8803000: Fixed dependency cycle(s) with /replicator
> [    0.028391] /replicator: Fixed dependency cycle(s) with /axi/funnel@f8804000
> [    0.028797] /axi/funnel@f8804000: Fixed dependency cycle(s) with
> /axi/ptm@f889d000
> [    0.028822] /axi/funnel@f8804000: Fixed dependency cycle(s) with
> /axi/ptm@f889c000
> [    0.028842] /axi/funnel@f8804000: Fixed dependency cycle(s) with /replicator
> [    0.029084] /axi/funnel@f8804000: Fixed dependency cycle(s) with
> /axi/ptm@f889c000
> [    0.029196] /axi/ptm@f889c000: Fixed dependency cycle(s) with
> /axi/funnel@f8804000
> [    0.029422] /axi/funnel@f8804000: Fixed dependency cycle(s) with
> /axi/ptm@f889d000
> [    0.029509] /axi/ptm@f889d000: Fixed dependency cycle(s) with
> /axi/funnel@f8804000
> [    0.030334] hw-breakpoint: found 5 (+1 reserved) breakpoint and 1
> watchpoint registers.
> [    0.030345] hw-breakpoint: maximum watchpoint size is 4 bytes.
> [    0.030980] e0001000.serial: ttyPS0 at MMIO 0xe0001000 (irq = 27,
> base_baud = 6249999) is a xuartps
> [    0.031040] printk: legacy console [ttyPS0] enabled
> [    0.656472] pps_core: LinuxPPS API ver. 1 registered
> [    0.661475] pps_core: Software ver. 5.3.6 - Copyright 2005-2007
> Rodolfo Giometti <[email protected]>
> [    0.670642] PTP clock support registered
> [    0.674730] FPGA manager framework
> [    0.678947] vgaarb: loaded
> [    0.681809] clocksource: Switched to clocksource arm_global_timer
> [    0.696109] NET: Registered PF_INET protocol family
> [    0.701211] IP idents hash table entries: 4096 (order: 3, 32768
> bytes, linear)
> [    0.709073] tcp_listen_portaddr_hash hash table entries: 512
> (order: 0, 4096 bytes, linear)
> [    0.717504] Table-perturb hash table entries: 65536 (order: 6,
> 262144 bytes, linear)
> [    0.725305] TCP established hash table entries: 2048 (order: 1,
> 8192 bytes, linear)
> [    0.733001] TCP bind hash table entries: 2048 (order: 3, 32768 bytes, linear)
> [    0.740209] TCP: Hash tables configured (established 2048 bind 2048)
> [    0.746644] UDP hash table entries: 256 (order: 2, 14336 bytes, linear)
> [    0.753308] UDP-Lite hash table entries: 256 (order: 2, 14336 bytes, linear)
> [    0.760525] NET: Registered PF_UNIX/PF_LOCAL protocol family
> [    0.766234] PCI: CLS 0 bytes, default 64
> [    0.770437] Trying to unpack rootfs image as initramfs...
> [    0.773208] workingset: timestamp_bits=30 max_order=18 bucket_order=0
> [    0.782489] squashfs: version 4.0 (2009/01/31) Phillip Lougher
> [    0.790608] Key type cifs.idmap registered
> [    0.794984] io scheduler mq-deadline registered
> [    0.799550] io scheduler kyber registered
> [    0.804360] zynq-pinctrl 700.pinctrl: zynq pinctrl initialized
> [    0.815734] dma-pl330 f8003000.dma-controller: Loaded driver for
> PL330 DMAC-241330
> [    0.823414] dma-pl330 f8003000.dma-controller:
> DBUFF-128x8bytes Num_Chans-8 Num_Peri-4 Num_Events-16
> [    0.823926] Freeing initrd memory: 868K
> [    0.844386] brd: module loaded
> [    0.852204] loop: module loaded
> [    1.875058] hwmon hwmon0: temp1_input not attached to any thermal zone
> [    1.891204] macb e000b000.ethernet eth0: Cadence GEM rev 0x00020118
> at 0xe000b000 irq 38 (88:20:12:f4:c1:e5)
> [    1.901632] i2c_dev: i2c /dev entries driver
> [    1.906095] cdns-i2c e0004000.i2c: can't get pinctrl, bus recovery
> not supported
> [    1.913947] cdns-i2c e0004000.i2c: 400 kHz mmio e0004000 irq 39
> [    1.920565] clocksource: ttc_clocksource: freq: 81380 Hz, mask:
> 0xffff max_cycles: 0xffff, max_idle_ns: 358356783 ns
> [    1.931176] timer #0 at (ptrval), irq=40
> [    1.935478] armv7-pmu f8891000.pmu: hw perfevents: no
> interrupt-affinity property, guessing.
> [    1.944210] hw perfevents: enabled with armv7_cortex_a9 PMU driver,
> 7 (8000003f) counters available
> [    1.954162] NET: Registered PF_INET6 protocol family
> [    1.960216] Segment Routing with IPv6
> [    1.963951] In-situ OAM (IOAM) with IPv6
> [    1.967951] sit: IPv6, IPv4 and MPLS over IPv4 tunneling driver
> [    1.974456] NET: Registered PF_PACKET protocol family
> [    1.979561] Key type dns_resolver registered
> [    1.983957] Registering SWP/SWPB emulation handler
> [    1.995551] Starting IRQ pipeline tests...
> [    1.995564] IRQ pipeline: high-priority torture stage added.
> [    2.005421] irq_pipeline-torture: CPU1 initiates stop_machine()
> [    2.011360] irq_pipeline-torture: CPU0 responds to stop_machine()
> [    2.011375] irq_pipeline-torture: CPU1 calls function on remote(s)
> [    2.023753] irq_pipeline-torture: CPU0 handles remote function call
> [    2.023879] CPU1: proxy tick device registered (499.99MHz)
> [    2.030068] CPU0: proxy tick device registered (499.99MHz)
> [    2.041026] irq_pipeline-torture: CPU1: irq_work handled
> [    2.046338] irq_pipeline-torture: CPU1: in-band->in-band irq_work
> trigger works
> [    2.053645] irq_pipeline-torture: CPU1: stage escalation request works
> [    2.053651] irq_pipeline-torture: CPU1: irq_work handled
> [    2.065475] irq_pipeline-torture: CPU1: oob->in-band irq_work trigger works
> [    3.121838] CPU1: proxy tick device unregistered
> [    3.121841] CPU0: proxy tick device unregistered
> [    3.131124] IRQ pipeline: torture stage removed.
> [    3.135746] IRQ pipeline tests OK.
> [    3.143513] clk: Disabling unused clocks
> [    3.152057] Freeing unused kernel image (initmem) memory: 1024K
> [    3.158189] Run /init as init process
> 
> ---
> 
> /bin/sh: can't access tty; job control turned off
> / # uname -a
> Linux (none) 6.18.29-01153-g1e9f8ec43dcd #4 SMP PREEMPT EVL Mon Aug 17
> 11:49:17 CEST 2026 armv7l armv7l armv7l GNU/Linux
> / # zcat /proc/config.gz 2>/dev/null | grep -E "^#? ?CONFIG_(DEBUG_IRQ_PIPELINE|
> IRQ_PIPELINE_TORTURE_TEST|DEBUG_DOVETAIL|EVL|SMP)(=| is not set)"
> CONFIG_SMP=y
> # CONFIG_EVL is not set
> CONFIG_DEBUG_IRQ_PIPELINE=y
> CONFIG_IRQ_PIPELINE_TORTURE_TEST=y
> CONFIG_DEBUG_DOVETAIL=y
> / #
> 
> ---
> 
> On Mon, Aug 17, 2026 at 11:13 AM Philippe Gerum <[email protected]> wrote:
>> Regarding the issue you are observing, it suspect this is
>> Dovetail-related. If so, xenomai 3.3 which is using Dovetail won't boot
>> on the Zynq either.
> 
> I can actually confirm that.  We had been curious to try running the
> Xenomai 3 stack on Dovetail by itself, and made the same observation:
> it hangs during boot, and disabling CONFIG_SMP works around it.
> 
> I hope that helps.  Is there anything else you'd want me to try?
> Regards,
> 

From what you described, it is most likely that some SoC-specific
adjustments are wrong or got lost on the transition from i-pipe to
dovetail. Already looked for Zynq-specific bits in the last 5.4-ipipe patch?

We never had any Zynq board enabled for the Xenomai lava lab, and all
the eval boards we had here got dumped while moving 2 years ago. But if
someone is willing to set up a lava working with a Zynq board, we can
include in future testing at least. Still, it would also need someone to
look into regressions, just like now...

Jan

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