本帖最后由 lh2008xp 于 2018-8-2 14:44 编辑
运行系统Ubuntu 16.04 LTS，运行代码平台ROS中的Kinetic，工程启动后5分钟左右，死机！通过远程ssh访问的RK3288，ssh全部掉线且无法重连！
如果连接hdmi接显示器，显示器桌面卡死，表现为系统桌面时间不再刷新！
1.死机时RK3288串口打印结果如下：
firefly login: [ 960.285805] INFO: task sd-resolve:597 blocked for more than 120 seconds.
[ 960.292533] Not tainted 4.4.55 #2
[ 960.296406] “echo 0 > /proc/sys/kernel/hung_task_timeout_secs” disables this message.
[ 960.305372] Kernel panic - not syncing: hung_task: blocked tasks
[ 960.311375] CPU: 3 PID: 29 Comm: khungtaskd Not tainted 4.4.55 #2
[ 960.317458] Hardware name: Rockchip (Device Tree)
[ 960.322174] [] (unwind_backtrace) from [] (show_stack+0x20/0x24)
[ 960.329919] [] (show_stack) from [] (dump_stack+0x88/0xa8)
[ 960.337138] [] (dump_stack) from [] (panic+0x98/0x204)
[ 960.344013] [] (panic) from [] (watchdog+0x32c/0x398)
[ 960.350800] [] (watchdog) from [] (kthread+0xf8/0x10c)
[ 960.357671] [] (kthread) from [] (ret_from_fork+0x14/0x3c)
[ 960.364891] CPU1: stopping
[ 960.367612] CPU: 1 PID: 2137 Comm: robot_pose_ekf Not tainted 4.4.55 #2
[ 960.374213] Hardware name: Rockchip (Device Tree)
[ 960.378923] [] (unwind_backtrace) from [] (show_stack+0x20/0x24)
[ 960.386659] [] (show_stack) from [] (dump_stack+0x88/0xa8)
[ 960.393873] [] (dump_stack) from [] (handle_IPI+0x168/0x2c4)
[ 960.401257] [] (handle_IPI) from [] (gic_handle_irq+0x88/0xa4)
[ 960.408813] [] (gic_handle_irq) from [] (__irq_svc+0x54/0x70)
[ 960.416282] Exception stack(0xee193d60 to 0xee193da8)
[ 960.421325] 3d60: ed2e13f0 3beb3bea 00000001 dde42580 ed2e1380 00000140 ed2e13f0 00000000
[ 960.429487] 3d80: ed2e17b8 00000000 00000144 ee193dbc ee193db0 ee193db0 c0b69500 c0b69500
[ 960.437647] 3da0: 600f0013 ffffffff
[ 960.441136] [] (__irq_svc) from [] (_raw_spin_lock_bh+0x30/0x34)
[ 960.448873] [] (_raw_spin_lock_bh) from [] (release_sock+0x24/0x14c)
[ 960.456955] [] (release_sock) from [] (tcp_recvmsg+0x754/0xa28)
[ 960.464601] [] (tcp_recvmsg) from [] (inet_recvmsg+0x9c/0xb8)
[ 960.472071] [] (inet_recvmsg) from [] (sock_recvmsg+0x4c/0x50)
[ 960.479628] [] (sock_recvmsg) from [] (SyS_recvfrom+0xac/0xfc)
[ 960.487183] [] (SyS_recvfrom) from [] (SyS_recv+0x28/0x30)
[ 960.494393] [] (SyS_recv) from [] (ret_fast_syscall+0x0/0x3c)
[ 960.501860] CPU2: stopping
[ 960.504566] CPU: 2 PID: 0 Comm: swapper/2 Not tainted 4.4.55 #2
[ 960.510473] Hardware name: Rockchip (Device Tree)
[ 960.515173] [] (unwind_backtrace) from [] (show_stack+0x20/0x24)
[ 960.522905] [] (show_stack) from [] (dump_stack+0x88/0xa8)
[ 960.530116] [] (dump_stack) from [] (handle_IPI+0x168/0x2c4)
[ 960.537499] [] (handle_IPI) from [] (gic_handle_irq+0x88/0xa4)
[ 960.545056] [] (gic_handle_irq) from [] (__irq_svc+0x54/0x70)
[ 960.552523] Exception stack(0xee971f50 to 0xee971f98)
[ 960.557565] 1f40: 00000001 00000000 ee971fb0 c0118fa0
[ 960.565728] 1f60: ee970000 00000000 00000000 ee971fc0 c10b03ac c10b4858 c0c01a44 ee971fac
[ 960.573890] 1f80: ee971fb0 ee971fa0 c010805c c0108060 60010013 ffffffff
[ 960.580493] [] (__irq_svc) from [] (arch_cpu_idle+0x3c/0x48)
[ 960.587881] [] (arch_cpu_idle) from [] (default_idle_call+0x38/0x3c)
[ 960.595961] [] (default_idle_call) from [] (cpu_startup_entry+0x1fc/0x334)
[ 960.604559] [] (cpu_startup_entry) from [] (secondary_start_kernel+0x12c/0x148)
[ 960.613590] [] (secondary_start_kernel) from [<0010152c>] (0x10152c)
[ 960.620799] CPU0: stopping
[ 960.623503] CPU: 0 PID: 10 Comm: watchdog/0 Not tainted 4.4.55 #2
[ 960.629583] Hardware name: Rockchip (Device Tree)
[ 960.634283] [] (unwind_backtrace) from [] (show_stack+0x20/0x24)
[ 960.642014] [] (show_stack) from [] (dump_stack+0x88/0xa8)
[ 960.649225] [] (dump_stack) from [] (handle_IPI+0x168/0x2c4)
[ 960.656608] [] (handle_IPI) from [] (gic_handle_irq+0x88/0xa4)
[ 960.664163] [] (gic_handle_irq) from [] (__irq_svc+0x54/0x70)
[ 960.671631] Exception stack(0xee96dd00 to 0xee96dd48)
[ 960.676673] dd00: ee39d940 89188917 00000000 00000000 ee39d93c ee39d940 ee39d950 ee96dd60
[ 960.684836] dd20: 00000000 c11d59c0 ee96ddb8 ee96dd5c ee96dd50 ee96dd50 c0b6955c c0b69560
[ 960.692996] dd40: 60010113 ffffffff
[ 960.696480] [] (__irq_svc) from [] (_raw_spin_unlock_irq+0x1c/0x20)
[ 960.704475] [] (_raw_spin_unlock_irq) from [] (usb_giveback_urb_bh+0xc0/0xc8)
[ 960.713335] [] (usb_giveback_urb_bh) from [] (tasklet_action+0x9c/0xfc)
[ 960.721674] [] (tasklet_action) from [] (__do_softirq+0x138/0x31c)
[ 960.729577] [] (__do_softirq) from [] (irq_exit+0x98/0x108)
[ 960.736876] [] (irq_exit) from [] (__handle_domain_irq+0x9c/0xc0)
[ 960.744695] [] (__handle_domain_irq) from [] (gic_handle_irq+0x5c/0xa4)
[ 960.753030] [] (gic_handle_irq) from [] (__irq_svc+0x54/0x70)
[ 960.760497] Exception stack(0xee96de70 to 0xee96deb8)
[ 960.765538] de60: eef923c0 00000000 00000002 ed660e28
[ 960.773702] de80: ed660e00 00000000 eef923c0 ee943840 ee940c80 c0b66040 c0c02218 ee96df04
[ 960.781864] dea0: ee96de70 ee96dec0 c0b6955c c0b65cd4 80010013 ffffffff
[ 960.788468] [] (__irq_svc) from [] (__schedule+0x470/0x730)
[ 960.795766] [] (__schedule) from [] (schedule+0xac/0xbc)
[ 960.802805] [] (schedule) from [] (smpboot_thread_fn+0x16c/0x19c)
[ 960.810621] [] (smpboot_thread_fn) from [] (kthread+0xf8/0x10c)
[ 960.818265] [] (kthread) from [] (ret_from_fork+0x14/0x3c)
[ 960.825483] rockchip-thermal ff280000.tsadc: channal 0: temperature(43 C)
[ 960.832259] THERMAL REGS:
[ 960.834878] 00000000: 00000200 00030061 00000602 00000000 00000000 00000000 00000000 00000000
[ 960.843389] 00000020: 00000000 00000e2d 00000e37 00000000 00000000 00000deb 00000000 00000000
[ 960.851898] 00000040: 00000000 00000db6 00000db6 00000000 00000000 00000000 00000000 00000000
[ 960.860408] 00000060: 00000004 00000004 000000fa 00000032 00000000 00000000 00000000 00000000
[ 960.868915] 00000080: 00000000 00000000
[ 960.872748] —[ end Kernel panic - not syncing: hung_task: blocked tasks
[ 996.105661] ------------[ cut here ]------------
[ 996.110280] WARNING: CPU: 3 PID: 29 at kernel/watchdog.c:352 watchdog_timer_fn+0xf8/0x344()
[ 996.118613] Watchdog detected hard LOCKUP on cpu 0
[ 996.123221] Modules linked in: ch341 cp210x
[ 996.127617] CPU: 3 PID: 29 Comm: khungtaskd Not tainted 4.4.55 #2
[ 996.133697] Hardware name: Rockchip (Device Tree)
[ 996.138397] [] (unwind_backtrace) from [] (show_stack+0x20/0x24)
[ 996.146129] [] (show_stack) from [] (dump_stack+0x88/0xa8)
[ 996.153342] [] (dump_stack) from [] (warn_slowpath_common+0x98/0xc4)
[ 996.161419] [] (warn_slowpath_common) from [] (warn_slowpath_fmt+0x40/0x48)
[ 996.170103] [] (warn_slowpath_fmt) from [] (watchdog_timer_fn+0xf8/0x344)
[ 996.178619] [] (watchdog_timer_fn) from [] (__hrtimer_run_queues+0x1b0/0x324)
[ 996.187478] [] (__hrtimer_run_queues) from [] (hrtimer_interrupt+0xac/0x1f8)
[ 996.196253] [] (hrtimer_interrupt) from [] (arch_timer_handler_phys+0x38/0x40)
[ 996.205200] [] (arch_timer_handler_phys) from [] (handle_percpu_devid_irq+0xd8/0x1ac)
[ 996.214753] [] (handle_percpu_devid_irq) from [] (generic_handle_irq+0x28/0x38)
[ 996.223784] [] (generic_handle_irq) from [] (__handle_domain_irq+0x98/0xc0)
[ 996.232467] [] (__handle_domain_irq) from [] (gic_handle_irq+0x5c/0xa4)
[ 996.240803] [] (gic_handle_irq) from [] (__irq_svc+0x54/0x70)
[ 996.248271] Exception stack(0xeeb61e08 to 0xeeb61e50)
[ 996.253313] 1e00: eeb61e94 00000005 fd640800 c086f8d0 eeb61e94 00005dbf
[ 996.261476] 1e20: 00008a48 c11d5568 0000004f c1154604 00000399 eeb61e64 eeb61e68 eeb61e58
[ 996.269636] 1e40: c010f730 c086f8e0 a00e0013 ffffffff
[ 996.274680] [] (__irq_svc) from [] (arch_counter_get_cntpct+0x10/0x18)
[ 996.282932] [] (arch_counter_get_cntpct) from [] (arch_timer_read_counter_long+0x20/0x28)
[ 996.292830] [] (arch_timer_read_counter_long) from [] (read_current_timer+0x30/0x48)
[ 996.302294] [] (read_current_timer) from [] (__timer_delay+0x38/0x5c)
[ 996.310458] [] (__timer_delay) from [] (__timer_const_udelay+0x2c/0x34)
[ 996.318798] [] (__timer_const_udelay) from [] (panic+0x1c8/0x204)
[ 996.326618] [] (panic) from [] (watchdog+0x32c/0x398)
[ 996.333396] [] (watchdog) from [] (kthread+0xf8/0x10c)
[ 996.340259] [] (kthread) from [] (ret_from_fork+0x14/0x3c)
[ 996.347466] —[ end trace 7bec9f8eaf3d9ec7 ]—
注意到以上log中有提到[ 996.118613] Watchdog detected hard LOCKUP on cpu 0，请问是否是锁死原因造成的原因？
同时提供其他信息以供参考：
2.死机时RK3288温度测试结果,死机后实测芯片温度73.9°C，温度是否过高？
3.死机前CPU使用情况，其中CPU0的软中断（Software IRQ）占用CPU的百分比100%，是否异常？
!(file:///C:/Users/pc/Documents/My%20Knowledge/temp/9adca0f7-7393-49d7-8451-35e0035edcbf/128/index_files/de077649-718d-410c-8553-469583a9130f.png)
