$ smokey --verbose=2 --run=2 duration=0
you will see the fpu registers being trashed and not correctly saved/restored while cobalt context switches between the realtime and the non realtime threads.
Thank you for the heads up! I'm using a bit old linux-ipipe/xenomai trees and haven't experienced that issue. I'll try it with the updated trees.
With the updated trees, I can see the suggested errors for xenomai smokey test. Although I'm afraid to do a stupid thing, with the change below, smokey test has been running ~50min successfully now.