I am currently trying to debug my Xenomai application (using POSIX API) using gdb. Whenever I place breakpoints inside the RT tasks, gdb freezes and I have to reboot the board. I have posted this issue on the Xenomai community site: https://xenomai.org/pipermail/xenomai/2018-March/038473.html
More specific details of this issue are mentioned in the above link.
Possibly a similar issue was fixed in a 32-bit arm port in the past. I wonder if it is the same issue now. For reference: http://www.xenomai.org/pipermail/xenomai/2014-May/030996.html
Looks like only a handful of people contributing to the aarch64 port. Any help is appreciated.