This is version 2 with the following changes:
- rebased on patch 1/3
- XENO_OPT_WATCHDOG and XENO_OPT_DEBUG_RTDM are default y once
debugging is enabled
- more cleanups in ksrc/nucleus/Kconfig
Jan
---
include/asm-generic/system.h | 53 +++++++++++++----------
include/nucleus/assert.h | 2
include/nucleus/bheap.h | 12 +++--
include/nucleus/queue.h | 36 +++++++++-------
ksrc/nucleus/Config.in | 4 -
ksrc/nucleus/Kconfig | 95 +++++++++++++++++++++----------------------
ksrc/nucleus/module.c | 12 ++---
ksrc/nucleus/pod.c | 43 +++++++++++--------
ksrc/nucleus/shadow.c | 38 +++++++----------
ksrc/skins/rtdm/Kconfig | 1
10 files changed, 157 insertions(+), 139 deletions(-)
Index: xenomai/include/nucleus/assert.h
===================================================================
--- xenomai.orig/include/nucleus/assert.h
+++ xenomai/include/nucleus/assert.h
@@ -22,6 +22,8 @@
#include <nucleus/compiler.h>
+#define XENO_DEBUG(subsystem) (CONFIG_XENO_OPT_DEBUG_##subsystem > 0)
+
#define XENO_ASSERT(subsystem,cond,action) do { \
if (unlikely(CONFIG_XENO_OPT_DEBUG_##subsystem > 0 && !(cond))) { \
xnarch_trace_panic_freeze(); \
Index: xenomai/include/nucleus/bheap.h
===================================================================
--- xenomai.orig/include/nucleus/bheap.h
+++ xenomai/include/nucleus/bheap.h
@@ -21,8 +21,14 @@
#define _XENO_NUCLEUS_BHEAP_H
#include <nucleus/compiler.h>
+
+/* debug support */
#include <nucleus/assert.h>
+#ifndef CONFIG_XENO_OPT_DEBUG_QUEUES
+#define CONFIG_XENO_OPT_DEBUG_QUEUES 0
+#endif
+
/* Priority queue implementation, using a binary heap. */
typedef unsigned long long bheap_key_t;
@@ -53,11 +59,7 @@ typedef struct bheap {
bheaph_t *elems[sz]; \
} name
-#ifdef CONFIG_XENO_OPT_DEBUG_BHEAP
-#define BHEAP_CHECK(heap) XENO_BUGON(BHEAP, ((heap)->sz == 0))
-#else /* !CONFIG_XENO_OPT_DEBUG_BHEAP */
-#define BHEAP_CHECK(heap) do { } while (0)
-#endif /* CONFIG_XENO_OPT_DEBUG_BHEAP */
+#define BHEAP_CHECK(heap) XENO_BUGON(QUEUES, ((heap)->sz == 0))
#define bheap_gethead(heap) \
({ \
Index: xenomai/ksrc/nucleus/Kconfig
===================================================================
--- xenomai.orig/ksrc/nucleus/Kconfig
+++ xenomai/ksrc/nucleus/Kconfig
@@ -20,9 +20,8 @@ config XENO_OPT_PERVASIVE
config XENO_OPT_ISHIELD
depends on XENO_OPT_PERVASIVE
bool "Interrupt shield support"
- default n
help
-
+
This option builds in the interrupt shield support, which can
be further enabled on a thread-by-thread basis. When enabled
for a thread, the interrupt shield prevents it from being
@@ -40,9 +39,8 @@ config XENO_OPT_ISHIELD
config XENO_OPT_RPIDISABLE
depends on XENO_OPT_PERVASIVE
bool "Disable priority coupling"
- default n
help
-
+
This option globally disables thread priority coupling between
Xenomai and Linux schedulers. Decoupling priority prevents the
Linux kernel from inheriting the priority of the associated
@@ -97,13 +95,13 @@ config XENO_OPT_PIPE_NRDEV
depends on XENO_OPT_PIPE
default 32
help
-
+
Message pipes are bi-directional FIFO communication
channels allowing data exchange between real-time kernel
threads and regular user-space processes. Pipes natively
preserve message boundaries, but can also be used in byte
streaming mode from kernel to user-space.
-
+
This option sets the maximum number of pipe devices supported
in the system. Pipe devices are named /dev/rtpN where N is a
device minor number ranging from 0 to XENO_OPT_PIPE_NRDEV - 1.
@@ -116,13 +114,13 @@ config XENO_OPT_REGISTRY_NRSLOTS
depends on XENO_OPT_REGISTRY
default 512
help
-
+
The registry is used by Xenomai skins to bind real-time
objects they create to symbolic names, so that these objects
can be further retrieved and shared by real-time applications
regardless of their runtime space (i.e. kernel or user). Each
named object occupies a registry slot.
-
+
This option sets the maximum number of real-time objects the
registry can handle. All skins using the registry share this
storage.
@@ -140,16 +138,25 @@ config XENO_OPT_STATS
bool "Statistics collection"
default y
help
-
+
This option causes the real-time nucleus to collect various
per-thread runtime statistics, which are accessible through
the /proc/xenomai/stats interface.
config XENO_OPT_DEBUG
bool "Debug support"
- default n
help
-
+
+ When enabled, various debugging features can be switched on. They
+ can help to find problems in applications, drivers, and the Xenomai
+ core. XENO_OPT_DEBUG itself does not have any impact on generated
+ code.
+
+config XENO_OPT_DEBUG_NUCLEUS
+ bool "Nucleus Debugging support"
+ depends on XENO_OPT_DEBUG
+ help
+
This option activates various debugging checks inside the core
system. Doing so adds a significant runtime overhead,
worsening the latency figures especially on SMP kernels.
@@ -160,20 +167,17 @@ config XENO_OPT_DEBUG_QUEUES
bool "Queue Debugging support"
depends on XENO_OPT_DEBUG
help
-
- This option activates debugging checks for all queueing
- operations of the Xenomai core. It adds even more runtime
- overhead then CONFIG_XENO_OPT_DEBUG, use with care.
-config XENO_OPT_DEBUG_BHEAP
- bool
- default y if XENO_OPT_DEBUG
+ This option activates debugging checks for all queueing
+ operations of the Xenomai core. It adds heavy runtime overhead,
+ use with care.
config XENO_OPT_WATCHDOG
bool "Watchdog support"
- default n
+ depends on XENO_OPT_DEBUG
+ default y
help
-
+
This option activates a watchdog aimed at detecting runaway
real-time threads. If enabled, the watchdog triggers after 4
seconds of uninterrupted real-time activity without Linux
@@ -186,7 +190,6 @@ menu "Timing"
config XENO_OPT_TIMING_PERIODIC
bool "Use periodic timer hardware"
- default n
help
WARNING: This value must be <= CONFIG_HZ.
@@ -283,9 +286,8 @@ menu "Scalability"
config XENO_OPT_SCALABLE_SCHED
bool "O(1) scheduler"
- default n
help
-
+
This option causes a multi-level priority queue to be
used in the real-time thread scheduler, so that it operates
in constant-time regardless of the number of _concurrently
@@ -296,9 +298,9 @@ config XENO_OPT_SCALABLE_SCHED
better with lower memory footprints.
choice
- prompt "Timer indexing method"
- default XENO_OPT_TIMER_LIST
- help
+ prompt "Timer indexing method"
+ default XENO_OPT_TIMER_LIST
+ help
This option allows to select the underlying data structure
which is going to be used for ordering the outstanding
@@ -307,20 +309,20 @@ choice
data structure is always used, regardless of this option.
config XENO_OPT_TIMER_LIST
- bool "Linear"
- help
+ bool "Linear"
+ help
- Use a linked list. Albeit O(N), this simple data structure is
- particularly efficient when only a few timers (< 10) may be
- concurrently outstanding at any point in time.
+ Use a linked list. Albeit O(N), this simple data structure is
+ particularly efficient when only a few timers (< 10) may be
+ concurrently outstanding at any point in time.
config XENO_OPT_TIMER_HEAP
- bool "Tree"
- help
+ bool "Tree"
+ help
- Use a binary heap. This data structure is efficient when a
- high number of software timers may be concurrently
- outstanding at any point in time.
+ Use a binary heap. This data structure is efficient when a
+ high number of software timers may be concurrently
+ outstanding at any point in time.
config XENO_OPT_TIMER_WHEEL
bool "Hash"
@@ -329,8 +331,8 @@ config XENO_OPT_TIMER_WHEEL
Use a hash table. Timers operations using this data structure
should have an O(1) complexity if the timers follow two
conditions:
- - timers expiration dates do not collide too much;
- - there is at least one periodic timer using a period near
+ - timers expiration dates do not collide too much;
+ - there is at least one periodic timer using a period near
the wheel step (around 100000 ns by default).
endchoice
@@ -339,9 +341,9 @@ config XENO_OPT_TIMER_HEAP_CAPACITY
int "Binary heap capacity"
depends on XENO_OPT_TIMER_HEAP
default 256
- help
+ help
- Set the maximum number of timers in the nucleus timers list.
+ Set the maximum number of timers in the nucleus timers list.
config XENO_OPT_TIMER_WHEEL_STEP
int "Timer wheel step"
@@ -359,9 +361,8 @@ menu "Shared interrupts"
config XENO_OPT_SHIRQ_LEVEL
bool "Level-triggered interrupts"
- default n
help
-
+
Enables support for shared level-triggered interrupts, so that
multiple real-time interrupt handlers are allowed to control
dedicated hardware devices which are configured to share
@@ -369,7 +370,6 @@ config XENO_OPT_SHIRQ_LEVEL
config XENO_OPT_SHIRQ_EDGE
bool "Edge-triggered interrupts"
- default n
help
Enables support for shared edge-triggered interrupts, so that
@@ -387,7 +387,7 @@ config XENO_OPT_FILTER_EVIRQ
bool "Disable IRQ-related tracepoints"
default y if XENO_OPT_FILTER_EVALL=y
help
-
+
When LTT support is active, this option disables tracepoints
inside real-time interrupt handlers.
@@ -395,7 +395,7 @@ config XENO_OPT_FILTER_EVTHR
bool "Disable thread-related tracepoints"
default y if XENO_OPT_FILTER_EVALL=y
help
-
+
When LTT support is active, this option disables tracepoints
inside most thread-related services.
@@ -403,15 +403,14 @@ config XENO_OPT_FILTER_EVSYS
bool "Disable syscall-related tracepoints"
default y if XENO_OPT_FILTER_EVALL=y
help
-
+
When LTT support is active, this option disables tracepoints
inside the shadow syscall dispatcher.
config XENO_OPT_FILTER_EVALL
bool "Disable all tracepoints"
- default n
help
-
+
This option disables all LTT tracepoints inside Xenomai.
endmenu
Index: xenomai/ksrc/nucleus/shadow.c
===================================================================
--- xenomai.orig/ksrc/nucleus/shadow.c
+++ xenomai/ksrc/nucleus/shadow.c
@@ -55,6 +55,13 @@
#include <asm/xenomai/syscall.h>
#include <asm/xenomai/bits/shadow.h>
+/* debug support */
+#include <nucleus/assert.h>
+
+#ifndef CONFIG_XENO_OPT_DEBUG_NUCLEUS
+#define CONFIG_XENO_OPT_DEBUG_NUCLEUS 0
+#endif
+
int nkthrptd;
int nkerrptd;
@@ -486,12 +493,11 @@ static void schedule_linux_call(int type
struct __lostagerq *rq = &lostagerq[cpuid];
spl_t s;
-#ifdef CONFIG_XENO_OPT_DEBUG
- if (!p)
+ XENO_ASSERT(NUCLEUS, p,
xnpod_fatal("schedule_linux_call() invoked "
"with NULL task pointer (req=%d, arg=%d)?!", type,
arg);
-#endif /* CONFIG_XENO_OPT_DEBUG */
+ );
splhigh(s);
reqnum = rq->in;
@@ -628,13 +634,11 @@ int xnshadow_harden(void)
fail; the caller will have to process this signal anyway. */
if (rthal_current_domain == rthal_root_domain) {
-#ifdef CONFIG_XENO_OPT_DEBUG
- if (!signal_pending(this_task)
- || this_task->state != TASK_RUNNING)
+ if (XENO_DEBUG(NUCLEUS) && (!signal_pending(this_task)
+ || this_task->state != TASK_RUNNING))
xnpod_fatal
("xnshadow_harden() failed for thread %s[%d]",
thread->name, xnthread_user_pid(thread));
-#endif /* CONFIG_XENO_OPT_DEBUG */
return -ERESTARTSYS;
}
@@ -688,10 +692,7 @@ void xnshadow_relax(int notify)
int cprio;
spl_t s;
-#ifdef CONFIG_XENO_OPT_DEBUG
- if (testbits(thread->status, XNROOT))
- xnpod_fatal("xnshadow_relax() called from the Linux domain");
-#endif /* CONFIG_XENO_OPT_DEBUG */
+ XENO_BUGON(NUCLEUS, testbits(thread->status, XNROOT));
/* Enqueue the request to move the running shadow from the Xenomai
domain to the Linux domain. This will cause the Linux task
@@ -721,11 +722,9 @@ void xnshadow_relax(int notify)
splexit(s);
-#ifdef CONFIG_XENO_OPT_DEBUG
- if (rthal_current_domain != rthal_root_domain)
+ if (XENO_DEBUG(NUCLEUS) && rthal_current_domain != rthal_root_domain)
xnpod_fatal("xnshadow_relax() failed for thread %s[%d]",
thread->name, xnthread_user_pid(thread));
-#endif /* CONFIG_XENO_OPT_DEBUG */
cprio = thread->cprio < MAX_RT_PRIO ? thread->cprio : MAX_RT_PRIO - 1;
rthal_reenter_root(get_switch_lock_owner(),
@@ -883,10 +882,9 @@ void xnshadow_unmap(xnthread_t *thread)
struct task_struct *p;
unsigned muxid, magic;
-#ifdef CONFIG_XENO_OPT_DEBUG
- if (!testbits(xnpod_current_sched()->status, XNKCOUT))
+ if (XENO_DEBUG(NUCLEUS) &&
+ !testbits(xnpod_current_sched()->status, XNKCOUT))
xnpod_fatal("xnshadow_unmap() called from invalid context");
-#endif /* CONFIG_XENO_OPT_DEBUG */
p = xnthread_archtcb(thread)->user_task; /* May be != current */
@@ -1708,8 +1706,7 @@ static inline void do_schedule_event(str
#endif /* CONFIG_XENO_OPT_RPIDISABLE */
newrprio = XNPOD_ROOT_PRIO_BASE; /* Decouple priority scales. */
-#ifdef CONFIG_XENO_OPT_DEBUG
- {
+ if (XENO_DEBUG(NUCLEUS)) {
xnflags_t status = threadin->status;
int sigpending = signal_pending(next);
@@ -1717,7 +1714,7 @@ static inline void do_schedule_event(str
xnarch_trace_panic_freeze();
show_stack(xnthread_user_task(threadin), NULL);
xnpod_fatal
- ("Hardened thread %s[%d] running in Linux domain?! (status=0x%lx, sig=%d, prev=%s[%d])",
+ ("Hardened thread %s[%d] running in Linux"" domain?! (status=0x%lx, sig=%d, prev=%s[%d])",
threadin->name, next->pid, status,
sigpending, prev->comm, prev->pid);
} else if (!(next->ptrace & PT_PTRACED) &&
@@ -1733,7 +1730,6 @@ static inline void do_schedule_event(str
sigpending, prev->comm, prev->pid);
}
}
-#endif /* CONFIG_XENO_OPT_DEBUG */
#ifdef CONFIG_XENO_OPT_ISHIELD
reset_shield(threadin);
Index: xenomai/include/nucleus/queue.h
===================================================================
--- xenomai.orig/include/nucleus/queue.h
+++ xenomai/include/nucleus/queue.h
@@ -24,6 +24,13 @@
#include <nucleus/types.h>
#include <nucleus/core.h>
+/* debug support */
+#include <nucleus/assert.h>
+
+#ifndef CONFIG_XENO_OPT_DEBUG_QUEUES
+#define CONFIG_XENO_OPT_DEBUG_QUEUES 0
+#endif
+
/* Basic element holder */
typedef struct xnholder {
@@ -62,28 +69,28 @@ typedef struct xnqueue {
xnholder_t head;
int elems;
-#if defined(__KERNEL__) && defined(CONFIG_XENO_OPT_DEBUG_QUEUES) && defined(CONFIG_SMP)
+#if defined(__KERNEL__) && XENO_DEBUG(QUEUES) && defined(CONFIG_SMP)
xnlock_t lock;
-#endif /* __KERNEL__ && CONFIG_XENO_OPT_DEBUG_QUEUES && CONFIG_SMP */
+#endif /* __KERNEL__ && XENO_DEBUG(QUEUES) && CONFIG_SMP */
} xnqueue_t;
-#if defined(CONFIG_XENO_OPT_DEBUG_QUEUES) && defined(CONFIG_SMP)
+#if XENO_DEBUG(QUEUES) && defined(CONFIG_SMP)
#define DECLARE_XNQUEUE(q) xnqueue_t q = { { &(q).head, &(q).head }, 0, XNARCH_LOCK_UNLOCKED }
-#else /* !(CONFIG_XENO_OPT_DEBUG_QUEUES && CONFIG_SMP) */
+#else /* !(XENO_DEBUG(QUEUES) && CONFIG_SMP) */
#define DECLARE_XNQUEUE(q) xnqueue_t q = { { &(q).head, &(q).head }, 0 }
-#endif /* CONFIG_XENO_OPT_DEBUG_QUEUES && CONFIG_SMP */
+#endif /* XENO_DEBUG(QUEUES) && CONFIG_SMP */
static inline void initq (xnqueue_t *qslot)
{
inith(&qslot->head);
qslot->elems = 0;
-#if defined(__KERNEL__) && defined(CONFIG_XENO_OPT_DEBUG_QUEUES) && defined(CONFIG_SMP)
+#if defined(__KERNEL__) && XENO_DEBUG(QUEUES) && defined(CONFIG_SMP)
xnlock_init(&qslot->lock);
-#endif /* __KERNEL__ && CONFIG_XENO_OPT_DEBUG_QUEUES && CONFIG_SMP */
+#endif /* __KERNEL__ && XENO_DEBUG(QUEUES) && CONFIG_SMP */
}
-#ifdef CONFIG_XENO_OPT_DEBUG_QUEUES
+#if XENO_DEBUG(QUEUES)
#if defined(__KERNEL__) || defined(__XENO_SIM__)
@@ -178,7 +185,7 @@ do { \
dth(__holder); \
--(__qslot)->elems; })
-#else /* !CONFIG_XENO_OPT_DEBUG_QUEUES */
+#else /* !XENO_DEBUG(QUEUES) */
static inline void insertq (xnqueue_t *qslot,
xnholder_t *head,
@@ -212,7 +219,7 @@ static inline void removeq (xnqueue_t *q
--qslot->elems;
}
-#endif /* CONFIG_XENO_OPT_DEBUG_QUEUES */
+#endif /* XENO_DEBUG(QUEUES) */
static inline xnholder_t *getheadq (xnqueue_t *qslot)
{
@@ -762,13 +769,12 @@ static inline xnpholder_t *getmlq(xnmlqu
queue = &mlqslot->queue[idx];
holder = getq(queue);
-#ifdef CONFIG_XENO_OPT_DEBUG_QUEUES
- if (!holder)
+ XENO_ASSERT(QUEUES, holder,
xnpod_fatal("corrupted multi-level queue, qslot=%p at %s:%d",
mlqslot,
__FILE__,__LINE__);
-#endif /* CONFIG_XENO_OPT_DEBUG_QUEUES */
-
+ );
+
hi = idx / BITS_PER_LONG;
lo = idx % BITS_PER_LONG;
@@ -779,7 +785,7 @@ static inline xnpholder_t *getmlq(xnmlqu
if (mlqslot->lomap[hi] == 0)
__clrbits(mlqslot->himap,1 << hi);
}
-
+
return (xnpholder_t *)holder;
}
Index: xenomai/ksrc/nucleus/Config.in
===================================================================
--- xenomai.orig/ksrc/nucleus/Config.in
+++ xenomai/ksrc/nucleus/Config.in
@@ -32,10 +32,10 @@ if [ "$CONFIG_XENO_OPT_NUCLEUS" != "n" ]
bool 'Statistics collection' CONFIG_XENO_OPT_STATS
bool 'Debug support' CONFIG_XENO_OPT_DEBUG
if [ "$CONFIG_XENO_OPT_DEBUG" = "y" ]; then
+ bool 'Nucleus Debugging support' CONFIG_XENO_OPT_DEBUG_NUCLEUS
bool 'Queue Debugging support' CONFIG_XENO_OPT_DEBUG_QUEUES
- define_bool CONFIG_XENO_OPT_DEBUG_BHEAP y
+ bool 'Watchdog support' CONFIG_XENO_OPT_WATCHDOG
fi
- bool 'Watchdog support' CONFIG_XENO_OPT_WATCHDOG
bool 'Enable periodic timer support' CONFIG_XENO_OPT_TIMING_PERIODIC
if [ "$CONFIG_XENO_OPT_TIMING_PERIODIC" = "y" ]; then
Index: xenomai/ksrc/nucleus/pod.c
===================================================================
--- xenomai.orig/ksrc/nucleus/pod.c
+++ xenomai/ksrc/nucleus/pod.c
@@ -44,6 +44,13 @@
#include <nucleus/stat.h>
#include <asm/xenomai/bits/pod.h>
+/* debug support */
+#include <nucleus/assert.h>
+
+#ifndef CONFIG_XENO_OPT_DEBUG_NUCLEUS
+#define CONFIG_XENO_OPT_DEBUG_NUCLEUS 0
+#endif
+
/* NOTE: We need to initialize the globals: remember that this code
also runs over user-space VMs... */
@@ -192,7 +199,7 @@ static int xnpod_fault_handler(xnarch_fl
stepping properly. */
if (xnpod_shadow_p()) {
-#ifdef CONFIG_XENO_OPT_DEBUG
+#if XENO_DEBUG(NUCLEUS)
if (!xnarch_fault_um(fltinfo)) {
xnarch_trace_panic_freeze();
xnprintf
@@ -209,7 +216,7 @@ static int xnpod_fault_handler(xnarch_fl
xnarch_fault_trap(fltinfo),
xnarch_fault_pc(fltinfo),
xnthread_user_pid(thread));
-#endif /* CONFIG_XENO_OPT_DEBUG */
+#endif /* XENO_DEBUG(NUCLEUS) */
if (xnarch_fault_pf_p(fltinfo))
/* The page fault counter is not SMP-safe, but it's a
simple indicator that something went wrong wrt memory
@@ -1020,10 +1027,10 @@ void xnpod_restart_thread(xnthread_t *th
if (!testbits(thread->status, XNSTARTED))
return; /* Not started yet or not restartable. */
-#if defined(CONFIG_XENO_OPT_DEBUG) || defined(__XENO_SIM__)
+#if XENO_DEBUG(NUCLEUS) || defined(__XENO_SIM__)
if (testbits(thread->status, XNROOT | XNSHADOW))
xnpod_fatal("attempt to restart a user-space thread");
-#endif /* CONFIG_XENO_OPT_DEBUG || __XENO_SIM__ */
+#endif /* XENO_DEBUG(NUCLEUS) || __XENO_SIM__ */
xnlock_get_irqsave(&nklock, s);
@@ -1210,10 +1217,10 @@ void xnpod_delete_thread(xnthread_t *thr
xnsched_t *sched;
spl_t s;
-#if defined(CONFIG_XENO_OPT_DEBUG) || defined(__XENO_SIM__)
+#if XENO_DEBUG(NUCLEUS) || defined(__XENO_SIM__)
if (testbits(thread->status, XNROOT))
xnpod_fatal("attempt to delete the root thread");
-#endif /* CONFIG_XENO_OPT_DEBUG || __XENO_SIM__ */
+#endif /* XENO_DEBUG(NUCLEUS) || __XENO_SIM__ */
#ifdef __XENO_SIM__
if (nkpod->schedhook)
@@ -1363,14 +1370,14 @@ void xnpod_suspend_thread(xnthread_t *th
xnsched_t *sched;
spl_t s;
-#if defined(CONFIG_XENO_OPT_DEBUG) || defined(__XENO_SIM__)
+#if XENO_DEBUG(NUCLEUS) || defined(__XENO_SIM__)
if (testbits(thread->status, XNROOT))
xnpod_fatal("attempt to suspend root thread %s", thread->name);
if (thread->wchan && wchan)
xnpod_fatal("thread %s attempts a conjunctive wait",
thread->name);
-#endif /* CONFIG_XENO_OPT_DEBUG || __XENO_SIM__ */
+#endif /* XENO_DEBUG(NUCLEUS) || __XENO_SIM__ */
xnlock_get_irqsave(&nklock, s);
@@ -1379,11 +1386,11 @@ void xnpod_suspend_thread(xnthread_t *th
sched = thread->sched;
if (thread == sched->runthread) {
-#if defined(CONFIG_XENO_OPT_DEBUG) || defined(__XENO_SIM__)
+#if XENO_DEBUG(NUCLEUS) || defined(__XENO_SIM__)
if (sched == xnpod_current_sched() && xnpod_locked_p())
xnpod_fatal
("suspensive call issued while the scheduler was locked");
-#endif /* CONFIG_XENO_OPT_DEBUG || __XENO_SIM__ */
+#endif /* XENO_DEBUG(NUCLEUS) || __XENO_SIM__ */
xnsched_set_resched(sched);
}
@@ -2309,9 +2316,9 @@ void xnpod_schedule(void)
{
xnthread_t *threadout, *threadin, *runthread;
xnsched_t *sched;
-#if defined(CONFIG_SMP) || defined(CONFIG_XENO_OPT_DEBUG)
+#if defined(CONFIG_SMP) || XENO_DEBUG(NUCLEUS)
int need_resched;
-#endif /* CONFIG_SMP || CONFIG_XENO_OPT_DEBUG */
+#endif /* CONFIG_SMP || XENO_DEBUG(NUCLEUS) */
spl_t s;
#ifdef __KERNEL__
#ifdef CONFIG_XENO_OPT_PERVASIVE
@@ -2339,7 +2346,7 @@ void xnpod_schedule(void)
xnarch_user_pid(xnthread_archtcb(runthread)) : -1,
xnthread_current_priority(runthread));
-#if defined(CONFIG_SMP) || defined(CONFIG_XENO_OPT_DEBUG)
+#if defined(CONFIG_SMP) || XENO_DEBUG(NUCLEUS)
need_resched = xnsched_tst_resched(sched);
#endif
#ifdef CONFIG_SMP
@@ -2350,15 +2357,15 @@ void xnpod_schedule(void)
xnarch_send_ipi(xnsched_resched_mask());
xnsched_clr_mask(sched);
}
-#ifndef CONFIG_XENO_OPT_DEBUG
+#if XENO_DEBUG(NUCLEUS)
if (!need_resched)
goto signal_unlock_and_exit;
xnsched_set_resched(sched);
-#else /* !CONFIG_XENO_OPT_DEBUG */
+#else /* !XENO_DEBUG(NUCLEUS) */
if (need_resched)
xnsched_set_resched(sched);
-#endif /* !CONFIG_XENO_OPT_DEBUG */
+#endif /* !XENO_DEBUG(NUCLEUS) */
#endif /* CONFIG_SMP */
@@ -2399,7 +2406,7 @@ void xnpod_schedule(void)
threadout = runthread;
threadin = link2thread(sched_getpq(&sched->readyq), rlink);
-#ifdef CONFIG_XENO_OPT_DEBUG
+#if XENO_DEBUG(NUCLEUS)
if (!need_resched) {
xnprintf
("xnpod_schedule: scheduler state changed without rescheduling"
@@ -2409,7 +2416,7 @@ void xnpod_schedule(void)
show_stack(NULL, NULL);
#endif
}
-#endif /* CONFIG_XENO_OPT_DEBUG */
+#endif /* XENO_DEBUG(NUCLEUS) */
__clrbits(threadin->status, XNREADY);
Index: xenomai/include/asm-generic/system.h
===================================================================
--- xenomai.orig/include/asm-generic/system.h
+++ xenomai/include/asm-generic/system.h
@@ -40,6 +40,13 @@
#include <asm/xenomai/atomic.h>
#include <nucleus/shadow.h>
+/* debug support */
+#include <nucleus/assert.h>
+
+#ifndef CONFIG_XENO_OPT_DEBUG_NUCLEUS
+#define CONFIG_XENO_OPT_DEBUG_NUCLEUS 0
+#endif
+
/* Tracer interface */
#define xnarch_trace_max_begin(v) rthal_trace_max_begin(v)
#define xnarch_trace_max_end(v) rthal_trace_max_end(v)
@@ -104,8 +111,6 @@ typedef struct {
0LL, \
}
-#define CONFIG_XENO_SPINLOCK_DEBUG 1
-
#else /* !(CONFIG_SMP && CONFIG_XENO_OPT_DEBUG) */
typedef struct { atomic_t owner; } xnlock_t;
@@ -220,15 +225,15 @@ static inline int xnarch_setimask (int i
#ifdef CONFIG_SMP
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
#define xnlock_get(lock) \
__xnlock_get(lock, __FILE__, __LINE__,__FUNCTION__)
#define xnlock_get_irqsave(lock,x) \
((x) = __xnlock_get_irqsave(lock, __FILE__, __LINE__,__FUNCTION__))
-#else /* !CONFIG_XENO_SPINLOCK_DEBUG */
+#else /* !XENO_DEBUG(NUCLEUS) */
#define xnlock_get(lock) __xnlock_get(lock)
#define xnlock_get_irqsave(lock,x) ((x) = __xnlock_get_irqsave(lock))
-#endif /* !CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* !XENO_DEBUG(NUCLEUS) */
#define xnlock_clear_irqoff(lock) xnlock_put_irqrestore(lock,1)
#define xnlock_clear_irqon(lock) xnlock_put_irqrestore(lock,0)
@@ -237,7 +242,7 @@ static inline void xnlock_init (xnlock_t
*lock = XNARCH_LOCK_UNLOCKED;
}
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
#define XNARCH_DEBUG_SPIN_LIMIT 3000000
@@ -247,10 +252,10 @@ static inline int __xnlock_get (xnlock_t
const char *function)
{
unsigned spin_count = 0;
-#else /* !CONFIG_XENO_SPINLOCK_DEBUG */
+#else /* !XENO_DEBUG(NUCLEUS) */
static inline int __xnlock_get (xnlock_t *lock)
{
-#endif /* !CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* !XENO_DEBUG(NUCLEUS) */
rthal_declare_cpuid;
int recursing;
@@ -258,14 +263,14 @@ static inline int __xnlock_get (xnlock_t
recursing = (atomic_read(&lock->owner) == cpuid);
if (!recursing) {
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
unsigned long long lock_date = rthal_rdtsc();
-#endif /* CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* XENO_DEBUG(NUCLEUS) */
while(atomic_cmpxchg(&lock->owner, ~0, cpuid) != ~0)
do {
cpu_relax();
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
if (++spin_count == XNARCH_DEBUG_SPIN_LIMIT) {
rthal_emergency_console();
printk(KERN_ERR
@@ -278,17 +283,17 @@ static inline int __xnlock_get (xnlock_t
for (;;)
cpu_relax();
}
-#endif /* CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* XENO_DEBUG(NUCLEUS) */
} while(atomic_read(&lock->owner) != ~0);
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
lock->spin_time = rthal_rdtsc() - lock_date;
lock->lock_date = lock_date;
lock->file = file;
lock->function = function;
lock->line = line;
lock->cpu = cpuid;
-#endif /* CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* XENO_DEBUG(NUCLEUS) */
}
return recursing;
@@ -301,7 +306,7 @@ static inline void xnlock_put (xnlock_t
rthal_load_cpuid();
if (likely(atomic_read(&lock->owner) == cpuid)) {
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
extern xnlockinfo_t xnlock_stats[];
unsigned long long lock_time = rthal_rdtsc() - lock->lock_date;
@@ -313,10 +318,10 @@ static inline void xnlock_put (xnlock_t
xnlock_stats[cpuid].function = lock->function;
xnlock_stats[cpuid].line = lock->line;
}
-#endif /* CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* XENO_DEBUG(NUCLEUS) */
atomic_set(&lock->owner, ~0);
}
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
else {
rthal_emergency_console();
printk(KERN_ERR
@@ -327,31 +332,31 @@ static inline void xnlock_put (xnlock_t
for (;;)
cpu_relax();
}
-#endif /* CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* XENO_DEBUG(NUCLEUS) */
}
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
static inline spl_t __xnlock_get_irqsave (xnlock_t *lock,
const char *file,
unsigned line,
const char *function)
{
-#else /* !CONFIG_XENO_SPINLOCK_DEBUG */
+#else /* !XENO_DEBUG(NUCLEUS) */
static inline spl_t __xnlock_get_irqsave (xnlock_t *lock)
{
-#endif /* !CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* !XENO_DEBUG(NUCLEUS) */
unsigned long flags;
rthal_local_irq_save(flags);
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if XENO_DEBUG(NUCLEUS)
if (__xnlock_get(lock, file, line, function))
flags |= 2;
-#else /* !CONFIG_XENO_SPINLOCK_DEBUG */
+#else /* !XENO_DEBUG(NUCLEUS) */
if (__xnlock_get(lock))
flags |= 2;
-#endif /* !CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* !XENO_DEBUG(NUCLEUS) */
return flags;
}
Index: xenomai/ksrc/nucleus/module.c
===================================================================
--- xenomai.orig/ksrc/nucleus/module.c
+++ xenomai/ksrc/nucleus/module.c
@@ -474,7 +474,7 @@ static struct file_operations stat_seq_o
#endif /* CONFIG_XENO_OPT_STATS */
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if defined(CONFIG_SMP) && XENO_DEBUG(NUCLEUS)
xnlockinfo_t xnlock_stats[RTHAL_NR_CPUS];
@@ -522,7 +522,7 @@ static int lock_read_proc(char *page,
EXPORT_SYMBOL(xnlock_stats);
-#endif /* CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* CONFIG_SMP && XENO_DEBUG(NUCLEUS) */
static int latency_read_proc(char *page,
char **start,
@@ -743,9 +743,9 @@ void xnpod_init_proc(void)
add_proc_fops("stat", &stat_seq_operations, 0, rthal_proc_root);
#endif /* CONFIG_XENO_OPT_STATS */
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if defined(CONFIG_SMP) && XENO_DEBUG(NUCLEUS)
add_proc_leaf("lock", &lock_read_proc, NULL, NULL, rthal_proc_root);
-#endif /* CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* CONFIG_SMP && XENO_DEBUG(NUCLEUS) */
add_proc_leaf("latency",
&latency_read_proc,
@@ -787,9 +787,9 @@ void xnpod_delete_proc(void)
#ifdef CONFIG_XENO_OPT_STATS
remove_proc_entry("stat", rthal_proc_root);
#endif /* CONFIG_XENO_OPT_STATS */
-#ifdef CONFIG_XENO_SPINLOCK_DEBUG
+#if CONFIG_SMP && XENO_DEBUG(NUCLEUS)
remove_proc_entry("lock", rthal_proc_root);
-#endif /* CONFIG_XENO_SPINLOCK_DEBUG */
+#endif /* CONFIG_SMP && XENO_DEBUG(NUCLEUS) */
}
#ifdef CONFIG_XENO_OPT_PERVASIVE
Index: xenomai/ksrc/skins/rtdm/Kconfig
===================================================================
--- xenomai.orig/ksrc/skins/rtdm/Kconfig
+++ xenomai/ksrc/skins/rtdm/Kconfig
@@ -22,6 +22,7 @@ config XENO_OPT_RTDM_FILDES
config XENO_OPT_DEBUG_RTDM
bool "RTDM debugging support"
depends on XENO_OPT_DEBUG && XENO_SKIN_RTDM
+ default y
help
This option activates debugging checks for the RTDM subsystem.
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