[Xenomai-git] Jan Kiszka : lib/cobalt: Provide RT-capable usleep

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Module: xenomai-3
Branch: next
Commit: cd73d2a1dbab5622028fcee098a4c8461aa34e82
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=cd73d2a1dbab5622028fcee098a4c8461aa34e82

Author: Jan Kiszka 
Date:   Mon May 30 14:58:07 2016 +0200

lib/cobalt: Provide RT-capable usleep

User may expect this (probably last) sleeping service to be available
under Cobalt just like sleep, nanosleep & Co.

Signed-off-by: Jan Kiszka 

---

 include/cobalt/unistd.h|2 ++
 lib/cobalt/clock.c |   14 ++
 lib/cobalt/cobalt.wrappers |1 +
 lib/cobalt/wrappers.c  |6 ++
 4 files changed, 23 insertions(+)

diff --git a/include/cobalt/unistd.h b/include/cobalt/unistd.h
index 8ad2b40..fe3992a 100644
--- a/include/cobalt/unistd.h
+++ b/include/cobalt/unistd.h
@@ -35,6 +35,8 @@ COBALT_DECL(int, close(int fildes));
 
 COBALT_DECL(unsigned int, sleep(unsigned int seconds));
 
+COBALT_DECL(int, usleep(useconds_t usec));
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/lib/cobalt/clock.c b/lib/cobalt/clock.c
index 0450019..7b4ef54 100644
--- a/lib/cobalt/clock.c
+++ b/lib/cobalt/clock.c
@@ -364,6 +364,20 @@ COBALT_IMPL(unsigned int, sleep, (unsigned int seconds))
return 0;
 }
 
+/* @apitags{thread-unrestricted, switch-primary} */
+
+COBALT_IMPL(int, usleep, (useconds_t usec))
+{
+   struct timespec rqt;
+
+   if (cobalt_get_current_fast() == XN_NO_HANDLE)
+   return __STD(usleep(usec));
+
+   rqt.tv_sec = usec / 100;
+   rqt.tv_nsec = (usec % 100) * 1000;
+   return __WRAP(clock_nanosleep(CLOCK_MONOTONIC, 0, , NULL));
+}
+
 /* @apitags{unrestricted} */
 
 COBALT_IMPL(int, gettimeofday, (struct timeval *tv, struct timezone *tz))
diff --git a/lib/cobalt/cobalt.wrappers b/lib/cobalt/cobalt.wrappers
index 19153ae..bf7a810 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -110,6 +110,7 @@
 --wrap sigqueue
 --wrap kill
 --wrap sleep
+--wrap usleep
 --wrap mmap
 --wrap mmap64
 --wrap time
diff --git a/lib/cobalt/wrappers.c b/lib/cobalt/wrappers.c
index 1f1664e..43ca630 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -538,3 +538,9 @@ unsigned int __real_sleep(unsigned int seconds)
 {
return sleep(seconds);
 }
+
+__weak
+int __real_usleep(useconds_t usec)
+{
+   return usleep(usec);
+}


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[Xenomai-git] Philippe Gerum : cobalt/powerpc: remove dependency on obsolete CONFIG_MATH_EMU

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Module: xenomai-3
Branch: next
Commit: df7c74e9cfaaadd3d0b1986276b69382030c200b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=df7c74e9cfaaadd3d0b1986276b69382030c200b

Author: Philippe Gerum 
Date:   Mon Jul 11 15:42:01 2016 +0200

cobalt/powerpc: remove dependency on obsolete CONFIG_MATH_EMU

---

 kernel/cobalt/arch/powerpc/Kconfig |4 
 1 file changed, 4 deletions(-)

diff --git a/kernel/cobalt/arch/powerpc/Kconfig 
b/kernel/cobalt/arch/powerpc/Kconfig
index 2069288..6ce3440 100644
--- a/kernel/cobalt/arch/powerpc/Kconfig
+++ b/kernel/cobalt/arch/powerpc/Kconfig
@@ -1,10 +1,6 @@
 source "kernel/xenomai/Kconfig"
 source "drivers/xenomai/Kconfig"
 
-config XENO_ARCH_MATH_EMU
-bool
-   default y if MATH_EMU || MATH_EMULATION
-
 config XENO_ARCH_FPU
def_bool PPC_FPU
 


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[Xenomai-git] Philippe Gerum : cobalt/wrappers: add wrapper for reinit_completion()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 93c5aa358fb4c5a3b89bc546dbaee1b5f08054e9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=93c5aa358fb4c5a3b89bc546dbaee1b5f08054e9

Author: Philippe Gerum 
Date:   Thu Mar  3 09:16:21 2016 +0100

cobalt/wrappers: add wrapper for reinit_completion()

---

 kernel/cobalt/include/asm-generic/xenomai/wrappers.h |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h 
b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
index ceaf647..060ce85 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -44,7 +44,6 @@
 
 #if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
 #include 
-#include 
 
 #undef alloc_netdev
 #define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -57,6 +56,7 @@ trace_seq_buffer_ptr(struct trace_seq *s)
 {
return s->buffer + s->len;
 }
+
 #endif /* < 3.17 */
 
 #if LINUX_VERSION_CODE < KERNEL_VERSION(3,16,0)


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[Xenomai-git] Philippe Gerum : boilerplate: add AVL library

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Module: xenomai-3
Branch: next
Commit: 843ec77368dd4efaa5939f4f0f6aec0222f5b112
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=843ec77368dd4efaa5939f4f0f6aec0222f5b112

Author: Philippe Gerum 
Date:   Tue May 31 17:30:21 2016 +0200

boilerplate: add AVL library

---

 include/boilerplate/Makefile.am |1 +
 include/boilerplate/avl.h   |  298 ++
 lib/boilerplate/Makefile.am |1 +
 lib/boilerplate/avl.c   |  380 +++
 4 files changed, 680 insertions(+)

diff --git a/include/boilerplate/Makefile.am b/include/boilerplate/Makefile.am
index 2d3ace8..c975509 100644
--- a/include/boilerplate/Makefile.am
+++ b/include/boilerplate/Makefile.am
@@ -3,6 +3,7 @@ includesubdir = $(includedir)/boilerplate
 includesub_HEADERS =   \
ancillaries.h   \
atomic.h\
+   avl.h   \
compiler.h  \
debug.h \
hash.h  \
diff --git a/include/boilerplate/avl.h b/include/boilerplate/avl.h
new file mode 100644
index 000..1aa84bf
--- /dev/null
+++ b/include/boilerplate/avl.h
@@ -0,0 +1,298 @@
+/*
+ * Copyright (c) 2015 Gilles Chanteperdrix
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef _BOILERPLATE_AVL_H
+#define _BOILERPLATE_AVL_H
+
+#include 
+
+struct avlh {
+   unsigned int thr: 3;
+   int type: 2;
+   int balance :2;
+   unsigned int flags :25; /* Application-specific */
+   struct avlh *link[3];
+};
+
+/* Using -1 and 1 for left and right is slightly faster than 0 and 1, using 0
+   for "up" is just here for orthogonality... and avoid wasting 4 bytes or
+   having to use a union in struct avlh. */
+#define AVL_LEFT -1
+#define AVL_UP0
+#define AVL_RIGHT 1
+/* maps AVL_LEFT to AVL_RIGHT and reciprocally. */
+#define avl_opposite(type)   (-(type))
+/* maps AVL_LEFT to -1 and AVL_RIGHT to 1. */
+#define avl_type2sign(type)  (type)
+/* maps AVL_LEFT and AVL_RIGHT to arrays index (or bit positions). */
+#define avl_type2index(type) ((type)+1)
+/* maps <0 to AVL_LEFT and >0 to AVL_RIGHT. */
+#define avl_sign2type(sign)  (sign)
+
+#define AVL_THR_LEFT  (1<thr |= 1 << avl_type2index(side))
+#define avlh_thr_clr(holder, side) ((holder)->thr &= ~(1 << 
avl_type2index(side)))
+#define avlh_thr_tst(holder, side) ((holder)->thr & (1 << 
avl_type2index(side)))
+#define avlh_link(holder, dir) ((holder)->link[avl_type2index(dir)])
+#define avlh_up(holder)avlh_link((holder), AVL_UP)
+#define avlh_left(holder)  avlh_link((holder), AVL_LEFT)
+#define avlh_right(holder) avlh_link((holder), AVL_RIGHT)
+#define avlh_parent_link(holder)   (avlh_link(avlh_up(holder), (holder)->type))
+
+struct avl;
+
+typedef struct avlh *avl_search_t(const struct avl *, const struct avlh *, int 
*);
+
+typedef int avlh_cmp_t(const struct avlh *const, const struct avlh *const);
+
+struct avl {
+   struct avlh anchor;
+   avl_search_t *search;
+   avlh_cmp_t *cmp;
+   struct avlh *end[3];
+   unsigned int count;
+   unsigned int height;
+};
+
+#define avl_searchfn(avl) ((avl)->search)
+#define avl_cmp(avl)  ((avl)->cmp)
+#define avl_count(avl)((avl)->count)
+#define avl_height(avl)   ((avl)->height)
+#define avl_anchor(avl)   (&(avl)->anchor)
+#define avl_end(avl, dir) ((avl)->end[avl_type2index(dir)])
+#define avl_top(avl)  (avlh_right(avl_anchor(avl)))
+#define avl_head(avl) (avl_end((avl), AVL_LEFT))
+#define avl_tail(avl) (avl_end((avl), AVL_RIGHT))
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void avl_init(struct avl *avl, avl_search_t *search, avlh_cmp_t *cmp);
+
+void avl_destroy(struct avl *avl);
+
+void avl_clear(struct avl *avl, void (*destruct)(struct avlh 

[Xenomai-git] Philippe Gerum : boilerplate/libc: provide placeholders for prioceiling ops

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: ea2de92aab2a469297eb49b406b148f1906ef2a9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ea2de92aab2a469297eb49b406b148f1906ef2a9

Author: Philippe Gerum 
Date:   Sun Mar 20 17:20:58 2016 +0100

boilerplate/libc: provide placeholders for prioceiling ops

---

 configure.ac   |2 ++
 include/boilerplate/libc.h |   19 +++
 2 files changed, 21 insertions(+)

diff --git a/configure.ac b/configure.ac
index 0daddd6..15c7499 100644
--- a/configure.ac
+++ b/configure.ac
@@ -511,6 +511,8 @@ AC_CHECK_FUNCS([pthread_mutexattr_setprotocol   \
pthread_mutexattr_getprioceiling \
pthread_mutexattr_setprioceiling \
pthread_mutexattr_setrobust_np  \
+   pthread_mutex_getprioceiling\
+   pthread_mutex_setprioceiling\
pthread_condattr_getclock   \
pthread_condattr_setclock   \
pthread_spin_lock fork  \
diff --git a/include/boilerplate/libc.h b/include/boilerplate/libc.h
index 4cd80b0..6616cef 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -127,6 +127,25 @@ int pthread_mutexattr_getprioceiling(const 
pthread_mutexattr_t *
 }
 #endif /* !HAVE_PTHREAD_MUTEXATTR_GETPRIOCEILING */
 
+#ifndef HAVE_PTHREAD_MUTEX_SETPRIOCEILING
+static inline
+int pthread_mutex_setprioceiling(pthread_mutex_t *__restrict attr,
+int prioceiling,
+int *__restrict old_ceiling)
+{
+   return ENOSYS;
+}
+#endif /* !HAVE_PTHREAD_MUTEXATTR_SETPRIOCEILING */
+
+#ifndef HAVE_PTHREAD_MUTEX_GETPRIOCEILING
+static inline
+int pthread_mutex_getprioceiling(pthread_mutex_t *__restrict attr,
+int *__restrict prioceiling)
+{
+   return ENOSYS;
+}
+#endif /* !HAVE_PTHREAD_MUTEXATTR_GETPRIOCEILING */
+
 #ifndef HAVE_PTHREAD_ATTR_SETAFFINITY_NP
 #include 
 static inline


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[Xenomai-git] Philippe Gerum : cobalt/synch: add support for priority ceiling protocol

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Module: xenomai-3
Branch: next
Commit: c6bb9126f09439d09a5838593298f4093d7f64d4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c6bb9126f09439d09a5838593298f4093d7f64d4

Author: Philippe Gerum 
Date:   Tue Feb 16 10:12:55 2016 +0100

cobalt/synch: add support for priority ceiling protocol

---

 include/cobalt/kernel/heap.h   |   11 +
 include/cobalt/kernel/sched-idle.h |   12 +-
 include/cobalt/kernel/sched-rt.h   |   55 ++-
 include/cobalt/kernel/sched.h  |   94 +++-
 include/cobalt/kernel/synch.h  |   51 ++-
 include/cobalt/kernel/thread.h |   54 ++-
 include/cobalt/uapi/asm-generic/features.h |   27 +-
 include/cobalt/uapi/kernel/synch.h |8 +-
 include/cobalt/uapi/kernel/thread.h|3 +-
 include/cobalt/uapi/kernel/types.h |5 +-
 include/cobalt/uapi/mutex.h|1 +
 include/cobalt/uapi/thread.h   |1 +
 kernel/cobalt/posix/cond.c |2 +-
 kernel/cobalt/posix/memory.h   |6 +
 kernel/cobalt/posix/monitor.c  |   29 +-
 kernel/cobalt/posix/mqueue.c   |4 +-
 kernel/cobalt/posix/mutex.c|  103 +++--
 kernel/cobalt/posix/process.c  |   21 +-
 kernel/cobalt/posix/process.h  |3 +-
 kernel/cobalt/posix/syscall.c  |6 +-
 kernel/cobalt/posix/timerfd.c  |2 +-
 kernel/cobalt/rtdm/drvlib.c|2 +-
 kernel/cobalt/sched-idle.c |   12 +-
 kernel/cobalt/sched-quota.c|   24 +-
 kernel/cobalt/sched-rt.c   |   14 +-
 kernel/cobalt/sched-sporadic.c |   35 +-
 kernel/cobalt/sched-tp.c   |   42 +-
 kernel/cobalt/sched-weak.c |   16 +-
 kernel/cobalt/sched.c  |  126 +-
 kernel/cobalt/synch.c  |  636 +++-
 kernel/cobalt/thread.c |  115 ++---
 31 files changed, 1038 insertions(+), 482 deletions(-)

diff --git a/include/cobalt/kernel/heap.h b/include/cobalt/kernel/heap.h
index a1cea69..d89f25d 100644
--- a/include/cobalt/kernel/heap.h
+++ b/include/cobalt/kernel/heap.h
@@ -147,6 +147,17 @@ void xnheap_free(struct xnheap *heap, void *block);
 
 int xnheap_check_block(struct xnheap *heap, void *block);
 
+static inline void *xnheap_zalloc(struct xnheap *heap, u32 size)
+{
+   void *p;
+
+   p = xnheap_alloc(heap, size);
+   if (p)
+   memset(p, 0, size);
+
+   return p;
+}
+
 static inline char *xnstrdup(const char *s)
 {
char *p;
diff --git a/include/cobalt/kernel/sched-idle.h 
b/include/cobalt/kernel/sched-idle.h
index 732ff84..75efdec 100644
--- a/include/cobalt/kernel/sched-idle.h
+++ b/include/cobalt/kernel/sched-idle.h
@@ -33,11 +33,11 @@
 
 extern struct xnsched_class xnsched_class_idle;
 
-static inline void __xnsched_idle_setparam(struct xnthread *thread,
+static inline bool __xnsched_idle_setparam(struct xnthread *thread,
   const union xnsched_policy_param *p)
 {
xnthread_clear_state(thread, XNWEAK);
-   thread->cprio = p->idle.prio;
+   return xnsched_set_effective_priority(thread, p->idle.prio);
 }
 
 static inline void __xnsched_idle_getparam(struct xnthread *thread,
@@ -50,11 +50,17 @@ static inline void __xnsched_idle_trackprio(struct xnthread 
*thread,
const union xnsched_policy_param *p)
 {
if (p)
-   __xnsched_idle_setparam(thread, p);
+   /* Inheriting a priority-less class makes no sense. */
+   XENO_WARN_ON_ONCE(COBALT, 1);
else
thread->cprio = XNSCHED_IDLE_PRIO;
 }
 
+static inline void __xnsched_idle_protectprio(struct xnthread *thread, int 
prio)
+{
+   XENO_WARN_ON_ONCE(COBALT, 1);
+}
+
 static inline int xnsched_idle_init_thread(struct xnthread *thread)
 {
return 0;
diff --git a/include/cobalt/kernel/sched-rt.h b/include/cobalt/kernel/sched-rt.h
index ffb7223..992a5ba 100644
--- a/include/cobalt/kernel/sched-rt.h
+++ b/include/cobalt/kernel/sched-rt.h
@@ -67,20 +67,33 @@ static inline void __xnsched_rt_dequeue(struct xnthread 
*thread)
xnsched_delq(>sched->rt.runnable, thread);
 }
 
-static inline void __xnsched_rt_setparam(struct xnthread *thread,
-const union xnsched_policy_param *p)
+static inline void __xnsched_rt_track_weakness(struct xnthread *thread)
 {
-   thread->cprio = p->rt.prio;
-   if (!xnthread_test_state(thread, XNBOOST)) {
-#ifdef CONFIG_XENO_OPT_SCHED_WEAK
+   /*
+* We have to track threads exiting weak scheduling, i.e. any
+* thread leaving the WEAK class code if compiled in, or
+* assigned a zero priority if weak threads are hosted by the
+* RT class.
+*
+* CAUTION: since we need to 

[Xenomai-git] Philippe Gerum : config: bump version info to 3.1-devel

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 503d8dcdf378dd573c367a8ccce41cf8356f1295
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=503d8dcdf378dd573c367a8ccce41cf8356f1295

Author: Philippe Gerum 
Date:   Sun Mar 20 18:51:17 2016 +0100

config: bump version info to 3.1-devel

---

 config/version-code  |2 +-
 config/version-label |2 +-
 config/version-name  |2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/config/version-code b/config/version-code
index 75a22a2..ddd61cc 100644
--- a/config/version-code
+++ b/config/version-code
@@ -1 +1 @@
-3.0.3
+3.0.90
diff --git a/config/version-label b/config/version-label
index 75a22a2..302fdd0 100644
--- a/config/version-label
+++ b/config/version-label
@@ -1 +1 @@
-3.0.3
+3.1-devel
diff --git a/config/version-name b/config/version-name
index 09ba594..8c51501 100644
--- a/config/version-name
+++ b/config/version-name
@@ -1 +1 @@
-Groovy Cosmic Halo
+Xenomai -next


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[Xenomai-git] Philippe Gerum : cobalt/thread: add schedparam lazy propagation

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: baf2df4a3235bb3aaae4bd1ab0f6ab8fdc20a0b3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=baf2df4a3235bb3aaae4bd1ab0f6ab8fdc20a0b3

Author: Philippe Gerum 
Date:   Fri Mar 18 12:12:50 2016 +0100

cobalt/thread: add schedparam lazy propagation

Provide a mechanism for carrying out a lazy propagation of schedparam
updates to the regular kernel, so that userland does not have to
switch to secondary mode for this.

When userland issues sc_cobalt_thread_setschedparam_ex for updating
the scheduling parameters of a Xenomai thread, a request for
propagating this change to the regular kernel is made pending. Such
request will be committed later, either when:

- the thread relaxes if it is running in primary mode when the update
  request is received;

- next time the thread calls back into the Cobalt core as a result of
  receiving a HOME action from a SIGSHADOW notification, which is sent
  if such thread was relaxed at the time of the update request.

As a result, the target thread will have propagated the schedparams
update to the regular kernel as soon as it resumes (relaxed) execution
in user-space.

---

 include/cobalt/kernel/thread.h  |8 +
 include/cobalt/uapi/kernel/thread.h |1 +
 include/cobalt/uapi/signal.h|1 +
 kernel/cobalt/posix/syscall.c   |9 ++
 kernel/cobalt/thread.c  |   55 +++
 5 files changed, 74 insertions(+)

diff --git a/include/cobalt/kernel/thread.h b/include/cobalt/kernel/thread.h
index 07b6996..a4d826e 100644
--- a/include/cobalt/kernel/thread.h
+++ b/include/cobalt/kernel/thread.h
@@ -567,6 +567,14 @@ int xnthread_set_schedparam(struct xnthread *thread,
 
 int xnthread_killall(int grace, int mask);
 
+void __xnthread_propagate_schedparam(struct xnthread *curr);
+
+static inline void xnthread_propagate_schedparam(struct xnthread *curr)
+{
+   if (xnthread_test_info(curr, XNSCHEDP))
+   __xnthread_propagate_schedparam(curr);
+}
+
 extern struct xnthread_personality xenomai_personality;
 
 /** @} */
diff --git a/include/cobalt/uapi/kernel/thread.h 
b/include/cobalt/uapi/kernel/thread.h
index bd5e34a..e534471 100644
--- a/include/cobalt/uapi/kernel/thread.h
+++ b/include/cobalt/uapi/kernel/thread.h
@@ -71,6 +71,7 @@
 #define XNROBBED  0x0020 /**< Robbed from resource ownership */
 #define XNCANCELD 0x0040 /**< Cancellation request is pending */
 #define XNPIALERT 0x0080 /**< Priority inversion alert (SIGDEBUG sent) */
+#define XNSCHEDP  0x0100 /**< schedparam propagation is pending */
 
 /* Local information flags (private to current thread) */
 
diff --git a/include/cobalt/uapi/signal.h b/include/cobalt/uapi/signal.h
index b5483d7..8a7ea15 100644
--- a/include/cobalt/uapi/signal.h
+++ b/include/cobalt/uapi/signal.h
@@ -47,6 +47,7 @@
 /* SIGSHADOW action codes. */
 #define SIGSHADOW_ACTION_HARDEN1
 #define SIGSHADOW_ACTION_BACKTRACE 2
+#define SIGSHADOW_ACTION_HOME  3
 #define SIGSHADOW_BACKTRACE_DEPTH  16
 
 #define SIGDEBUG   SIGXCPU
diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index 3addd62..b9efa05 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -731,6 +731,15 @@ restart:
goto ret_handled;
}
switched = 1;
+   } else {
+   /*
+* We want to run the syscall in the current Linux
+* domain. This is a slow path, so proceed with any
+* pending schedparam update on the fly.
+*/
+   switched = 0;
+   if (thread)
+   xnthread_propagate_schedparam(thread);
}
 
ret = handler(__xn_reg_arglist(regs));
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index d00714c..7db3c1b 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -24,6 +24,7 @@
 #include 
 #include 
 #include 
+#include 
 #include 
 #include 
 #include 
@@ -1961,6 +1962,11 @@ int __xnthread_set_schedparam(struct xnthread *thread,
thread->lock_count == 0)
xnsched_putback(thread);
 
+   xnthread_set_info(thread, XNSCHEDP);
+   /* Ask the target thread to call back if relaxed. */
+   if (xnthread_test_state(thread, XNRELAX))
+   xnthread_signal(thread, SIGSHADOW, SIGSHADOW_ACTION_HOME);
+   
return ret;
 }
 
@@ -2082,6 +2088,40 @@ static void post_wakeup(struct task_struct *p)
ipipe_post_work_root(, work);
 }
 
+void __xnthread_propagate_schedparam(struct xnthread *curr)
+{
+   int kpolicy = SCHED_FIFO, kprio = curr->bprio, ret;
+   struct task_struct *p = current;
+   struct sched_param param;
+   spl_t s;
+
+   /*
+* Test-set race for XNSCHEDP is ok, the propagation is meant
+* to be done asap but not guaranteed to be 

[Xenomai-git] Jan Kiszka : cobalt/kernel: Introduce __SCHED_CURRENT policy to setschedparam_ex

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 32cc4247e962bd78d7f8d99b3d4bcd72adf8df71
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=32cc4247e962bd78d7f8d99b3d4bcd72adf8df71

Author: Jan Kiszka 
Date:   Tue Mar  8 14:41:28 2016 +0100

cobalt/kernel: Introduce __SCHED_CURRENT policy to setschedparam_ex

Define the internal scheduling policy "current": it shall refer to the
target thread's current scheduling policy. This will allow to model
pthread_setschedprio on top of pthread_setschedparam_ex with only a
single syscall.

Signed-off-by: Jan Kiszka 

---

 include/cobalt/uapi/sched.h|3 +++
 kernel/cobalt/posix/thread.c   |   10 ++
 kernel/cobalt/trace/cobalt-posix.h |3 ++-
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/include/cobalt/uapi/sched.h b/include/cobalt/uapi/sched.h
index b672095..2a1df44 100644
--- a/include/cobalt/uapi/sched.h
+++ b/include/cobalt/uapi/sched.h
@@ -21,6 +21,9 @@
 #define SCHED_COBALT   42
 #define SCHED_WEAK 43
 
+/* for internal use */
+#define __SCHED_CURRENT44
+
 #ifndef SCHED_SPORADIC
 #define SCHED_SPORADIC 10
 #define sched_ss_low_priority  sched_u.ss.__sched_low_priority
diff --git a/kernel/cobalt/posix/thread.c b/kernel/cobalt/posix/thread.c
index d87edb1..217b81b 100644
--- a/kernel/cobalt/posix/thread.c
+++ b/kernel/cobalt/posix/thread.c
@@ -242,6 +242,7 @@ struct xnthread_personality *cobalt_thread_finalize(struct 
xnthread *zombie)
 int __cobalt_thread_setschedparam_ex(struct cobalt_thread *thread, int policy,
 const struct sched_param_ex *param_ex)
 {
+   struct xnthread *base_thread = >threadbase;
struct xnsched_class *sched_class;
union xnsched_policy_param param;
xnticks_t tslice;
@@ -256,6 +257,15 @@ int __cobalt_thread_setschedparam_ex(struct cobalt_thread 
*thread, int policy,
goto out;
}
 
+   if (policy == __SCHED_CURRENT) {
+   policy = base_thread->base_class->policy;
+   if (xnthread_base_priority(base_thread) == 0)
+   policy = SCHED_NORMAL;
+   else if (base_thread->base_class == _class_rt &&
+xnthread_test_state(base_thread, XNRRB))
+   policy = SCHED_RR;
+   }
+
tslice = thread->threadbase.rrperiod;
sched_class = cobalt_sched_policy_param(, policy,
param_ex, );
diff --git a/kernel/cobalt/trace/cobalt-posix.h 
b/kernel/cobalt/trace/cobalt-posix.h
index 3d0e20c..cc0eb05 100644
--- a/kernel/cobalt/trace/cobalt-posix.h
+++ b/kernel/cobalt/trace/cobalt-posix.h
@@ -90,7 +90,8 @@ DECLARE_EVENT_CLASS(syscall_exit,
 {SCHED_QUOTA, "quota"},\
 {SCHED_SPORADIC, "sporadic"},  \
 {SCHED_COBALT, "cobalt"},  \
-{SCHED_WEAK, "weak"})
+{SCHED_WEAK, "weak"},  \
+{__SCHED_CURRENT, ""})
 
 #define cobalt_print_sched_params(__policy, __p_ex)\
 ({ \


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[Xenomai-git] Philippe Gerum : testsuite/smokey: mutex: simplify, introduce PP tests

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: c917326df721f77d001eb063fd0ee1040310aef0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c917326df721f77d001eb063fd0ee1040310aef0

Author: Philippe Gerum 
Date:   Wed Feb 17 09:21:27 2016 +0100

testsuite/smokey: mutex: simplify, introduce PP tests

At this chance, the lock stealing test is also fixed.

---

 testsuite/smokey/posix-mutex/posix-mutex.c | 1357 ++--
 1 file changed, 670 insertions(+), 687 deletions(-)

diff --git a/testsuite/smokey/posix-mutex/posix-mutex.c 
b/testsuite/smokey/posix-mutex/posix-mutex.c
index ac71b31..ae82fc1 100644
--- a/testsuite/smokey/posix-mutex/posix-mutex.c
+++ b/testsuite/smokey/posix-mutex/posix-mutex.c
@@ -4,6 +4,7 @@
  * Copyright (C) Gilles Chanteperdrix  ,
  *   Marion Deveaud ,
  *   Jan Kiszka 
+ *   Philippe Gerum 
  *
  * Released under the terms of GPLv2.
  */
@@ -17,8 +18,6 @@
 #include 
 #include 
 #include 
-#include 
-#include "lib/cobalt/current.h"
 #include 
 
 smokey_test_plugin(posix_mutex,
@@ -26,886 +25,870 @@ smokey_test_plugin(posix_mutex,
   "Check POSIX mutex services"
 );
 
-#define MUTEX_CREATE   1
-#define MUTEX_LOCK 2
-#define MUTEX_TRYLOCK  3
-#define MUTEX_TIMED_LOCK   4
-#define MUTEX_UNLOCK   5
-#define MUTEX_DESTROY  6
-#define COND_CREATE7
-#define COND_SIGNAL8
-#define COND_WAIT  9
-#define COND_DESTROY   10
-#define THREAD_DETACH  11
-#define THREAD_CREATE  12
-#define THREAD_JOIN13
-#define THREAD_RENICE   14
-
-#define NS_PER_MS  100
-
 static const char *reason_str[] = {
-   [SIGDEBUG_UNDEFINED] = "undefined",
+   [SIGDEBUG_UNDEFINED] = "received SIGDEBUG for unknown reason",
[SIGDEBUG_MIGRATE_SIGNAL] = "received signal",
[SIGDEBUG_MIGRATE_SYSCALL] = "invoked syscall",
[SIGDEBUG_MIGRATE_FAULT] = "triggered fault",
[SIGDEBUG_MIGRATE_PRIOINV] = "affected by priority inversion",
-   [SIGDEBUG_NOMLOCK] = "missing mlockall",
-   [SIGDEBUG_WATCHDOG] = "runaway thread",
+   [SIGDEBUG_NOMLOCK] = "process memory not locked",
+   [SIGDEBUG_WATCHDOG] = "watchdog triggered (period too short?)",
+   [SIGDEBUG_LOCK_BREAK] = "scheduler lock break",
 };
 
 static void sigdebug(int sig, siginfo_t *si, void *context)
 {
+   const char fmt[] = "%s, this is unexpected.\n"
+   "(enabling CONFIG_XENO_OPT_DEBUG_TRACE_RELAX may help)\n";
unsigned int reason = sigdebug_reason(si);
+   int n __attribute__ ((unused));
+   static char buffer[256];
 
-   smokey_trace("\nSIGDEBUG received, reason %d: %s\n", reason,
-reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] : 
"");
-}
+   if (reason > SIGDEBUG_WATCHDOG)
+   reason = SIGDEBUG_UNDEFINED;
 
-static inline unsigned long long timer_get_tsc(void)
-{
-   return clockobj_get_tsc();
+   n = snprintf(buffer, sizeof(buffer), fmt, reason_str[reason]);
+   n = write(STDERR_FILENO, buffer, n);
 }
 
-static inline unsigned long long timer_tsc2ns(unsigned long long tsc)
-{
-   return clockobj_tsc_to_ns(tsc);
-}
+#define THREAD_PRIO_WEAK   0
+#define THREAD_PRIO_LOW1
+#define THREAD_PRIO_MEDIUM 2
+#define THREAD_PRIO_HIGH   3
+#define THREAD_PRIO_VERY_HIGH  4
 
-static void add_timespec(struct timespec *ts, unsigned long long value)
-{
-   ts->tv_sec += value / 10;
-   ts->tv_nsec += value % 10;
-   if (ts->tv_nsec > 10) {
-   ts->tv_sec++;
-   ts->tv_nsec -= 10;
-   }
-}
+#define MAX_100_MS  1ULL
+
+struct locker_context {
+   pthread_mutex_t *mutex;
+   struct smokey_barrier *barrier;
+   int lock_acquired;
+};
 
-static void ms_sleep(int time)
+static void sleep_ms(unsigned int ms)  /* < 1000 */
 {
struct timespec ts;
-
+   
ts.tv_sec = 0;
-   ts.tv_nsec = time*NS_PER_MS;
-
-   nanosleep(, NULL);
+   ts.tv_nsec = ms * 100;
+   clock_nanosleep(CLOCK_MONOTONIC, 0, , NULL);
 }
 
-static void check_current_prio(int expected_prio)
+static int get_effective_prio(void) 
 {
struct cobalt_threadstat stat;
int ret;
 
ret = cobalt_thread_stat(0, );
-   if (ret) {
-   fprintf(stderr,
-   "FAILURE: cobalt_threadstat (%s)\n", strerror(-ret));
-   exit(EXIT_FAILURE);
-   }
+   if (ret)
+   return ret;
 
-   if (stat.cprio != expected_prio) {
-   fprintf(stderr,
-   "FAILURE: current prio (%d) != expected prio (%d)\n",
-   stat.cprio, expected_prio);
-   exit(EXIT_FAILURE);
-   }
+   

[Xenomai-git] Philippe Gerum : lib/cobalt/mutex: add support for priority ceiling protocol

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 42a96c04d9bce1db8b76b6e90b57b2323e32cd7d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=42a96c04d9bce1db8b76b6e90b57b2323e32cd7d

Author: Philippe Gerum 
Date:   Tue Feb 16 10:13:03 2016 +0100

lib/cobalt/mutex: add support for priority ceiling protocol

---

 configure.ac   |2 +
 include/boilerplate/libc.h |   19 +++
 include/cobalt/pthread.h   |7 ++
 lib/cobalt/cobalt.wrappers |2 +
 lib/cobalt/init.c  |1 +
 lib/cobalt/internal.h  |8 ++
 lib/cobalt/mutex.c |  301 +++-
 lib/cobalt/sched.c |   33 -
 lib/cobalt/thread.c|7 +-
 9 files changed, 311 insertions(+), 69 deletions(-)

diff --git a/configure.ac b/configure.ac
index e1f060a..0daddd6 100644
--- a/configure.ac
+++ b/configure.ac
@@ -508,6 +508,8 @@ save_LIBS="$LIBS"
 LIBS="$LIBS -lrt -lpthread"
 AC_CHECK_FUNCS([pthread_mutexattr_setprotocol  \
pthread_mutexattr_getprotocol   \
+   pthread_mutexattr_getprioceiling \
+   pthread_mutexattr_setprioceiling \
pthread_mutexattr_setrobust_np  \
pthread_condattr_getclock   \
pthread_condattr_setclock   \
diff --git a/include/boilerplate/libc.h b/include/boilerplate/libc.h
index d8b0334..4cd80b0 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -108,6 +108,25 @@ int pthread_mutexattr_getprotocol(const 
pthread_mutexattr_t *
 }
 #endif /* !HAVE_PTHREAD_MUTEXATTR_GETPROTOCOL */
 
+#ifndef HAVE_PTHREAD_MUTEXATTR_SETPRIOCEILING
+static inline
+int pthread_mutexattr_setprioceiling(pthread_mutexattr_t *attr,
+int prioceiling)
+{
+   return ENOSYS;
+}
+#endif /* !HAVE_PTHREAD_MUTEXATTR_SETPRIOCEILING */
+
+#ifndef HAVE_PTHREAD_MUTEXATTR_GETPRIOCEILING
+static inline
+int pthread_mutexattr_getprioceiling(const pthread_mutexattr_t *
+ __restrict attr,
+int *__restrict prioceiling)
+{
+   return ENOSYS;
+}
+#endif /* !HAVE_PTHREAD_MUTEXATTR_GETPRIOCEILING */
+
 #ifndef HAVE_PTHREAD_ATTR_SETAFFINITY_NP
 #include 
 static inline
diff --git a/include/cobalt/pthread.h b/include/cobalt/pthread.h
index 386c337..f1b1c8a 100644
--- a/include/cobalt/pthread.h
+++ b/include/cobalt/pthread.h
@@ -67,6 +67,13 @@ COBALT_DECL(int, pthread_mutex_trylock(pthread_mutex_t 
*mutex));
 
 COBALT_DECL(int, pthread_mutex_unlock(pthread_mutex_t *mutex));
 
+COBALT_DECL(int, pthread_mutex_setprioceiling(pthread_mutex_t *__restrict 
mutex,
+ int prioceiling,
+ int *__restrict old_ceiling));
+  
+COBALT_DECL(int, pthread_mutex_getprioceiling(pthread_mutex_t *__restrict 
mutex,
+ int *__restrict old_ceiling));
+
 COBALT_DECL(int, pthread_cond_init (pthread_cond_t *cond,
const pthread_condattr_t *attr));
 
diff --git a/lib/cobalt/cobalt.wrappers b/lib/cobalt/cobalt.wrappers
index 9480f34..75f29d6 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -32,6 +32,8 @@
 --wrap pthread_mutex_trylock
 --wrap pthread_mutex_timedlock
 --wrap pthread_mutex_unlock
+--wrap pthread_mutex_setprioceiling
+--wrap pthread_mutex_getprioceiling
 --wrap pthread_cond_init
 --wrap pthread_cond_destroy
 --wrap pthread_cond_wait
diff --git a/lib/cobalt/init.c b/lib/cobalt/init.c
index f260744..69d4763 100644
--- a/lib/cobalt/init.c
+++ b/lib/cobalt/init.c
@@ -177,6 +177,7 @@ static void __cobalt_init(void)
sizeof(struct cobalt_sem_shadow));
 
cobalt_mutex_init();
+   cobalt_sched_init();
cobalt_thread_init();
cobalt_print_init();
 }
diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
index fee3fe1..4b8252b 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -52,6 +52,8 @@ void cobalt_thread_init(void);
 
 int cobalt_thread_probe(pid_t pid);
 
+void cobalt_sched_init(void);
+
 void cobalt_print_init(void);
 
 void cobalt_print_init_atfork(void);
@@ -73,4 +75,10 @@ void cobalt_check_features(struct cobalt_featinfo *finfo);
 
 extern struct sigaction __cobalt_orig_sigdebug;
 
+extern int __cobalt_std_fifo_minpri,
+  __cobalt_std_fifo_maxpri;
+
+extern int __cobalt_std_rr_minpri,
+  __cobalt_std_rr_maxpri;
+
 #endif /* _LIB_COBALT_INTERNAL_H */
diff --git a/lib/cobalt/mutex.c b/lib/cobalt/mutex.c
index 9d8a914..1456099 100644
--- a/lib/cobalt/mutex.c
+++ b/lib/cobalt/mutex.c
@@ -99,6 +99,9 @@ void cobalt_mutex_init(void)
  *   mutex, increase CONFIG_XENO_OPT_SHARED_HEAPSZ for a process-shared
  *   mutex, or CONFIG_XENO_OPT_PRIVATE_HEAPSZ for a process-private mutex.
  * - EAGAIN, no registry slot available, check/raise 
CONFIG_XENO_OPT_REGISTRY_NRSLOTS.
+ * - ENOSYS, @a attr mentions 

[Xenomai-git] Philippe Gerum : cobalt/syscalls: allow for handing over mode selection to syscall handlers

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f4ad47a7e65fb383c1af090dadd460aae1bfc8d4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f4ad47a7e65fb383c1af090dadd460aae1bfc8d4

Author: Philippe Gerum 
Date:   Thu Jul  7 17:05:16 2016 +0200

cobalt/syscalls: allow for handing over mode selection to syscall handlers

Specific system calls may benefit from dealing with the caller's
runtime mode by themselves, depending on internal information which
the generic syscall dispatcher does not have access to.

To this end, a new syscall mode called "handover" is
introduced. Syscalls bearing this mode bit are always entered from the
current calling domain. The syscall handler may return -ENOSYS to
trigger a switch to the converse domain until all domains have been
visited once, at which point the syscall fails with -ENOSYS
automatically.

---

 kernel/cobalt/posix/syscall.c |1 -
 1 file changed, 1 deletion(-)

diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index b9efa05..6282cc4 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -737,7 +737,6 @@ restart:
 * domain. This is a slow path, so proceed with any
 * pending schedparam update on the fly.
 */
-   switched = 0;
if (thread)
xnthread_propagate_schedparam(thread);
}


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[Xenomai-git] Philippe Gerum : cobalt/posix/clock: uapi: strengthen test for external clock ids

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 3e8a9fd398b98482e989b97d4fd721fbff868ecd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3e8a9fd398b98482e989b97d4fd721fbff868ecd

Author: Philippe Gerum 
Date:   Fri Nov 11 10:52:40 2016 +0100

cobalt/posix/clock: uapi: strengthen test for external clock ids

__COBALT_CLOCK_EXT_P() was way too weak in filtering out invalid clock
ids, also returning a true value for identifiers being obviously out
of range although bit #6 is raised.

This would cause all clock* services depending on such detection to
crash badly due to using bad index values determined from invalid
clock ids they should never have considered in the first place.

The test is strengthened by comparing the clock identifier to the
valid range explicitly, i.e. [ 64...127 ] inclusive.

---

 include/cobalt/uapi/time.h |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/cobalt/uapi/time.h b/include/cobalt/uapi/time.h
index 4a3679b..411baf5 100644
--- a/include/cobalt/uapi/time.h
+++ b/include/cobalt/uapi/time.h
@@ -41,7 +41,7 @@
 #define COBALT_MAX_EXTCLOCKS  64
 
 #define __COBALT_CLOCK_EXT(nr) ((clockid_t)(nr) | (1 << 6))
-#define __COBALT_CLOCK_EXT_P(id)   ((int)(id) & (1 << 6))
+#define __COBALT_CLOCK_EXT_P(id)   ((int)(id) >= 64 && (int)(id) < 128)
 #define __COBALT_CLOCK_EXT_INDEX(id)   ((int)(id) & ~(1 << 6))
 
 /*


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[Xenomai-git] Philippe Gerum : cobalt/arm64: drop aarch32 bits from feature set

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9f30c76b2acb8f3f91ce4b48a715031feb516251
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9f30c76b2acb8f3f91ce4b48a715031feb516251

Author: Philippe Gerum 
Date:   Thu Sep 17 02:16:10 2015 +0200

cobalt/arm64: drop aarch32 bits from feature set

---

 .../arch/arm64/include/asm/xenomai/features.h  |   44 ++--
 1 file changed, 4 insertions(+), 40 deletions(-)

diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h 
b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
index 0d6702b..6dfe64c 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2005 Philippe Gerum .
+ * Copyright (C) 2015 Philippe Gerum .
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
@@ -15,52 +15,16 @@
  * License along with this library; if not, write to the Free Software
  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.
  */
-#ifndef _LIB_COBALT_ARM_FEATURES_H
-#define _LIB_COBALT_ARM_FEATURES_H
+#ifndef _LIB_COBALT_ARM64_FEATURES_H
+#define _LIB_COBALT_ARM64_FEATURES_H
 
 #include_next 
 #include 
 
-#if defined(__ARM_ARCH_2__)
-#define __LINUX_ARM_ARCH__ 2
-#endif /* armv2 */
-
-#if defined(__ARM_ARCH_3__)
-#define __LINUX_ARM_ARCH__ 3
-#endif /* armv3 */
-
-#if defined(__ARM_ARCH_4__) || defined(__ARM_ARCH_4T__)
-#define __LINUX_ARM_ARCH__ 4
-#endif /* armv4 */
-
-#if defined(__ARM_ARCH_5__) || defined(__ARM_ARCH_5T__) \
-   || defined(__ARM_ARCH_5E__) || defined(__ARM_ARCH_5TE__)
-#define __LINUX_ARM_ARCH__ 5
-#endif /* armv5 */
-
-#if defined(__ARM_ARCH_6__) || defined(__ARM_ARCH_6K__) \
-   || defined(__ARM_ARCH_6Z__) || defined(__ARM_ARCH_6ZK__)
-#define __LINUX_ARM_ARCH__ 6
-#endif /* armv6 */
-
-#if defined(__ARM_ARCH_7A__)
-#define __LINUX_ARM_ARCH__ 7
-#endif /* armv7 */
-
-#if defined(__aarch64__)
 #define __LINUX_ARM_ARCH__ 8
-#endif /* armv8 */
-
-#ifndef __LINUX_ARM_ARCH__
-#error "Could not find current ARM architecture"
-#endif
-
-#if __LINUX_ARM_ARCH__ < 6 && defined(CONFIG_SMP)
-#error "SMP not supported below armv6, compile with -march=armv6 or above"
-#endif
 
 #include 
 
 int cobalt_fp_detect(void);
 
-#endif /* !_LIB_COBALT_ARM_FEATURES_H */
+#endif /* !_LIB_COBALT_ARM64_FEATURES_H */


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[Xenomai-git] Philippe Gerum : cobalt/arm64: fpu: drop obsolete xnarch_save_fpu()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: a965f72e6025fd5150d3108da24db80980da3b33
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a965f72e6025fd5150d3108da24db80980da3b33

Author: Philippe Gerum 
Date:   Thu Sep  8 16:29:59 2016 +0200

cobalt/arm64: fpu: drop obsolete xnarch_save_fpu()

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h |4 
 1 file changed, 4 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 4b247ac..ac1f1f7 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -75,8 +75,6 @@ static inline int xnarch_fault_fpu_p(struct ipipe_trap_data 
*d)
 
 void xnarch_leave_root(struct xnthread *root);
 
-void xnarch_save_fpu(struct xnthread *thread);
-
 void xnarch_switch_fpu(struct xnthread *from, struct xnthread *thread);
 
 static inline int
@@ -103,8 +101,6 @@ static inline int xnarch_fault_fpu_p(struct ipipe_trap_data 
*d)
 
 static inline void xnarch_leave_root(struct xnthread *root) { }
 
-static inline void xnarch_save_fpu(struct xnthread *thread) { }
-
 static inline void xnarch_switch_fpu(struct xnthread *f, struct xnthread *t) { 
}
 
 static inline int xnarch_handle_fpu_fault(struct xnthread *from, 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: add basic FPU support

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 747e3f98f619854e2cdd735b8b752c0c08ef7c44
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=747e3f98f619854e2cdd735b8b752c0c08ef7c44

Author: Dmitriy Cherkasov 
Date:   Fri Sep 11 17:58:54 2015 -0700

cobalt/arm64: add basic FPU support

---

 kernel/cobalt/arch/arm64/Kconfig   |2 +-
 .../cobalt/arch/arm64/include/asm/xenomai/fptest.h |   11 +-
 .../cobalt/arch/arm64/include/asm/xenomai/thread.h |   17 +-
 .../arch/arm64/include/asm/xenomai/uapi/fptest.h   |   83 +++--
 kernel/cobalt/arch/arm64/thread.c  |  329 +---
 lib/cobalt/arch/arm64/features.c   |4 +-
 6 files changed, 153 insertions(+), 293 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
index dd5a8c6..27b5026 100644
--- a/kernel/cobalt/arch/arm64/Kconfig
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -8,7 +8,7 @@ config XENO_ARCH_WANT_TIP
def_bool y
 
 config XENO_ARCH_FPU
-   def_bool VFP
+   def_bool y
 
 config XENO_ARCH_SYS3264
 def_bool n
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
index a76f1e6..743d758 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
@@ -20,15 +20,10 @@
 #define _COBALT_ARM_ASM_FPTEST_H
 
 #include 
+#include 
 #include 
 
-#ifdef CONFIG_VFP
-#define have_vfp (elf_hwcap & HWCAP_VFP)
-#else /* !CONFIG_VFP */
-#define have_vfp 0
-#endif /* !CONFIG_VFP */
-
-#include 
+#define have_fp (elf_hwcap & HWCAP_FP)
 
 static inline int fp_kernel_supported(void)
 {
@@ -46,7 +41,7 @@ static inline void fp_linux_end(void)
 
 static inline int fp_detect(void)
 {
-   return have_vfp ? __COBALT_HAVE_VFP : 0;
+   return have_fp ? __COBALT_HAVE_FPU : 0;
 }
 
 #endif /* _COBALT_ARM_ASM_FPTEST_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index a8d7ed4..bfcceb4 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -21,21 +21,12 @@
 
 #include 
 
-#ifdef CONFIG_XENO_ARCH_FPU
-#ifdef CONFIG_VFP
-#include 
-#endif /* CONFIG_VFP */
-#endif /* !CONFIG_XENO_ARCH_FPU */
 
 struct xnarchtcb {
struct xntcb core;
 #ifdef CONFIG_XENO_ARCH_FPU
-#ifdef CONFIG_VFP
-   union vfp_state *fpup;
+   struct fpsimd_state *fpup;
 #define xnarch_fpu_ptr(tcb) ((tcb)->fpup)
-#else
-#define xnarch_fpu_ptr(tcb) NULL
-#endif
 #endif
struct {
unsigned long pc;
@@ -67,7 +58,7 @@ static inline void xnarch_enter_root(struct xnthread *root) { 
}
 
 int xnarch_escalate(void);
 
-#if defined(CONFIG_XENO_ARCH_FPU) && defined(CONFIG_VFP)
+#if defined(CONFIG_XENO_ARCH_FPU)
 
 static inline void xnarch_init_root_tcb(struct xnthread *thread)
 {
@@ -88,7 +79,7 @@ void xnarch_switch_fpu(struct xnthread *from, struct xnthread 
*thread);
 int xnarch_handle_fpu_fault(struct xnthread *from, 
struct xnthread *to, struct ipipe_trap_data *d);
 
-#else /* !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
+#else /* !CONFIG_XENO_ARCH_FPU */
 
 static inline void xnarch_init_root_tcb(struct xnthread *thread) { }
 static inline void xnarch_init_shadow_tcb(struct xnthread *thread) { }
@@ -114,7 +105,7 @@ static inline int xnarch_handle_fpu_fault(struct xnthread 
*from,
 {
return 0;
 }
-#endif /*  !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
+#endif /*  !CONFIG_XENO_ARCH_FPU */
 
 static inline void xnarch_enable_kfpu(void) { }
 
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
index 65a3e31..25bc976 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -18,53 +18,86 @@
 #ifndef _COBALT_ARM_ASM_UAPI_FPTEST_H
 #define _COBALT_ARM_ASM_UAPI_FPTEST_H
 
-#ifdef __aarch64__
-/* CP10 and CP11, used for the FP/NEON operations, are already excluded from
-the list of valid operands for the generic coprocessor instructions */
-#define __COBALT_HAVE_VFP  0
-#else
-#define __COBALT_HAVE_VFP  0x1
-#endif
+#define __COBALT_HAVE_FPU  0x1
 
 static inline void fp_regs_set(int features, unsigned int val)
 {
-#if __COBALT_HAVE_VFP != 0
-   unsigned long long e[16];
+
+   unsigned long long e[32];
unsigned int i;
 
-   if (features & __COBALT_HAVE_VFP) {
-   for (i = 0; i < 16; i++)
+   if (features & __COBALT_HAVE_FPU) {
+
+   for (i = 0; i < 32; i++)
e[i] = val;
 
-   /* vldm %0!, {d0-d15},
-  AKA fldmiax %0!, {d0-d15} */
-   __asm__ __volatile__("ldc p11, cr0, [%0],#32*4":
-"=r"(i): "0"([0]): "memory");
+

[Xenomai-git] Philippe Gerum : cobalt/arm64: leave mm tracking to the pipeline

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 1dcea42753216110bd9c134e1e64fd6b59121c2a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1dcea42753216110bd9c134e1e64fd6b59121c2a

Author: Philippe Gerum 
Date:   Thu Sep 17 15:08:34 2015 +0200

cobalt/arm64: leave mm tracking to the pipeline

---

 kernel/cobalt/arch/arm64/Kconfig |3 ---
 1 file changed, 3 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
index 927c647..dd5a8c6 100644
--- a/kernel/cobalt/arch/arm64/Kconfig
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -4,9 +4,6 @@ source "drivers/xenomai/Kconfig"
 config XENO_ARCH_UNLOCKED_SWITCH
def_bool IPIPE_WANT_PREEMPTIBLE_SWITCH
 
-config IPIPE_WANT_ACTIVE_MM
-   def_bool y
-
 config XENO_ARCH_WANT_TIP
def_bool y
 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: populate arch/arm64 with a copy of arch/ arm.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 10fad3c4f4d438a05dca931d19eba5bf382f3f00
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=10fad3c4f4d438a05dca931d19eba5bf382f3f00

Author: Dmitriy Cherkasov 
Date:   Wed May  6 15:27:23 2015 -0700

cobalt/arm64: populate arch/arm64 with a copy of arch/arm.

kernel/cobalt/arch/arm -> kernel/cobalt/arch/arm64
lib/cobalt/arch/arm -> lib/cobalt/arch/arm64

---

 configure.ac   |8 +
 kernel/cobalt/arch/arm64/Kconfig   |   40 +++
 kernel/cobalt/arch/arm64/Makefile  |5 +
 .../arch/arm64/include/asm/xenomai/calibration.h   |   59 
 .../arch/arm64/include/asm/xenomai/features.h  |   30 ++
 .../cobalt/arch/arm64/include/asm/xenomai/fptest.h |   52 +++
 .../arch/arm64/include/asm/xenomai/machine.h   |   85 +
 .../arch/arm64/include/asm/xenomai/syscall.h   |   74 
 .../arch/arm64/include/asm/xenomai/syscall32.h |   24 ++
 .../cobalt/arch/arm64/include/asm/xenomai/thread.h |  123 +++
 .../arch/arm64/include/asm/xenomai/uapi/arith.h|  142 
 .../arch/arm64/include/asm/xenomai/uapi/features.h |   43 +++
 .../arch/arm64/include/asm/xenomai/uapi/fptest.h   |   61 
 .../arch/arm64/include/asm/xenomai/uapi/syscall.h  |   34 ++
 .../arch/arm64/include/asm/xenomai/uapi/tsc.h  |   25 ++
 .../arch/arm64/include/asm/xenomai/wrappers.h  |   27 ++
 kernel/cobalt/arch/arm64/machine.c |  119 +++
 kernel/cobalt/arch/arm64/mayday.c  |  146 
 kernel/cobalt/arch/arm64/switch.S  |  167 +
 kernel/cobalt/arch/arm64/syscall.c |   53 +++
 kernel/cobalt/arch/arm64/thread.c  |  355 
 lib/cobalt/arch/Makefile.am|2 +-
 lib/cobalt/arch/arm64/Makefile.am  |   13 +
 lib/cobalt/arch/arm64/features.c   |  102 ++
 lib/cobalt/arch/arm64/include/Makefile.am  |2 +
 lib/cobalt/arch/arm64/include/asm/Makefile.am  |2 +
 .../arch/arm64/include/asm/xenomai/Makefile.am |5 +
 .../arch/arm64/include/asm/xenomai/features.h  |   62 
 .../arch/arm64/include/asm/xenomai/syscall.h   |  138 
 lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h|   48 +++
 30 files changed, 2045 insertions(+), 1 deletion(-)

diff --git a/configure.ac b/configure.ac
index 789a6d7..5b2a074 100644
--- a/configure.ac
+++ b/configure.ac
@@ -139,6 +139,10 @@ case "$build_for" in
XENO_TARGET_ARCH=arm
CONFIG_XENO_DEFAULT_PERIOD=100
;;
+ aarch64-*)
+   XENO_TARGET_ARCH=arm64
+   CONFIG_XENO_DEFAULT_PERIOD=100
+   ;;
  x86_64-*|amd64-*)
use_tls=yes
XENO_TARGET_ARCH=x86
@@ -854,6 +858,10 @@ AC_CONFIG_FILES([ \
lib/cobalt/arch/arm/include/Makefile \
lib/cobalt/arch/arm/include/asm/Makefile \
lib/cobalt/arch/arm/include/asm/xenomai/Makefile \
+   lib/cobalt/arch/arm64/Makefile \
+   lib/cobalt/arch/arm64/include/Makefile \
+   lib/cobalt/arch/arm64/include/asm/Makefile \
+   lib/cobalt/arch/arm64/include/asm/xenomai/Makefile \
lib/cobalt/arch/powerpc/Makefile \
lib/cobalt/arch/powerpc/include/Makefile \
lib/cobalt/arch/powerpc/include/asm/Makefile \
diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
new file mode 100644
index 000..dc6485d
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -0,0 +1,40 @@
+source "kernel/xenomai/Kconfig"
+source "drivers/xenomai/Kconfig"
+
+menu "Machine/platform-specific options"
+
+config XENO_ARCH_UNLOCKED_SWITCH
+   bool "Unlocked context switch"
+   default y
+   help
+   The Cobalt core may allow non-atomic execution of the
+   machine-dependent context switching code, so that other CPUs
+   and/or local interrupts may execute concurrently.
+
+   This option reduces interrupt latency when costly cache and
+   TLB flushes are required to switch context.
+
+   You definitely want to enable that option on low-end ARM
+   platforms.
+endmenu
+
+config IPIPE_WANT_PREEMPTIBLE_SWITCH
+   bool
+   default y if XENO_ARCH_UNLOCKED_SWITCH
+   default n if !XENO_ARCH_UNLOCKED_SWITCH
+
+config IPIPE_WANT_ACTIVE_MM
+   def_bool y
+
+config XENO_ARCH_WANT_TIP
+   def_bool y
+
+config XENO_ARCH_FPU
+   def_bool VFP
+
+config XENO_ARCH_SYS3264
+def_bool n
+
+config XENO_ARCH_OUTOFLINE_XNLOCK
+   bool
+   default y
diff --git a/kernel/cobalt/arch/arm64/Makefile 
b/kernel/cobalt/arch/arm64/Makefile
new file mode 100644
index 000..f2e4e20
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/Makefile
@@ -0,0 +1,5 @@
+obj-$(CONFIG_XENOMAI) += xenomai.o
+
+xenomai-y := machine.o mayday.o thread.o switch.o syscall.o
+
+ccflags-y := -Iarch/arm/xenomai/include -Iinclude/xenomai
diff --git 

[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: prepare-kernel: add arm64 arch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 188a6672b245bb80f3618a6d5b462c113ec61749
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=188a6672b245bb80f3618a6d5b462c113ec61749

Author: Dmitriy Cherkasov 
Date:   Wed May  6 15:27:10 2015 -0700

cobalt/arm64: prepare-kernel: add arm64 arch

---

 scripts/prepare-kernel.sh |3 +++
 1 file changed, 3 insertions(+)

diff --git a/scripts/prepare-kernel.sh b/scripts/prepare-kernel.sh
index 333d11c..6bb9f06 100755
--- a/scripts/prepare-kernel.sh
+++ b/scripts/prepare-kernel.sh
@@ -284,6 +284,9 @@ while : ; do
arm)
   linux_arch=arm
   ;;
+   arm64)
+  linux_arch=arm64
+  ;;
sh|sh4)
   linux_arch=sh
   ;;


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[Xenomai-git] Wolfgang Grandegger : rtcan: ems_pci driver update to support more devices

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6c03c92c496e3f719e8322c4180f865e29daa452
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6c03c92c496e3f719e8322c4180f865e29daa452

Author: Wolfgang Grandegger 
Date:   Fri Oct 28 09:25:00 2016 +0200

rtcan: ems_pci driver update to support more devices

Hi Philippe

Am 06.10.2016 um 21:40 schrieb Philippe Gerum:
> >
> > Hi Wolfgang,
> >
> > On 10/04/2016 08:25 AM, Wolfgang Grandegger wrote:
>> >> The driver follows now more closely the corresponding Linux driver
>> >> to simplify updates in the future.
>> >>
> >
> > Any chance to have this forward ported to 3.x? Xenomai 2.6 has reached EOL.

Below is the patch for Xenomai-3. It's untested for the moment but the
changes compared with 2.6 seem not the be critical.

Wolfgang

>From 0fc42b023eb9f6f58ce3b2381a55cab74757c2a1 Mon Sep 17 00:00:00 2001
From: Wolfgang Grandegger 
Date: Fri, 28 Oct 2016 09:21:24 +0200
Subject: [PATCH] [PATCH] rtcan: ems_pci driver update to support more devices

The driver now also follows more closely the corresponding Linux
driver to simplify updates in the future.

Signed-off-by: Wolfgang Grandegger 

---

 kernel/drivers/can/sja1000/rtcan_ems_pci.c  |  487 +--
 kernel/drivers/can/sja1000/rtcan_sja1000_regs.h |1 +
 2 files changed, 281 insertions(+), 207 deletions(-)

diff --git a/kernel/drivers/can/sja1000/rtcan_ems_pci.c 
b/kernel/drivers/can/sja1000/rtcan_ems_pci.c
index be4b704..e3c178f 100644
--- a/kernel/drivers/can/sja1000/rtcan_ems_pci.c
+++ b/kernel/drivers/can/sja1000/rtcan_ems_pci.c
@@ -1,28 +1,28 @@
 /*
- * Copyright (C) 2007 Wolfgang Grandegger 
+ * Copyright (C) 2007, 2016 Wolfgang Grandegger 
+ * Copyright (C) 2008 Markus Plessing 
+ * Copyright (C) 2008 Sebastian Haas 
  *
- * Register definitions and descriptions are taken from LinCAN 0.3.3.
+ * Derived from Linux CAN SJA1000 PCI driver "ems_pci".
  *
- * This program is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the version 2 of the GNU General Public License
+ * as published by the Free Software Foundation
  *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ * along with this program; if not, see .
  */
 
+#include 
 #include 
-#include 
 #include 
 #include 
-#include 
+#include 
 
 #include 
 
@@ -40,23 +40,30 @@
 static char *ems_pci_board_name = "EMS-CPC-PCI";
 
 MODULE_AUTHOR("Wolfgang Grandegger ");
-MODULE_DESCRIPTION("RTCAN board driver for EMS CPC-PCI cards");
-MODULE_SUPPORTED_DEVICE("EMS CPC-PCI card CAN controller");
-MODULE_LICENSE("GPL");
+MODULE_DESCRIPTION("RTCAN board driver for EMS CPC-PCI/PCIe/104P CAN cards");
+MODULE_SUPPORTED_DEVICE("EMS CPC-PCI/PCIe/104P CAN card");
+MODULE_LICENSE("GPL v2");
+
+#define EMS_PCI_V1_MAX_CHAN 2
+#define EMS_PCI_V2_MAX_CHAN 4
+#define EMS_PCI_MAX_CHANEMS_PCI_V2_MAX_CHAN
+
+struct ems_pci_card {
+   int version;
+   int channels;
 
-struct rtcan_ems_pci
-{
struct pci_dev *pci_dev;
-   struct rtcan_device *slave_dev;
-   int channel;
-   volatile void __iomem *base_addr;
-   volatile void __iomem *conf_addr;
+   struct rtcan_device *rtcan_dev[EMS_PCI_MAX_CHAN];
+
+   void __iomem *conf_addr;
+   void __iomem *base_addr;
 };
 
-#define EMS_PCI_MASTER 1 /* multi channel device, this device is master */
-#define EMS_PCI_SLAVE  2 /* multi channel device, this is slave */
+#define EMS_PCI_CAN_CLOCK (1600 / 2)
 
 /*
+ * Register definitions and descriptions are from LinCAN 0.3.3.
+ *
  * PSB4610 PITA-2 bridge control registers
  */
 #define PITA2_ICR   0x00   /* Interrupt Control Register */
@@ -64,7 +71,17 @@ struct rtcan_ems_pci
 #define PITA2_ICR_INT0_EN   0x0002 /* [RW] Enable INT0 */
 
 #define PITA2_MISC  0x1c   /* Miscellaneous Register */
-#define PITA2_MISC_CONFIG   0x0400 /* Multiplexed Parallel_interface_model 
*/
+#define 

[Xenomai-git] Philippe Gerum : cobalt/powerpc: drop support for unlocked context switch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 11eae649d90a1fa35c2a2dd4d0fb41dab6b5f429
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=11eae649d90a1fa35c2a2dd4d0fb41dab6b5f429

Author: Philippe Gerum 
Date:   Sat Nov 14 16:41:13 2015 +0100

cobalt/powerpc: drop support for unlocked context switch

This feature never actually brought any measurable gain on powerpc
platforms, compared to the complexity of its implementation in the
pipeline. It was primarily aimed at reducing latency for interrupt
handlers when costly cache and TLB flushes are required to switch
context, at the expense of increasing the scheduling latency.  It
turned out to be counter-productive on common powerpc platforms, with
efficient MMUs.

This feature has been default off for a while now, and 4.1+ pipelines
won't provide support for it anymore. Time to drop support from
Xenomai too.

---

 kernel/cobalt/arch/powerpc/Kconfig |   20 +---
 1 file changed, 1 insertion(+), 19 deletions(-)

diff --git a/kernel/cobalt/arch/powerpc/Kconfig 
b/kernel/cobalt/arch/powerpc/Kconfig
index 40eae0b..1cabef3 100644
--- a/kernel/cobalt/arch/powerpc/Kconfig
+++ b/kernel/cobalt/arch/powerpc/Kconfig
@@ -5,29 +5,11 @@ config XENO_ARCH_MATH_EMU
 bool
default y if MATH_EMU || MATH_EMULATION
 
-config IPIPE_WANT_PREEMPTIBLE_SWITCH
-bool
-   default y if XENO_ARCH_UNLOCKED_SWITCH
-   default n if !XENO_ARCH_UNLOCKED_SWITCH
-
 config XENO_ARCH_FPU
def_bool PPC_FPU
 
 config XENO_ARCH_SYS3264
 def_bool n
 
-menu "Machine/platform-specific options"
-
 config XENO_ARCH_UNLOCKED_SWITCH
-   bool "Unlocked context switch"
-   depends on IPIPE_HAVE_PREEMPTIBLE_SWITCH
-   default y
-   help
-
-   The Cobalt core may allow non-atomic execution of the
-   machine-dependent context switching code, so that other CPUs
-   and/or local interrupts may execute concurrently.
-
-   This option reduces interrupt latency when costly cache and
-   TLB flushes are required to switch context.
-endmenu
+   def_bool n


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[Xenomai-git] Philippe Gerum : lib/cobalt: use lazy schedparam propagation

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 320adc782322f91bb88a691a23781d7c29b30266
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=320adc782322f91bb88a691a23781d7c29b30266

Author: Philippe Gerum 
Date:   Fri Mar 18 12:12:27 2016 +0100

lib/cobalt: use lazy schedparam propagation

Do not switch to secondary mode upon schedparam updates for
propagating changes to the regular kernel, if the caller runs in
primary mode when entering pthread_setschedparam*() or
sched_setscheduler(). In such a case, the update request to the
regular kernel is left pending until the target thread resumes
execution in relaxed mode, at which point it is committed.

CAUTION: This mechanism won't update the schedparams cached by the
glibc for the caller in user-space, but this is the deal: we don't
relax threads which issue pthread_setschedparam[_ex]() from primary
mode anymore, but then only the kernel side (Cobalt and the host
kernel) will be aware of the change, and glibc might cache obsolete
information.

If the caller already runs in relaxed mode on entry to these services,
the update request takes place immediately, via the regular (g)libc
calls.

In any case, the new scheduling parameters for the target thread are
immediately applied by Cobalt, regardless of the update path followed
for the regular kernel.

---

 lib/cobalt/internal.c  |   44 ++
 lib/cobalt/sched.c |   13 
 lib/cobalt/sigshadow.c |8 +
 lib/cobalt/thread.c|   80 +---
 4 files changed, 87 insertions(+), 58 deletions(-)

diff --git a/lib/cobalt/internal.c b/lib/cobalt/internal.c
index 5b89db5..cb1d53b 100644
--- a/lib/cobalt/internal.c
+++ b/lib/cobalt/internal.c
@@ -514,3 +514,47 @@ int cobalt_sched_weighted_prio(int policy,
 {
return XENOMAI_SYSCALL2(sc_cobalt_sched_weightprio, policy, param_ex);
 }
+
+int cobalt_xlate_schedparam(int policy,
+   const struct sched_param_ex *param_ex,
+   struct sched_param *param)
+{
+   int std_policy, priority;
+
+   /*
+* Translates Cobalt scheduling parameters to native ones,
+* based on a best approximation for Cobalt policies which are
+* not available from the host kernel.
+*/
+   std_policy = policy;
+   priority = param_ex->sched_priority;
+
+   switch (policy) {
+   case SCHED_WEAK:
+   std_policy = priority ? SCHED_FIFO : SCHED_OTHER;
+   break;
+   default:
+   std_policy = SCHED_FIFO;
+   /* falldown wanted. */
+   case SCHED_OTHER:
+   case SCHED_FIFO:
+   case SCHED_RR:
+   /*
+* The Cobalt priority range is larger than those of
+* the native SCHED_FIFO/RR classes, so we have to cap
+* the priority value accordingly.  We also remap
+* "weak" (negative) priorities - which are only
+* meaningful for the Cobalt core - to regular values.
+*/
+   if (priority > __cobalt_std_fifo_maxpri)
+   priority = __cobalt_std_fifo_maxpri;
+   }
+
+   if (priority < 0)
+   priority = -priority;
+   
+   memset(param, 0, sizeof(*param));
+   param->sched_priority = priority;
+
+   return std_policy;
+}
diff --git a/lib/cobalt/sched.c b/lib/cobalt/sched.c
index b0292b5..87b9235 100644
--- a/lib/cobalt/sched.c
+++ b/lib/cobalt/sched.c
@@ -26,7 +26,6 @@
 #include 
 #include 
 #include 
-#include "current.h"
 #include "internal.h"
 
 /**
@@ -297,11 +296,13 @@ int sched_setscheduler_ex(pid_t pid,
return EINVAL;
 
/* See pthread_setschedparam_ex(). */
-   
-   std_policy = cobalt_xlate_schedparam(policy, param_ex, _param);
-   ret = __STD(sched_setscheduler(pid, std_policy, _param));
-   if (ret)
-   return errno;
+
+   if (cobalt_is_relaxed()) {
+   std_policy = cobalt_xlate_schedparam(policy, param_ex, 
_param);
+   ret = __STD(sched_setscheduler(pid, std_policy, _param));
+   if (ret)
+   return errno;
+   }
 
ret = -XENOMAI_SYSCALL5(sc_cobalt_sched_setscheduler_ex,
pid, policy, param_ex,
diff --git a/lib/cobalt/sigshadow.c b/lib/cobalt/sigshadow.c
index 3f4e9c5..48d5a81 100644
--- a/lib/cobalt/sigshadow.c
+++ b/lib/cobalt/sigshadow.c
@@ -59,6 +59,14 @@ int cobalt_sigshadow_handler(int sig, siginfo_t *si, void 
*ctxt)
skip = nr > 3 ? 3 : 0;
XENOMAI_SYSCALL3(sc_cobalt_backtrace, nr - skip, frames + skip, 
arg);
break;
+   case SIGSHADOW_ACTION_HOME:
+   /*
+* We have been asked to call home from the current
+* context: sending a query for retrieving our handle
+* will just do this.
+*/
+   

[Xenomai-git] Philippe Gerum : cobalt/posix/timer: allow usage with external clocks

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e6cd9610215b06ee85272f57702354a7e38b5f7c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e6cd9610215b06ee85272f57702354a7e38b5f7c

Author: Philippe Gerum 
Date:   Fri Nov  4 16:25:15 2016 +0100

cobalt/posix/timer: allow usage with external clocks

There is no reason to restrict usage of POSIX timers to the standard
POSIX clocks, given that Cobalt allows registering user-defined
clocks, and nothing in the implementation assumes a specific clock
driving such timers.

---

 kernel/cobalt/posix/clock.c |   23 +++
 kernel/cobalt/posix/clock.h |   22 +-
 kernel/cobalt/posix/timer.c |   19 +++
 3 files changed, 39 insertions(+), 25 deletions(-)

diff --git a/kernel/cobalt/posix/clock.c b/kernel/cobalt/posix/clock.c
index b51cb4c..8dab55b 100644
--- a/kernel/cobalt/posix/clock.c
+++ b/kernel/cobalt/posix/clock.c
@@ -349,3 +349,26 @@ void cobalt_clock_deregister(struct xnclock *clock)
xnclock_deregister(clock);
 }
 EXPORT_SYMBOL_GPL(cobalt_clock_deregister);
+
+struct xnclock *cobalt_clock_find(clockid_t clock_id)
+{
+   struct xnclock *clock = ERR_PTR(-EINVAL);
+   spl_t s;
+   int nr;
+
+   if (clock_id == CLOCK_MONOTONIC ||
+   clock_id == CLOCK_MONOTONIC_RAW ||
+   clock_id == CLOCK_REALTIME)
+   return 
+   
+   if (__COBALT_CLOCK_EXT_P(clock_id)) {
+   nr = __COBALT_CLOCK_EXT_INDEX(clock_id);
+   xnlock_get_irqsave(, s);
+   if (test_bit(nr, cobalt_clock_extids))
+   clock = external_clocks[nr];
+   xnlock_put_irqrestore(, s);
+   }
+
+   return clock;
+}
+EXPORT_SYMBOL_GPL(cobalt_clock_find);
diff --git a/kernel/cobalt/posix/clock.h b/kernel/cobalt/posix/clock.h
index 82cb0b6..c77c3a5 100644
--- a/kernel/cobalt/posix/clock.h
+++ b/kernel/cobalt/posix/clock.h
@@ -26,6 +26,8 @@
 
 #define ONE_BILLION 10
 
+struct xnclock;
+
 static inline void ns2ts(struct timespec *ts, xnticks_t nsecs)
 {
ts->tv_sec = xnclock_divrem_billion(nsecs, >tv_nsec);
@@ -68,21 +70,13 @@ static inline xnticks_t clock_get_ticks(clockid_t clock_id)
 
 static inline int clock_flag(int flag, clockid_t clock_id)
 {
-   switch(flag & TIMER_ABSTIME) {
-   case 0:
+   if ((flag & TIMER_ABSTIME) == 0)
return XN_RELATIVE;
 
-   case TIMER_ABSTIME:
-   switch(clock_id) {
-   case CLOCK_MONOTONIC:
-   case CLOCK_MONOTONIC_RAW:
-   return XN_ABSOLUTE;
-
-   case CLOCK_REALTIME:
-   return XN_REALTIME;
-   }
-   }
-   return -EINVAL;
+   if (clock_id == CLOCK_REALTIME)
+   return XN_REALTIME;
+
+   return XN_ABSOLUTE;
 }
 
 int __cobalt_clock_getres(clockid_t clock_id,
@@ -118,6 +112,8 @@ int cobalt_clock_register(struct xnclock *clock,
 
 void cobalt_clock_deregister(struct xnclock *clock);
 
+struct xnclock *cobalt_clock_find(clockid_t clock_id);
+
 extern DECLARE_BITMAP(cobalt_clock_extids, COBALT_MAX_EXTCLOCKS);
 
 #endif /* !_COBALT_POSIX_CLOCK_H */
diff --git a/kernel/cobalt/posix/timer.c b/kernel/cobalt/posix/timer.c
index cf1c919..c6190d1 100644
--- a/kernel/cobalt/posix/timer.c
+++ b/kernel/cobalt/posix/timer.c
@@ -47,6 +47,7 @@ timer_init(struct cobalt_timer *timer,
   const struct sigevent *__restrict__ evp) /* nklocked, IRQs off. */
 {
struct cobalt_thread *owner = cobalt_current_thread(), *target = NULL;
+   struct xnclock *clock;
 
/*
 * First, try to offload this operation to the extended
@@ -59,14 +60,8 @@ timer_init(struct cobalt_timer *timer,
/*
 * Ok, we have no extension available, or we do but it does
 * not want to overload the standard behavior: handle this
-* timer the pure Cobalt way then. We only know about standard
-* clocks in this case.
+* timer the pure Cobalt way then.
 */
-   if (timer->clockid != CLOCK_MONOTONIC &&
-   timer->clockid != CLOCK_MONOTONIC_RAW &&
-   timer->clockid != CLOCK_REALTIME)
-   return ERR_PTR(-EINVAL);
-
if (evp == NULL || evp->sigev_notify == SIGEV_NONE) {
target = owner; /* Assume SIGEV_THREAD_ID. */
goto init;
@@ -83,11 +78,11 @@ timer_init(struct cobalt_timer *timer,
if (target == NULL)
return ERR_PTR(-EINVAL);
 init:
-   /*
-* All standard clocks are based on the core clock, and we
-* want to deliver a signal when a timer elapses.
-*/
-   xntimer_init(>timerbase, , cobalt_timer_handler,
+   clock = cobalt_clock_find(timer->clockid);
+   if (IS_ERR(clock))
+   return ERR_PTR(PTR_ERR(clock));
+
+   xntimer_init(>timerbase, clock, cobalt_timer_handler,
 target->threadbase.sched, 

[Xenomai-git] Philippe Gerum : cobalt/timer: fixup CPU affinity mismatch at init

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9b8d7c947089dfb0b3ca4b6f1e17a989ddc9a3e4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9b8d7c947089dfb0b3ca4b6f1e17a989ddc9a3e4

Author: Philippe Gerum 
Date:   Sat Nov 12 11:56:09 2016 +0100

cobalt/timer: fixup CPU affinity mismatch at init

Since recently, POSIX timers can be backed by external clock
devices. Unlike the core clock, some of those devices may be ticking
only on a restricted set of CPUs, compared to the broader real-time
CPU set. This may lead to an affinity mismatch between a thread
creating a timer, and the CPU set that can receive timer events from
the backing device.

When this happens, warning on detecting such issue while initializing
the timer without fixing up the situation is not of a great help.

It is better to pick a CPU which is a member of the clock affinity set
and make such timer affine to it instead. In such a case, the overhead
induced by rescheduling a remote thread upon timer expiry is
acceptable compared to leaving a thread waiting indefinitely for timer
events that will never come.

---

 include/cobalt/kernel/timer.h |2 --
 kernel/cobalt/sched.c |6 +++---
 kernel/cobalt/thread.c|2 --
 kernel/cobalt/timer.c |   30 --
 4 files changed, 11 insertions(+), 29 deletions(-)

diff --git a/include/cobalt/kernel/timer.h b/include/cobalt/kernel/timer.h
index d92c8c8..6cb2bb3 100644
--- a/include/cobalt/kernel/timer.h
+++ b/include/cobalt/kernel/timer.h
@@ -56,8 +56,6 @@ typedef enum xntmode {
 #define XNTIMER_GRAVITY_MASK   (XNTIMER_KGRAVITY|XNTIMER_UGRAVITY)
 #define XNTIMER_INIT_MASK  (XNTIMER_GRAVITY_MASK|XNTIMER_NOBLCK)
 
-#define __XNTIMER_CORE0x1000
-
 /* These flags are available to the real-time interfaces */
 #define XNTIMER_SPARE0  0x0100
 #define XNTIMER_SPARE1  0x0200
diff --git a/kernel/cobalt/sched.c b/kernel/cobalt/sched.c
index 7cb91a5..cbe14bd 100644
--- a/kernel/cobalt/sched.c
+++ b/kernel/cobalt/sched.c
@@ -194,11 +194,11 @@ void xnsched_init(struct xnsched *sched, int cpu)
 * exit code.
 */
xntimer_init(>htimer, , NULL,
-sched, XNTIMER_IGRAVITY|__XNTIMER_CORE);
+sched, XNTIMER_IGRAVITY);
xntimer_set_priority(>htimer, XNTIMER_LOPRIO);
xntimer_set_name(>htimer, htimer_name);
xntimer_init(>rrbtimer, , roundrobin_handler,
-sched, XNTIMER_IGRAVITY|__XNTIMER_CORE);
+sched, XNTIMER_IGRAVITY);
xntimer_set_name(>rrbtimer, rrbtimer_name);
xntimer_set_priority(>rrbtimer, XNTIMER_LOPRIO);
 
@@ -213,7 +213,7 @@ void xnsched_init(struct xnsched *sched, int cpu)
 
 #ifdef CONFIG_XENO_OPT_WATCHDOG
xntimer_init(>wdtimer, , watchdog_handler,
-sched, XNTIMER_NOBLCK|XNTIMER_IGRAVITY|__XNTIMER_CORE);
+sched, XNTIMER_NOBLCK|XNTIMER_IGRAVITY);
xntimer_set_name(>wdtimer, "[watchdog]");
xntimer_set_priority(>wdtimer, XNTIMER_LOPRIO);
 #endif /* CONFIG_XENO_OPT_WATCHDOG */
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index fb856a4..34eca35 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -209,8 +209,6 @@ int __xnthread_init(struct xnthread *thread,
init_completion(>exited);
 
gravity = flags & XNUSER ? XNTIMER_UGRAVITY : XNTIMER_KGRAVITY;
-   if (flags & XNROOT)
-   gravity |= __XNTIMER_CORE;
xntimer_init(>rtimer, , timeout_handler,
 sched, gravity);
xntimer_set_name(>rtimer, thread->name);
diff --git a/kernel/cobalt/timer.c b/kernel/cobalt/timer.c
index 3563636..dd78c38 100644
--- a/kernel/cobalt/timer.c
+++ b/kernel/cobalt/timer.c
@@ -349,29 +349,15 @@ void __xntimer_init(struct xntimer *timer,
timer->handler = handler;
timer->interval_ns = 0;
/*
-* Timers are affine to a real-time CPU. If no affinity was
-* specified, assign the timer to the first possible CPU which
-* can receive interrupt events from the clock device attached
-* to the reference clock for this timer.
+* Unlike common IRQs, timer events are per-CPU by design. If
+* the CPU the caller is affine to does not receive timer
+* events, or no affinity was specified (i.e. sched == NULL),
+* assign the timer to the first possible CPU which can
+* receive interrupt events from the clock device backing this
+* timer.
 */
-   if (sched) {
-   /*
-* Complain loudly if no tick is expected from the
-* clock device on the CPU served by the specified
-* scheduler slot. This reveals a CPU affinity
-* mismatch between the clock hardware and the client
-* code initializing the timer. This check excludes
-* core timers which may have their own reason to 

[Xenomai-git] Don Mahurin : cobalt/arm64: fix warning: expects argument of type ' long unsigned int', but argument has type 'u64'

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e297bef6a6da6fd7bdae2f5ecca0e17c28482976
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e297bef6a6da6fd7bdae2f5ecca0e17c28482976

Author: Don Mahurin 
Date:   Thu May 14 17:34:53 2015 -0700

cobalt/arm64: fix warning: expects argument of type 'long unsigned int', but 
argument has type 'u64'

---

 kernel/cobalt/posix/syscall.c |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index 857f4f7..1599e7c 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -666,7 +666,7 @@ linux_syscall:
return KEVENT_PROPAGATE;
 
 bad_syscall:
-   printk(XENO_WARNING "bad syscall <%#lx>\n", __xn_syscall(regs));
+   printk(XENO_WARNING "bad syscall <%#llx>\n", __xn_syscall(regs));
 
__xn_error_return(regs, -ENOSYS);
 


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[Xenomai-git] Philippe Gerum : cobalt/arm64: drop obsolete config knob

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6d6f85228fb5544bb055c9b23b9d7345da0ec905
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6d6f85228fb5544bb055c9b23b9d7345da0ec905

Author: Philippe Gerum 
Date:   Sat Nov 14 18:17:49 2015 +0100

cobalt/arm64: drop obsolete config knob

All existing ARM64 pipeline implementations provide the
CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH knob, which is tested directly in
the Xenomai code base.  No need for CONFIG_XENO_ARCH_UNLOCKED_SWITCH
anymore.

---

 kernel/cobalt/arch/arm64/Kconfig |3 ---
 1 file changed, 3 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
index 572de3e..bdf5f16 100644
--- a/kernel/cobalt/arch/arm64/Kconfig
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -1,9 +1,6 @@
 source "kernel/xenomai/Kconfig"
 source "drivers/xenomai/Kconfig"
 
-config XENO_ARCH_UNLOCKED_SWITCH
-   def_bool IPIPE_WANT_PREEMPTIBLE_SWITCH
-
 config XENO_ARCH_FPU
def_bool y
 


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[Xenomai-git] Don Mahurin : lib/cobalt/arm64: implement syscall for armv8/aarch64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 180f5ab686a179cd79e524e3ecd07a9a731ec0c4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=180f5ab686a179cd79e524e3ecd07a9a731ec0c4

Author: Don Mahurin 
Date:   Fri May  8 10:39:32 2015 -0700

lib/cobalt/arm64: implement syscall for armv8/aarch64

---

 lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h |8 
 1 file changed, 8 insertions(+)

diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 8f48eb1..1d5806c 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -88,6 +88,7 @@
 #define __sys2(x)  #x
 #define __sys1(x)  __sys2(x)
 
+#ifndef __aarch64__
 #ifdef __ARM_EABI__
 #define __SYS_REG , "r7"
 #define __SYS_REG_DECL register unsigned long __r7 __asm__ ("r7")
@@ -102,6 +103,13 @@
 #define __NR_OABI_SYSCALL_BASE 0x90
 #define __SYS_CALLOP "swi\t" __sys1(__NR_OABI_SYSCALL_BASE + XENO_ARM_SYSCALL) 
""
 #endif
+#else
+#define __SYS_REG , "r8"
+#define __SYS_REG_DECL register unsigned long __r8 __asm__ ("r8")
+#define __SYS_REG_SET __r8 = XENO_ARM_SYSCALL
+#define __SYS_REG_INPUT ,"r" (__r8)
+#define __SYS_CALLOP "svc\t0"
+#endif
 
 #define XENOMAI_DO_SYSCALL(nr, op, args...)\
({  \


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: Makefile: fix arch path

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 1165d82a8be1c8462dcccb075cc5dac2876204b5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1165d82a8be1c8462dcccb075cc5dac2876204b5

Author: Dmitriy Cherkasov 
Date:   Thu May  7 13:54:32 2015 -0700

cobalt/arm64: Makefile: fix arch path

---

 kernel/cobalt/arch/arm64/Makefile |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/cobalt/arch/arm64/Makefile 
b/kernel/cobalt/arch/arm64/Makefile
index f2e4e20..a135f99 100644
--- a/kernel/cobalt/arch/arm64/Makefile
+++ b/kernel/cobalt/arch/arm64/Makefile
@@ -2,4 +2,4 @@ obj-$(CONFIG_XENOMAI) += xenomai.o
 
 xenomai-y := machine.o mayday.o thread.o switch.o syscall.o
 
-ccflags-y := -Iarch/arm/xenomai/include -Iinclude/xenomai
+ccflags-y := -Iarch/arm64/xenomai/include -Iinclude/xenomai


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: add lazy FPU switching

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 81dba9933e2bc2c5839647ac6fb7b863b25f8d38
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=81dba9933e2bc2c5839647ac6fb7b863b25f8d38

Author: Dmitriy Cherkasov 
Date:   Thu Oct  1 15:47:41 2015 -0700

cobalt/arm64: add lazy FPU switching

---

 kernel/cobalt/arch/arm64/thread.c |   83 +++--
 1 file changed, 62 insertions(+), 21 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/thread.c 
b/kernel/cobalt/arch/arm64/thread.c
index 316525f6..db369be 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -32,16 +32,31 @@
 #include 
 #include 
 #include 
-
+#include 
 
 #if defined(CONFIG_XENO_ARCH_FPU)
 
-static DEFINE_MUTEX(vfp_check_lock);
+static void enable_fpsimd(void) {
+   __asm__ __volatile__("mrs x1, cpacr_el1\n\
+   orr x1, x1, #(0x3 << 20)\n\
+   msr cpacr_el1, x1\n\
+   isb" : : : "x1", "memory", "cc");
+}
 
+static void disable_fpsimd(void) {
+   __asm__ __volatile__("mrs x1, cpacr_el1\n\
+   and x1, x1, #~(0x3 << 20)\n\
+   msr cpacr_el1, x1\n\
+   isb" : : : "x1", "memory", "cc");
+}
 
 int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
 {
-   /* FPU never trapped, this will be a fault */
+   /* check if this is an FPU access trap to be handled by Xenomai */
+   if(d->exception == IPIPE_TRAP_FPU_ACC){
+   return 1;
+   }
+   /* FPU already enabled, propagate fault to kernel */
return 0;
 }
 
@@ -53,6 +68,7 @@ void xnarch_leave_root(struct xnthread *root)
 {
struct xnarchtcb *rootcb = xnthread_archtcb(root);
rootcb->fpup = get_fpu_owner(rootcb);
+   disable_fpsimd();
 }
 
 void xnarch_save_fpu(struct xnthread *thread)
@@ -65,45 +81,67 @@ void xnarch_save_fpu(struct xnthread *thread)
 void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
 {
struct fpsimd_state *const from_fpup = from ? from->tcb.fpup : NULL;
-
-   /* always switch, no lazy switching */
-
struct fpsimd_state *const to_fpup = to->tcb.fpup;
 
-   if (from_fpup == to_fpup)
-   return;
+   /*
+* This only gets called if XNFPU flag is set, or if migrating to Linux.
+* In both cases, this means turn on FPU and switch.
+*/
+   enable_fpsimd();
+
+   if (xnthread_test_state(to, XNROOT) == 0) {
+   if (from_fpup == to_fpup)
+   return;
 
-   if (from_fpup)
-   fpsimd_save_state(from_fpup);
+   if (from_fpup)
+   fpsimd_save_state(from_fpup);
 
-   fpsimd_load_state(to_fpup);
+   fpsimd_load_state(to_fpup);
+   }
+   else {
+   /* Going to Linux. */
+   if (from_fpup)
+   fpsimd_save_state(from_fpup);
 
-   /* always set FPU enabled */
-   xnthread_set_state(to, XNFPU);
+   fpsimd_load_state(to_fpup);
+   }
 
 }
 
 int xnarch_handle_fpu_fault(struct xnthread *from, 
struct xnthread *to, struct ipipe_trap_data *d)
 {
-   /* FPU always enabled, faults force exit to Linux */
-   return 0;
+   spl_t s;
+
+   if (xnthread_test_state(to, XNFPU))
+   /* FPU is already enabled, probably an exception */
+  return 0;
+
+   xnlock_get_irqsave(, s);
+   xnthread_set_state(to, XNFPU);
+   xnlock_put_irqrestore(, s);
+
+   xnarch_switch_fpu(from, to);
+
+   return 1;
+
 }
 
 void xnarch_init_shadow_tcb(struct xnthread *thread)
 {
+   spl_t s;
struct xnarchtcb *tcb = xnthread_archtcb(thread);
 
tcb->fpup = &(tcb->core.host_task->thread.fpsimd_state);
 
-   /* XNFPU is always set, no lazy switching */
-   xnthread_set_state(thread, XNFPU);
+   xnlock_get_irqsave(, s);
+   xnthread_clear_state(thread, XNFPU);
+   xnlock_put_irqrestore(, s);
+
 }
 #endif /* CONFIG_XENO_ARCH_FPU */
 
-
 /* Switch support functions */
-
 static void xnarch_tls_thread_switch(struct task_struct *next)
 {
unsigned long tpidr, tpidrro;
@@ -141,8 +179,7 @@ static inline void xnarch_contextidr_thread_switch(struct 
task_struct *next)
 {
 }
 #endif
-
-/*/Switch support functions */
+/* End switch support functions */
 
 void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
 {
@@ -173,6 +210,10 @@ void xnarch_switch_to(struct xnthread *out, struct 
xnthread *in)
xnarch_tls_thread_switch(in_tcb->core.tip->task);
xnarch_contextidr_thread_switch(in_tcb->core.tip->task);
 
+   /* check if we need to switch FPU on return to Linux */
+   if (xnthread_test_state(in, XNROOT) == 1)
+   xnarch_switch_fpu(out, in);
+
/*
 * Complete any pending TLB or cache maintenance on this CPU in case
 * the thread 

[Xenomai-git] Jan Kiszka : lib/cobalt: Wrap pthread_setschedprio for proper real-time support

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b2a7a51667ee98d968b42962c08c0a354c8b4c4c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b2a7a51667ee98d968b42962c08c0a354c8b4c4c

Author: Jan Kiszka 
Date:   Tue Mar  8 14:46:59 2016 +0100

lib/cobalt: Wrap pthread_setschedprio for proper real-time support

Implement pthread_setschedprio on top of pthread_setschedparam_ex with
the help of the new __SCHED_CURRENT policy. This ensures that prio
changes are directly applied to the real-time core, and that with just
a single syscall.

Signed-off-by: Jan Kiszka 

---

 include/cobalt/pthread.h   |2 ++
 lib/cobalt/cobalt.wrappers |1 +
 lib/cobalt/thread.c|9 +
 lib/cobalt/wrappers.c  |6 ++
 4 files changed, 18 insertions(+)

diff --git a/include/cobalt/pthread.h b/include/cobalt/pthread.h
index f1b1c8a..3e9bd47 100644
--- a/include/cobalt/pthread.h
+++ b/include/cobalt/pthread.h
@@ -53,6 +53,8 @@ COBALT_DECL(int, pthread_setschedparam(pthread_t thread,
   int policy,
   const struct sched_param *param));
 
+COBALT_DECL(int, pthread_setschedprio(pthread_t thread, int prio));
+
 COBALT_DECL(int, pthread_mutex_init(pthread_mutex_t *mutex,
const pthread_mutexattr_t *attr));
 
diff --git a/lib/cobalt/cobalt.wrappers b/lib/cobalt/cobalt.wrappers
index 75f29d6..19153ae 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -2,6 +2,7 @@
 --wrap pthread_create
 --wrap pthread_setschedparam
 --wrap pthread_getschedparam
+--wrap pthread_setschedprio
 --wrap pthread_yield
 --wrap sched_yield
 --wrap sched_get_priority_min
diff --git a/lib/cobalt/thread.c b/lib/cobalt/thread.c
index 908516f..62ca0a0 100644
--- a/lib/cobalt/thread.c
+++ b/lib/cobalt/thread.c
@@ -650,6 +650,15 @@ int pthread_setschedparam_ex(pthread_t thread,
return ret;
 }
 
+COBALT_IMPL(int, pthread_setschedprio, (pthread_t thread, int prio))
+{
+   struct sched_param_ex param_ex = {
+   .sched_priority = prio,
+   };
+
+   return pthread_setschedparam_ex(thread, __SCHED_CURRENT, _ex);
+}
+
 /**
  * Get the scheduling policy and parameters of the specified thread.
  *
diff --git a/lib/cobalt/wrappers.c b/lib/cobalt/wrappers.c
index 09c74e5..1f1664e 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -60,6 +60,12 @@ int __real_pthread_getschedparam(pthread_t thread,
 }
 
 __weak
+int __real_pthread_setschedprio(pthread_t thread, int prio)
+{
+   return pthread_setschedprio(thread, prio);
+}
+
+__weak
 int __real_sched_yield(void)
 {
return sched_yield();


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[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet raw packets test

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: c6f45e97bb8cdd110ab6305285951cc8ab87c7bd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c6f45e97bb8cdd110ab6305285951cc8ab87c7bd

Author: Gilles Chanteperdrix 
Date:   Sun Nov  1 19:14:40 2015 +0100

testsuite/smokey: add RTnet raw packets test

---

 configure.ac |1 +
 1 file changed, 1 insertion(+)

diff --git a/configure.ac b/configure.ac
index 4a3f7c7..4bf37b1 100644
--- a/configure.ac
+++ b/configure.ac
@@ -908,6 +908,7 @@ AC_CONFIG_FILES([ \
testsuite/smokey/fpu-stress/Makefile \
testsuite/smokey/net_udp/Makefile \
testsuite/smokey/net_packet_dgram/Makefile \
+   testsuite/smokey/net_packet_raw/Makefile \
testsuite/smokey/net_common/Makefile \
testsuite/clocktest/Makefile \
testsuite/xeno-test/Makefile \


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[Xenomai-git] Philippe Gerum : cobalt/arm64: use regular context switching code

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 407c6b25d620b9a81105f0f53d22d54313080f7e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=407c6b25d620b9a81105f0f53d22d54313080f7e

Author: Philippe Gerum 
Date:   Sat Oct 17 18:07:59 2015 +0200

cobalt/arm64: use regular context switching code

Instead of open coding a copy of the regular context switching code,
use __switch_to() directly, assuming the pipeline properly serializes
switches from all domains.

---

 kernel/cobalt/arch/arm64/thread.c |   66 +++--
 1 file changed, 5 insertions(+), 61 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/thread.c 
b/kernel/cobalt/arch/arm64/thread.c
index 35dbd72..5282b0c 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -34,7 +34,7 @@
 #include 
 #include 
 
-#if defined(CONFIG_XENO_ARCH_FPU)
+#ifdef CONFIG_XENO_ARCH_FPU
 
 #define FPSIMD_EN (0x3 << 20)
 
@@ -60,13 +60,6 @@ static void enable_fpsimd(void)
set_cpacr(cpacr);
 }
 
-static void disable_fpsimd(void)
-{
-   unsigned long cpacr = get_cpacr();
-   cpacr &= ~FPSIMD_EN;
-   set_cpacr(cpacr);
-}
-
 int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
 {
return (d->exception == IPIPE_TRAP_FPU_ACC);
@@ -130,55 +123,17 @@ void xnarch_init_shadow_tcb(struct xnthread *thread)
tcb->fpup = &(tcb->core.host_task->thread.fpsimd_state);
xnthread_clear_state(thread, XNFPU);
 }
-#endif /* CONFIG_XENO_ARCH_FPU */
 
-/* Switch support functions */
-static void xnarch_tls_thread_switch(struct task_struct *next)
-{
-   unsigned long tpidr, tpidrro;
-
-   if (!is_compat_task()) {
-   asm("mrs %0, tpidr_el0" : "=r" (tpidr));
-   current->thread.tp_value = tpidr;
-   }
-
-   if (is_compat_thread(task_thread_info(next))) {
-   tpidr = 0;
-   tpidrro = next->thread.tp_value;
-   } else {
-   tpidr = next->thread.tp_value;
-   tpidrro = 0;
-   }
-
-   asm(
-   "   msr tpidr_el0, %0\n"
-   "   msr tpidrro_el0, %1"
-   : : "r" (tpidr), "r" (tpidrro));
-}
-
-#ifdef CONFIG_PID_IN_CONTEXTIDR
-static inline void xnarch_contextidr_thread_switch(struct task_struct *next)
-{
-   asm(
-   "   msr contextidr_el1, %0\n"
-   "   isb"
-   :
-   : "r" (task_pid_nr(next)));
-}
-#else
-static inline void xnarch_contextidr_thread_switch(struct task_struct *next)
-{
-}
-#endif
-/* End switch support functions */
+#endif /* CONFIG_XENO_ARCH_FPU */
 
 void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
 {
struct xnarchtcb *out_tcb = >tcb, *in_tcb = >tcb;
struct mm_struct *prev_mm, *next_mm;
-   struct task_struct *next;
+   struct task_struct *prev, *next;
 
next = in_tcb->core.host_task;
+   prev = out_tcb->core.host_task;
prev_mm = out_tcb->core.active_mm;
 
next_mm = in_tcb->core.mm;
@@ -198,18 +153,7 @@ void xnarch_switch_to(struct xnthread *out, struct 
xnthread *in)
enter_lazy_tlb(prev_mm, next);
}
 
-   xnarch_tls_thread_switch(in_tcb->core.tip->task);
-   xnarch_contextidr_thread_switch(in_tcb->core.tip->task);
-
-   /*
-* Complete any pending TLB or cache maintenance on this CPU in case
-* the thread migrates to a different CPU.
-*/
-   dsb(ish);
-
-   disable_fpsimd();
-
-   cpu_switch_to(out_tcb->core.tip->task, in_tcb->core.tip->task);
+   __switch_to(prev, next);
 }
 
 int xnarch_escalate(void)


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: machine.h: use slightly faster ffnz implementation

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 5b75e40a30f3b9769e727a88a1c6d6d6e994b9e1
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5b75e40a30f3b9769e727a88a1c6d6d6e994b9e1

Author: Dmitriy Cherkasov 
Date:   Wed Jun 17 16:09:20 2015 -0700

cobalt/arm64: machine.h: use slightly faster ffnz implementation

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h |   12 +++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index 417a7b0..b8290bf 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -37,13 +37,23 @@
 #include 
 #include 
 #include 
+#include 
 
 /* D-side always behaves as PIPT on AArch64 (see 
arch/arm64/include/asm/cachetype.h) */
 #define xnarch_cache_aliasing() 0
 
 static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
 {
-   return __builtin_ffsl(ul) - 1;
+   int __r;
+
+   /* zero input is not valid */
+   XENO_WARN_ON(COBALT, ul == 0);
+
+   __asm__ ("rbit\t%0, %1\n"
+"clz\t%0, %0\n"
+   : "=r" (__r) : "r"(ul) : "cc");
+
+   return __r;
 }
 
 #include 


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[Xenomai-git] Philippe Gerum : boilerplate/libc: add placeholder for pthread_setschedprio()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 1d2663abed2e72f1314463a3cd8c3d013bc08475
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1d2663abed2e72f1314463a3cd8c3d013bc08475

Author: Philippe Gerum 
Date:   Tue May 24 09:43:29 2016 +0200

boilerplate/libc: add placeholder for pthread_setschedprio()

For outdated uClibc.

---

 configure.ac   |1 +
 include/boilerplate/libc.h |   19 +++
 2 files changed, 20 insertions(+)

diff --git a/configure.ac b/configure.ac
index 5bcd7f8..1397659 100644
--- a/configure.ac
+++ b/configure.ac
@@ -540,6 +540,7 @@ AC_CHECK_FUNCS([pthread_mutexattr_setprotocol   \
pthread_getattr_np  \
pthread_atfork  \
pthread_setname_np  \
+   pthread_setschedprio\
sched_getcpu\
clock_nanosleep \
shm_open\
diff --git a/include/boilerplate/libc.h b/include/boilerplate/libc.h
index 6616cef..3c9c970 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -168,6 +168,25 @@ int pthread_setaffinity_np(pthread_t thread, size_t 
cpusetsize,
 
 #endif /* !HAVE_PTHREAD_ATTR_SETAFFINITY_NP */
 
+#ifndef HAVE_PTHREAD_SETSCHEDPRIO
+
+static inline
+int pthread_setschedprio(pthread_t thread, int prio)
+{
+   struct sched_param param;
+   int policy, ret;
+
+   ret = pthread_getschedparam(thread, , );
+   if (ret)
+   return ret;
+
+   param.sched_priority = prio;
+
+   return pthread_setschedparam(thread, policy, );
+}
+
+#endif /* !HAVE_PTHREAD_SETSCHEDPRIO */
+
 #if !defined(HAVE_CLOCK_NANOSLEEP) && defined(CONFIG_XENO_MERCURY)
 /*
  * Best effort for a Mercury setup based on an outdated libc lacking


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[Xenomai-git] Philippe Gerum : cobalt/arm64: add README for I-pipe support

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: fa49d593c7316e95e6d3692a93c4b6ba785a3f9e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fa49d593c7316e95e6d3692a93c4b6ba785a3f9e

Author: Philippe Gerum 
Date:   Sun Nov  1 17:22:33 2015 +0100

cobalt/arm64: add README for I-pipe support

---

 kernel/cobalt/arch/arm64/patches/README |   16 
 1 file changed, 16 insertions(+)

diff --git a/kernel/cobalt/arch/arm64/patches/README 
b/kernel/cobalt/arch/arm64/patches/README
new file mode 100644
index 000..fd85e06
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/patches/README
@@ -0,0 +1,16 @@
+-- arch/arm64/patches
+
+Xenomai needs special kernel support to deliver fast and deterministic
+response time to external interrupts, and also to provide real-time
+services highly integrated with the standard Linux kernel.
+
+This support is provided by the interrupt pipeline (aka I-pipe) in the
+form of a kernel patch you have to apply against a vanilla kernel
+tree, before you attempt to compile the Xenomai codebase against the
+latter kernel.
+
+The Xenomai arm64 port is work in progress. The I-pipe support for
+this architecture is exclusively available from this development tree
+at the moment:
+
+git://git.xenomai.org/ipipe.git, branch devel/ipipe-3.18-linaro-arm64.


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[Xenomai-git] Jan Kiszka : cobalt/kernel: Trigger missing reschedule after PP deboost

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: edd62b83fc9d51355d28ecd5e1e5d02767833e39
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=edd62b83fc9d51355d28ecd5e1e5d02767833e39

Author: Jan Kiszka 
Date:   Mon May  9 21:22:23 2016 +0200

cobalt/kernel: Trigger missing reschedule after PP deboost

xnsynch_release also needs to tell the caller about the potential need
for a reschedule after deboosting for prio-protection.

Signed-off-by: Jan Kiszka 

---

 kernel/cobalt/synch.c |4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/kernel/cobalt/synch.c b/kernel/cobalt/synch.c
index d8b83d9..f3b70a2 100644
--- a/kernel/cobalt/synch.c
+++ b/kernel/cobalt/synch.c
@@ -949,8 +949,10 @@ bool xnsynch_release(struct xnsynch *synch, struct 
xnthread *curr)
else if (h != currh)/* FLCEIL set, FLCLAIM clear. */
atomic_set(lockp, XN_NO_HANDLE);
 
-   if (synch->status & XNSYNCH_PP)
+   if (synch->status & XNSYNCH_PP) {
clear_pp_boost(synch, curr);
+   need_resched = true;
+   }
 
xnlock_put_irqrestore(, s);
 


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[Xenomai-git] Don Mahurin : cobalt/arm64: fix build for mismatched printf type (%lx, u64) on arm64.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 0581151b00b79bc37a84a8a88837ecbb34438daa
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0581151b00b79bc37a84a8a88837ecbb34438daa

Author: Don Mahurin 
Date:   Wed Sep  2 13:48:36 2015 -0700

cobalt/arm64: fix build for mismatched printf type (%lx,u64) on arm64.

pc and orig_r0 are u64 on arm64 and 'unsigned long' or arm and other platforms. 
printf referencing these are using %lx. On arm64, long and long long (and u64) 
are 64 bits. Rather than changing printf format, chnage arm64 macros to cast to 
unsigned long.

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h |2 +-
 kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h  |2 +-
 kernel/cobalt/posix/syscall.c  |2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 7bf95fb..77c1716 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -45,7 +45,7 @@
 #else /* !CONFIG_OABI_COMPAT */
 #define __xn_syscall_p(__regs) ((__regs)->regs[8] == __ARM_NR_ipipe)
 #endif /* !CONFIG_OABI_COMPAT */
-#define __xn_syscall(__regs)   (__xn_reg_sys(__regs) & ~__COBALT_SYSCALL_BIT)
+#define __xn_syscall(__regs)   ((unsigned long)(__xn_reg_sys(__regs) & 
~__COBALT_SYSCALL_BIT))
 
 #define __xn_reg_rval(__regs)  ((__regs)->regs[0])
 #define __xn_reg_arg1(__regs)  ((__regs)->regs[1])
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 958f340..a8d7ed4 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -52,7 +52,7 @@ struct xnarchtcb {
 #define xnarch_fault_regs(d)   ((d)->regs)
 #define xnarch_fault_trap(d)   ((d)->exception)
 #define xnarch_fault_code(d)   (0)
-#define xnarch_fault_pc(d) ((d)->regs->pc - 4) /* XXX ? */
+#define xnarch_fault_pc(d) ((unsigned long)((d)->regs->pc - 4)) /* XXX ? */
 
 #define xnarch_fault_pf_p(d)   ((d)->exception == IPIPE_TRAP_ACCESS)
 #define xnarch_fault_bp_p(d)   ((current->ptrace & PT_PTRACED) &&  \
diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index 1599e7c..857f4f7 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -666,7 +666,7 @@ linux_syscall:
return KEVENT_PROPAGATE;
 
 bad_syscall:
-   printk(XENO_WARNING "bad syscall <%#llx>\n", __xn_syscall(regs));
+   printk(XENO_WARNING "bad syscall <%#lx>\n", __xn_syscall(regs));
 
__xn_error_return(regs, -ENOSYS);
 


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[Xenomai-git] Jorge Ramirez-Ortiz : utils/analogy: fix error check [SIGSEGV]

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: fb1ba8088abc0715fc79ae9de42380624a42af33
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fb1ba8088abc0715fc79ae9de42380624a42af33

Author: Jorge Ramirez-Ortiz 
Date:   Wed Oct  5 21:34:27 2016 +0200

utils/analogy: fix error check [SIGSEGV]

---

 utils/analogy/cmd_read.c |4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/utils/analogy/cmd_read.c b/utils/analogy/cmd_read.c
index a507801..86522f4 100644
--- a/utils/analogy/cmd_read.c
+++ b/utils/analogy/cmd_read.c
@@ -261,12 +261,12 @@ static int map_subdevice_buffer(a4l_desc_t *dsc, unsigned 
long *buf_size, void *
 
 static int cmd_read(struct arguments *arg)
 {
-   unsigned int i, scan_size = 0, cnt = 0, ret = 0, len, ofs;
+   unsigned int i, scan_size = 0, cnt = 0, len, ofs;
dump_function_t dump_function = dump_text;
a4l_desc_t dsc = { .sbdata = NULL };
unsigned long buf_size;
char **argv = arg->argv;
-   int argc = arg->argc;
+   int ret = 0, argc = arg->argc;
void *map = NULL;
 
for (;;) {


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[Xenomai-git] Philippe Gerum : net/drivers/e1000: work around UMR issue

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b433c40c740817147f075e6dfd503bb32a2db911
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b433c40c740817147f075e6dfd503bb32a2db911

Author: Philippe Gerum 
Date:   Sun Aug  7 11:29:06 2016 +0200

net/drivers/e1000: work around UMR issue

---

 kernel/drivers/net/drivers/e1000/e1000_hw.c |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/drivers/net/drivers/e1000/e1000_hw.c 
b/kernel/drivers/net/drivers/e1000/e1000_hw.c
index 311d48d..d974653 100644
--- a/kernel/drivers/net/drivers/e1000/e1000_hw.c
+++ b/kernel/drivers/net/drivers/e1000/e1000_hw.c
@@ -8804,7 +8804,7 @@ e1000_verify_write_ich8_byte(struct e1000_hw *hw, 
uint32_t index, uint8_t byte)
 {
 int32_t error = E1000_SUCCESS;
 int32_t program_retries;
-uint8_t temp_byte;
+uint8_t temp_byte = 0;
 
 e1000_write_ich8_byte(hw, index, byte);
 usec_delay(100);


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[Xenomai-git] Philippe Gerum : cobalt/arm64: fix inclusion guards

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e3a4cffa3f833aed19bf652fb6ed31ea44cc718a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e3a4cffa3f833aed19bf652fb6ed31ea44cc718a

Author: Philippe Gerum 
Date:   Sat Oct 17 14:40:53 2015 +0200

cobalt/arm64: fix inclusion guards

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/features.h  |8 
 kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h|6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h   |6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h   |6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h |6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h|7 +++
 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h|6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h   |6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h  |6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/tsc.h  |6 +++---
 kernel/cobalt/arch/arm64/include/asm/xenomai/wrappers.h  |6 +++---
 12 files changed, 37 insertions(+), 38 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
index d485286..112408f 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2005 Philippe Gerum .
+ * Copyright (C) 2015 Philippe Gerum .
  *
  * ARM port
  *   Copyright (C) 2005 Stelian Pop
@@ -19,12 +19,12 @@
  * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  * 02111-1307, USA.
  */
-#ifndef _COBALT_ARM_ASM_FEATURES_H
-#define _COBALT_ARM_ASM_FEATURES_H
+#ifndef _COBALT_ARM64_ASM_FEATURES_H
+#define _COBALT_ARM64_ASM_FEATURES_H
 
 struct cobalt_featinfo;
 static inline void collect_arch_features(struct cobalt_featinfo *p) { }
 
 #include 
 
-#endif /* !_COBALT_ARM_ASM_FEATURES_H */
+#endif /* !_COBALT_ARM64_ASM_FEATURES_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
index 743d758..cfdf0b3 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
@@ -16,8 +16,8 @@
  * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  * 02111-1307, USA.
  */
-#ifndef _COBALT_ARM_ASM_FPTEST_H
-#define _COBALT_ARM_ASM_FPTEST_H
+#ifndef _COBALT_ARM64_ASM_FPTEST_H
+#define _COBALT_ARM64_ASM_FPTEST_H
 
 #include 
 #include 
@@ -44,4 +44,4 @@ static inline int fp_detect(void)
return have_fp ? __COBALT_HAVE_FPU : 0;
 }
 
-#endif /* _COBALT_ARM_ASM_FPTEST_H */
+#endif /* _COBALT_ARM64_ASM_FPTEST_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index b8290bf..7444cc8 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -20,8 +20,8 @@
  *   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  *   02111-1307, USA.
  */
-#ifndef _COBALT_ARM_ASM_MACHINE_H
-#define _COBALT_ARM_ASM_MACHINE_H
+#ifndef _COBALT_ARM64_ASM_MACHINE_H
+#define _COBALT_ARM64_ASM_MACHINE_H
 
 #include 
 #include 
@@ -58,4 +58,4 @@ static inline __attribute_const__ unsigned long ffnz(unsigned 
long ul)
 
 #include 
 
-#endif /* !_COBALT_ARM_ASM_MACHINE_H */
+#endif /* !_COBALT_ARM64_ASM_MACHINE_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 77c1716..949f287 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -19,8 +19,8 @@
  * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  * 02111-1307, USA.
  */
-#ifndef _COBALT_ARM_ASM_SYSCALL_H
-#define _COBALT_ARM_ASM_SYSCALL_H
+#ifndef _COBALT_ARM64_ASM_SYSCALL_H
+#define _COBALT_ARM64_ASM_SYSCALL_H
 
 #include 
 #include 
@@ -75,4 +75,4 @@ int xnarch_local_syscall(unsigned long a1, unsigned long a2,
 unsigned long a3, unsigned long a4,
 unsigned long a5);
 
-#endif /* !_COBALT_ARM_ASM_SYSCALL_H */
+#endif /* !_COBALT_ARM64_ASM_SYSCALL_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
index 95c5a11..a66ddd6 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
@@ -16,9 +16,9 @@
  * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  * 02111-1307, USA.
  */
-#ifndef _COBALT_ARM_ASM_SYSCALL32_H
-#define _COBALT_ARM_ASM_SYSCALL32_H
+#ifndef 

[Xenomai-git] Philippe Gerum : cobalt/arm64: drop useless test on target architecture

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 22137134c8ef8e3f5ddc4909e694bde49506eb52
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=22137134c8ef8e3f5ddc4909e694bde49506eb52

Author: Philippe Gerum 
Date:   Sat Oct 17 14:43:25 2015 +0200

cobalt/arm64: drop useless test on target architecture

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |7 +++
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
index 57d0f14..01a12d9 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
@@ -28,10 +28,9 @@
 
 #define XENOMAI_FEAT_MAN (__xn_feat_generic_man_mask)
 
-#ifndef __aarch64__
-#define XNARCH_HAVE_LLMULSHFT1
-#define XNARCH_HAVE_NODIV_LLIMD  1
-#endif
+#undef XNARCH_HAVE_LLMULSHFT
+
+#undef XNARCH_HAVE_NODIV_LLIMD
 
 struct cobalt_featinfo_archdep { /* no arch-specific feature */ };
 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: fix fpu exception names

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 2ac4b5732c22c404c79364484f7c02166c7fa674
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2ac4b5732c22c404c79364484f7c02166c7fa674

Author: Dmitriy Cherkasov 
Date:   Mon Sep 28 16:13:45 2015 -0700

cobalt/arm64: fix fpu exception names

---

 kernel/cobalt/arch/arm64/machine.c |4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/machine.c 
b/kernel/cobalt/arch/arm64/machine.c
index f48d4a8..ddf65a8 100644
--- a/kernel/cobalt/arch/arm64/machine.c
+++ b/kernel/cobalt/arch/arm64/machine.c
@@ -99,8 +99,8 @@ static const char *const fault_labels[] = {
[IPIPE_TRAP_DABT] = "Generic data abort",
[IPIPE_TRAP_UNKNOWN] = "Unknown exception",
[IPIPE_TRAP_BREAK] = "Instruction breakpoint",
-   [IPIPE_TRAP_FPU] = "Floating point exception",
-   [IPIPE_TRAP_VFP] = "VFP Floating point exception",
+   [IPIPE_TRAP_FPU_ACC] = "Floating point access",
+   [IPIPE_TRAP_FPU_EXC] = "Floating point exception",
[IPIPE_TRAP_UNDEFINSTR] = "Undefined instruction",
 #ifdef IPIPE_TRAP_ALIGNMENT
[IPIPE_TRAP_ALIGNMENT] = "Unaligned access exception",


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[Xenomai-git] Philippe Gerum : boilerplate/libc: do not combine weak and inline attributes

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 2d6a18b8aee8a55a0185b77d3437736da5c0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2d6a18b8aee8a55a0185b77d3437736da5c0

Author: Philippe Gerum 
Date:   Sat Nov  5 19:09:00 2016 +0100

boilerplate/libc: do not combine weak and inline attributes

gcc5 discards the weak attribute for inline symbols.

This is a forward port of
http://git.xenomai.org/xenomai-2.6.git/commit/?id=917dcebb26ec492f276cdc3b55867aa90e01fa12

---

 include/boilerplate/libc.h |   12 ++--
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/include/boilerplate/libc.h b/include/boilerplate/libc.h
index 0e51b86..d8b0334 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -137,9 +137,9 @@ int pthread_setaffinity_np(pthread_t thread, size_t 
cpusetsize,
  * during sleep time. This is a non-issue for Cobalt, as the libcobalt
  * implementation will always be picked instead.
  */
-__weak inline int clock_nanosleep(clockid_t clock_id, int flags,
- const struct timespec *request,
- struct timespec *remain)
+__weak int clock_nanosleep(clockid_t clock_id, int flags,
+  const struct timespec *request,
+  struct timespec *remain)
 {
struct timespec now, tmp;
 
@@ -163,14 +163,14 @@ __weak inline int clock_nanosleep(clockid_t clock_id, int 
flags,
  * Might be declared in uClibc headers but not actually implemented,
  * so we make the placeholder a weak symbol.
  */
-__weak inline int sched_getcpu(void)
+__weak int sched_getcpu(void)
 {
return 0;   /* outdated uClibc: assume uniprocessor. */
 }
 #endif /* !HAVE_SCHED_GETCPU */
 
 #ifndef HAVE_SHM_OPEN
-__weak inline int shm_open(const char *name, int oflag, mode_t mode)
+__weak int shm_open(const char *name, int oflag, mode_t mode)
 {
errno = ENOSYS;
return -1;
@@ -178,7 +178,7 @@ __weak inline int shm_open(const char *name, int oflag, 
mode_t mode)
 #endif /* !HAVE_SHM_OPEN */
 
 #ifndef HAVE_SHM_UNLINK
-__weak inline int shm_unlink(const char *name)
+__weak int shm_unlink(const char *name)
 {
errno = ENOSYS;
return -1;


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: update register struct usage for arm64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: d47087c291788fbf40955aeff0730c887d89b005
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d47087c291788fbf40955aeff0730c887d89b005

Author: Dmitriy Cherkasov 
Date:   Thu May  7 13:58:14 2015 -0700

cobalt/arm64: update register struct usage for arm64

---

 .../arch/arm64/include/asm/xenomai/syscall.h   |   22 ++--
 kernel/cobalt/arch/arm64/mayday.c  |   20 +-
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index d80df77..f0a1090 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -36,21 +36,21 @@
 #define __xn_reg_sys(__regs)   ((__regs)->ARM_ORIG_r0)
 /* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */
 #ifdef CONFIG_OABI_COMPAT
-#define __xn_syscall_p(__regs) (((__regs)->ARM_r7 == __NR_OABI_SYSCALL_BASE + 
XENO_ARM_SYSCALL) || \
-((__regs)->ARM_r7 == __ARM_NR_ipipe))
+#define __xn_syscall_p(__regs) (((__regs)->regs[7] == __NR_OABI_SYSCALL_BASE + 
XENO_ARM_SYSCALL) || \
+((__regs)->regs[7] == __ARM_NR_ipipe))
 #else /* !CONFIG_OABI_COMPAT */
-#define __xn_syscall_p(__regs) ((__regs)->ARM_r7 == __ARM_NR_ipipe)
+#define __xn_syscall_p(__regs) ((__regs)->regs[7] == __ARM_NR_ipipe)
 #endif /* !CONFIG_OABI_COMPAT */
 #define __xn_syscall(__regs)   (__xn_reg_sys(__regs) & ~__COBALT_SYSCALL_BIT)
 
-#define __xn_reg_rval(__regs)  ((__regs)->ARM_r0)
-#define __xn_reg_arg1(__regs)  ((__regs)->ARM_r1)
-#define __xn_reg_arg2(__regs)  ((__regs)->ARM_r2)
-#define __xn_reg_arg3(__regs)  ((__regs)->ARM_r3)
-#define __xn_reg_arg4(__regs)  ((__regs)->ARM_r4)
-#define __xn_reg_arg5(__regs)  ((__regs)->ARM_r5)
-#define __xn_reg_pc(__regs)((__regs)->ARM_ip)
-#define __xn_reg_sp(__regs)((__regs)->ARM_sp)
+#define __xn_reg_rval(__regs)  ((__regs)->regs[0])
+#define __xn_reg_arg1(__regs)  ((__regs)->regs[1])
+#define __xn_reg_arg2(__regs)  ((__regs)->regs[2])
+#define __xn_reg_arg3(__regs)  ((__regs)->regs[3])
+#define __xn_reg_arg4(__regs)  ((__regs)->regs[4])
+#define __xn_reg_arg5(__regs)  ((__regs)->regs[5])
+#define __xn_reg_pc(__regs)((__regs)->ip)
+#define __xn_reg_sp(__regs)((__regs)->sp)
 
 static inline void __xn_error_return(struct pt_regs *regs, int v)
 {
diff --git a/kernel/cobalt/arch/arm64/mayday.c 
b/kernel/cobalt/arch/arm64/mayday.c
index 20e4559..bc51ad6 100644
--- a/kernel/cobalt/arch/arm64/mayday.c
+++ b/kernel/cobalt/arch/arm64/mayday.c
@@ -120,27 +120,27 @@ void *xnarch_get_mayday_page(void)
 void xnarch_handle_mayday(struct xnarchtcb *tcb, struct pt_regs *regs,
  unsigned long tramp)
 {
-   tcb->mayday.pc = regs->ARM_pc;
-   tcb->mayday.r0 = regs->ARM_r0;
+   tcb->mayday.pc = regs->pc;
+   tcb->mayday.r0 = regs->regs[0];
 #ifdef __ARM_EABI__
-   tcb->mayday.r7 = regs->ARM_r7;
+   tcb->mayday.r7 = regs->regs[7];
 #endif
 #ifdef CONFIG_ARM_THUMB
/* The code on the mayday page must be run in ARM mode */
-   tcb->mayday.psr = regs->ARM_cpsr;
-   regs->ARM_cpsr &= ~PSR_T_BIT;
+   tcb->mayday.psr = regs->cpsr;
+   regs->cpsr &= ~PSR_T_BIT;
 #endif
-   regs->ARM_pc = tramp;
+   regs->pc = tramp;
 }
 
 void xnarch_fixup_mayday(struct xnarchtcb *tcb, struct pt_regs *regs)
 {
-   regs->ARM_pc = tcb->mayday.pc;
-   regs->ARM_r0 = tcb->mayday.r0;
+   regs->pc = tcb->mayday.pc;
+   regs->regs[0] = tcb->mayday.r0;
 #ifdef __ARM_EABI__
-   regs->ARM_r7 = tcb->mayday.r7;
+   regs->regs[7] = tcb->mayday.r7;
 #endif
 #ifdef CONFIG_ARM_THUMB
-   regs->ARM_cpsr = tcb->mayday.psr;
+   regs->cpsr = tcb->mayday.psr;
 #endif
 }


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[Xenomai-git] Philippe Gerum : cobalt/arm: track current mm unconditionally

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 811fdd619f3567f6cfb9a6a13bb7e20417e14d5b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=811fdd619f3567f6cfb9a6a13bb7e20417e14d5b

Author: Philippe Gerum 
Date:   Sat Nov 14 15:21:02 2015 +0100

cobalt/arm: track current mm unconditionally

All pipelines Cobalt can work with (i.e. 3.10+) for the arm
architecture do provide the mm tracking feature unconditionally, so
there is no point in keeping any build switch for it.

---

 kernel/cobalt/arch/arm/Kconfig |3 ---
 1 file changed, 3 deletions(-)

diff --git a/kernel/cobalt/arch/arm/Kconfig b/kernel/cobalt/arch/arm/Kconfig
index 2043d70..0c4e0aa 100644
--- a/kernel/cobalt/arch/arm/Kconfig
+++ b/kernel/cobalt/arch/arm/Kconfig
@@ -23,9 +23,6 @@ config IPIPE_WANT_PREEMPTIBLE_SWITCH
default y if XENO_ARCH_UNLOCKED_SWITCH
default n if !XENO_ARCH_UNLOCKED_SWITCH
 
-config IPIPE_WANT_ACTIVE_MM
-   def_bool y
-
 config XENO_ARCH_FPU
def_bool VFP
 


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[Xenomai-git] Jan Kiszka : cobalt/rtdm: Restore return code tracing

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 639ed39611a63a0c4f8a787ade150b8dbb5e4fab
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=639ed39611a63a0c4f8a787ade150b8dbb5e4fab

Author: Jan Kiszka 
Date:   Thu Sep 15 19:44:33 2016 +0200

cobalt/rtdm: Restore return code tracing

Got broken by a96a6d8e2816.

Signed-off-by: Jan Kiszka 

---

 kernel/cobalt/rtdm/fd.c |   40 ++--
 1 file changed, 26 insertions(+), 14 deletions(-)

diff --git a/kernel/cobalt/rtdm/fd.c b/kernel/cobalt/rtdm/fd.c
index 3381dea..4169e85 100644
--- a/kernel/cobalt/rtdm/fd.c
+++ b/kernel/cobalt/rtdm/fd.c
@@ -438,8 +438,10 @@ int rtdm_fd_ioctl(int ufd, unsigned int request, ...)
int err, ret;
 
fd = get_fd_fixup_mode(ufd);
-   if (IS_ERR(fd))
-   return PTR_ERR(fd);
+   if (IS_ERR(fd)) {
+   err = PTR_ERR(fd);
+   goto out;
+   }
 
va_start(args, request);
arg = va_arg(args, void __user *);
@@ -464,7 +466,7 @@ int rtdm_fd_ioctl(int ufd, unsigned int request, ...)
}
 
rtdm_fd_put(fd);
-
+  out:
if (err < 0)
trace_cobalt_fd_ioctl_status(current, fd, ufd, err);
 
@@ -479,8 +481,10 @@ rtdm_fd_read(int ufd, void __user *buf, size_t size)
ssize_t ret;
 
fd = get_fd_fixup_mode(ufd);
-   if (IS_ERR(fd))
-   return PTR_ERR(fd);
+   if (IS_ERR(fd)) {
+   ret = PTR_ERR(fd);
+   goto out;
+   }
 
set_compat_bit(fd);
 
@@ -492,10 +496,11 @@ rtdm_fd_read(int ufd, void __user *buf, size_t size)
ret = fd->ops->read_rt(fd, buf, size);
 
if (!XENO_ASSERT(COBALT, !spltest()))
-   splnone();
+   splnone();
 
rtdm_fd_put(fd);
 
+  out:
if (ret < 0)
trace_cobalt_fd_read_status(current, fd, ufd, ret);
 
@@ -509,8 +514,10 @@ ssize_t rtdm_fd_write(int ufd, const void __user *buf, 
size_t size)
ssize_t ret;
 
fd = get_fd_fixup_mode(ufd);
-   if (IS_ERR(fd))
-   return PTR_ERR(fd);
+   if (IS_ERR(fd)) {
+   ret = PTR_ERR(fd);
+   goto out;
+   }
 
set_compat_bit(fd);
 
@@ -526,6 +533,7 @@ ssize_t rtdm_fd_write(int ufd, const void __user *buf, 
size_t size)
 
rtdm_fd_put(fd);
 
+  out:
if (ret < 0)
trace_cobalt_fd_write_status(current, fd, ufd, ret);
 
@@ -539,8 +547,10 @@ ssize_t rtdm_fd_recvmsg(int ufd, struct user_msghdr *msg, 
int flags)
ssize_t ret;
 
fd = get_fd_fixup_mode(ufd);
-   if (IS_ERR(fd))
-   return PTR_ERR(fd);
+   if (IS_ERR(fd)) {
+   ret = PTR_ERR(fd);
+   goto out;
+   }
 
set_compat_bit(fd);
 
@@ -555,7 +565,7 @@ ssize_t rtdm_fd_recvmsg(int ufd, struct user_msghdr *msg, 
int flags)
splnone();
 
rtdm_fd_put(fd);
-
+out:
if (ret < 0)
trace_cobalt_fd_recvmsg_status(current, fd, ufd, ret);
 
@@ -569,8 +579,10 @@ ssize_t rtdm_fd_sendmsg(int ufd, const struct user_msghdr 
*msg, int flags)
ssize_t ret;
 
fd = get_fd_fixup_mode(ufd);
-   if (IS_ERR(fd))
-   return PTR_ERR(fd);
+   if (IS_ERR(fd)) {
+   ret = PTR_ERR(fd);
+   goto out;
+   }
 
set_compat_bit(fd);
 
@@ -585,7 +597,7 @@ ssize_t rtdm_fd_sendmsg(int ufd, const struct user_msghdr 
*msg, int flags)
splnone();
 
rtdm_fd_put(fd);
-
+out:
if (ret < 0)
trace_cobalt_fd_sendmsg_status(current, fd, ufd, ret);
 


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[Xenomai-git] Philippe Gerum : cobalt/posix/timerfd: allow usage with external clocks

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: dac2df243bcd146a040329df3885131ae77bd5b9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=dac2df243bcd146a040329df3885131ae77bd5b9

Author: Philippe Gerum 
Date:   Fri Nov  4 16:25:21 2016 +0100

cobalt/posix/timerfd: allow usage with external clocks

Same as e6cd961.

---

 kernel/cobalt/posix/timerfd.c |8 +---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/kernel/cobalt/posix/timerfd.c b/kernel/cobalt/posix/timerfd.c
index 90c4b3f..132aba8 100644
--- a/kernel/cobalt/posix/timerfd.c
+++ b/kernel/cobalt/posix/timerfd.c
@@ -166,12 +166,14 @@ COBALT_SYSCALL(timerfd_create, lostage, (int clockid, int 
flags))
 {
struct cobalt_tfd *tfd;
struct xnthread *curr;
+   struct xnclock *clock;
int ret, ufd;
 
-   if (clockid != CLOCK_REALTIME && clockid != CLOCK_MONOTONIC)
+   if (flags & ~TFD_CREATE_FLAGS)
return -EINVAL;
 
-   if (flags & ~TFD_CREATE_FLAGS)
+   clock = cobalt_clock_find(clockid);
+   if (clock == NULL)
return -EINVAL;
 
tfd = xnmalloc(sizeof(*tfd));
@@ -189,7 +191,7 @@ COBALT_SYSCALL(timerfd_create, lostage, (int clockid, int 
flags))
tfd->fd.oflags = (flags & TFD_NONBLOCK) ? O_NONBLOCK : 0;
tfd->clockid = clockid;
curr = xnthread_current();
-   xntimer_init(>timer, , timerfd_handler,
+   xntimer_init(>timer, clock, timerfd_handler,
 curr ? curr->sched : NULL, XNTIMER_UGRAVITY);
xnsynch_init(>readers, XNSYNCH_PRIO | XNSYNCH_NOPIP, NULL);
xnselect_init(>read_select);


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[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet testsuite

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 3c1a0fbda8a132f7d8cf0a2107bed9e92c276b2f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3c1a0fbda8a132f7d8cf0a2107bed9e92c276b2f

Author: Gilles Chanteperdrix 
Date:   Sun Oct 11 16:05:18 2015 +0200

testsuite/smokey: add RTnet testsuite

Starting with UDP and raw sockets.
Measuring round trip time and checking for lost packets.

---

 configure.ac |3 +++
 1 file changed, 3 insertions(+)

diff --git a/configure.ac b/configure.ac
index bbaf4a7..4a3f7c7 100644
--- a/configure.ac
+++ b/configure.ac
@@ -906,6 +906,9 @@ AC_CONFIG_FILES([ \
testsuite/smokey/tsc/Makefile \
testsuite/smokey/leaks/Makefile \
testsuite/smokey/fpu-stress/Makefile \
+   testsuite/smokey/net_udp/Makefile \
+   testsuite/smokey/net_packet_dgram/Makefile \
+   testsuite/smokey/net_common/Makefile \
testsuite/clocktest/Makefile \
testsuite/xeno-test/Makefile \
utils/Makefile \


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: thread.h & syscall.h: fix register references for arm64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 3e2cb86dc4cf280735db19c9dd58f85197f85e02
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3e2cb86dc4cf280735db19c9dd58f85197f85e02

Author: Dmitriy Cherkasov 
Date:   Thu May  7 16:41:09 2015 -0700

cobalt/arm64: thread.h & syscall.h: fix register references for arm64

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h |8 ++--
 kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h  |2 +-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index f0a1090..2fdd890 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -28,12 +28,16 @@
 #include 
 #include 
 
+#ifndef __NR_SYSCALL_BASE
+#define __NR_SYSCALL_BASE 0
+#endif
+
 #ifndef __ARM_NR_ipipe
 /* Legacy pipelines do not define this. */
 #define __ARM_NR_ipipe (__NR_SYSCALL_BASE + XENO_ARM_SYSCALL)
 #endif
 
-#define __xn_reg_sys(__regs)   ((__regs)->ARM_ORIG_r0)
+#define __xn_reg_sys(__regs)   ((__regs)->orig_x0)
 /* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */
 #ifdef CONFIG_OABI_COMPAT
 #define __xn_syscall_p(__regs) (((__regs)->regs[7] == __NR_OABI_SYSCALL_BASE + 
XENO_ARM_SYSCALL) || \
@@ -49,7 +53,7 @@
 #define __xn_reg_arg3(__regs)  ((__regs)->regs[3])
 #define __xn_reg_arg4(__regs)  ((__regs)->regs[4])
 #define __xn_reg_arg5(__regs)  ((__regs)->regs[5])
-#define __xn_reg_pc(__regs)((__regs)->ip)
+#define __xn_reg_pc(__regs)((__regs)->pc)
 #define __xn_reg_sp(__regs)((__regs)->sp)
 
 static inline void __xn_error_return(struct pt_regs *regs, int v)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 11439a3..958f340 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -52,7 +52,7 @@ struct xnarchtcb {
 #define xnarch_fault_regs(d)   ((d)->regs)
 #define xnarch_fault_trap(d)   ((d)->exception)
 #define xnarch_fault_code(d)   (0)
-#define xnarch_fault_pc(d) ((d)->regs->ARM_pc - (thumb_mode((d)->regs) ? 2 
: 4)) /* XXX ? */
+#define xnarch_fault_pc(d) ((d)->regs->pc - 4) /* XXX ? */
 
 #define xnarch_fault_pf_p(d)   ((d)->exception == IPIPE_TRAP_ACCESS)
 #define xnarch_fault_bp_p(d)   ((current->ptrace & PT_PTRACED) &&  \


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[Xenomai-git] Philippe Gerum : cobalt/arm64: use lazy fpsimd switch mode

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 2efc23291354e9ace2383686ed3485372e03a231
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2efc23291354e9ace2383686ed3485372e03a231

Author: Philippe Gerum 
Date:   Mon Oct 19 10:38:21 2015 +0200

cobalt/arm64: use lazy fpsimd switch mode

---

 kernel/cobalt/arch/arm64/thread.c |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/cobalt/arch/arm64/thread.c 
b/kernel/cobalt/arch/arm64/thread.c
index 5282b0c..2238751 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -153,7 +153,7 @@ void xnarch_switch_to(struct xnthread *out, struct xnthread 
*in)
enter_lazy_tlb(prev_mm, next);
}
 
-   __switch_to(prev, next);
+   ipipe_switch_to(prev, next);
 }
 
 int xnarch_escalate(void)


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[Xenomai-git] Philippe Gerum : cobalt/arm64: switch to regular system call convention

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 367479ef22e740bcba5562513e71db125ebe22b4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=367479ef22e740bcba5562513e71db125ebe22b4

Author: Philippe Gerum 
Date:   Mon Oct 19 15:54:55 2015 +0200

cobalt/arm64: switch to regular system call convention

---

 .../arch/arm64/include/asm/xenomai/syscall.h   |   29 +---
 .../arch/arm64/include/asm/xenomai/uapi/syscall.h  |8 +-
 lib/cobalt/arch/arm64/features.c   |8 -
 .../arch/arm64/include/asm/xenomai/syscall.h   |  180 
 lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h|   19 +--
 5 files changed, 78 insertions(+), 166 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 949f287..9fc6522 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -28,31 +28,16 @@
 #include 
 #include 
 
-#ifndef __NR_SYSCALL_BASE
-#define __NR_SYSCALL_BASE 0
-#endif
-
-#ifndef __ARM_NR_ipipe
-/* Legacy pipelines do not define this. */
-#define __ARM_NR_ipipe (__NR_SYSCALL_BASE + XENO_ARM_SYSCALL)
-#endif
-
-#define __xn_reg_sys(__regs)   ((__regs)->orig_x0)
-/* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */
-#ifdef CONFIG_OABI_COMPAT
-#define __xn_syscall_p(__regs) (((__regs)->regs[8] == __NR_OABI_SYSCALL_BASE + 
XENO_ARM_SYSCALL) || \
-((__regs)->regs[8] == __ARM_NR_ipipe))
-#else /* !CONFIG_OABI_COMPAT */
-#define __xn_syscall_p(__regs) ((__regs)->regs[8] == __ARM_NR_ipipe)
-#endif /* !CONFIG_OABI_COMPAT */
+#define __xn_reg_sys(__regs)   ((unsigned long)(__regs)->syscallno)
+#define __xn_syscall_p(regs)   ((__xn_reg_sys(regs) & __COBALT_SYSCALL_BIT) != 
0)
 #define __xn_syscall(__regs)   ((unsigned long)(__xn_reg_sys(__regs) & 
~__COBALT_SYSCALL_BIT))
 
 #define __xn_reg_rval(__regs)  ((__regs)->regs[0])
-#define __xn_reg_arg1(__regs)  ((__regs)->regs[1])
-#define __xn_reg_arg2(__regs)  ((__regs)->regs[2])
-#define __xn_reg_arg3(__regs)  ((__regs)->regs[3])
-#define __xn_reg_arg4(__regs)  ((__regs)->regs[4])
-#define __xn_reg_arg5(__regs)  ((__regs)->regs[5])
+#define __xn_reg_arg1(__regs)  ((__regs)->regs[0])
+#define __xn_reg_arg2(__regs)  ((__regs)->regs[1])
+#define __xn_reg_arg3(__regs)  ((__regs)->regs[2])
+#define __xn_reg_arg4(__regs)  ((__regs)->regs[3])
+#define __xn_reg_arg5(__regs)  ((__regs)->regs[4])
 #define __xn_reg_pc(__regs)((__regs)->pc)
 #define __xn_reg_sp(__regs)((__regs)->sp)
 
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h
index 60dabd5..5b319d6 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h
@@ -23,12 +23,6 @@
 
 #define __xn_syscode(__nr) (__COBALT_SYSCALL_BIT | (__nr))
 
-#define XENO_ARM_SYSCALL0x000F0042 /* carefully chosen... */
-
-#define XENOMAI_SYSARCH_ATOMIC_ADD_RETURN  0
-#define XENOMAI_SYSARCH_ATOMIC_SET_MASK1
-#define XENOMAI_SYSARCH_ATOMIC_CLEAR_MASK  2
-#define XENOMAI_SYSARCH_XCHG   3
-#define XENOMAI_SYSARCH_TSCINFO 4
+#define XENOMAI_SYSARCH_TSCINFO0
 
 #endif /* !_COBALT_ARM64_ASM_UAPI_SYSCALL_H */
diff --git a/lib/cobalt/arch/arm64/features.c b/lib/cobalt/arch/arm64/features.c
index f5253a6..254c8ae 100644
--- a/lib/cobalt/arch/arm64/features.c
+++ b/lib/cobalt/arch/arm64/features.c
@@ -59,14 +59,6 @@ void cobalt_check_features(struct cobalt_featinfo *finfo)
 
page_size = sysconf(_SC_PAGESIZE);
 
-#ifndef __aarch64__
-   __xn_tscinfo.kuser_tsc_get =
-   (__xn_rdtsc_t *)(0x1004 -
-   ((*(unsigned *)(0x0ffc) + 3) << 5));
-#else
-   __xn_tscinfo.kuser_tsc_get = 0;
-#endif
-
phys_addr = (unsigned long)__xn_tscinfo.kinfo.counter;
 
addr = __STD(mmap(NULL, page_size, PROT_READ, MAP_SHARED,
diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 8e7ad61..d2dfda6 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -1,8 +1,5 @@
 /*
- * Copyright (C) 2001,2002,2003,2004 Philippe Gerum .
- *
- * ARM port
- *   Copyright (C) 2005 Stelian Pop
+ * Copyright (C) 2015 Philippe Gerum .
  *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
@@ -25,119 +22,76 @@
 #include 
 #include 
 
-/*
- * Some of the following macros have been adapted from Linux's
- * implementation of the syscall mechanism in :
- */
-
-#define LOADARGS_0(syscode, dummy...)  \
-   __a0 = (unsigned long) (syscode)
-#define 

[Xenomai-git] Philippe Gerum : cobalt/arm64: restrict unlocked switch to SMP

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7b4cedb99ea3bf7113092d7c4ad7c06a59a23756
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7b4cedb99ea3bf7113092d7c4ad7c06a59a23756

Author: Philippe Gerum 
Date:   Thu Sep 17 11:43:50 2015 +0200

cobalt/arm64: restrict unlocked switch to SMP

Unlocked switching for Xenomai/ARM was specifically introduced for
improving the interrupt latency on low-end armv4/armv5 platforms with
VIVT caches.

The once massive overhead imposed on the MMU context switching code
for invalidating the cache is long gone with VIPT indexing, and
keeping IRQs off while switching the memory context on armv8 these
days is not an issue. Actually, the complexity of the code involved in
dealing with unlocked switching may overbalance the expected gain.

However, the mainline kernel implementation for ASID management in the
SMP case currently requires us to keep IRQs enabled when allocating a
new MM context over the Xenomai domain, just like it did for aarch32
during the 2.6.3x time frame until the IPI-based approach was
eventually dropped.

So, let's restrict unlocked switching to the SMP case, forcing it off
otherwise, in the hope we can drop it entirely in the future.

At this chance, CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH moves to the
kernel area, where it actually belongs.

---

 kernel/cobalt/arch/arm64/Kconfig |   21 +
 1 file changed, 1 insertion(+), 20 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
index dc6485d..927c647 100644
--- a/kernel/cobalt/arch/arm64/Kconfig
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -1,27 +1,8 @@
 source "kernel/xenomai/Kconfig"
 source "drivers/xenomai/Kconfig"
 
-menu "Machine/platform-specific options"
-
 config XENO_ARCH_UNLOCKED_SWITCH
-   bool "Unlocked context switch"
-   default y
-   help
-   The Cobalt core may allow non-atomic execution of the
-   machine-dependent context switching code, so that other CPUs
-   and/or local interrupts may execute concurrently.
-
-   This option reduces interrupt latency when costly cache and
-   TLB flushes are required to switch context.
-
-   You definitely want to enable that option on low-end ARM
-   platforms.
-endmenu
-
-config IPIPE_WANT_PREEMPTIBLE_SWITCH
-   bool
-   default y if XENO_ARCH_UNLOCKED_SWITCH
-   default n if !XENO_ARCH_UNLOCKED_SWITCH
+   def_bool IPIPE_WANT_PREEMPTIBLE_SWITCH
 
 config IPIPE_WANT_ACTIVE_MM
def_bool y


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[Xenomai-git] Philippe Gerum : cobalt/arm64: thread: move all TCB initializers out of line

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: dec5b8a0562abf54a70156fdfbe9ae71d848f76c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=dec5b8a0562abf54a70156fdfbe9ae71d848f76c

Author: Philippe Gerum 
Date:   Fri Sep  9 16:07:54 2016 +0200

cobalt/arm64: thread: move all TCB initializers out of line

Does not impact performances and fixes inclusion hell for pulling the
struct xnthread definition for good.

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h |6 +-
 kernel/cobalt/arch/arm64/thread.c |6 ++
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index ac1f1f7..319f4d8 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -60,11 +60,7 @@ int xnarch_escalate(void);
 
 #if defined(CONFIG_XENO_ARCH_FPU)
 
-static inline void xnarch_init_root_tcb(struct xnthread *thread)
-{
-   struct xnarchtcb *tcb = xnthread_archtcb(thread);
-   tcb->fpup = NULL;
-}
+void xnarch_init_root_tcb(struct xnthread *thread);
 
 void xnarch_init_shadow_tcb(struct xnthread *thread);
 
diff --git a/kernel/cobalt/arch/arm64/thread.c 
b/kernel/cobalt/arch/arm64/thread.c
index b987e09..3097aeb 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -98,6 +98,12 @@ void xnarch_init_shadow_tcb(struct xnthread *thread)
tcb->fpup = >core.host_task->thread.fpsimd_state;
 }
 
+void xnarch_init_root_tcb(struct xnthread *thread)
+{
+   struct xnarchtcb *tcb = >tcb;
+   tcb->fpup = NULL;
+}
+
 #endif /* CONFIG_XENO_ARCH_FPU */
 
 void xnarch_switch_to(struct xnthread *out, struct xnthread *in)


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[Xenomai-git] Gilles Chanteperdrix : cobalt/arm64: attempt at fixing fpu switch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 38d109a137a3cd36d024051c04bfafb0970dedd1
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=38d109a137a3cd36d024051c04bfafb0970dedd1

Author: Gilles Chanteperdrix 
Date:   Fri Oct 30 17:14:00 2015 +0100

cobalt/arm64: attempt at fixing fpu switch

Return to eager switching, since user-space applications use FPU
registers even when not using the FPU, but use an auxiliary backup area
when the "TIF_FOREIGN_FPSTATE" bit is set, in order to avoid clobbering
the saved FPU state.

---

 .../cobalt/arch/arm64/include/asm/xenomai/thread.h |   14 +++--
 kernel/cobalt/arch/arm64/thread.c  |   54 +---
 2 files changed, 25 insertions(+), 43 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 9055e58..4b247ac 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -24,6 +24,7 @@
 struct xnarchtcb {
struct xntcb core;
 #ifdef CONFIG_XENO_ARCH_FPU
+   struct fpsimd_state xnfpsimd_state;
struct fpsimd_state *fpup;
 #define xnarch_fpu_ptr(tcb) ((tcb)->fpup)
 #endif
@@ -67,7 +68,10 @@ static inline void xnarch_init_root_tcb(struct xnthread 
*thread)
 
 void xnarch_init_shadow_tcb(struct xnthread *thread);
 
-int xnarch_fault_fpu_p(struct ipipe_trap_data *d);
+static inline int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
+{
+   return xnarch_fault_trap(d) == IPIPE_TRAP_FPU_ACC;
+}
 
 void xnarch_leave_root(struct xnthread *root);
 
@@ -75,8 +79,12 @@ void xnarch_save_fpu(struct xnthread *thread);
 
 void xnarch_switch_fpu(struct xnthread *from, struct xnthread *thread);
 
-int xnarch_handle_fpu_fault(struct xnthread *from, 
-   struct xnthread *to, struct ipipe_trap_data *d);
+static inline int
+xnarch_handle_fpu_fault(struct xnthread *from,
+   struct xnthread *to, struct ipipe_trap_data *d)
+{
+   return 0;
+}
 
 #else /* !CONFIG_XENO_ARCH_FPU */
 
diff --git a/kernel/cobalt/arch/arm64/thread.c 
b/kernel/cobalt/arch/arm64/thread.c
index 2238751..b987e09 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -6,6 +6,7 @@
  * 
  * ARM64 port
  *   Copyright (C) 2015 Dmitriy Cherkasov 
+ *   Copyright (C) 2015 Gilles Chanteperdrix 
  *
  * Xenomai is free software; you can redistribute it and/or modify it
  * under the terms of the GNU General Public License as published by
@@ -41,7 +42,7 @@
 static inline unsigned long get_cpacr(void)
 {
unsigned long result;
-   __asm__ __volatile__("mrs %0, cpacr_el1": "=r"(result));
+   __asm__ ("mrs %0, cpacr_el1": "=r"(result));
return result;
 }
 
@@ -53,21 +54,20 @@ static inline void set_cpacr(long val)
: /* */ : "r"(val));
 }
 
-static void enable_fpsimd(void)
+static inline void enable_fpsimd(void)
 {
-   unsigned long cpacr = get_cpacr();
-   cpacr |= FPSIMD_EN;
-   set_cpacr(cpacr);
+   set_cpacr(get_cpacr() | FPSIMD_EN);
 }
 
-int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
+static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *rootcb)
 {
-   return (d->exception == IPIPE_TRAP_FPU_ACC);
-}
+   struct task_struct *curr = rootcb->core.host_task;
 
-static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *tcb)
-{
-   return &(tcb->core.tsp->fpsimd_state);
+   if (test_ti_thread_flag(task_thread_info(curr), TIF_FOREIGN_FPSTATE))
+   /* Foreign fpu state, use auxiliary backup area */
+   return >xnfpsimd_state;
+
+   return >thread.fpsimd_state;
 }
 
 void xnarch_leave_root(struct xnthread *root)
@@ -76,13 +76,6 @@ void xnarch_leave_root(struct xnthread *root)
rootcb->fpup = get_fpu_owner(rootcb);
 }
 
-void xnarch_save_fpu(struct xnthread *thread)
-{
-   struct xnarchtcb *tcb = &(thread->tcb);
-   if (xnarch_fpu_ptr(tcb))
-   fpsimd_save_state(tcb->fpup);
-}
-
 void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
 {
struct fpsimd_state *const from_fpup = from ? from->tcb.fpup : NULL;
@@ -93,35 +86,16 @@ void xnarch_switch_fpu(struct xnthread *from, struct 
xnthread *to)
if (from_fpup == to_fpup)
return;
 
-   if (from_fpup)
-   fpsimd_save_state(from_fpup);
+   fpsimd_save_state(from_fpup);
 
fpsimd_load_state(to_fpup);
-}
-
-int xnarch_handle_fpu_fault(struct xnthread *from, 
-   struct xnthread *to, struct ipipe_trap_data *d)
-{
-   spl_t s;
-
-   /* FPU should already be enabled for XNFPU tasks. */
-   if (xnthread_test_state(to, XNFPU))
-   BUG();
-
-   xnlock_get_irqsave(, s);
-   xnthread_set_state(to, XNFPU);
-   xnlock_put_irqrestore(, s);
-
-   xnarch_switch_fpu(from, 

[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: xenomai/syscall.h: update syscall register

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 1bb624dc1ed465d4f86f5ef71cba91576de827ff
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1bb624dc1ed465d4f86f5ef71cba91576de827ff

Author: Dmitriy Cherkasov 
Date:   Fri May  8 15:54:18 2015 -0700

cobalt/arm64: xenomai/syscall.h: update syscall register

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h |6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 2fdd890..7bf95fb 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -40,10 +40,10 @@
 #define __xn_reg_sys(__regs)   ((__regs)->orig_x0)
 /* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */
 #ifdef CONFIG_OABI_COMPAT
-#define __xn_syscall_p(__regs) (((__regs)->regs[7] == __NR_OABI_SYSCALL_BASE + 
XENO_ARM_SYSCALL) || \
-((__regs)->regs[7] == __ARM_NR_ipipe))
+#define __xn_syscall_p(__regs) (((__regs)->regs[8] == __NR_OABI_SYSCALL_BASE + 
XENO_ARM_SYSCALL) || \
+((__regs)->regs[8] == __ARM_NR_ipipe))
 #else /* !CONFIG_OABI_COMPAT */
-#define __xn_syscall_p(__regs) ((__regs)->regs[7] == __ARM_NR_ipipe)
+#define __xn_syscall_p(__regs) ((__regs)->regs[8] == __ARM_NR_ipipe)
 #endif /* !CONFIG_OABI_COMPAT */
 #define __xn_syscall(__regs)   (__xn_reg_sys(__regs) & ~__COBALT_SYSCALL_BIT)
 


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[Xenomai-git] Philippe Gerum : cobalt/powerpc: drop obsolete config knob

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 4ab90cf227b0bb380346bd59bb7dbbf5e97174ad
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=4ab90cf227b0bb380346bd59bb7dbbf5e97174ad

Author: Philippe Gerum 
Date:   Sat Nov 14 18:14:53 2015 +0100

cobalt/powerpc: drop obsolete config knob

As of fbe1164, CONFIG_XENO_ARCH_UNLOCKED_SWITCH is not tested anymore
in the code base.

---

 kernel/cobalt/arch/powerpc/Kconfig |3 ---
 1 file changed, 3 deletions(-)

diff --git a/kernel/cobalt/arch/powerpc/Kconfig 
b/kernel/cobalt/arch/powerpc/Kconfig
index 1cabef3..2069288 100644
--- a/kernel/cobalt/arch/powerpc/Kconfig
+++ b/kernel/cobalt/arch/powerpc/Kconfig
@@ -10,6 +10,3 @@ config XENO_ARCH_FPU
 
 config XENO_ARCH_SYS3264
 def_bool n
-
-config XENO_ARCH_UNLOCKED_SWITCH
-   def_bool n


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[Xenomai-git] Philippe Gerum : cobalt/arm64: sanitize calibration file

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7a1418070e425aca86f9b2c2fc20b52a0a6fba39
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7a1418070e425aca86f9b2c2fc20b52a0a6fba39

Author: Philippe Gerum 
Date:   Thu Sep 17 04:01:49 2015 +0200

cobalt/arm64: sanitize calibration file

---

 .../arch/arm64/include/asm/xenomai/calibration.h   |   44 +---
 1 file changed, 11 insertions(+), 33 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
index e303a04..e85521e 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
@@ -1,13 +1,10 @@
 /*
- * Copyright (C) 2001,2002,2003,2004,2005 Philippe Gerum .
+ * Copyright (C) 2015 Philippe Gerum .
  *
- * ARM port
- *   Copyright (C) 2005 Stelian Pop
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * Xenomai is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; either version 2 of the License,
+ * or (at your option) any later version.
  *
  * Xenomai is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,41 +16,22 @@
  * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  * 02111-1307, USA.
  */
-#ifndef _COBALT_ARM_ASM_CALIBRATION_H
-#define _COBALT_ARM_ASM_CALIBRATION_H
-
-unsigned int omap_rev(void);
-#define cpu_is_omap44xx() ((omap_rev() & 0xff) == 0x44)
+#ifndef _COBALT_ARM64_ASM_CALIBRATION_H
+#define _COBALT_ARM64_ASM_CALIBRATION_H
 
 static inline void xnarch_get_latencies(struct xnclock_gravity *p)
 {
unsigned int ulat;
 #if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
ulat = CONFIG_XENO_OPT_TIMING_SCHEDLAT;
-#elif defined(CONFIG_ARCH_AT91RM9200)
-   ulat = 8500;
-#elif defined(CONFIG_ARCH_AT91SAM9263)
-   ulat = 11000;
-#elif defined(CONFIG_SOC_IMX6Q)
-   ulat = 6000;
-#elif defined(CONFIG_ARCH_MX51)
-   ulat = 5000;
-#elif defined(CONFIG_ARCH_MX53)
-   ulat = 5000;
-#elif defined(CONFIG_ARCH_MX6)
-   ulat = 2000;
-#elif defined(CONFIG_SOC_IMX7)
-   ulat = 2000;
-#elif defined(CONFIG_SOC_LS1021A)
-   ulat = 2800;
-#elif defined(CONFIG_ARCH_OMAP)
-   ulat = cpu_is_omap44xx() ? 2500 : 5000;
+#elif defined(CONFIG_ARCH_HISI)
+   ulat = 4000;
 #else
-   ulat = 9500;/* XXX sane? */
+   ulat = 4000;
 #endif
p->user = xnclock_ns_to_ticks(, ulat);
p->kernel = xnclock_ns_to_ticks(, 
CONFIG_XENO_OPT_TIMING_KSCHEDLAT);
p->irq = xnclock_ns_to_ticks(, CONFIG_XENO_OPT_TIMING_IRQLAT);
 }
 
-#endif /* !_COBALT_ARM_ASM_CALIBRATION_H */
+#endif /* !_COBALT_ARM64_ASM_CALIBRATION_H */


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[Xenomai-git] Philippe Gerum : boilerplate: drop __real_main() wrapper

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: bc8afd4291cbf1ececf868f4e57feb5cf3f73a0b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=bc8afd4291cbf1ececf868f4e57feb5cf3f73a0b

Author: Philippe Gerum 
Date:   Wed Nov  9 11:25:30 2016 +0100

boilerplate: drop __real_main() wrapper

Such kind of wrappers is supposed to help when --wrap is not given at
link time, in resolving direct references to the real symbols such as
those which may be done from the __wrap routines.

This said, __real_main() is special, in that there is no reason to
call such routine explicitly if --wrap is not given, by
definition. Only the bootstrap module (init/bootstrap.c) may call the
real main() entry point this way, and such module is glued to the
executable only if --wrap is passed to the linker.

Therefore we may drop this particular wrapper and the file which only
contains it altogether.

---

 lib/boilerplate/Makefile.am |3 +--
 lib/boilerplate/wrappers.c  |   27 ---
 2 files changed, 1 insertion(+), 29 deletions(-)

diff --git a/lib/boilerplate/Makefile.am b/lib/boilerplate/Makefile.am
index 4176c6d..9b8612d 100644
--- a/lib/boilerplate/Makefile.am
+++ b/lib/boilerplate/Makefile.am
@@ -8,8 +8,7 @@ libboilerplate_la_SOURCES = \
hash.c  \
obstack.c   \
setup.c \
-   time.c  \
-   wrappers.c
+   time.c
 
 if XENO_DEBUG
 libboilerplate_la_SOURCES += debug.c
diff --git a/lib/boilerplate/wrappers.c b/lib/boilerplate/wrappers.c
deleted file mode 100644
index 9d2490c..000
--- a/lib/boilerplate/wrappers.c
+++ /dev/null
@@ -1,27 +0,0 @@
-/*
- * Copyright (C) 2013 Philippe Gerum .
- *
- * This library is free software; you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public
- * License as published by the Free Software Foundation; either
- * version 2 of the License, or (at your option) any later version.
- *
- * This library is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * Lesser General Public License for more details.
-
- * You should have received a copy of the GNU Lesser General Public
- * License along with this library; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.
- */
-#include 
-
-int main(int argc, char *const argv[]);
-
-int __real_main(int argc, char *const argv[]);
-
-__weak int __real_main(int argc, char *const argv[])
-{
-   return main(argc, argv);
-}


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[Xenomai-git] Don Mahurin : lib/cobalt/arm64: add __LINUX_ARM_ARCH__ form armv8/aarch64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: c2f6b6bd6929afb5f00d0600229d6726b2a84c74
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c2f6b6bd6929afb5f00d0600229d6726b2a84c74

Author: Don Mahurin 
Date:   Fri May  8 10:39:01 2015 -0700

lib/cobalt/arm64: add __LINUX_ARM_ARCH__ form armv8/aarch64

---

 lib/cobalt/arch/arm64/include/asm/xenomai/features.h |4 
 1 file changed, 4 insertions(+)

diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h 
b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
index 10bd0c7..0d6702b 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
@@ -47,6 +47,10 @@
 #define __LINUX_ARM_ARCH__ 7
 #endif /* armv7 */
 
+#if defined(__aarch64__)
+#define __LINUX_ARM_ARCH__ 8
+#endif /* armv8 */
+
 #ifndef __LINUX_ARM_ARCH__
 #error "Could not find current ARM architecture"
 #endif


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[Xenomai-git] Philippe Gerum : cobalt: bump ABI revision level

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e86324388a418a0358e9248776e1065f67b3276a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e86324388a418a0358e9248776e1065f67b3276a

Author: Philippe Gerum 
Date:   Thu Jul 30 14:20:45 2015 +0200

cobalt: bump ABI revision level

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
index 01a12d9..9f1d974 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
@@ -22,7 +22,7 @@
 #define _COBALT_ARM64_ASM_UAPI_FEATURES_H
 
 /* The ABI revision level we use on this arch. */
-#define XENOMAI_ABI_REV   16UL
+#define XENOMAI_ABI_REV   17UL
 
 #define XENOMAI_FEAT_DEP (__xn_feat_generic_mask)
 


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[Xenomai-git] Philippe Gerum : cobalt/arm64: disable callee-saved logic in fptest helpers

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 42b01261405a4fde9caf217e5e9cf39b2084c5c8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=42b01261405a4fde9caf217e5e9cf39b2084c5c8

Author: Philippe Gerum 
Date:   Thu Oct 22 14:45:05 2015 +0200

cobalt/arm64: disable callee-saved logic in fptest helpers

We don't want GCC to apply any callee-saved logic to fpsimd registers
in fp_regs_set() before fp_regs_check() can verify their contents, but
we still want GCC to know about the registers we have clobbered.

---

 .../arch/arm64/include/asm/xenomai/uapi/fptest.h   |  160 ++--
 testsuite/switchtest/switchtest.c  |   14 +-
 2 files changed, 92 insertions(+), 82 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
index 84607b7..7a2cb92 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -20,86 +20,86 @@
 
 #define __COBALT_HAVE_FPU  0x1
 
-static inline void fp_regs_set(int features, unsigned int val)
-{
-
-   unsigned long long e[32];
-   unsigned int i;
-
-   if (features & __COBALT_HAVE_FPU) {
-
-   for (i = 0; i < 32; i++)
-   e[i] = val;
-
-   __asm__ __volatile__("ldp d0, d1, [%0, #8 * 0] \n\
-   ldp   d2, d3, [%0, #8 * 
2] \n\
-   ldp d4, d5, [%0, #8 
* 4]\n\
-   ldp d6, d7, [%0, #8 
* 6]\n\
-   ldp d8, d9, [%0, #8 
* 8]\n\
-   ldp d10, d11, [%0, 
#8 * 10]\n\
-   ldp d12, d13, [%0, 
#8 * 12]\n\
-   ldp d14, d15, [%0, 
#8 * 14]\n\
-   ldp d16, d17, [%0, 
#8 * 16]\n\
-   ldp d18, d19, [%0, 
#8 * 18]\n\
-   ldp d20, d21, [%0, 
#8 * 20]\n\
-   ldp d22, d23, [%0, 
#8 * 22]\n\
-   ldp d24, d25, [%0, 
#8 * 24]\n\
-   ldp d26, d27, [%0, 
#8 * 26]\n\
-   ldp d28, d29, [%0, 
#8 * 28]\n\
-   ldp d30, d31, [%0, 
#8 * 30]"
-
-   : /* No outputs. */
-   : "r"([0])
- : "d0", "d1", "d2", "d3", "d4", "d5", "d6", 
"d7", "d8", "d9", "d10", "d11", "d12", "d13", "d14", "d15",
-   "d16", "d17", "d18", "d19", "d20", 
"d21", "d22", "d23", "d24", "d25", "d26", "d27", "d28", "d29", "d30", "d31", 
"memory"
-   );
-   }
-
-}
-
-static inline unsigned int fp_regs_check(int features, unsigned int val,
-int (*report)(const char *fmt, ...))
-{
-   unsigned int result = val;
-
-   unsigned int i;
-   unsigned long long e[32];
-
-   if (features & __COBALT_HAVE_FPU) {
-
-   __asm__ __volatile__("stp d0, d1, [%0, #8 * 0] \n\
-   stp   d2, d3, [%0, #8 * 
2] \n\
-   stp d4, d5, [%0, #8 
* 4]\n\
-   stp d6, d7, [%0, #8 
* 6]\n\
-   stp d8, d9, 
[%0, #8 * 8]\n\
-   stp d10, d11, [%0, 
#8 * 10]\n\
-   stp d12, d13, [%0, 
#8 * 12]\n\
-   stp d14, d15, [%0, 
#8 * 14]\n\
-   stp d16, d17, [%0, 
#8 * 16]\n\
-   stp d18, d19, [%0, 
#8 * 18]\n\
-   stp d20, d21, [%0, 
#8 * 20]\n\
-   stp d22, d23, [%0, 
#8 * 22]\n\
-   stp d24, d25, [%0, 
#8 * 24]\n\
-   stp d26, d27, [%0, 
#8 * 26]\n\
-   stp d28, d29, [%0, 
#8 * 28]\n\
-   stp d30, d31, [%0, 
#8 * 30]"
-
-   :  /* No 

[Xenomai-git] Philippe Gerum : cobalt/rtdm: device: allow switching device class back to default

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 118db7bca9151b12fd737ee40ff3485109336eaf
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=118db7bca9151b12fd737ee40ff3485109336eaf

Author: Philippe Gerum 
Date:   Wed Nov  9 12:48:27 2016 +0100

cobalt/rtdm: device: allow switching device class back to default

Passing NULL to rtdm_drv_set_sysclass() is now allowed, to switch a
driver back to creating devices into the default "rtdm" class.

---

 kernel/cobalt/rtdm/device.c |7 +--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/kernel/cobalt/rtdm/device.c b/kernel/cobalt/rtdm/device.c
index d0df7fa..b174c1b 100644
--- a/kernel/cobalt/rtdm/device.c
+++ b/kernel/cobalt/rtdm/device.c
@@ -575,7 +575,9 @@ EXPORT_SYMBOL_GPL(rtdm_dev_unregister);
  *
  * @param[in] drv Address of the RTDM driver descriptor.
  *
- * @param[in] cls Pointer to the kernel device class.
+ * @param[in] cls Pointer to the kernel device class. NULL is allowed
+ * to clear a previous setting, switching back to the default "rtdm"
+ * device class.
  *
  * @return 0 on success, otherwise:
  *
@@ -592,7 +594,8 @@ EXPORT_SYMBOL_GPL(rtdm_dev_unregister);
  */
 int rtdm_drv_set_sysclass(struct rtdm_driver *drv, struct class *cls)
 {
-   if (drv->profile_info.kdev_class || atomic_read(>refcount))
+   if ((cls && drv->profile_info.kdev_class) ||
+   atomic_read(>refcount))
return -EBUSY;
 
drv->profile_info.kdev_class = cls;


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[Xenomai-git] Philippe Gerum : cobalt/sched: detect preemptible switch support in pipeline

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 07ef92ce0e77ca4593f2f8f8ae3d28fc98146a46
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=07ef92ce0e77ca4593f2f8f8ae3d28fc98146a46

Author: Philippe Gerum 
Date:   Sat Nov 14 18:07:15 2015 +0100

cobalt/sched: detect preemptible switch support in pipeline

CONFIG_XENO_ARCH_UNLOCKED_SWITCH is merely an alias for
CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH, which is only meaningful to the
ARM architecture, now that PowerPC dropped such support.

Use the pipeline symbol directly to make the dependency explicit.

---

 include/cobalt/kernel/sched.h |8 
 kernel/cobalt/sched.c |   16 
 kernel/cobalt/thread.c|2 +-
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/include/cobalt/kernel/sched.h b/include/cobalt/kernel/sched.h
index fe1df7d..d5d93c2 100644
--- a/include/cobalt/kernel/sched.h
+++ b/include/cobalt/kernel/sched.h
@@ -93,7 +93,7 @@ struct xnsched {
struct xntimer rrbtimer;
/*!< Root thread control block. */
struct xnthread rootcb;
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
struct xnthread *last;
 #endif
 #ifdef CONFIG_XENO_ARCH_FPU
@@ -329,7 +329,7 @@ static inline int xnsched_primary_p(void)
return !xnsched_unblockable_p();
 }
 
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
 
 struct xnsched *xnsched_finish_unlocked_switch(struct xnsched *sched);
 
@@ -341,7 +341,7 @@ int xnsched_maybe_resched_after_unlocked_switch(struct 
xnsched *sched)
return sched->status & XNRESCHED;
 }
 
-#else /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#else /* !CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH */
 
 static inline struct xnsched *
 xnsched_finish_unlocked_switch(struct xnsched *sched)
@@ -358,7 +358,7 @@ xnsched_maybe_resched_after_unlocked_switch(struct xnsched 
*sched)
return 0;
 }
 
-#endif /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#endif /* !CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH */
 
 #ifdef CONFIG_XENO_OPT_WATCHDOG
 static inline void xnsched_reset_watchdog(struct xnsched *sched)
diff --git a/kernel/cobalt/sched.c b/kernel/cobalt/sched.c
index 09960ac..b0d65d3 100644
--- a/kernel/cobalt/sched.c
+++ b/kernel/cobalt/sched.c
@@ -293,7 +293,7 @@ struct xnthread *xnsched_pick_next(struct xnsched *sched)
 #endif /* CONFIG_XENO_OPT_SCHED_CLASSES */
 }
 
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
 
 struct xnsched *xnsched_finish_unlocked_switch(struct xnsched *sched)
 {
@@ -319,7 +319,7 @@ struct xnsched *xnsched_finish_unlocked_switch(struct 
xnsched *sched)
return sched;
 }
 
-#endif /* CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#endif /* CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH */
 
 void xnsched_lock(void)
 {
@@ -494,16 +494,16 @@ void xnsched_migrate(struct xnthread *thread, struct 
xnsched *sched)
xnsched_set_resched(thread->sched);
migrate_thread(thread, sched);
 
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
/*
 * Mark the thread in flight, xnsched_finish_unlocked_switch()
 * will put the thread on the remote runqueue.
 */
xnthread_set_state(thread, XNMIGRATE);
-#else /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#else
/* Move thread to the remote runnable queue. */
xnsched_putback(thread);
-#endif /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#endif
 }
 
 /*
@@ -709,11 +709,11 @@ struct xnthread *xnsched_rt_pick(struct xnsched *sched)
 static inline void switch_context(struct xnsched *sched,
  struct xnthread *prev, struct xnthread *next)
 {
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
sched->last = prev;
sched->status |= XNINSW;
xnlock_clear_irqon();
-#endif /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#endif
 
xnarch_switch_to(prev, next);
 }
@@ -788,7 +788,7 @@ static inline void enter_root(struct xnthread *root)
 {
struct xnarchtcb *rootcb __maybe_unused = xnthread_archtcb(root);
 
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
if (rootcb->core.mm == NULL)
set_ti_thread_flag(rootcb->core.tip, TIF_MMSWITCH_INT);
 #endif
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index e0c488e..76dfbce 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -407,7 +407,7 @@ EXPORT_SYMBOL_GPL(xnthread_prepare_wait);
 static inline int moving_target(struct xnsched *sched, struct xnthread *thread)
 {
int ret = 0;
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
/*
 * When deleting a thread in the course of a context switch or
 * in flight to another CPU with nklock unlocked on a distant


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[Xenomai-git] Philippe Gerum : cobalt: bump ABI revision level

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 8e8540aebb23c270452c2448af1e696ff17e56bb
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8e8540aebb23c270452c2448af1e696ff17e56bb

Author: Philippe Gerum 
Date:   Thu Jul 30 14:20:45 2015 +0200

cobalt: bump ABI revision level

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
index 85faa59..3bea0ef 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
@@ -22,7 +22,7 @@
 #define _COBALT_ARM_ASM_UAPI_FEATURES_H
 
 /* The ABI revision level we use on this arch. */
-#define XENOMAI_ABI_REV   15UL
+#define XENOMAI_ABI_REV   16UL
 
 #define XENOMAI_FEAT_DEP (__xn_feat_generic_mask)
 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: remove code for unrelated arm architecture

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 431c8a2cffec5af6132a116c028cac0a8dbef4c7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=431c8a2cffec5af6132a116c028cac0a8dbef4c7

Author: Dmitriy Cherkasov 
Date:   Thu May  7 13:56:22 2015 -0700

cobalt/arm64: remove code for unrelated arm architecture

---

 .../arch/arm64/include/asm/xenomai/machine.h   |   33 
 .../arch/arm64/include/asm/xenomai/uapi/arith.h|4 +--
 2 files changed, 2 insertions(+), 35 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index d6e965f..cf07a3f 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -32,53 +32,20 @@
 #include 
 #include 
 #include 
-#include 
 #include 
 #include 
 #include 
 #include 
-#include 
 #include 
 
 #define xnarch_cache_aliasing() cache_is_vivt()
 
-#if __LINUX_ARM_ARCH__ < 5
-static inline __attribute_const__ unsigned long ffnz(unsigned long x)
-{
-   int r = 0;
-
-   if (!x)
-   return 0;
-   if (!(x & 0x)) {
-   x >>= 16;
-   r += 16;
-   }
-   if (!(x & 0xff)) {
-   x >>= 8;
-   r += 8;
-   }
-   if (!(x & 0xf)) {
-   x >>= 4;
-   r += 4;
-   }
-   if (!(x & 3)) {
-   x >>= 2;
-   r += 2;
-   }
-   if (!(x & 1)) {
-   x >>= 1;
-   r += 1;
-   }
-   return r;
-}
-#else
 static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
 {
int __r;
__asm__("clz\t%0, %1" : "=r" (__r) : "r"(ul & (-ul)) : "cc");
return 31 - __r;
 }
-#endif
 
 #include 
 
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
index cf897b4..165cd9d 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
@@ -20,7 +20,7 @@
 
 #include 
 
-#if __LINUX_ARM_ARCH__ >= 4 && (!defined(CONFIG_THUMB2_KERNEL) || 
!defined(CONFIG_FTRACE))
+#if !defined(CONFIG_FTRACE)
 static inline __attribute__((__const__)) unsigned long long
 mach_arm_nodiv_ullimd(const unsigned long long op,
   const unsigned long long frac,
@@ -49,7 +49,7 @@ mach_arm_nodiv_llimd(const long long op,
 
 #include 
 
-#if __LINUX_ARM_ARCH__ >= 4 && (!defined(CONFIG_THUMB2_KERNEL) || 
!defined(CONFIG_FTRACE))
+#if !defined(CONFIG_FTRACE)
 #define mach_arm_nodiv_ullimd_str  \
"umull %[tl], %[rl], %[opl], %[fracl]\n\t"  \
"umull %[rm], %[rh], %[oph], %[frach]\n\t"  \


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: features.h: disable XNARCH_HAVE_LLMULSHFT, XNARCH_HAVE_NODIV_LLIMD for armv8/aarch64, as arm64 does not have these

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9e576ec9b932284955ecb8b7f357094e3047a69b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9e576ec9b932284955ecb8b7f357094e3047a69b

Author: Dmitriy Cherkasov 
Date:   Thu May  7 16:40:07 2015 -0700

cobalt/arm64: features.h: disable XNARCH_HAVE_LLMULSHFT, 
XNARCH_HAVE_NODIV_LLIMD for armv8/aarch64, as arm64 does not have these

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |2 ++
 1 file changed, 2 insertions(+)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
index fe50182..85faa59 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
@@ -28,8 +28,10 @@
 
 #define XENOMAI_FEAT_MAN (__xn_feat_generic_man_mask)
 
+#ifndef __aarch64__
 #define XNARCH_HAVE_LLMULSHFT1
 #define XNARCH_HAVE_NODIV_LLIMD  1
+#endif
 
 struct cobalt_featinfo_archdep { /* no arch-specific feature */ };
 


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[Xenomai-git] Philippe Gerum : cobalt/timer: consider clock event affinity when pinning timers

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b9642fc43473d91d11a16baee1ce0b1aaa1ec1f1
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b9642fc43473d91d11a16baee1ce0b1aaa1ec1f1

Author: Philippe Gerum 
Date:   Mon Nov 14 11:49:09 2016 +0100

cobalt/timer: consider clock event affinity when pinning timers

Pinning a timer to the same CPU than the caller is affine to must take
into account the affinity of the clock device backing the timer.

When an affinity mismatch is detected by xntimer_set_sched(), the
timer affinity is left unchanged, which will certainly cause
additional overhead due to the requirement of waking up a thread on a
remote CPU from the timer's handler, but will also keep the situation
sane.

---

 include/cobalt/kernel/timer.h |7 ++-
 kernel/cobalt/timer.c |   17 +
 2 files changed, 19 insertions(+), 5 deletions(-)

diff --git a/include/cobalt/kernel/timer.h b/include/cobalt/kernel/timer.h
index 6cb2bb3..700392e 100644
--- a/include/cobalt/kernel/timer.h
+++ b/include/cobalt/kernel/timer.h
@@ -546,11 +546,8 @@ static inline void xntimer_release_ipi(void) { }
 
 #endif /* CONFIG_SMP */
 
-static inline void xntimer_set_sched(struct xntimer *timer,
-struct xnsched *sched)
-{
-   xntimer_migrate(timer, sched);
-}
+bool xntimer_set_sched(struct xntimer *timer,
+  struct xnsched *sched);
 
 char *xntimer_format_time(xnticks_t ns,
  char *buf, size_t bufsz);
diff --git a/kernel/cobalt/timer.c b/kernel/cobalt/timer.c
index dd78c38..6263f5b 100644
--- a/kernel/cobalt/timer.c
+++ b/kernel/cobalt/timer.c
@@ -541,6 +541,23 @@ void __xntimer_migrate(struct xntimer *timer, struct 
xnsched *sched)
 }
 EXPORT_SYMBOL_GPL(__xntimer_migrate);
 
+bool xntimer_set_sched(struct xntimer *timer,
+  struct xnsched *sched)
+{
+   /*
+* We may deny the request if the target CPU does not receive
+* any event from the clock device backing the timer.
+*/
+   if (cpumask_test_cpu(xnsched_cpu(sched),
+_clock(timer)->affinity)) {
+   xntimer_migrate(timer, sched);
+   return true;
+   }
+
+   return false;
+}
+EXPORT_SYMBOL_GPL(xntimer_set_sched);
+
 int xntimer_setup_ipi(void)
 {
return ipipe_request_irq(_realtime_domain,


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: machine.h: Add 64-bit ffnz implementation. This fixes crash when running xddp-echo.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f5f53815a182590c74d42c91a524759337227cb6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f5f53815a182590c74d42c91a524759337227cb6

Author: Dmitriy Cherkasov 
Date:   Mon Jun 15 17:10:37 2015 -0700

cobalt/arm64: machine.h: Add 64-bit ffnz implementation. This fixes crash when 
running xddp-echo.

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h |4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index e078564..417a7b0 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -43,9 +43,7 @@
 
 static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
 {
-   int __r;
-   __asm__("clz\t%0, %1" : "=r" (__r) : "r"(ul & (-ul)) : "cc");
-   return 31 - __r;
+   return __builtin_ffsl(ul) - 1;
 }
 
 #include 


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[Xenomai-git] Philippe Gerum : cobalt/arch: fixup READMEs

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 2a63f12989bf60c23b573d76a44d00ceef00764d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2a63f12989bf60c23b573d76a44d00ceef00764d

Author: Philippe Gerum 
Date:   Mon Nov  2 15:41:31 2015 +0100

cobalt/arch: fixup READMEs

---

 kernel/cobalt/arch/arm/patches/README  |   21 -
 kernel/cobalt/arch/arm64/patches/README|   15 +--
 kernel/cobalt/arch/blackfin/patches/README |   23 +--
 kernel/cobalt/arch/powerpc/patches/README  |   23 +--
 kernel/cobalt/arch/x86/patches/README  |   21 -
 5 files changed, 43 insertions(+), 60 deletions(-)

diff --git a/kernel/cobalt/arch/arm/patches/README 
b/kernel/cobalt/arch/arm/patches/README
index dcc6407..d637872 100644
--- a/kernel/cobalt/arch/arm/patches/README
+++ b/kernel/cobalt/arch/arm/patches/README
@@ -1,23 +1,18 @@
 -- arch/arm/patches
 
-Xenomai needs special kernel support to deliver fast and deterministic
+Cobalt needs special kernel support to deliver fast and deterministic
 response time to external interrupts, and also to provide real-time
 services highly integrated with the standard Linux kernel.
 
 This support is provided by the interrupt pipeline (aka I-pipe) in the
 form of a kernel patch you have to apply against a vanilla kernel
-tree, before you attempt to compile the Xenomai codebase against the
-latter kernel.
+source tree as published by kernel.org.
 
-Apply one of the patches found into this directory against the
-corresponding kernel release. You may want to have a look at the
-README.*INSTALL guides at the top of the Xenomai tree for more
-information.
+You may want to have a look at
+http://xenomai.org/installing-xenomai-3-x/ for detailed information
+about installing Xenomai.
 
-This directory only contains the most recent patches for ARM
-platforms; you may find the complete collection of I-pipe patches at
-the following locations (see note):
+This directory only contains the most recent patches for ARM platforms
+at the time of the release; you may find the complete collection of
+I-pipe patches issued for this architecture at the following location:
 http://xenomai.org/downloads/ipipe/v3.x/arm/
-
-NOTE:
-Xenomai 3.x requires the latest IPIPE core series (API revision >= 2).
diff --git a/kernel/cobalt/arch/arm64/patches/README 
b/kernel/cobalt/arch/arm64/patches/README
index fd85e06..e39758e 100644
--- a/kernel/cobalt/arch/arm64/patches/README
+++ b/kernel/cobalt/arch/arm64/patches/README
@@ -1,16 +1,19 @@
 -- arch/arm64/patches
 
-Xenomai needs special kernel support to deliver fast and deterministic
+Cobalt needs special kernel support to deliver fast and deterministic
 response time to external interrupts, and also to provide real-time
 services highly integrated with the standard Linux kernel.
 
 This support is provided by the interrupt pipeline (aka I-pipe) in the
 form of a kernel patch you have to apply against a vanilla kernel
-tree, before you attempt to compile the Xenomai codebase against the
-latter kernel.
+source tree as published by kernel.org.
 
-The Xenomai arm64 port is work in progress. The I-pipe support for
-this architecture is exclusively available from this development tree
-at the moment:
+You may want to have a look at
+http://xenomai.org/installing-xenomai-3-x/ for detailed information
+about installing Xenomai.
+
+The Cobalt/arm64 port is work in progress. The I-pipe support for this
+architecture is exclusively available from this development tree at
+the moment:
 
 git://git.xenomai.org/ipipe.git, branch devel/ipipe-3.18-linaro-arm64.
diff --git a/kernel/cobalt/arch/blackfin/patches/README 
b/kernel/cobalt/arch/blackfin/patches/README
index 3b92e89..92d6dc4 100644
--- a/kernel/cobalt/arch/blackfin/patches/README
+++ b/kernel/cobalt/arch/blackfin/patches/README
@@ -1,23 +1,18 @@
 -- arch/blackfin/patches
 
-Xenomai needs special kernel support to deliver fast and deterministic
+Cobalt needs special kernel support to deliver fast and deterministic
 response time to external interrupts, and also to provide real-time
 services highly integrated with the standard Linux kernel.
 
 This support is provided by the interrupt pipeline (aka I-pipe) in the
 form of a kernel patch you have to apply against a vanilla kernel
-tree, before you attempt to compile the Xenomai codebase against the
-latter kernel.
+source tree as published by kernel.org.
 
-Apply one of the patches found into this directory against the
-corresponding kernel release. You may want to have a look at the
-README.*INSTALL guides at the top of the Xenomai tree for more
-information.
+You may want to have a look at
+http://xenomai.org/installing-xenomai-3-x/ for detailed information
+about installing Xenomai.
 
-This directory only contains the most recent patches for blackfin
-platforms; you may find the complete collection of I-pipe patches at
-the following locations (see note):

[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: thread: use kernel switch_to

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 0f4a42f32131ae724170adc496aa2f1fd622fed3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0f4a42f32131ae724170adc496aa2f1fd622fed3

Author: Dmitriy Cherkasov 
Date:   Fri May 15 23:26:18 2015 -0700

cobalt/arm64: thread: use kernel switch_to

---

 kernel/cobalt/arch/arm64/Makefile |2 +-
 kernel/cobalt/arch/arm64/switch.S |  167 -
 kernel/cobalt/arch/arm64/thread.c |5 +-
 3 files changed, 2 insertions(+), 172 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/Makefile 
b/kernel/cobalt/arch/arm64/Makefile
index a135f99..af0a0e8 100644
--- a/kernel/cobalt/arch/arm64/Makefile
+++ b/kernel/cobalt/arch/arm64/Makefile
@@ -1,5 +1,5 @@
 obj-$(CONFIG_XENOMAI) += xenomai.o
 
-xenomai-y := machine.o mayday.o thread.o switch.o syscall.o
+xenomai-y := machine.o mayday.o thread.o syscall.o
 
 ccflags-y := -Iarch/arm64/xenomai/include -Iinclude/xenomai
diff --git a/kernel/cobalt/arch/arm64/switch.S 
b/kernel/cobalt/arch/arm64/switch.S
deleted file mode 100644
index 505fd5a..000
--- a/kernel/cobalt/arch/arm64/switch.S
+++ /dev/null
@@ -1,167 +0,0 @@
-/*
- * Copyright (C) 2005 Stelian Pop.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, Inc., 675 Mass Ave, Cambridge MA 02139,
- * USA; either version 2 of the License, or (at your option) any later
- * version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- */
-
-#include 
-#include 
-#include 
-#include 
-#include 
-#ifdef CONFIG_VFP
-#include 
-#endif
-
-   .macro fpu_switch tmp
-#ifdef CONFIG_VFP
-#if __LINUX_ARM_ARCH__ <= 6
-#ifdef CONFIG_JUMP_LABEL
-9998:  nop
-   .pushsection __jump_table, "aw"
-   .word   9998b, f, __xeno_vfp_key
-   .popsection
-#else
-   ldr \tmp, =elf_hwcap
-   ldr \tmp, [\tmp]
-   tst \tmp, #HWCAP_VFP
-   beq f
-#endif
-#endif
-   @ Always disable VFP so we can lazily save/restore the old
-   @ state. This occurs in the context of the previous thread.
-   VFPFMRX \tmp, FPEXC
-   bic \tmp, \tmp, #FPEXC_EN
-   VFPFMXR FPEXC, \tmp
-#if __LINUX_ARM_ARCH__ <= 6
-:
-#endif
-#endif
-   .endm
-
-   .text
-
-#if defined(CONFIG_VFP) && defined(CONFIG_XENO_ARCH_FPU)
-/* Copied from vfp_save_state in arch/arm/vfp/vfphw.S
- * r0 = pointer to union vfp_state, r1 = fpexc
- */
-ENTRY(__asm_vfp_save)
-   VFPFSTMIA   r0, r2  @ save the working registers
-   VFPFMRX r2, FPSCR   @ current status
-   tst r1, #FPEXC_EX   @ is there additional state to save?
-   beq 1f
-   VFPFMRX r3, FPINST  @ FPINST (only if FPEXC.EX is set)
-   tst r1, #FPEXC_FP2V @ is there an FPINST2 to read?
-   beq 1f
-   VFPFMRX r12, FPINST2@ FPINST2 if needed (and present)
-1:
-   stmia   r0, {r1, r2, r3, r12}   @ save FPEXC, FPSCR, FPINST, 
FPINST2
-   mov pc, lr
-ENDPROC(__asm_vfp_save)
-
-/* Copied from no_old_VFP_process in arch/arm/vfp/vfphw.S
- * r0 = pointer to union vfp_state
- * r1 = current cpu
- */
-ENTRY(__asm_vfp_load)
-#ifdef CONFIG_SMP
-   str r1, [r0, #VFP_CPU]
-#endif
-   VFPFLDMIA   r0, r2  @ reload the working registers while
-   @ FPEXC is in a safe state
-   ldmia   r0, {r1, r2, r3, r12}   @ load FPEXC, FPSCR, FPINST, 
FPINST2
-   tst r1, #FPEXC_EX   @ is there additional state to restore?
-   beq 1f
-   VFPFMXR FPINST, r3  @ restore FPINST (only if FPEXC.EX is 
set)
-   tst r1, #FPEXC_FP2V @ is there an FPINST2 to write?
-   beq 1f
-   VFPFMXR FPINST2, r12@ FPINST2 if needed (and present)
-1:
-   VFPFMXR FPSCR, r2   @ restore status
-   mov pc, lr
-ENDPROC(__asm_vfp_load)
-#endif
-
-#if LINUX_VERSION_CODE < KERNEL_VERSION(3, 11, 0)
-   .macro load_tls base, tp, tpuser
-   ldr \tp, [\base, #TI_TP_VALUE]
-   .endm
-
-   .macro switch_tls base, tp, tpuser, tmp1, tmp2
-   set_tls \tp, \tmp1, \tmp2
-   .endm
-#else
-   .macro load_tls base, tp, tpuser
-   ldr \tp, [\base, #TI_TP_VALUE]
-   ldr \tpuser, [\base, #TI_TP_VALUE + 4]
-   .endm
-#endif
-
-/*
-/*
- * Switch context routine.
- *
- * Registers 

[Xenomai-git] Don Mahurin : lib/cobalt/arm64: replace tsc counter

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 8ac061879fe0b38f563d736abd6b0bbf34e0cf76
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8ac061879fe0b38f563d736abd6b0bbf34e0cf76

Author: Don Mahurin 
Date:   Wed May 13 09:36:25 2015 -0700

lib/cobalt/arm64: replace tsc counter

---

 lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h |   19 +++
 1 file changed, 19 insertions(+)

diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h 
b/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
index 594c4ad..a055427 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
@@ -27,6 +27,8 @@
 
 #include 
 #include 
+#include 
+#include 
 
 /*
  * Putting kuser_tsc_get and kinfo.counter in the same struct results
@@ -39,10 +41,27 @@ struct __xn_full_tscinfo {
 };
 extern struct __xn_full_tscinfo __xn_tscinfo;
 
+static inline uint64_t get_counter(void)
+{
+uint64_t cval;
+
+#ifdef __aarch64__
+   asm volatile("isb; mrs %0, cntvct_el0; isb; " : "=r" (cval) :: 
"memory");
+#else
+   asm volatile("isb; mrrc p15, 1, %Q0, %R0, c14; isb" : "=r" (cval) :: 
"memory");
+#endif
+
+   return cval;
+}
+
 static inline __attribute__((always_inline))
 unsigned long long cobalt_read_tsc(void)
 {
+#ifndef __aarch64__
return __xn_tscinfo.kuser_tsc_get(__xn_tscinfo.kinfo.counter);
+#else
+   return get_counter();
+#endif
 }
 
 #endif /* !_LIB_COBALT_ARM_TSC_H */


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[Xenomai-git] Philippe Gerum : testsuite/smokey: add basic FPU stress test

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6cfca2ba8df5f1885da7e19d3e6b34f2159db578
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6cfca2ba8df5f1885da7e19d3e6b34f2159db578

Author: Philippe Gerum 
Date:   Sat Oct 24 15:52:48 2015 +0200

testsuite/smokey: add basic FPU stress test

---

 configure.ac |6 +-
 testsuite/smokey/Makefile.am |1 +
 testsuite/smokey/fpu-stress/Makefile.am  |8 +++
 testsuite/smokey/fpu-stress/fpu-stress.c |   95 ++
 4 files changed, 105 insertions(+), 5 deletions(-)

diff --git a/configure.ac b/configure.ac
index 5b2a074..bbaf4a7 100644
--- a/configure.ac
+++ b/configure.ac
@@ -905,11 +905,7 @@ AC_CONFIG_FILES([ \
testsuite/smokey/timerfd/Makefile \
testsuite/smokey/tsc/Makefile \
testsuite/smokey/leaks/Makefile \
-   testsuite/smokey/net_udp/Makefile \
-   testsuite/smokey/net_packet_dgram/Makefile \
-   testsuite/smokey/net_packet_raw/Makefile \
-   testsuite/smokey/net_common/Makefile \
-   testsuite/smokey/cpu-affinity/Makefile \
+   testsuite/smokey/fpu-stress/Makefile \
testsuite/clocktest/Makefile \
testsuite/xeno-test/Makefile \
utils/Makefile \
diff --git a/testsuite/smokey/Makefile.am b/testsuite/smokey/Makefile.am
index b0904d2..e253d6f 100644
--- a/testsuite/smokey/Makefile.am
+++ b/testsuite/smokey/Makefile.am
@@ -9,6 +9,7 @@ COBALT_SUBDIRS =\
arith   \
bufp\
cpu-affinity\
+   fpu-stress  \
iddp\
leaks   \
net_packet_dgram\
diff --git a/testsuite/smokey/fpu-stress/Makefile.am 
b/testsuite/smokey/fpu-stress/Makefile.am
new file mode 100644
index 000..c90d0dd
--- /dev/null
+++ b/testsuite/smokey/fpu-stress/Makefile.am
@@ -0,0 +1,8 @@
+
+noinst_LIBRARIES = libfpu-stress.a
+
+libfpu_stress_a_SOURCES = fpu-stress.c
+
+libfpu_stress_a_CPPFLAGS = \
+   @XENO_USER_CFLAGS@  \
+   -I$(top_srcdir)/include
diff --git a/testsuite/smokey/fpu-stress/fpu-stress.c 
b/testsuite/smokey/fpu-stress/fpu-stress.c
new file mode 100644
index 000..59383c9
--- /dev/null
+++ b/testsuite/smokey/fpu-stress/fpu-stress.c
@@ -0,0 +1,95 @@
+#include 
+#include 
+#include 
+#include 
+#include 
+
+smokey_test_plugin(fpu_stress,
+  SMOKEY_ARGLIST(
+  SMOKEY_INT(duration),
+  ),
+  "Check FPU context sanity during real-time stress\n"
+  "\tduration=\thow long to run the stress loop 
(0=indefinitely)"
+);
+
+static int fp_features;
+
+static void *stress_loop(void *arg)
+{
+   struct timespec rqt = {
+   .tv_sec = 0,
+   .tv_nsec = CONFIG_XENO_DEFAULT_PERIOD
+   };
+   
+   for (;;) {
+   fp_regs_set(fp_features, 0xf1f5f1f5);
+   clock_nanosleep(CLOCK_MONOTONIC, 0, , NULL);
+   }
+
+   return NULL;
+}
+
+static int report_error(const char *fmt, ...)
+{
+   va_list ap;
+
+   va_start(ap, fmt);
+   smokey_vatrace(fmt, ap);
+   va_end(ap);
+
+   return 0;
+}
+
+static int run_fpu_stress(struct smokey_test *t,
+ int argc, char *const argv[])
+{
+   unsigned sleep_ms, n, rounds, duration = 3;
+   struct sched_param param;
+   pthread_attr_t attr;
+   struct timespec rqt;
+   pthread_t tid;
+   int ret;
+
+   fp_features = cobalt_fp_detect();
+   if (fp_features == 0)
+   return -ENOSYS;
+
+   smokey_parse_args(t, argc, argv);
+   
+   if (SMOKEY_ARG_ISSET(fpu_stress, duration))
+   duration = SMOKEY_ARG_INT(fpu_stress, duration);
+   
+   rqt.tv_sec = 0;
+   rqt.tv_nsec = CONFIG_XENO_DEFAULT_PERIOD;
+   sleep_ms = 100UL / rqt.tv_nsec; /* wake up each ms */
+   rounds = duration * 1000UL / sleep_ms;
+
+   pthread_attr_init();
+   pthread_attr_setdetachstate(, PTHREAD_CREATE_JOINABLE);
+   pthread_attr_setinheritsched(, PTHREAD_EXPLICIT_SCHED);
+   pthread_attr_setschedpolicy(, SCHED_FIFO);
+   param.sched_priority = 10;
+   pthread_attr_setschedparam(, );
+   ret = pthread_create(, , stress_loop, NULL);
+   if (ret)
+   return -ret;
+
+   if (rounds)
+   smokey_trace("running for %d seconds", duration);
+   else
+   smokey_trace("running indefinitely...");
+
+   for (n = 0; rounds == 0 || n < rounds; n++) {
+   fp_regs_set(fp_features, n);
+   __STD(clock_nanosleep(CLOCK_MONOTONIC, 0, , NULL));
+   if (fp_regs_check(fp_features, n, report_error) != n) {
+   ret = -EINVAL;
+   break;
+   }
+   }
+
+   pthread_cancel(tid);
+   pthread_join(tid, NULL);
+
+   return ret;
+}


___
Xenomai-git 

[Xenomai-git] Jan Kiszka : testsuite/smokey: Add test case for setschedparam & Co,

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 3010b7ccae8fc2ebbfa915f4ed85897e29033546
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3010b7ccae8fc2ebbfa915f4ed85897e29033546

Author: Jan Kiszka 
Date:   Mon Feb 29 16:54:26 2016 +0100

testsuite/smokey: Add test case for setschedparam & Co,

This performs basic checks on the correct execution of scheduling
parameter changes from primary mode.

Signed-off-by: Jan Kiszka 

---

 configure.ac  |1 +
 testsuite/smokey/Makefile.am  |1 +
 testsuite/smokey/setsched/Makefile.am |9 +++
 testsuite/smokey/setsched/setsched.c  |  137 +
 4 files changed, 148 insertions(+)

diff --git a/configure.ac b/configure.ac
index 38a1749..789a6d7 100644
--- a/configure.ac
+++ b/configure.ac
@@ -882,6 +882,7 @@ AC_CONFIG_FILES([ \
testsuite/smokey/arith/Makefile \
testsuite/smokey/sched-quota/Makefile \
testsuite/smokey/sched-tp/Makefile \
+   testsuite/smokey/setsched/Makefile \
testsuite/smokey/rtdm/Makefile \
testsuite/smokey/vdso-access/Makefile \
testsuite/smokey/posix-cond/Makefile \
diff --git a/testsuite/smokey/Makefile.am b/testsuite/smokey/Makefile.am
index 5ade58b..b0904d2 100644
--- a/testsuite/smokey/Makefile.am
+++ b/testsuite/smokey/Makefile.am
@@ -23,6 +23,7 @@ COBALT_SUBDIRS =  \
rtdm\
sched-quota \
sched-tp\
+   setsched\
sigdebug\
timerfd \
tsc \
diff --git a/testsuite/smokey/setsched/Makefile.am 
b/testsuite/smokey/setsched/Makefile.am
new file mode 100644
index 000..8c0a59b
--- /dev/null
+++ b/testsuite/smokey/setsched/Makefile.am
@@ -0,0 +1,9 @@
+
+noinst_LIBRARIES = libsetsched.a
+
+libsetsched_a_SOURCES = setsched.c
+
+libsetsched_a_CPPFLAGS =   \
+   @XENO_USER_CFLAGS@  \
+   -I$(top_srcdir) \
+   -I$(top_srcdir)/include
diff --git a/testsuite/smokey/setsched/setsched.c 
b/testsuite/smokey/setsched/setsched.c
new file mode 100644
index 000..359f190
--- /dev/null
+++ b/testsuite/smokey/setsched/setsched.c
@@ -0,0 +1,137 @@
+/*
+ * Scheduler live-adjustment test.
+ *
+ * Copyright (c) Siemens AG 2016
+ *
+ * Authors:
+ *  Jan Kiszka 
+ *
+ * Released under the terms of GPLv2.
+ */
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+smokey_test_plugin(setsched, SMOKEY_NOARGS,
+   "Validate correct application of scheduling parameters to running threads."
+);
+
+static pid_t thread_pid;
+
+static void __check_linux_schedparams(int expected_policy, int expected_prio,
+ int line)
+{
+   struct sched_param linux_param;
+   int linux_policy;
+
+   linux_policy = syscall(SYS_sched_getscheduler, thread_pid);
+   if (smokey_check_status(syscall(SYS_sched_getparam, thread_pid,
+   _param)))
+   pthread_exit((void *)(long)-EINVAL);
+
+   if (!smokey_assert(linux_policy == expected_policy) ||
+   !smokey_assert(linux_param.sched_priority == expected_prio)) {
+   smokey_warning("called from line %d", line);
+   pthread_exit((void *)(long)-EINVAL);
+   }
+}
+
+#define check_linux_schedparams(pol, prio) \
+   __check_linux_schedparams(pol, prio, __LINE__)
+
+static void __check_rt_schedparams(int expected_policy, int expected_prio,
+  int line)
+{
+   struct sched_param cobalt_param;
+   int cobalt_policy;
+
+   if (smokey_check_status(pthread_getschedparam(pthread_self(),
+ _policy,
+ _param)))
+   pthread_exit((void *)(long)-EINVAL);
+
+   if (!smokey_assert(cobalt_policy == expected_policy) ||
+   !smokey_assert(cobalt_param.sched_priority == expected_prio)) {
+   smokey_warning("called from line %d", line);
+   pthread_exit((void *)(long)-EINVAL);
+   }
+}
+
+#define check_rt_schedparams(pol, prio)\
+   __check_rt_schedparams(pol, prio, __LINE__)
+
+static void *thread_body(void *arg)
+{
+   struct cobalt_threadstat stats;
+   struct sched_param param;
+   unsigned long long msw;
+
+   thread_pid = syscall(SYS_gettid);
+
+   check_rt_schedparams(SCHED_FIFO, 1);
+   check_linux_schedparams(SCHED_FIFO, 1);
+
+   if (smokey_check_status(cobalt_thread_stat(thread_pid, )))
+   pthread_exit((void *)(long)-EINVAL);
+   msw = stats.msw;
+
+   param.sched_priority = 2;
+   if (smokey_check_status(pthread_setschedparam(pthread_self(),
+ SCHED_FIFO, )))
+   pthread_exit((void *)(long)-EINVAL);
+
+   

[Xenomai-git] Philippe Gerum : cobalt/arm64: assume TLS is properly supported

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: fb7bbfd70095dac501fa6327a51b389e4711b3ed
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fb7bbfd70095dac501fa6327a51b389e4711b3ed

Author: Philippe Gerum 
Date:   Thu Sep 17 02:19:57 2015 +0200

cobalt/arm64: assume TLS is properly supported

---

 lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h |9 +++--
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h 
b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 1d5806c..8e7ad61 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -18,8 +18,8 @@
  * License along with this library; if not, write to the Free Software
  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.
  */
-#ifndef _LIB_COBALT_ARM_SYSCALL_H
-#define _LIB_COBALT_ARM_SYSCALL_H
+#ifndef _LIB_COBALT_ARM64_SYSCALL_H
+#define _LIB_COBALT_ARM64_SYSCALL_H
 
 #include 
 #include 
@@ -29,9 +29,6 @@
  * Some of the following macros have been adapted from Linux's
  * implementation of the syscall mechanism in :
  */
-#if defined(HAVE_TLS) && __GNUC__ == 4 && __GNUC_MINOR__ >= 3
-#error TLS support (__thread) is broken with GCC >= 4.3, use --disable-tls 
when configuring
-#endif
 
 #define LOADARGS_0(syscode, dummy...)  \
__a0 = (unsigned long) (syscode)
@@ -143,4 +140,4 @@
 #define XENOMAI_SYSBIND(breq)  \
XENOMAI_DO_SYSCALL(1,sc_cobalt_bind,breq)
 
-#endif /* !_LIB_COBALT_ARM_SYSCALL_H */
+#endif /* !_LIB_COBALT_ARM64_SYSCALL_H */


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: FPU code cleanup

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: c11a2e2f21650bb21c04e8fbfd100ed1c6167d95
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c11a2e2f21650bb21c04e8fbfd100ed1c6167d95

Author: Dmitriy Cherkasov 
Date:   Fri Oct  2 12:54:37 2015 -0700

cobalt/arm64: FPU code cleanup

---

 kernel/cobalt/arch/arm64/thread.c |   89 -
 1 file changed, 39 insertions(+), 50 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/thread.c 
b/kernel/cobalt/arch/arm64/thread.c
index db369be..35dbd72 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -36,31 +36,44 @@
 
 #if defined(CONFIG_XENO_ARCH_FPU)
 
-static void enable_fpsimd(void) {
-   __asm__ __volatile__("mrs x1, cpacr_el1\n\
-   orr x1, x1, #(0x3 << 20)\n\
-   msr cpacr_el1, x1\n\
-   isb" : : : "x1", "memory", "cc");
+#define FPSIMD_EN (0x3 << 20)
+
+static inline unsigned long get_cpacr(void)
+{
+   unsigned long result;
+   __asm__ __volatile__("mrs %0, cpacr_el1": "=r"(result));
+   return result;
+}
+
+static inline void set_cpacr(long val)
+{
+   __asm__ __volatile__ (
+   "msr cpacr_el1, %0\n\t"
+   "isb"
+   : /* */ : "r"(val));
 }
 
-static void disable_fpsimd(void) {
-   __asm__ __volatile__("mrs x1, cpacr_el1\n\
-   and x1, x1, #~(0x3 << 20)\n\
-   msr cpacr_el1, x1\n\
-   isb" : : : "x1", "memory", "cc");
+static void enable_fpsimd(void)
+{
+   unsigned long cpacr = get_cpacr();
+   cpacr |= FPSIMD_EN;
+   set_cpacr(cpacr);
+}
+
+static void disable_fpsimd(void)
+{
+   unsigned long cpacr = get_cpacr();
+   cpacr &= ~FPSIMD_EN;
+   set_cpacr(cpacr);
 }
 
 int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
 {
-   /* check if this is an FPU access trap to be handled by Xenomai */
-   if(d->exception == IPIPE_TRAP_FPU_ACC){
-   return 1;
-   }
-   /* FPU already enabled, propagate fault to kernel */
-   return 0;
+   return (d->exception == IPIPE_TRAP_FPU_ACC);
 }
 
-static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *tcb) {
+static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *tcb)
+{
return &(tcb->core.tsp->fpsimd_state);
 }
 
@@ -68,7 +81,6 @@ void xnarch_leave_root(struct xnthread *root)
 {
struct xnarchtcb *rootcb = xnthread_archtcb(root);
rootcb->fpup = get_fpu_owner(rootcb);
-   disable_fpsimd();
 }
 
 void xnarch_save_fpu(struct xnthread *thread)
@@ -83,29 +95,15 @@ void xnarch_switch_fpu(struct xnthread *from, struct 
xnthread *to)
struct fpsimd_state *const from_fpup = from ? from->tcb.fpup : NULL;
struct fpsimd_state *const to_fpup = to->tcb.fpup;
 
-   /*
-* This only gets called if XNFPU flag is set, or if migrating to Linux.
-* In both cases, this means turn on FPU and switch.
-*/
enable_fpsimd();
 
-   if (xnthread_test_state(to, XNROOT) == 0) {
-   if (from_fpup == to_fpup)
-   return;
-
-   if (from_fpup)
-   fpsimd_save_state(from_fpup);
-
-   fpsimd_load_state(to_fpup);
-   }
-   else {
-   /* Going to Linux. */
-   if (from_fpup)
-   fpsimd_save_state(from_fpup);
+   if (from_fpup == to_fpup)
+   return;
 
-   fpsimd_load_state(to_fpup);
-   }
+   if (from_fpup)
+   fpsimd_save_state(from_fpup);
 
+   fpsimd_load_state(to_fpup);
 }
 
 int xnarch_handle_fpu_fault(struct xnthread *from, 
@@ -113,9 +111,9 @@ int xnarch_handle_fpu_fault(struct xnthread *from,
 {
spl_t s;
 
+   /* FPU should already be enabled for XNFPU tasks. */
if (xnthread_test_state(to, XNFPU))
-   /* FPU is already enabled, probably an exception */
-  return 0;
+   BUG();
 
xnlock_get_irqsave(, s);
xnthread_set_state(to, XNFPU);
@@ -124,20 +122,13 @@ int xnarch_handle_fpu_fault(struct xnthread *from,
xnarch_switch_fpu(from, to);
 
return 1;
-
 }
 
 void xnarch_init_shadow_tcb(struct xnthread *thread)
 {
-   spl_t s;
struct xnarchtcb *tcb = xnthread_archtcb(thread);
-
tcb->fpup = &(tcb->core.host_task->thread.fpsimd_state);
-
-   xnlock_get_irqsave(, s);
xnthread_clear_state(thread, XNFPU);
-   xnlock_put_irqrestore(, s);
-
 }
 #endif /* CONFIG_XENO_ARCH_FPU */
 
@@ -210,16 +201,14 @@ void xnarch_switch_to(struct xnthread *out, struct 
xnthread *in)
xnarch_tls_thread_switch(in_tcb->core.tip->task);
xnarch_contextidr_thread_switch(in_tcb->core.tip->task);
 
-   /* check if we need to switch FPU on return to Linux */
-   if (xnthread_test_state(in, XNROOT) == 1)
-   

[Xenomai-git] Don Mahurin : cobalt/arm64: Use empty mayday implementation for arm64.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7d1f72341af275ca6853150fb7489d7ae828db0d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7d1f72341af275ca6853150fb7489d7ae828db0d

Author: Don Mahurin 
Date:   Mon Sep 14 12:52:27 2015 -0700

cobalt/arm64: Use empty mayday implementation for arm64.

The arm mayday implementation was not correct for arm64. Replace with empty 
implementation.
Handle mayday in the linux domain, using xnthread_relax. This change is 
essentially the same as the general change proposed in the 'Mayday issues 
again' discussion (Jan Kiszka, Jun 21), though only applied to arch/arm64.

---

 kernel/cobalt/arch/arm64/mayday.c |   86 +
 1 file changed, 1 insertion(+), 85 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/mayday.c 
b/kernel/cobalt/arch/arm64/mayday.c
index bc51ad6..ca1151c 100644
--- a/kernel/cobalt/arch/arm64/mayday.c
+++ b/kernel/cobalt/arch/arm64/mayday.c
@@ -28,72 +28,6 @@ static void *mayday;
 
 static inline void setup_mayday(void *page)
 {
-   /*
-* We want this code to appear at the top of the MAYDAY page:
-*
-* ifdef ARM_EABI
-*
-* e59f000c ldr r0, [pc, #12]
-* e59f700c ldr r7, [pc, #12]
-* ef00 svc 0x
-* e3a0 mov r0, #0
-* e580 str r0, [r0]; 
-* 105e .word   0x105e  ; sc_cobalt_mayday | 
__COBALT_SYSCALL_BIT
-* 000f0042 .word   0x000f0042
-*
-* elif ARM_OABI
-*
-* e59f0008 ldr r0, [pc, #8]
-* ef9f0042 swi 0x009f0042
-* e3a0 mov r0, #0
-* e580 str r0, [r0]; 
-* 105e .word   0x105e  ; sc_cobalt_mayday | 
__COBALT_SYSCALL_BIT
-*
-* endif
-*
-* 32bit instruction words will be laid out by the compiler as
-* the target endianness requires.
-*
-* We don't mess with CPSR here, so no need to save/restore it
-* in handle/fixup code.
-*/
-#ifdef __ARM_EABI__
-   static const struct {
-   u32 ldr_r0;
-   u32 ldr_r7;
-   u32 swi_0;
-   u32 mov_r0;
-   u32 str_r0;
-   u32 cst_r0;
-   u32 cst_r7;
-   } code = {
-   .ldr_r0 = 0xe59f000c,
-   .ldr_r7 = 0xe59f700c,
-   .swi_0 = 0xef00,
-   .mov_r0 = 0xe3a0,
-   .str_r0 = 0xe580,
-   .cst_r0 =  __xn_syscode(sc_cobalt_mayday),
-   .cst_r7 = 0x000f0042,
-   };
-#else /* OABI */
-   static const struct {
-   u32 ldr_r0;
-   u32 swi_syscall;
-   u32 mov_r0;
-   u32 str_r0;
-   u32 cst_r0;
-   } code = {
-   .ldr_r0 = 0xe59f0008,
-   .swi_syscall = 0xef9f0042,
-   .mov_r0 = 0xe3a0,
-   .str_r0 = 0xe580,
-   .cst_r0 =  __xn_syscode(sc_cobalt_mayday),
-   };
-#endif /* OABI */
-
-   memcpy(page, , sizeof(code));
-
-   flush_dcache_page(vmalloc_to_page(page));
 }
 
 int xnarch_init_mayday(void)
@@ -120,27 +54,9 @@ void *xnarch_get_mayday_page(void)
 void xnarch_handle_mayday(struct xnarchtcb *tcb, struct pt_regs *regs,
  unsigned long tramp)
 {
-   tcb->mayday.pc = regs->pc;
-   tcb->mayday.r0 = regs->regs[0];
-#ifdef __ARM_EABI__
-   tcb->mayday.r7 = regs->regs[7];
-#endif
-#ifdef CONFIG_ARM_THUMB
-   /* The code on the mayday page must be run in ARM mode */
-   tcb->mayday.psr = regs->cpsr;
-   regs->cpsr &= ~PSR_T_BIT;
-#endif
-   regs->pc = tramp;
+   xnthread_relax(0, 0);
 }
 
 void xnarch_fixup_mayday(struct xnarchtcb *tcb, struct pt_regs *regs)
 {
-   regs->pc = tcb->mayday.pc;
-   regs->regs[0] = tcb->mayday.r0;
-#ifdef __ARM_EABI__
-   regs->regs[7] = tcb->mayday.r7;
-#endif
-#ifdef CONFIG_ARM_THUMB
-   regs->cpsr = tcb->mayday.psr;
-#endif
 }


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[Xenomai-git] Romain Naour : bfin: remove inline keyword

[git repository hosting]

Module: xenomai-2.6
Branch: master
Commit: 917dcebb26ec492f276cdc3b55867aa90e01fa12
URL:
http://git.xenomai.org/?p=xenomai-2.6.git;a=commit;h=917dcebb26ec492f276cdc3b55867aa90e01fa12

Author: Romain Naour 
Date:   Sat Nov  5 19:09:00 2016 +0100

bfin: remove inline keyword

Xenomai user space tools fail to build for bfin target since it's
provide it's own pthread_atfork(), shm_open() and shm_unlink()
definition using the inline keyword and weak attribute.

With gcc 5+ the weak attribute is discarded by the inline keyword,
so each symbol are global and are redefined several time while
linking.

Fixes:
http://autobuild.buildroot.net/results/0c2/0c2e5eb4edd4f9427f61d3c9b67a12a7a0e24140

Signed-off-by: Romain Naour 

---

 include/asm-blackfin/syscall.h |   10 +-
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/include/asm-blackfin/syscall.h b/include/asm-blackfin/syscall.h
index 9eda8b9..b5728b5 100644
--- a/include/asm-blackfin/syscall.h
+++ b/include/asm-blackfin/syscall.h
@@ -132,9 +132,9 @@ static inline int __xn_interrupted_p(struct pt_regs *regs)
 #define XENOMAI_SKINCALL5(id,op,a1,a2,a3,a4,a5) 
XENOMAI_DO_SYSCALL(5,id,op,a1,a2,a3,a4,a5)
 
 /* uClibc does not provide pthread_atfork() for this arch; provide it
-   here. Note: let the compiler decides whether it wants to actually
-   inline this routine, i.e. do not force always_inline. */
-inline __attribute__((weak)) int pthread_atfork(void (*prepare)(void),
+   here.
+*/
+__attribute__((weak)) int pthread_atfork(void (*prepare)(void),
void (*parent)(void),
void (*child)(void))
 {
@@ -143,7 +143,7 @@ inline __attribute__((weak)) int pthread_atfork(void 
(*prepare)(void),
 
 #include 
 
-inline __attribute__((weak)) int shm_open(const char *name,
+__attribute__((weak)) int shm_open(const char *name,
  int oflag,
  mode_t mode)
 {
@@ -151,7 +151,7 @@ inline __attribute__((weak)) int shm_open(const char *name,
return -1;
 }
 
-inline __attribute__((weak)) int shm_unlink(const char *name)
+__attribute__((weak)) int shm_unlink(const char *name)
 {
errno = ENOSYS;
return -1;


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