[Xenomai-git] Philippe Gerum : cobalt/wrappers: add wrapper for reinit_completion()
Module: xenomai-3
Branch: next
Commit: a3de9ee010d572979ed64b2f5b316c6f68b9e0b3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a3de9ee010d572979ed64b2f5b316c6f68b9e0b3
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 a9424b9..8ad4108 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -50,7 +50,6 @@
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
#include
-#include
#undef alloc_netdev
#define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -63,6 +62,7 @@ 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 : drivers/gpio: do not require IRQEN for reading a pin
Module: xenomai-3
Branch: next
Commit: 15da7eeb46c9ff1a1bced18f4839cedafe05e907
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=15da7eeb46c9ff1a1bced18f4839cedafe05e907
Author: Philippe Gerum
Date: Fri Feb 10 16:13:59 2017 +0100
drivers/gpio: do not require IRQEN for reading a pin
Reading a pin should only require to have set its direction to input
mode using the DIR_IN request, nothing beyond that. IRQEN still
implicitly allows for reading a pin though.
---
kernel/drivers/gpio/gpio-core.c | 29 ++---
1 file changed, 26 insertions(+), 3 deletions(-)
diff --git a/kernel/drivers/gpio/gpio-core.c b/kernel/drivers/gpio/gpio-core.c
index c310a96..3acc555 100644
--- a/kernel/drivers/gpio/gpio-core.c
+++ b/kernel/drivers/gpio/gpio-core.c
@@ -34,7 +34,9 @@ struct rtdm_gpio_pin {
};
struct rtdm_gpio_chan {
- bool requested;
+ int requested : 1,
+ has_direction : 1,
+ is_output : 1 ;
};
static int gpio_pin_interrupt(rtdm_irq_t *irqh)
@@ -77,6 +79,7 @@ static int request_gpio_irq(unsigned int gpio, struct
rtdm_gpio_pin *pin,
goto fail;
}
+ chan->has_direction = true;
gpio_export(gpio, true);
rtdm_event_clear(&pin->event);
@@ -133,9 +136,15 @@ static int gpio_pin_ioctl_nrt(struct rtdm_fd *fd,
if (ret)
return ret;
ret = gpio_direction_output(gpio, val);
+ if (ret == 0) {
+ chan->has_direction = true;
+ chan->is_output = true;
+ }
break;
case GPIO_RTIOC_DIR_IN:
ret = gpio_direction_input(gpio);
+ if (ret == 0)
+ chan->has_direction = true;
break;
case GPIO_RTIOC_IRQEN:
if (chan->requested)
@@ -148,6 +157,7 @@ static int gpio_pin_ioctl_nrt(struct rtdm_fd *fd,
break;
case GPIO_RTIOC_IRQDIS:
release_gpio_irq(gpio, pin, chan);
+ chan->requested = false;
break;
default:
return -EINVAL;
@@ -167,9 +177,12 @@ static ssize_t gpio_pin_read_rt(struct rtdm_fd *fd,
if (len < sizeof(value))
return -EINVAL;
- if (!chan->requested)
+ if (!chan->has_direction)
return -EAGAIN;
+ if (chan->is_output)
+ return -EINVAL;
+
pin = container_of(dev, struct rtdm_gpio_pin, dev);
if (!(fd->oflags & O_NONBLOCK)) {
@@ -187,6 +200,7 @@ static ssize_t gpio_pin_read_rt(struct rtdm_fd *fd,
static ssize_t gpio_pin_write_rt(struct rtdm_fd *fd,
const void __user *buf, size_t len)
{
+ struct rtdm_gpio_chan *chan = rtdm_fd_to_private(fd);
struct rtdm_device *dev = rtdm_fd_device(fd);
struct rtdm_gpio_pin *pin;
int value, ret;
@@ -194,6 +208,12 @@ static ssize_t gpio_pin_write_rt(struct rtdm_fd *fd,
if (len < sizeof(value))
return -EINVAL;
+ if (!chan->has_direction)
+ return -EAGAIN;
+
+ if (!chan->is_output)
+ return -EINVAL;
+
ret = rtdm_safe_copy_from_user(fd, &value, buf, sizeof(value));
if (ret)
return ret;
@@ -211,9 +231,12 @@ static int gpio_pin_select(struct rtdm_fd *fd, struct
xnselector *selector,
struct rtdm_device *dev = rtdm_fd_device(fd);
struct rtdm_gpio_pin *pin;
- if (!chan->requested)
+ if (!chan->has_direction)
return -EAGAIN;
+ if (chan->is_output)
+ return -EINVAL;
+
pin = container_of(dev, struct rtdm_gpio_pin, dev);
return rtdm_event_select(&pin->event, selector, type, index);
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[Xenomai-git] Philippe Gerum : cobalt/arm64: fix inclusion guards
Module: xenomai-3
Branch: next
Commit: d4734d3fbb01ff6fc6d47d488b7600bd174844d2
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d4734d3fbb01ff6fc6d47d488b7600bd174844d2
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 _COBALT_ARM64_ASM_SYSCALL32_H
+#define _COBALT_ARM64_ASM_SYSCALL32_H
#includ
[Xenomai-git] Philippe Gerum : cobalt/kernel: fixup for v3.19+ (user_msghdr)
Module: xenomai-3 Branch: next Commit: e6faa9b7276b8d361c77fa397e9348ee46486f56 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e6faa9b7276b8d361c77fa397e9348ee46486f56 Author: Philippe Gerum Date: Mon Nov 2 20:45:10 2015 +0100 cobalt/kernel: fixup for v3.19+ (user_msghdr) --- kernel/cobalt/include/asm-generic/xenomai/wrappers.h | 12 ++-- 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h index 0f9ab14..8ad4108 100644 --- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h +++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h @@ -38,6 +38,12 @@ * symbol, so that obsolete wrappers can be spotted. */ +#if LINUX_VERSION_CODE < KERNEL_VERSION(4,0,0) +#define cobalt_get_restart_block(p)(&task_thread_info(p)->restart_block) +#else +#define cobalt_get_restart_block(p)(&(p)->restart_block) +#endif + #if LINUX_VERSION_CODE < KERNEL_VERSION(3,19,0) #define user_msghdr msghdr #endif @@ -133,10 +139,4 @@ devm_hwmon_device_register_with_groups(struct device *dev, const char *name, #error "Xenomai/cobalt requires Linux kernel 3.10 or above" #endif /* < 3.10 */ -#if LINUX_VERSION_CODE < KERNEL_VERSION(4,0,0) -#define cobalt_get_restart_block(p)(&task_thread_info(p)->restart_block) -#else -#define cobalt_get_restart_block(p)(&(p)->restart_block) -#endif - #endif /* _COBALT_ASM_GENERIC_WRAPPERS_H */ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: assume TLS is properly supported
Module: xenomai-3 Branch: next Commit: c6ab2b99347baaaca2c86f45e2a0030c68a7e0c2 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c6ab2b99347baaaca2c86f45e2a0030c68a7e0c2 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 */ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet raw packets test
Module: xenomai-3 Branch: next Commit: 2cd016efde5706bd126c0ee0586c3d76f798548c URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2cd016efde5706bd126c0ee0586c3d76f798548c 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 0408f4d..1a738a5 100644 --- a/configure.ac +++ b/configure.ac @@ -918,6 +918,7 @@ 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 \ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm: track current mm unconditionally
Module: xenomai-3 Branch: next Commit: d334ad3bd24cbdeef20fadfb74c2a187e09658d1 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d334ad3bd24cbdeef20fadfb74c2a187e09658d1 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[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
Module: xenomai-3
Branch: next
Commit: 5e766baf97e327a224626ca655f122d088310233
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5e766baf97e327a224626ca655f122d088310233
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/powerpc: remove dependency on obsolete CONFIG_MATH_EMU
Module: xenomai-3 Branch: next Commit: c6c86a99910b0e5cafbc908184eaf0a894852766 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c6c86a99910b0e5cafbc908184eaf0a894852766 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: use regular context switching code
Module: xenomai-3
Branch: next
Commit: 1a2988cba085e4e81c6227575c73d04ea6c85715
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1a2988cba085e4e81c6227575c73d04ea6c85715
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 = &out->tcb, *in_tcb = &in->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)
___
Xenomai-git mailing list
Xenomai-git@xenomai.org
https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: disable callee-saved logic in fptest helpers
Module: xenomai-3
Branch: next
Commit: 42b6c7203463dd96f521c2af4a02e351a54d67aa
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=42b6c7203463dd96f521c2af4a02e351a54d67aa
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"(&e[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 outputs. */
-
[Xenomai-git] Philippe Gerum : cobalt/powerpc: drop support for unlocked context switch
Module: xenomai-3 Branch: next Commit: 5c0b1409efcd79e621ff3c0aa310e380ccc53ccc URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5c0b1409efcd79e621ff3c0aa310e380ccc53ccc 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : doc: build
Module: xenomai-3 Branch: next Commit: 3ddc6a7cd335b250a876c8bb6ff41167ae47ea1b URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3ddc6a7cd335b250a876c8bb6ff41167ae47ea1b Author: Philippe Gerum Date: Wed Feb 15 16:12:13 2017 +0100 doc: build --- doc/asciidoc/README.INSTALL.adoc | 42 +- doc/prebuilt/html/MIGRATION/index.html |6 +- doc/prebuilt/html/README.APPLICATIONS/index.html |2 +- doc/prebuilt/html/README.INSTALL/index.html| 30 +- .../html/TROUBLESHOOTING.COBALT/index.html |2 +- .../html/TROUBLESHOOTING.MERCURY/index.html|2 +- doc/prebuilt/html/man1/xeno-config/index.html |2 +- .../html/xeno3prm/16550A__io_8h_source.html| 268 +- .../html/xeno3prm/16550A__pci_8h_source.html | 344 +- .../html/xeno3prm/16550A__pnp_8h_source.html | 445 +-- doc/prebuilt/html/xeno3prm/8255_8h_source.html | 118 +- doc/prebuilt/html/xeno3prm/af__inet_8h_source.html | 94 +- .../html/xeno3prm/alchemy_2compat_8h_source.html | 81 +- doc/prebuilt/html/xeno3prm/analogy_2driver_8h.html | 56 +- .../xeno3prm/analogy_2driver_8h__dep__incl.md5 |2 +- .../xeno3prm/analogy_2driver_8h__dep__incl.png | Bin 19941 -> 19950 bytes .../html/xeno3prm/analogy_2driver_8h__incl.md5 |2 +- .../html/xeno3prm/analogy_2driver_8h__incl.png | Bin 289554 -> 289423 bytes .../html/xeno3prm/analogy_2driver_8h_source.html | 101 +- doc/prebuilt/html/xeno3prm/analogy_8h.html | 60 +- .../html/xeno3prm/analogy_8h__dep__incl.md5|2 +- .../html/xeno3prm/analogy_8h__dep__incl.png| Bin 12868 -> 12865 bytes doc/prebuilt/html/xeno3prm/analogy_8h__incl.md5|2 +- doc/prebuilt/html/xeno3prm/analogy_8h__incl.png| Bin 69464 -> 69401 bytes doc/prebuilt/html/xeno3prm/analogy_8h_source.html | 266 +- doc/prebuilt/html/xeno3prm/annotated.html | 91 +- doc/prebuilt/html/xeno3prm/annotated.js| 54 - doc/prebuilt/html/xeno3prm/annotated_dup.js|1 + doc/prebuilt/html/xeno3prm/apc_8h_source.html | 108 +- doc/prebuilt/html/xeno3prm/api-tags.html | 48 +- ..._2include_2asm_2xenomai_2machine_8h_source.html | 149 - ...include_2asm_2xenomai_2syscall32_8h_source.html | 133 - ..._2include_2asm_2xenomai_2machine_8h_source.html | 122 +- ...include_2asm_2xenomai_2syscall32_8h_source.html | 82 +- ..._2include_2asm_2xenomai_2machine_8h_source.html | 76 +- ...include_2asm_2xenomai_2syscall32_8h_source.html | 82 +- ..._2include_2asm_2xenomai_2machine_8h_source.html | 129 - ...include_2asm_2xenomai_2syscall32_8h_source.html | 133 - ..._2include_2asm_2xenomai_2machine_8h_source.html | 81 +- ...include_2asm_2xenomai_2syscall32_8h_source.html | 82 +- ..._2include_2asm_2xenomai_2machine_8h_source.html | 129 - ...include_2asm_2xenomai_2syscall32_8h_source.html | 133 - ..._2include_2asm_2xenomai_2machine_8h_source.html | 84 +- ...include_2asm_2xenomai_2syscall32_8h_source.html | 245 +- ...4_2include_2asm_2xenomai_2fptest_8h_source.html | 156 - ...lude_2asm_2xenomai_2uapi_2fptest_8h_source.html | 214 -- ...m_2include_2asm_2xenomai_2fptest_8h_source.html | 110 +- ...lude_2asm_2xenomai_2uapi_2fptest_8h_source.html | 119 +- doc/prebuilt/html/xeno3prm/arp_8h_source.html | 112 +- doc/prebuilt/html/xeno3prm/arrowdown.png | Bin 246 -> 0 bytes doc/prebuilt/html/xeno3prm/arrowright.png | Bin 229 -> 0 bytes doc/prebuilt/html/xeno3prm/assert_8h_source.html | 132 +- doc/prebuilt/html/xeno3prm/async_8c.html | 56 +- doc/prebuilt/html/xeno3prm/async_8c__incl.md5 |2 +- doc/prebuilt/html/xeno3prm/async_8c__incl.png | Bin 139291 -> 139169 bytes doc/prebuilt/html/xeno3prm/atomic_8h_source.html | 130 +- doc/prebuilt/html/xeno3prm/bheap_8h_source.html| 375 --- ...n_2include_2asm_2xenomai_2fptest_8h_source.html | 102 +- ...lude_2asm_2xenomai_2uapi_2fptest_8h_source.html | 89 +- .../boilerplate_2ancillaries_8h_source.html| 188 +- .../html/xeno3prm/boilerplate_2list_8h_source.html | 94 +- .../html/xeno3prm/boilerplate_2lock_8h_source.html | 273 +- .../html/xeno3prm/boilerplate_2time_8h_source.html | 156 +- .../xeno3prm/boilerplate_2tunables_8h_source.html | 184 +- doc/prebuilt/html/xeno3prm/bufd_8h_source.html | 144 +- .../html/xeno3prm/bufp-label_8c-example.html | 271 +- .../html/xeno3prm/bufp-readwrite_8c-example.html | 236 +- doc/prebuilt/html/xeno3prm/c1e_8h_source.html | 81 +- doc/prebuilt/html/xeno3prm/calibration_8c.html | 56 +- .../html/xeno3prm/calibration_8c__incl.md5 |2 +- .../html/xeno3prm/calibration_8c__incl.png | Bin 99227 -> 99118 bytes doc/prebuilt/html/xeno3prm/can-rtt_8c-example.html | 458 +-- doc/prebuilt/html/xeno3prm/channel__range_8h.html | 86 +- .../html/xeno3prm/channel__range_8h__dep__incl.md5 |2 +- .../html/xeno3p
[Xenomai-git] Philippe Gerum : testsuite/smokey: mutex: simplify, introduce PP tests
Module: xenomai-3
Branch: next
Commit: 78457656229b337075d6027147c77e86c58955df
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=78457656229b337075d6027147c77e86c58955df
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(&ts, NULL);
+ ts.tv_nsec = ms * 100;
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &ts, 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, &stat);
- 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);
- }
+ return stat.cprio;
}
-static void __check_current_mode(const char *file, int line,
-
[Xenomai-git] Philippe Gerum : cobalt/powerpc: drop obsolete config knob
Module: xenomai-3 Branch: next Commit: fca216b950d35f0f0b5f2ded8e5ccc95b7a7c393 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fca216b950d35f0f0b5f2ded8e5ccc95b7a7c393 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Don Mahurin : cobalt/arm64: fix build for mismatched printf type (%lx, u64) on arm64.
Module: xenomai-3
Branch: next
Commit: abdf16274680ecd2dcef9845bbd58691e548000d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=abdf16274680ecd2dcef9845bbd58691e548000d
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 2926d7e..8186a0f 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] Philippe Gerum : cobalt/thread: add schedparam lazy propagation
Module: xenomai-3
Branch: next
Commit: 9c657a9bf662a4bc3a706b516ffafff98dd99ac6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9c657a9bf662a4bc3a706b516ffafff98dd99ac6
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 37637f6..6f30fcd 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 2582949..0aeff28 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(&wakework, 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 carried out
+
[Xenomai-git] Don Mahurin : lib/cobalt/arm64: implement syscall for armv8/aarch64
Module: xenomai-3
Branch: next
Commit: f272b4d23310d500a8e182a5cc8a9319bd6a3bdb
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f272b4d23310d500a8e182a5cc8a9319bd6a3bdb
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] Jan Kiszka : smokey/posix-mutex: Fix test case /wrt mutex object reuse
Module: xenomai-3 Branch: next Commit: 82fc9c4a3e44f0b84b4112aac86d1bd03e5f44a4 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=82fc9c4a3e44f0b84b4112aac86d1bd03e5f44a4 Author: Jan Kiszka Date: Thu Feb 25 11:29:00 2016 +0100 smokey/posix-mutex: Fix test case /wrt mutex object reuse Mutex objects created on the stack must be properly destroyed after use. Otherwise, succeeding tests that use the same stack layout will consider them busy and refuse to recreate the mutexes. Signed-off-by: Jan Kiszka --- testsuite/smokey/posix-mutex/posix-mutex.c | 26 +- 1 file changed, 21 insertions(+), 5 deletions(-) diff --git a/testsuite/smokey/posix-mutex/posix-mutex.c b/testsuite/smokey/posix-mutex/posix-mutex.c index ae82fc1..151c2f3 100644 --- a/testsuite/smokey/posix-mutex/posix-mutex.c +++ b/testsuite/smokey/posix-mutex/posix-mutex.c @@ -623,7 +623,10 @@ static int protect_raise(void) if (!__Tassert(get_effective_prio() == THREAD_PRIO_MEDIUM)) return -EINVAL; - + + if (!__T(ret, pthread_mutex_destroy(&mutex))) + return ret; + return 0; } @@ -651,7 +654,10 @@ static int protect_lower(void) if (!__Tassert(get_effective_prio() == THREAD_PRIO_MEDIUM)) return -EINVAL; - + + if (!__T(ret, pthread_mutex_destroy(&mutex))) + return ret; + return 0; } @@ -699,7 +705,10 @@ static int protect_weak(void) if (!__T(ret, pthread_setschedparam(pthread_self(), old_policy, &old_param))) return ret; - + + if (!__T(ret, pthread_mutex_destroy(&mutex))) + return ret; + return 0; } @@ -745,7 +754,11 @@ static int protect_nesting_protect(void) if (!__Tassert(get_effective_prio() == THREAD_PRIO_MEDIUM)) return -EINVAL; - + + if (!__T(ret, pthread_mutex_destroy(&mutex_high)) || + !__T(ret, pthread_mutex_destroy(&mutex_very_high))) + return ret; + return 0; } @@ -782,7 +795,10 @@ static int protect_nesting_pi(void) /* PP boost just dropped: HIGH -> MEDIUM. */ if (!__Tassert(get_effective_prio() == THREAD_PRIO_MEDIUM)) return -EINVAL; - + + if (!__T(ret, pthread_mutex_destroy(&mutex_pp))) + return ret; + return 0; } ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/powerpc: track current mm unconditionally
Module: xenomai-3 Branch: next Commit: 420939d3778d2468aeb885ec274e62f89af46c49 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=420939d3778d2468aeb885ec274e62f89af46c49 Author: Philippe Gerum Date: Sat Nov 14 15:21:02 2015 +0100 cobalt/powerpc: track current mm unconditionally All pipelines Cobalt can work with (i.e. 3.10+) for the powerpc architecture do provide the mm tracking feature unconditionally, so there is no point in keeping any build switch for it. --- kernel/cobalt/arch/powerpc/Kconfig |4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/kernel/cobalt/arch/powerpc/Kconfig b/kernel/cobalt/arch/powerpc/Kconfig index 4d5e6db..40eae0b 100644 --- a/kernel/cobalt/arch/powerpc/Kconfig +++ b/kernel/cobalt/arch/powerpc/Kconfig @@ -1,12 +1,12 @@ source "kernel/xenomai/Kconfig" source "drivers/xenomai/Kconfig" -config IPIPE_WANT_ACTIVE_MM +config XENO_ARCH_MATH_EMU bool + default y if MATH_EMU || MATH_EMULATION config IPIPE_WANT_PREEMPTIBLE_SWITCH bool - select IPIPE_WANT_ACTIVE_MM default y if XENO_ARCH_UNLOCKED_SWITCH default n if !XENO_ARCH_UNLOCKED_SWITCH ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : net/drivers/e1000: work around UMR issue
Module: xenomai-3
Branch: next
Commit: 33b0e08d477d85f9d3a4bd628f400e50786cda50
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=33b0e08d477d85f9d3a4bd628f400e50786cda50
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/kernel: fixup for v3.19+ (trace_seq)
Module: xenomai-3
Branch: next
Commit: 91ff22b1e66c7c9b654194519394ab0b317d771d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=91ff22b1e66c7c9b654194519394ab0b317d771d
Author: Philippe Gerum
Date: Tue Nov 3 13:11:25 2015 +0100
cobalt/kernel: fixup for v3.19+ (trace_seq)
---
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 8ad4108..a9424b9 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -50,6 +50,7 @@
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
#include
+#include
#undef alloc_netdev
#define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -62,7 +63,6 @@ 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 : cobalt/arm64: fpu: drop obsolete xnarch_save_fpu()
Module: xenomai-3
Branch: next
Commit: f5d87ca42817415f45bcdf8930cff717757eb5ac
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f5d87ca42817415f45bcdf8930cff717757eb5ac
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] Philippe Gerum : cobalt/arm64: switch to regular system call convention
Module: xenomai-3 Branch: next Commit: 180d1db5fc7de411062afa71bfdcfea27ab9820b URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=180d1db5fc7de411062afa71bfdcfea27ab9820b 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 LOADARGS_1(syscode, arg1) \ - LOADARGS_0(syscode);
[Xenomai-git] Philippe Gerum : scripts/prepare-kernel.sh: drop lookup for default I-pipe patch
Module: xenomai-3 Branch: next Commit: e0093fcac3d570c5739164bc5e0ed23ba9ab339f URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e0093fcac3d570c5739164bc5e0ed23ba9ab339f Author: Philippe Gerum Date: Wed Feb 15 16:30:28 2017 +0100 scripts/prepare-kernel.sh: drop lookup for default I-pipe patch --- scripts/prepare-kernel.sh | 26 ++ 1 file changed, 6 insertions(+), 20 deletions(-) diff --git a/scripts/prepare-kernel.sh b/scripts/prepare-kernel.sh index 333d11c..398ebcb 100755 --- a/scripts/prepare-kernel.sh +++ b/scripts/prepare-kernel.sh @@ -317,31 +317,17 @@ fi if test -r $linux_tree/include/linux/ipipe.h; then if test x$verbose = x1; then -echo "I-pipe found - bypassing patch." + echo "I-pipe found - bypassing patch." fi else - if test x$ipipe_patch = x; then - # Pick ipipe-core-* patches based on the highest numbered - # sequence/release number. - default_ipipe_patch="`( ls $xenomai_root/kernel/cobalt/arch/$linux_arch/patches/ipipe-core-$linux_version*-$linux_arch-*|sort -r ) 2>/dev/null | head -n1`" - fi - if test x$default_ipipe_patch = x; then - if test x$verbose = x1; then - echo "$me: no default I-pipe patch found." >&2 - fi - default_ipipe_patch=/dev/null + if test x$verbose = x1; then + echo "$me: no I-pipe support found." >&2 fi while test x$ipipe_patch = x; do - if test x$usedefault = x; then - echo -n "I-pipe patch [default $default_ipipe_patch]: " - read ipipe_patch - fi - if test x$ipipe_patch = x; then - ipipe_patch=$default_ipipe_patch - fi - if test \! -r "$ipipe_patch" -o x$ipipe_patch = x/dev/null; then + echo -n "I-pipe patch: " + read ipipe_patch + if test \! -r "$ipipe_patch" -o x$ipipe_patch = x; then echo "$me: cannot read I-pipe patch from $ipipe_patch" >&2 - usedefault= ipipe_patch= fi done ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Don Mahurin : cobalt/arm64: Use empty mayday implementation for arm64.
Module: xenomai-3
Branch: next
Commit: ca3ecaf533ea237bf3507c15ef6287142c5dd58b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ca3ecaf533ea237bf3507c15ef6287142c5dd58b
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, &code, 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] Gilles Chanteperdrix : cobalt/arm64: attempt at fixing fpu switch
Module: xenomai-3
Branch: next
Commit: 752661710da82c8435f259a2c26281a2355d28f4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=752661710da82c8435f259a2c26281a2355d28f4
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 &rootcb->xnfpsimd_state;
+
+ return &curr->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(&nklock, s);
- xnthread_set_state(to, XNFPU);
- xnlock_put_irqrestore(&nklock, s);
-
- xnarch_switch_fpu(from, to);
-
- return 1;
+ to_fpup->cpu = ip
[Xenomai-git] Philippe Gerum : cobalt/arm64: add README for I-pipe support
Module: xenomai-3 Branch: next Commit: 6aa3ffcb78df9aa06c6046496bb442496c6373d3 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6aa3ffcb78df9aa06c6046496bb442496c6373d3 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. ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: Makefile: fix arch path
Module: xenomai-3 Branch: next Commit: d6fcc33964966fb614fe5ecc01b7312d2e806a75 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d6fcc33964966fb614fe5ecc01b7312d2e806a75 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : drivers/gpio: decouple GPIO_TRIGGER enumeration from IRQ_TYPEs
Module: xenomai-3
Branch: next
Commit: c3de626c97fd5422ee56a6c23ff9d0a0adb227a2
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c3de626c97fd5422ee56a6c23ff9d0a0adb227a2
Author: Philippe Gerum
Date: Sat Feb 11 12:36:12 2017 +0100
drivers/gpio: decouple GPIO_TRIGGER enumeration from IRQ_TYPEs
At this chance, fix a misconfiguration with GPIO_TRIGGER_EDGE_BOTH.
---
kernel/drivers/gpio/gpio-core.c | 29 ++---
1 file changed, 14 insertions(+), 15 deletions(-)
diff --git a/kernel/drivers/gpio/gpio-core.c b/kernel/drivers/gpio/gpio-core.c
index 3acc555..b8cb044 100644
--- a/kernel/drivers/gpio/gpio-core.c
+++ b/kernel/drivers/gpio/gpio-core.c
@@ -54,13 +54,7 @@ static int request_gpio_irq(unsigned int gpio, struct
rtdm_gpio_pin *pin,
struct rtdm_gpio_chan *chan,
int trigger)
{
- static const int trigger_flags[] = {
- IRQ_TYPE_EDGE_RISING,
- IRQ_TYPE_EDGE_FALLING,
- IRQ_TYPE_LEVEL_HIGH,
- IRQ_TYPE_LEVEL_LOW,
- };
- int irq_trigger, ret;
+ int ret, irq_trigger;
unsigned int irq;
if (trigger & ~GPIO_TRIGGER_MASK)
@@ -84,14 +78,19 @@ static int request_gpio_irq(unsigned int gpio, struct
rtdm_gpio_pin *pin,
rtdm_event_clear(&pin->event);
irq = gpio_to_irq(gpio);
- /*
-* Assumes GPIO_TRIGGER_xx values are forming a continuous
-* sequence of bits starting at bit #0.
-*/
- if (trigger) {
- irq_trigger = trigger_flags[ffs(trigger) - 1];
+
+ irq_trigger = 0;
+ if (trigger & GPIO_TRIGGER_EDGE_RISING)
+ irq_trigger |= IRQ_TYPE_EDGE_RISING;
+ if (trigger & GPIO_TRIGGER_EDGE_FALLING)
+ irq_trigger |= IRQ_TYPE_EDGE_FALLING;
+ if (trigger & GPIO_TRIGGER_LEVEL_HIGH)
+ irq_trigger |= IRQ_TYPE_LEVEL_HIGH;
+ if (trigger & GPIO_TRIGGER_LEVEL_LOW)
+ irq_trigger |= IRQ_TYPE_LEVEL_LOW;
+
+ if (irq_trigger)
irq_set_irq_type(irq, irq_trigger);
- }
ret = rtdm_irq_request(&pin->irqh, irq, gpio_pin_interrupt,
0, pin->name, pin);
@@ -101,7 +100,7 @@ static int request_gpio_irq(unsigned int gpio, struct
rtdm_gpio_pin *pin,
}
chan->requested = true;
-
+
rtdm_irq_enable(&pin->irqh);
return 0;
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[Xenomai-git] Philippe Gerum : lib/cobalt: add config switch to enable lazy setsched update mode
Module: xenomai-3
Branch: next
Commit: 7edaece2e39a16aa1e6e02d05279fb384bdaa214
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7edaece2e39a16aa1e6e02d05279fb384bdaa214
Author: Philippe Gerum
Date: Sun Mar 20 17:58:33 2016 +0100
lib/cobalt: add config switch to enable lazy setsched update mode
--enable-lazy-setsched should be given for enabling lazy propagation
of scheduling parameters upon calls to pthread_setschedparam*(),
sched_setscheduler(). Defaults to off.
---
configure.ac | 19 +++
lib/cobalt/internal.h | 12
lib/cobalt/sched.c|2 +-
lib/cobalt/thread.c |3 ++-
4 files changed, 34 insertions(+), 2 deletions(-)
diff --git a/configure.ac b/configure.ac
index 3595583..6ff8afb 100644
--- a/configure.ac
+++ b/configure.ac
@@ -291,6 +291,25 @@ if test x$workaround_condvar_pi = xy; then
fi
fi
+dnl Lazy schedparam propagation for Cobalt (default: off)
+
+unset lazy_setsched_update
+AC_MSG_CHECKING(whether to enable lazy scheduling parameter update)
+AC_ARG_ENABLE(lazy-setsched,
+ AS_HELP_STRING([--enable-lazy-setsched], [Enable lazy scheduling
parameter update]),
+ [case "$enableval" in
+ y | yes) lazy_setsched_update=y ;;
+ *) unset lazy_setsched_update ;;
+ esac])
+AC_MSG_RESULT(${lazy_setsched_update:-no})
+if test x$lazy_setsched_update = xy; then
+ if test x$rtcore_type = xcobalt; then
+ AC_DEFINE(CONFIG_XENO_LAZY_SETSCHED,1,[config])
+ else
+AC_MSG_WARN([No lazy scheduling parameter updates over Mercury -
ignoring])
+ fi
+fi
+
dnl Enable shared multi-processing (default: off)
use_pshared=
diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
index 2d9c0b9..c1bb5a2 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -32,6 +32,18 @@ static inline int cobalt_is_relaxed(void)
return cobalt_get_current_mode() & XNRELAX;
}
+#ifdef CONFIG_XENO_LAZY_SETSCHED
+static inline int cobalt_eager_setsched(void)
+{
+ return cobalt_is_relaxed();
+}
+#else
+static inline int cobalt_eager_setsched(void)
+{
+ return 1;
+}
+#endif
+
static inline
struct cobalt_mutex_state *mutex_get_state(struct cobalt_mutex_shadow *shadow)
{
diff --git a/lib/cobalt/sched.c b/lib/cobalt/sched.c
index 87b9235..94f3323 100644
--- a/lib/cobalt/sched.c
+++ b/lib/cobalt/sched.c
@@ -297,7 +297,7 @@ int sched_setscheduler_ex(pid_t pid,
/* See pthread_setschedparam_ex(). */
- if (cobalt_is_relaxed()) {
+ if (cobalt_eager_setsched()) {
std_policy = cobalt_xlate_schedparam(policy, param_ex,
&std_param);
ret = __STD(sched_setscheduler(pid, std_policy, &std_param));
if (ret)
diff --git a/lib/cobalt/thread.c b/lib/cobalt/thread.c
index 8b4568d..908516f 100644
--- a/lib/cobalt/thread.c
+++ b/lib/cobalt/thread.c
@@ -629,7 +629,8 @@ int pthread_setschedparam_ex(pthread_t thread,
* threads should refrain from mixing APIs for managing
* scheduling parameters, and only rely on libcobalt for this.
*/
- if (cobalt_is_relaxed()) { /* True if shadow not mapped yet. */
+ if (cobalt_eager_setsched()) {
+ /* True if disabled or shadow not mapped yet. */
std_policy = cobalt_xlate_schedparam(policy, param_ex,
&std_param);
ret = __STD(pthread_setschedparam(thread, std_policy,
&std_param));
if (ret)
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: fix fpu exception names
Module: xenomai-3
Branch: next
Commit: 04ca8db1e59daad6593a5203f3e36a17e6d4a2b3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=04ca8db1e59daad6593a5203f3e36a17e6d4a2b3
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 : cobalt/synch: add support for priority ceiling protocol
Module: xenomai-3
Branch: next
Commit: b436abc0f6060937e41e780cec9ee3f0adfaaeb3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b436abc0f6060937e41e780cec9ee3f0adfaaeb3
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(&thread->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 check the eff
[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet testsuite
Module: xenomai-3 Branch: next Commit: 37b35d83eb90d9ba8f5abf44d7e8e0fd749c3ff2 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=37b35d83eb90d9ba8f5abf44d7e8e0fd749c3ff2 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 9925d54..0408f4d 100644 --- a/configure.ac +++ b/configure.ac @@ -916,6 +916,9 @@ 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 \ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: thread: move all TCB initializers out of line
Module: xenomai-3
Branch: next
Commit: 92db3064a24cc01e0aa74831b6596a0df1327265
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=92db3064a24cc01e0aa74831b6596a0df1327265
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 = &tcb->core.host_task->thread.fpsimd_state;
}
+void xnarch_init_root_tcb(struct xnthread *thread)
+{
+ struct xnarchtcb *tcb = &thread->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] Jorge Ramirez-Ortiz : utils/analogy: fix error check [SIGSEGV]
Module: xenomai-3
Branch: next
Commit: 1a01a9f8c733d8202e8ae8793c4d48c72cb5c687
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1a01a9f8c733d8202e8ae8793c4d48c72cb5c687
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 : boilerplate/tlsf: work around excessive meta-data overhead for main pool
Module: xenomai-3 Branch: next Commit: 00e3d016519efc54cb2b2b33437814ff6725cf33 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=00e3d016519efc54cb2b2b33437814ff6725cf33 Author: Philippe Gerum Date: Fri Jan 27 10:16:11 2017 +0100 boilerplate/tlsf: work around excessive meta-data overhead for main pool e0e6ae76 caused a regression with failure to initialize the main pool with TLSF, uncovering an issue in the allocator code which fails to account properly for the overhead induced by the meta-data. Overhead footprints and management is a recurring problem with TLSF, particularly on 64bit platforms; for this reason there is a plan for dropping TLSF entirely from the Xenomai code base. Until this happens, the current change works around the issue to keep things going. --- lib/boilerplate/tlsf/tlsf.c |1 + 1 file changed, 1 insertion(+) diff --git a/lib/boilerplate/tlsf/tlsf.c b/lib/boilerplate/tlsf/tlsf.c index 8ee9405..2dddc1e 100644 --- a/lib/boilerplate/tlsf/tlsf.c +++ b/lib/boilerplate/tlsf/tlsf.c @@ -626,6 +626,7 @@ void *tlsf_malloc(size_t size) area_size = sizeof(tlsf_t) + BHDR_OVERHEAD * 8; /* Just a safety constant */ area_size += size; + area_size += (1 << (ms_bit(area_size) - MAX_LOG2_SLI)) - 1; area_size = (area_size > DEFAULT_AREA_SIZE) ? area_size : DEFAULT_AREA_SIZE; area = get_new_area(&area_size); if (area == ((void *) ~0)) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: thread: use kernel switch_to
Module: xenomai-3
Branch: next
Commit: 1ec57fcc8d4438383df5436a21c80b9c35f5abe3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1ec57fcc8d4438383df5436a21c80b9c35f5abe3
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 according to the ARM procedure
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: xenomai/syscall.h: update syscall register
Module: xenomai-3 Branch: next Commit: 3daa5d5e643db5f345845b83ae3c724d3df38dea URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3daa5d5e643db5f345845b83ae3c724d3df38dea 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) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: update register struct usage for arm64
Module: xenomai-3
Branch: next
Commit: a8055ab20aa27449adc9c912b01f458a9acebfb2
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a8055ab20aa27449adc9c912b01f458a9acebfb2
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] Jan Kiszka : cobalt/kernel: Trigger missing reschedule after PP deboost
Module: xenomai-3
Branch: next
Commit: 548b6f56e015f4311889537d9ea39acf765922e4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=548b6f56e015f4311889537d9ea39acf765922e4
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(&nklock, s);
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[Xenomai-git] Philippe Gerum : cobalt/syscalls: allow for handing over mode selection to syscall handlers
Module: xenomai-3 Branch: next Commit: e533a7f0e4716dc2440f47a047668bb27b282797 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e533a7f0e4716dc2440f47a047668bb27b282797 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 0aeff28..25d21ea 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); } ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: add README
Module: xenomai-3 Branch: next Commit: ad92e050b5e72146a6fc42cbc90ce2c64870a8aa URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ad92e050b5e72146a6fc42cbc90ce2c64870a8aa Author: Philippe Gerum Date: Wed Feb 15 16:17:54 2017 +0100 cobalt/arm64: add README --- kernel/cobalt/arch/arm64/README |3 +++ 1 file changed, 3 insertions(+) diff --git a/kernel/cobalt/arch/arm64/README b/kernel/cobalt/arch/arm64/README new file mode 100644 index 000..80f954a --- /dev/null +++ b/kernel/cobalt/arch/arm64/README @@ -0,0 +1,3 @@ +Get the interrupt pipeline code for the target kernel from +http://xenomai.org/downloads/ipipe/, or +git://git.xenomai.org/ipipe.git ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Jorge Ramirez-Ortiz : gpiopwm: pwm signal generator and servo motor control demo code
Module: xenomai-3
Branch: next
Commit: ea4a140e31286aee23505c0495303c6d0825aaf4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ea4a140e31286aee23505c0495303c6d0825aaf4
Author: Jorge Ramirez-Ortiz
Date: Tue Mar 15 19:18:15 2016 -0400
gpiopwm: pwm signal generator and servo motor control demo code
---
demo/posix/cobalt/Makefile.am|6 +
demo/posix/cobalt/gpiopwm.c | 448 ++
include/cobalt/kernel/rtdm/gpiopwm.h | 24 ++
include/rtdm/uapi/gpiopwm.h | 56 +
include/rtdm/uapi/rtdm.h |1 +
kernel/drivers/Kconfig |1 +
kernel/drivers/Makefile |2 +-
kernel/drivers/gpiopwm/Kconfig |9 +
kernel/drivers/gpiopwm/Makefile |5 +
kernel/drivers/gpiopwm/gpiopwm.c | 301 +++
10 files changed, 852 insertions(+), 1 deletion(-)
diff --git a/demo/posix/cobalt/Makefile.am b/demo/posix/cobalt/Makefile.am
index eedc346..9e35cf1 100644
--- a/demo/posix/cobalt/Makefile.am
+++ b/demo/posix/cobalt/Makefile.am
@@ -3,6 +3,7 @@ demodir = @XENO_DEMO_DIR@
CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
demo_PROGRAMS =\
+ gpiopwm \
bufp-label \
bufp-readwrite \
can_rtt \
@@ -24,6 +25,11 @@ ldadd = \
@XENO_USER_LDADD@ \
-lpthread -lrt
+gpiopwm_SOURCES = gpiopwm.c
+gpiopwm_CPPFLAGS = $(cppflags) -I$(top_srcdir)/include/rtdm/uapi
+gpiopwm_LDFLAGS = $(ldflags)
+gpiopwm_LDADD = $(ldadd)
+
bufp_label_SOURCES = bufp-label.c
bufp_label_CPPFLAGS = $(cppflags)
bufp_label_LDFLAGS = $(ldflags)
diff --git a/demo/posix/cobalt/gpiopwm.c b/demo/posix/cobalt/gpiopwm.c
new file mode 100644
index 000..e093fbe
--- /dev/null
+++ b/demo/posix/cobalt/gpiopwm.c
@@ -0,0 +1,448 @@
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+
+#define MIN_DUTY_CYCLE 0
+#define MAX_DUTY_CYCLE 100
+
+typedef void *(*gpiopwm_control_thread)(void *cookie);
+#define DEVICE_NAME "/dev/rtdm/gpiopwm"
+char *device_name;
+int dev;
+
+static sem_t synch;
+static sem_t setup;
+static int stop;
+static int step = 1;
+static int port = 6;
+
+#define GPIO_PWM_SERVO_CONFIG \
+{ \
+ .duty_cycle = 50, \
+ .range_min = 950,\
+ .range_max = 2050, \
+ .period = 2000, \
+ .gpio = 1, \
+}
+
+static struct gpiopwm config = GPIO_PWM_SERVO_CONFIG;
+
+static void fail(const char *reason)
+{
+ perror(reason);
+ exit(EXIT_FAILURE);
+}
+
+static void sem_sync(sem_t *sem)
+{
+ int ret;
+
+ for (;;) {
+ ret = sem_wait(sem);
+ if (ret == 0)
+ return;
+ if (errno != EINTR)
+ fail("sem_wait");
+ }
+}
+
+static inline void clear_screen(void)
+{
+ const char* cmd = "\e[1;1H\e[2J";
+ int ret;
+
+ ret = write(2, cmd, strlen(cmd));
+ if (!ret)
+ error(1, ret, "clear screen error");
+}
+
+static inline void print_config(char *str)
+{
+ printf("Config: %s\n", str);
+ printf(" device : %s\n", device_name);
+ printf(" range : [%d, %d]\n", config.range_min, config.range_max);
+ printf(" period : %d nsec\n", config.period);
+ printf(" gpio pin : %d\n", config.gpio);
+ printf(" duty cycle : %d\n", config.duty_cycle);
+}
+
+static inline void input_message(void)
+{
+ print_config("");
+ printf("\n GPIO PWM Control\n");
+ printf( " Enter duty_cycle [0-100] : ");
+}
+
+static void setup_sched_parameters(pthread_attr_t *attr, int prio)
+{
+ struct sched_param p;
+ int ret;
+
+ ret = pthread_attr_init(attr);
+ if (ret)
+ error(1, ret, "pthread_attr_init()");
+
+ ret = pthread_attr_setinheritsched(attr, PTHREAD_EXPLICIT_SCHED);
+ if (ret)
+ error(1, ret, "pthread_attr_setinheritsched()");
+
+ ret = pthread_attr_setschedpolicy(attr, prio ? SCHED_FIFO :
SCHED_OTHER);
+ if (ret)
+ error(1, ret, "pthread_attr_setschedpolicy()");
+
+ p.sched_priority = prio;
+ ret = pthread_attr_setschedparam(attr, &p);
+ if (ret)
+ error(1, ret, "pthread_attr_setschedparam()");
+}
+
+static void *gpiopwm_init_thread(void *cookie)
+{
+ int ret;
+
+ pthread_setname_np(pthread_self(), "gpio-pwm-handler");
+ ret = ioctl(dev, GPIOPWM_RTIOC_SET_CONFIG, config);
+ if (ret)
+ error(1, ret, "failed to set config");
+
+ ioctl(dev, GPIOPWM_RTIOC_START);
+
+ /* setup compl
[Xenomai-git] Jan Kiszka : smokey/posix-mutex: Fix test case by destroying barriers correctly
Module: xenomai-3 Branch: next Commit: a29a64172a574320fe24f4a981eb343bc139fb93 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a29a64172a574320fe24f4a981eb343bc139fb93 Author: Jan Kiszka Date: Tue Dec 6 16:34:48 2016 +0100 smokey/posix-mutex: Fix test case by destroying barriers correctly At least on x86-64-compat, the missing destruction of the smokey barriers, specifically their embedded mutexes, cause crashes of the test. The reason is likely a mismatch between the kernel's and userland's view on which object is still active, combined with the fact that userland kept them on the volatile stack. Signed-off-by: Jan Kiszka --- testsuite/smokey/posix-mutex/posix-mutex.c |6 ++ 1 file changed, 6 insertions(+) diff --git a/testsuite/smokey/posix-mutex/posix-mutex.c b/testsuite/smokey/posix-mutex/posix-mutex.c index 151c2f3..9a1592b 100644 --- a/testsuite/smokey/posix-mutex/posix-mutex.c +++ b/testsuite/smokey/posix-mutex/posix-mutex.c @@ -291,6 +291,8 @@ static int do_contend(pthread_mutex_t *mutex, int type) if (!__Tassert(status == NULL)) return -EINVAL; + smokey_barrier_destroy(&barrier); + return 0; } @@ -471,6 +473,8 @@ static int do_pi_contend(int prio) if (!__T(ret, pthread_mutex_destroy(&mutex))) return ret; + smokey_barrier_destroy(&barrier); + return 0; } @@ -578,6 +582,8 @@ static int do_steal(int may_steal) if (!__T(ret, pthread_mutex_destroy(&mutex))) return ret; + smokey_barrier_destroy(&barrier); + return 0; } ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Jan Kiszka : lib/cobalt: Provide RT-capable usleep
Module: xenomai-3
Branch: next
Commit: 16e10e5e9edc2c92159b9b0c2acf8e7c9558f477
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=16e10e5e9edc2c92159b9b0c2acf8e7c9558f477
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, &rqt, 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 f8bda39..91bd5ef 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -108,6 +108,7 @@
--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 fc9d790..fa7fbcb 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -541,6 +541,12 @@ unsigned int __real_sleep(unsigned int seconds)
}
__weak
+int __real_usleep(useconds_t usec)
+{
+ return usleep(usec);
+}
+
+__weak
int __real___cxa_guard_acquire(__guard *g)
{
return __cxa_guard_acquire(g);
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[Xenomai-git] Jorge Ramirez-Ortiz : gpiopwm: display udp server information
Module: xenomai-3
Branch: next
Commit: ccad73f56d79abeb9c629524c448d8897fbd2f0d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ccad73f56d79abeb9c629524c448d8897fbd2f0d
Author: Jorge Ramirez-Ortiz
Date: Wed Mar 30 13:30:11 2016 -0400
gpiopwm: display udp server information
---
demo/posix/cobalt/gpiopwm.c | 62 ---
1 file changed, 59 insertions(+), 3 deletions(-)
diff --git a/demo/posix/cobalt/gpiopwm.c b/demo/posix/cobalt/gpiopwm.c
index e093fbe..71a87d4 100644
--- a/demo/posix/cobalt/gpiopwm.c
+++ b/demo/posix/cobalt/gpiopwm.c
@@ -18,9 +18,10 @@
#include
#include
#include
+#include
-#define MIN_DUTY_CYCLE 0
-#define MAX_DUTY_CYCLE 100
+#define MIN_DUTY_CYCLE (0)
+#define MAX_DUTY_CYCLE (100)
typedef void *(*gpiopwm_control_thread)(void *cookie);
#define DEVICE_NAME "/dev/rtdm/gpiopwm"
@@ -33,6 +34,11 @@ static int stop;
static int step = 1;
static int port = 6;
+#define MAX_IP_INTERFACES (9)
+static char *ip_str[MAX_IP_INTERFACES + 1];
+static int last_ip;
+
+
#define GPIO_PWM_SERVO_CONFIG \
{ \
.duty_cycle = 50, \
@@ -75,7 +81,11 @@ static inline void clear_screen(void)
static inline void print_config(char *str)
{
+ int i;
+
printf("Config: %s\n", str);
+ for (i = 0; i < last_ip ; i++)
+ printf("%s", ip_str[i]);
printf(" device : %s\n", device_name);
printf(" range : [%d, %d]\n", config.range_min, config.range_max);
printf(" period : %d nsec\n", config.period);
@@ -90,6 +100,51 @@ static inline void input_message(void)
printf( " Enter duty_cycle [0-100] : ");
}
+static void get_ip_addresses(void)
+{
+ char ip[INET_ADDRSTRLEN];
+ struct sockaddr_in *s_in;
+ struct ifconf ifconf;
+ struct ifreq ifr[10];
+ int ret;
+ int ifs;
+ int i;
+ int s;
+
+ s = socket(AF_INET, SOCK_STREAM, 0);
+ if (s < 0)
+ return;
+
+ ifconf.ifc_buf = (char *) ifr;
+ ifconf.ifc_len = sizeof(ifr);
+
+ if (ioctl(s, SIOCGIFCONF, &ifconf) == -1)
+ return;
+
+ ifs = ifconf.ifc_len / sizeof(ifr[0]);
+
+ /* we wont _display_ more than MAX_IP_INTERFACES */
+ if (ifs > MAX_IP_INTERFACES)
+ ifs = MAX_IP_INTERFACES;
+
+ last_ip = ifs + 1;
+
+ for (i = 0; i < ifs; i++) {
+ s_in = (struct sockaddr_in *) &ifr[i].ifr_addr;
+ if (!inet_ntop(AF_INET, &s_in->sin_addr, ip, sizeof(ip)))
+ return;
+ ret = asprintf(&ip_str[i]," ip : %s\n", ip);
+ if (ret)
+ perror("asprintf");
+ }
+
+ ret = asprintf(&ip_str[i]," port: %d\n\n", port);
+ if (ret)
+ perror("asprintf");
+
+ close(s);
+}
+
static void setup_sched_parameters(pthread_attr_t *attr, int prio)
{
struct sched_param p;
@@ -171,7 +226,7 @@ static void *gpiopwm_udp_ctrl_thread(void *cookie)
for (;;) {
clear_screen();
- print_config("UDP server");
+ print_config("UDP Server\n");
memset(buf,'\0', blen);
ret = recvfrom(sockfd, buf, blen - 1, 0, &caddr, &clen);
@@ -382,6 +437,7 @@ int main(int argc, char *argv[])
case udp_opt:
handler = gpiopwm_udp_ctrl_thread;
port = atoi(optarg);
+ get_ip_addresses();
break;
case config_opt:
p = strtok(optarg,":");
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[Xenomai-git] Philippe Gerum : boilerplate/libc: add placeholder for pthread_setschedprio()
Module: xenomai-3
Branch: next
Commit: ac2b2d5db68d2b7c6ed2c0b699f7aec155e7c0cf
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ac2b2d5db68d2b7c6ed2c0b699f7aec155e7c0cf
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 6ff8afb..5b9f518 100644
--- a/configure.ac
+++ b/configure.ac
@@ -546,6 +546,7 @@ 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, &policy, ¶m);
+ if (ret)
+ return ret;
+
+ param.sched_priority = prio;
+
+ return pthread_setschedparam(thread, policy, ¶m);
+}
+
+#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] Jan Kiszka : cobalt/kernel: Introduce __SCHED_CURRENT policy to setschedparam_ex
Module: xenomai-3
Branch: next
Commit: aa159447b55994e5623e5bece76bc3a7a102f9b9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=aa159447b55994e5623e5bece76bc3a7a102f9b9
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 = &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 == &xnsched_class_rt &&
+xnthread_test_state(base_thread, XNRRB))
+ policy = SCHED_RR;
+ }
+
tslice = thread->threadbase.rrperiod;
sched_class = cobalt_sched_policy_param(¶m, policy,
param_ex, &tslice);
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 : boilerplate: add AVL library
Module: xenomai-3
Branch: next
Commit: 683c573477fedacbd97160e02508d70c83a3ce9b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=683c573477fedacbd97160e02508d70c83a3ce9b
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 (1thr &= ~(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 *));
+
+int avl_insert(struct avl *avl, struct avlh *holder);
+
+int avl_prepend(struct avl *avl, struct avlh *holder);
+
+int avl_append(struct avl
[Xenomai-git] Jan Kiszka : lib/cobalt: Wrap pthread_setschedprio for proper real-time support
Module: xenomai-3
Branch: next
Commit: 03e71ef3ea82c6dfe4d936b5625b3171f8a07de1
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=03e71ef3ea82c6dfe4d936b5625b3171f8a07de1
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 4f883f3..f8bda39 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, ¶m_ex);
+}
+
/**
* Get the scheduling policy and parameters of the specified thread.
*
diff --git a/lib/cobalt/wrappers.c b/lib/cobalt/wrappers.c
index 65dc3bd..fc9d790 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -61,6 +61,12 @@ 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] Jan Kiszka : cobalt/kernel: Return need_resched flag from xnsynch_release
Module: xenomai-3
Branch: next
Commit: 6fcfb39faf2e7c28b2f26a0ef86122a9d6d22eba
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6fcfb39faf2e7c28b2f26a0ef86122a9d6d22eba
Author: Jan Kiszka
Date: Mon May 9 21:19:04 2016 +0200
cobalt/kernel: Return need_resched flag from xnsynch_release
We currently return the next owner, but no caller of xnsynch_release
evaluates this beyond != NULL and calls xnsched_run in that case.
Simplify the API by returning a need_resched flag directly. This will
also help with fixing the missing reschedule after PP deboost.
Signed-off-by: Jan Kiszka
---
include/cobalt/kernel/synch.h |3 +--
kernel/cobalt/posix/mutex.c |2 +-
kernel/cobalt/rtdm/drvlib.c |2 +-
kernel/cobalt/synch.c | 23 +++
4 files changed, 14 insertions(+), 16 deletions(-)
diff --git a/include/cobalt/kernel/synch.h b/include/cobalt/kernel/synch.h
index 04d7f10..1e99c18 100644
--- a/include/cobalt/kernel/synch.h
+++ b/include/cobalt/kernel/synch.h
@@ -164,8 +164,7 @@ int xnsynch_acquire(struct xnsynch *synch,
int xnsynch_try_acquire(struct xnsynch *synch);
-struct xnthread *xnsynch_release(struct xnsynch *synch,
-struct xnthread *thread);
+bool xnsynch_release(struct xnsynch *synch, struct xnthread *thread);
struct xnthread *xnsynch_peek_pendq(struct xnsynch *synch);
diff --git a/kernel/cobalt/posix/mutex.c b/kernel/cobalt/posix/mutex.c
index c6020ff..f99874b 100644
--- a/kernel/cobalt/posix/mutex.c
+++ b/kernel/cobalt/posix/mutex.c
@@ -128,7 +128,7 @@ int cobalt_mutex_release(struct xnthread *curr,
cobalt_cond_deferred_signals(cond);
}
}
- need_resched |= xnsynch_release(&mutex->synchbase, curr) != NULL;
+ need_resched |= xnsynch_release(&mutex->synchbase, curr);
return need_resched;
}
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index 7abdb1e..4808b93 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -1282,7 +1282,7 @@ void rtdm_mutex_unlock(rtdm_mutex_t *mutex)
trace_cobalt_driver_mutex_release(mutex);
if (unlikely(xnsynch_release(&mutex->synch_base,
-xnsched_current_thread()) != NULL))
+xnsched_current_thread(
xnsched_run();
}
EXPORT_SYMBOL_GPL(rtdm_mutex_unlock);
diff --git a/kernel/cobalt/synch.c b/kernel/cobalt/synch.c
index 976261d..d8b83d9 100644
--- a/kernel/cobalt/synch.c
+++ b/kernel/cobalt/synch.c
@@ -843,8 +843,8 @@ static inline void clear_pp_boost(struct xnsynch *synch,
drop_booster(synch, owner);
}
-static struct xnthread *transfer_ownership(struct xnsynch *synch,
- struct xnthread *lastowner)
+static bool transfer_ownership(struct xnsynch *synch,
+ struct xnthread *lastowner)
{ /* nklock held, irqs off */
struct xnthread *nextowner;
xnhandle_t nextownerh;
@@ -859,7 +859,7 @@ static struct xnthread *transfer_ownership(struct xnsynch
*synch,
if (list_empty(&synch->pendq)) {
synch->owner = NULL;
atomic_set(lockp, XN_NO_HANDLE);
- return NULL;
+ return false;
}
nextowner = list_first_entry(&synch->pendq, struct xnthread, plink);
@@ -879,11 +879,11 @@ static struct xnthread *transfer_ownership(struct xnsynch
*synch,
atomic_set(lockp, nextownerh);
- return nextowner;
+ return true;
}
/**
- * @fn struct xnthread *xnsynch_release(struct xnsynch *synch, struct xnthread
*curr)
+ * @fn bool xnsynch_release(struct xnsynch *synch, struct xnthread *curr)
* @brief Release a resource and pass it to the next waiting thread.
*
* This service releases the ownership of the given synchronization
@@ -900,7 +900,7 @@ static struct xnthread *transfer_ownership(struct xnsynch
*synch,
* @param curr The descriptor address of the current thread, which
* must own the object at the time of calling.
*
- * @return The descriptor address of the unblocked thread.
+ * @return True if a reschedule is required.
*
* @sideeffect
*
@@ -913,10 +913,9 @@ static struct xnthread *transfer_ownership(struct xnsynch
*synch,
*
* @coretags{primary-only, might-switch}
*/
-struct xnthread *xnsynch_release(struct xnsynch *synch,
-struct xnthread *curr)
+bool xnsynch_release(struct xnsynch *synch, struct xnthread *curr)
{
- struct xnthread *nextowner = NULL;
+ bool need_resched = false;
xnhandle_t currh, h;
atomic_t *lockp;
spl_t s;
@@ -926,7 +925,7 @@ struct xnthread *xnsynch_release(struct xnsynch *synch,
trace_cobalt_synch_release(synch);
if (xnthread_put_resource(curr))
- return NULL;
+ return false;
lockp =
[Xenomai-git] Philippe Gerum : lib/cobalt: use lazy schedparam propagation
Module: xenomai-3
Branch: next
Commit: 350f327863fe17e5b2fe76a4a086aa472bcacf6d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=350f327863fe17e5b2fe76a4a086aa472bcacf6d
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, &std_param);
- ret = __STD(sched_setscheduler(pid, std_policy, &std_param));
- if (ret)
- return errno;
+
+ if (cobalt_is_relaxed()) {
+ std_policy = cobalt_xlate_schedparam(policy, param_ex,
&std_param);
+ ret = __STD(sched_setscheduler(pid, std_policy, &std_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 : config: bump version info to 3.1-devel
Module: xenomai-3 Branch: next Commit: 332dad0413f2026cd7f0807deb7d7834a77b4518 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=332dad0413f2026cd7f0807deb7d7834a77b4518 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 b0f2dcb..ddd61cc 100644 --- a/config/version-code +++ b/config/version-code @@ -1 +1 @@ -3.0.4 +3.0.90 diff --git a/config/version-label b/config/version-label index b0f2dcb..302fdd0 100644 --- a/config/version-label +++ b/config/version-label @@ -1 +1 @@ -3.0.4 +3.1-devel diff --git a/config/version-name b/config/version-name index 76b0401..8c51501 100644 --- a/config/version-name +++ b/config/version-name @@ -1 +1 @@ -Washed Out Harlequin +Xenomai -next ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : boilerplate/libc: provide placeholders for prioceiling ops
Module: xenomai-3
Branch: next
Commit: 470af8b39ed8ce6178c2640ecde37062747b49d8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=470af8b39ed8ce6178c2640ecde37062747b49d8
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 bc40ee9..3595583 100644
--- a/configure.ac
+++ b/configure.ac
@@ -517,6 +517,8 @@ 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/arm64: drop useless test on target architecture
Module: xenomai-3
Branch: next
Commit: cf66ff3ef8fb62ddf2526688004aa985055a3a09
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=cf66ff3ef8fb62ddf2526688004aa985055a3a09
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] Philippe Gerum : testsuite/smokey: add test checking Cobalt' s cpu affinity control
Module: xenomai-3 Branch: next Commit: 38388242f86c7dc196e5411f6ac85d1074cd759a URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=38388242f86c7dc196e5411f6ac85d1074cd759a Author: Philippe Gerum Date: Fri Feb 26 11:44:16 2016 +0100 testsuite/smokey: add test checking Cobalt's cpu affinity control --- configure.ac |1 + 1 file changed, 1 insertion(+) diff --git a/configure.ac b/configure.ac index 1a738a5..c6506b8 100644 --- a/configure.ac +++ b/configure.ac @@ -920,6 +920,7 @@ AC_CONFIG_FILES([ \ testsuite/smokey/net_packet_dgram/Makefile \ testsuite/smokey/net_packet_raw/Makefile \ testsuite/smokey/net_common/Makefile \ + testsuite/smokey/cpu-affinity/Makefile \ testsuite/clocktest/Makefile \ testsuite/xeno-test/Makefile \ utils/Makefile \ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: drop obsolete config knob
Module: xenomai-3 Branch: next Commit: 58a26cd1fd9e651b5d21df881112694978794152 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=58a26cd1fd9e651b5d21df881112694978794152 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt: bump ABI revision level
Module: xenomai-3 Branch: next Commit: 358f97aa81d6ea90b9655034bcdd9083b45546b1 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=358f97aa81d6ea90b9655034bcdd9083b45546b1 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) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/sched: detect preemptible switch support in pipeline
Module: xenomai-3
Branch: next
Commit: 3d54aabdb367bdf5c7053a31bcb189466d2c479d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3d54aabdb367bdf5c7053a31bcb189466d2c479d
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(&nklock);
-#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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h
[Xenomai-git] Philippe Gerum : lib/cobalt/mutex: add support for priority ceiling protocol
Module: xenomai-3
Branch: next
Commit: 2396824e79a9bda913217f6892d8b6fc67ff9d8f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2396824e79a9bda913217f6892d8b6fc67ff9d8f
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 c6506b8..bc40ee9 100644
--- a/configure.ac
+++ b/configure.ac
@@ -514,6 +514,8 @@ 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 0378abf..4f883f3 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 9f58c6a..2d9c0b9 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);
@@ -85,4 +87,10 @@ int __cxa_guard_acquire(__guard*);
void __cxa_guard_release(__guard*);
void __cxa_guard_abort(__guard*);
+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 priority protection
+
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: add lazy FPU switching
Module: xenomai-3
Branch: next
Commit: 93499718f7c0cc68537bc78db99f0785b1119689
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=93499718f7c0cc68537bc78db99f0785b1119689
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(&nklock, s);
+ xnthread_set_state(to, XNFPU);
+ xnlock_put_irqrestore(&nklock, 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(&nklock, s);
+ xnthread_clear_state(thread, XNFPU);
+ xnlock_put_irqrestore(&nklock, 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] Philippe Gerum : cobalt/arch: fixup READMEs
Module: xenomai-3 Branch: next Commit: c249503b237975d19419ed96df8cc99c37e93448 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c249503b237975d19419ed96df8cc99c37e93448 Author: Philippe Gerum Date: Mon Nov 2 15:41:31 2015 +0100 cobalt/arch: fixup READMEs --- kernel/cobalt/arch/arm64/patches/README | 16 1 file changed, 16 deletions(-) diff --git a/kernel/cobalt/arch/arm64/patches/README b/kernel/cobalt/arch/arm64/patches/README deleted file mode 100644 index fd85e06..000 --- a/kernel/cobalt/arch/arm64/patches/README +++ /dev/null @@ -1,16 +0,0 @@ --- 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. ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: FPU code cleanup
Module: xenomai-3
Branch: next
Commit: e6e8acf9804f6fb1d71da51648277f9938495cd6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e6e8acf9804f6fb1d71da51648277f9938495cd6
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(&nklock, 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(&nklock, s);
xnthread_clear_state(thread, XNFPU);
- xnlock_put_irqrestore(&nklock, 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)
- xnarch_swit
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: add basic FPU support
Module: xenomai-3
Branch: next
Commit: 4995dfc93138b14f6755be0df5ff14360de67842
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=4995dfc93138b14f6755be0df5ff14360de67842
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"(&e[0]): "memory");
+ __asm__ __volatile
[Xenomai-git] Philippe Gerum : cobalt: bump ABI revision level
Module: xenomai-3 Branch: next Commit: 050470c4eaa53dbdcc4fea4c1c2d9b547bc633b2 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=050470c4eaa53dbdcc4fea4c1c2d9b547bc633b2 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) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : testsuite/smokey: add basic FPU stress test
Module: xenomai-3
Branch: next
Commit: 8dd53ef7dcca29b65dc0f2cce28d197f4a570bab
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8dd53ef7dcca29b65dc0f2cce28d197f4a570bab
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 2197e55..9925d54 100644
--- a/configure.ac
+++ b/configure.ac
@@ -915,11 +915,7 @@ 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, &rqt, 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(&attr);
+ pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
+ pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+ pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
+ param.sched_priority = 10;
+ pthread_attr_setschedparam(&attr, ¶m);
+ ret = pthread_create(&tid, &attr, 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, &rqt, 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] Philippe Gerum : cobalt/thread: track thread_info unconditionally
Module: xenomai-3
Branch: next
Commit: 25bb87523ac64106f2384147da0321f5211996f0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=25bb87523ac64106f2384147da0321f5211996f0
Author: Philippe Gerum
Date: Sat Nov 14 14:47:44 2015 +0100
cobalt/thread: track thread_info unconditionally
We almost always want to track the thread_info structure of the host
task in the core tcb, and doing so is cheap, so there is no point in
building this support conditionally.
---
kernel/cobalt/arch/arm/Kconfig |3 ---
kernel/cobalt/arch/arm64/Kconfig |3 ---
kernel/cobalt/arch/powerpc/Kconfig |4
kernel/cobalt/include/asm-generic/xenomai/thread.h |2 --
kernel/cobalt/sched.c |2 --
kernel/cobalt/thread.c |4
6 files changed, 18 deletions(-)
diff --git a/kernel/cobalt/arch/arm/Kconfig b/kernel/cobalt/arch/arm/Kconfig
index dc6485d..2043d70 100644
--- a/kernel/cobalt/arch/arm/Kconfig
+++ b/kernel/cobalt/arch/arm/Kconfig
@@ -26,9 +26,6 @@ config IPIPE_WANT_PREEMPTIBLE_SWITCH
config IPIPE_WANT_ACTIVE_MM
def_bool y
-config XENO_ARCH_WANT_TIP
- def_bool y
-
config XENO_ARCH_FPU
def_bool VFP
diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
index 27b5026..572de3e 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 XENO_ARCH_WANT_TIP
- def_bool y
-
config XENO_ARCH_FPU
def_bool y
diff --git a/kernel/cobalt/arch/powerpc/Kconfig
b/kernel/cobalt/arch/powerpc/Kconfig
index 3e950f5..4d5e6db 100644
--- a/kernel/cobalt/arch/powerpc/Kconfig
+++ b/kernel/cobalt/arch/powerpc/Kconfig
@@ -10,9 +10,6 @@ config IPIPE_WANT_PREEMPTIBLE_SWITCH
default y if XENO_ARCH_UNLOCKED_SWITCH
default n if !XENO_ARCH_UNLOCKED_SWITCH
-config XENO_ARCH_WANT_TIP
- bool
-
config XENO_ARCH_FPU
def_bool PPC_FPU
@@ -24,7 +21,6 @@ menu "Machine/platform-specific options"
config XENO_ARCH_UNLOCKED_SWITCH
bool "Unlocked context switch"
depends on IPIPE_HAVE_PREEMPTIBLE_SWITCH
- select XENO_ARCH_WANT_TIP
default y
help
diff --git a/kernel/cobalt/include/asm-generic/xenomai/thread.h
b/kernel/cobalt/include/asm-generic/xenomai/thread.h
index 2ff19a4..cd0c6e9 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/thread.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/thread.h
@@ -33,9 +33,7 @@ struct xntcb {
struct mm_struct *mm;
struct mm_struct *active_mm;
struct thread_struct ts;
-#ifdef CONFIG_XENO_ARCH_WANT_TIP
struct thread_info *tip;
-#endif
#ifdef CONFIG_XENO_ARCH_FPU
struct task_struct *user_fpu_owner;
#endif
diff --git a/kernel/cobalt/sched.c b/kernel/cobalt/sched.c
index cbe14bd..09960ac 100644
--- a/kernel/cobalt/sched.c
+++ b/kernel/cobalt/sched.c
@@ -806,9 +806,7 @@ static inline void leave_root(struct xnthread *root)
rootcb->core.host_task = p;
rootcb->core.tsp = &p->thread;
rootcb->core.mm = rootcb->core.active_mm = ipipe_get_active_mm();
-#ifdef CONFIG_XENO_ARCH_WANT_TIP
rootcb->core.tip = task_thread_info(p);
-#endif
xnarch_leave_root(root);
}
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index 34eca35..e0c488e 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -260,9 +260,7 @@ void xnthread_init_shadow_tcb(struct xnthread *thread)
tcb->core.tsp = &p->thread;
tcb->core.mm = p->mm;
tcb->core.active_mm = p->mm;
-#ifdef CONFIG_XENO_ARCH_WANT_TIP
tcb->core.tip = task_thread_info(p);
-#endif
#ifdef CONFIG_XENO_ARCH_FPU
tcb->core.user_fpu_owner = p;
#endif /* CONFIG_XENO_ARCH_FPU */
@@ -278,9 +276,7 @@ void xnthread_init_root_tcb(struct xnthread *thread)
tcb->core.host_task = p;
tcb->core.tsp = &tcb->core.ts;
tcb->core.mm = p->mm;
-#ifdef CONFIG_XENO_ARCH_WANT_TIP
tcb->core.tip = NULL;
-#endif
xnarch_init_root_tcb(thread);
}
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[Xenomai-git] Philippe Gerum : cobalt/arm64: use lazy fpsimd switch mode
Module: xenomai-3 Branch: next Commit: 404da3dc8fbdc38e5de20e89ec274a853a449855 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=404da3dc8fbdc38e5de20e89ec274a853a449855 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) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Don Mahurin : lib/cobalt/arm64: add __LINUX_ARM_ARCH__ form armv8/aarch64
Module: xenomai-3 Branch: next Commit: 2689d3b8bb9688ebf7e6fa6125258ee22ee44c90 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2689d3b8bb9688ebf7e6fa6125258ee22ee44c90 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arch: drop local I-pipe patches
Module: xenomai-3 Branch: next Commit: 358cc59578a355b8f5c514e7bca4bc9b58cb24ba URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=358cc59578a355b8f5c514e7bca4bc9b58cb24ba Author: Philippe Gerum Date: Wed Feb 15 14:33:30 2017 +0100 cobalt/arch: drop local I-pipe patches Users should pull the I-pipe support they need either from http://xenomai.org/downloads/ipipe/, or git://git.xenomai.org/ipipe.git. Keeping local copies of this code only makes things more complex maintenance-wise, and somewhat confusing to users. --- doc/asciidoc/README.INSTALL.adoc | 38 +- kernel/cobalt/arch/arm/README |3 + kernel/cobalt/arch/arm/patches/README | 23 - .../arm/patches/ipipe-core-3.10.32-arm-13.patch|21371 - .../arm/patches/ipipe-core-3.14.44-arm-16.patch|22547 -- .../arm/patches/ipipe-core-3.18.20-arm-11.patch|24198 --- .../arch/arm/patches/ipipe-core-4.1.18-arm-8.patch |24246 kernel/cobalt/arch/blackfin/README |3 + kernel/cobalt/arch/blackfin/patches/README | 23 - .../patches/ipipe-core-3.10.32-blackfin-7.patch|11367 - .../patches/ipipe-core-3.14.44-blackfin-10.patch |11915 -- .../patches/ipipe-core-3.18.20-blackfin-8.patch|11884 -- .../patches/ipipe-core-4.1.18-blackfin-6.patch |12226 -- kernel/cobalt/arch/powerpc/README |3 + kernel/cobalt/arch/powerpc/patches/README | 23 - .../patches/ipipe-core-3.10.32-powerpc-8.patch |14680 .../patches/ipipe-core-3.14.44-powerpc-13.patch|15679 - .../patches/ipipe-core-3.18.20-powerpc-8.patch |15670 - .../patches/ipipe-core-4.1.18-powerpc-7.patch |16475 - kernel/cobalt/arch/x86/README |3 + kernel/cobalt/arch/x86/patches/README | 23 - .../x86/patches/ipipe-core-3.10.32-x86-8.patch |14940 .../x86/patches/ipipe-core-3.14.44-x86-12.patch|15611 - .../x86/patches/ipipe-core-3.18.20-x86-8.patch |15506 - .../arch/x86/patches/ipipe-core-4.1.18-x86-7.patch |15809 - 25 files changed, 31 insertions(+), 264235 deletions(-) Diff: http://git.xenomai.org/?p=xenomai-3.git;a=commitdiff;h=358cc59578a355b8f5c514e7bca4bc9b58cb24ba ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: sanitize calibration file
Module: xenomai-3
Branch: next
Commit: f29a3278db02a64b80571484d990ca0a63eb17d7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f29a3278db02a64b80571484d990ca0a63eb17d7
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(&nkclock, ulat);
p->kernel = xnclock_ns_to_ticks(&nkclock,
CONFIG_XENO_OPT_TIMING_KSCHEDLAT);
p->irq = xnclock_ns_to_ticks(&nkclock, CONFIG_XENO_OPT_TIMING_IRQLAT);
}
-#endif /* !_COBALT_ARM_ASM_CALIBRATION_H */
+#endif /* !_COBALT_ARM64_ASM_CALIBRATION_H */
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[Xenomai-git] Don Mahurin : lib/cobalt/arm64: disable kuser tsc get setting for armv8/ aarch64
Module: xenomai-3 Branch: next Commit: 26813b515ae0873d1c4b60e1c68317e18b488ab2 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=26813b515ae0873d1c4b60e1c68317e18b488ab2 Author: Don Mahurin Date: Fri May 8 10:37:36 2015 -0700 lib/cobalt/arm64: disable kuser tsc get setting for armv8/aarch64 --- lib/cobalt/arch/arm64/features.c |4 1 file changed, 4 insertions(+) diff --git a/lib/cobalt/arch/arm64/features.c b/lib/cobalt/arch/arm64/features.c index edabcf2..7c7e76a 100644 --- a/lib/cobalt/arch/arm64/features.c +++ b/lib/cobalt/arch/arm64/features.c @@ -59,9 +59,13 @@ 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; ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: restrict unlocked switch to SMP
Module: xenomai-3 Branch: next Commit: c11ec778470198e64b7b1a9f6ce921c3a57b20e5 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c11ec778470198e64b7b1a9f6ce921c3a57b20e5 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: thread.h & syscall.h: fix register references for arm64
Module: xenomai-3
Branch: next
Commit: a4d782f41eb256a4cd317eb928ce2428e1aa9bdf
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a4d782f41eb256a4cd317eb928ce2428e1aa9bdf
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 : config: bump core version
Module: xenomai-3 Branch: next Commit: 0b35a7328a3f023162973d12ae6b9788b7c5bab9 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0b35a7328a3f023162973d12ae6b9788b7c5bab9 Author: Philippe Gerum Date: Sun Sep 21 20:04:14 2014 +0200 config: bump core version --- 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..b0f2dcb 100644 --- a/config/version-code +++ b/config/version-code @@ -1 +1 @@ -3.0.3 +3.0.4 diff --git a/config/version-label b/config/version-label index 75a22a2..b0f2dcb 100644 --- a/config/version-label +++ b/config/version-label @@ -1 +1 @@ -3.0.3 +3.0.4 diff --git a/config/version-name b/config/version-name index 09ba594..76b0401 100644 --- a/config/version-name +++ b/config/version-name @@ -1 +1 @@ -Groovy Cosmic Halo +Washed Out Harlequin ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Don Mahurin : lib/cobalt/arm64: replace tsc counter
Module: xenomai-3
Branch: next
Commit: ef276059a5c9b9e60c2b4c71935742e93b3d2ce7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ef276059a5c9b9e60c2b4c71935742e93b3d2ce7
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] Dmitriy Cherkasov : cobalt/arm64: prepare-kernel: add arm64 arch
Module: xenomai-3 Branch: next Commit: 1cfc50621fd132ddc7c775509b63065ccdb40910 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1cfc50621fd132ddc7c775509b63065ccdb40910 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 398ebcb..d4aa2ef 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 ;; ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: machine.h: Add 64-bit ffnz implementation. This fixes crash when running xddp-echo.
Module: xenomai-3
Branch: next
Commit: da4985c1755d39f94fd6c9cfb2df860af18afc08
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=da4985c1755d39f94fd6c9cfb2df860af18afc08
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] Don Mahurin : cobalt/arm64: fix warning: expects argument of type ' long unsigned int', but argument has type 'u64'
Module: xenomai-3 Branch: next Commit: c9698184f1e5f830e5b75ba5b0e51443942f99b3 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c9698184f1e5f830e5b75ba5b0e51443942f99b3 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 8186a0f..2926d7e 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); ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: drop aarch32 bits from feature set
Module: xenomai-3 Branch: next Commit: 75fb7f83401432294c9f64356f12b638cf01b60a URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=75fb7f83401432294c9f64356f12b638cf01b60a 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 */ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: machine.h: use slightly faster ffnz implementation
Module: xenomai-3
Branch: next
Commit: eb068ca84118de447e4ce8fc2aade21c306832c3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=eb068ca84118de447e4ce8fc2aade21c306832c3
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] Dmitriy Cherkasov : cobalt/arm64: remove code for unrelated arm architecture
Module: xenomai-3
Branch: next
Commit: 4bccc2c81bdfee59645429b780c81a556c1162be
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=4bccc2c81bdfee59645429b780c81a556c1162be
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: populate arch/arm64 with a copy of arch/ arm.
Module: xenomai-3 Branch: next Commit: 3f080f516897a4d88bf10ed7738b45674b5c6a21 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3f080f516897a4d88bf10ed7738b45674b5c6a21 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 83bc809..2197e55 100644 --- a/configure.ac +++ b/configure.ac @@ -139,6 +139,10 @@ case "$build_for" in target_cpu_arch=arm CONFIG_XENO_DEFAULT_PERIOD=100 ;; + aarch64-*) + XENO_TARGET_ARCH=arm64 + CONFIG_XENO_DEFAULT_PERIOD=100 + ;; x86_64-*|amd64-*) use_tls=yes target_cpu_arch=x86 @@ -862,6 +866,10 @@ AC_CONFIG_FILES([ \ lib/cobalt/arch/arm/include/Makefile \ lib/cobalt/arch/arm/include/asm/Makefile \ lib/cobalt/arch/arm/include/asm/xenomai/Makefile \ + lib/cobalt/arch/arm64/Makefile \ + lib/cobalt/arch/arm64/include/Makefile \ + lib/cobalt/arch/arm64/include/asm/Makefile \ + lib/cobalt/arch/arm64/include/asm/xenomai/Makefile \ lib/cobalt/arch/powerpc/Makefile \ lib/cobalt/arch/powerpc/include/Makefile \ lib/cobalt/arch/powerpc/include/asm/Makefile \ diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig new file mode 100644 index 000..dc6485d --- /dev/null +++ b/kernel/cobalt/arch/arm64/Kconfig @@ -0,0 +1,40 @@ +source "kernel/xenomai/Kconfig" +source "drivers/xenomai/Kconfig" + +menu "Machine/platform-specific options" + +config XENO_ARCH_UNLOCKED_SWITCH + bool "Unlocked context switch" + default y + help + The Cobalt core may allow non-atomic execution of the + machine-dependent context switching code, so that other CPUs + and/or local interrupts may execute concurrently. + + This option reduces interrupt latency when costly cache and + TLB flushes are required to switch context. + + You definitely want to enable that option on low-end ARM + platforms. +endmenu + +config IPIPE_WANT_PREEMPTIBLE_SWITCH + bool + default y if XENO_ARCH_UNLOCKED_SWITCH + default n if !XENO_ARCH_UNLOCKED_SWITCH + +config IPIPE_WANT_ACTIVE_MM + def_bool y + +config XENO_ARCH_WANT_TIP + def_bool y + +config XENO_ARCH_FPU + def_bool VFP + +config XENO_ARCH_SYS3264 +def_bool n + +config XENO_ARCH_OUTOFLINE_XNLOCK + bool + default y diff --git a/kernel/cobalt/arch/arm64/Makefile b/kernel/cobalt/arch/arm64/Makefile new file mode 100644 index 000..f2e4e20 --- /dev/null +++ b/kernel/cobalt/arch/arm64/Makefile @@ -0,0 +1,5 @@ +obj-$(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 a/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h b
[Xenomai-git] Philippe Gerum : cobalt/arm64: leave mm tracking to the pipeline
Module: xenomai-3 Branch: next Commit: 601f4b73cc292f0c2fe42309fd92eeead9ffae28 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=601f4b73cc292f0c2fe42309fd92eeead9ffae28 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 ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: set cache aliasing and disable floating point coprocessor instructions form aarch64 /arm64
Module: xenomai-3
Branch: next
Commit: 8275b56dd9d37378e22e10f5ffea15c2849ebc97
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8275b56dd9d37378e22e10f5ffea15c2849ebc97
Author: Dmitriy Cherkasov
Date: Thu May 7 16:41:45 2015 -0700
cobalt/arm64: set cache aliasing and disable floating point coprocessor
instructions form aarch64/arm64
---
kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h|3 ++-
.../cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h | 13 -
2 files changed, 14 insertions(+), 2 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index cf07a3f..e078564 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -38,7 +38,8 @@
#include
#include
-#define xnarch_cache_aliasing() cache_is_vivt()
+/* 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)
{
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 b81d109..65a3e31 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -18,10 +18,17 @@
#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
static inline void fp_regs_set(int features, unsigned int val)
{
+#if __COBALT_HAVE_VFP != 0
unsigned long long e[16];
unsigned int i;
@@ -34,12 +41,15 @@ static inline void fp_regs_set(int features, unsigned int
val)
__asm__ __volatile__("ldc p11, cr0, [%0],#32*4":
"=r"(i): "0"(&e[0]): "memory");
}
+#endif
}
static inline unsigned int fp_regs_check(int features, unsigned int val,
int (*report)(const char *fmt, ...))
{
- unsigned int result = val, i;
+ unsigned int result = val;
+#if __COBALT_HAVE_VFP != 0
+ unsigned int i;
unsigned long long e[16];
if (features & __COBALT_HAVE_VFP) {
@@ -54,6 +64,7 @@ static inline unsigned int fp_regs_check(int features,
unsigned int val,
result = e[i];
}
}
+#endif
return result;
}
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[Xenomai-git] Philippe Gerum : scripts/prepare-kernel.sh: drop lookup for default I-pipe patch
Module: xenomai-3 Branch: stable-3.0.x Commit: e0093fcac3d570c5739164bc5e0ed23ba9ab339f URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e0093fcac3d570c5739164bc5e0ed23ba9ab339f Author: Philippe Gerum Date: Wed Feb 15 16:30:28 2017 +0100 scripts/prepare-kernel.sh: drop lookup for default I-pipe patch --- scripts/prepare-kernel.sh | 26 ++ 1 file changed, 6 insertions(+), 20 deletions(-) diff --git a/scripts/prepare-kernel.sh b/scripts/prepare-kernel.sh index 333d11c..398ebcb 100755 --- a/scripts/prepare-kernel.sh +++ b/scripts/prepare-kernel.sh @@ -317,31 +317,17 @@ fi if test -r $linux_tree/include/linux/ipipe.h; then if test x$verbose = x1; then -echo "I-pipe found - bypassing patch." + echo "I-pipe found - bypassing patch." fi else - if test x$ipipe_patch = x; then - # Pick ipipe-core-* patches based on the highest numbered - # sequence/release number. - default_ipipe_patch="`( ls $xenomai_root/kernel/cobalt/arch/$linux_arch/patches/ipipe-core-$linux_version*-$linux_arch-*|sort -r ) 2>/dev/null | head -n1`" - fi - if test x$default_ipipe_patch = x; then - if test x$verbose = x1; then - echo "$me: no default I-pipe patch found." >&2 - fi - default_ipipe_patch=/dev/null + if test x$verbose = x1; then + echo "$me: no I-pipe support found." >&2 fi while test x$ipipe_patch = x; do - if test x$usedefault = x; then - echo -n "I-pipe patch [default $default_ipipe_patch]: " - read ipipe_patch - fi - if test x$ipipe_patch = x; then - ipipe_patch=$default_ipipe_patch - fi - if test \! -r "$ipipe_patch" -o x$ipipe_patch = x/dev/null; then + echo -n "I-pipe patch: " + read ipipe_patch + if test \! -r "$ipipe_patch" -o x$ipipe_patch = x; then echo "$me: cannot read I-pipe patch from $ipipe_patch" >&2 - usedefault= ipipe_patch= fi done ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : config: bump core version
Module: xenomai-3 Branch: stable-3.0.x Commit: 0b35a7328a3f023162973d12ae6b9788b7c5bab9 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0b35a7328a3f023162973d12ae6b9788b7c5bab9 Author: Philippe Gerum Date: Sun Sep 21 20:04:14 2014 +0200 config: bump core version --- 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..b0f2dcb 100644 --- a/config/version-code +++ b/config/version-code @@ -1 +1 @@ -3.0.3 +3.0.4 diff --git a/config/version-label b/config/version-label index 75a22a2..b0f2dcb 100644 --- a/config/version-label +++ b/config/version-label @@ -1 +1 @@ -3.0.3 +3.0.4 diff --git a/config/version-name b/config/version-name index 09ba594..76b0401 100644 --- a/config/version-name +++ b/config/version-name @@ -1 +1 @@ -Groovy Cosmic Halo +Washed Out Harlequin ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : doc: build
Module: xenomai-3 Branch: stable-3.0.x Commit: 3ddc6a7cd335b250a876c8bb6ff41167ae47ea1b URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3ddc6a7cd335b250a876c8bb6ff41167ae47ea1b Author: Philippe Gerum Date: Wed Feb 15 16:12:13 2017 +0100 doc: build --- doc/asciidoc/README.INSTALL.adoc | 42 +- doc/prebuilt/html/MIGRATION/index.html |6 +- doc/prebuilt/html/README.APPLICATIONS/index.html |2 +- doc/prebuilt/html/README.INSTALL/index.html| 30 +- .../html/TROUBLESHOOTING.COBALT/index.html |2 +- .../html/TROUBLESHOOTING.MERCURY/index.html|2 +- doc/prebuilt/html/man1/xeno-config/index.html |2 +- .../html/xeno3prm/16550A__io_8h_source.html| 268 +- .../html/xeno3prm/16550A__pci_8h_source.html | 344 +- .../html/xeno3prm/16550A__pnp_8h_source.html | 445 +-- doc/prebuilt/html/xeno3prm/8255_8h_source.html | 118 +- doc/prebuilt/html/xeno3prm/af__inet_8h_source.html | 94 +- .../html/xeno3prm/alchemy_2compat_8h_source.html | 81 +- doc/prebuilt/html/xeno3prm/analogy_2driver_8h.html | 56 +- .../xeno3prm/analogy_2driver_8h__dep__incl.md5 |2 +- .../xeno3prm/analogy_2driver_8h__dep__incl.png | Bin 19941 -> 19950 bytes .../html/xeno3prm/analogy_2driver_8h__incl.md5 |2 +- .../html/xeno3prm/analogy_2driver_8h__incl.png | Bin 289554 -> 289423 bytes .../html/xeno3prm/analogy_2driver_8h_source.html | 101 +- doc/prebuilt/html/xeno3prm/analogy_8h.html | 60 +- .../html/xeno3prm/analogy_8h__dep__incl.md5|2 +- .../html/xeno3prm/analogy_8h__dep__incl.png| Bin 12868 -> 12865 bytes doc/prebuilt/html/xeno3prm/analogy_8h__incl.md5|2 +- doc/prebuilt/html/xeno3prm/analogy_8h__incl.png| Bin 69464 -> 69401 bytes doc/prebuilt/html/xeno3prm/analogy_8h_source.html | 266 +- doc/prebuilt/html/xeno3prm/annotated.html | 91 +- doc/prebuilt/html/xeno3prm/annotated.js| 54 - doc/prebuilt/html/xeno3prm/annotated_dup.js|1 + doc/prebuilt/html/xeno3prm/apc_8h_source.html | 108 +- doc/prebuilt/html/xeno3prm/api-tags.html | 48 +- ..._2include_2asm_2xenomai_2machine_8h_source.html | 149 - ...include_2asm_2xenomai_2syscall32_8h_source.html | 133 - ..._2include_2asm_2xenomai_2machine_8h_source.html | 122 +- ...include_2asm_2xenomai_2syscall32_8h_source.html | 82 +- ..._2include_2asm_2xenomai_2machine_8h_source.html | 76 +- ...include_2asm_2xenomai_2syscall32_8h_source.html | 82 +- ..._2include_2asm_2xenomai_2machine_8h_source.html | 129 - ...include_2asm_2xenomai_2syscall32_8h_source.html | 133 - ..._2include_2asm_2xenomai_2machine_8h_source.html | 81 +- ...include_2asm_2xenomai_2syscall32_8h_source.html | 82 +- ..._2include_2asm_2xenomai_2machine_8h_source.html | 129 - ...include_2asm_2xenomai_2syscall32_8h_source.html | 133 - ..._2include_2asm_2xenomai_2machine_8h_source.html | 84 +- ...include_2asm_2xenomai_2syscall32_8h_source.html | 245 +- ...4_2include_2asm_2xenomai_2fptest_8h_source.html | 156 - ...lude_2asm_2xenomai_2uapi_2fptest_8h_source.html | 214 -- ...m_2include_2asm_2xenomai_2fptest_8h_source.html | 110 +- ...lude_2asm_2xenomai_2uapi_2fptest_8h_source.html | 119 +- doc/prebuilt/html/xeno3prm/arp_8h_source.html | 112 +- doc/prebuilt/html/xeno3prm/arrowdown.png | Bin 246 -> 0 bytes doc/prebuilt/html/xeno3prm/arrowright.png | Bin 229 -> 0 bytes doc/prebuilt/html/xeno3prm/assert_8h_source.html | 132 +- doc/prebuilt/html/xeno3prm/async_8c.html | 56 +- doc/prebuilt/html/xeno3prm/async_8c__incl.md5 |2 +- doc/prebuilt/html/xeno3prm/async_8c__incl.png | Bin 139291 -> 139169 bytes doc/prebuilt/html/xeno3prm/atomic_8h_source.html | 130 +- doc/prebuilt/html/xeno3prm/bheap_8h_source.html| 375 --- ...n_2include_2asm_2xenomai_2fptest_8h_source.html | 102 +- ...lude_2asm_2xenomai_2uapi_2fptest_8h_source.html | 89 +- .../boilerplate_2ancillaries_8h_source.html| 188 +- .../html/xeno3prm/boilerplate_2list_8h_source.html | 94 +- .../html/xeno3prm/boilerplate_2lock_8h_source.html | 273 +- .../html/xeno3prm/boilerplate_2time_8h_source.html | 156 +- .../xeno3prm/boilerplate_2tunables_8h_source.html | 184 +- doc/prebuilt/html/xeno3prm/bufd_8h_source.html | 144 +- .../html/xeno3prm/bufp-label_8c-example.html | 271 +- .../html/xeno3prm/bufp-readwrite_8c-example.html | 236 +- doc/prebuilt/html/xeno3prm/c1e_8h_source.html | 81 +- doc/prebuilt/html/xeno3prm/calibration_8c.html | 56 +- .../html/xeno3prm/calibration_8c__incl.md5 |2 +- .../html/xeno3prm/calibration_8c__incl.png | Bin 99227 -> 99118 bytes doc/prebuilt/html/xeno3prm/can-rtt_8c-example.html | 458 +-- doc/prebuilt/html/xeno3prm/channel__range_8h.html | 86 +- .../html/xeno3prm/channel__range_8h__dep__incl.md5 |2 +- .../htm
[Xenomai-git] Philippe Gerum : cobalt/arch: drop local I-pipe patches
Module: xenomai-3 Branch: stable-3.0.x Commit: 358cc59578a355b8f5c514e7bca4bc9b58cb24ba URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=358cc59578a355b8f5c514e7bca4bc9b58cb24ba Author: Philippe Gerum Date: Wed Feb 15 14:33:30 2017 +0100 cobalt/arch: drop local I-pipe patches Users should pull the I-pipe support they need either from http://xenomai.org/downloads/ipipe/, or git://git.xenomai.org/ipipe.git. Keeping local copies of this code only makes things more complex maintenance-wise, and somewhat confusing to users. --- doc/asciidoc/README.INSTALL.adoc | 38 +- kernel/cobalt/arch/arm/README |3 + kernel/cobalt/arch/arm/patches/README | 23 - .../arm/patches/ipipe-core-3.10.32-arm-13.patch|21371 - .../arm/patches/ipipe-core-3.14.44-arm-16.patch|22547 -- .../arm/patches/ipipe-core-3.18.20-arm-11.patch|24198 --- .../arch/arm/patches/ipipe-core-4.1.18-arm-8.patch |24246 kernel/cobalt/arch/blackfin/README |3 + kernel/cobalt/arch/blackfin/patches/README | 23 - .../patches/ipipe-core-3.10.32-blackfin-7.patch|11367 - .../patches/ipipe-core-3.14.44-blackfin-10.patch |11915 -- .../patches/ipipe-core-3.18.20-blackfin-8.patch|11884 -- .../patches/ipipe-core-4.1.18-blackfin-6.patch |12226 -- kernel/cobalt/arch/powerpc/README |3 + kernel/cobalt/arch/powerpc/patches/README | 23 - .../patches/ipipe-core-3.10.32-powerpc-8.patch |14680 .../patches/ipipe-core-3.14.44-powerpc-13.patch|15679 - .../patches/ipipe-core-3.18.20-powerpc-8.patch |15670 - .../patches/ipipe-core-4.1.18-powerpc-7.patch |16475 - kernel/cobalt/arch/x86/README |3 + kernel/cobalt/arch/x86/patches/README | 23 - .../x86/patches/ipipe-core-3.10.32-x86-8.patch |14940 .../x86/patches/ipipe-core-3.14.44-x86-12.patch|15611 - .../x86/patches/ipipe-core-3.18.20-x86-8.patch |15506 - .../arch/x86/patches/ipipe-core-4.1.18-x86-7.patch |15809 - 25 files changed, 31 insertions(+), 264235 deletions(-) Diff: http://git.xenomai.org/?p=xenomai-3.git;a=commitdiff;h=358cc59578a355b8f5c514e7bca4bc9b58cb24ba ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
