[Xenomai-git] Philippe Gerum : cobalt/arm: fixups for kernel 4.8+
Module: xenomai-3
Branch: next
Commit: ad241cc3a3e6d6a302affde9daaa009211be0020
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ad241cc3a3e6d6a302affde9daaa009211be0020
Author: Philippe Gerum
Date: Sun May 14 19:41:55 2017 +0200
cobalt/arm: fixups for kernel 4.8+
At this chance, stop using the obsolete flush_cache_all() routine
which cannot honor the documented semantics for arm64.
Besides, calibrating the access times to the timer registers in
no-cache conditions does not make sense.
---
kernel/cobalt/arch/arm64/machine.c |3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/machine.c
b/kernel/cobalt/arch/arm64/machine.c
index ddf65a8..1711d76 100644
--- a/kernel/cobalt/arch/arm64/machine.c
+++ b/kernel/cobalt/arch/arm64/machine.c
@@ -35,7 +35,7 @@ static void mach_arm_prefault(struct vm_area_struct *vma)
flags = (vma->vm_flags & VM_MAYWRITE) ? FAULT_FLAG_WRITE : 0;
for (addr = vma->vm_start;
addr != vma->vm_end; addr += PAGE_SIZE)
- handle_mm_fault(vma->vm_mm, vma, addr, flags);
+ handle_mm_fault(vma, addr, flags);
}
}
@@ -63,7 +63,6 @@ static unsigned long mach_arm_calibrate(void)
barrier();
for (i = 0; i < CALIBRATION_LOOPS; i++) {
- flush_cache_all();
for (j = 0; j < CALIBRATION_LOOPS; j++) {
ipipe_read_tsc(start);
barrier();
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[Xenomai-git] Henning Schild : smokey/sigdebug: check kernel features with corectl
Module: xenomai-3
Branch: stable-3.0.x
Commit: 1f4339aa6d69f30dce06536b70307ff3cf5e08d1
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1f4339aa6d69f30dce06536b70307ff3cf5e08d1
Author: Henning Schild
Date: Fri May 12 13:41:00 2017 +0200
smokey/sigdebug: check kernel features with corectl
One of the subtests depends on a kernel feature, skip it if the feature
was not enabled.
Signed-off-by: Henning Schild
---
testsuite/smokey/sigdebug/sigdebug.c | 19 +++
1 file changed, 15 insertions(+), 4 deletions(-)
diff --git a/testsuite/smokey/sigdebug/sigdebug.c
b/testsuite/smokey/sigdebug/sigdebug.c
index a643305..87f0be6 100644
--- a/testsuite/smokey/sigdebug/sigdebug.c
+++ b/testsuite/smokey/sigdebug/sigdebug.c
@@ -33,6 +33,7 @@ smokey_test_plugin(sigdebug,
unsigned int expected_reason;
bool sigdebug_received;
pthread_mutex_t prio_invert;
+int corectl_debug;
sem_t send_signal;
char *mem;
FILE *wd;
@@ -110,10 +111,15 @@ static void *rt_thread_body(void *cookie)
check_sigdebug_received("SIGDEBUG_MIGRATE_SIGNAL");
smokey_trace("relaxed mutex owner");
- setup_checkdebug(SIGDEBUG_MIGRATE_PRIOINV);
- err = pthread_mutex_lock(&prio_invert);
- check_no_error("pthread_mutex_lock", err);
- check_sigdebug_received("SIGDEBUG_MIGRATE_PRIOINV");
+ if (corectl_debug & _CC_COBALT_DEBUG_MUTEX_RELAXED) {
+ setup_checkdebug(SIGDEBUG_MIGRATE_PRIOINV);
+ err = pthread_mutex_lock(&prio_invert);
+ check_no_error("pthread_mutex_lock", err);
+ check_sigdebug_received("SIGDEBUG_MIGRATE_PRIOINV");
+ } else {
+ smokey_note("sigdebug \"SIGDEBUG_MIGRATE_PRIOINV\" skipped "
+ "(no kernel support)");
+ }
smokey_trace("page fault");
setup_checkdebug(SIGDEBUG_MIGRATE_FAULT);
@@ -189,6 +195,11 @@ static int run_sigdebug(struct smokey_test *t, int argc,
char *const argv[])
if (err || wdog_delay == 0)
return -ENOSYS;
+ err = cobalt_corectl(_CC_COBALT_GET_DEBUG, &corectl_debug,
+sizeof(corectl_debug));
+ if (err)
+ return -ENOSYS;
+
smokey_parse_args(t, argc, argv);
if (!SMOKEY_ARG_ISSET(sigdebug, no_watchdog) ||
!SMOKEY_ARG_BOOL(sigdebug, no_watchdog)) {
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[Xenomai-git] Philippe Gerum : testsuite/smokey: add test checking Cobalt' s cpu affinity control
Module: xenomai-3 Branch: next Commit: df6d220e67d35415bd615deeb5027ba2abee68f6 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=df6d220e67d35415bd615deeb5027ba2abee68f6 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 457d026..9eeb34d 100644 --- a/configure.ac +++ b/configure.ac @@ -926,6 +926,7 @@ 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] Jan Kiszka : smokey/posix-mutex: Fix test case by destroying barriers correctly
Module: xenomai-3 Branch: next Commit: 86e72a1439fea10867f8932044ed1e8e4910a3f6 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=86e72a1439fea10867f8932044ed1e8e4910a3f6 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] Philippe Gerum : cobalt/arm64: thread: move all TCB initializers out of line
Module: xenomai-3
Branch: next
Commit: e64cdf22912a96f202cbcc8014219239c2c8a8a4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e64cdf22912a96f202cbcc8014219239c2c8a8a4
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: 396da60a31730bbaf073c6a9f45d0b5ef496a876
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=396da60a31730bbaf073c6a9f45d0b5ef496a876
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/libc: provide placeholders for prioceiling ops
Module: xenomai-3
Branch: next
Commit: 2f03ab752b295bc0abc9ed68ac73678448cf81cd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2f03ab752b295bc0abc9ed68ac73678448cf81cd
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 c9d0fcf..dd3a1ec 100644
--- a/configure.ac
+++ b/configure.ac
@@ -514,6 +514,8 @@ 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 80ababf..1b26c84 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 : net/drivers/e1000: work around UMR issue
Module: xenomai-3
Branch: next
Commit: 9ddc6adc1cf90a6e5a61a3984362dfc842ab2b21
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9ddc6adc1cf90a6e5a61a3984362dfc842ab2b21
Author: Philippe Gerum
Date: Sun Aug 7 11:29:06 2016 +0200
net/drivers/e1000: work around UMR issue
---
kernel/drivers/net/drivers/e1000/e1000_hw.c |2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/kernel/drivers/net/drivers/e1000/e1000_hw.c
b/kernel/drivers/net/drivers/e1000/e1000_hw.c
index 311d48d..d974653 100644
--- a/kernel/drivers/net/drivers/e1000/e1000_hw.c
+++ b/kernel/drivers/net/drivers/e1000/e1000_hw.c
@@ -8804,7 +8804,7 @@ e1000_verify_write_ich8_byte(struct e1000_hw *hw,
uint32_t index, uint8_t byte)
{
int32_t error = E1000_SUCCESS;
int32_t program_retries;
-uint8_t temp_byte;
+uint8_t temp_byte = 0;
e1000_write_ich8_byte(hw, index, byte);
usec_delay(100);
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[Xenomai-git] Philippe Gerum : cobalt/arm64: fpu: drop obsolete xnarch_save_fpu()
Module: xenomai-3
Branch: next
Commit: 927def2577432347f6dded066198325867a3ec75
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=927def2577432347f6dded066198325867a3ec75
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/arch: fixup READMEs
Module: xenomai-3 Branch: next Commit: a693c37daf2ce94033419aa38e357792fc2e9a6d URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a693c37daf2ce94033419aa38e357792fc2e9a6d 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] Jan Kiszka : cobalt/kernel: Return need_resched flag from xnsynch_release
Module: xenomai-3
Branch: next
Commit: be3e0a2fd79e31aca954df47840f3c79cf07e51f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=be3e0a2fd79e31aca954df47840f3c79cf07e51f
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 246d2b9..b3a8004 100644
--- a/include/cobalt/kernel/synch.h
+++ b/include/cobalt/kernel/synch.h
@@ -164,8 +164,7 @@ int __must_check xnsynch_acquire(struct xnsynch *synch,
int __must_check 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 248a9a8..6f4f51e 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
[Xenomai-git] Philippe Gerum : testsuite/smokey: mutex: simplify, introduce PP tests
Module: xenomai-3
Branch: next
Commit: f39185ce56204dfcd85d1ccb362ae396abdf8f96
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f39185ce56204dfcd85d1ccb362ae396abdf8f96
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 support for unlocked context switch
Module: xenomai-3 Branch: next Commit: 1f5e9c7be460d4d6bd7c7b962c9d9d940f9b55be URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1f5e9c7be460d4d6bd7c7b962c9d9d940f9b55be 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 : cobalt/arm: track current mm unconditionally
Module: xenomai-3 Branch: next Commit: 062d0bad4a6bc879f7d63d78a5187f12de3636cb URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=062d0bad4a6bc879f7d63d78a5187f12de3636cb 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] Philippe Gerum : testsuite/smokey: add basic FPU stress test
Module: xenomai-3
Branch: next
Commit: 9c16960d3800c0c609c150dd543b0b921a65d6bc
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9c16960d3800c0c609c150dd543b0b921a65d6bc
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 97bebf0..77e9fea 100644
--- a/configure.ac
+++ b/configure.ac
@@ -921,11 +921,7 @@ 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 5a82018..ae60a44 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/sched: detect preemptible switch support in pipeline
Module: xenomai-3
Branch: next
Commit: 90ad21aa908fa130cfcc72e8790f7f507730d5ce
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=90ad21aa908fa130cfcc72e8790f7f507730d5ce
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 b5817c5..e0483b1 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -408,7 +408,7 @@ 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 : cobalt/wrappers: add wrapper for reinit_completion()
Module: xenomai-3
Branch: next
Commit: e60aa9c4a6e122d19d214472da1bd33660c621e3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e60aa9c4a6e122d19d214472da1bd33660c621e3
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 05be40d..7b191e4 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -55,7 +55,6 @@
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
#include
-#include
#undef alloc_netdev
#define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -68,6 +67,7 @@ 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] Gilles Chanteperdrix : testsuite/smokey: add RTnet raw packets test
Module: xenomai-3 Branch: next Commit: a43c0062c5926074266f0739d07c005c86d6eea2 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a43c0062c5926074266f0739d07c005c86d6eea2 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 7f258ed..457d026 100644 --- a/configure.ac +++ b/configure.ac @@ -924,6 +924,7 @@ 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/powerpc: track current mm unconditionally
Module: xenomai-3 Branch: next Commit: d85bbbe5658f8a817a3946a9f920365ede4e4251 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d85bbbe5658f8a817a3946a9f920365ede4e4251 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 : cobalt/powerpc: remove dependency on obsolete CONFIG_MATH_EMU
Module: xenomai-3 Branch: next Commit: 99d82bbee59c884a8e61478653e457dacd4d4d0c URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=99d82bbee59c884a8e61478653e457dacd4d4d0c 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 : lib/cobalt/mutex: add support for priority ceiling protocol
Module: xenomai-3
Branch: next
Commit: c4145b03ebd94ef5d7ef8e80498ee7023fb7125c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c4145b03ebd94ef5d7ef8e80498ee7023fb7125c
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 9eeb34d..c9d0fcf 100644
--- a/configure.ac
+++ b/configure.ac
@@ -511,6 +511,8 @@ 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 134176e..80ababf 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 df1f7c0..3241e9b 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -57,6 +57,8 @@ 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);
@@ -78,4 +80,10 @@ void cobalt_check_features(struct cobalt_featinfo *finfo);
extern struct sigaction __cobalt_orig_sigdebug;
+extern int __cobalt_std_fifo_minpri,
+ __cobalt_std_fifo_maxpri;
+
+extern int __cobalt_std_rr_minpri,
+ __cobalt_std_rr_maxpri;
+
#endif /* _LIB_COBALT_INTERNAL_H */
diff --git a/lib/cobalt/mutex.c b/lib/cobalt/mutex.c
index eba236b..ac462b8 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 protectio
[Xenomai-git] Philippe Gerum : cobalt/thread: add schedparam lazy propagation
Module: xenomai-3
Branch: next
Commit: 7295238315e3a409d7c3387e2dd4159c6cf588e4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7295238315e3a409d7c3387e2dd4159c6cf588e4
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 ad70664..71b4058 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -24,6 +24,7 @@
#include
#include
#include
+#include
#include
#include
#include
@@ -1964,6 +1965,11 @@ 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;
}
@@ -2085,6 +2091,40 @@ 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] Philippe Gerum : cobalt/arm64: disable callee-saved logic in fptest helpers
Module: xenomai-3
Branch: next
Commit: 83d0849c73f485da17d5c6952565ec779b60e394
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=83d0849c73f485da17d5c6952565ec779b60e394
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/arm64: add README for I-pipe support
Module: xenomai-3 Branch: next Commit: b1d829a750355e9f1575d37b8404b5030c175571 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b1d829a750355e9f1575d37b8404b5030c175571 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] Philippe Gerum : cobalt/arm64: drop obsolete config knob
Module: xenomai-3 Branch: next Commit: 8043cd47d73d3fbbdffc5cc5f2db2a93ab7363de URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8043cd47d73d3fbbdffc5cc5f2db2a93ab7363de 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] Jorge Ramirez-Ortiz : gpiopwm: pwm signal generator and servo motor control demo code
Module: xenomai-3
Branch: next
Commit: 27f7a3ce542a581d7767bb2765d83c131ec02ba5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=27f7a3ce542a581d7767bb2765d83c131ec02ba5
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 cba9247..2a22967 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] Philippe Gerum : cobalt/arm64: switch to regular system call convention
Module: xenomai-3 Branch: next Commit: d482d30242490486708096b6df8fdde8ab3c8822 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d482d30242490486708096b6df8fdde8ab3c8822 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 : cobalt/arm64: use lazy fpsimd switch mode
Module: xenomai-3 Branch: next Commit: 6e6bbf14a1fa5f08778a010082324e843ca11620 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6e6bbf14a1fa5f08778a010082324e843ca11620 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] Philippe Gerum : lib/cobalt: use lazy schedparam propagation
Module: xenomai-3
Branch: next
Commit: 3300e26d24b607a6cbe4ad48b7355a5407dcdc08
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3300e26d24b607a6cbe4ad48b7355a5407dcdc08
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 | 43 ++
lib/cobalt/sched.c | 13
lib/cobalt/sigshadow.c |8 +
lib/cobalt/thread.c| 80 +---
4 files changed, 86 insertions(+), 58 deletions(-)
diff --git a/lib/cobalt/internal.c b/lib/cobalt/internal.c
index 49744c4..ebc3624 100644
--- a/lib/cobalt/internal.c
+++ b/lib/cobalt/internal.c
@@ -516,6 +516,49 @@ 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;
+}
/*
* Temporary compatibility aliases which should be phased out at next
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 f58e341..fc8adf6 100644
--- a/lib/cobalt/sigshadow.c
+++ b/lib/cobalt/sigshadow.c
@@ -57,6 +57,14 @@ 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 h
[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet testsuite
Module: xenomai-3 Branch: next Commit: 1dec526182cc0738697700bec62275f52afa9758 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1dec526182cc0738697700bec62275f52afa9758 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 77e9fea..7f258ed 100644 --- a/configure.ac +++ b/configure.ac @@ -922,6 +922,9 @@ 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] Jan Kiszka : cobalt/kernel: Introduce __SCHED_CURRENT policy to setschedparam_ex
Module: xenomai-3
Branch: next
Commit: 38f65d16449e67ba8ab492e8df4bb90f07d71851
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=38f65d16449e67ba8ab492e8df4bb90f07d71851
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 eaac70d..45f920f 100644
--- a/kernel/cobalt/trace/cobalt-posix.h
+++ b/kernel/cobalt/trace/cobalt-posix.h
@@ -88,7 +88,8 @@ 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/libc: add placeholder for pthread_setschedprio()
Module: xenomai-3
Branch: next
Commit: ce116f0100a19acf83d1a893baee107f7f4c7b7a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ce116f0100a19acf83d1a893baee107f7f4c7b7a
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 b90fa70..b1000c4 100644
--- a/configure.ac
+++ b/configure.ac
@@ -543,6 +543,7 @@ 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 1b26c84..75e2d1d 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -169,6 +169,25 @@ int pthread_setaffinity_np(pthread_t thread, size_t
cpusetsize,
}
#endif /* !HAVE_PTHREAD_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] Philippe Gerum : config: bump version info to 3.1-devel
Module: xenomai-3 Branch: next Commit: ee30b3348f951ca25950596faa60cf306093550a URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ee30b3348f951ca25950596faa60cf306093550a 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] Jorge Ramirez-Ortiz : gpiopwm: display udp server information
Module: xenomai-3
Branch: next
Commit: ce87497436015b4e3e227bfa12bc9408c8d16651
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ce87497436015b4e3e227bfa12bc9408c8d16651
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 : cobalt/thread: track thread_info unconditionally
Module: xenomai-3
Branch: next
Commit: ff1deacd6681ccdd95c7d0aedd6b6038d8254c0a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ff1deacd6681ccdd95c7d0aedd6b6038d8254c0a
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 6a86265..b5817c5 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -261,9 +261,7 @@ 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 */
@@ -279,9 +277,7 @@ 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] Jan Kiszka : smokey/posix-mutex: Fix test case /wrt mutex object reuse
Module: xenomai-3 Branch: next Commit: 34fa626609c3af57277113f71d00ce787e6edb10 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=34fa626609c3af57277113f71d00ce787e6edb10 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/arm64: use regular context switching code
Module: xenomai-3
Branch: next
Commit: fb2d493df80d1a78ac8ef1e66797c7a154594f79
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fb2d493df80d1a78ac8ef1e66797c7a154594f79
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)
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[Xenomai-git] Philippe Gerum : cobalt/arm64: add README
Module: xenomai-3 Branch: next Commit: 1f504925b46cf8ae3872bfcc02ec8877fe4f238e URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1f504925b46cf8ae3872bfcc02ec8877fe4f238e 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] Philippe Gerum : cobalt/syscalls: allow for handing over mode selection to syscall handlers
Module: xenomai-3 Branch: next Commit: 792d5370989d8214a2387c5346c4c916481fe5ff URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=792d5370989d8214a2387c5346c4c916481fe5ff 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: fix inclusion guards
Module: xenomai-3
Branch: next
Commit: 454e2d8f7ac94dfc3e480cad430caf2a31518524
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=454e2d8f7ac94dfc3e480cad430caf2a31518524
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/synch: add support for priority ceiling protocol
Module: xenomai-3
Branch: next
Commit: 3fa4fbd1fc6d8248e954c7d75f4e8fa14cc33c41
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3fa4fbd1fc6d8248e954c7d75f4e8fa14cc33c41
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 : cobalt/arm64: attempt at fixing fpu switch
Module: xenomai-3
Branch: next
Commit: 12428f6965fcfd8d921b914c7b832e962750dc92
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=12428f6965fcfd8d921b914c7b832e962750dc92
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] Jan Kiszka : lib/cobalt: Wrap pthread_setschedprio for proper real-time support
Module: xenomai-3
Branch: next
Commit: 1f693bee748a448f2373b3e24d200ee3c57c65f3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1f693bee748a448f2373b3e24d200ee3c57c65f3
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 8bd9190..8dd28fb 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -60,6 +60,12 @@ int __real_pthread_getschedparam(pthread_t thread,
}
__weak
+int __real_pthread_setschedprio(pthread_t thread, int prio)
+{
+ return pthread_setschedprio(thread, prio);
+}
+
+__weak
int __real_sched_yield(void)
{
return sched_yield();
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[Xenomai-git] Philippe Gerum : cobalt/kernel: fixup for v3.19+ (user_msghdr)
Module: xenomai-3 Branch: next Commit: a2c1cd63680209ec5052e489f2958c29e166cd95 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a2c1cd63680209ec5052e489f2958c29e166cd95 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 | 13 +++-- 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h index c9e6e87..7b191e4 100644 --- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h +++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h @@ -38,10 +38,17 @@ * symbol, so that obsolete wrappers can be spotted. */ + #if LINUX_VERSION_CODE < KERNEL_VERSION(4,6,0) #define in_ia32_syscall() (current_thread_info()->status & TS_COMPAT) #endif +#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 @@ -137,10 +144,4 @@ 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 : lib/cobalt: add config switch to enable lazy setsched update mode
Module: xenomai-3
Branch: next
Commit: 94ff4cac85406a69e660ad00258807af20cd12d9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=94ff4cac85406a69e660ad00258807af20cd12d9
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 dd3a1ec..b90fa70 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 3241e9b..cccbbf1 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -37,6 +37,18 @@ static inline int cobalt_should_warn(void)
return (cobalt_get_current_mode() & (XNRELAX|XNWARN)) == XNWARN;
}
+#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] Philippe Gerum : cobalt/kernel: fixup for v3.19+ (trace_seq)
Module: xenomai-3
Branch: next
Commit: 0aef48f4bb6e40457f80c9dd7c2b07651c633751
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0aef48f4bb6e40457f80c9dd7c2b07651c633751
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 7b191e4..05be40d 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -55,6 +55,7 @@
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
#include
+#include
#undef alloc_netdev
#define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -67,7 +68,6 @@ 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/powerpc: drop obsolete config knob
Module: xenomai-3 Branch: next Commit: 7db426892c3f8583ac878f8c3e51e2e5392c1024 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7db426892c3f8583ac878f8c3e51e2e5392c1024 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] Philippe Gerum : config: bump UAPI level
Module: xenomai-3
Branch: next
Commit: 905b7ea57caba8b8a9094a0fc7c455cbd03f3e73
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=905b7ea57caba8b8a9094a0fc7c455cbd03f3e73
Author: Philippe Gerum
Date: Sat Feb 15 16:42:09 2014 +0100
config: bump UAPI level
---
config/apirev |2 +-
include/cobalt/sys/cobalt.h |4
lib/cobalt/internal.c |9 -
3 files changed, 1 insertion(+), 14 deletions(-)
diff --git a/config/apirev b/config/apirev
index 8351c19..60d3b2f 100644
--- a/config/apirev
+++ b/config/apirev
@@ -1 +1 @@
-14
+15
diff --git a/include/cobalt/sys/cobalt.h b/include/cobalt/sys/cobalt.h
index 1da8a46..1687e2b 100644
--- a/include/cobalt/sys/cobalt.h
+++ b/include/cobalt/sys/cobalt.h
@@ -134,10 +134,6 @@ void cobalt_register_tsd_hook(struct cobalt_tsd_hook *th);
void cobalt_assert_nrt(void);
-/* Use cobalt_assert_nrt() instead of: */
-__deprecated void assert_nrt(void);
-__deprecated void assert_nrt_fast(void);
-
extern int __cobalt_control_bind;
#ifdef __cplusplus
diff --git a/lib/cobalt/internal.c b/lib/cobalt/internal.c
index ebc3624..4333006 100644
--- a/lib/cobalt/internal.c
+++ b/lib/cobalt/internal.c
@@ -560,15 +560,6 @@ int cobalt_xlate_schedparam(int policy,
return std_policy;
}
-/*
- * Temporary compatibility aliases which should be phased out at next
- * API revision.
- */
-void assert_nrt(void)
-__attribute__((alias("cobalt_assert_nrt")));
-void assert_nrt_fast(void)
-__attribute__((alias("cobalt_assert_nrt")));
-
void cobalt_assert_nrt(void)
{
if (cobalt_should_warn())
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[Xenomai-git] Jan Kiszka : cobalt/kernel: Trigger missing reschedule after PP deboost
Module: xenomai-3
Branch: next
Commit: 83f226f3c9bcdcd3f905a0784c1b235f1ad8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=83f226f3c9bcdcd3f905a0784c1b235f1ad8
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] Jan Kiszka : lib/cobalt: Provide RT-capable usleep
Module: xenomai-3
Branch: next
Commit: 2f7e73a738aa01476ba40ca8b1174dedef470a3f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2f7e73a738aa01476ba40ca8b1174dedef470a3f
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 8dd28fb..0507786 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -529,3 +529,9 @@ unsigned int __real_sleep(unsigned int seconds)
{
return sleep(seconds);
}
+
+__weak
+int __real_usleep(useconds_t usec)
+{
+ return usleep(usec);
+}
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[Xenomai-git] Philippe Gerum : boilerplate: add AVL library
Module: xenomai-3
Branch: next
Commit: 0ccaba80064e2d370a87c0ec95a95629055635a7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0ccaba80064e2d370a87c0ec95a95629055635a7
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] Philippe Gerum : cobalt/arm64: assume TLS is properly supported
Module: xenomai-3 Branch: next Commit: 4d2617c1b37a90c067100794d9963a546171df62 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=4d2617c1b37a90c067100794d9963a546171df62 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] Dmitriy Cherkasov : cobalt/arm64: machine.h: Add 64-bit ffnz implementation. This fixes crash when running xddp-echo.
Module: xenomai-3
Branch: next
Commit: 7de0120dc42155e4369b1d1cb5ecc27ece1f6357
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7de0120dc42155e4369b1d1cb5ecc27ece1f6357
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 build for mismatched printf type (%lx, u64) on arm64.
Module: xenomai-3
Branch: next
Commit: ee2a4cf7d3a892992a9e886c3c5853f2891c8188
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ee2a4cf7d3a892992a9e886c3c5853f2891c8188
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] Don Mahurin : lib/cobalt/arm64: disable kuser tsc get setting for armv8/ aarch64
Module: xenomai-3 Branch: next Commit: 404f9cce03320cb5d8d1777d7f12a9c2a2c38a37 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=404f9cce03320cb5d8d1777d7f12a9c2a2c38a37 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] Dmitriy Cherkasov : cobalt/arm64: Makefile: fix arch path
Module: xenomai-3 Branch: next Commit: 95c6fbff1cf519e428d6ae476c30041c60b7832f URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=95c6fbff1cf519e428d6ae476c30041c60b7832f 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] Dmitriy Cherkasov : cobalt/arm64: thread.h & syscall.h: fix register references for arm64
Module: xenomai-3
Branch: next
Commit: 18b1af3600ddbf4b2fe66b892e09da0f783ee218
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=18b1af3600ddbf4b2fe66b892e09da0f783ee218
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] Dmitriy Cherkasov : cobalt/arm64: add lazy FPU switching
Module: xenomai-3
Branch: next
Commit: 6a74c4152ef89fc6d794beba8d687a1bdeb5b1c6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6a74c4152ef89fc6d794beba8d687a1bdeb5b1c6
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/arm64: drop aarch32 bits from feature set
Module: xenomai-3 Branch: next Commit: 02b278a87bde91c77894437e4ba98165c7f35b56 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=02b278a87bde91c77894437e4ba98165c7f35b56 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] Philippe Gerum : cobalt/arm64: restrict unlocked switch to SMP
Module: xenomai-3 Branch: next Commit: 0e92aa9a793138296456c986d70bd964f464f2aa URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0e92aa9a793138296456c986d70bd964f464f2aa 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: set cache aliasing and disable floating point coprocessor instructions form aarch64 /arm64
Module: xenomai-3
Branch: next
Commit: c094d361913991b8fae408fc241c5165f561a3b6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c094d361913991b8fae408fc241c5165f561a3b6
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 : cobalt/arm64: sanitize calibration file
Module: xenomai-3
Branch: next
Commit: 004876457142fe4557c34868b235c6615fafe50a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=004876457142fe4557c34868b235c6615fafe50a
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] Dmitriy Cherkasov : cobalt/arm64: thread: use kernel switch_to
Module: xenomai-3
Branch: next
Commit: 23a1561c02b2d2c9042acddfac77c9f9298aa2e8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=23a1561c02b2d2c9042acddfac77c9f9298aa2e8
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: 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: 41b52b2f8661bbcf66036573f608f8e16939bbe6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=41b52b2f8661bbcf66036573f608f8e16939bbe6
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 2dd1ada..cf7bbf4 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] Dmitriy Cherkasov : cobalt/arm64: prepare-kernel: add arm64 arch
Module: xenomai-3 Branch: next Commit: ef58dffeccc38ea2666d947d4472bfd5ede8c065 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ef58dffeccc38ea2666d947d4472bfd5ede8c065 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] Philippe Gerum : cobalt/arm64: leave mm tracking to the pipeline
Module: xenomai-3 Branch: next Commit: b0b1f1e84596f559e8550d778ad25c9330b24b82 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b0b1f1e84596f559e8550d778ad25c9330b24b82 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: update register struct usage for arm64
Module: xenomai-3
Branch: next
Commit: abb0359b3cfdc522fe5af3b8200a1cf0f332a262
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=abb0359b3cfdc522fe5af3b8200a1cf0f332a262
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] Dmitriy Cherkasov : cobalt/arm64: fix fpu exception names
Module: xenomai-3
Branch: next
Commit: 74342299dc100e2de3f6622ba2c34939b9c42a8d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=74342299dc100e2de3f6622ba2c34939b9c42a8d
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] Don Mahurin : lib/cobalt/arm64: add __LINUX_ARM_ARCH__ form armv8/aarch64
Module: xenomai-3 Branch: next Commit: e232a91613fadd53e5fbc6b7f45a6f1d10a09538 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e232a91613fadd53e5fbc6b7f45a6f1d10a09538 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] Dmitriy Cherkasov : cobalt/arm64: add basic FPU support
Module: xenomai-3
Branch: next
Commit: 3ecf0f0ec38ffacdf662cb77ead7b4b03377e3b8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3ecf0f0ec38ffacdf662cb77ead7b4b03377e3b8
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/arm: fixups for kernel 4.8+
Module: xenomai-3 Branch: next Commit: 9a865549170f82561389eaa6d4dbda6f8a46d2e1 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9a865549170f82561389eaa6d4dbda6f8a46d2e1 Author: Philippe Gerum Date: Sat May 13 20:29:35 2017 +0200 cobalt/arm: fixups for kernel 4.8+ --- kernel/cobalt/arch/arm/machine.c |2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kernel/cobalt/arch/arm/machine.c b/kernel/cobalt/arch/arm/machine.c index f48d4a8..6768f90 100644 --- a/kernel/cobalt/arch/arm/machine.c +++ b/kernel/cobalt/arch/arm/machine.c @@ -35,7 +35,7 @@ static void mach_arm_prefault(struct vm_area_struct *vma) flags = (vma->vm_flags & VM_MAYWRITE) ? FAULT_FLAG_WRITE : 0; for (addr = vma->vm_start; addr != vma->vm_end; addr += PAGE_SIZE) - handle_mm_fault(vma->vm_mm, vma, addr, flags); + handle_mm_fault(vma, addr, flags); } } ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[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: 76d3c2c686e7835a41d029f59c5c462cfe752545 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=76d3c2c686e7835a41d029f59c5c462cfe752545 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 useless test on target architecture
Module: xenomai-3
Branch: next
Commit: 1874cd7f5c64263650886097137a5a714b5d7025
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1874cd7f5c64263650886097137a5a714b5d7025
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 ea1b06e..74423f6 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
@@ -28,10 +28,9 @@
#define XENOMAI_FEAT_MAN (__xn_feat_generic_man_mask)
-#ifndef __aarch64__
-#define XNARCH_HAVE_LLMULSHFT1
-#define XNARCH_HAVE_NODIV_LLIMD 1
-#endif
+#undef XNARCH_HAVE_LLMULSHFT
+
+#undef XNARCH_HAVE_NODIV_LLIMD
struct cobalt_featinfo_archdep { /* no arch-specific feature */ };
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: remove code for unrelated arm architecture
Module: xenomai-3
Branch: next
Commit: 419adf523c233c6044aba5f56c345f6c1efed187
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=419adf523c233c6044aba5f56c345f6c1efed187
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: FPU code cleanup
Module: xenomai-3
Branch: next
Commit: fbe2f25a04dd37930aadce507f816c374e83
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fbe2f25a04dd37930aadce507f816c374e83
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] Don Mahurin : lib/cobalt/arm64: implement syscall for armv8/aarch64
Module: xenomai-3
Branch: next
Commit: c2396184222bc0100bdfeeffe3b839be60bc2b12
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c2396184222bc0100bdfeeffe3b839be60bc2b12
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] Don Mahurin : lib/cobalt/arm64: replace tsc counter
Module: xenomai-3
Branch: next
Commit: df8ada7f384cb28b9f78a9782ea6e0d71d3f50bb
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=df8ada7f384cb28b9f78a9782ea6e0d71d3f50bb
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: machine.h: use slightly faster ffnz implementation
Module: xenomai-3
Branch: next
Commit: a12916f23ad9d9a2c8ac3a86bd29aa6ef0ef0c10
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a12916f23ad9d9a2c8ac3a86bd29aa6ef0ef0c10
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] Don Mahurin : cobalt/arm64: Use empty mayday implementation for arm64.
Module: xenomai-3
Branch: next
Commit: 960871425ba57d9c321137c4502de367bdac9229
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=960871425ba57d9c321137c4502de367bdac9229
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] Dmitriy Cherkasov : cobalt/arm64: populate arch/arm64 with a copy of arch/ arm.
Module: xenomai-3 Branch: next Commit: 78d0d87e52cc49091f77337dd18f8a0a4f70bb0b URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=78d0d87e52cc49091f77337dd18f8a0a4f70bb0b 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 | 12 +- 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, 2047 insertions(+), 3 deletions(-) diff --git a/configure.ac b/configure.ac index 6593f5d..97bebf0 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-*) + target_cpu_arch=arm64 + CONFIG_XENO_DEFAULT_PERIOD=100 + ;; x86_64-*|amd64-*) use_tls=yes target_cpu_arch=x86 @@ -361,7 +365,7 @@ fi dnl VSYSCALL (default: enabled) for Cobalt/x86 -if test $XENO_TARGET_ARCH = x86 -a $rtcore_type = cobalt; then +if test $target_cpu_arch = x86 -a $rtcore_type = cobalt; then CONFIG_XENO_X86_VSYSCALL=y AC_MSG_CHECKING(for x86 VSYSCALL availability) AC_ARG_ENABLE(x86-vsyscall, @@ -788,7 +792,7 @@ dnl Autoconf-generated symbols have been listed. AH_BOTTOM([#endif /* __IN_XENO__ */]) if test $rtcore_type = cobalt; then - XENO_USER_CFLAGS="-I$topdir/lib/cobalt/arch/$XENO_TARGET_ARCH/include -I$topdir/kernel/cobalt/arch/$XENO_TARGET_ARCH/include $XENO_USER_CFLAGS" + XENO_USER_CFLAGS="-I$topdir/lib/cobalt/arch/$target_cpu_arch/include -I$topdir/kernel/cobalt/arch/$target_cpu_arch/include $XENO_USER_CFLAGS" XENO_COBALT_CFLAGS="$XENO_USER_CFLAGS" case "$build_for" in i*86*-*) XENO_COBALT_CFLAGS="$XENO_COBALT_CFLAGS -fno-omit-frame-pointer";; @@ -868,6 +872,10 @@ 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 wan
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: xenomai/syscall.h: update syscall register
Module: xenomai-3 Branch: next Commit: e3bd107278c79f75bfb0ce56e1b224770de7ce5c URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e3bd107278c79f75bfb0ce56e1b224770de7ce5c 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
