Detlef Vollmann wrote: > ... > And I think you're correct, for Xenomai it will work. > Unfortunately I'm trying to do a general ipipe port for PXA. > I'm doing this for a polytech who wants to use this with their > students, and so they probably want to use it with other domain > on top of ipipe (rtai 3.3, Siemens' implementation of the Posix > RT interface, and maybe even an own domain for experimenting).
I think the problem is not that some interface is "public". The point is rather that inherent characteristics like "always called with interrupts off" or "has to be protected with ipipe_critical" are not yet documented. Adding such comments to your work might be a start. The same applies to how a domain can expect soon-to-expire timer events are handled. Creating a generic patch without basing it on Xenomai-specific assumption is a reasonable approach, for sure. Nevertheless, the first non-Xenomai user you mentioned requires more patching and far more cleanup/update of its core to work over ARM again. And the second one is unfortunately still unpublished. The third scenario is quite real. Example: I have an experimental patch for the new irqbench pending that demonstrates how to lift simple IRQ jobs over Xenomai in its own domain. Gives nice worst-case IRQ latencies even on low-end, even under heavy Linux *and* Xenomai load (the latter ATM only with a small patch against ipipe to enable preemptible IRQ handlers for all non-heading domains, not only the root one). Jan
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