With this patch applied, the Xenomai skin libraries are able to obtain
the execution mode the current thread without issuing a syscall. The
kernel-user interface looks as follows:
- On thread creation (which triggers xnshadow_map), user space passes a
pointer to an unsigned long.
- Before going primary and after completing the switch to secondary
mode, the nucleus writes 0 or XNRELAX to that unsigned long. The mode
updates use __xn_put_user, so they are fail-safe (write errors are
ignored, only an initial access_wok check is reported back).
- User space can check its state by calling xeno_get_current_mode().
An optional light-weight version based on __thread is also provided.
Signed-off-by: Jan Kiszka <[EMAIL PROTECTED]>
---
include/asm-generic/bits/bind.h | 22 +++++++++++++++++++++-
include/asm-generic/bits/current.h | 20 ++++++++++++++++++++
include/native/syscall.h | 1 +
include/nucleus/shadow.h | 3 ++-
include/nucleus/thread.h | 4 ++++
include/psos+/syscall.h | 8 ++++++++
include/vrtx/syscall.h | 1 +
include/vxworks/syscall.h | 1 +
ksrc/nucleus/shadow.c | 22 ++++++++++++++++++++--
ksrc/skins/native/syscall.c | 3 ++-
ksrc/skins/posix/syscall.c | 14 +++++++++-----
ksrc/skins/psos+/syscall.c | 34 +++++++++++++++++++++-------------
ksrc/skins/uitron/syscall.c | 8 ++++++--
ksrc/skins/vrtx/syscall.c | 4 +++-
ksrc/skins/vxworks/syscall.c | 4 +++-
src/skins/native/task.c | 10 ++++++++++
src/skins/posix/thread.c | 33 +++++++++++++++++++++++++++++++--
src/skins/psos+/task.c | 16 +++++++++++++---
src/skins/uitron/task.c | 11 +++++++++--
src/skins/vrtx/task.c | 6 ++++++
src/skins/vxworks/taskLib.c | 6 ++++++
21 files changed, 197 insertions(+), 34 deletions(-)
Index: b/include/native/syscall.h
===================================================================
--- a/include/native/syscall.h
+++ b/include/native/syscall.h
@@ -134,6 +134,7 @@ struct rt_arg_bulk {
u_long a3;
u_long a4;
u_long a5;
+ u_long a6;
};
#ifdef __KERNEL__
Index: b/include/nucleus/shadow.h
===================================================================
--- a/include/nucleus/shadow.h
+++ b/include/nucleus/shadow.h
@@ -69,7 +69,8 @@ void xnshadow_grab_events(void);
void xnshadow_release_events(void);
int xnshadow_map(struct xnthread *thread,
- xncompletion_t __user *u_completion);
+ xncompletion_t __user *u_completion,
+ unsigned long __user *u_mode);
void xnshadow_unmap(struct xnthread *thread);
Index: b/include/nucleus/thread.h
===================================================================
--- a/include/nucleus/thread.h
+++ b/include/nucleus/thread.h
@@ -248,6 +248,10 @@ typedef struct xnthread {
void *cookie; /* Cookie to pass to the entry routine */
+#ifdef CONFIG_XENO_OPT_PERVASIVE
+ unsigned long __user *u_mode; /* Thread mode variable in userland. */
+#endif /* CONFIG_XENO_OPT_PERVASIVE */
+
XNARCH_DECL_DISPLAY_CONTEXT();
} xnthread_t;
Index: b/ksrc/nucleus/shadow.c
===================================================================
--- a/ksrc/nucleus/shadow.c
+++ b/ksrc/nucleus/shadow.c
@@ -1079,6 +1079,8 @@ redo:
/* Grab the request token. */
return -ERESTARTSYS;
+ __xn_put_user(0, thread->u_mode);
+
preempt_disable();
/* Assume that we might have been migrated while waiting for
@@ -1250,6 +1252,8 @@ void xnshadow_relax(int notify)
/* "current" is now running into the Linux domain on behalf of the
root thread. */
+ __xn_put_user(XNRELAX, thread->u_mode);
+
trace_mark(xn_nucleus_shadow_relaxed,
"thread %p thread_name %s comm %s",
thread, xnthread_name(thread), current->comm);
@@ -1264,7 +1268,9 @@ void xnshadow_exit(void)
}
/*!
- * \fn int xnshadow_map(xnthread_t *thread, xncompletion_t __user
*u_completion)
+ * \fn int xnshadow_map(xnthread_t *thread,
+ * xncompletion_t __user *u_completion,
+ * unsigned long __user *u_mode)
* @internal
* \brief Create a shadow thread context.
*
@@ -1288,6 +1294,11 @@ void xnshadow_exit(void)
* immediately started and "current" immediately resumes in the Xenomai
* domain from this service.
*
+ * @param: u_mode is the address of a mode variable in user space that
+ * will reflect the current thread mode (primary or secondary). The
+ * nucleus will try to update the variable before switching to secondary
+ * or after switching from primary mode.
+ *
* @return 0 is returned on success. Otherwise:
*
* - -ERESTARTSYS is returned if the current Linux task has received a
@@ -1313,7 +1324,8 @@ void xnshadow_exit(void)
*
*/
-int xnshadow_map(xnthread_t *thread, xncompletion_t __user *u_completion)
+int xnshadow_map(xnthread_t *thread, xncompletion_t __user *u_completion,
+ unsigned long __user *u_mode)
{
xnarch_cpumask_t affinity;
unsigned muxid, magic;
@@ -1325,6 +1337,9 @@ int xnshadow_map(xnthread_t *thread, xnc
if (xnthread_test_state(thread, XNMAPPED))
return -EINVAL;
+ if (!access_wok(u_mode, sizeof(*u_mode)))
+ return -EFAULT;
+
#ifdef CONFIG_MMU
if (!(current->mm->def_flags & VM_LOCKED))
send_sig(SIGXCPU, current, 1);
@@ -1385,6 +1400,9 @@ int xnshadow_map(xnthread_t *thread, xnc
if (err)
return err;
+ thread->u_mode = u_mode;
+ __xn_put_user(XNRELAX, u_mode);
+
err = xnshadow_harden();
xnarch_trace_pid(xnarch_user_pid(xnthread_archtcb(thread)),
Index: b/ksrc/skins/native/syscall.c
===================================================================
--- a/ksrc/skins/native/syscall.c
+++ b/ksrc/skins/native/syscall.c
@@ -191,7 +191,8 @@ static int __rt_task_create(struct pt_re
if (__xn_safe_copy_to_user((void __user *)bulk.a1, &ph,
sizeof(ph)))
err = -EFAULT;
else {
- err = xnshadow_map(&task->thread_base, u_completion);
+ err = xnshadow_map(&task->thread_base, u_completion,
+ (unsigned long __user *)bulk.a6);
if (!err)
goto out;
}
Index: b/ksrc/skins/posix/syscall.c
===================================================================
--- a/ksrc/skins/posix/syscall.c
+++ b/ksrc/skins/posix/syscall.c
@@ -180,7 +180,8 @@ static int __pthread_create(struct pt_re
if (err)
return -err; /* Conventionally, our error codes are
negative. */
- err = xnshadow_map(&k_tid->threadbase, NULL);
+ err = xnshadow_map(&k_tid->threadbase, NULL,
+ (unsigned long __user *)__xn_reg_arg2(regs));
if (!err && !__pthread_hash(&hkey, k_tid))
err = -ENOMEM;
@@ -196,7 +197,8 @@ static int __pthread_create(struct pt_re
#define __pthread_detach __pse51_call_not_available
static pthread_t __pthread_shadow(struct task_struct *p,
- struct pse51_hkey *hkey)
+ struct pse51_hkey *hkey,
+ unsigned long __user *u_mode)
{
pthread_attr_t attr;
pthread_t k_tid;
@@ -211,7 +213,7 @@ static pthread_t __pthread_shadow(struct
if (err)
return ERR_PTR(-err);
- err = xnshadow_map(&k_tid->threadbase, NULL);
+ err = xnshadow_map(&k_tid->threadbase, NULL, u_mode);
if (!err && !__pthread_hash(hkey, k_tid))
err = -EAGAIN;
@@ -227,11 +229,13 @@ static pthread_t __pthread_shadow(struct
static int __pthread_setschedparam(struct pt_regs *regs)
{
int policy, err, promoted = 0;
+ unsigned long __user *u_mode;
struct sched_param param;
struct pse51_hkey hkey;
pthread_t k_tid;
policy = __xn_reg_arg2(regs);
+ u_mode = (unsigned long __user *)__xn_reg_arg4(regs);
if (__xn_safe_copy_from_user(¶m,
(void __user *)__xn_reg_arg3(regs),
sizeof(param)))
@@ -241,10 +245,10 @@ static int __pthread_setschedparam(struc
hkey.mm = current->mm;
k_tid = __pthread_find(&hkey);
- if (!k_tid && __xn_reg_arg1(regs) == __xn_reg_arg4(regs)) {
+ if (!k_tid && u_mode) {
/* If the syscall applies to "current", and the latter is not
a Xenomai thread already, then shadow it. */
- k_tid = __pthread_shadow(current, &hkey);
+ k_tid = __pthread_shadow(current, &hkey, u_mode);
if (IS_ERR(k_tid))
return PTR_ERR(k_tid);
Index: b/ksrc/skins/psos+/syscall.c
===================================================================
--- a/ksrc/skins/psos+/syscall.c
+++ b/ksrc/skins/psos+/syscall.c
@@ -60,11 +60,14 @@ static psostask_t *__psos_task_current(s
}
/*
- * int __t_create(const char *name,
- * u_long prio,
- * u_long flags,
+ * int __t_create(struct psos_arg_bulk *bulk,
* u_long *tid_r,
* xncompletion_t *completion)
+ * bulk = {
+ * a1: const char *name;
+ * a2: u_long prio;
+ * a3: u_long flags;
+ * a4: unsigned long *mode;
*/
static int __t_create(struct pt_regs *regs)
@@ -73,10 +76,15 @@ static int __t_create(struct pt_regs *re
struct task_struct *p = current;
u_long prio, flags, tid, err;
char name[XNOBJECT_NAME_LEN];
+ struct psos_arg_bulk bulk;
psostask_t *task;
+ if (__xn_safe_copy_from_user(&bulk, (void __user *)__xn_reg_arg1(regs),
+ sizeof(bulk)))
+ return -EFAULT;
+
/* Get task name. */
- if (__xn_safe_strncpy_from_user(name, (const char __user
*)__xn_reg_arg1(regs),
+ if (__xn_safe_strncpy_from_user(name, (const char __user *)bulk.a1,
sizeof(name) - 1) < 0)
return -EFAULT;
@@ -85,12 +93,12 @@ static int __t_create(struct pt_regs *re
p->comm[sizeof(p->comm) - 1] = '\0';
/* Task priority. */
- prio = __xn_reg_arg2(regs);
+ prio = bulk.a2;
/* Task flags. Force FPU support in user-space. This will lead
to a no-op if the platform does not support it. */
- flags = __xn_reg_arg3(regs) | T_SHADOW | T_FPU;
+ flags = bulk.a3 | T_SHADOW | T_FPU;
/* Completion descriptor our parent thread is pending on. */
- u_completion = (xncompletion_t __user *)__xn_reg_arg5(regs);
+ u_completion = (xncompletion_t __user *)__xn_reg_arg3(regs);
err = t_create(name, prio, 0, 0, flags, &tid);
@@ -100,14 +108,14 @@ static int __t_create(struct pt_regs *re
* about the new thread id, so we can manipulate its
* TCB pointer freely. */
tid = xnthread_handle(&task->threadbase);
- if (__xn_safe_copy_to_user((void __user *)__xn_reg_arg4(regs),
&tid,
+ if (__xn_safe_copy_to_user((void __user *)__xn_reg_arg2(regs),
&tid,
sizeof(tid)))
return -EFAULT;
- else {
- err = xnshadow_map(&task->threadbase, u_completion);
/* May be NULL */
- if (!err)
- goto out;
- }
+
+ err = xnshadow_map(&task->threadbase, u_completion,
+ (unsigned long __user *)bulk.a4);
+ if (!err)
+ goto out;
t_delete((u_long)task);
}
Index: b/ksrc/skins/vrtx/syscall.c
===================================================================
--- a/ksrc/skins/vrtx/syscall.c
+++ b/ksrc/skins/vrtx/syscall.c
@@ -48,6 +48,7 @@ static int __muxid;
* a1: int tid;
* a2: int prio;
* a3: int mode;
+ * a4: unsigned long *shadow_mode;
* }
*/
@@ -89,7 +90,8 @@ static int __sc_tecreate(struct pt_regs
&tid, sizeof(tid)))
err = -EFAULT;
else {
- err = xnshadow_map(&task->threadbase, u_completion);
+ err = xnshadow_map(&task->threadbase, u_completion,
+ (unsigned long __user *)bulk.a4);
if (!err)
goto done;
}
Index: b/ksrc/skins/vxworks/syscall.c
===================================================================
--- a/ksrc/skins/vxworks/syscall.c
+++ b/ksrc/skins/vxworks/syscall.c
@@ -66,6 +66,7 @@ static WIND_TCB *__wind_task_current(str
* a2: int prio;
* a3: int flags;
* a4: pthread_self();
+ * a5: unsigned long *mode;
* }
*/
@@ -124,7 +125,8 @@ static int __wind_task_init(struct pt_re
sizeof(ph)))
err = -EFAULT;
else {
- err = xnshadow_map(&task->threadbase, u_completion);
+ err = xnshadow_map(&task->threadbase, u_completion,
+ (unsigned long __user *)bulk.a5);
if (!err)
goto out;
}
Index: b/ksrc/skins/uitron/syscall.c
===================================================================
--- a/ksrc/skins/uitron/syscall.c
+++ b/ksrc/skins/uitron/syscall.c
@@ -31,13 +31,15 @@
int __ui_muxid;
/*
- * int __uitron_cre_tsk(ID tskid, T_CTSK *pk_ctsk, xncompletion_t *completion)
+ * int __uitron_cre_tsk(ID tskid, T_CTSK *pk_ctsk, xncompletion_t *completion,
+ * unsigned long *mode)
*/
static int __ui_cre_tsk(struct pt_regs *regs)
{
xncompletion_t __user *u_completion;
struct task_struct *p = current;
+ unsigned long __user *u_mode;
uitask_t *task;
T_CTSK pk_ctsk;
ID tskid;
@@ -54,6 +56,8 @@ static int __ui_cre_tsk(struct pt_regs *
/* Completion descriptor our parent thread is pending on. */
u_completion = (xncompletion_t __user *)__xn_reg_arg3(regs);
+ u_mode = (unsigned long __user *)__xn_reg_arg4(regs);
+
err = cre_tsk(tskid, &pk_ctsk);
if (likely(err == E_OK)) {
@@ -74,7 +78,7 @@ static int __ui_cre_tsk(struct pt_regs *
* recycled before we could map it; however, the risk
* is mitigated by consistency checks performed in
* xnshadow_map(). */
- return xnshadow_map(&task->threadbase, u_completion); /* May
be NULL */
+ return xnshadow_map(&task->threadbase, u_completion, u_mode);
}
fail:
Index: b/include/asm-generic/bits/bind.h
===================================================================
--- a/include/asm-generic/bits/bind.h
+++ b/include/asm-generic/bits/bind.h
@@ -17,6 +17,8 @@
#ifdef HAVE___THREAD
__thread xnhandle_t xeno_current __attribute__ ((tls_model ("initial-exec"))) =
XN_NO_HANDLE;
+__thread unsigned long
+xeno_current_mode __attribute__ ((tls_model ("initial-exec")));
static inline void __xeno_set_current(xnhandle_t current)
{
@@ -24,17 +26,35 @@ static inline void __xeno_set_current(xn
}
#else /* !HAVE___THREAD */
pthread_key_t xeno_current_key;
+pthread_key_t xeno_current_mode_key;
static inline void __xeno_set_current(xnhandle_t current)
{
pthread_setspecific(xeno_current_key, (void *)current);
}
+unsigned long *xeno_init_current_mode(void)
+{
+ unsigned long *mode = malloc(sizeof(unsigned long));
+ pthread_setspecific(xeno_current_mode_key, mode);
+ return mode;
+}
+
+static void cleanup_current_mode(void *ptr)
+{
+ free(ptr);
+}
+
static __attribute__ ((constructor))
-void init_current_key(void)
+void init_current_keys(void)
{
int err = pthread_key_create(&xeno_current_key, NULL);
+ if (err)
+ goto error_exit;
+
+ err = pthread_key_create(&xeno_current_mode_key, cleanup_current_mode);
if (err) {
+ error_exit:
fprintf(stderr, "Xenomai: error creating TSD key: %s\n",
strerror(err));
exit(1);
Index: b/include/asm-generic/bits/current.h
===================================================================
--- a/include/asm-generic/bits/current.h
+++ b/include/asm-generic/bits/current.h
@@ -6,14 +6,27 @@
#ifdef HAVE___THREAD
extern __thread xnhandle_t xeno_current __attribute__ ((tls_model
("initial-exec")));
+extern __thread unsigned long
+xeno_current_mode __attribute__ ((tls_model ("initial-exec")));
static inline xnhandle_t xeno_get_current(void)
{
return xeno_current;
}
+static inline unsigned long xeno_get_current_mode(void)
+{
+ return xeno_current_mode;
+}
+
+static inline unsigned long *xeno_init_current_mode(void)
+{
+ return &xeno_current_mode;
+}
+
#else /* ! HAVE___THREAD */
extern pthread_key_t xeno_current_key;
+extern pthread_key_t xeno_current_mode_key;
static inline xnhandle_t xeno_get_current(void)
{
@@ -24,6 +37,13 @@ static inline xnhandle_t xeno_get_curren
return (xnhandle_t)val;
}
+
+static inline unsigned long xeno_get_current_mode(void)
+{
+ return *(unsigned long *)pthread_getspecific(xeno_current_mode_key);
+}
+
+unsigned long *xeno_init_current_mode(void);
#endif /* ! HAVE___THREAD */
void xeno_set_current(void);
Index: b/src/skins/native/task.c
===================================================================
--- a/src/skins/native/task.c
+++ b/src/skins/native/task.c
@@ -89,6 +89,12 @@ static void *rt_task_trampoline(void *co
bulk.a3 = (u_long)iargs->prio;
bulk.a4 = (u_long)iargs->mode;
bulk.a5 = (u_long)pthread_self();
+ bulk.a6 = (u_long)xeno_init_current_mode();
+
+ if (!bulk.a6) {
+ err = -ENOMEM;
+ goto fail;
+ }
err = XENOMAI_SKINCALL2(__native_muxid,
__native_task_create, &bulk,
@@ -205,6 +211,10 @@ int rt_task_shadow(RT_TASK *task, const
bulk.a3 = (u_long)prio;
bulk.a4 = (u_long)mode;
bulk.a5 = (u_long)pthread_self();
+ bulk.a6 = (u_long)xeno_init_current_mode();
+
+ if (!bulk.a6)
+ return -ENOMEM;
err = XENOMAI_SKINCALL2(__native_muxid, __native_task_create, &bulk,
NULL);
Index: b/src/skins/posix/thread.c
===================================================================
--- a/src/skins/posix/thread.c
+++ b/src/skins/posix/thread.c
@@ -47,11 +47,23 @@ int __wrap_pthread_setschedparam(pthread
int policy, const struct sched_param *param)
{
pthread_t myself = pthread_self();
+ unsigned long *mode_buf = NULL;
int err, promoted;
+ if (thread == myself) {
+#ifdef HAVE___THREAD
+ mode_buf = xeno_init_current_mode();
+#else /* !HAVE___THREAD */
+ mode_buf = malloc(sizeof(*mode_buf));
+
+ if (!mode_buf)
+ return ENOMEM;
+#endif /* !HAVE___THREAD */
+ }
+
err = -XENOMAI_SKINCALL5(__pse51_muxid,
__pse51_thread_setschedparam,
- thread, policy, param, myself, &promoted);
+ thread, policy, param, mode_buf, &promoted);
if (err == EPERM)
return __real_pthread_setschedparam(thread, policy, param);
@@ -60,10 +72,17 @@ int __wrap_pthread_setschedparam(pthread
if (!err && promoted) {
old_sigharden_handler = signal(SIGHARDEN,
&__pthread_sigharden_handler);
+#ifndef HAVE___THREAD
+ pthread_setspecific(xeno_current_mode_key, mode_buf);
+#endif /* !HAVE___THREAD */
xeno_set_current();
if (policy != SCHED_OTHER)
XENOMAI_SYSCALL1(__xn_sys_migrate, XENOMAI_XENO_DOMAIN);
}
+#ifndef HAVE___THREAD
+ else
+ free(mode_buf);
+#endif /* !HAVE___THREAD */
return err;
}
@@ -116,6 +135,7 @@ static void *__pthread_trampoline(void *
struct sched_param param;
void *status = NULL;
int parent_prio, policy;
+ unsigned long *mode_buf;
long err;
old_sigharden_handler = signal(SIGHARDEN, &__pthread_sigharden_handler);
@@ -123,10 +143,18 @@ static void *__pthread_trampoline(void *
param.sched_priority = iargs->prio;
policy = iargs->policy;
parent_prio = iargs->parent_prio;
+ mode_buf = xeno_init_current_mode();
+
+ if (!mode_buf) {
+ status = (void *)ENOMEM;
+ iargs->ret = ENOMEM;
+ goto out;
+ }
/* Do _not_ inline the call to pthread_self() in the syscall
macro: this trashes the syscall regs on some archs. */
- err = XENOMAI_SKINCALL1(__pse51_muxid, __pse51_thread_create, tid);
+ err = XENOMAI_SKINCALL2(__pse51_muxid, __pse51_thread_create, tid,
+ mode_buf);
iargs->ret = -err;
/* We must save anything we'll need to use from *iargs on our own
@@ -159,6 +187,7 @@ static void *__pthread_trampoline(void *
} else
status = (void *)-err;
+out:
pthread_exit(status);
}
Index: b/include/vrtx/syscall.h
===================================================================
--- a/include/vrtx/syscall.h
+++ b/include/vrtx/syscall.h
@@ -85,6 +85,7 @@ struct vrtx_arg_bulk {
u_long a1;
u_long a2;
u_long a3;
+ u_long a4;
};
#ifdef __KERNEL__
Index: b/include/vxworks/syscall.h
===================================================================
--- a/include/vxworks/syscall.h
+++ b/include/vxworks/syscall.h
@@ -77,6 +77,7 @@ struct wind_arg_bulk {
u_long a2;
u_long a3;
u_long a4;
+ u_long a5;
};
#ifdef __KERNEL__
Index: b/src/skins/vrtx/task.c
===================================================================
--- a/src/skins/vrtx/task.c
+++ b/src/skins/vrtx/task.c
@@ -118,6 +118,12 @@ static void *vrtx_task_trampoline(void *
bulk.a1 = (u_long)iargs->tid;
bulk.a2 = (u_long)iargs->prio;
bulk.a3 = (u_long)iargs->mode;
+ bulk.a4 = (u_long)xeno_init_current_mode();
+
+ if (!bulk.a4) {
+ err = -ENOMEM;
+ goto fail;
+ }
err = XENOMAI_SKINCALL3(__vrtx_muxid,
__vrtx_tecreate,
Index: b/src/skins/vxworks/taskLib.c
===================================================================
--- a/src/skins/vxworks/taskLib.c
+++ b/src/skins/vxworks/taskLib.c
@@ -118,6 +118,12 @@ static void *wind_task_trampoline(void *
bulk.a2 = (u_long)iargs->prio;
bulk.a3 = (u_long)iargs->flags;
bulk.a4 = (u_long)pthread_self();
+ bulk.a5 = (u_long)xeno_init_current_mode();
+
+ if (!bulk.a5) {
+ err = -ENOMEM;
+ goto fail;
+ }
err = XENOMAI_SKINCALL3(__vxworks_muxid,
__vxworks_task_init,
Index: b/include/psos+/syscall.h
===================================================================
--- a/include/psos+/syscall.h
+++ b/include/psos+/syscall.h
@@ -74,6 +74,14 @@
/* Xenomai extension: get raw count of jiffies */
#define __psos_tm_getc 46
+struct psos_arg_bulk {
+
+ u_long a1;
+ u_long a2;
+ u_long a3;
+ u_long a4;
+};
+
#ifdef __KERNEL__
#ifdef __cplusplus
Index: b/src/skins/psos+/task.c
===================================================================
--- a/src/skins/psos+/task.c
+++ b/src/skins/psos+/task.c
@@ -72,6 +72,7 @@ static void *psos_task_trampoline(void *
struct psos_task_iargs *iargs = (struct psos_task_iargs *)cookie;
void (*entry)(u_long, u_long, u_long, u_long);
u_long dummy_args[4] = { 0, 0, 0, 0 }, *targs;
+ struct psos_arg_bulk bulk;
struct sched_param param;
int policy;
long err;
@@ -83,10 +84,19 @@ static void *psos_task_trampoline(void *
old_sigharden_handler = signal(SIGHARDEN, &psos_task_sigharden);
- err = XENOMAI_SKINCALL5(__psos_muxid,
+ bulk.a1 = (u_long)iargs->name;
+ bulk.a2 = (u_long)iargs->prio;
+ bulk.a3 = (u_long)iargs->flags;
+ bulk.a4 = (u_long)xeno_init_current_mode();
+
+ if (!bulk.a4) {
+ err = -ENOMEM;
+ goto fail;
+ }
+
+ err = XENOMAI_SKINCALL3(__psos_muxid,
__psos_t_create,
- iargs->name, iargs->prio, iargs->flags,
- iargs->tid_r, iargs->completionp);
+ &bulk, iargs->tid_r, iargs->completionp);
if (err)
goto fail;
Index: b/src/skins/uitron/task.c
===================================================================
--- a/src/skins/uitron/task.c
+++ b/src/skins/uitron/task.c
@@ -68,6 +68,7 @@ static void *uitron_task_trampoline(void
{
struct uitron_task_iargs *iargs = (struct uitron_task_iargs *)cookie;
struct sched_param param;
+ unsigned long *mode;
void (*entry)(INT);
int policy;
long err;
@@ -83,10 +84,16 @@ static void *uitron_task_trampoline(void
pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
old_sigharden_handler = signal(SIGHARDEN, &uitron_task_sigharden);
- err = XENOMAI_SKINCALL3(__uitron_muxid,
+ mode = xeno_init_current_mode();
+ if (!mode) {
+ err = -ENOMEM;
+ goto fail;
+ }
+
+ err = XENOMAI_SKINCALL4(__uitron_muxid,
__uitron_cre_tsk,
iargs->tskid, iargs->pk_ctsk,
- iargs->completionp);
+ iargs->completionp, mode);
if (err)
goto fail;
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