Module: xenomai-forge
Branch: next
Commit: 49ba131477784ed8d99eca50bab5de2d851b3b76
URL:    
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=49ba131477784ed8d99eca50bab5de2d851b3b76

Author: Philippe Gerum <r...@xenomai.org>
Date:   Fri Aug  8 11:40:45 2014 +0200

doc: prebuild

---

 doc/asciidoc/MIGRATION.adoc                        |   17 ++
 doc/asciidoc/TROUBLESHOOTING.COBALT.adoc           |   30 +--
 doc/prebuilt/html/MIGRATION/index.html             |   23 +-
 doc/prebuilt/html/README.APPLICATIONS/index.html   |    2 +-
 doc/prebuilt/html/README.INSTALL/index.html        |    2 +-
 .../html/TROUBLESHOOTING.COBALT/index.html         |   84 ++++----
 .../html/TROUBLESHOOTING.MERCURY/index.html        |    2 +-
 doc/prebuilt/html/xeno3prm/deprecated.html         |   12 +-
 .../html/xeno3prm/group__alchemy__alarm.html       |    3 +-
 .../html/xeno3prm/group__alchemy__task.html        |   18 +-
 .../html/xeno3prm/group__cobalt__api__time.html    |    2 +
 doc/prebuilt/html/xeno3prm/group__trank.html       |  228 +++++++++++++++++++-
 doc/prebuilt/html/xeno3prm/group__trank.js         |    6 +-
 .../include_2alchemy_2alarm_8h_source.html         |   10 +-
 .../xeno3prm/include_2alchemy_2task_8h_source.html |   52 ++---
 .../include_2trank_2native_2alarm_8h_source.html   |    7 +-
 .../include_2trank_2native_2task_8h_source.html    |    6 +-
 doc/prebuilt/html/xeno3prm/navtree.js              |    6 +-
 doc/prebuilt/html/xeno3prm/navtreeindex1.js        |    4 +-
 doc/prebuilt/html/xeno3prm/navtreeindex5.js        |   14 +-
 doc/prebuilt/html/xeno3prm/navtreeindex6.js        |   10 +-
 doc/prebuilt/html/xeno3prm/navtreeindex7.js        |   10 +-
 doc/prebuilt/html/xeno3prm/navtreeindex8.js        |    4 +
 doc/prebuilt/html/xeno3prm/search/search.idx       |  Bin 1008009 -> 1011493 
bytes
 doc/prebuilt/pdf/MIGRATION.pdf                     |  Bin 174231 -> 174865 
bytes
 doc/prebuilt/pdf/README.APPLICATIONS.pdf           |  Bin 86761 -> 86761 bytes
 doc/prebuilt/pdf/README.INSTALL.pdf                |  Bin 174377 -> 174377 
bytes
 doc/prebuilt/pdf/TROUBLESHOOTING.COBALT.pdf        |  Bin 137437 -> 138532 
bytes
 doc/prebuilt/pdf/TROUBLESHOOTING.MERCURY.pdf       |  Bin 37723 -> 37723 bytes
 doc/prebuilt/pdf/xeno3prm.pdf                      |  Bin 1980573 -> 1991936 
bytes
 30 files changed, 419 insertions(+), 133 deletions(-)

diff --git a/doc/asciidoc/MIGRATION.adoc b/doc/asciidoc/MIGRATION.adoc
index 0fd4637..4d8d2ca 100644
--- a/doc/asciidoc/MIGRATION.adoc
+++ b/doc/asciidoc/MIGRATION.adoc
@@ -466,6 +466,23 @@ context already, the Cobalt core has simply inherited those
 requirements from the Linux kernel.
 *******************************************************************
 
+- The leading _user_info_ argument to rtdm_munmap() has been
+  removed.
+
+.Rationale
+*********************************************************************
+With the introduction of RTDM file descriptors (see below) replacing
+all _user_info_ context pointers, this argument has become irrelevant,
+since this operation is not related to any file descriptor, but rather
+to the current address space.
+*********************************************************************
+
+The new prototype for this routine is therefore
+
+---------------------------------------
+int rtdm_munmap(void *ptr, size_t len);
+---------------------------------------
+
 === File descriptors ===
 
 Xenomai 3 introduces a file descriptor abstraction for RTDM
diff --git a/doc/asciidoc/TROUBLESHOOTING.COBALT.adoc 
b/doc/asciidoc/TROUBLESHOOTING.COBALT.adoc
index 1b94661..893158d 100644
--- a/doc/asciidoc/TROUBLESHOOTING.COBALT.adoc
+++ b/doc/asciidoc/TROUBLESHOOTING.COBALT.adoc
@@ -71,7 +71,7 @@ The most probable reason is that no hardware timer chip is 
available
 for Xenomai timing operations.
 
 Check that you did not enable some of the conflicting options listed
-in the <<kconf,Kernel configuration>> section.
+in the <<kconf,"Kernel configuration">> section.
 
 With AMD x86_64 CPUs:: You will most likely also see the following
 message:
@@ -150,6 +150,7 @@ more information about this parameter.
 [[vsyscall]]
 === --enable-x86-sep needs NPTL and Linux 2.6.x or higher
 or,
+
 === --enable-x86-vsyscall requires NPTL ...
 
 This message may happen when starting a Xenomai 2.x or 3.x application
@@ -214,20 +215,19 @@ are available from link:installing-xenomai-3-x[this page] 
for Xenomai
 
 ==== feature mismatch: missing="smp/nosmp"
 
-On some SMP-capable architectures, for kernel-space and user-space
-supports to be compatible, both should be compiled with the same
-setting for SMP.
-
-SMP support in kernel-space is enabled with the +CONFIG_SMP+ option.
+On SMP-capable architectures, both kernel and user-space components
+(i.e. Xenomai libraries) must be compiled with the same setting with
+respect to SMP support.
 
-For these architectures, SMP support in user-space is enabled by
-passing +--enable-smp+ to the configure script, and disabled by passing
-+--disable-smp+ (SMP is enabled by default on some platforms).
+SMP support in the kernel is controlled via the +CONFIG_SMP+ option.
+The +--enable-smp+ configuration switch enables this feature for the
+Xenomai libraries (conversely, +--disable-smp+ disables it).
 
-Other SMP-capable architectures may run userland code built with
-+--enable-smp+ or +--disable-smp+ over the same kernel indifferently, at
-no noticeable performance cost. These architectures never receive such
-SMP-related error.
+[CAUTION]
+Using Xenomai libraries built for a single-processor configuration
+(i.e. +--disable-smp+) over a SMP kernel (i.e. +CONFIG_SMP=y+) is
+*NOT* valid. On the other hand, using Xenomai libraries built with SMP
+support enabled over a single-processor kernel is fine.
 
 === Application-level issues specific to the Xenomai 2.x series
 
@@ -246,7 +246,7 @@ architecture.
 
 This error is specific to the x86 architecture on Xenomai 2.x, for
 pre-Pentium CPUs which do not provide the _sysenter/sysexit_
-instruction pair. See <<vsyscall, "this section">>.
+instruction pair. See <<vsyscall, this section>>.
 
 [NOTE]
 This issue does not affect Xenomai 3.x as the latter does not
@@ -347,8 +347,10 @@ should recompile Xenomai user-space support passing the
 
 ==== hardware tsc is not a fast wrapping one
 or,
+
 ==== kernel/user tsc emulation mismatch
 or,
+
 ==== board/configuration does not allow tsc emulation
 
 See the <<arm-tsc, "ARM tsc emulation issues">> section.
diff --git a/doc/prebuilt/html/MIGRATION/index.html 
b/doc/prebuilt/html/MIGRATION/index.html
index 214f2ee..24a4889 100644
--- a/doc/prebuilt/html/MIGRATION/index.html
+++ b/doc/prebuilt/html/MIGRATION/index.html
@@ -1300,6 +1300,27 @@ interrupts is most commonly done from driver 
initialization/cleanup
 context already, the Cobalt core has simply inherited those
 requirements from the Linux kernel.</p></div>
 </div></div>
+<div class="ulist"><ul>
+<li>
+<p>
+The leading <em>user_info</em> argument to rtdm_munmap() has been
+  removed.
+</p>
+</li>
+</ul></div>
+<div class="sidebarblock">
+<div class="content">
+<div class="title">Rationale</div>
+<div class="paragraph"><p>With the introduction of RTDM file descriptors (see 
below) replacing
+all <em>user_info</em> context pointers, this argument has become irrelevant,
+since this operation is not related to any file descriptor, but rather
+to the current address space.</p></div>
+</div></div>
+<div class="paragraph"><p>The new prototype for this routine is 
therefore</p></div>
+<div class="listingblock">
+<div class="content">
+<pre><code>int rtdm_munmap(void *ptr, size_t len);</code></pre>
+</div></div>
 </div>
 <div class="sect2">
 <h3 id="_file_descriptors">5.3. File descriptors</h3>
@@ -2425,7 +2446,7 @@ CC = $(shell $(CONFIG_CMD) --cc)</code></pre>
 <div id="footnotes"><hr /></div>
 <div id="footer">
 <div id="footer-text">
-Last updated 2014-08-07 16:39:31 CEST
+Last updated 2014-08-08 11:36:19 CEST
 </div>
 </div>
 </body>
diff --git a/doc/prebuilt/html/README.APPLICATIONS/index.html 
b/doc/prebuilt/html/README.APPLICATIONS/index.html
index 05543f4..b1c5e77 100644
--- a/doc/prebuilt/html/README.APPLICATIONS/index.html
+++ b/doc/prebuilt/html/README.APPLICATIONS/index.html
@@ -997,7 +997,7 @@ package is called <em>valgrind-devel</em> on Fedora.</td>
 <div id="footnotes"><hr /></div>
 <div id="footer">
 <div id="footer-text">
-Last updated 2014-08-07 16:39:31 CEST
+Last updated 2014-08-08 11:36:19 CEST
 </div>
 </div>
 </body>
diff --git a/doc/prebuilt/html/README.INSTALL/index.html 
b/doc/prebuilt/html/README.INSTALL/index.html
index fbf7158..c6ef732 100644
--- a/doc/prebuilt/html/README.INSTALL/index.html
+++ b/doc/prebuilt/html/README.INSTALL/index.html
@@ -1869,7 +1869,7 @@ Xenomai 3.x, you should have a look at
 <div id="footnotes"><hr /></div>
 <div id="footer">
 <div id="footer-text">
-Last updated 2014-08-07 16:39:31 CEST
+Last updated 2014-08-08 11:36:19 CEST
 </div>
 </div>
 </body>
diff --git a/doc/prebuilt/html/TROUBLESHOOTING.COBALT/index.html 
b/doc/prebuilt/html/TROUBLESHOOTING.COBALT/index.html
index a2ddf77..bf8af2b 100644
--- a/doc/prebuilt/html/TROUBLESHOOTING.COBALT/index.html
+++ b/doc/prebuilt/html/TROUBLESHOOTING.COBALT/index.html
@@ -831,7 +831,7 @@ command.</p></div>
 <div class="paragraph"><p>The most probable reason is that no hardware timer 
chip is available
 for Xenomai timing operations.</p></div>
 <div class="paragraph"><p>Check that you did not enable some of the 
conflicting options listed
-in the <a href="#kconf">Kernel configuration</a> section.</p></div>
+in the <a href="#kconf">"Kernel configuration"</a> section.</p></div>
 <div class="dlist"><dl>
 <dt class="hdlist1">
 With AMD x86_64 CPUs
@@ -942,8 +942,10 @@ more information about this parameter.
 <div class="sectionbody">
 <div class="sect2">
 <h3 id="vsyscall">2.1. --enable-x86-sep needs NPTL and Linux 2.6.x or 
higher</h3>
-<div class="paragraph"><p>or,
-=== --enable-x86-vsyscall requires NPTL &#8230;</p></div>
+<div class="paragraph"><p>or,</p></div>
+</div>
+<div class="sect2">
+<h3 id="_enable_x86_vsyscall_requires_nptl_8230">2.2. --enable-x86-vsyscall 
requires NPTL &#8230;</h3>
 <div class="paragraph"><p>This message may happen when starting a Xenomai 2.x 
or 3.x application
 respectively. On the x86 architecture, the configure script option
 mentioned allows Xenomai to use the <em>vsyscall</em> mechanism for issuing
@@ -953,7 +955,7 @@ NPTL-enabled glibc releases.</p></div>
 <div class="paragraph"><p>Turn off this feature for other libc 
flavours.</p></div>
 </div>
 <div class="sect2">
-<h3 id="_binding_failed_operation_not_permitted">2.2. binding failed: 
Operation not permitted</h3>
+<h3 id="_binding_failed_operation_not_permitted">2.3. binding failed: 
Operation not permitted</h3>
 <div class="paragraph"><p>This is the result of an attempt to run a Xenomai 
application as an
 unprivileged user, which fails because invoking Xenomai services
 requires <code>CAP_SYS_NICE</code>. However, you may allow a specific group of
@@ -961,7 +963,7 @@ users to access Xenomai services, by following the 
instructions on
 <a href="running-a-Xenomai-application-as-a-regular-user">this 
page</a>.</p></div>
 </div>
 <div class="sect2">
-<h3 id="_incompatible_abi_revision_level">2.3. incompatible ABI revision 
level</h3>
+<h3 id="_incompatible_abi_revision_level">2.4. incompatible ABI revision 
level</h3>
 <div class="paragraph"><p>Each major Xenomai release (e.g. 2.1.x, 2.2.x 
&#8230; 2.6.x, 3.0.x &#8230;)
 defines a kernel/user ABI, which remains stable across minor update
 releases (e.g. 2.6.0 &#8594; 2.6.1). This guarantee makes partial updates
@@ -987,7 +989,7 @@ mismatch.</td>
 </div>
 </div>
 <div class="sect2">
-<h3 id="_lt_program_gt_not_found">2.4. &lt;program&gt;: not found</h3>
+<h3 id="_lt_program_gt_not_found">2.5. &lt;program&gt;: not found</h3>
 <div class="paragraph"><p>Although the program in question may be present, 
this message may
 happen on ARM platforms when a mismatch exists between the kernel and
 user library configurations with respect to EABI support. Typically,
@@ -998,7 +1000,7 @@ with an EABI toolchain won&#8217;t run on a kernel not 
enabling the
 <code>CONFIG_AEABI</code> option.</p></div>
 </div>
 <div class="sect2">
-<h3 id="_incompatible_feature_set">2.5. incompatible feature set</h3>
+<h3 id="_incompatible_feature_set">2.6. incompatible feature set</h3>
 <div class="paragraph"><p>When a Xenomai application starts, the set of core 
features it
 requires is compared to the feature set the kernel provides. This
 message denotes a mismatch between both sets, which can be solved by
@@ -1006,25 +1008,31 @@ fixing the kernel and/or user build configuration.  
Further details
 are available from <a href="installing-xenomai-3-x">this page</a> for Xenomai
 3, and <a href="installing-xenomai-2-x">this page</a> for Xenomai 2.</p></div>
 <div class="sect3">
-<h4 id="_feature_mismatch_missing_smp_nosmp">2.5.1. feature mismatch: 
missing="smp/nosmp"</h4>
-<div class="paragraph"><p>On some SMP-capable architectures, for kernel-space 
and user-space
-supports to be compatible, both should be compiled with the same
-setting for SMP.</p></div>
-<div class="paragraph"><p>SMP support in kernel-space is enabled with the 
<code>CONFIG_SMP</code> option.</p></div>
-<div class="paragraph"><p>For these architectures, SMP support in user-space 
is enabled by
-passing <code>--enable-smp</code> to the configure script, and disabled by 
passing
-<code>--disable-smp</code> (SMP is enabled by default on some 
platforms).</p></div>
-<div class="paragraph"><p>Other SMP-capable architectures may run userland 
code built with
-<code>--enable-smp</code> or <code>--disable-smp</code> over the same kernel 
indifferently, at
-no noticeable performance cost. These architectures never receive such
-SMP-related error.</p></div>
+<h4 id="_feature_mismatch_missing_smp_nosmp">2.6.1. feature mismatch: 
missing="smp/nosmp"</h4>
+<div class="paragraph"><p>On SMP-capable architectures, both kernel and 
user-space components
+(i.e. Xenomai libraries) must be compiled with the same setting with
+respect to SMP support.</p></div>
+<div class="paragraph"><p>SMP support in the kernel is controlled via the 
<code>CONFIG_SMP</code> option.
+The <code>--enable-smp</code> configuration switch enables this feature for the
+Xenomai libraries (conversely, <code>--disable-smp</code> disables 
it).</p></div>
+<div class="admonitionblock">
+<table><tr>
+<td class="icon">
+<img src="../asciidoc-icons/caution.png" alt="Caution" />
+</td>
+<td class="content">Using Xenomai libraries built for a single-processor 
configuration
+(i.e. <code>--disable-smp</code>) over a SMP kernel (i.e. 
<code>CONFIG_SMP=y</code>) is
+<strong>NOT</strong> valid. On the other hand, using Xenomai libraries built 
with SMP
+support enabled over a single-processor kernel is fine.</td>
+</tr></table>
+</div>
 </div>
 </div>
 <div class="sect2">
-<h3 id="_application_level_issues_specific_to_the_xenomai_2_x_series">2.6. 
Application-level issues specific to the Xenomai 2.x series</h3>
+<h3 id="_application_level_issues_specific_to_the_xenomai_2_x_series">2.7. 
Application-level issues specific to the Xenomai 2.x series</h3>
 <div class="paragraph"><p>The following feature mismatches can be detected 
with the 2.x series:</p></div>
 <div class="sect3">
-<h4 id="_feature_mismatch_missing_kuser_tsc">2.6.1. feature mismatch: 
missing="kuser_tsc"</h4>
+<h4 id="_feature_mismatch_missing_kuser_tsc">2.7.1. feature mismatch: 
missing="kuser_tsc"</h4>
 <div class="paragraph"><p>See the <a href="#arm-tsc">"ARM tsc emulation 
issues"</a> section.</p></div>
 <div class="admonitionblock">
 <table><tr>
@@ -1038,10 +1046,10 @@ architecture.</td>
 </div>
 </div>
 <div class="sect3">
-<h4 id="_feature_mismatch_missing_sep">2.6.2. feature mismatch: 
missing="sep"</h4>
+<h4 id="_feature_mismatch_missing_sep">2.7.2. feature mismatch: 
missing="sep"</h4>
 <div class="paragraph"><p>This error is specific to the x86 architecture on 
Xenomai 2.x, for
 pre-Pentium CPUs which do not provide the <em>sysenter/sysexit</em>
-instruction pair. See <a href="#vsyscall">"this section"</a>.</p></div>
+instruction pair. See <a href="#vsyscall">this section</a>.</p></div>
 <div class="admonitionblock">
 <table><tr>
 <td class="icon">
@@ -1053,7 +1061,7 @@ support pre-Pentium systems in the first place.</td>
 </div>
 </div>
 <div class="sect3">
-<h4 id="_feature_mismatch_missing_tsc">2.6.3. feature mismatch: 
missing="tsc"</h4>
+<h4 id="_feature_mismatch_missing_tsc">2.7.3. feature mismatch: 
missing="tsc"</h4>
 <div class="paragraph"><p>This error is specific to the x86 architecture on 
Xenomai 2.x, for
 pre-Pentium CPUs which do not provide the <em>rdtsc</em> instruction. In this
 particular case, <code>--enable-x86-tsc</code> cannot be mentioned in the
@@ -1078,7 +1086,7 @@ support pre-Pentium systems in the first place.</td>
 </div>
 </div>
 <div class="sect3">
-<h4 id="arm-tsc">2.6.4. ARM tsc emulation issues</h4>
+<h4 id="arm-tsc">2.7.4. ARM tsc emulation issues</h4>
 <div class="paragraph"><p>In order to allow applications to measure short 
durations with as
 little overhead as possible, Xenomai uses a 64 bits high resolution
 counter. On x86, the counter used for this purpose is the time-stamp
@@ -1142,15 +1150,19 @@ should recompile Xenomai user-space support passing the
 <code>--disable-arm-tsc</code> option.</p></div>
 </div>
 <div class="sect3">
-<h4 id="_hardware_tsc_is_not_a_fast_wrapping_one">2.6.5. hardware tsc is not a 
fast wrapping one</h4>
-<div class="paragraph"><p>or,
-==== kernel/user tsc emulation mismatch
-or,
-==== board/configuration does not allow tsc emulation</p></div>
+<h4 id="_hardware_tsc_is_not_a_fast_wrapping_one">2.7.5. hardware tsc is not a 
fast wrapping one</h4>
+<div class="paragraph"><p>or,</p></div>
+</div>
+<div class="sect3">
+<h4 id="_kernel_user_tsc_emulation_mismatch">2.7.6. kernel/user tsc emulation 
mismatch</h4>
+<div class="paragraph"><p>or,</p></div>
+</div>
+<div class="sect3">
+<h4 id="_board_configuration_does_not_allow_tsc_emulation">2.7.7. 
board/configuration does not allow tsc emulation</h4>
 <div class="paragraph"><p>See the <a href="#arm-tsc">"ARM tsc emulation 
issues"</a> section.</p></div>
 </div>
 <div class="sect3">
-<h4 id="_native_skin_or_config_xeno_opt_pervasive_disabled">2.6.6. native skin 
or CONFIG_XENO_OPT_PERVASIVE disabled</h4>
+<h4 id="_native_skin_or_config_xeno_opt_pervasive_disabled">2.7.8. native skin 
or CONFIG_XENO_OPT_PERVASIVE disabled</h4>
 <div class="paragraph"><p>Possible reasons for this error are:</p></div>
 <div class="ulist"><ul>
 <li>
@@ -1180,7 +1192,7 @@ on an x86_64 kernel.
 </ul></div>
 </div>
 <div class="sect3">
-<h4 
id="_warning_lt_service_gt_is_deprecated_while_compiling_kernel_code">2.6.7. 
"warning: &lt;service&gt; is deprecated" while compiling kernel code</h4>
+<h4 
id="_warning_lt_service_gt_is_deprecated_while_compiling_kernel_code">2.7.9. 
"warning: &lt;service&gt; is deprecated" while compiling kernel code</h4>
 <div class="paragraph"><p>Where &lt;service&gt; is a thread creation service, 
one of:</p></div>
 <div class="ulist"><ul>
 <li>
@@ -1225,7 +1237,7 @@ Xenomai 3.</p></div>
 configuration, but nevertheless, you have been 
<strong>WARNED</strong>.</p></div>
 </div>
 <div class="sect3">
-<h4 id="_a_xenomai_system_call_fails_with_code_38_enosys">2.6.8. a Xenomai 
system call fails with code -38 (ENOSYS)</h4>
+<h4 id="_a_xenomai_system_call_fails_with_code_38_enosys">2.7.10. a Xenomai 
system call fails with code -38 (ENOSYS)</h4>
 <div class="paragraph"><p>Possible reasons for this error are:</p></div>
 <div class="ulist"><ul>
 <li>
@@ -1256,7 +1268,7 @@ on an x86_64 kernel.
 </ul></div>
 </div>
 <div class="sect3">
-<h4 id="_the_application_overconsumes_system_memory">2.6.9. the application 
overconsumes system memory</h4>
+<h4 id="_the_application_overconsumes_system_memory">2.7.11. the application 
overconsumes system memory</h4>
 <div class="paragraph"><p>Your user-space application unexpectedly commits a 
lot of virtual
 memory, as reported by "<code>top</code>" or <em>/proc/&lt;pid&gt;/maps</em>. 
Sometimes OOM
 situations may even appear during runtime on systems with limited
@@ -1291,7 +1303,7 @@ process inherit, as illustrated below:
 </div></div>
 </div>
 <div class="sect3">
-<h4 id="_freeze_or_machine_lockup">2.6.10. freeze or machine lockup</h4>
+<h4 id="_freeze_or_machine_lockup">2.7.12. freeze or machine lockup</h4>
 <div class="paragraph"><p>Possible reasons may be:</p></div>
 <div class="ulist"><ul>
 <li>
@@ -1426,7 +1438,7 @@ rebuilding the kernel.</p></div>
 <div id="footnotes"><hr /></div>
 <div id="footer">
 <div id="footer-text">
-Last updated 2014-08-07 16:39:31 CEST
+Last updated 2014-08-08 11:36:19 CEST
 </div>
 </div>
 </body>
diff --git a/doc/prebuilt/html/TROUBLESHOOTING.MERCURY/index.html 
b/doc/prebuilt/html/TROUBLESHOOTING.MERCURY/index.html
index 58fe91e..8ab73de 100644
--- a/doc/prebuilt/html/TROUBLESHOOTING.MERCURY/index.html
+++ b/doc/prebuilt/html/TROUBLESHOOTING.MERCURY/index.html
@@ -763,7 +763,7 @@ specific
 <div id="footnotes"><hr /></div>
 <div id="footer">
 <div id="footer-text">
-Last updated 2014-08-07 16:39:31 CEST
+Last updated 2014-08-08 11:36:19 CEST
 </div>
 </div>
 </body>
diff --git a/doc/prebuilt/html/xeno3prm/deprecated.html 
b/doc/prebuilt/html/xeno3prm/deprecated.html
index ebc7980..6ade1b2 100644
--- a/doc/prebuilt/html/xeno3prm/deprecated.html
+++ b/doc/prebuilt/html/xeno3prm/deprecated.html
@@ -88,10 +88,18 @@ 
$(document).ready(function(){initNavTree('deprecated.html','');});
 </div><!--header-->
 <div class="contents">
 <div class="textblock"><dl class="reflist">
-<dt><a class="anchor" id="_deprecated000005"></a>Global <a class="el" 
href="group__trank.html#gafe8deaa3c89e0a07e59f0e58f9ec1473">pthread_make_periodic_np</a>
  (pthread_t thread, struct timespec *starttp, struct timespec *periodtp)</dt>
+<dt><a class="anchor" id="_deprecated000007"></a>Global <a class="el" 
href="group__trank.html#ga7b0812d15689d60089ea2364495a4df8">COMPAT__rt_alarm_create</a>
  (RT_ALARM *alarm, const char *name)</dt>
+<dd>This is a compatibility service from the Transition Kit.  </dd>
+<dt><a class="anchor" id="_deprecated000005"></a>Global <a class="el" 
href="group__trank.html#ga2d7b013823582c3374f6cbd7aabf155b">COMPAT__rt_task_create</a>
  (RT_TASK *task, const char *name, int stksize, int prio, int mode)</dt>
+<dd>This is a compatibility service from the Transition Kit.  </dd>
+<dt><a class="anchor" id="_deprecated000006"></a>Global <a class="el" 
href="group__trank.html#ga77e5158909dc88b778fd1d22c4aa2597">COMPAT__rt_task_set_periodic</a>
  (RT_TASK *task, RTIME idate, RTIME period)</dt>
+<dd>This is a compatibility service from the Transition Kit.  </dd>
+<dt><a class="anchor" id="_deprecated000009"></a>Global <a class="el" 
href="group__trank.html#gafe8deaa3c89e0a07e59f0e58f9ec1473">pthread_make_periodic_np</a>
  (pthread_t thread, struct timespec *starttp, struct timespec *periodtp)</dt>
 <dd>This service is a non-portable extension of the Xenomai 2.x POSIX 
interface, not available with Xenomai 3.x. Instead, Cobalt-based applications 
should set up a periodic timer using the <a class="el" 
href="group__cobalt__api__time.html#ga8a24ab6b0901162bbbbbca4f5205abd0" 
title="Create a timer. ">timer_create()</a>, <a class="el" 
href="group__cobalt__api__time.html#ga2c513dc9b3734f5e23fc7b8a5cf11c95" 
title="Start or stop a timer. ">timer_settime()</a> call pair, then wait for 
release points via sigwaitinfo(). Overruns can be detected by looking at the 
siginfo.si_overrun field. Alternatively, applications may obtain a file 
descriptor referring to a Cobalt timer via the timerfd() call, and read() from 
it to wait for timeouts.  </dd>
-<dt><a class="anchor" id="_deprecated000006"></a>Global <a class="el" 
href="group__trank.html#ga1f18e6e7dd5342463ca8546ef3a36c34">pthread_wait_np</a> 
 (unsigned long *overruns_r)</dt>
+<dt><a class="anchor" id="_deprecated000010"></a>Global <a class="el" 
href="group__trank.html#ga1f18e6e7dd5342463ca8546ef3a36c34">pthread_wait_np</a> 
 (unsigned long *overruns_r)</dt>
 <dd>This service is a non-portable extension of the Xenomai 2.x POSIX 
interface, not available with Xenomai 3.x. Instead, Cobalt-based applications 
should set up a periodic timer using the <a class="el" 
href="group__cobalt__api__time.html#ga8a24ab6b0901162bbbbbca4f5205abd0" 
title="Create a timer. ">timer_create()</a>, <a class="el" 
href="group__cobalt__api__time.html#ga2c513dc9b3734f5e23fc7b8a5cf11c95" 
title="Start or stop a timer. ">timer_settime()</a> call pair, then wait for 
release points via sigwaitinfo(). Overruns can be detected by looking at the 
siginfo.si_overrun field. Alternatively, applications may obtain a file 
descriptor referring to a Cobalt timer via the timerfd() call, and read() from 
it to wait for timeouts.  </dd>
+<dt><a class="anchor" id="_deprecated000008"></a>Global <a class="el" 
href="group__trank.html#ga6c0caadae03541db8a46751d290c0d76">rt_alarm_wait</a>  
(RT_ALARM *alarm)</dt>
+<dd>This is a compatibility service from the Transition Kit. </dd>
 <dt><a class="anchor" id="_deprecated000001"></a>Global <a class="el" 
href="group__rtdm__sync__biglock.html#gabbaf52632d5dde7fa66e0b70d887493b">RTDM_EXECUTE_ATOMICALLY</a>
  (code_block)</dt>
 <dd>This construct will be phased out in Xenomai 3.0. Please use 
rtdm_waitqueue services instead. </dd>
 <dt><a class="anchor" id="_deprecated000004"></a>Global <a class="el" 
href="group__rtdm__task.html#ga741998821c05483db33f17d77c733d99">rtdm_task_sleep_until</a>
  (nanosecs_abs_t wakeup_time)</dt>
diff --git a/doc/prebuilt/html/xeno3prm/group__alchemy__alarm.html 
b/doc/prebuilt/html/xeno3prm/group__alchemy__alarm.html
index a6fdae7..0769a3f 100644
--- a/doc/prebuilt/html/xeno3prm/group__alchemy__alarm.html
+++ b/doc/prebuilt/html/xeno3prm/group__alchemy__alarm.html
@@ -307,8 +307,9 @@ Functions</h2></td></tr>
 <dl class="section return"><dt>Returns</dt><dd>Zero is returned upon success. 
Otherwise:</dd></dl>
 <ul>
 <li>-EINVAL is returned if <em>alarm</em> is not a valid alarm descriptor.</li>
+<li>-EPERM is returned if this service was called from an invalid context.</li>
 </ul>
-<dl class="section user"><dt>Tags</dt><dd><a class="el" 
href="api-tags.html">unrestricted, switch-primary</a></dd></dl>
+<dl class="section user"><dt>Tags</dt><dd><a class="el" 
href="api-tags.html">xthread-only, switch-primary</a></dd></dl>
 <dl class="section note"><dt>Note</dt><dd>Each of the initial <em>value</em> 
and <em>interval</em> is interpreted as a multiple of the Alchemy clock 
resolution (see &ndash;alchemy-clock-resolution option, defaults to 1 
nanosecond). </dd></dl>
 
 </div>
diff --git a/doc/prebuilt/html/xeno3prm/group__alchemy__task.html 
b/doc/prebuilt/html/xeno3prm/group__alchemy__task.html
index e5eae51..af177dc 100644
--- a/doc/prebuilt/html/xeno3prm/group__alchemy__task.html
+++ b/doc/prebuilt/html/xeno3prm/group__alchemy__task.html
@@ -230,7 +230,7 @@ Functions</h2></td></tr>
 
 <p>Task mode bits. </p>
 
-<p>Referenced by <a class="el" 
href="group__alchemy__task.html#ga915e7edfb0aaddb643794d7abc7093bf">rt_task_set_mode()</a>,
 and <a class="el" 
href="group__alchemy__task.html#ga72e0a9355d06c346a95bf88b857a9749">rt_task_shadow()</a>.</p>
+<p>Referenced by <a class="el" 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create()</a>,
 <a class="el" 
href="group__alchemy__task.html#ga915e7edfb0aaddb643794d7abc7093bf">rt_task_set_mode()</a>,
 and <a class="el" 
href="group__alchemy__task.html#ga72e0a9355d06c346a95bf88b857a9749">rt_task_shadow()</a>.</p>
 
 </div>
 </div>
@@ -260,7 +260,7 @@ Functions</h2></td></tr>
 
 <p>Cobalt only, nop over Mercury. </p>
 
-<p>Referenced by <a class="el" 
href="group__alchemy__task.html#ga915e7edfb0aaddb643794d7abc7093bf">rt_task_set_mode()</a>,
 and <a class="el" 
href="group__alchemy__task.html#ga72e0a9355d06c346a95bf88b857a9749">rt_task_shadow()</a>.</p>
+<p>Referenced by <a class="el" 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create()</a>,
 <a class="el" 
href="group__alchemy__task.html#ga915e7edfb0aaddb643794d7abc7093bf">rt_task_set_mode()</a>,
 and <a class="el" 
href="group__alchemy__task.html#ga72e0a9355d06c346a95bf88b857a9749">rt_task_shadow()</a>.</p>
 
 </div>
 </div>
@@ -397,7 +397,7 @@ Functions</h2></td></tr>
 <dl class="section note"><dt>Note</dt><dd>Tasks can be referred to from 
multiple processes which all belong to the same Xenomai session. </dd></dl>
 <dl><dt><b>Examples: </b></dt><dd><a class="el" 
href="cross-link_8c-example.html#a17">cross-link.c</a>.</dd>
 </dl>
-<p>References <a class="el" 
href="group__alchemy__task.html#gab6e0d411830710e8cc82d77b9df19510">rt_task_delete()</a>,
 <a class="el" 
href="group__alchemy__task.html#gad92ea8c9fed3c5a3789538c9c8362c28">rt_task_set_affinity()</a>,
 and <a class="el" 
href="group__alchemy__task.html#ga926a4b10e3631f76c5f38910e6eea24c">rt_task_suspend()</a>.</p>
+<p>References <a class="el" 
href="group__alchemy__task.html#ga2ac6cf9677bae1012ecbcb6037d14fcb">T_LOCK</a>, 
and <a class="el" 
href="group__alchemy__task.html#ga725324cb26d8b5835c0818acb738bfe6">T_WARNSW</a>.</p>
 
 <p>Referenced by <a class="el" 
href="group__alchemy__task.html#gaa4f9fa3cb09d7f774ebff7585994dffb">rt_task_spawn()</a>.</p>
 
@@ -435,8 +435,6 @@ Functions</h2></td></tr>
 <dl class="section note"><dt>Note</dt><dd>The caller must be an Alchemy task 
if <em>task</em> is NULL. </dd></dl>
 <dl><dt><b>Examples: </b></dt><dd><a class="el" 
href="cross-link_8c-example.html#a5">cross-link.c</a>.</dd>
 </dl>
-<p>Referenced by <a class="el" 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create()</a>.</p>
-
 </div>
 </div>
 <a class="anchor" id="ga53bad6acf5496f8008e594954507dce8"></a>
@@ -813,8 +811,6 @@ Functions</h2></td></tr>
 <dl class="section return"><dt>Returns</dt><dd>The address of the task 
descriptor referring to the current Alchemy task is returned upon success, or 
NULL if not called from a valid Alchemy task context.</dd></dl>
 <dl class="section user"><dt>Tags</dt><dd><a class="el" 
href="api-tags.html">xthread-only</a> </dd></dl>
 
-<p>Referenced by <a class="el" 
href="group__alchemy__task.html#gababee94264156693cd4f5b9b70d3c5a1">rt_task_set_periodic()</a>.</p>
-
 </div>
 </div>
 <a class="anchor" id="ga99a89c21c9866e2784860e100a444b49"></a>
@@ -1064,8 +1060,6 @@ Functions</h2></td></tr>
 <dl class="section user"><dt>Tags</dt><dd><a class="el" 
href="api-tags.html">thread-unrestricted, switch-secondary</a></dd></dl>
 <dl class="section note"><dt>Note</dt><dd>The caller must be an Alchemy task 
if <em>task</em> is NULL. </dd></dl>
 
-<p>Referenced by <a class="el" 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create()</a>.</p>
-
 </div>
 </div>
 <a class="anchor" id="ga915e7edfb0aaddb643794d7abc7093bf"></a>
@@ -1183,7 +1177,7 @@ Forcing the task mode using the T_CONFORMING bit from 
user code is almost always
 <dl class="section note"><dt>Note</dt><dd>The <em>idate</em> and 
<em>period</em> values are interpreted as a multiple of the Alchemy clock 
resolution (see &ndash;alchemy-clock-resolution option, defaults to 1 
nanosecond). </dd></dl>
 <dl><dt><b>Examples: </b></dt><dd><a class="el" 
href="cross-link_8c-example.html#a6">cross-link.c</a>.</dd>
 </dl>
-<p>References <a class="el" 
href="group__alchemy__task.html#ga8a17935f049171be2ac8945abc68da6a">rt_task_self()</a>,
 and <a class="el" 
href="group__alchemy__task.html#ga1645d3a072ef3cefeed3bcbb27dcf108">rt_task_wait_period()</a>.</p>
+<p>References <a class="el" 
href="group__cobalt__api__time.html#ga10b73e75d375e5c244e32ea46be775bf">clock_gettime()</a>.</p>
 
 </div>
 </div>
@@ -1577,8 +1571,6 @@ The <em>quantum</em> value is interpreted as a multiple 
of the Alchemy clock res
 <dd>
 Blocked and suspended task states are cumulative. Therefore, suspending a task 
currently waiting on a synchronization object (e.g. semaphore, queue) holds its 
execution until it is resumed, despite the awaited resource may have been 
acquired, or a timeout has elapsed in the meantime. </dd></dl>
 
-<p>Referenced by <a class="el" 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create()</a>.</p>
-
 </div>
 </div>
 <a class="anchor" id="ga2038cbe2350a8e2558330a3f45953865"></a>
@@ -1671,8 +1663,6 @@ Blocked and suspended task states are cumulative. 
Therefore, suspending a task c
 <dl class="section note"><dt>Note</dt><dd>If the current release point has 
already been reached at the time of the call, the current task immediately 
returns from this service with no delay. </dd></dl>
 <dl><dt><b>Examples: </b></dt><dd><a class="el" 
href="cross-link_8c-example.html#a8">cross-link.c</a>.</dd>
 </dl>
-<p>Referenced by <a class="el" 
href="group__alchemy__task.html#gababee94264156693cd4f5b9b70d3c5a1">rt_task_set_periodic()</a>.</p>
-
 </div>
 </div>
 <a class="anchor" id="ga31e44b069b2486c2d2bdfb8a0a3557c8"></a>
diff --git a/doc/prebuilt/html/xeno3prm/group__cobalt__api__time.html 
b/doc/prebuilt/html/xeno3prm/group__cobalt__api__time.html
index 8f57645..79d0273 100644
--- a/doc/prebuilt/html/xeno3prm/group__cobalt__api__time.html
+++ b/doc/prebuilt/html/xeno3prm/group__cobalt__api__time.html
@@ -242,6 +242,8 @@ Functions</h2></td></tr>
 </dl>
 <dl class="section see"><dt>See Also</dt><dd><a 
href="http://www.opengroup.org/onlinepubs/000095399/functions/clock_gettime.html";>Specification.</a>
 </dd></dl>
 
+<p>Referenced by <a class="el" 
href="group__alchemy__task.html#gababee94264156693cd4f5b9b70d3c5a1">rt_task_set_periodic()</a>.</p>
+
 </div>
 </div>
 <a class="anchor" id="ga924d51d78cdcd9d7dee2613fb3a33cd1"></a>
diff --git a/doc/prebuilt/html/xeno3prm/group__trank.html 
b/doc/prebuilt/html/xeno3prm/group__trank.html
index c824f80..9b33f74 100644
--- a/doc/prebuilt/html/xeno3prm/group__trank.html
+++ b/doc/prebuilt/html/xeno3prm/group__trank.html
@@ -91,6 +91,18 @@ 
$(document).ready(function(){initNavTree('group__trank.html','');});
 <p>A set of wrappers and services easing the transition from Xenomai 2.x to 
3.x.  
 <a href="#details">More...</a></p>
 <table class="memberdecls">
+<tr class="memitem:ga2d7b013823582c3374f6cbd7aabf155b"><td class="memItemLeft" 
align="right" valign="top">int&#160;</td><td class="memItemRight" 
valign="bottom"><a class="el" 
href="group__trank.html#ga2d7b013823582c3374f6cbd7aabf155b">COMPAT__rt_task_create</a>
 (RT_TASK *task, const char *name, int stksize, int prio, int mode)</td></tr>
+<tr class="memdesc:ga2d7b013823582c3374f6cbd7aabf155b"><td 
class="mdescLeft">&#160;</td><td class="mdescRight">Create a real-time task 
(compatibility service).  <a 
href="#ga2d7b013823582c3374f6cbd7aabf155b">More...</a><br/></td></tr>
+<tr class="separator:ga2d7b013823582c3374f6cbd7aabf155b"><td 
class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ga77e5158909dc88b778fd1d22c4aa2597"><td class="memItemLeft" 
align="right" valign="top">int&#160;</td><td class="memItemRight" 
valign="bottom"><a class="el" 
href="group__trank.html#ga77e5158909dc88b778fd1d22c4aa2597">COMPAT__rt_task_set_periodic</a>
 (RT_TASK *task, RTIME idate, RTIME period)</td></tr>
+<tr class="memdesc:ga77e5158909dc88b778fd1d22c4aa2597"><td 
class="mdescLeft">&#160;</td><td class="mdescRight">Make a real-time task 
periodic (compatibility service).  <a 
href="#ga77e5158909dc88b778fd1d22c4aa2597">More...</a><br/></td></tr>
+<tr class="separator:ga77e5158909dc88b778fd1d22c4aa2597"><td 
class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ga7b0812d15689d60089ea2364495a4df8"><td class="memItemLeft" 
align="right" valign="top">int&#160;</td><td class="memItemRight" 
valign="bottom"><a class="el" 
href="group__trank.html#ga7b0812d15689d60089ea2364495a4df8">COMPAT__rt_alarm_create</a>
 (RT_ALARM *alarm, const char *name)</td></tr>
+<tr class="memdesc:ga7b0812d15689d60089ea2364495a4df8"><td 
class="mdescLeft">&#160;</td><td class="mdescRight">Create an alarm object 
(compatibility service).  <a 
href="#ga7b0812d15689d60089ea2364495a4df8">More...</a><br/></td></tr>
+<tr class="separator:ga7b0812d15689d60089ea2364495a4df8"><td 
class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ga6c0caadae03541db8a46751d290c0d76"><td class="memItemLeft" 
align="right" valign="top">int&#160;</td><td class="memItemRight" 
valign="bottom"><a class="el" 
href="group__trank.html#ga6c0caadae03541db8a46751d290c0d76">rt_alarm_wait</a> 
(RT_ALARM *alarm)</td></tr>
+<tr class="memdesc:ga6c0caadae03541db8a46751d290c0d76"><td 
class="mdescLeft">&#160;</td><td class="mdescRight">Wait for the next alarm 
shot (compatibility service).  <a 
href="#ga6c0caadae03541db8a46751d290c0d76">More...</a><br/></td></tr>
+<tr class="separator:ga6c0caadae03541db8a46751d290c0d76"><td 
class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:gafe8deaa3c89e0a07e59f0e58f9ec1473"><td class="memItemLeft" 
align="right" valign="top">int&#160;</td><td class="memItemRight" 
valign="bottom"><a class="el" 
href="group__trank.html#gafe8deaa3c89e0a07e59f0e58f9ec1473">pthread_make_periodic_np</a>
 (pthread_t thread, struct timespec *starttp, struct timespec 
*periodtp)</td></tr>
 <tr class="memdesc:gafe8deaa3c89e0a07e59f0e58f9ec1473"><td 
class="mdescLeft">&#160;</td><td class="mdescRight">Make a thread periodic 
(compatibility service).  <a 
href="#gafe8deaa3c89e0a07e59f0e58f9ec1473">More...</a><br/></td></tr>
 <tr class="separator:gafe8deaa3c89e0a07e59f0e58f9ec1473"><td 
class="memSeparator" colspan="2">&#160;</td></tr>
@@ -102,6 +114,190 @@ 
$(document).ready(function(){initNavTree('group__trank.html','');});
 <p>A set of wrappers and services easing the transition from Xenomai 2.x to 
3.x. </p>
 <p>This interface provides a source compatibility layer for building 
applications based on the Xenomai 2.x <em>posix</em> and <em>native</em> APIs 
over Xenomai 3.x. </p>
 <h2 class="groupheader">Function Documentation</h2>
+<a class="anchor" id="ga7b0812d15689d60089ea2364495a4df8"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int COMPAT__rt_alarm_create </td>
+          <td>(</td>
+          <td class="paramtype">RT_ALARM *&#160;</td>
+          <td class="paramname"><em>alarm</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>name</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create an alarm object (compatibility service). </p>
+<p>This routine creates an object triggering an alarm routine at a specified 
time in the future. Alarms can be periodic or oneshot, depending on the reload 
interval value passed to <a class="el" 
href="group__alchemy__alarm.html#ga0d9cb8ae623be0f7224ac47b10a0b542" 
title="Start an alarm. ">rt_alarm_start()</a>. A task can wait for timeouts 
using the <a class="el" 
href="group__trank.html#ga6c0caadae03541db8a46751d290c0d76" title="Wait for the 
next alarm shot (compatibility service). ">rt_alarm_wait()</a> service.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">alarm</td><td>The address of an alarm descriptor 
which can be later used to identify uniquely the created object, upon success 
of this call.</td></tr>
+    <tr><td class="paramname">name</td><td>An ASCII string standing for the 
symbolic name of the alarm. When non-NULL and non-empty, a copy of this string 
is used for indexing the created alarm into the object registry.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Zero is returned upon success. 
Otherwise:</dd></dl>
+<ul>
+<li>-ENOMEM is returned if the system fails to get memory from the local pool 
in order to create the alarm.</li>
+<li>-EEXIST is returned if the <em>name</em> is conflicting with an already 
registered alarm.</li>
+<li>-EPERM is returned if this service was called from an asynchronous 
context.</li>
+</ul>
+<dl class="section user"><dt>Tags</dt><dd><a class="el" 
href="api-tags.html">thread-unrestricted, switch-secondary</a></dd></dl>
+<dl class="section note"><dt>Note</dt><dd>Alarms are process-private objects 
and thus cannot be shared by multiple processes, even if they belong to the 
same Xenomai session.</dd></dl>
+<dl class="deprecated"><dt><b><a class="el" 
href="deprecated.html#_deprecated000007">Deprecated:</a></b></dt><dd>This is a 
compatibility service from the Transition Kit. </dd></dl>
+
+</div>
+</div>
+<a class="anchor" id="ga2d7b013823582c3374f6cbd7aabf155b"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int COMPAT__rt_task_create </td>
+          <td>(</td>
+          <td class="paramtype">RT_TASK *&#160;</td>
+          <td class="paramname"><em>task</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>stksize</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>prio</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>mode</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create a real-time task (compatibility service). </p>
+<p>This service creates a task with access to the full set of Xenomai 
real-time services.</p>
+<p>This service creates a task with access to the full set of Xenomai 
real-time services. If <em>prio</em> is non-zero, the new task belongs to 
Xenomai's real-time FIFO scheduling class, aka SCHED_FIFO. If <em>prio</em> is 
zero, the task belongs to the regular SCHED_OTHER class.</p>
+<p>Creating tasks with zero priority is useful for running non real-time 
processes which may invoke blocking real-time services, such as pending on a 
semaphore, reading from a message queue or a buffer, and so on.</p>
+<p>Once created, the task is left dormant until it is actually started by <a 
class="el" href="group__alchemy__task.html#ga3ee3863a29497e2181d49d5b3ecfd855" 
title="Start a real-time task. ">rt_task_start()</a>.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">task</td><td>The address of a task descriptor 
which can be later used to identify uniquely the created object, upon success 
of this call.</td></tr>
+    <tr><td class="paramname">name</td><td>An ASCII string standing for the 
symbolic name of the task. When non-NULL and non-empty, a copy of this string 
is used for indexing the created task into the object registry.</td></tr>
+    <tr><td class="paramname">stksize</td><td>The size of the stack (in bytes) 
for the new task. If zero is passed, a system-dependent default size will be 
substituted.</td></tr>
+    <tr><td class="paramname">prio</td><td>The base priority of the new task. 
This value must be in the [0 .. 99] range, where 0 is the lowest effective 
priority.</td></tr>
+    <tr><td class="paramname">mode</td><td>The task creation mode. The 
following flags can be OR'ed into this bitmask:</td></tr>
+  </table>
+  </dd>
+</dl>
+<ul>
+<li>T_FPU allows the task to use the FPU whenever available on the platform. 
This flag may be omitted, as it is automatically set when a FPU is present on 
the platform, cleared otherwise.</li>
+<li>T_SUSP causes the task to start in suspended mode. In such a case, the 
thread will have to be explicitly resumed using the <a class="el" 
href="group__alchemy__task.html#ga1fab1aa24ef6f199546fd9669ae711be" 
title="Resume a real-time task. ">rt_task_resume()</a> service for its 
execution to actually begin.</li>
+<li>T_CPU(cpuid) makes the new task affine to CPU # <b>cpuid</b>. CPU 
identifiers range from 0 to 7 (inclusive).</li>
+<li>T_JOINABLE allows another task to wait on the termination of the new task. 
<a class="el" 
href="group__alchemy__task.html#ga8c77d57638578a126812e29429f61fe7" title="Wait 
on the termination of a real-time task. ">rt_task_join()</a> shall be called 
for this task to clean up any resources after its termination.</li>
+</ul>
+<p>Passing T_FPU|T_CPU(1) in the <em>mode</em> parameter thus creates a task 
with FPU support enabled and which will be affine to CPU #1.</p>
+<ul>
+<li>When running over the Cobalt core, T_WARNSW causes the SIGDEBUG signal to 
be sent to the current task whenever it switches to the secondary mode. This 
feature is useful to detect unwanted migrations to the Linux domain. This flag 
has no effect over the Mercury core.</li>
+</ul>
+<dl class="section return"><dt>Returns</dt><dd>Zero is returned upon success. 
Otherwise:</dd></dl>
+<ul>
+<li>-EINVAL is returned if either <em>prio</em>, <em>mode</em> or 
<em>stksize</em> are invalid.</li>
+<li>-ENOMEM is returned if the system fails to get memory from the main heap 
in order to create the task.</li>
+<li>-EEXIST is returned if the <em>name</em> is conflicting with an already 
registered task.</li>
+</ul>
+<dl class="section user"><dt>Tags</dt><dd><a class="el" 
href="api-tags.html">thread-unrestricted, switch-secondary</a></dd></dl>
+<dl class="section user"><dt>Side effects</dt><dd></dd></dl>
+<ul>
+<li>calling <a class="el" 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992" 
title="Create a real-time task. ">rt_task_create()</a> causes SCHED_FIFO tasks 
to switch to secondary mode.</li>
+<li>members of Xenomai's SCHED_FIFO class running in the primary domain have 
utmost priority over all Linux activities in the system, including Linux 
interrupt handlers.</li>
+</ul>
+<dl class="section note"><dt>Note</dt><dd>Tasks can be referred to from 
multiple processes which all belong to the same Xenomai session.</dd></dl>
+<dl class="deprecated"><dt><b><a class="el" 
href="deprecated.html#_deprecated000005">Deprecated:</a></b></dt><dd>This is a 
compatibility service from the Transition Kit. </dd></dl>
+
+</div>
+</div>
+<a class="anchor" id="ga77e5158909dc88b778fd1d22c4aa2597"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int COMPAT__rt_task_set_periodic </td>
+          <td>(</td>
+          <td class="paramtype">RT_TASK *&#160;</td>
+          <td class="paramname"><em>task</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">RTIME&#160;</td>
+          <td class="paramname"><em>idate</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">RTIME&#160;</td>
+          <td class="paramname"><em>period</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Make a real-time task periodic (compatibility service). </p>
+<p>Make a task periodic by programing its first release point and its period 
in the processor time line. <em>task</em> should then call <a class="el" 
href="group__alchemy__task.html#ga1645d3a072ef3cefeed3bcbb27dcf108" title="Wait 
for the next periodic release point. ">rt_task_wait_period()</a> to sleep until 
the next periodic release point in the processor timeline is reached.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">task</td><td>The task descriptor. If 
<em>task</em> is NULL, the current task is made periodic. <em>task</em> must 
belong the current process.</td></tr>
+    <tr><td class="paramname">idate</td><td>The initial (absolute) date of the 
first release point, expressed in clock ticks (see note). If <em>idate</em> is 
equal to TM_NOW, the current system date is used. Otherwise, if <em>task</em> 
is NULL or equal to <em><a class="el" 
href="group__alchemy__task.html#ga8a17935f049171be2ac8945abc68da6a" 
title="Retrieve the current task descriptor. ">rt_task_self()</a></em>, the 
caller is delayed until <em>idate</em> has elapsed.</td></tr>
+    <tr><td class="paramname">period</td><td>The period of the task, expressed 
in clock ticks (see note). Passing TM_INFINITE stops the task's periodic timer 
if enabled, then returns successfully.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>Zero is returned upon success. 
Otherwise:</dd></dl>
+<ul>
+<li>-EINVAL is returned if <em>task</em> is NULL but the caller is not a 
Xenomai task, or if <em>task</em> is non-NULL but not a valid task 
descriptor.</li>
+<li>-ETIMEDOUT is returned if <em>idate</em> is different from TM_INFINITE and 
represents a date in the past.</li>
+</ul>
+<dl class="section user"><dt>Tags</dt><dd><a class="el" 
href="api-tags.html">thread-unrestricted, switch-primary</a></dd></dl>
+<dl class="section note"><dt>Note</dt><dd>The caller must be an Alchemy task 
if <em>task</em> is NULL.</dd>
+<dd>
+Unlike the original Xenomai 2.x call, this emulation delays the caller until 
<em>idate</em> has elapsed only if <em>task</em> is NULL or equal to <a 
class="el" href="group__alchemy__task.html#ga8a17935f049171be2ac8945abc68da6a" 
title="Retrieve the current task descriptor. ">rt_task_self()</a>.</dd></dl>
+<dl class="section user"><dt>Side effects</dt><dd>Over Cobalt, -EINVAL is 
returned if <em>period</em> is different from TM_INFINITE but shorter than the 
user scheduling latency value for the target system, as displayed by 
/proc/xenomai/latency.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>The <em>idate</em> and 
<em>period</em> values are interpreted as a multiple of the Alchemy clock 
resolution (see &ndash;alchemy-clock-resolution option, defaults to 1 
nanosecond).</dd></dl>
+<dl class="deprecated"><dt><b><a class="el" 
href="deprecated.html#_deprecated000006">Deprecated:</a></b></dt><dd>This is a 
compatibility service from the Transition Kit. </dd></dl>
+
+</div>
+</div>
 <a class="anchor" id="gafe8deaa3c89e0a07e59f0e58f9ec1473"></a>
 <div class="memitem">
 <div class="memproto">
@@ -152,7 +348,7 @@ an error number if:<ul>
 </ul>
 </dd></dl>
 <dl class="section note"><dt>Note</dt><dd>Unlike the original Xenomai 2.x 
call, this emulation does not delay the caller waiting for the first periodic 
release point. In addition, <em>thread</em> must be equal to 
pthread_self().</dd></dl>
-<dl class="deprecated"><dt><b><a class="el" 
href="deprecated.html#_deprecated000005">Deprecated:</a></b></dt><dd>This 
service is a non-portable extension of the Xenomai 2.x POSIX interface, not 
available with Xenomai 3.x. Instead, Cobalt-based applications should set up a 
periodic timer using the <a class="el" 
href="group__cobalt__api__time.html#ga8a24ab6b0901162bbbbbca4f5205abd0" 
title="Create a timer. ">timer_create()</a>, <a class="el" 
href="group__cobalt__api__time.html#ga2c513dc9b3734f5e23fc7b8a5cf11c95" 
title="Start or stop a timer. ">timer_settime()</a> call pair, then wait for 
release points via sigwaitinfo(). Overruns can be detected by looking at the 
siginfo.si_overrun field. Alternatively, applications may obtain a file 
descriptor referring to a Cobalt timer via the timerfd() call, and read() from 
it to wait for timeouts. </dd></dl>
+<dl class="deprecated"><dt><b><a class="el" 
href="deprecated.html#_deprecated000009">Deprecated:</a></b></dt><dd>This 
service is a non-portable extension of the Xenomai 2.x POSIX interface, not 
available with Xenomai 3.x. Instead, Cobalt-based applications should set up a 
periodic timer using the <a class="el" 
href="group__cobalt__api__time.html#ga8a24ab6b0901162bbbbbca4f5205abd0" 
title="Create a timer. ">timer_create()</a>, <a class="el" 
href="group__cobalt__api__time.html#ga2c513dc9b3734f5e23fc7b8a5cf11c95" 
title="Start or stop a timer. ">timer_settime()</a> call pair, then wait for 
release points via sigwaitinfo(). Overruns can be detected by looking at the 
siginfo.si_overrun field. Alternatively, applications may obtain a file 
descriptor referring to a Cobalt timer via the timerfd() call, and read() from 
it to wait for timeouts. </dd></dl>
 
 <p>References <a class="el" 
href="group__cobalt__api__time.html#ga8a24ab6b0901162bbbbbca4f5205abd0">timer_create()</a>,
 and <a class="el" 
href="group__cobalt__api__time.html#ga2c513dc9b3734f5e23fc7b8a5cf11c95">timer_settime()</a>.</p>
 
@@ -188,7 +384,35 @@ an error number if:<ul>
 <li>EPERM is returned if this service was called from an invalid context.</li>
 </ul>
 <dl class="section note"><dt>Note</dt><dd>If the current release point has 
already been reached at the time of the call, the current thread immediately 
returns from this service with no delay.</dd></dl>
-<dl class="deprecated"><dt><b><a class="el" 
href="deprecated.html#_deprecated000006">Deprecated:</a></b></dt><dd>This 
service is a non-portable extension of the Xenomai 2.x POSIX interface, not 
available with Xenomai 3.x. Instead, Cobalt-based applications should set up a 
periodic timer using the <a class="el" 
href="group__cobalt__api__time.html#ga8a24ab6b0901162bbbbbca4f5205abd0" 
title="Create a timer. ">timer_create()</a>, <a class="el" 
href="group__cobalt__api__time.html#ga2c513dc9b3734f5e23fc7b8a5cf11c95" 
title="Start or stop a timer. ">timer_settime()</a> call pair, then wait for 
release points via sigwaitinfo(). Overruns can be detected by looking at the 
siginfo.si_overrun field. Alternatively, applications may obtain a file 
descriptor referring to a Cobalt timer via the timerfd() call, and read() from 
it to wait for timeouts. </dd></dl>
+<dl class="deprecated"><dt><b><a class="el" 
href="deprecated.html#_deprecated000010">Deprecated:</a></b></dt><dd>This 
service is a non-portable extension of the Xenomai 2.x POSIX interface, not 
available with Xenomai 3.x. Instead, Cobalt-based applications should set up a 
periodic timer using the <a class="el" 
href="group__cobalt__api__time.html#ga8a24ab6b0901162bbbbbca4f5205abd0" 
title="Create a timer. ">timer_create()</a>, <a class="el" 
href="group__cobalt__api__time.html#ga2c513dc9b3734f5e23fc7b8a5cf11c95" 
title="Start or stop a timer. ">timer_settime()</a> call pair, then wait for 
release points via sigwaitinfo(). Overruns can be detected by looking at the 
siginfo.si_overrun field. Alternatively, applications may obtain a file 
descriptor referring to a Cobalt timer via the timerfd() call, and read() from 
it to wait for timeouts. </dd></dl>
+
+</div>
+</div>
+<a class="anchor" id="ga6c0caadae03541db8a46751d290c0d76"></a>
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int rt_alarm_wait </td>
+          <td>(</td>
+          <td class="paramtype">RT_ALARM *&#160;</td>
+          <td class="paramname"><em>alarm</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Wait for the next alarm shot (compatibility service). </p>
+<p>This service allows the current task to suspend execution until the 
specified alarm triggers. The priority of the current task is raised above all 
other tasks - except those also undergoing an alarm wait.</p>
+<dl class="section return"><dt>Returns</dt><dd>Zero is returned upon success, 
after the alarm timed out. Otherwise:</dd></dl>
+<ul>
+<li>-EINVAL is returned if <em>alarm</em> is not a valid alarm descriptor.</li>
+<li>-EPERM is returned if this service was called from an invalid context.</li>
+<li>-EINTR is returned if <a class="el" 
href="group__alchemy__task.html#ga770281eeca009c0a08a7c4a9fd849ac1" 
title="Unblock a real-time task. ">rt_task_unblock()</a> was called for the 
current task before the request is satisfied.</li>
+<li>-EIDRM is returned if <em>alarm</em> is deleted while the caller was 
sleeping on it. In such a case, <em>alarm</em> is no more valid upon return of 
this service.</li>
+</ul>
+<dl class="section user"><dt>Tags</dt><dd><a class="el" 
href="api-tags.html">xthread-only, switch-primary</a></dd></dl>
+<dl class="deprecated"><dt><b><a class="el" 
href="deprecated.html#_deprecated000008">Deprecated:</a></b></dt><dd>This is a 
compatibility service from the Transition Kit.</dd></dl>
 
 </div>
 </div>
diff --git a/doc/prebuilt/html/xeno3prm/group__trank.js 
b/doc/prebuilt/html/xeno3prm/group__trank.js
index 7f1e063..cae55db 100644
--- a/doc/prebuilt/html/xeno3prm/group__trank.js
+++ b/doc/prebuilt/html/xeno3prm/group__trank.js
@@ -1,5 +1,9 @@
 var group__trank =
 [
+    [ "COMPAT__rt_alarm_create", 
"group__trank.html#ga7b0812d15689d60089ea2364495a4df8", null ],
+    [ "COMPAT__rt_task_create", 
"group__trank.html#ga2d7b013823582c3374f6cbd7aabf155b", null ],
+    [ "COMPAT__rt_task_set_periodic", 
"group__trank.html#ga77e5158909dc88b778fd1d22c4aa2597", null ],
     [ "pthread_make_periodic_np", 
"group__trank.html#gafe8deaa3c89e0a07e59f0e58f9ec1473", null ],
-    [ "pthread_wait_np", 
"group__trank.html#ga1f18e6e7dd5342463ca8546ef3a36c34", null ]
+    [ "pthread_wait_np", 
"group__trank.html#ga1f18e6e7dd5342463ca8546ef3a36c34", null ],
+    [ "rt_alarm_wait", "group__trank.html#ga6c0caadae03541db8a46751d290c0d76", 
null ]
 ];
\ No newline at end of file
diff --git a/doc/prebuilt/html/xeno3prm/include_2alchemy_2alarm_8h_source.html 
b/doc/prebuilt/html/xeno3prm/include_2alchemy_2alarm_8h_source.html
index 116d57c..507ffdf 100644
--- a/doc/prebuilt/html/xeno3prm/include_2alchemy_2alarm_8h_source.html
+++ b/doc/prebuilt/html/xeno3prm/include_2alchemy_2alarm_8h_source.html
@@ -156,15 +156,15 @@ 
$(document).ready(function(){initNavTree('include_2alchemy_2alarm_8h_source.html
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82</span>&#160;<span class="preprocessor">#endif</span></div>
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83</span>&#160;<span class="preprocessor"></span></div>
 <div class="line"><a name="l00086"></a><span class="lineno">   
86</span>&#160;<span class="preprocessor">#endif </span><span 
class="comment">/* _XENOMAI_ALCHEMY_ALARM_H */</span><span 
class="preprocessor"></span></div>
-<div class="ttc" 
id="group__alchemy__alarm_html_ga25c4556b6e2f6fa220a734bf83c4c374"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga25c4556b6e2f6fa220a734bf83c4c374">rt_alarm_inquire</a></div><div
 class="ttdeci">int rt_alarm_inquire(RT_ALARM *alarm, RT_ALARM_INFO 
*info)</div><div class="ttdoc">Query alarm status. </div><div 
class="ttdef"><b>Definition:</b> alarm.c:376</div></div>
-<div class="ttc" 
id="group__alchemy__alarm_html_ga71f2ffec98e3e23fe5d7f87c2cb24d77"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga71f2ffec98e3e23fe5d7f87c2cb24d77">rt_alarm_stop</a></div><div
 class="ttdeci">int rt_alarm_stop(RT_ALARM *alarm)</div><div class="ttdoc">Stop 
an alarm. </div><div class="ttdef"><b>Definition:</b> alarm.c:337</div></div>
+<div class="ttc" 
id="group__alchemy__alarm_html_ga25c4556b6e2f6fa220a734bf83c4c374"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga25c4556b6e2f6fa220a734bf83c4c374">rt_alarm_inquire</a></div><div
 class="ttdeci">int rt_alarm_inquire(RT_ALARM *alarm, RT_ALARM_INFO 
*info)</div><div class="ttdoc">Query alarm status. </div><div 
class="ttdef"><b>Definition:</b> alarm.c:387</div></div>
+<div class="ttc" 
id="group__alchemy__alarm_html_ga71f2ffec98e3e23fe5d7f87c2cb24d77"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga71f2ffec98e3e23fe5d7f87c2cb24d77">rt_alarm_stop</a></div><div
 class="ttdeci">int rt_alarm_stop(RT_ALARM *alarm)</div><div class="ttdoc">Stop 
an alarm. </div><div class="ttdef"><b>Definition:</b> alarm.c:348</div></div>
 <div class="ttc" 
id="structRT__ALARM__INFO_html_a9f793d6a1ccdb6e4172c153821c11865"><div 
class="ttname"><a 
href="structRT__ALARM__INFO.html#a9f793d6a1ccdb6e4172c153821c11865">RT_ALARM_INFO::expiries</a></div><div
 class="ttdeci">unsigned long expiries</div><div class="ttdoc">Number of past 
expiries. </div><div class="ttdef"><b>Definition:</b> alarm.h:47</div></div>
 <div class="ttc" id="structRT__ALARM__INFO_html"><div class="ttname"><a 
href="structRT__ALARM__INFO.html">RT_ALARM_INFO</a></div><div 
class="ttdoc">Alarm status descriptor. </div><div 
class="ttdef"><b>Definition:</b> alarm.h:43</div></div>
-<div class="ttc" 
id="group__alchemy__alarm_html_ga0d9cb8ae623be0f7224ac47b10a0b542"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga0d9cb8ae623be0f7224ac47b10a0b542">rt_alarm_start</a></div><div
 class="ttdeci">int rt_alarm_start(RT_ALARM *alarm, RTIME value, RTIME 
interval)</div><div class="ttdoc">Start an alarm. </div><div 
class="ttdef"><b>Definition:</b> alarm.c:298</div></div>
+<div class="ttc" 
id="group__alchemy__alarm_html_ga0d9cb8ae623be0f7224ac47b10a0b542"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga0d9cb8ae623be0f7224ac47b10a0b542">rt_alarm_start</a></div><div
 class="ttdeci">int rt_alarm_start(RT_ALARM *alarm, RTIME value, RTIME 
interval)</div><div class="ttdoc">Start an alarm. </div><div 
class="ttdef"><b>Definition:</b> alarm.c:310</div></div>
 <div class="ttc" 
id="structRT__ALARM__INFO_html_a6d49da2aa84fe76b1099a47ad286415a"><div 
class="ttname"><a 
href="structRT__ALARM__INFO.html#a6d49da2aa84fe76b1099a47ad286415a">RT_ALARM_INFO::name</a></div><div
 class="ttdeci">char name[XNOBJECT_NAME_LEN]</div><div class="ttdoc">Name of 
alarm object. </div><div class="ttdef"><b>Definition:</b> alarm.h:51</div></div>
-<div class="ttc" 
id="group__alchemy__alarm_html_ga3a68de9a92f14911fc787de9288fc078"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga3a68de9a92f14911fc787de9288fc078">rt_alarm_create</a></div><div
 class="ttdeci">int rt_alarm_create(RT_ALARM *alarm, const char *name, 
void(*handler)(void *arg), void *arg)</div><div class="ttdoc">Create an alarm 
object. </div><div class="ttdef"><b>Definition:</b> alarm.c:167</div></div>
+<div class="ttc" 
id="group__alchemy__alarm_html_ga3a68de9a92f14911fc787de9288fc078"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga3a68de9a92f14911fc787de9288fc078">rt_alarm_create</a></div><div
 class="ttdeci">int rt_alarm_create(RT_ALARM *alarm, const char *name, 
void(*handler)(void *arg), void *arg)</div><div class="ttdoc">Create an alarm 
object. </div><div class="ttdef"><b>Definition:</b> alarm.c:172</div></div>
 <div class="ttc" 
id="structRT__ALARM__INFO_html_af0a45680476596e86488276a0bb624ae"><div 
class="ttname"><a 
href="structRT__ALARM__INFO.html#af0a45680476596e86488276a0bb624ae">RT_ALARM_INFO::active</a></div><div
 class="ttdeci">int active</div><div class="ttdoc">Active flag. </div><div 
class="ttdef"><b>Definition:</b> alarm.h:55</div></div>
-<div class="ttc" 
id="group__alchemy__alarm_html_gaf00e05b47b1183816480e270d326f9ac"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#gaf00e05b47b1183816480e270d326f9ac">rt_alarm_delete</a></div><div
 class="ttdeci">int rt_alarm_delete(RT_ALARM *alarm)</div><div 
class="ttdoc">Delete an alarm. </div><div class="ttdef"><b>Definition:</b> 
alarm.c:239</div></div>
+<div class="ttc" 
id="group__alchemy__alarm_html_gaf00e05b47b1183816480e270d326f9ac"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#gaf00e05b47b1183816480e270d326f9ac">rt_alarm_delete</a></div><div
 class="ttdeci">int rt_alarm_delete(RT_ALARM *alarm)</div><div 
class="ttdoc">Delete an alarm. </div><div class="ttdef"><b>Definition:</b> 
alarm.c:248</div></div>
 </div><!-- fragment --></div><!-- contents -->
 </div><!-- doc-content -->
 <!-- start footer part -->
diff --git a/doc/prebuilt/html/xeno3prm/include_2alchemy_2task_8h_source.html 
b/doc/prebuilt/html/xeno3prm/include_2alchemy_2task_8h_source.html
index 468f803..9662ff5 100644
--- a/doc/prebuilt/html/xeno3prm/include_2alchemy_2task_8h_source.html
+++ b/doc/prebuilt/html/xeno3prm/include_2alchemy_2task_8h_source.html
@@ -275,41 +275,41 @@ 
$(document).ready(function(){initNavTree('include_2alchemy_2task_8h_source.html'
 <div class="line"><a name="l00206"></a><span class="lineno">  
206</span>&#160;<span class="preprocessor">#endif</span></div>
 <div class="line"><a name="l00207"></a><span class="lineno">  
207</span>&#160;<span class="preprocessor"></span></div>
 <div class="line"><a name="l00210"></a><span class="lineno">  
210</span>&#160;<span class="preprocessor">#endif </span><span 
class="comment">/* _XENOMAI_ALCHEMY_TASK_H */</span><span 
class="preprocessor"></span></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga3ee3863a29497e2181d49d5b3ecfd855"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga3ee3863a29497e2181d49d5b3ecfd855">rt_task_start</a></div><div
 class="ttdeci">int rt_task_start(RT_TASK *task, void(*entry)(void *arg), void 
*arg)</div><div class="ttdoc">Start a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:614</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga770281eeca009c0a08a7c4a9fd849ac1"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga770281eeca009c0a08a7c4a9fd849ac1">rt_task_unblock</a></div><div
 class="ttdeci">int rt_task_unblock(RT_TASK *task)</div><div 
class="ttdoc">Unblock a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1309</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga3ee3863a29497e2181d49d5b3ecfd855"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga3ee3863a29497e2181d49d5b3ecfd855">rt_task_start</a></div><div
 class="ttdeci">int rt_task_start(RT_TASK *task, void(*entry)(void *arg), void 
*arg)</div><div class="ttdoc">Start a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:619</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga770281eeca009c0a08a7c4a9fd849ac1"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga770281eeca009c0a08a7c4a9fd849ac1">rt_task_unblock</a></div><div
 class="ttdeci">int rt_task_unblock(RT_TASK *task)</div><div 
class="ttdoc">Unblock a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1325</div></div>
 <div class="ttc" 
id="structRT__TASK__INFO_html_ae327f3dca3f2ae89c8aa5bd0033ed4b0"><div 
class="ttname"><a 
href="structRT__TASK__INFO.html#ae327f3dca3f2ae89c8aa5bd0033ed4b0">RT_TASK_INFO::stat</a></div><div
 class="ttdeci">struct threadobj_stat stat</div><div class="ttdoc">Task status. 
</div><div class="ttdef"><b>Definition:</b> task.h:76</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga03387550693c21d0223f739570ccd992"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create</a></div><div
 class="ttdeci">int rt_task_create(RT_TASK *task, const char *name, int 
stksize, int prio, int mode)</div><div class="ttdoc">Create a real-time task. 
</div><div class="ttdef"><b>Definition:</b> native.c:24</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga8c77d57638578a126812e29429f61fe7"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga8c77d57638578a126812e29429f61fe7">rt_task_join</a></div><div
 class="ttdeci">int rt_task_join(RT_TASK *task)</div><div class="ttdoc">Wait on 
the termination of a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:530</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga03387550693c21d0223f739570ccd992"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create</a></div><div
 class="ttdeci">int rt_task_create(RT_TASK *task, const char *name, int 
stksize, int prio, int mode)</div><div class="ttdoc">Create a real-time task. 
</div><div class="ttdef"><b>Definition:</b> task.c:410</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga8c77d57638578a126812e29429f61fe7"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga8c77d57638578a126812e29429f61fe7">rt_task_join</a></div><div
 class="ttdeci">int rt_task_join(RT_TASK *task)</div><div class="ttdoc">Wait on 
the termination of a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:535</div></div>
 <div class="ttc" 
id="group__alchemy__task_html_ga99a89c21c9866e2784860e100a444b49"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga99a89c21c9866e2784860e100a444b49">rt_task_send</a></div><div
 class="ttdeci">static ssize_t rt_task_send(RT_TASK *task, RT_TASK_MCB *mcb_s, 
RT_TASK_MCB *mcb_r, RTIME timeout)</div><div class="ttdoc">Send a message to a 
real-time task (with relative scalar timeout). </div><div 
class="ttdef"><b>Definition:</b> task.h:168</div></div>
 <div class="ttc" 
id="group__alchemy__task_html_gaa51bdd7ba60692deca7bedbb99d76ae1"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaa51bdd7ba60692deca7bedbb99d76ae1">rt_task_receive_until</a></div><div
 class="ttdeci">static int rt_task_receive_until(RT_TASK_MCB *mcb_r, RTIME 
timeout)</div><div class="ttdoc">Receive a message from a real-time task (with 
absolute scalar timeout). </div><div class="ttdef"><b>Definition:</b> 
task.h:181</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga53bad6acf5496f8008e594954507dce8"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga53bad6acf5496f8008e594954507dce8">rt_task_inquire</a></div><div
 class="ttdeci">int rt_task_inquire(RT_TASK *task, RT_TASK_INFO 
*info)</div><div class="ttdoc">Retrieve information about a real-time task. 
</div><div class="ttdef"><b>Definition:</b> task.c:1517</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gaf6e313941a3fea606be8d0f66380e922"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaf6e313941a3fea606be8d0f66380e922">rt_task_same</a></div><div
 class="ttdeci">int rt_task_same(RT_TASK *task1, RT_TASK *task2)</div><div 
class="ttdoc">Compare real-time task descriptors. </div><div 
class="ttdef"><b>Definition:</b> task.c:1060</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga8a17935f049171be2ac8945abc68da6a"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga8a17935f049171be2ac8945abc68da6a">rt_task_self</a></div><div
 class="ttdeci">RT_TASK * rt_task_self(void)</div><div class="ttdoc">Retrieve 
the current task descriptor. </div><div class="ttdef"><b>Definition:</b> 
task.c:1185</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga53bad6acf5496f8008e594954507dce8"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga53bad6acf5496f8008e594954507dce8">rt_task_inquire</a></div><div
 class="ttdeci">int rt_task_inquire(RT_TASK *task, RT_TASK_INFO 
*info)</div><div class="ttdoc">Retrieve information about a real-time task. 
</div><div class="ttdef"><b>Definition:</b> task.c:1533</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gaf6e313941a3fea606be8d0f66380e922"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaf6e313941a3fea606be8d0f66380e922">rt_task_same</a></div><div
 class="ttdeci">int rt_task_same(RT_TASK *task1, RT_TASK *task2)</div><div 
class="ttdoc">Compare real-time task descriptors. </div><div 
class="ttdef"><b>Definition:</b> task.c:1076</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga8a17935f049171be2ac8945abc68da6a"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga8a17935f049171be2ac8945abc68da6a">rt_task_self</a></div><div
 class="ttdeci">RT_TASK * rt_task_self(void)</div><div class="ttdoc">Retrieve 
the current task descriptor. </div><div class="ttdef"><b>Definition:</b> 
task.c:1201</div></div>
 <div class="ttc" 
id="group__alchemy__task_html_ga8fd88694130824cdf1abf7a4f119e742"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga8fd88694130824cdf1abf7a4f119e742">rt_task_receive</a></div><div
 class="ttdeci">static int rt_task_receive(RT_TASK_MCB *mcb_r, RTIME 
timeout)</div><div class="ttdoc">Receive a message from a real-time task (with 
relative scalar timeout). </div><div class="ttdef"><b>Definition:</b> 
task.h:189</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga31e44b069b2486c2d2bdfb8a0a3557c8"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga31e44b069b2486c2d2bdfb8a0a3557c8">rt_task_yield</a></div><div
 class="ttdeci">int rt_task_yield(void)</div><div class="ttdoc">Manual 
round-robin. </div><div class="ttdef"><b>Definition:</b> task.c:1278</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga9250436d7bd9e49a0320161d2e9373ae"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga9250436d7bd9e49a0320161d2e9373ae">rt_task_slice</a></div><div
 class="ttdeci">int rt_task_slice(RT_TASK *task, RTIME quantum)</div><div 
class="ttdoc">Set a task&#39;s round-robin quantum. </div><div 
class="ttdef"><b>Definition:</b> task.c:1364</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gab6e0d411830710e8cc82d77b9df19510"><div 
class="ttname"><a 
href="group__alchemy__task.html#gab6e0d411830710e8cc82d77b9df19510">rt_task_delete</a></div><div
 class="ttdeci">int rt_task_delete(RT_TASK *task)</div><div 
class="ttdoc">Delete a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:472</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga31e44b069b2486c2d2bdfb8a0a3557c8"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga31e44b069b2486c2d2bdfb8a0a3557c8">rt_task_yield</a></div><div
 class="ttdeci">int rt_task_yield(void)</div><div class="ttdoc">Manual 
round-robin. </div><div class="ttdef"><b>Definition:</b> task.c:1294</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga9250436d7bd9e49a0320161d2e9373ae"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga9250436d7bd9e49a0320161d2e9373ae">rt_task_slice</a></div><div
 class="ttdeci">int rt_task_slice(RT_TASK *task, RTIME quantum)</div><div 
class="ttdoc">Set a task&#39;s round-robin quantum. </div><div 
class="ttdef"><b>Definition:</b> task.c:1380</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gab6e0d411830710e8cc82d77b9df19510"><div 
class="ttname"><a 
href="group__alchemy__task.html#gab6e0d411830710e8cc82d77b9df19510">rt_task_delete</a></div><div
 class="ttdeci">int rt_task_delete(RT_TASK *task)</div><div 
class="ttdoc">Delete a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:477</div></div>
 <div class="ttc" 
id="group__alchemy__task_html_ga74378805e49a613863a048bfaa70e9df"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga74378805e49a613863a048bfaa70e9df">rt_task_send_until</a></div><div
 class="ttdeci">static ssize_t rt_task_send_until(RT_TASK *task, RT_TASK_MCB 
*mcb_s, RT_TASK_MCB *mcb_r, RTIME timeout)</div><div class="ttdoc">Send a 
message to a real-time task (with absolute scalar timeout). </div><div 
class="ttdef"><b>Definition:</b> task.h:158</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga915e7edfb0aaddb643794d7abc7093bf"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga915e7edfb0aaddb643794d7abc7093bf">rt_task_set_mode</a></div><div
 class="ttdeci">int rt_task_set_mode(int clrmask, int setmask, int 
*mode_r)</div><div class="ttdoc">Change the current task mode. </div><div 
class="ttdef"><b>Definition:</b> task.c:1461</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gaf2ad79df07c5589d5c646ea836b6a777"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaf2ad79df07c5589d5c646ea836b6a777">rt_task_receive_timed</a></div><div
 class="ttdeci">int rt_task_receive_timed(RT_TASK_MCB *mcb_r, const struct 
timespec *abs_timeout)</div><div class="ttdoc">Receive a message from a 
real-time task. </div><div class="ttdef"><b>Definition:</b> 
task.c:1846</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gad5225e5fb8d583fbdfa5299f322b8366"><div 
class="ttname"><a 
href="group__alchemy__task.html#gad5225e5fb8d583fbdfa5299f322b8366">rt_task_sleep</a></div><div
 class="ttdeci">int rt_task_sleep(RTIME delay)</div><div class="ttdoc">Delay 
the current real-time task (with relative delay). </div><div 
class="ttdef"><b>Definition:</b> task.c:978</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga1645d3a072ef3cefeed3bcbb27dcf108"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga1645d3a072ef3cefeed3bcbb27dcf108">rt_task_wait_period</a></div><div
 class="ttdeci">int rt_task_wait_period(unsigned long *overruns_r)</div><div 
class="ttdoc">Wait for the next periodic release point. </div><div 
class="ttdef"><b>Definition:</b> task.c:896</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga915e7edfb0aaddb643794d7abc7093bf"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga915e7edfb0aaddb643794d7abc7093bf">rt_task_set_mode</a></div><div
 class="ttdeci">int rt_task_set_mode(int clrmask, int setmask, int 
*mode_r)</div><div class="ttdoc">Change the current task mode. </div><div 
class="ttdef"><b>Definition:</b> task.c:1477</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gaf2ad79df07c5589d5c646ea836b6a777"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaf2ad79df07c5589d5c646ea836b6a777">rt_task_receive_timed</a></div><div
 class="ttdeci">int rt_task_receive_timed(RT_TASK_MCB *mcb_r, const struct 
timespec *abs_timeout)</div><div class="ttdoc">Receive a message from a 
real-time task. </div><div class="ttdef"><b>Definition:</b> 
task.c:1862</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gad5225e5fb8d583fbdfa5299f322b8366"><div 
class="ttname"><a 
href="group__alchemy__task.html#gad5225e5fb8d583fbdfa5299f322b8366">rt_task_sleep</a></div><div
 class="ttdeci">int rt_task_sleep(RTIME delay)</div><div class="ttdoc">Delay 
the current real-time task (with relative delay). </div><div 
class="ttdef"><b>Definition:</b> task.c:987</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga1645d3a072ef3cefeed3bcbb27dcf108"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga1645d3a072ef3cefeed3bcbb27dcf108">rt_task_wait_period</a></div><div
 class="ttdeci">int rt_task_wait_period(unsigned long *overruns_r)</div><div 
class="ttdoc">Wait for the next periodic release point. </div><div 
class="ttdef"><b>Definition:</b> task.c:905</div></div>
 <div class="ttc" id="structRT__TASK__INFO_html"><div class="ttname"><a 
href="structRT__TASK__INFO.html">RT_TASK_INFO</a></div><div class="ttdoc">Task 
status descriptor. </div><div class="ttdef"><b>Definition:</b> 
task.h:68</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gacd8a4fb2d11f0548bd053dfbf92f9e9d"><div 
class="ttname"><a 
href="group__alchemy__task.html#gacd8a4fb2d11f0548bd053dfbf92f9e9d">rt_task_reply</a></div><div
 class="ttdeci">int rt_task_reply(int flowid, RT_TASK_MCB *mcb_s)</div><div 
class="ttdoc">Reply to a remote task message. </div><div 
class="ttdef"><b>Definition:</b> task.c:1961</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gacd8a4fb2d11f0548bd053dfbf92f9e9d"><div 
class="ttname"><a 
href="group__alchemy__task.html#gacd8a4fb2d11f0548bd053dfbf92f9e9d">rt_task_reply</a></div><div
 class="ttdeci">int rt_task_reply(int flowid, RT_TASK_MCB *mcb_s)</div><div 
class="ttdoc">Reply to a remote task message. </div><div 
class="ttdef"><b>Definition:</b> task.c:1977</div></div>
 <div class="ttc" 
id="structRT__TASK__INFO_html_a70c731ca5877ff4a6235fa81caa77798"><div 
class="ttname"><a 
href="structRT__TASK__INFO.html#a70c731ca5877ff4a6235fa81caa77798">RT_TASK_INFO::pid</a></div><div
 class="ttdeci">pid_t pid</div><div class="ttdoc">Host pid. </div><div 
class="ttdef"><b>Definition:</b> task.h:84</div></div>
 <div class="ttc" 
id="structRT__TASK__INFO_html_a632e09c1d8dabc29c020c828abf62ac6"><div 
class="ttname"><a 
href="structRT__TASK__INFO.html#a632e09c1d8dabc29c020c828abf62ac6">RT_TASK_INFO::prio</a></div><div
 class="ttdeci">int prio</div><div class="ttdoc">Task priority. </div><div 
class="ttdef"><b>Definition:</b> task.h:72</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga10e40ae8b8ab82c1fddc26fed12d4ec2"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga10e40ae8b8ab82c1fddc26fed12d4ec2">rt_task_send_timed</a></div><div
 class="ttdeci">ssize_t rt_task_send_timed(RT_TASK *task, RT_TASK_MCB *mcb_s, 
RT_TASK_MCB *mcb_r, const struct timespec *abs_timeout)</div><div 
class="ttdoc">Send a message to a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1677</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gad92ea8c9fed3c5a3789538c9c8362c28"><div 
class="ttname"><a 
href="group__alchemy__task.html#gad92ea8c9fed3c5a3789538c9c8362c28">rt_task_set_affinity</a></div><div
 class="ttdeci">int rt_task_set_affinity(RT_TASK *task, const cpu_set_t 
*cpus)</div><div class="ttdoc">Set CPU affinity of real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:565</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga0dc2deebe7500c9d21ff05d51d5efaa8"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga0dc2deebe7500c9d21ff05d51d5efaa8">rt_task_sleep_until</a></div><div
 class="ttdeci">int rt_task_sleep_until(RTIME date)</div><div 
class="ttdoc">Delay the current real-time task (with absolute wakeup date). 
</div><div class="ttdef"><b>Definition:</b> task.c:936</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gab6bd973c22a6f66e28653922c53e0385"><div 
class="ttname"><a 
href="group__alchemy__task.html#gab6bd973c22a6f66e28653922c53e0385">rt_task_bind</a></div><div
 class="ttdeci">int rt_task_bind(RT_TASK *task, const char *name, RTIME 
timeout)</div><div class="ttdoc">Bind to a task. </div><div 
class="ttdef"><b>Definition:</b> task.c:2069</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga10e40ae8b8ab82c1fddc26fed12d4ec2"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga10e40ae8b8ab82c1fddc26fed12d4ec2">rt_task_send_timed</a></div><div
 class="ttdeci">ssize_t rt_task_send_timed(RT_TASK *task, RT_TASK_MCB *mcb_s, 
RT_TASK_MCB *mcb_r, const struct timespec *abs_timeout)</div><div 
class="ttdoc">Send a message to a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1693</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gad92ea8c9fed3c5a3789538c9c8362c28"><div 
class="ttname"><a 
href="group__alchemy__task.html#gad92ea8c9fed3c5a3789538c9c8362c28">rt_task_set_affinity</a></div><div
 class="ttdeci">int rt_task_set_affinity(RT_TASK *task, const cpu_set_t 
*cpus)</div><div class="ttdoc">Set CPU affinity of real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:570</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga0dc2deebe7500c9d21ff05d51d5efaa8"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga0dc2deebe7500c9d21ff05d51d5efaa8">rt_task_sleep_until</a></div><div
 class="ttdeci">int rt_task_sleep_until(RTIME date)</div><div 
class="ttdoc">Delay the current real-time task (with absolute wakeup date). 
</div><div class="ttdef"><b>Definition:</b> task.c:945</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gab6bd973c22a6f66e28653922c53e0385"><div 
class="ttname"><a 
href="group__alchemy__task.html#gab6bd973c22a6f66e28653922c53e0385">rt_task_bind</a></div><div
 class="ttdeci">int rt_task_bind(RT_TASK *task, const char *name, RTIME 
timeout)</div><div class="ttdoc">Bind to a task. </div><div 
class="ttdef"><b>Definition:</b> task.c:2085</div></div>
 <div class="ttc" 
id="structRT__TASK__INFO_html_a3e5d47277ecea23aa3a5730e0b6b2d13"><div 
class="ttname"><a 
href="structRT__TASK__INFO.html#a3e5d47277ecea23aa3a5730e0b6b2d13">RT_TASK_INFO::name</a></div><div
 class="ttdeci">char name[XNOBJECT_NAME_LEN]</div><div class="ttdoc">Name of 
task. </div><div class="ttdef"><b>Definition:</b> task.h:80</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga2038cbe2350a8e2558330a3f45953865"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga2038cbe2350a8e2558330a3f45953865">rt_task_unbind</a></div><div
 class="ttdeci">int rt_task_unbind(RT_TASK *task)</div><div 
class="ttdoc">Unbind from a task. </div><div class="ttdef"><b>Definition:</b> 
task.c:2091</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga926a4b10e3631f76c5f38910e6eea24c"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga926a4b10e3631f76c5f38910e6eea24c">rt_task_suspend</a></div><div
 class="ttdeci">int rt_task_suspend(RT_TASK *task)</div><div 
class="ttdoc">Suspend a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1107</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga3bed8d001e212a3328a4e7e73f1765e8"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga3bed8d001e212a3328a4e7e73f1765e8">rt_task_set_priority</a></div><div
 class="ttdeci">int rt_task_set_priority(RT_TASK *task, int prio)</div><div 
class="ttdoc">Change the base priority of a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1231</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga1fab1aa24ef6f199546fd9669ae711be"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga1fab1aa24ef6f199546fd9669ae711be">rt_task_resume</a></div><div
 class="ttdeci">int rt_task_resume(RT_TASK *task)</div><div 
class="ttdoc">Resume a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1151</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga72e0a9355d06c346a95bf88b857a9749"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga72e0a9355d06c346a95bf88b857a9749">rt_task_shadow</a></div><div
 class="ttdeci">int rt_task_shadow(RT_TASK *task, const char *name, int prio, 
int mode)</div><div class="ttdoc">Turn caller into a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:715</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gababee94264156693cd4f5b9b70d3c5a1"><div 
class="ttname"><a 
href="group__alchemy__task.html#gababee94264156693cd4f5b9b70d3c5a1">rt_task_set_periodic</a></div><div
 class="ttdeci">int rt_task_set_periodic(RT_TASK *task, RTIME idate, RTIME 
period)</div><div class="ttdoc">Make a real-time task periodic. </div><div 
class="ttdef"><b>Definition:</b> native.c:67</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gaa4f9fa3cb09d7f774ebff7585994dffb"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaa4f9fa3cb09d7f774ebff7585994dffb">rt_task_spawn</a></div><div
 class="ttdeci">int rt_task_spawn(RT_TASK *task, const char *name, int stksize, 
int prio, int mode, void(*entry)(void *arg), void *arg)</div><div 
class="ttdoc">Create and start a real-time task. </div><div 
class="ttdef"><b>Definition:</b> native.c:54</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga2038cbe2350a8e2558330a3f45953865"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga2038cbe2350a8e2558330a3f45953865">rt_task_unbind</a></div><div
 class="ttdeci">int rt_task_unbind(RT_TASK *task)</div><div 
class="ttdoc">Unbind from a task. </div><div class="ttdef"><b>Definition:</b> 
task.c:2107</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga926a4b10e3631f76c5f38910e6eea24c"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga926a4b10e3631f76c5f38910e6eea24c">rt_task_suspend</a></div><div
 class="ttdeci">int rt_task_suspend(RT_TASK *task)</div><div 
class="ttdoc">Suspend a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1123</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga3bed8d001e212a3328a4e7e73f1765e8"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga3bed8d001e212a3328a4e7e73f1765e8">rt_task_set_priority</a></div><div
 class="ttdeci">int rt_task_set_priority(RT_TASK *task, int prio)</div><div 
class="ttdoc">Change the base priority of a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1247</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga1fab1aa24ef6f199546fd9669ae711be"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga1fab1aa24ef6f199546fd9669ae711be">rt_task_resume</a></div><div
 class="ttdeci">int rt_task_resume(RT_TASK *task)</div><div 
class="ttdoc">Resume a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1167</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga72e0a9355d06c346a95bf88b857a9749"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga72e0a9355d06c346a95bf88b857a9749">rt_task_shadow</a></div><div
 class="ttdeci">int rt_task_shadow(RT_TASK *task, const char *name, int prio, 
int mode)</div><div class="ttdoc">Turn caller into a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:720</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gababee94264156693cd4f5b9b70d3c5a1"><div 
class="ttname"><a 
href="group__alchemy__task.html#gababee94264156693cd4f5b9b70d3c5a1">rt_task_set_periodic</a></div><div
 class="ttdeci">int rt_task_set_periodic(RT_TASK *task, RTIME idate, RTIME 
period)</div><div class="ttdoc">Make a real-time task periodic. </div><div 
class="ttdef"><b>Definition:</b> task.c:821</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gaa4f9fa3cb09d7f774ebff7585994dffb"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaa4f9fa3cb09d7f774ebff7585994dffb">rt_task_spawn</a></div><div
 class="ttdeci">int rt_task_spawn(RT_TASK *task, const char *name, int stksize, 
int prio, int mode, void(*entry)(void *arg), void *arg)</div><div 
class="ttdoc">Create and start a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1045</div></div>
 </div><!-- fragment --></div><!-- contents -->
 </div><!-- doc-content -->
 <!-- start footer part -->
diff --git 
a/doc/prebuilt/html/xeno3prm/include_2trank_2native_2alarm_8h_source.html 
b/doc/prebuilt/html/xeno3prm/include_2trank_2native_2alarm_8h_source.html
index 649f73a..3e7e926 100644
--- a/doc/prebuilt/html/xeno3prm/include_2trank_2native_2alarm_8h_source.html
+++ b/doc/prebuilt/html/xeno3prm/include_2trank_2native_2alarm_8h_source.html
@@ -118,14 +118,15 @@ 
$(document).ready(function(){initNavTree('include_2trank_2native_2alarm_8h_sourc
 <div class="line"><a name="l00023"></a><span class="lineno">   
23</span>&#160;</div>
 <div class="line"><a name="l00024"></a><span class="lineno">   
24</span>&#160;COMPAT_DECL(<span class="keywordtype">int</span>, <a 
class="code" 
href="group__alchemy__alarm.html#ga3a68de9a92f14911fc787de9288fc078">rt_alarm_create</a>(RT_ALARM
 *alarm, <span class="keyword">const</span> <span 
class="keywordtype">char</span> *<a class="code" 
href="structRT__ALARM__INFO.html#a6d49da2aa84fe76b1099a47ad286415a">name</a>));</div>
 <div class="line"><a name="l00025"></a><span class="lineno">   
25</span>&#160;</div>
-<div class="line"><a name="l00026"></a><span class="lineno">   
26</span>&#160;COMPAT_DECL(<span class="keywordtype">int</span>, 
rt_alarm_wait(RT_ALARM *alarm));</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   
26</span>&#160;COMPAT_DECL(<span class="keywordtype">int</span>, <a 
class="code" 
href="group__trank.html#ga6c0caadae03541db8a46751d290c0d76">rt_alarm_wait</a>(RT_ALARM
 *alarm));</div>
 <div class="line"><a name="l00027"></a><span class="lineno">   
27</span>&#160;</div>
 <div class="line"><a name="l00028"></a><span class="lineno">   
28</span>&#160;COMPAT_DECL(<span class="keywordtype">int</span>, <a 
class="code" 
href="group__alchemy__alarm.html#gaf00e05b47b1183816480e270d326f9ac">rt_alarm_delete</a>(RT_ALARM
 *alarm));</div>
 <div class="line"><a name="l00029"></a><span class="lineno">   
29</span>&#160;</div>
 <div class="line"><a name="l00030"></a><span class="lineno">   
30</span>&#160;<span class="preprocessor">#endif </span><span 
class="comment">/* _XENOMAI_TRANK_NATIVE_ALARM_H */</span><span 
class="preprocessor"></span></div>
+<div class="ttc" 
id="group__trank_html_ga6c0caadae03541db8a46751d290c0d76"><div 
class="ttname"><a 
href="group__trank.html#ga6c0caadae03541db8a46751d290c0d76">rt_alarm_wait</a></div><div
 class="ttdeci">int rt_alarm_wait(RT_ALARM *alarm)</div><div class="ttdoc">Wait 
for the next alarm shot (compatibility service). </div></div>
 <div class="ttc" 
id="structRT__ALARM__INFO_html_a6d49da2aa84fe76b1099a47ad286415a"><div 
class="ttname"><a 
href="structRT__ALARM__INFO.html#a6d49da2aa84fe76b1099a47ad286415a">RT_ALARM_INFO::name</a></div><div
 class="ttdeci">char name[XNOBJECT_NAME_LEN]</div><div class="ttdoc">Name of 
alarm object. </div><div class="ttdef"><b>Definition:</b> alarm.h:51</div></div>
-<div class="ttc" 
id="group__alchemy__alarm_html_ga3a68de9a92f14911fc787de9288fc078"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga3a68de9a92f14911fc787de9288fc078">rt_alarm_create</a></div><div
 class="ttdeci">int rt_alarm_create(RT_ALARM *alarm, const char *name, 
void(*handler)(void *arg), void *arg)</div><div class="ttdoc">Create an alarm 
object. </div><div class="ttdef"><b>Definition:</b> alarm.c:167</div></div>
-<div class="ttc" 
id="group__alchemy__alarm_html_gaf00e05b47b1183816480e270d326f9ac"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#gaf00e05b47b1183816480e270d326f9ac">rt_alarm_delete</a></div><div
 class="ttdeci">int rt_alarm_delete(RT_ALARM *alarm)</div><div 
class="ttdoc">Delete an alarm. </div><div class="ttdef"><b>Definition:</b> 
alarm.c:239</div></div>
+<div class="ttc" 
id="group__alchemy__alarm_html_ga3a68de9a92f14911fc787de9288fc078"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#ga3a68de9a92f14911fc787de9288fc078">rt_alarm_create</a></div><div
 class="ttdeci">int rt_alarm_create(RT_ALARM *alarm, const char *name, 
void(*handler)(void *arg), void *arg)</div><div class="ttdoc">Create an alarm 
object. </div><div class="ttdef"><b>Definition:</b> alarm.c:172</div></div>
+<div class="ttc" 
id="group__alchemy__alarm_html_gaf00e05b47b1183816480e270d326f9ac"><div 
class="ttname"><a 
href="group__alchemy__alarm.html#gaf00e05b47b1183816480e270d326f9ac">rt_alarm_delete</a></div><div
 class="ttdeci">int rt_alarm_delete(RT_ALARM *alarm)</div><div 
class="ttdoc">Delete an alarm. </div><div class="ttdef"><b>Definition:</b> 
alarm.c:248</div></div>
 </div><!-- fragment --></div><!-- contents -->
 </div><!-- doc-content -->
 <!-- start footer part -->
diff --git 
a/doc/prebuilt/html/xeno3prm/include_2trank_2native_2task_8h_source.html 
b/doc/prebuilt/html/xeno3prm/include_2trank_2native_2task_8h_source.html
index f3f1d77..829f6e6 100644
--- a/doc/prebuilt/html/xeno3prm/include_2trank_2native_2task_8h_source.html
+++ b/doc/prebuilt/html/xeno3prm/include_2trank_2native_2task_8h_source.html
@@ -144,9 +144,9 @@ 
$(document).ready(function(){initNavTree('include_2trank_2native_2task_8h_source
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                                     RTIME idate, RTIME period));</div>
 <div class="line"><a name="l00050"></a><span class="lineno">   
50</span>&#160;</div>
 <div class="line"><a name="l00051"></a><span class="lineno">   
51</span>&#160;<span class="preprocessor">#endif </span><span 
class="comment">/* _XENOMAI_TRANK_NATIVE_TASK_H */</span><span 
class="preprocessor"></span></div>
-<div class="ttc" 
id="group__alchemy__task_html_ga03387550693c21d0223f739570ccd992"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create</a></div><div
 class="ttdeci">int rt_task_create(RT_TASK *task, const char *name, int 
stksize, int prio, int mode)</div><div class="ttdoc">Create a real-time task. 
</div><div class="ttdef"><b>Definition:</b> native.c:24</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gababee94264156693cd4f5b9b70d3c5a1"><div 
class="ttname"><a 
href="group__alchemy__task.html#gababee94264156693cd4f5b9b70d3c5a1">rt_task_set_periodic</a></div><div
 class="ttdeci">int rt_task_set_periodic(RT_TASK *task, RTIME idate, RTIME 
period)</div><div class="ttdoc">Make a real-time task periodic. </div><div 
class="ttdef"><b>Definition:</b> native.c:67</div></div>
-<div class="ttc" 
id="group__alchemy__task_html_gaa4f9fa3cb09d7f774ebff7585994dffb"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaa4f9fa3cb09d7f774ebff7585994dffb">rt_task_spawn</a></div><div
 class="ttdeci">int rt_task_spawn(RT_TASK *task, const char *name, int stksize, 
int prio, int mode, void(*entry)(void *arg), void *arg)</div><div 
class="ttdoc">Create and start a real-time task. </div><div 
class="ttdef"><b>Definition:</b> native.c:54</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_ga03387550693c21d0223f739570ccd992"><div 
class="ttname"><a 
href="group__alchemy__task.html#ga03387550693c21d0223f739570ccd992">rt_task_create</a></div><div
 class="ttdeci">int rt_task_create(RT_TASK *task, const char *name, int 
stksize, int prio, int mode)</div><div class="ttdoc">Create a real-time task. 
</div><div class="ttdef"><b>Definition:</b> task.c:410</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gababee94264156693cd4f5b9b70d3c5a1"><div 
class="ttname"><a 
href="group__alchemy__task.html#gababee94264156693cd4f5b9b70d3c5a1">rt_task_set_periodic</a></div><div
 class="ttdeci">int rt_task_set_periodic(RT_TASK *task, RTIME idate, RTIME 
period)</div><div class="ttdoc">Make a real-time task periodic. </div><div 
class="ttdef"><b>Definition:</b> task.c:821</div></div>
+<div class="ttc" 
id="group__alchemy__task_html_gaa4f9fa3cb09d7f774ebff7585994dffb"><div 
class="ttname"><a 
href="group__alchemy__task.html#gaa4f9fa3cb09d7f774ebff7585994dffb">rt_task_spawn</a></div><div
 class="ttdeci">int rt_task_spawn(RT_TASK *task, const char *name, int stksize, 
int prio, int mode, void(*entry)(void *arg), void *arg)</div><div 
class="ttdoc">Create and start a real-time task. </div><div 
class="ttdef"><b>Definition:</b> task.c:1045</div></div>
 </div><!-- fragment --></div><!-- contents -->
 </div><!-- doc-content -->
 <!-- start footer part -->
diff --git a/doc/prebuilt/html/xeno3prm/navtree.js 
b/doc/prebuilt/html/xeno3prm/navtree.js
index 140b545..786c954 100644
--- a/doc/prebuilt/html/xeno3prm/navtree.js
+++ b/doc/prebuilt/html/xeno3prm/navtree.js
@@ -35,9 +35,9 @@ var NAVTREEINDEX =
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-"structxnvfile__snapshot__iterator.html#a84d702d0ea1489dca8b4e86e06a856a0"
+"nios2_2include_2asm_2xenomai_2uapi_2fptest_8h_source.html",
+"sched-weak_8h_source.html",
+"structxnvfile__snapshot__iterator.html#a0c4b28f5a183309699984d859dca9dca"
 ];
 
 var SYNCONMSG = 'click to disable panel synchronisation';
diff --git a/doc/prebuilt/html/xeno3prm/navtreeindex1.js 
b/doc/prebuilt/html/xeno3prm/navtreeindex1.js
index de44469..6f73bef 100644
--- a/doc/prebuilt/html/xeno3prm/navtreeindex1.js
+++ b/doc/prebuilt/html/xeno3prm/navtreeindex1.js
@@ -99,12 +99,12 @@ var NAVTREEINDEX1 =
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 "functions_vars_u.html":[3,1,2,18],
 "functions_vars_v.html":[3,1,2,19],
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-"globals_defs.html":[4,1,5,0],
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diff --git a/doc/prebuilt/html/xeno3prm/navtreeindex5.js 
b/doc/prebuilt/html/xeno3prm/navtreeindex5.js
index 27ef2ca..3d05737 100644
--- a/doc/prebuilt/html/xeno3prm/navtreeindex5.js
+++ b/doc/prebuilt/html/xeno3prm/navtreeindex5.js
@@ -21,8 +21,12 @@ var NAVTREEINDEX5 =
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 "group__smokey.html":[2,2],
 "group__trank.html":[2,6],
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+"group__trank.html#ga6c0caadae03541db8a46751d290c0d76":[2,6,5],
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diff --git a/doc/prebuilt/html/xeno3prm/navtreeindex6.js 
b/doc/prebuilt/html/xeno3prm/navtreeindex6.js
index 1d30590..4e0d205 100644
--- a/doc/prebuilt/html/xeno3prm/navtreeindex6.js
+++ b/doc/prebuilt/html/xeno3prm/navtreeindex6.js
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diff --git a/doc/prebuilt/html/xeno3prm/navtreeindex7.js 
b/doc/prebuilt/html/xeno3prm/navtreeindex7.js
index 4eadfd8..8579a9c 100644
--- a/doc/prebuilt/html/xeno3prm/navtreeindex7.js
+++ b/doc/prebuilt/html/xeno3prm/navtreeindex7.js
@@ -1,5 +1,9 @@
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diff --git a/doc/prebuilt/html/xeno3prm/navtreeindex8.js 
b/doc/prebuilt/html/xeno3prm/navtreeindex8.js
index 800f2b5..cfb5f03 100644
--- a/doc/prebuilt/html/xeno3prm/navtreeindex8.js
+++ b/doc/prebuilt/html/xeno3prm/navtreeindex8.js
@@ -1,5 +1,9 @@
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diff --git a/doc/prebuilt/pdf/MIGRATION.pdf b/doc/prebuilt/pdf/MIGRATION.pdf
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diff --git a/doc/prebuilt/pdf/README.APPLICATIONS.pdf 
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diff --git a/doc/prebuilt/pdf/TROUBLESHOOTING.COBALT.pdf 
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