Module: xenomai-3
Branch: master
Commit: 0b0f314a04d245e6128b7f4b1e5e81774c06e00d

Author: Philippe Gerum <>
Date:   Tue Mar 17 15:59:53 2015 +0100

doc/asciidoc: update guides


 doc/asciidoc/MIGRATION.adoc      |    8 ++--
 doc/asciidoc/README.INSTALL.adoc |   85 ++++++++++++++++++++++++++++++++++++--
 2 files changed, 86 insertions(+), 7 deletions(-)

diff --git a/doc/asciidoc/MIGRATION.adoc b/doc/asciidoc/MIGRATION.adoc
index 03470f7..ecb6b48 100644
--- a/doc/asciidoc/MIGRATION.adoc
+++ b/doc/asciidoc/MIGRATION.adoc
@@ -64,7 +64,7 @@ System parameters renamed::
 * xeno_hal.supported_cpus -> xenomai.supported_cpus
 * xeno_hal.clockfreq -> xenomai.clockfreq
-* xeno_hal.disable -> xenomai.disable
+* xeno_hal.disable -> xenomai.state=disabled
 * xeno_hal.timerfreq -> xenomai.timerfreq
 * xeno_hal.cpufreq -> xenomai.cpufreq
 * xeno_nucleus.watchdog_timeout -> xenomai.watchdog_timeout
@@ -75,9 +75,9 @@ System parameters renamed::
 Obsolete parameters dropped::
+* xeno_rtdm.tick_arg
+* rtdm.devname_hashtab_size
+* rtdm.protocol_hashtab_size
diff --git a/doc/asciidoc/README.INSTALL.adoc b/doc/asciidoc/README.INSTALL.adoc
index 60d6b8d..f2e2d08 100644
--- a/doc/asciidoc/README.INSTALL.adoc
+++ b/doc/asciidoc/README.INSTALL.adoc
@@ -125,6 +125,54 @@ CROSS_COMPILE variable on make command line. See sections
 <<cobalt-core-x86,"Building a _Cobalt/x86_ kernel">>,
 for examples.
+_Cobalt_ kernel parameters
+The Cobalt kernel accepts the following set of parameters, which
+should be passed on the kernel command line by the boot loader.
+^|NAME              ^|DESCRIPTION                    ^|DEFAULT
+|xenomai.allowed_group=<gid> | Enable non-root access to Xenomai
+services from user-space.  <gid> is the ID of the Linux user group
+whose members should be allowed such access by the Cobalt core. | None
+|xenomai.sysheap_size=<kbytes> | Set the size of the memory heap used
+internally by the Cobalt core to allocate runtime objects.  This value
+is expressed in kilo-bytes. | 256
+|xenomai.state=<state> | Set the initial state of the Cobalt core at
+boot up, which may be _enabled_, _stopped_ or _disabled_. See the
+documentation about the
+utility for a description of these states. | enabled
+|xenomai.clockfreq=<hz-freq> | Override the real-time clock frequency
+used in measuring time intervals with the given value. The most
+accurate value is normally determined by the Cobalt core automatically
+when initializing. It is strongly recommended *not* to use this option
+unless you really know what you are doing. This value is expressed in
+HZ. | 0 (=calibrated)
+|xenomai.timerfreq=<hz-freq> | Override the real-time timer frequency
+used in programming timer shots with the given value. The most
+accurate value is normally determined by the Cobalt core automatically
+when initializing. It is strongly recommended *not* to use this option
+unless you really know what you are doing. This value is expressed in
+HZ. | 0 (=calibrated)
+|xenomai.smi=<state> | *x86-specific*: Set the state of the SMI
+workaround. The possible values are _disabled_, _detect_ and
+_enabled_. See the discussion about link:dealing-with-x86-SMI[SMIs]
+for a description of these states.| detect
+|xenomai.smi_mask=<source-mask> | *x86-specific*: Set of bits to mask
+in the SMI control register. | 1 (=global disable)
 Examples of building the _Cobalt_ kernel
@@ -297,6 +345,11 @@ Generic requirements (both cores)
 - GCC should have a (sane/working) support for TLS preferably,
 although this is not mandatory if building with `--disable-tls`.
+- If you plan to enable the user-space registry support
+  (i.e. +--enable-registry+), then CONFIG_FUSE_FS must be enabled in
+  the target kernel running the real-time applications. In addition,
+  the FUSE development libraries must be available from the toolchain.
 _Cobalt_-specific requirements
@@ -409,7 +462,8 @@ Generic configuration options (both cores)
        supported by[FUSE], which must be
        available on the target system. Building the Xenomai libraries
        with the registry support requires the FUSE development
-       libraries to be installed on the build system.
+       libraries to available from the toolchain. In addition,
+       CONFIG_FUSE_FS must be enabled in the target kernel.
        When this option is enabled, the system creates a file
@@ -546,8 +600,9 @@ client applications are running over a SMP-capable kernel.
-       Enables support for applications compiled in
-       `_FORTIFY_SOURCE` mode.
+       Enables `_FORTIFY_SOURCE` when building the Xenomai code
+       unless --enable-debug=full is also given on the command line,
+       in which case --enable-fortify is silently ignored.
@@ -598,6 +653,17 @@ _Cobalt_-specific configuration options
                        xscale3 are supported.                |disabled
+_Mercury_-specific configuration options
+^|NAME              ^|DESCRIPTION                    ^|DEFAULT
+|--enable-condvar-workaround | Enable workaround for broken priority
+        inheritance with condition variables in glibc. This option
+       adds some overhead to RTOS API emulators.     |disabled
 footnoteref:[disable,Each option enabled by default can be forcibly
 disabled by passing `--disable-<option>` to the _configure_ script]
@@ -843,6 +909,19 @@ system. Try:
 $ xeno-test --help
+Calibrating the _Cobalt_ core timer
+The accuracy of the Cobalt timing services depends on proper
+calibration of its core timer. Sound factory-default calibration
+values are defined for each platform Xenomai supports, but it is
+recommended to calibrate the core timer specifically for the target
+See the documentation about the
 Building and running Xenomai 3 applications

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