Paul Ianna wrote: > Hi All, > > I have read (at least some of) the Xenomai docs and am a little > unclear on the real distinction between primary and secondary mode. > > I have seen in the native API that I can receive a signal if a task > has "migrated to the Linux domain". > > Does secondary mode mean that I am no longer a real-time task?
As long as your task is in this mode, Linux can do with it again what it wants to. This phase ends once you call a Xenomai service that requires primary mode or you enforce a mode switch (rt_task_set_mode, but for most applications designs not required). > > How do I avoid dropping from primary mode to secondary mode? Avoid executing Linux system services (file I/O, networking, printf, etc.) in critical code paths, avoid sending Linux signal to the task. But if you write a hard real-time application, you are likely doing a careful review of what your time-critical code finally does anyway ;). If not (don't tell it anyone...), the SIGXCPU signal raised on mode switches can guide you finding fishy parts. Jan
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