[Xenomai-git] Philippe Gerum : boilerplate/ancillaries: fix unique name generation in pshared mode
Module: xenomai-3
Branch: stable-3.0.x
Commit: e539ab0b1db5ca56f8d3db39d2ca0bdf009c9b25
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e539ab0b1db5ca56f8d3db39d2ca0bdf009c9b25
Author: Philippe Gerum
Date: Tue Sep 13 09:36:11 2016 +0200
boilerplate/ancillaries: fix unique name generation in pshared mode
---
lib/boilerplate/ancillaries.c |4
1 file changed, 4 insertions(+)
diff --git a/lib/boilerplate/ancillaries.c b/lib/boilerplate/ancillaries.c
index a811a40..0f469a4 100644
--- a/lib/boilerplate/ancillaries.c
+++ b/lib/boilerplate/ancillaries.c
@@ -231,7 +231,11 @@ char *generate_name(char *buf, const char *radix,
buf[len] = '\0';
} else {
tag = atomic_add_fetch(&ngen->serial, 1);
+#ifdef CONFIG_XENO_PSHARED
+ snprintf(buf, len, "%s@%d[%d]", ngen->radix, tag, __node_id);
+#else
snprintf(buf, len, "%s@%d", ngen->radix, tag);
+#endif
}
return buf;
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[Xenomai-git] Philippe Gerum : scripts/xeno-config: do not wrap main() with --auto-init-solib
Module: xenomai-3
Branch: stable-3.0.x
Commit: 91f7a0c72e20e0eb5df56dfc44d410b4cff0c99c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=91f7a0c72e20e0eb5df56dfc44d410b4cff0c99c
Author: Philippe Gerum
Date: Thu Sep 22 10:13:52 2016 +0200
scripts/xeno-config: do not wrap main() with --auto-init-solib
For the auto-init feature to make sense, the main() symbol has to be
defined in the main executable, so there is no need to wrap it when
emitting linker flags for an auto-boostrapped shared library.
---
scripts/xeno-config-cobalt.in | 10 +++---
scripts/xeno-config-mercury.in | 10 +++---
2 files changed, 14 insertions(+), 6 deletions(-)
diff --git a/scripts/xeno-config-cobalt.in b/scripts/xeno-config-cobalt.in
index 38f8208..802b778 100644
--- a/scripts/xeno-config-cobalt.in
+++ b/scripts/xeno-config-cobalt.in
@@ -262,10 +262,14 @@ if test x$do_ldflags = xy; then
done
wrap_main=
if test x$do_autoinit = xy; then
- test x$do_autoinit_solib = xy && codegen=-pic
- wrap_main="${XENO_LIBRARY_DIR}/xenomai/bootstrap${codegen}.o
-Wl,--wrap=main -Wl,--dynamic-list=${XENO_LIBRARY_DIR}/dynlist.ld"
+ if test x$do_autoinit_solib = xy; then
+ codegen=-pic
+ else
+ wrap_main="-Wl,--wrap=main
-Wl,--dynamic-list=${XENO_LIBRARY_DIR}/dynlist.ld"
+ fi
+ bootstrap="${XENO_LIBRARY_DIR}/xenomai/bootstrap${codegen}.o"
fi
-echo "$ldflags $copperplate $wrap_main $XENO_POSIX_LDFLAGS"
+echo "$ldflags $copperplate $bootstrap $wrap_main $XENO_POSIX_LDFLAGS"
fi
exit 0
diff --git a/scripts/xeno-config-mercury.in b/scripts/xeno-config-mercury.in
index 5dab4ba..a0aa75b 100644
--- a/scripts/xeno-config-mercury.in
+++ b/scripts/xeno-config-mercury.in
@@ -206,10 +206,14 @@ if test x$do_ldflags = xy; then
done
wrap_main=
if test x$do_autoinit = xy; then
- test x$do_autoinit_solib = xy && codegen=-pic
- wrap_main="${XENO_LIBRARY_DIR}/xenomai/bootstrap${codegen}.o
-Wl,--wrap=main -Wl,--dynamic-list=${XENO_LIBRARY_DIR}/dynlist.ld"
+ if test x$do_autoinit_solib = xy; then
+ codegen=-pic
+ else
+ wrap_main="-Wl,--wrap=main
-Wl,--dynamic-list=${XENO_LIBRARY_DIR}/dynlist.ld"
+ fi
+ bootstrap="${XENO_LIBRARY_DIR}/xenomai/bootstrap${codegen}.o"
fi
-echo "$ldflags $copperplate $wrap_main $XENO_BASE_LDFLAGS"
+echo "$ldflags $copperplate $bootstrap $wrap_main $XENO_BASE_LDFLAGS"
fi
exit 0
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[Xenomai-git] Philippe Gerum : boilerplate/bootstrap: do not override main() in PIC mode
Module: xenomai-3
Branch: stable-3.0.x
Commit: 82b63250083ea00f868f615a50d25256f3e219be
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=82b63250083ea00f868f615a50d25256f3e219be
Author: Philippe Gerum
Date: Wed Sep 21 15:38:07 2016 +0200
boilerplate/bootstrap: do not override main() in PIC mode
The PIC version of the bootstrap module is intended to be part of
shared libraries which want to enable Xenomai's auto-init feature when
loaded (i.e. dlopened).
Therefore, overriding the main() entry point is meaningless in such
context, assuming the latter should be defined in the main executable
instead.
---
lib/boilerplate/init/bootstrap.c |4
1 file changed, 4 insertions(+)
diff --git a/lib/boilerplate/init/bootstrap.c b/lib/boilerplate/init/bootstrap.c
index 119b405..b0d4a12 100644
--- a/lib/boilerplate/init/bootstrap.c
+++ b/lib/boilerplate/init/bootstrap.c
@@ -28,6 +28,8 @@ static char *const *early_argv;
const int xenomai_auto_bootstrap = 1;
+#ifndef __PIC__
+
int __real_main(int argc, char *const argv[]);
int __wrap_main(int argc, char *const argv[])
@@ -43,6 +45,8 @@ int xenomai_main(int argc, char *const argv[])
return __real_main(argc, argv);
}
+#endif /* !__PIC__ */
+
__bootstrap_ctor static void xenomai_bootstrap(void)
{
char *arglist, *argend, *p, **v, *const *argv;
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: Makefile: fix arch path
Module: xenomai-3 Branch: next Commit: dec698b17d9b68fe740dc3b06b96441d8b5ec0e2 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=dec698b17d9b68fe740dc3b06b96441d8b5ec0e2 Author: Dmitriy Cherkasov Date: Thu May 7 13:54:32 2015 -0700 cobalt/arm64: Makefile: fix arch path --- kernel/cobalt/arch/arm64/Makefile |2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kernel/cobalt/arch/arm64/Makefile b/kernel/cobalt/arch/arm64/Makefile index f2e4e20..a135f99 100644 --- a/kernel/cobalt/arch/arm64/Makefile +++ b/kernel/cobalt/arch/arm64/Makefile @@ -2,4 +2,4 @@ obj-$(CONFIG_XENOMAI) += xenomai.o xenomai-y := machine.o mayday.o thread.o switch.o syscall.o -ccflags-y := -Iarch/arm/xenomai/include -Iinclude/xenomai +ccflags-y := -Iarch/arm64/xenomai/include -Iinclude/xenomai ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : scripts/xeno-config: do not wrap main() with --auto-init-solib
Module: xenomai-3
Branch: next
Commit: 91f7a0c72e20e0eb5df56dfc44d410b4cff0c99c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=91f7a0c72e20e0eb5df56dfc44d410b4cff0c99c
Author: Philippe Gerum
Date: Thu Sep 22 10:13:52 2016 +0200
scripts/xeno-config: do not wrap main() with --auto-init-solib
For the auto-init feature to make sense, the main() symbol has to be
defined in the main executable, so there is no need to wrap it when
emitting linker flags for an auto-boostrapped shared library.
---
scripts/xeno-config-cobalt.in | 10 +++---
scripts/xeno-config-mercury.in | 10 +++---
2 files changed, 14 insertions(+), 6 deletions(-)
diff --git a/scripts/xeno-config-cobalt.in b/scripts/xeno-config-cobalt.in
index 38f8208..802b778 100644
--- a/scripts/xeno-config-cobalt.in
+++ b/scripts/xeno-config-cobalt.in
@@ -262,10 +262,14 @@ if test x$do_ldflags = xy; then
done
wrap_main=
if test x$do_autoinit = xy; then
- test x$do_autoinit_solib = xy && codegen=-pic
- wrap_main="${XENO_LIBRARY_DIR}/xenomai/bootstrap${codegen}.o
-Wl,--wrap=main -Wl,--dynamic-list=${XENO_LIBRARY_DIR}/dynlist.ld"
+ if test x$do_autoinit_solib = xy; then
+ codegen=-pic
+ else
+ wrap_main="-Wl,--wrap=main
-Wl,--dynamic-list=${XENO_LIBRARY_DIR}/dynlist.ld"
+ fi
+ bootstrap="${XENO_LIBRARY_DIR}/xenomai/bootstrap${codegen}.o"
fi
-echo "$ldflags $copperplate $wrap_main $XENO_POSIX_LDFLAGS"
+echo "$ldflags $copperplate $bootstrap $wrap_main $XENO_POSIX_LDFLAGS"
fi
exit 0
diff --git a/scripts/xeno-config-mercury.in b/scripts/xeno-config-mercury.in
index 5dab4ba..a0aa75b 100644
--- a/scripts/xeno-config-mercury.in
+++ b/scripts/xeno-config-mercury.in
@@ -206,10 +206,14 @@ if test x$do_ldflags = xy; then
done
wrap_main=
if test x$do_autoinit = xy; then
- test x$do_autoinit_solib = xy && codegen=-pic
- wrap_main="${XENO_LIBRARY_DIR}/xenomai/bootstrap${codegen}.o
-Wl,--wrap=main -Wl,--dynamic-list=${XENO_LIBRARY_DIR}/dynlist.ld"
+ if test x$do_autoinit_solib = xy; then
+ codegen=-pic
+ else
+ wrap_main="-Wl,--wrap=main
-Wl,--dynamic-list=${XENO_LIBRARY_DIR}/dynlist.ld"
+ fi
+ bootstrap="${XENO_LIBRARY_DIR}/xenomai/bootstrap${codegen}.o"
fi
-echo "$ldflags $copperplate $wrap_main $XENO_BASE_LDFLAGS"
+echo "$ldflags $copperplate $bootstrap $wrap_main $XENO_BASE_LDFLAGS"
fi
exit 0
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: features.h: disable XNARCH_HAVE_LLMULSHFT, XNARCH_HAVE_NODIV_LLIMD for armv8/aarch64, as arm64 does not have these
Module: xenomai-3
Branch: next
Commit: 9ce78b596c884b8e349678386affaed511bdeaab
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9ce78b596c884b8e349678386affaed511bdeaab
Author: Dmitriy Cherkasov
Date: Thu May 7 16:40:07 2015 -0700
cobalt/arm64: features.h: disable XNARCH_HAVE_LLMULSHFT,
XNARCH_HAVE_NODIV_LLIMD for armv8/aarch64, as arm64 does not have these
---
kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |2 ++
1 file changed, 2 insertions(+)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
index fe50182..85faa59 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
@@ -28,8 +28,10 @@
#define XENOMAI_FEAT_MAN (__xn_feat_generic_man_mask)
+#ifndef __aarch64__
#define XNARCH_HAVE_LLMULSHFT1
#define XNARCH_HAVE_NODIV_LLIMD 1
+#endif
struct cobalt_featinfo_archdep { /* no arch-specific feature */ };
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: xenomai/syscall.h: update syscall register
Module: xenomai-3 Branch: next Commit: c0985257750adc53753b42b52585630335357169 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c0985257750adc53753b42b52585630335357169 Author: Dmitriy Cherkasov Date: Fri May 8 15:54:18 2015 -0700 cobalt/arm64: xenomai/syscall.h: update syscall register --- kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h |6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h index 2fdd890..7bf95fb 100644 --- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h +++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h @@ -40,10 +40,10 @@ #define __xn_reg_sys(__regs) ((__regs)->orig_x0) /* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */ #ifdef CONFIG_OABI_COMPAT -#define __xn_syscall_p(__regs) (((__regs)->regs[7] == __NR_OABI_SYSCALL_BASE + XENO_ARM_SYSCALL) || \ -((__regs)->regs[7] == __ARM_NR_ipipe)) +#define __xn_syscall_p(__regs) (((__regs)->regs[8] == __NR_OABI_SYSCALL_BASE + XENO_ARM_SYSCALL) || \ +((__regs)->regs[8] == __ARM_NR_ipipe)) #else /* !CONFIG_OABI_COMPAT */ -#define __xn_syscall_p(__regs) ((__regs)->regs[7] == __ARM_NR_ipipe) +#define __xn_syscall_p(__regs) ((__regs)->regs[8] == __ARM_NR_ipipe) #endif /* !CONFIG_OABI_COMPAT */ #define __xn_syscall(__regs) (__xn_reg_sys(__regs) & ~__COBALT_SYSCALL_BIT) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: machine.h: Add 64-bit ffnz implementation. This fixes crash when running xddp-echo.
Module: xenomai-3
Branch: next
Commit: 6d55a7ae02ca390c92f98e75b9110aa01e3f345d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6d55a7ae02ca390c92f98e75b9110aa01e3f345d
Author: Dmitriy Cherkasov
Date: Mon Jun 15 17:10:37 2015 -0700
cobalt/arm64: machine.h: Add 64-bit ffnz implementation. This fixes crash when
running xddp-echo.
---
kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h |4 +---
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index e078564..417a7b0 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -43,9 +43,7 @@
static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
{
- int __r;
- __asm__("clz\t%0, %1" : "=r" (__r) : "r"(ul & (-ul)) : "cc");
- return 31 - __r;
+ return __builtin_ffsl(ul) - 1;
}
#include
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[Xenomai-git] Philippe Gerum : boilerplate/bootstrap: do not override main() in PIC mode
Module: xenomai-3
Branch: next
Commit: 82b63250083ea00f868f615a50d25256f3e219be
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=82b63250083ea00f868f615a50d25256f3e219be
Author: Philippe Gerum
Date: Wed Sep 21 15:38:07 2016 +0200
boilerplate/bootstrap: do not override main() in PIC mode
The PIC version of the bootstrap module is intended to be part of
shared libraries which want to enable Xenomai's auto-init feature when
loaded (i.e. dlopened).
Therefore, overriding the main() entry point is meaningless in such
context, assuming the latter should be defined in the main executable
instead.
---
lib/boilerplate/init/bootstrap.c |4
1 file changed, 4 insertions(+)
diff --git a/lib/boilerplate/init/bootstrap.c b/lib/boilerplate/init/bootstrap.c
index 119b405..b0d4a12 100644
--- a/lib/boilerplate/init/bootstrap.c
+++ b/lib/boilerplate/init/bootstrap.c
@@ -28,6 +28,8 @@ static char *const *early_argv;
const int xenomai_auto_bootstrap = 1;
+#ifndef __PIC__
+
int __real_main(int argc, char *const argv[]);
int __wrap_main(int argc, char *const argv[])
@@ -43,6 +45,8 @@ int xenomai_main(int argc, char *const argv[])
return __real_main(argc, argv);
}
+#endif /* !__PIC__ */
+
__bootstrap_ctor static void xenomai_bootstrap(void)
{
char *arglist, *argend, *p, **v, *const *argv;
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[Xenomai-git] Don Mahurin : cobalt/arm64: fix build for mismatched printf type (%lx, u64) on arm64.
Module: xenomai-3
Branch: next
Commit: cf91a494dfe9c0c14dbb480023ebd26622d1cc83
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=cf91a494dfe9c0c14dbb480023ebd26622d1cc83
Author: Don Mahurin
Date: Wed Sep 2 13:48:36 2015 -0700
cobalt/arm64: fix build for mismatched printf type (%lx,u64) on arm64.
pc and orig_r0 are u64 on arm64 and 'unsigned long' or arm and other platforms.
printf referencing these are using %lx. On arm64, long and long long (and u64)
are 64 bits. Rather than changing printf format, chnage arm64 macros to cast to
unsigned long.
---
kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h |2 +-
kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h |2 +-
kernel/cobalt/posix/syscall.c |2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 7bf95fb..77c1716 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -45,7 +45,7 @@
#else /* !CONFIG_OABI_COMPAT */
#define __xn_syscall_p(__regs) ((__regs)->regs[8] == __ARM_NR_ipipe)
#endif /* !CONFIG_OABI_COMPAT */
-#define __xn_syscall(__regs) (__xn_reg_sys(__regs) & ~__COBALT_SYSCALL_BIT)
+#define __xn_syscall(__regs) ((unsigned long)(__xn_reg_sys(__regs) &
~__COBALT_SYSCALL_BIT))
#define __xn_reg_rval(__regs) ((__regs)->regs[0])
#define __xn_reg_arg1(__regs) ((__regs)->regs[1])
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 958f340..a8d7ed4 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -52,7 +52,7 @@ struct xnarchtcb {
#define xnarch_fault_regs(d) ((d)->regs)
#define xnarch_fault_trap(d) ((d)->exception)
#define xnarch_fault_code(d) (0)
-#define xnarch_fault_pc(d) ((d)->regs->pc - 4) /* XXX ? */
+#define xnarch_fault_pc(d) ((unsigned long)((d)->regs->pc - 4)) /* XXX ? */
#define xnarch_fault_pf_p(d) ((d)->exception == IPIPE_TRAP_ACCESS)
#define xnarch_fault_bp_p(d) ((current->ptrace & PT_PTRACED) && \
diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index 1599e7c..857f4f7 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -666,7 +666,7 @@ linux_syscall:
return KEVENT_PROPAGATE;
bad_syscall:
- printk(XENO_WARNING "bad syscall <%#llx>\n", __xn_syscall(regs));
+ printk(XENO_WARNING "bad syscall <%#lx>\n", __xn_syscall(regs));
__xn_error_return(regs, -ENOSYS);
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[Xenomai-git] Philippe Gerum : testsuite/smokey: add basic FPU stress test
Module: xenomai-3
Branch: next
Commit: 06ee1f4ecc3176634c087bbc9d504be7e903f0dc
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=06ee1f4ecc3176634c087bbc9d504be7e903f0dc
Author: Philippe Gerum
Date: Sat Oct 24 15:52:48 2015 +0200
testsuite/smokey: add basic FPU stress test
---
configure.ac |6 +-
testsuite/smokey/Makefile.am |1 +
testsuite/smokey/fpu-stress/Makefile.am |8 +++
testsuite/smokey/fpu-stress/fpu-stress.c | 95 ++
4 files changed, 105 insertions(+), 5 deletions(-)
diff --git a/configure.ac b/configure.ac
index ac9b252..9e9bc90 100644
--- a/configure.ac
+++ b/configure.ac
@@ -904,11 +904,7 @@ AC_CONFIG_FILES([ \
testsuite/smokey/timerfd/Makefile \
testsuite/smokey/tsc/Makefile \
testsuite/smokey/leaks/Makefile \
- testsuite/smokey/net_udp/Makefile \
- testsuite/smokey/net_packet_dgram/Makefile \
- testsuite/smokey/net_packet_raw/Makefile \
- testsuite/smokey/net_common/Makefile \
- testsuite/smokey/cpu-affinity/Makefile \
+ testsuite/smokey/fpu-stress/Makefile \
testsuite/clocktest/Makefile \
testsuite/xeno-test/Makefile \
utils/Makefile \
diff --git a/testsuite/smokey/Makefile.am b/testsuite/smokey/Makefile.am
index 5ade58b..51292f1 100644
--- a/testsuite/smokey/Makefile.am
+++ b/testsuite/smokey/Makefile.am
@@ -9,6 +9,7 @@ COBALT_SUBDIRS =\
arith \
bufp\
cpu-affinity\
+ fpu-stress \
iddp\
leaks \
net_packet_dgram\
diff --git a/testsuite/smokey/fpu-stress/Makefile.am
b/testsuite/smokey/fpu-stress/Makefile.am
new file mode 100644
index 000..c90d0dd
--- /dev/null
+++ b/testsuite/smokey/fpu-stress/Makefile.am
@@ -0,0 +1,8 @@
+
+noinst_LIBRARIES = libfpu-stress.a
+
+libfpu_stress_a_SOURCES = fpu-stress.c
+
+libfpu_stress_a_CPPFLAGS = \
+ @XENO_USER_CFLAGS@ \
+ -I$(top_srcdir)/include
diff --git a/testsuite/smokey/fpu-stress/fpu-stress.c
b/testsuite/smokey/fpu-stress/fpu-stress.c
new file mode 100644
index 000..59383c9
--- /dev/null
+++ b/testsuite/smokey/fpu-stress/fpu-stress.c
@@ -0,0 +1,95 @@
+#include
+#include
+#include
+#include
+#include
+
+smokey_test_plugin(fpu_stress,
+ SMOKEY_ARGLIST(
+ SMOKEY_INT(duration),
+ ),
+ "Check FPU context sanity during real-time stress\n"
+ "\tduration=\thow long to run the stress loop
(0=indefinitely)"
+);
+
+static int fp_features;
+
+static void *stress_loop(void *arg)
+{
+ struct timespec rqt = {
+ .tv_sec = 0,
+ .tv_nsec = CONFIG_XENO_DEFAULT_PERIOD
+ };
+
+ for (;;) {
+ fp_regs_set(fp_features, 0xf1f5f1f5);
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &rqt, NULL);
+ }
+
+ return NULL;
+}
+
+static int report_error(const char *fmt, ...)
+{
+ va_list ap;
+
+ va_start(ap, fmt);
+ smokey_vatrace(fmt, ap);
+ va_end(ap);
+
+ return 0;
+}
+
+static int run_fpu_stress(struct smokey_test *t,
+ int argc, char *const argv[])
+{
+ unsigned sleep_ms, n, rounds, duration = 3;
+ struct sched_param param;
+ pthread_attr_t attr;
+ struct timespec rqt;
+ pthread_t tid;
+ int ret;
+
+ fp_features = cobalt_fp_detect();
+ if (fp_features == 0)
+ return -ENOSYS;
+
+ smokey_parse_args(t, argc, argv);
+
+ if (SMOKEY_ARG_ISSET(fpu_stress, duration))
+ duration = SMOKEY_ARG_INT(fpu_stress, duration);
+
+ rqt.tv_sec = 0;
+ rqt.tv_nsec = CONFIG_XENO_DEFAULT_PERIOD;
+ sleep_ms = 100UL / rqt.tv_nsec; /* wake up each ms */
+ rounds = duration * 1000UL / sleep_ms;
+
+ pthread_attr_init(&attr);
+ pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
+ pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+ pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
+ param.sched_priority = 10;
+ pthread_attr_setschedparam(&attr, ¶m);
+ ret = pthread_create(&tid, &attr, stress_loop, NULL);
+ if (ret)
+ return -ret;
+
+ if (rounds)
+ smokey_trace("running for %d seconds", duration);
+ else
+ smokey_trace("running indefinitely...");
+
+ for (n = 0; rounds == 0 || n < rounds; n++) {
+ fp_regs_set(fp_features, n);
+ __STD(clock_nanosleep(CLOCK_MONOTONIC, 0, &rqt, NULL));
+ if (fp_regs_check(fp_features, n, report_error) != n) {
+ ret = -EINVAL;
+ break;
+ }
+ }
+
+ pthread_cancel(tid);
+ pthread_join(tid, NULL);
+
+ return ret;
+}
[Xenomai-git] Philippe Gerum : cobalt/thread: track thread_info unconditionally
Module: xenomai-3
Branch: next
Commit: efcd1f41aadd3c3371eefd0d6a6000237c40e944
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=efcd1f41aadd3c3371eefd0d6a6000237c40e944
Author: Philippe Gerum
Date: Sat Nov 14 14:47:44 2015 +0100
cobalt/thread: track thread_info unconditionally
We almost always want to track the thread_info structure of the host
task in the core tcb, and doing so is cheap, so there is no point in
building this support conditionally.
---
kernel/cobalt/arch/arm/Kconfig |3 ---
kernel/cobalt/arch/arm64/Kconfig |3 ---
kernel/cobalt/arch/powerpc/Kconfig |4
kernel/cobalt/include/asm-generic/xenomai/thread.h |2 --
kernel/cobalt/sched.c |2 --
kernel/cobalt/thread.c |4
6 files changed, 18 deletions(-)
diff --git a/kernel/cobalt/arch/arm/Kconfig b/kernel/cobalt/arch/arm/Kconfig
index dc6485d..2043d70 100644
--- a/kernel/cobalt/arch/arm/Kconfig
+++ b/kernel/cobalt/arch/arm/Kconfig
@@ -26,9 +26,6 @@ config IPIPE_WANT_PREEMPTIBLE_SWITCH
config IPIPE_WANT_ACTIVE_MM
def_bool y
-config XENO_ARCH_WANT_TIP
- def_bool y
-
config XENO_ARCH_FPU
def_bool VFP
diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
index 27b5026..572de3e 100644
--- a/kernel/cobalt/arch/arm64/Kconfig
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -4,9 +4,6 @@ source "drivers/xenomai/Kconfig"
config XENO_ARCH_UNLOCKED_SWITCH
def_bool IPIPE_WANT_PREEMPTIBLE_SWITCH
-config XENO_ARCH_WANT_TIP
- def_bool y
-
config XENO_ARCH_FPU
def_bool y
diff --git a/kernel/cobalt/arch/powerpc/Kconfig
b/kernel/cobalt/arch/powerpc/Kconfig
index 3e950f5..4d5e6db 100644
--- a/kernel/cobalt/arch/powerpc/Kconfig
+++ b/kernel/cobalt/arch/powerpc/Kconfig
@@ -10,9 +10,6 @@ config IPIPE_WANT_PREEMPTIBLE_SWITCH
default y if XENO_ARCH_UNLOCKED_SWITCH
default n if !XENO_ARCH_UNLOCKED_SWITCH
-config XENO_ARCH_WANT_TIP
- bool
-
config XENO_ARCH_FPU
def_bool PPC_FPU
@@ -24,7 +21,6 @@ menu "Machine/platform-specific options"
config XENO_ARCH_UNLOCKED_SWITCH
bool "Unlocked context switch"
depends on IPIPE_HAVE_PREEMPTIBLE_SWITCH
- select XENO_ARCH_WANT_TIP
default y
help
diff --git a/kernel/cobalt/include/asm-generic/xenomai/thread.h
b/kernel/cobalt/include/asm-generic/xenomai/thread.h
index 2ff19a4..cd0c6e9 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/thread.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/thread.h
@@ -33,9 +33,7 @@ struct xntcb {
struct mm_struct *mm;
struct mm_struct *active_mm;
struct thread_struct ts;
-#ifdef CONFIG_XENO_ARCH_WANT_TIP
struct thread_info *tip;
-#endif
#ifdef CONFIG_XENO_ARCH_FPU
struct task_struct *user_fpu_owner;
#endif
diff --git a/kernel/cobalt/sched.c b/kernel/cobalt/sched.c
index 7cb91a5..29d8a68 100644
--- a/kernel/cobalt/sched.c
+++ b/kernel/cobalt/sched.c
@@ -806,9 +806,7 @@ static inline void leave_root(struct xnthread *root)
rootcb->core.host_task = p;
rootcb->core.tsp = &p->thread;
rootcb->core.mm = rootcb->core.active_mm = ipipe_get_active_mm();
-#ifdef CONFIG_XENO_ARCH_WANT_TIP
rootcb->core.tip = task_thread_info(p);
-#endif
xnarch_leave_root(root);
}
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index fb856a4..f134890 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -262,9 +262,7 @@ void xnthread_init_shadow_tcb(struct xnthread *thread)
tcb->core.tsp = &p->thread;
tcb->core.mm = p->mm;
tcb->core.active_mm = p->mm;
-#ifdef CONFIG_XENO_ARCH_WANT_TIP
tcb->core.tip = task_thread_info(p);
-#endif
#ifdef CONFIG_XENO_ARCH_FPU
tcb->core.user_fpu_owner = p;
#endif /* CONFIG_XENO_ARCH_FPU */
@@ -280,9 +278,7 @@ void xnthread_init_root_tcb(struct xnthread *thread)
tcb->core.host_task = p;
tcb->core.tsp = &tcb->core.ts;
tcb->core.mm = p->mm;
-#ifdef CONFIG_XENO_ARCH_WANT_TIP
tcb->core.tip = NULL;
-#endif
xnarch_init_root_tcb(thread);
}
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[Xenomai-git] Philippe Gerum : cobalt/syscalls: allow for handing over mode selection to syscall handlers
Module: xenomai-3 Branch: next Commit: dcd288fb92031589ac8faebd10cd44cc393bded6 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=dcd288fb92031589ac8faebd10cd44cc393bded6 Author: Philippe Gerum Date: Thu Jul 7 17:05:16 2016 +0200 cobalt/syscalls: allow for handing over mode selection to syscall handlers Specific system calls may benefit from dealing with the caller's runtime mode by themselves, depending on internal information which the generic syscall dispatcher does not have access to. To this end, a new syscall mode called "handover" is introduced. Syscalls bearing this mode bit are always entered from the current calling domain. The syscall handler may return -ENOSYS to trigger a switch to the converse domain until all domains have been visited once, at which point the syscall fails with -ENOSYS automatically. --- kernel/cobalt/posix/syscall.c |1 - 1 file changed, 1 deletion(-) diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c index b9efa05..6282cc4 100644 --- a/kernel/cobalt/posix/syscall.c +++ b/kernel/cobalt/posix/syscall.c @@ -737,7 +737,6 @@ restart: * domain. This is a slow path, so proceed with any * pending schedparam update on the fly. */ - switched = 0; if (thread) xnthread_propagate_schedparam(thread); } ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : testsuite/smokey: mutex: simplify, introduce PP tests
Module: xenomai-3
Branch: next
Commit: 83c22ba0abbdd807c4c14cc9bd1209eeaa5c7741
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=83c22ba0abbdd807c4c14cc9bd1209eeaa5c7741
Author: Philippe Gerum
Date: Wed Feb 17 09:21:27 2016 +0100
testsuite/smokey: mutex: simplify, introduce PP tests
At this chance, the lock stealing test is also fixed.
---
testsuite/smokey/posix-mutex/posix-mutex.c | 1357 ++--
1 file changed, 670 insertions(+), 687 deletions(-)
diff --git a/testsuite/smokey/posix-mutex/posix-mutex.c
b/testsuite/smokey/posix-mutex/posix-mutex.c
index ac71b31..ae82fc1 100644
--- a/testsuite/smokey/posix-mutex/posix-mutex.c
+++ b/testsuite/smokey/posix-mutex/posix-mutex.c
@@ -4,6 +4,7 @@
* Copyright (C) Gilles Chanteperdrix ,
* Marion Deveaud ,
* Jan Kiszka
+ * Philippe Gerum
*
* Released under the terms of GPLv2.
*/
@@ -17,8 +18,6 @@
#include
#include
#include
-#include
-#include "lib/cobalt/current.h"
#include
smokey_test_plugin(posix_mutex,
@@ -26,886 +25,870 @@ smokey_test_plugin(posix_mutex,
"Check POSIX mutex services"
);
-#define MUTEX_CREATE 1
-#define MUTEX_LOCK 2
-#define MUTEX_TRYLOCK 3
-#define MUTEX_TIMED_LOCK 4
-#define MUTEX_UNLOCK 5
-#define MUTEX_DESTROY 6
-#define COND_CREATE7
-#define COND_SIGNAL8
-#define COND_WAIT 9
-#define COND_DESTROY 10
-#define THREAD_DETACH 11
-#define THREAD_CREATE 12
-#define THREAD_JOIN13
-#define THREAD_RENICE 14
-
-#define NS_PER_MS 100
-
static const char *reason_str[] = {
- [SIGDEBUG_UNDEFINED] = "undefined",
+ [SIGDEBUG_UNDEFINED] = "received SIGDEBUG for unknown reason",
[SIGDEBUG_MIGRATE_SIGNAL] = "received signal",
[SIGDEBUG_MIGRATE_SYSCALL] = "invoked syscall",
[SIGDEBUG_MIGRATE_FAULT] = "triggered fault",
[SIGDEBUG_MIGRATE_PRIOINV] = "affected by priority inversion",
- [SIGDEBUG_NOMLOCK] = "missing mlockall",
- [SIGDEBUG_WATCHDOG] = "runaway thread",
+ [SIGDEBUG_NOMLOCK] = "process memory not locked",
+ [SIGDEBUG_WATCHDOG] = "watchdog triggered (period too short?)",
+ [SIGDEBUG_LOCK_BREAK] = "scheduler lock break",
};
static void sigdebug(int sig, siginfo_t *si, void *context)
{
+ const char fmt[] = "%s, this is unexpected.\n"
+ "(enabling CONFIG_XENO_OPT_DEBUG_TRACE_RELAX may help)\n";
unsigned int reason = sigdebug_reason(si);
+ int n __attribute__ ((unused));
+ static char buffer[256];
- smokey_trace("\nSIGDEBUG received, reason %d: %s\n", reason,
-reason <= SIGDEBUG_WATCHDOG ? reason_str[reason] :
"");
-}
+ if (reason > SIGDEBUG_WATCHDOG)
+ reason = SIGDEBUG_UNDEFINED;
-static inline unsigned long long timer_get_tsc(void)
-{
- return clockobj_get_tsc();
+ n = snprintf(buffer, sizeof(buffer), fmt, reason_str[reason]);
+ n = write(STDERR_FILENO, buffer, n);
}
-static inline unsigned long long timer_tsc2ns(unsigned long long tsc)
-{
- return clockobj_tsc_to_ns(tsc);
-}
+#define THREAD_PRIO_WEAK 0
+#define THREAD_PRIO_LOW1
+#define THREAD_PRIO_MEDIUM 2
+#define THREAD_PRIO_HIGH 3
+#define THREAD_PRIO_VERY_HIGH 4
-static void add_timespec(struct timespec *ts, unsigned long long value)
-{
- ts->tv_sec += value / 10;
- ts->tv_nsec += value % 10;
- if (ts->tv_nsec > 10) {
- ts->tv_sec++;
- ts->tv_nsec -= 10;
- }
-}
+#define MAX_100_MS 1ULL
+
+struct locker_context {
+ pthread_mutex_t *mutex;
+ struct smokey_barrier *barrier;
+ int lock_acquired;
+};
-static void ms_sleep(int time)
+static void sleep_ms(unsigned int ms) /* < 1000 */
{
struct timespec ts;
-
+
ts.tv_sec = 0;
- ts.tv_nsec = time*NS_PER_MS;
-
- nanosleep(&ts, NULL);
+ ts.tv_nsec = ms * 100;
+ clock_nanosleep(CLOCK_MONOTONIC, 0, &ts, NULL);
}
-static void check_current_prio(int expected_prio)
+static int get_effective_prio(void)
{
struct cobalt_threadstat stat;
int ret;
ret = cobalt_thread_stat(0, &stat);
- if (ret) {
- fprintf(stderr,
- "FAILURE: cobalt_threadstat (%s)\n", strerror(-ret));
- exit(EXIT_FAILURE);
- }
+ if (ret)
+ return ret;
- if (stat.cprio != expected_prio) {
- fprintf(stderr,
- "FAILURE: current prio (%d) != expected prio (%d)\n",
- stat.cprio, expected_prio);
- exit(EXIT_FAILURE);
- }
+ return stat.cprio;
}
-static void __check_current_mode(const char *file, int line,
-
[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet testsuite
Module: xenomai-3 Branch: next Commit: 2221fc2f63a8f7a16900ac84308b590b0c44354c URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2221fc2f63a8f7a16900ac84308b590b0c44354c Author: Gilles Chanteperdrix Date: Sun Oct 11 16:05:18 2015 +0200 testsuite/smokey: add RTnet testsuite Starting with UDP and raw sockets. Measuring round trip time and checking for lost packets. --- configure.ac |3 +++ 1 file changed, 3 insertions(+) diff --git a/configure.ac b/configure.ac index 9e9bc90..dfad8e7 100644 --- a/configure.ac +++ b/configure.ac @@ -905,6 +905,9 @@ AC_CONFIG_FILES([ \ testsuite/smokey/tsc/Makefile \ testsuite/smokey/leaks/Makefile \ testsuite/smokey/fpu-stress/Makefile \ + testsuite/smokey/net_udp/Makefile \ + testsuite/smokey/net_packet_dgram/Makefile \ + testsuite/smokey/net_common/Makefile \ testsuite/clocktest/Makefile \ testsuite/xeno-test/Makefile \ utils/Makefile \ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : net/drivers/e1000: work around UMR issue
Module: xenomai-3
Branch: next
Commit: 4026fe615e3034fb2573ec81714a70ac8207
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=4026fe615e3034fb2573ec81714a70ac8207
Author: Philippe Gerum
Date: Sun Aug 7 11:29:06 2016 +0200
net/drivers/e1000: work around UMR issue
---
kernel/drivers/net/drivers/e1000/e1000_hw.c |2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/kernel/drivers/net/drivers/e1000/e1000_hw.c
b/kernel/drivers/net/drivers/e1000/e1000_hw.c
index 311d48d..d974653 100644
--- a/kernel/drivers/net/drivers/e1000/e1000_hw.c
+++ b/kernel/drivers/net/drivers/e1000/e1000_hw.c
@@ -8804,7 +8804,7 @@ e1000_verify_write_ich8_byte(struct e1000_hw *hw,
uint32_t index, uint8_t byte)
{
int32_t error = E1000_SUCCESS;
int32_t program_retries;
-uint8_t temp_byte;
+uint8_t temp_byte = 0;
e1000_write_ich8_byte(hw, index, byte);
usec_delay(100);
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[Xenomai-git] Philippe Gerum : cobalt/powerpc: track current mm unconditionally
Module: xenomai-3 Branch: next Commit: 542b0fc9acc2f9e47da26cc6bc0b032c021561ba URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=542b0fc9acc2f9e47da26cc6bc0b032c021561ba Author: Philippe Gerum Date: Sat Nov 14 15:21:02 2015 +0100 cobalt/powerpc: track current mm unconditionally All pipelines Cobalt can work with (i.e. 3.10+) for the powerpc architecture do provide the mm tracking feature unconditionally, so there is no point in keeping any build switch for it. --- kernel/cobalt/arch/powerpc/Kconfig |4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/kernel/cobalt/arch/powerpc/Kconfig b/kernel/cobalt/arch/powerpc/Kconfig index 4d5e6db..40eae0b 100644 --- a/kernel/cobalt/arch/powerpc/Kconfig +++ b/kernel/cobalt/arch/powerpc/Kconfig @@ -1,12 +1,12 @@ source "kernel/xenomai/Kconfig" source "drivers/xenomai/Kconfig" -config IPIPE_WANT_ACTIVE_MM +config XENO_ARCH_MATH_EMU bool + default y if MATH_EMU || MATH_EMULATION config IPIPE_WANT_PREEMPTIBLE_SWITCH bool - select IPIPE_WANT_ACTIVE_MM default y if XENO_ARCH_UNLOCKED_SWITCH default n if !XENO_ARCH_UNLOCKED_SWITCH ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/powerpc: drop obsolete config knob
Module: xenomai-3 Branch: next Commit: db6d87b04d5c13ea68c4bfa96c6ffa0a68f14885 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=db6d87b04d5c13ea68c4bfa96c6ffa0a68f14885 Author: Philippe Gerum Date: Sat Nov 14 18:14:53 2015 +0100 cobalt/powerpc: drop obsolete config knob As of fbe1164, CONFIG_XENO_ARCH_UNLOCKED_SWITCH is not tested anymore in the code base. --- kernel/cobalt/arch/powerpc/Kconfig |3 --- 1 file changed, 3 deletions(-) diff --git a/kernel/cobalt/arch/powerpc/Kconfig b/kernel/cobalt/arch/powerpc/Kconfig index 1cabef3..2069288 100644 --- a/kernel/cobalt/arch/powerpc/Kconfig +++ b/kernel/cobalt/arch/powerpc/Kconfig @@ -10,6 +10,3 @@ config XENO_ARCH_FPU config XENO_ARCH_SYS3264 def_bool n - -config XENO_ARCH_UNLOCKED_SWITCH - def_bool n ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: add README for I-pipe support
Module: xenomai-3 Branch: next Commit: f2d583fc72836e950e759dee3238e94036e382e4 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f2d583fc72836e950e759dee3238e94036e382e4 Author: Philippe Gerum Date: Sun Nov 1 17:22:33 2015 +0100 cobalt/arm64: add README for I-pipe support --- kernel/cobalt/arch/arm64/patches/README | 16 1 file changed, 16 insertions(+) diff --git a/kernel/cobalt/arch/arm64/patches/README b/kernel/cobalt/arch/arm64/patches/README new file mode 100644 index 000..fd85e06 --- /dev/null +++ b/kernel/cobalt/arch/arm64/patches/README @@ -0,0 +1,16 @@ +-- arch/arm64/patches + +Xenomai needs special kernel support to deliver fast and deterministic +response time to external interrupts, and also to provide real-time +services highly integrated with the standard Linux kernel. + +This support is provided by the interrupt pipeline (aka I-pipe) in the +form of a kernel patch you have to apply against a vanilla kernel +tree, before you attempt to compile the Xenomai codebase against the +latter kernel. + +The Xenomai arm64 port is work in progress. The I-pipe support for +this architecture is exclusively available from this development tree +at the moment: + +git://git.xenomai.org/ipipe.git, branch devel/ipipe-3.18-linaro-arm64. ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: restrict unlocked switch to SMP
Module: xenomai-3 Branch: next Commit: 145c86a8035db535cbffd54fe5625100aae66f54 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=145c86a8035db535cbffd54fe5625100aae66f54 Author: Philippe Gerum Date: Thu Sep 17 11:43:50 2015 +0200 cobalt/arm64: restrict unlocked switch to SMP Unlocked switching for Xenomai/ARM was specifically introduced for improving the interrupt latency on low-end armv4/armv5 platforms with VIVT caches. The once massive overhead imposed on the MMU context switching code for invalidating the cache is long gone with VIPT indexing, and keeping IRQs off while switching the memory context on armv8 these days is not an issue. Actually, the complexity of the code involved in dealing with unlocked switching may overbalance the expected gain. However, the mainline kernel implementation for ASID management in the SMP case currently requires us to keep IRQs enabled when allocating a new MM context over the Xenomai domain, just like it did for aarch32 during the 2.6.3x time frame until the IPI-based approach was eventually dropped. So, let's restrict unlocked switching to the SMP case, forcing it off otherwise, in the hope we can drop it entirely in the future. At this chance, CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH moves to the kernel area, where it actually belongs. --- kernel/cobalt/arch/arm64/Kconfig | 21 + 1 file changed, 1 insertion(+), 20 deletions(-) diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig index dc6485d..927c647 100644 --- a/kernel/cobalt/arch/arm64/Kconfig +++ b/kernel/cobalt/arch/arm64/Kconfig @@ -1,27 +1,8 @@ source "kernel/xenomai/Kconfig" source "drivers/xenomai/Kconfig" -menu "Machine/platform-specific options" - config XENO_ARCH_UNLOCKED_SWITCH - bool "Unlocked context switch" - default y - help - The Cobalt core may allow non-atomic execution of the - machine-dependent context switching code, so that other CPUs - and/or local interrupts may execute concurrently. - - This option reduces interrupt latency when costly cache and - TLB flushes are required to switch context. - - You definitely want to enable that option on low-end ARM - platforms. -endmenu - -config IPIPE_WANT_PREEMPTIBLE_SWITCH - bool - default y if XENO_ARCH_UNLOCKED_SWITCH - default n if !XENO_ARCH_UNLOCKED_SWITCH + def_bool IPIPE_WANT_PREEMPTIBLE_SWITCH config IPIPE_WANT_ACTIVE_MM def_bool y ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm: track current mm unconditionally
Module: xenomai-3 Branch: next Commit: 1316d0dedd7c51abfc7f4edc5cd5fb8b4f294f09 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1316d0dedd7c51abfc7f4edc5cd5fb8b4f294f09 Author: Philippe Gerum Date: Sat Nov 14 15:21:02 2015 +0100 cobalt/arm: track current mm unconditionally All pipelines Cobalt can work with (i.e. 3.10+) for the arm architecture do provide the mm tracking feature unconditionally, so there is no point in keeping any build switch for it. --- kernel/cobalt/arch/arm/Kconfig |3 --- 1 file changed, 3 deletions(-) diff --git a/kernel/cobalt/arch/arm/Kconfig b/kernel/cobalt/arch/arm/Kconfig index 2043d70..0c4e0aa 100644 --- a/kernel/cobalt/arch/arm/Kconfig +++ b/kernel/cobalt/arch/arm/Kconfig @@ -23,9 +23,6 @@ config IPIPE_WANT_PREEMPTIBLE_SWITCH default y if XENO_ARCH_UNLOCKED_SWITCH default n if !XENO_ARCH_UNLOCKED_SWITCH -config IPIPE_WANT_ACTIVE_MM - def_bool y - config XENO_ARCH_FPU def_bool VFP ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : lib/cobalt: use lazy schedparam propagation
Module: xenomai-3
Branch: next
Commit: 7b7d6b2ac8214ab4d9a77e9128e1434cf46a3f85
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7b7d6b2ac8214ab4d9a77e9128e1434cf46a3f85
Author: Philippe Gerum
Date: Fri Mar 18 12:12:27 2016 +0100
lib/cobalt: use lazy schedparam propagation
Do not switch to secondary mode upon schedparam updates for
propagating changes to the regular kernel, if the caller runs in
primary mode when entering pthread_setschedparam*() or
sched_setscheduler(). In such a case, the update request to the
regular kernel is left pending until the target thread resumes
execution in relaxed mode, at which point it is committed.
CAUTION: This mechanism won't update the schedparams cached by the
glibc for the caller in user-space, but this is the deal: we don't
relax threads which issue pthread_setschedparam[_ex]() from primary
mode anymore, but then only the kernel side (Cobalt and the host
kernel) will be aware of the change, and glibc might cache obsolete
information.
If the caller already runs in relaxed mode on entry to these services,
the update request takes place immediately, via the regular (g)libc
calls.
In any case, the new scheduling parameters for the target thread are
immediately applied by Cobalt, regardless of the update path followed
for the regular kernel.
---
lib/cobalt/internal.c | 44 ++
lib/cobalt/sched.c | 13
lib/cobalt/sigshadow.c |8 +
lib/cobalt/thread.c| 80 +---
4 files changed, 87 insertions(+), 58 deletions(-)
diff --git a/lib/cobalt/internal.c b/lib/cobalt/internal.c
index 5b89db5..cb1d53b 100644
--- a/lib/cobalt/internal.c
+++ b/lib/cobalt/internal.c
@@ -514,3 +514,47 @@ int cobalt_sched_weighted_prio(int policy,
{
return XENOMAI_SYSCALL2(sc_cobalt_sched_weightprio, policy, param_ex);
}
+
+int cobalt_xlate_schedparam(int policy,
+ const struct sched_param_ex *param_ex,
+ struct sched_param *param)
+{
+ int std_policy, priority;
+
+ /*
+* Translates Cobalt scheduling parameters to native ones,
+* based on a best approximation for Cobalt policies which are
+* not available from the host kernel.
+*/
+ std_policy = policy;
+ priority = param_ex->sched_priority;
+
+ switch (policy) {
+ case SCHED_WEAK:
+ std_policy = priority ? SCHED_FIFO : SCHED_OTHER;
+ break;
+ default:
+ std_policy = SCHED_FIFO;
+ /* falldown wanted. */
+ case SCHED_OTHER:
+ case SCHED_FIFO:
+ case SCHED_RR:
+ /*
+* The Cobalt priority range is larger than those of
+* the native SCHED_FIFO/RR classes, so we have to cap
+* the priority value accordingly. We also remap
+* "weak" (negative) priorities - which are only
+* meaningful for the Cobalt core - to regular values.
+*/
+ if (priority > __cobalt_std_fifo_maxpri)
+ priority = __cobalt_std_fifo_maxpri;
+ }
+
+ if (priority < 0)
+ priority = -priority;
+
+ memset(param, 0, sizeof(*param));
+ param->sched_priority = priority;
+
+ return std_policy;
+}
diff --git a/lib/cobalt/sched.c b/lib/cobalt/sched.c
index b0292b5..87b9235 100644
--- a/lib/cobalt/sched.c
+++ b/lib/cobalt/sched.c
@@ -26,7 +26,6 @@
#include
#include
#include
-#include "current.h"
#include "internal.h"
/**
@@ -297,11 +296,13 @@ int sched_setscheduler_ex(pid_t pid,
return EINVAL;
/* See pthread_setschedparam_ex(). */
-
- std_policy = cobalt_xlate_schedparam(policy, param_ex, &std_param);
- ret = __STD(sched_setscheduler(pid, std_policy, &std_param));
- if (ret)
- return errno;
+
+ if (cobalt_is_relaxed()) {
+ std_policy = cobalt_xlate_schedparam(policy, param_ex,
&std_param);
+ ret = __STD(sched_setscheduler(pid, std_policy, &std_param));
+ if (ret)
+ return errno;
+ }
ret = -XENOMAI_SYSCALL5(sc_cobalt_sched_setscheduler_ex,
pid, policy, param_ex,
diff --git a/lib/cobalt/sigshadow.c b/lib/cobalt/sigshadow.c
index 3f4e9c5..48d5a81 100644
--- a/lib/cobalt/sigshadow.c
+++ b/lib/cobalt/sigshadow.c
@@ -59,6 +59,14 @@ int cobalt_sigshadow_handler(int sig, siginfo_t *si, void
*ctxt)
skip = nr > 3 ? 3 : 0;
XENOMAI_SYSCALL3(sc_cobalt_backtrace, nr - skip, frames + skip,
arg);
break;
+ case SIGSHADOW_ACTION_HOME:
+ /*
+* We have been asked to call home from the current
+* context: sending a query for retrieving our handle
+* will just do this.
+*/
+
[Xenomai-git] Philippe Gerum : cobalt/powerpc: drop support for unlocked context switch
Module: xenomai-3 Branch: next Commit: 457ba12f9f7b9522ae512c669ff74b158d83cd34 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=457ba12f9f7b9522ae512c669ff74b158d83cd34 Author: Philippe Gerum Date: Sat Nov 14 16:41:13 2015 +0100 cobalt/powerpc: drop support for unlocked context switch This feature never actually brought any measurable gain on powerpc platforms, compared to the complexity of its implementation in the pipeline. It was primarily aimed at reducing latency for interrupt handlers when costly cache and TLB flushes are required to switch context, at the expense of increasing the scheduling latency. It turned out to be counter-productive on common powerpc platforms, with efficient MMUs. This feature has been default off for a while now, and 4.1+ pipelines won't provide support for it anymore. Time to drop support from Xenomai too. --- kernel/cobalt/arch/powerpc/Kconfig | 20 +--- 1 file changed, 1 insertion(+), 19 deletions(-) diff --git a/kernel/cobalt/arch/powerpc/Kconfig b/kernel/cobalt/arch/powerpc/Kconfig index 40eae0b..1cabef3 100644 --- a/kernel/cobalt/arch/powerpc/Kconfig +++ b/kernel/cobalt/arch/powerpc/Kconfig @@ -5,29 +5,11 @@ config XENO_ARCH_MATH_EMU bool default y if MATH_EMU || MATH_EMULATION -config IPIPE_WANT_PREEMPTIBLE_SWITCH -bool - default y if XENO_ARCH_UNLOCKED_SWITCH - default n if !XENO_ARCH_UNLOCKED_SWITCH - config XENO_ARCH_FPU def_bool PPC_FPU config XENO_ARCH_SYS3264 def_bool n -menu "Machine/platform-specific options" - config XENO_ARCH_UNLOCKED_SWITCH - bool "Unlocked context switch" - depends on IPIPE_HAVE_PREEMPTIBLE_SWITCH - default y - help - - The Cobalt core may allow non-atomic execution of the - machine-dependent context switching code, so that other CPUs - and/or local interrupts may execute concurrently. - - This option reduces interrupt latency when costly cache and - TLB flushes are required to switch context. -endmenu + def_bool n ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : boilerplate/libc: add placeholder for pthread_setschedprio()
Module: xenomai-3
Branch: next
Commit: 2763016b7addd1cacc09c74003c899ad6d804e0a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2763016b7addd1cacc09c74003c899ad6d804e0a
Author: Philippe Gerum
Date: Tue May 24 09:43:29 2016 +0200
boilerplate/libc: add placeholder for pthread_setschedprio()
For outdated uClibc.
---
configure.ac |1 +
include/boilerplate/libc.h | 19 +++
2 files changed, 20 insertions(+)
diff --git a/configure.ac b/configure.ac
index 3d257c3..c61748c 100644
--- a/configure.ac
+++ b/configure.ac
@@ -540,6 +540,7 @@ AC_CHECK_FUNCS([pthread_mutexattr_setprotocol \
pthread_getattr_np \
pthread_atfork \
pthread_setname_np \
+ pthread_setschedprio\
sched_getcpu\
clock_nanosleep \
shm_open\
diff --git a/include/boilerplate/libc.h b/include/boilerplate/libc.h
index 2f356a9..88b522d 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -168,6 +168,25 @@ int pthread_setaffinity_np(pthread_t thread, size_t
cpusetsize,
#endif /* !HAVE_PTHREAD_ATTR_SETAFFINITY_NP */
+#ifndef HAVE_PTHREAD_SETSCHEDPRIO
+
+static inline
+int pthread_setschedprio(pthread_t thread, int prio)
+{
+ struct sched_param param;
+ int policy, ret;
+
+ ret = pthread_getschedparam(thread, &policy, ¶m);
+ if (ret)
+ return ret;
+
+ param.sched_priority = prio;
+
+ return pthread_setschedparam(thread, policy, ¶m);
+}
+
+#endif /* !HAVE_PTHREAD_SETSCHEDPRIO */
+
#if !defined(HAVE_CLOCK_NANOSLEEP) && defined(CONFIG_XENO_MERCURY)
/*
* Best effort for a Mercury setup based on an outdated libc lacking
___
Xenomai-git mailing list
Xenomai-git@xenomai.org
https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : boilerplate: add AVL library
Module: xenomai-3
Branch: next
Commit: e570b31cdb914620c97cbea11368e8f0264de758
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e570b31cdb914620c97cbea11368e8f0264de758
Author: Philippe Gerum
Date: Tue May 31 17:30:21 2016 +0200
boilerplate: add AVL library
---
include/boilerplate/Makefile.am |1 +
include/boilerplate/avl.h | 298 ++
lib/boilerplate/Makefile.am |1 +
lib/boilerplate/avl.c | 380 +++
4 files changed, 680 insertions(+)
diff --git a/include/boilerplate/Makefile.am b/include/boilerplate/Makefile.am
index 2d3ace8..c975509 100644
--- a/include/boilerplate/Makefile.am
+++ b/include/boilerplate/Makefile.am
@@ -3,6 +3,7 @@ includesubdir = $(includedir)/boilerplate
includesub_HEADERS = \
ancillaries.h \
atomic.h\
+ avl.h \
compiler.h \
debug.h \
hash.h \
diff --git a/include/boilerplate/avl.h b/include/boilerplate/avl.h
new file mode 100644
index 000..1aa84bf
--- /dev/null
+++ b/include/boilerplate/avl.h
@@ -0,0 +1,298 @@
+/*
+ * Copyright (c) 2015 Gilles Chanteperdrix
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef _BOILERPLATE_AVL_H
+#define _BOILERPLATE_AVL_H
+
+#include
+
+struct avlh {
+ unsigned int thr: 3;
+ int type: 2;
+ int balance :2;
+ unsigned int flags :25; /* Application-specific */
+ struct avlh *link[3];
+};
+
+/* Using -1 and 1 for left and right is slightly faster than 0 and 1, using 0
+ for "up" is just here for orthogonality... and avoid wasting 4 bytes or
+ having to use a union in struct avlh. */
+#define AVL_LEFT -1
+#define AVL_UP0
+#define AVL_RIGHT 1
+/* maps AVL_LEFT to AVL_RIGHT and reciprocally. */
+#define avl_opposite(type) (-(type))
+/* maps AVL_LEFT to -1 and AVL_RIGHT to 1. */
+#define avl_type2sign(type) (type)
+/* maps AVL_LEFT and AVL_RIGHT to arrays index (or bit positions). */
+#define avl_type2index(type) ((type)+1)
+/* maps <0 to AVL_LEFT and >0 to AVL_RIGHT. */
+#define avl_sign2type(sign) (sign)
+
+#define AVL_THR_LEFT (1thr &= ~(1 <<
avl_type2index(side)))
+#define avlh_thr_tst(holder, side) ((holder)->thr & (1 <<
avl_type2index(side)))
+#define avlh_link(holder, dir) ((holder)->link[avl_type2index(dir)])
+#define avlh_up(holder)avlh_link((holder), AVL_UP)
+#define avlh_left(holder) avlh_link((holder), AVL_LEFT)
+#define avlh_right(holder) avlh_link((holder), AVL_RIGHT)
+#define avlh_parent_link(holder) (avlh_link(avlh_up(holder), (holder)->type))
+
+struct avl;
+
+typedef struct avlh *avl_search_t(const struct avl *, const struct avlh *, int
*);
+
+typedef int avlh_cmp_t(const struct avlh *const, const struct avlh *const);
+
+struct avl {
+ struct avlh anchor;
+ avl_search_t *search;
+ avlh_cmp_t *cmp;
+ struct avlh *end[3];
+ unsigned int count;
+ unsigned int height;
+};
+
+#define avl_searchfn(avl) ((avl)->search)
+#define avl_cmp(avl) ((avl)->cmp)
+#define avl_count(avl)((avl)->count)
+#define avl_height(avl) ((avl)->height)
+#define avl_anchor(avl) (&(avl)->anchor)
+#define avl_end(avl, dir) ((avl)->end[avl_type2index(dir)])
+#define avl_top(avl) (avlh_right(avl_anchor(avl)))
+#define avl_head(avl) (avl_end((avl), AVL_LEFT))
+#define avl_tail(avl) (avl_end((avl), AVL_RIGHT))
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void avl_init(struct avl *avl, avl_search_t *search, avlh_cmp_t *cmp);
+
+void avl_destroy(struct avl *avl);
+
+void avl_clear(struct avl *avl, void (*destruct)(struct avlh *));
+
+int avl_insert(struct avl *avl, struct avlh *holder);
+
+int avl_prepend(struct avl *avl, struct avlh *holder);
+
+int avl_append(struct avl
[Xenomai-git] Philippe Gerum : cobalt/synch: add support for priority ceiling protocol
Module: xenomai-3
Branch: next
Commit: e072106930d31b0be709b1e27bdbb2735e2ad341
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e072106930d31b0be709b1e27bdbb2735e2ad341
Author: Philippe Gerum
Date: Tue Feb 16 10:12:55 2016 +0100
cobalt/synch: add support for priority ceiling protocol
---
include/cobalt/kernel/heap.h | 11 +
include/cobalt/kernel/sched-idle.h | 12 +-
include/cobalt/kernel/sched-rt.h | 55 ++-
include/cobalt/kernel/sched.h | 94 +++-
include/cobalt/kernel/synch.h | 51 ++-
include/cobalt/kernel/thread.h | 54 ++-
include/cobalt/uapi/asm-generic/features.h | 27 +-
include/cobalt/uapi/kernel/synch.h |8 +-
include/cobalt/uapi/kernel/thread.h|3 +-
include/cobalt/uapi/kernel/types.h |5 +-
include/cobalt/uapi/mutex.h|1 +
include/cobalt/uapi/thread.h |1 +
kernel/cobalt/posix/cond.c |2 +-
kernel/cobalt/posix/memory.h |6 +
kernel/cobalt/posix/monitor.c | 29 +-
kernel/cobalt/posix/mqueue.c |4 +-
kernel/cobalt/posix/mutex.c| 103 +++--
kernel/cobalt/posix/process.c | 21 +-
kernel/cobalt/posix/process.h |3 +-
kernel/cobalt/posix/syscall.c |6 +-
kernel/cobalt/posix/timerfd.c |2 +-
kernel/cobalt/rtdm/drvlib.c|2 +-
kernel/cobalt/sched-idle.c | 12 +-
kernel/cobalt/sched-quota.c| 24 +-
kernel/cobalt/sched-rt.c | 14 +-
kernel/cobalt/sched-sporadic.c | 35 +-
kernel/cobalt/sched-tp.c | 42 +-
kernel/cobalt/sched-weak.c | 16 +-
kernel/cobalt/sched.c | 126 +-
kernel/cobalt/synch.c | 636 +++-
kernel/cobalt/thread.c | 115 ++---
31 files changed, 1038 insertions(+), 482 deletions(-)
diff --git a/include/cobalt/kernel/heap.h b/include/cobalt/kernel/heap.h
index a1cea69..d89f25d 100644
--- a/include/cobalt/kernel/heap.h
+++ b/include/cobalt/kernel/heap.h
@@ -147,6 +147,17 @@ void xnheap_free(struct xnheap *heap, void *block);
int xnheap_check_block(struct xnheap *heap, void *block);
+static inline void *xnheap_zalloc(struct xnheap *heap, u32 size)
+{
+ void *p;
+
+ p = xnheap_alloc(heap, size);
+ if (p)
+ memset(p, 0, size);
+
+ return p;
+}
+
static inline char *xnstrdup(const char *s)
{
char *p;
diff --git a/include/cobalt/kernel/sched-idle.h
b/include/cobalt/kernel/sched-idle.h
index 732ff84..75efdec 100644
--- a/include/cobalt/kernel/sched-idle.h
+++ b/include/cobalt/kernel/sched-idle.h
@@ -33,11 +33,11 @@
extern struct xnsched_class xnsched_class_idle;
-static inline void __xnsched_idle_setparam(struct xnthread *thread,
+static inline bool __xnsched_idle_setparam(struct xnthread *thread,
const union xnsched_policy_param *p)
{
xnthread_clear_state(thread, XNWEAK);
- thread->cprio = p->idle.prio;
+ return xnsched_set_effective_priority(thread, p->idle.prio);
}
static inline void __xnsched_idle_getparam(struct xnthread *thread,
@@ -50,11 +50,17 @@ static inline void __xnsched_idle_trackprio(struct xnthread
*thread,
const union xnsched_policy_param *p)
{
if (p)
- __xnsched_idle_setparam(thread, p);
+ /* Inheriting a priority-less class makes no sense. */
+ XENO_WARN_ON_ONCE(COBALT, 1);
else
thread->cprio = XNSCHED_IDLE_PRIO;
}
+static inline void __xnsched_idle_protectprio(struct xnthread *thread, int
prio)
+{
+ XENO_WARN_ON_ONCE(COBALT, 1);
+}
+
static inline int xnsched_idle_init_thread(struct xnthread *thread)
{
return 0;
diff --git a/include/cobalt/kernel/sched-rt.h b/include/cobalt/kernel/sched-rt.h
index ffb7223..992a5ba 100644
--- a/include/cobalt/kernel/sched-rt.h
+++ b/include/cobalt/kernel/sched-rt.h
@@ -67,20 +67,33 @@ static inline void __xnsched_rt_dequeue(struct xnthread
*thread)
xnsched_delq(&thread->sched->rt.runnable, thread);
}
-static inline void __xnsched_rt_setparam(struct xnthread *thread,
-const union xnsched_policy_param *p)
+static inline void __xnsched_rt_track_weakness(struct xnthread *thread)
{
- thread->cprio = p->rt.prio;
- if (!xnthread_test_state(thread, XNBOOST)) {
-#ifdef CONFIG_XENO_OPT_SCHED_WEAK
+ /*
+* We have to track threads exiting weak scheduling, i.e. any
+* thread leaving the WEAK class code if compiled in, or
+* assigned a zero priority if weak threads are hosted by the
+* RT class.
+*
+* CAUTION: since we need to check the eff
[Xenomai-git] Jan Kiszka : cobalt/kernel: Trigger missing reschedule after PP deboost
Module: xenomai-3
Branch: next
Commit: f7e861b1d2f9109043587b187067f56f1bff8d12
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f7e861b1d2f9109043587b187067f56f1bff8d12
Author: Jan Kiszka
Date: Mon May 9 21:22:23 2016 +0200
cobalt/kernel: Trigger missing reschedule after PP deboost
xnsynch_release also needs to tell the caller about the potential need
for a reschedule after deboosting for prio-protection.
Signed-off-by: Jan Kiszka
---
kernel/cobalt/synch.c |4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/kernel/cobalt/synch.c b/kernel/cobalt/synch.c
index d8b83d9..f3b70a2 100644
--- a/kernel/cobalt/synch.c
+++ b/kernel/cobalt/synch.c
@@ -949,8 +949,10 @@ bool xnsynch_release(struct xnsynch *synch, struct
xnthread *curr)
else if (h != currh)/* FLCEIL set, FLCLAIM clear. */
atomic_set(lockp, XN_NO_HANDLE);
- if (synch->status & XNSYNCH_PP)
+ if (synch->status & XNSYNCH_PP) {
clear_pp_boost(synch, curr);
+ need_resched = true;
+ }
xnlock_put_irqrestore(&nklock, s);
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[Xenomai-git] Philippe Gerum : cobalt/arm64: fix inclusion guards
Module: xenomai-3
Branch: next
Commit: 5dbb2a096fae14c8a1d984340aeebd8a57c111c5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5dbb2a096fae14c8a1d984340aeebd8a57c111c5
Author: Philippe Gerum
Date: Sat Oct 17 14:40:53 2015 +0200
cobalt/arm64: fix inclusion guards
---
kernel/cobalt/arch/arm64/include/asm/xenomai/features.h |8
kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h|6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h |6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h |6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h |6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h|7 +++
kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h|6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h |6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h |6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/tsc.h |6 +++---
kernel/cobalt/arch/arm64/include/asm/xenomai/wrappers.h |6 +++---
12 files changed, 37 insertions(+), 38 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
index d485286..112408f 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
@@ -1,5 +1,5 @@
/*
- * Copyright (C) 2005 Philippe Gerum .
+ * Copyright (C) 2015 Philippe Gerum .
*
* ARM port
* Copyright (C) 2005 Stelian Pop
@@ -19,12 +19,12 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
-#ifndef _COBALT_ARM_ASM_FEATURES_H
-#define _COBALT_ARM_ASM_FEATURES_H
+#ifndef _COBALT_ARM64_ASM_FEATURES_H
+#define _COBALT_ARM64_ASM_FEATURES_H
struct cobalt_featinfo;
static inline void collect_arch_features(struct cobalt_featinfo *p) { }
#include
-#endif /* !_COBALT_ARM_ASM_FEATURES_H */
+#endif /* !_COBALT_ARM64_ASM_FEATURES_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
index 743d758..cfdf0b3 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
@@ -16,8 +16,8 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
-#ifndef _COBALT_ARM_ASM_FPTEST_H
-#define _COBALT_ARM_ASM_FPTEST_H
+#ifndef _COBALT_ARM64_ASM_FPTEST_H
+#define _COBALT_ARM64_ASM_FPTEST_H
#include
#include
@@ -44,4 +44,4 @@ static inline int fp_detect(void)
return have_fp ? __COBALT_HAVE_FPU : 0;
}
-#endif /* _COBALT_ARM_ASM_FPTEST_H */
+#endif /* _COBALT_ARM64_ASM_FPTEST_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index b8290bf..7444cc8 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -20,8 +20,8 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
-#ifndef _COBALT_ARM_ASM_MACHINE_H
-#define _COBALT_ARM_ASM_MACHINE_H
+#ifndef _COBALT_ARM64_ASM_MACHINE_H
+#define _COBALT_ARM64_ASM_MACHINE_H
#include
#include
@@ -58,4 +58,4 @@ static inline __attribute_const__ unsigned long ffnz(unsigned
long ul)
#include
-#endif /* !_COBALT_ARM_ASM_MACHINE_H */
+#endif /* !_COBALT_ARM64_ASM_MACHINE_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 77c1716..949f287 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -19,8 +19,8 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
-#ifndef _COBALT_ARM_ASM_SYSCALL_H
-#define _COBALT_ARM_ASM_SYSCALL_H
+#ifndef _COBALT_ARM64_ASM_SYSCALL_H
+#define _COBALT_ARM64_ASM_SYSCALL_H
#include
#include
@@ -75,4 +75,4 @@ int xnarch_local_syscall(unsigned long a1, unsigned long a2,
unsigned long a3, unsigned long a4,
unsigned long a5);
-#endif /* !_COBALT_ARM_ASM_SYSCALL_H */
+#endif /* !_COBALT_ARM64_ASM_SYSCALL_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
index 95c5a11..a66ddd6 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
@@ -16,9 +16,9 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
-#ifndef _COBALT_ARM_ASM_SYSCALL32_H
-#define _COBALT_ARM_ASM_SYSCALL32_H
+#ifndef _COBALT_ARM64_ASM_SYSCALL32_H
+#define _COBALT_ARM64_ASM_SYSCALL32_H
#includ
[Xenomai-git] Philippe Gerum : cobalt/arm64: drop useless test on target architecture
Module: xenomai-3
Branch: next
Commit: d64167806e1d2a676db3b6ff2c68bfe70a98c2d7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d64167806e1d2a676db3b6ff2c68bfe70a98c2d7
Author: Philippe Gerum
Date: Sat Oct 17 14:43:25 2015 +0200
cobalt/arm64: drop useless test on target architecture
---
kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |7 +++
1 file changed, 3 insertions(+), 4 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
index 57d0f14..01a12d9 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
@@ -28,10 +28,9 @@
#define XENOMAI_FEAT_MAN (__xn_feat_generic_man_mask)
-#ifndef __aarch64__
-#define XNARCH_HAVE_LLMULSHFT1
-#define XNARCH_HAVE_NODIV_LLIMD 1
-#endif
+#undef XNARCH_HAVE_LLMULSHFT
+
+#undef XNARCH_HAVE_NODIV_LLIMD
struct cobalt_featinfo_archdep { /* no arch-specific feature */ };
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[Xenomai-git] Philippe Gerum : cobalt/kernel: fixup for v3.19+ (trace_seq)
Module: xenomai-3
Branch: next
Commit: d3e480db9b02bed4a6930959f59fb4969ba4bb86
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d3e480db9b02bed4a6930959f59fb4969ba4bb86
Author: Philippe Gerum
Date: Tue Nov 3 13:11:25 2015 +0100
cobalt/kernel: fixup for v3.19+ (trace_seq)
---
kernel/cobalt/include/asm-generic/xenomai/wrappers.h |6 +-
1 file changed, 1 insertion(+), 5 deletions(-)
diff --git a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
index 11367ff..ceaf647 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -44,6 +44,7 @@
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
#include
+#include
#undef alloc_netdev
#define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -56,7 +57,6 @@ trace_seq_buffer_ptr(struct trace_seq *s)
{
return s->buffer + s->len;
}
-
#endif /* < 3.17 */
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,16,0)
@@ -133,8 +133,4 @@ devm_hwmon_device_register_with_groups(struct device *dev,
const char *name,
#error "Xenomai/cobalt requires Linux kernel 3.10 or above"
#endif /* < 3.10 */
-#if LINUX_VERSION_CODE < KERNEL_VERSION(3,19,0)
-#define user_msghdr msghdr
-#endif
-
#endif /* _COBALT_ASM_GENERIC_WRAPPERS_H */
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[Xenomai-git] Philippe Gerum : boilerplate/libc: provide placeholders for prioceiling ops
Module: xenomai-3
Branch: next
Commit: d6073efc5c32060570351fab45ddf54dfc32067c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d6073efc5c32060570351fab45ddf54dfc32067c
Author: Philippe Gerum
Date: Sun Mar 20 17:20:58 2016 +0100
boilerplate/libc: provide placeholders for prioceiling ops
---
configure.ac |2 ++
include/boilerplate/libc.h | 19 +++
2 files changed, 21 insertions(+)
diff --git a/configure.ac b/configure.ac
index fdd310e..63a0bd5 100644
--- a/configure.ac
+++ b/configure.ac
@@ -511,6 +511,8 @@ AC_CHECK_FUNCS([pthread_mutexattr_setprotocol \
pthread_mutexattr_getprioceiling \
pthread_mutexattr_setprioceiling \
pthread_mutexattr_setrobust_np \
+ pthread_mutex_getprioceiling\
+ pthread_mutex_setprioceiling\
pthread_condattr_getclock \
pthread_condattr_setclock \
pthread_spin_lock fork \
diff --git a/include/boilerplate/libc.h b/include/boilerplate/libc.h
index 3a5af8c..2f356a9 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -127,6 +127,25 @@ int pthread_mutexattr_getprioceiling(const
pthread_mutexattr_t *
}
#endif /* !HAVE_PTHREAD_MUTEXATTR_GETPRIOCEILING */
+#ifndef HAVE_PTHREAD_MUTEX_SETPRIOCEILING
+static inline
+int pthread_mutex_setprioceiling(pthread_mutex_t *__restrict attr,
+int prioceiling,
+int *__restrict old_ceiling)
+{
+ return ENOSYS;
+}
+#endif /* !HAVE_PTHREAD_MUTEXATTR_SETPRIOCEILING */
+
+#ifndef HAVE_PTHREAD_MUTEX_GETPRIOCEILING
+static inline
+int pthread_mutex_getprioceiling(pthread_mutex_t *__restrict attr,
+int *__restrict prioceiling)
+{
+ return ENOSYS;
+}
+#endif /* !HAVE_PTHREAD_MUTEXATTR_GETPRIOCEILING */
+
#ifndef HAVE_PTHREAD_ATTR_SETAFFINITY_NP
#include
static inline
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: FPU code cleanup
Module: xenomai-3
Branch: next
Commit: b17b2ed0448055fb13c3008cebb5f4acb023b2fb
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b17b2ed0448055fb13c3008cebb5f4acb023b2fb
Author: Dmitriy Cherkasov
Date: Fri Oct 2 12:54:37 2015 -0700
cobalt/arm64: FPU code cleanup
---
kernel/cobalt/arch/arm64/thread.c | 89 -
1 file changed, 39 insertions(+), 50 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/thread.c
b/kernel/cobalt/arch/arm64/thread.c
index db369be..35dbd72 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -36,31 +36,44 @@
#if defined(CONFIG_XENO_ARCH_FPU)
-static void enable_fpsimd(void) {
- __asm__ __volatile__("mrs x1, cpacr_el1\n\
- orr x1, x1, #(0x3 << 20)\n\
- msr cpacr_el1, x1\n\
- isb" : : : "x1", "memory", "cc");
+#define FPSIMD_EN (0x3 << 20)
+
+static inline unsigned long get_cpacr(void)
+{
+ unsigned long result;
+ __asm__ __volatile__("mrs %0, cpacr_el1": "=r"(result));
+ return result;
+}
+
+static inline void set_cpacr(long val)
+{
+ __asm__ __volatile__ (
+ "msr cpacr_el1, %0\n\t"
+ "isb"
+ : /* */ : "r"(val));
}
-static void disable_fpsimd(void) {
- __asm__ __volatile__("mrs x1, cpacr_el1\n\
- and x1, x1, #~(0x3 << 20)\n\
- msr cpacr_el1, x1\n\
- isb" : : : "x1", "memory", "cc");
+static void enable_fpsimd(void)
+{
+ unsigned long cpacr = get_cpacr();
+ cpacr |= FPSIMD_EN;
+ set_cpacr(cpacr);
+}
+
+static void disable_fpsimd(void)
+{
+ unsigned long cpacr = get_cpacr();
+ cpacr &= ~FPSIMD_EN;
+ set_cpacr(cpacr);
}
int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
{
- /* check if this is an FPU access trap to be handled by Xenomai */
- if(d->exception == IPIPE_TRAP_FPU_ACC){
- return 1;
- }
- /* FPU already enabled, propagate fault to kernel */
- return 0;
+ return (d->exception == IPIPE_TRAP_FPU_ACC);
}
-static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *tcb) {
+static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *tcb)
+{
return &(tcb->core.tsp->fpsimd_state);
}
@@ -68,7 +81,6 @@ void xnarch_leave_root(struct xnthread *root)
{
struct xnarchtcb *rootcb = xnthread_archtcb(root);
rootcb->fpup = get_fpu_owner(rootcb);
- disable_fpsimd();
}
void xnarch_save_fpu(struct xnthread *thread)
@@ -83,29 +95,15 @@ void xnarch_switch_fpu(struct xnthread *from, struct
xnthread *to)
struct fpsimd_state *const from_fpup = from ? from->tcb.fpup : NULL;
struct fpsimd_state *const to_fpup = to->tcb.fpup;
- /*
-* This only gets called if XNFPU flag is set, or if migrating to Linux.
-* In both cases, this means turn on FPU and switch.
-*/
enable_fpsimd();
- if (xnthread_test_state(to, XNROOT) == 0) {
- if (from_fpup == to_fpup)
- return;
-
- if (from_fpup)
- fpsimd_save_state(from_fpup);
-
- fpsimd_load_state(to_fpup);
- }
- else {
- /* Going to Linux. */
- if (from_fpup)
- fpsimd_save_state(from_fpup);
+ if (from_fpup == to_fpup)
+ return;
- fpsimd_load_state(to_fpup);
- }
+ if (from_fpup)
+ fpsimd_save_state(from_fpup);
+ fpsimd_load_state(to_fpup);
}
int xnarch_handle_fpu_fault(struct xnthread *from,
@@ -113,9 +111,9 @@ int xnarch_handle_fpu_fault(struct xnthread *from,
{
spl_t s;
+ /* FPU should already be enabled for XNFPU tasks. */
if (xnthread_test_state(to, XNFPU))
- /* FPU is already enabled, probably an exception */
- return 0;
+ BUG();
xnlock_get_irqsave(&nklock, s);
xnthread_set_state(to, XNFPU);
@@ -124,20 +122,13 @@ int xnarch_handle_fpu_fault(struct xnthread *from,
xnarch_switch_fpu(from, to);
return 1;
-
}
void xnarch_init_shadow_tcb(struct xnthread *thread)
{
- spl_t s;
struct xnarchtcb *tcb = xnthread_archtcb(thread);
-
tcb->fpup = &(tcb->core.host_task->thread.fpsimd_state);
-
- xnlock_get_irqsave(&nklock, s);
xnthread_clear_state(thread, XNFPU);
- xnlock_put_irqrestore(&nklock, s);
-
}
#endif /* CONFIG_XENO_ARCH_FPU */
@@ -210,16 +201,14 @@ void xnarch_switch_to(struct xnthread *out, struct
xnthread *in)
xnarch_tls_thread_switch(in_tcb->core.tip->task);
xnarch_contextidr_thread_switch(in_tcb->core.tip->task);
- /* check if we need to switch FPU on return to Linux */
- if (xnthread_test_state(in, XNROOT) == 1)
- xnarch_swit
[Xenomai-git] Philippe Gerum : cobalt/arm64: fpu: drop obsolete xnarch_save_fpu()
Module: xenomai-3
Branch: next
Commit: eed7c9026563b887c6d9dc516fc48e1d89644807
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=eed7c9026563b887c6d9dc516fc48e1d89644807
Author: Philippe Gerum
Date: Thu Sep 8 16:29:59 2016 +0200
cobalt/arm64: fpu: drop obsolete xnarch_save_fpu()
---
kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h |4
1 file changed, 4 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 4b247ac..ac1f1f7 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -75,8 +75,6 @@ static inline int xnarch_fault_fpu_p(struct ipipe_trap_data
*d)
void xnarch_leave_root(struct xnthread *root);
-void xnarch_save_fpu(struct xnthread *thread);
-
void xnarch_switch_fpu(struct xnthread *from, struct xnthread *thread);
static inline int
@@ -103,8 +101,6 @@ static inline int xnarch_fault_fpu_p(struct ipipe_trap_data
*d)
static inline void xnarch_leave_root(struct xnthread *root) { }
-static inline void xnarch_save_fpu(struct xnthread *thread) { }
-
static inline void xnarch_switch_fpu(struct xnthread *f, struct xnthread *t) {
}
static inline int xnarch_handle_fpu_fault(struct xnthread *from,
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[Xenomai-git] Philippe Gerum : cobalt/arm64: drop obsolete config knob
Module: xenomai-3 Branch: next Commit: 69406c4395546c458a4c5ccecf7db6d039038c80 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=69406c4395546c458a4c5ccecf7db6d039038c80 Author: Philippe Gerum Date: Sat Nov 14 18:17:49 2015 +0100 cobalt/arm64: drop obsolete config knob All existing ARM64 pipeline implementations provide the CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH knob, which is tested directly in the Xenomai code base. No need for CONFIG_XENO_ARCH_UNLOCKED_SWITCH anymore. --- kernel/cobalt/arch/arm64/Kconfig |3 --- 1 file changed, 3 deletions(-) diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig index 572de3e..bdf5f16 100644 --- a/kernel/cobalt/arch/arm64/Kconfig +++ b/kernel/cobalt/arch/arm64/Kconfig @@ -1,9 +1,6 @@ source "kernel/xenomai/Kconfig" source "drivers/xenomai/Kconfig" -config XENO_ARCH_UNLOCKED_SWITCH - def_bool IPIPE_WANT_PREEMPTIBLE_SWITCH - config XENO_ARCH_FPU def_bool y ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet raw packets test
Module: xenomai-3 Branch: next Commit: 029136c806b4de101d7e9d1f577cbb13428c5b70 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=029136c806b4de101d7e9d1f577cbb13428c5b70 Author: Gilles Chanteperdrix Date: Sun Nov 1 19:14:40 2015 +0100 testsuite/smokey: add RTnet raw packets test --- configure.ac |1 + 1 file changed, 1 insertion(+) diff --git a/configure.ac b/configure.ac index dfad8e7..527d4a6 100644 --- a/configure.ac +++ b/configure.ac @@ -907,6 +907,7 @@ AC_CONFIG_FILES([ \ testsuite/smokey/fpu-stress/Makefile \ testsuite/smokey/net_udp/Makefile \ testsuite/smokey/net_packet_dgram/Makefile \ + testsuite/smokey/net_packet_raw/Makefile \ testsuite/smokey/net_common/Makefile \ testsuite/clocktest/Makefile \ testsuite/xeno-test/Makefile \ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Don Mahurin : cobalt/arm64: Use empty mayday implementation for arm64.
Module: xenomai-3
Branch: next
Commit: a79a8a83e4879e66bc1f8acc9c1f0d910f0c08e3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a79a8a83e4879e66bc1f8acc9c1f0d910f0c08e3
Author: Don Mahurin
Date: Mon Sep 14 12:52:27 2015 -0700
cobalt/arm64: Use empty mayday implementation for arm64.
The arm mayday implementation was not correct for arm64. Replace with empty
implementation.
Handle mayday in the linux domain, using xnthread_relax. This change is
essentially the same as the general change proposed in the 'Mayday issues
again' discussion (Jan Kiszka, Jun 21), though only applied to arch/arm64.
---
kernel/cobalt/arch/arm64/mayday.c | 86 +
1 file changed, 1 insertion(+), 85 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/mayday.c
b/kernel/cobalt/arch/arm64/mayday.c
index bc51ad6..ca1151c 100644
--- a/kernel/cobalt/arch/arm64/mayday.c
+++ b/kernel/cobalt/arch/arm64/mayday.c
@@ -28,72 +28,6 @@ static void *mayday;
static inline void setup_mayday(void *page)
{
- /*
-* We want this code to appear at the top of the MAYDAY page:
-*
-* ifdef ARM_EABI
-*
-* e59f000c ldr r0, [pc, #12]
-* e59f700c ldr r7, [pc, #12]
-* ef00 svc 0x
-* e3a0 mov r0, #0
-* e580 str r0, [r0];
-* 105e .word 0x105e ; sc_cobalt_mayday |
__COBALT_SYSCALL_BIT
-* 000f0042 .word 0x000f0042
-*
-* elif ARM_OABI
-*
-* e59f0008 ldr r0, [pc, #8]
-* ef9f0042 swi 0x009f0042
-* e3a0 mov r0, #0
-* e580 str r0, [r0];
-* 105e .word 0x105e ; sc_cobalt_mayday |
__COBALT_SYSCALL_BIT
-*
-* endif
-*
-* 32bit instruction words will be laid out by the compiler as
-* the target endianness requires.
-*
-* We don't mess with CPSR here, so no need to save/restore it
-* in handle/fixup code.
-*/
-#ifdef __ARM_EABI__
- static const struct {
- u32 ldr_r0;
- u32 ldr_r7;
- u32 swi_0;
- u32 mov_r0;
- u32 str_r0;
- u32 cst_r0;
- u32 cst_r7;
- } code = {
- .ldr_r0 = 0xe59f000c,
- .ldr_r7 = 0xe59f700c,
- .swi_0 = 0xef00,
- .mov_r0 = 0xe3a0,
- .str_r0 = 0xe580,
- .cst_r0 = __xn_syscode(sc_cobalt_mayday),
- .cst_r7 = 0x000f0042,
- };
-#else /* OABI */
- static const struct {
- u32 ldr_r0;
- u32 swi_syscall;
- u32 mov_r0;
- u32 str_r0;
- u32 cst_r0;
- } code = {
- .ldr_r0 = 0xe59f0008,
- .swi_syscall = 0xef9f0042,
- .mov_r0 = 0xe3a0,
- .str_r0 = 0xe580,
- .cst_r0 = __xn_syscode(sc_cobalt_mayday),
- };
-#endif /* OABI */
-
- memcpy(page, &code, sizeof(code));
-
- flush_dcache_page(vmalloc_to_page(page));
}
int xnarch_init_mayday(void)
@@ -120,27 +54,9 @@ void *xnarch_get_mayday_page(void)
void xnarch_handle_mayday(struct xnarchtcb *tcb, struct pt_regs *regs,
unsigned long tramp)
{
- tcb->mayday.pc = regs->pc;
- tcb->mayday.r0 = regs->regs[0];
-#ifdef __ARM_EABI__
- tcb->mayday.r7 = regs->regs[7];
-#endif
-#ifdef CONFIG_ARM_THUMB
- /* The code on the mayday page must be run in ARM mode */
- tcb->mayday.psr = regs->cpsr;
- regs->cpsr &= ~PSR_T_BIT;
-#endif
- regs->pc = tramp;
+ xnthread_relax(0, 0);
}
void xnarch_fixup_mayday(struct xnarchtcb *tcb, struct pt_regs *regs)
{
- regs->pc = tcb->mayday.pc;
- regs->regs[0] = tcb->mayday.r0;
-#ifdef __ARM_EABI__
- regs->regs[7] = tcb->mayday.r7;
-#endif
-#ifdef CONFIG_ARM_THUMB
- regs->cpsr = tcb->mayday.psr;
-#endif
}
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[Xenomai-git] Philippe Gerum : lib/cobalt: add config switch to enable lazy setsched update mode
Module: xenomai-3
Branch: next
Commit: 00df458bef40395141daa40e47afae508b94963c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=00df458bef40395141daa40e47afae508b94963c
Author: Philippe Gerum
Date: Sun Mar 20 17:58:33 2016 +0100
lib/cobalt: add config switch to enable lazy setsched update mode
--enable-lazy-setsched should be given for enabling lazy propagation
of scheduling parameters upon calls to pthread_setschedparam*(),
sched_setscheduler(). Defaults to off.
---
configure.ac | 19 +++
lib/cobalt/internal.h | 12
lib/cobalt/sched.c|2 +-
lib/cobalt/thread.c |3 ++-
4 files changed, 34 insertions(+), 2 deletions(-)
diff --git a/configure.ac b/configure.ac
index 63a0bd5..3d257c3 100644
--- a/configure.ac
+++ b/configure.ac
@@ -284,6 +284,25 @@ if test x$workaround_condvar_pi = xy; then
fi
fi
+dnl Lazy schedparam propagation for Cobalt (default: off)
+
+unset lazy_setsched_update
+AC_MSG_CHECKING(whether to enable lazy scheduling parameter update)
+AC_ARG_ENABLE(lazy-setsched,
+ AS_HELP_STRING([--enable-lazy-setsched], [Enable lazy scheduling
parameter update]),
+ [case "$enableval" in
+ y | yes) lazy_setsched_update=y ;;
+ *) unset lazy_setsched_update ;;
+ esac])
+AC_MSG_RESULT(${lazy_setsched_update:-no})
+if test x$lazy_setsched_update = xy; then
+ if test x$rtcore_type = xcobalt; then
+ AC_DEFINE(CONFIG_XENO_LAZY_SETSCHED,1,[config])
+ else
+AC_MSG_WARN([No lazy scheduling parameter updates over Mercury -
ignoring])
+ fi
+fi
+
dnl Enable shared multi-processing (default: off)
use_pshared=
diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
index 4b8252b..1531901 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -32,6 +32,18 @@ static inline int cobalt_is_relaxed(void)
return cobalt_get_current_mode() & XNRELAX;
}
+#ifdef CONFIG_XENO_LAZY_SETSCHED
+static inline int cobalt_eager_setsched(void)
+{
+ return cobalt_is_relaxed();
+}
+#else
+static inline int cobalt_eager_setsched(void)
+{
+ return 1;
+}
+#endif
+
static inline
struct cobalt_mutex_state *mutex_get_state(struct cobalt_mutex_shadow *shadow)
{
diff --git a/lib/cobalt/sched.c b/lib/cobalt/sched.c
index 87b9235..94f3323 100644
--- a/lib/cobalt/sched.c
+++ b/lib/cobalt/sched.c
@@ -297,7 +297,7 @@ int sched_setscheduler_ex(pid_t pid,
/* See pthread_setschedparam_ex(). */
- if (cobalt_is_relaxed()) {
+ if (cobalt_eager_setsched()) {
std_policy = cobalt_xlate_schedparam(policy, param_ex,
&std_param);
ret = __STD(sched_setscheduler(pid, std_policy, &std_param));
if (ret)
diff --git a/lib/cobalt/thread.c b/lib/cobalt/thread.c
index 8b4568d..908516f 100644
--- a/lib/cobalt/thread.c
+++ b/lib/cobalt/thread.c
@@ -629,7 +629,8 @@ int pthread_setschedparam_ex(pthread_t thread,
* threads should refrain from mixing APIs for managing
* scheduling parameters, and only rely on libcobalt for this.
*/
- if (cobalt_is_relaxed()) { /* True if shadow not mapped yet. */
+ if (cobalt_eager_setsched()) {
+ /* True if disabled or shadow not mapped yet. */
std_policy = cobalt_xlate_schedparam(policy, param_ex,
&std_param);
ret = __STD(pthread_setschedparam(thread, std_policy,
&std_param));
if (ret)
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: thread.h & syscall.h: fix register references for arm64
Module: xenomai-3
Branch: next
Commit: 739db155b019dc524b0da6edcbf2056604a130f3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=739db155b019dc524b0da6edcbf2056604a130f3
Author: Dmitriy Cherkasov
Date: Thu May 7 16:41:09 2015 -0700
cobalt/arm64: thread.h & syscall.h: fix register references for arm64
---
kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h |8 ++--
kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h |2 +-
2 files changed, 7 insertions(+), 3 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index f0a1090..2fdd890 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -28,12 +28,16 @@
#include
#include
+#ifndef __NR_SYSCALL_BASE
+#define __NR_SYSCALL_BASE 0
+#endif
+
#ifndef __ARM_NR_ipipe
/* Legacy pipelines do not define this. */
#define __ARM_NR_ipipe (__NR_SYSCALL_BASE + XENO_ARM_SYSCALL)
#endif
-#define __xn_reg_sys(__regs) ((__regs)->ARM_ORIG_r0)
+#define __xn_reg_sys(__regs) ((__regs)->orig_x0)
/* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */
#ifdef CONFIG_OABI_COMPAT
#define __xn_syscall_p(__regs) (((__regs)->regs[7] == __NR_OABI_SYSCALL_BASE +
XENO_ARM_SYSCALL) || \
@@ -49,7 +53,7 @@
#define __xn_reg_arg3(__regs) ((__regs)->regs[3])
#define __xn_reg_arg4(__regs) ((__regs)->regs[4])
#define __xn_reg_arg5(__regs) ((__regs)->regs[5])
-#define __xn_reg_pc(__regs)((__regs)->ip)
+#define __xn_reg_pc(__regs)((__regs)->pc)
#define __xn_reg_sp(__regs)((__regs)->sp)
static inline void __xn_error_return(struct pt_regs *regs, int v)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 11439a3..958f340 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -52,7 +52,7 @@ struct xnarchtcb {
#define xnarch_fault_regs(d) ((d)->regs)
#define xnarch_fault_trap(d) ((d)->exception)
#define xnarch_fault_code(d) (0)
-#define xnarch_fault_pc(d) ((d)->regs->ARM_pc - (thumb_mode((d)->regs) ? 2
: 4)) /* XXX ? */
+#define xnarch_fault_pc(d) ((d)->regs->pc - 4) /* XXX ? */
#define xnarch_fault_pf_p(d) ((d)->exception == IPIPE_TRAP_ACCESS)
#define xnarch_fault_bp_p(d) ((current->ptrace & PT_PTRACED) && \
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[Xenomai-git] Jan Kiszka : lib/cobalt: Wrap pthread_setschedprio for proper real-time support
Module: xenomai-3
Branch: next
Commit: 5c53137eecf791920618d0401e2ffbb6c130c7cf
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5c53137eecf791920618d0401e2ffbb6c130c7cf
Author: Jan Kiszka
Date: Tue Mar 8 14:46:59 2016 +0100
lib/cobalt: Wrap pthread_setschedprio for proper real-time support
Implement pthread_setschedprio on top of pthread_setschedparam_ex with
the help of the new __SCHED_CURRENT policy. This ensures that prio
changes are directly applied to the real-time core, and that with just
a single syscall.
Signed-off-by: Jan Kiszka
---
include/cobalt/pthread.h |2 ++
lib/cobalt/cobalt.wrappers |1 +
lib/cobalt/thread.c|9 +
lib/cobalt/wrappers.c |6 ++
4 files changed, 18 insertions(+)
diff --git a/include/cobalt/pthread.h b/include/cobalt/pthread.h
index f1b1c8a..3e9bd47 100644
--- a/include/cobalt/pthread.h
+++ b/include/cobalt/pthread.h
@@ -53,6 +53,8 @@ COBALT_DECL(int, pthread_setschedparam(pthread_t thread,
int policy,
const struct sched_param *param));
+COBALT_DECL(int, pthread_setschedprio(pthread_t thread, int prio));
+
COBALT_DECL(int, pthread_mutex_init(pthread_mutex_t *mutex,
const pthread_mutexattr_t *attr));
diff --git a/lib/cobalt/cobalt.wrappers b/lib/cobalt/cobalt.wrappers
index 75f29d6..19153ae 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -2,6 +2,7 @@
--wrap pthread_create
--wrap pthread_setschedparam
--wrap pthread_getschedparam
+--wrap pthread_setschedprio
--wrap pthread_yield
--wrap sched_yield
--wrap sched_get_priority_min
diff --git a/lib/cobalt/thread.c b/lib/cobalt/thread.c
index 908516f..62ca0a0 100644
--- a/lib/cobalt/thread.c
+++ b/lib/cobalt/thread.c
@@ -650,6 +650,15 @@ int pthread_setschedparam_ex(pthread_t thread,
return ret;
}
+COBALT_IMPL(int, pthread_setschedprio, (pthread_t thread, int prio))
+{
+ struct sched_param_ex param_ex = {
+ .sched_priority = prio,
+ };
+
+ return pthread_setschedparam_ex(thread, __SCHED_CURRENT, ¶m_ex);
+}
+
/**
* Get the scheduling policy and parameters of the specified thread.
*
diff --git a/lib/cobalt/wrappers.c b/lib/cobalt/wrappers.c
index 09c74e5..1f1664e 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -60,6 +60,12 @@ int __real_pthread_getschedparam(pthread_t thread,
}
__weak
+int __real_pthread_setschedprio(pthread_t thread, int prio)
+{
+ return pthread_setschedprio(thread, prio);
+}
+
+__weak
int __real_sched_yield(void)
{
return sched_yield();
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[Xenomai-git] Philippe Gerum : lib/cobalt/mutex: add support for priority ceiling protocol
Module: xenomai-3
Branch: next
Commit: 1426f6c3aa20b091778b6180158d37c5344b96b2
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1426f6c3aa20b091778b6180158d37c5344b96b2
Author: Philippe Gerum
Date: Tue Feb 16 10:13:03 2016 +0100
lib/cobalt/mutex: add support for priority ceiling protocol
---
configure.ac |2 +
include/boilerplate/libc.h | 19 +++
include/cobalt/pthread.h |7 ++
lib/cobalt/cobalt.wrappers |2 +
lib/cobalt/init.c |1 +
lib/cobalt/internal.h |8 ++
lib/cobalt/mutex.c | 301 +++-
lib/cobalt/sched.c | 33 -
lib/cobalt/thread.c|7 +-
9 files changed, 311 insertions(+), 69 deletions(-)
diff --git a/configure.ac b/configure.ac
index c062226..fdd310e 100644
--- a/configure.ac
+++ b/configure.ac
@@ -508,6 +508,8 @@ save_LIBS="$LIBS"
LIBS="$LIBS -lrt -lpthread"
AC_CHECK_FUNCS([pthread_mutexattr_setprotocol \
pthread_mutexattr_getprotocol \
+ pthread_mutexattr_getprioceiling \
+ pthread_mutexattr_setprioceiling \
pthread_mutexattr_setrobust_np \
pthread_condattr_getclock \
pthread_condattr_setclock \
diff --git a/include/boilerplate/libc.h b/include/boilerplate/libc.h
index 0e51b86..3a5af8c 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -108,6 +108,25 @@ int pthread_mutexattr_getprotocol(const
pthread_mutexattr_t *
}
#endif /* !HAVE_PTHREAD_MUTEXATTR_GETPROTOCOL */
+#ifndef HAVE_PTHREAD_MUTEXATTR_SETPRIOCEILING
+static inline
+int pthread_mutexattr_setprioceiling(pthread_mutexattr_t *attr,
+int prioceiling)
+{
+ return ENOSYS;
+}
+#endif /* !HAVE_PTHREAD_MUTEXATTR_SETPRIOCEILING */
+
+#ifndef HAVE_PTHREAD_MUTEXATTR_GETPRIOCEILING
+static inline
+int pthread_mutexattr_getprioceiling(const pthread_mutexattr_t *
+ __restrict attr,
+int *__restrict prioceiling)
+{
+ return ENOSYS;
+}
+#endif /* !HAVE_PTHREAD_MUTEXATTR_GETPRIOCEILING */
+
#ifndef HAVE_PTHREAD_ATTR_SETAFFINITY_NP
#include
static inline
diff --git a/include/cobalt/pthread.h b/include/cobalt/pthread.h
index 386c337..f1b1c8a 100644
--- a/include/cobalt/pthread.h
+++ b/include/cobalt/pthread.h
@@ -67,6 +67,13 @@ COBALT_DECL(int, pthread_mutex_trylock(pthread_mutex_t
*mutex));
COBALT_DECL(int, pthread_mutex_unlock(pthread_mutex_t *mutex));
+COBALT_DECL(int, pthread_mutex_setprioceiling(pthread_mutex_t *__restrict
mutex,
+ int prioceiling,
+ int *__restrict old_ceiling));
+
+COBALT_DECL(int, pthread_mutex_getprioceiling(pthread_mutex_t *__restrict
mutex,
+ int *__restrict old_ceiling));
+
COBALT_DECL(int, pthread_cond_init (pthread_cond_t *cond,
const pthread_condattr_t *attr));
diff --git a/lib/cobalt/cobalt.wrappers b/lib/cobalt/cobalt.wrappers
index 9480f34..75f29d6 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -32,6 +32,8 @@
--wrap pthread_mutex_trylock
--wrap pthread_mutex_timedlock
--wrap pthread_mutex_unlock
+--wrap pthread_mutex_setprioceiling
+--wrap pthread_mutex_getprioceiling
--wrap pthread_cond_init
--wrap pthread_cond_destroy
--wrap pthread_cond_wait
diff --git a/lib/cobalt/init.c b/lib/cobalt/init.c
index f260744..69d4763 100644
--- a/lib/cobalt/init.c
+++ b/lib/cobalt/init.c
@@ -177,6 +177,7 @@ static void __cobalt_init(void)
sizeof(struct cobalt_sem_shadow));
cobalt_mutex_init();
+ cobalt_sched_init();
cobalt_thread_init();
cobalt_print_init();
}
diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
index fee3fe1..4b8252b 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -52,6 +52,8 @@ void cobalt_thread_init(void);
int cobalt_thread_probe(pid_t pid);
+void cobalt_sched_init(void);
+
void cobalt_print_init(void);
void cobalt_print_init_atfork(void);
@@ -73,4 +75,10 @@ void cobalt_check_features(struct cobalt_featinfo *finfo);
extern struct sigaction __cobalt_orig_sigdebug;
+extern int __cobalt_std_fifo_minpri,
+ __cobalt_std_fifo_maxpri;
+
+extern int __cobalt_std_rr_minpri,
+ __cobalt_std_rr_maxpri;
+
#endif /* _LIB_COBALT_INTERNAL_H */
diff --git a/lib/cobalt/mutex.c b/lib/cobalt/mutex.c
index 9d8a914..1456099 100644
--- a/lib/cobalt/mutex.c
+++ b/lib/cobalt/mutex.c
@@ -99,6 +99,9 @@ void cobalt_mutex_init(void)
* mutex, increase CONFIG_XENO_OPT_SHARED_HEAPSZ for a process-shared
* mutex, or CONFIG_XENO_OPT_PRIVATE_HEAPSZ for a process-private mutex.
* - EAGAIN, no registry slot available, check/raise
CONFIG_XENO_OPT_REGISTRY_NRSLOTS.
+ * - ENOSYS, @a attr mentions priority protectio
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: add lazy FPU switching
Module: xenomai-3
Branch: next
Commit: 497eb6c45bc47869562b66f855ad7ba3dc5196ba
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=497eb6c45bc47869562b66f855ad7ba3dc5196ba
Author: Dmitriy Cherkasov
Date: Thu Oct 1 15:47:41 2015 -0700
cobalt/arm64: add lazy FPU switching
---
kernel/cobalt/arch/arm64/thread.c | 83 +++--
1 file changed, 62 insertions(+), 21 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/thread.c
b/kernel/cobalt/arch/arm64/thread.c
index 316525f6..db369be 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -32,16 +32,31 @@
#include
#include
#include
-
+#include
#if defined(CONFIG_XENO_ARCH_FPU)
-static DEFINE_MUTEX(vfp_check_lock);
+static void enable_fpsimd(void) {
+ __asm__ __volatile__("mrs x1, cpacr_el1\n\
+ orr x1, x1, #(0x3 << 20)\n\
+ msr cpacr_el1, x1\n\
+ isb" : : : "x1", "memory", "cc");
+}
+static void disable_fpsimd(void) {
+ __asm__ __volatile__("mrs x1, cpacr_el1\n\
+ and x1, x1, #~(0x3 << 20)\n\
+ msr cpacr_el1, x1\n\
+ isb" : : : "x1", "memory", "cc");
+}
int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
{
- /* FPU never trapped, this will be a fault */
+ /* check if this is an FPU access trap to be handled by Xenomai */
+ if(d->exception == IPIPE_TRAP_FPU_ACC){
+ return 1;
+ }
+ /* FPU already enabled, propagate fault to kernel */
return 0;
}
@@ -53,6 +68,7 @@ void xnarch_leave_root(struct xnthread *root)
{
struct xnarchtcb *rootcb = xnthread_archtcb(root);
rootcb->fpup = get_fpu_owner(rootcb);
+ disable_fpsimd();
}
void xnarch_save_fpu(struct xnthread *thread)
@@ -65,45 +81,67 @@ void xnarch_save_fpu(struct xnthread *thread)
void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
{
struct fpsimd_state *const from_fpup = from ? from->tcb.fpup : NULL;
-
- /* always switch, no lazy switching */
-
struct fpsimd_state *const to_fpup = to->tcb.fpup;
- if (from_fpup == to_fpup)
- return;
+ /*
+* This only gets called if XNFPU flag is set, or if migrating to Linux.
+* In both cases, this means turn on FPU and switch.
+*/
+ enable_fpsimd();
+
+ if (xnthread_test_state(to, XNROOT) == 0) {
+ if (from_fpup == to_fpup)
+ return;
- if (from_fpup)
- fpsimd_save_state(from_fpup);
+ if (from_fpup)
+ fpsimd_save_state(from_fpup);
- fpsimd_load_state(to_fpup);
+ fpsimd_load_state(to_fpup);
+ }
+ else {
+ /* Going to Linux. */
+ if (from_fpup)
+ fpsimd_save_state(from_fpup);
- /* always set FPU enabled */
- xnthread_set_state(to, XNFPU);
+ fpsimd_load_state(to_fpup);
+ }
}
int xnarch_handle_fpu_fault(struct xnthread *from,
struct xnthread *to, struct ipipe_trap_data *d)
{
- /* FPU always enabled, faults force exit to Linux */
- return 0;
+ spl_t s;
+
+ if (xnthread_test_state(to, XNFPU))
+ /* FPU is already enabled, probably an exception */
+ return 0;
+
+ xnlock_get_irqsave(&nklock, s);
+ xnthread_set_state(to, XNFPU);
+ xnlock_put_irqrestore(&nklock, s);
+
+ xnarch_switch_fpu(from, to);
+
+ return 1;
+
}
void xnarch_init_shadow_tcb(struct xnthread *thread)
{
+ spl_t s;
struct xnarchtcb *tcb = xnthread_archtcb(thread);
tcb->fpup = &(tcb->core.host_task->thread.fpsimd_state);
- /* XNFPU is always set, no lazy switching */
- xnthread_set_state(thread, XNFPU);
+ xnlock_get_irqsave(&nklock, s);
+ xnthread_clear_state(thread, XNFPU);
+ xnlock_put_irqrestore(&nklock, s);
+
}
#endif /* CONFIG_XENO_ARCH_FPU */
-
/* Switch support functions */
-
static void xnarch_tls_thread_switch(struct task_struct *next)
{
unsigned long tpidr, tpidrro;
@@ -141,8 +179,7 @@ static inline void xnarch_contextidr_thread_switch(struct
task_struct *next)
{
}
#endif
-
-/*/Switch support functions */
+/* End switch support functions */
void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
{
@@ -173,6 +210,10 @@ void xnarch_switch_to(struct xnthread *out, struct
xnthread *in)
xnarch_tls_thread_switch(in_tcb->core.tip->task);
xnarch_contextidr_thread_switch(in_tcb->core.tip->task);
+ /* check if we need to switch FPU on return to Linux */
+ if (xnthread_test_state(in, XNROOT) == 1)
+ xnarch_switch_fpu(out, in);
+
/*
* Complete any pending TLB or cache maintenance on this CPU in case
* the thread
[Xenomai-git] Jan Kiszka : cobalt/kernel: Return need_resched flag from xnsynch_release
Module: xenomai-3
Branch: next
Commit: 90b5f282f84ef7c60cb21e08c4545db07bc46899
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=90b5f282f84ef7c60cb21e08c4545db07bc46899
Author: Jan Kiszka
Date: Mon May 9 21:19:04 2016 +0200
cobalt/kernel: Return need_resched flag from xnsynch_release
We currently return the next owner, but no caller of xnsynch_release
evaluates this beyond != NULL and calls xnsched_run in that case.
Simplify the API by returning a need_resched flag directly. This will
also help with fixing the missing reschedule after PP deboost.
Signed-off-by: Jan Kiszka
---
include/cobalt/kernel/synch.h |3 +--
kernel/cobalt/posix/mutex.c |2 +-
kernel/cobalt/rtdm/drvlib.c |2 +-
kernel/cobalt/synch.c | 23 +++
4 files changed, 14 insertions(+), 16 deletions(-)
diff --git a/include/cobalt/kernel/synch.h b/include/cobalt/kernel/synch.h
index 04d7f10..1e99c18 100644
--- a/include/cobalt/kernel/synch.h
+++ b/include/cobalt/kernel/synch.h
@@ -164,8 +164,7 @@ int xnsynch_acquire(struct xnsynch *synch,
int xnsynch_try_acquire(struct xnsynch *synch);
-struct xnthread *xnsynch_release(struct xnsynch *synch,
-struct xnthread *thread);
+bool xnsynch_release(struct xnsynch *synch, struct xnthread *thread);
struct xnthread *xnsynch_peek_pendq(struct xnsynch *synch);
diff --git a/kernel/cobalt/posix/mutex.c b/kernel/cobalt/posix/mutex.c
index c6020ff..f99874b 100644
--- a/kernel/cobalt/posix/mutex.c
+++ b/kernel/cobalt/posix/mutex.c
@@ -128,7 +128,7 @@ int cobalt_mutex_release(struct xnthread *curr,
cobalt_cond_deferred_signals(cond);
}
}
- need_resched |= xnsynch_release(&mutex->synchbase, curr) != NULL;
+ need_resched |= xnsynch_release(&mutex->synchbase, curr);
return need_resched;
}
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index ae55a4b..1973c37 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -1282,7 +1282,7 @@ void rtdm_mutex_unlock(rtdm_mutex_t *mutex)
trace_cobalt_driver_mutex_release(mutex);
if (unlikely(xnsynch_release(&mutex->synch_base,
-xnsched_current_thread()) != NULL))
+xnsched_current_thread(
xnsched_run();
}
EXPORT_SYMBOL_GPL(rtdm_mutex_unlock);
diff --git a/kernel/cobalt/synch.c b/kernel/cobalt/synch.c
index 976261d..d8b83d9 100644
--- a/kernel/cobalt/synch.c
+++ b/kernel/cobalt/synch.c
@@ -843,8 +843,8 @@ static inline void clear_pp_boost(struct xnsynch *synch,
drop_booster(synch, owner);
}
-static struct xnthread *transfer_ownership(struct xnsynch *synch,
- struct xnthread *lastowner)
+static bool transfer_ownership(struct xnsynch *synch,
+ struct xnthread *lastowner)
{ /* nklock held, irqs off */
struct xnthread *nextowner;
xnhandle_t nextownerh;
@@ -859,7 +859,7 @@ static struct xnthread *transfer_ownership(struct xnsynch
*synch,
if (list_empty(&synch->pendq)) {
synch->owner = NULL;
atomic_set(lockp, XN_NO_HANDLE);
- return NULL;
+ return false;
}
nextowner = list_first_entry(&synch->pendq, struct xnthread, plink);
@@ -879,11 +879,11 @@ static struct xnthread *transfer_ownership(struct xnsynch
*synch,
atomic_set(lockp, nextownerh);
- return nextowner;
+ return true;
}
/**
- * @fn struct xnthread *xnsynch_release(struct xnsynch *synch, struct xnthread
*curr)
+ * @fn bool xnsynch_release(struct xnsynch *synch, struct xnthread *curr)
* @brief Release a resource and pass it to the next waiting thread.
*
* This service releases the ownership of the given synchronization
@@ -900,7 +900,7 @@ static struct xnthread *transfer_ownership(struct xnsynch
*synch,
* @param curr The descriptor address of the current thread, which
* must own the object at the time of calling.
*
- * @return The descriptor address of the unblocked thread.
+ * @return True if a reschedule is required.
*
* @sideeffect
*
@@ -913,10 +913,9 @@ static struct xnthread *transfer_ownership(struct xnsynch
*synch,
*
* @coretags{primary-only, might-switch}
*/
-struct xnthread *xnsynch_release(struct xnsynch *synch,
-struct xnthread *curr)
+bool xnsynch_release(struct xnsynch *synch, struct xnthread *curr)
{
- struct xnthread *nextowner = NULL;
+ bool need_resched = false;
xnhandle_t currh, h;
atomic_t *lockp;
spl_t s;
@@ -926,7 +925,7 @@ struct xnthread *xnsynch_release(struct xnsynch *synch,
trace_cobalt_synch_release(synch);
if (xnthread_put_resource(curr))
- return NULL;
+ return false;
lockp =
[Xenomai-git] Philippe Gerum : cobalt/thread: add schedparam lazy propagation
Module: xenomai-3
Branch: next
Commit: c02b617d58a1bb8002cd3235dbc7b78b42dc9ffd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c02b617d58a1bb8002cd3235dbc7b78b42dc9ffd
Author: Philippe Gerum
Date: Fri Mar 18 12:12:50 2016 +0100
cobalt/thread: add schedparam lazy propagation
Provide a mechanism for carrying out a lazy propagation of schedparam
updates to the regular kernel, so that userland does not have to
switch to secondary mode for this.
When userland issues sc_cobalt_thread_setschedparam_ex for updating
the scheduling parameters of a Xenomai thread, a request for
propagating this change to the regular kernel is made pending. Such
request will be committed later, either when:
- the thread relaxes if it is running in primary mode when the update
request is received;
- next time the thread calls back into the Cobalt core as a result of
receiving a HOME action from a SIGSHADOW notification, which is sent
if such thread was relaxed at the time of the update request.
As a result, the target thread will have propagated the schedparams
update to the regular kernel as soon as it resumes (relaxed) execution
in user-space.
---
include/cobalt/kernel/thread.h |8 +
include/cobalt/uapi/kernel/thread.h |1 +
include/cobalt/uapi/signal.h|1 +
kernel/cobalt/posix/syscall.c |9 ++
kernel/cobalt/thread.c | 55 +++
5 files changed, 74 insertions(+)
diff --git a/include/cobalt/kernel/thread.h b/include/cobalt/kernel/thread.h
index 07b6996..a4d826e 100644
--- a/include/cobalt/kernel/thread.h
+++ b/include/cobalt/kernel/thread.h
@@ -567,6 +567,14 @@ int xnthread_set_schedparam(struct xnthread *thread,
int xnthread_killall(int grace, int mask);
+void __xnthread_propagate_schedparam(struct xnthread *curr);
+
+static inline void xnthread_propagate_schedparam(struct xnthread *curr)
+{
+ if (xnthread_test_info(curr, XNSCHEDP))
+ __xnthread_propagate_schedparam(curr);
+}
+
extern struct xnthread_personality xenomai_personality;
/** @} */
diff --git a/include/cobalt/uapi/kernel/thread.h
b/include/cobalt/uapi/kernel/thread.h
index bd5e34a..e534471 100644
--- a/include/cobalt/uapi/kernel/thread.h
+++ b/include/cobalt/uapi/kernel/thread.h
@@ -71,6 +71,7 @@
#define XNROBBED 0x0020 /**< Robbed from resource ownership */
#define XNCANCELD 0x0040 /**< Cancellation request is pending */
#define XNPIALERT 0x0080 /**< Priority inversion alert (SIGDEBUG sent) */
+#define XNSCHEDP 0x0100 /**< schedparam propagation is pending */
/* Local information flags (private to current thread) */
diff --git a/include/cobalt/uapi/signal.h b/include/cobalt/uapi/signal.h
index b5483d7..8a7ea15 100644
--- a/include/cobalt/uapi/signal.h
+++ b/include/cobalt/uapi/signal.h
@@ -47,6 +47,7 @@
/* SIGSHADOW action codes. */
#define SIGSHADOW_ACTION_HARDEN1
#define SIGSHADOW_ACTION_BACKTRACE 2
+#define SIGSHADOW_ACTION_HOME 3
#define SIGSHADOW_BACKTRACE_DEPTH 16
#define SIGDEBUG SIGXCPU
diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index 3addd62..b9efa05 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -731,6 +731,15 @@ restart:
goto ret_handled;
}
switched = 1;
+ } else {
+ /*
+* We want to run the syscall in the current Linux
+* domain. This is a slow path, so proceed with any
+* pending schedparam update on the fly.
+*/
+ switched = 0;
+ if (thread)
+ xnthread_propagate_schedparam(thread);
}
ret = handler(__xn_reg_arglist(regs));
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index 96f2d03..3b57cba 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -24,6 +24,7 @@
#include
#include
#include
+#include
#include
#include
#include
@@ -1963,6 +1964,11 @@ int __xnthread_set_schedparam(struct xnthread *thread,
thread->lock_count == 0)
xnsched_putback(thread);
+ xnthread_set_info(thread, XNSCHEDP);
+ /* Ask the target thread to call back if relaxed. */
+ if (xnthread_test_state(thread, XNRELAX))
+ xnthread_signal(thread, SIGSHADOW, SIGSHADOW_ACTION_HOME);
+
return ret;
}
@@ -2084,6 +2090,40 @@ static void post_wakeup(struct task_struct *p)
ipipe_post_work_root(&wakework, work);
}
+void __xnthread_propagate_schedparam(struct xnthread *curr)
+{
+ int kpolicy = SCHED_FIFO, kprio = curr->bprio, ret;
+ struct task_struct *p = current;
+ struct sched_param param;
+ spl_t s;
+
+ /*
+* Test-set race for XNSCHEDP is ok, the propagation is meant
+* to be done asap but not guaranteed to be carried out
+
[Xenomai-git] Philippe Gerum : cobalt/arm64: leave mm tracking to the pipeline
Module: xenomai-3 Branch: next Commit: 66cd71bfdc1285acebbce7a5e1d06961f796f8d1 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=66cd71bfdc1285acebbce7a5e1d06961f796f8d1 Author: Philippe Gerum Date: Thu Sep 17 15:08:34 2015 +0200 cobalt/arm64: leave mm tracking to the pipeline --- kernel/cobalt/arch/arm64/Kconfig |3 --- 1 file changed, 3 deletions(-) diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig index 927c647..dd5a8c6 100644 --- a/kernel/cobalt/arch/arm64/Kconfig +++ b/kernel/cobalt/arch/arm64/Kconfig @@ -4,9 +4,6 @@ source "drivers/xenomai/Kconfig" config XENO_ARCH_UNLOCKED_SWITCH def_bool IPIPE_WANT_PREEMPTIBLE_SWITCH -config IPIPE_WANT_ACTIVE_MM - def_bool y - config XENO_ARCH_WANT_TIP def_bool y ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Jan Kiszka : smokey/posix-mutex: Fix test case /wrt mutex object reuse
Module: xenomai-3 Branch: next Commit: 0bc299115b2fa00e951ef4a001b091f7993ed742 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0bc299115b2fa00e951ef4a001b091f7993ed742 Author: Jan Kiszka Date: Thu Feb 25 11:29:00 2016 +0100 smokey/posix-mutex: Fix test case /wrt mutex object reuse Mutex objects created on the stack must be properly destroyed after use. Otherwise, succeeding tests that use the same stack layout will consider them busy and refuse to recreate the mutexes. Signed-off-by: Jan Kiszka --- testsuite/smokey/posix-mutex/posix-mutex.c | 26 +- 1 file changed, 21 insertions(+), 5 deletions(-) diff --git a/testsuite/smokey/posix-mutex/posix-mutex.c b/testsuite/smokey/posix-mutex/posix-mutex.c index ae82fc1..151c2f3 100644 --- a/testsuite/smokey/posix-mutex/posix-mutex.c +++ b/testsuite/smokey/posix-mutex/posix-mutex.c @@ -623,7 +623,10 @@ static int protect_raise(void) if (!__Tassert(get_effective_prio() == THREAD_PRIO_MEDIUM)) return -EINVAL; - + + if (!__T(ret, pthread_mutex_destroy(&mutex))) + return ret; + return 0; } @@ -651,7 +654,10 @@ static int protect_lower(void) if (!__Tassert(get_effective_prio() == THREAD_PRIO_MEDIUM)) return -EINVAL; - + + if (!__T(ret, pthread_mutex_destroy(&mutex))) + return ret; + return 0; } @@ -699,7 +705,10 @@ static int protect_weak(void) if (!__T(ret, pthread_setschedparam(pthread_self(), old_policy, &old_param))) return ret; - + + if (!__T(ret, pthread_mutex_destroy(&mutex))) + return ret; + return 0; } @@ -745,7 +754,11 @@ static int protect_nesting_protect(void) if (!__Tassert(get_effective_prio() == THREAD_PRIO_MEDIUM)) return -EINVAL; - + + if (!__T(ret, pthread_mutex_destroy(&mutex_high)) || + !__T(ret, pthread_mutex_destroy(&mutex_very_high))) + return ret; + return 0; } @@ -782,7 +795,10 @@ static int protect_nesting_pi(void) /* PP boost just dropped: HIGH -> MEDIUM. */ if (!__Tassert(get_effective_prio() == THREAD_PRIO_MEDIUM)) return -EINVAL; - + + if (!__T(ret, pthread_mutex_destroy(&mutex_pp))) + return ret; + return 0; } ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Don Mahurin : lib/cobalt/arm64: implement syscall for armv8/aarch64
Module: xenomai-3
Branch: next
Commit: a6ba2c361ab9ee5dbf3a733f2e7bcfb1ef425ee3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a6ba2c361ab9ee5dbf3a733f2e7bcfb1ef425ee3
Author: Don Mahurin
Date: Fri May 8 10:39:32 2015 -0700
lib/cobalt/arm64: implement syscall for armv8/aarch64
---
lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h |8
1 file changed, 8 insertions(+)
diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index 8f48eb1..1d5806c 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -88,6 +88,7 @@
#define __sys2(x) #x
#define __sys1(x) __sys2(x)
+#ifndef __aarch64__
#ifdef __ARM_EABI__
#define __SYS_REG , "r7"
#define __SYS_REG_DECL register unsigned long __r7 __asm__ ("r7")
@@ -102,6 +103,13 @@
#define __NR_OABI_SYSCALL_BASE 0x90
#define __SYS_CALLOP "swi\t" __sys1(__NR_OABI_SYSCALL_BASE + XENO_ARM_SYSCALL)
""
#endif
+#else
+#define __SYS_REG , "r8"
+#define __SYS_REG_DECL register unsigned long __r8 __asm__ ("r8")
+#define __SYS_REG_SET __r8 = XENO_ARM_SYSCALL
+#define __SYS_REG_INPUT ,"r" (__r8)
+#define __SYS_CALLOP "svc\t0"
+#endif
#define XENOMAI_DO_SYSCALL(nr, op, args...)\
({ \
___
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[Xenomai-git] Philippe Gerum : cobalt/kernel: fixup for v3.19+ (user_msghdr)
Module: xenomai-3 Branch: next Commit: 0a281e59efd0219d0d3ca41f1162292fc13055f4 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0a281e59efd0219d0d3ca41f1162292fc13055f4 Author: Philippe Gerum Date: Mon Nov 2 20:45:10 2015 +0100 cobalt/kernel: fixup for v3.19+ (user_msghdr) --- kernel/cobalt/include/asm-generic/xenomai/wrappers.h |4 1 file changed, 4 insertions(+) diff --git a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h index 060ce85..11367ff 100644 --- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h +++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h @@ -133,4 +133,8 @@ devm_hwmon_device_register_with_groups(struct device *dev, const char *name, #error "Xenomai/cobalt requires Linux kernel 3.10 or above" #endif /* < 3.10 */ +#if LINUX_VERSION_CODE < KERNEL_VERSION(3,19,0) +#define user_msghdr msghdr +#endif + #endif /* _COBALT_ASM_GENERIC_WRAPPERS_H */ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt: bump ABI revision level
Module: xenomai-3 Branch: next Commit: 91e62a56f142bd8dbe5839c3af310f99487a4918 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=91e62a56f142bd8dbe5839c3af310f99487a4918 Author: Philippe Gerum Date: Thu Jul 30 14:20:45 2015 +0200 cobalt: bump ABI revision level --- kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h index 01a12d9..9f1d974 100644 --- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h +++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h @@ -22,7 +22,7 @@ #define _COBALT_ARM64_ASM_UAPI_FEATURES_H /* The ABI revision level we use on this arch. */ -#define XENOMAI_ABI_REV 16UL +#define XENOMAI_ABI_REV 17UL #define XENOMAI_FEAT_DEP (__xn_feat_generic_mask) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: set cache aliasing and disable floating point coprocessor instructions form aarch64 /arm64
Module: xenomai-3
Branch: next
Commit: ab504be97be7a29f2ad55a8892e93ec8eecb7851
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ab504be97be7a29f2ad55a8892e93ec8eecb7851
Author: Dmitriy Cherkasov
Date: Thu May 7 16:41:45 2015 -0700
cobalt/arm64: set cache aliasing and disable floating point coprocessor
instructions form aarch64/arm64
---
kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h|3 ++-
.../cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h | 13 -
2 files changed, 14 insertions(+), 2 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index cf07a3f..e078564 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -38,7 +38,8 @@
#include
#include
-#define xnarch_cache_aliasing() cache_is_vivt()
+/* D-side always behaves as PIPT on AArch64 (see
arch/arm64/include/asm/cachetype.h) */
+#define xnarch_cache_aliasing() 0
static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
{
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
index b81d109..65a3e31 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -18,10 +18,17 @@
#ifndef _COBALT_ARM_ASM_UAPI_FPTEST_H
#define _COBALT_ARM_ASM_UAPI_FPTEST_H
+#ifdef __aarch64__
+/* CP10 and CP11, used for the FP/NEON operations, are already excluded from
+the list of valid operands for the generic coprocessor instructions */
+#define __COBALT_HAVE_VFP 0
+#else
#define __COBALT_HAVE_VFP 0x1
+#endif
static inline void fp_regs_set(int features, unsigned int val)
{
+#if __COBALT_HAVE_VFP != 0
unsigned long long e[16];
unsigned int i;
@@ -34,12 +41,15 @@ static inline void fp_regs_set(int features, unsigned int
val)
__asm__ __volatile__("ldc p11, cr0, [%0],#32*4":
"=r"(i): "0"(&e[0]): "memory");
}
+#endif
}
static inline unsigned int fp_regs_check(int features, unsigned int val,
int (*report)(const char *fmt, ...))
{
- unsigned int result = val, i;
+ unsigned int result = val;
+#if __COBALT_HAVE_VFP != 0
+ unsigned int i;
unsigned long long e[16];
if (features & __COBALT_HAVE_VFP) {
@@ -54,6 +64,7 @@ static inline unsigned int fp_regs_check(int features,
unsigned int val,
result = e[i];
}
}
+#endif
return result;
}
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: fix fpu exception names
Module: xenomai-3
Branch: next
Commit: fce8af1256cce96478a849e555caa162629eacdd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fce8af1256cce96478a849e555caa162629eacdd
Author: Dmitriy Cherkasov
Date: Mon Sep 28 16:13:45 2015 -0700
cobalt/arm64: fix fpu exception names
---
kernel/cobalt/arch/arm64/machine.c |4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/machine.c
b/kernel/cobalt/arch/arm64/machine.c
index f48d4a8..ddf65a8 100644
--- a/kernel/cobalt/arch/arm64/machine.c
+++ b/kernel/cobalt/arch/arm64/machine.c
@@ -99,8 +99,8 @@ static const char *const fault_labels[] = {
[IPIPE_TRAP_DABT] = "Generic data abort",
[IPIPE_TRAP_UNKNOWN] = "Unknown exception",
[IPIPE_TRAP_BREAK] = "Instruction breakpoint",
- [IPIPE_TRAP_FPU] = "Floating point exception",
- [IPIPE_TRAP_VFP] = "VFP Floating point exception",
+ [IPIPE_TRAP_FPU_ACC] = "Floating point access",
+ [IPIPE_TRAP_FPU_EXC] = "Floating point exception",
[IPIPE_TRAP_UNDEFINSTR] = "Undefined instruction",
#ifdef IPIPE_TRAP_ALIGNMENT
[IPIPE_TRAP_ALIGNMENT] = "Unaligned access exception",
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[Xenomai-git] Philippe Gerum : cobalt/arm64: use regular context switching code
Module: xenomai-3
Branch: next
Commit: 8988aef3f858677eaa843b35d206377681d3e632
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8988aef3f858677eaa843b35d206377681d3e632
Author: Philippe Gerum
Date: Sat Oct 17 18:07:59 2015 +0200
cobalt/arm64: use regular context switching code
Instead of open coding a copy of the regular context switching code,
use __switch_to() directly, assuming the pipeline properly serializes
switches from all domains.
---
kernel/cobalt/arch/arm64/thread.c | 66 +++--
1 file changed, 5 insertions(+), 61 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/thread.c
b/kernel/cobalt/arch/arm64/thread.c
index 35dbd72..5282b0c 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -34,7 +34,7 @@
#include
#include
-#if defined(CONFIG_XENO_ARCH_FPU)
+#ifdef CONFIG_XENO_ARCH_FPU
#define FPSIMD_EN (0x3 << 20)
@@ -60,13 +60,6 @@ static void enable_fpsimd(void)
set_cpacr(cpacr);
}
-static void disable_fpsimd(void)
-{
- unsigned long cpacr = get_cpacr();
- cpacr &= ~FPSIMD_EN;
- set_cpacr(cpacr);
-}
-
int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
{
return (d->exception == IPIPE_TRAP_FPU_ACC);
@@ -130,55 +123,17 @@ void xnarch_init_shadow_tcb(struct xnthread *thread)
tcb->fpup = &(tcb->core.host_task->thread.fpsimd_state);
xnthread_clear_state(thread, XNFPU);
}
-#endif /* CONFIG_XENO_ARCH_FPU */
-/* Switch support functions */
-static void xnarch_tls_thread_switch(struct task_struct *next)
-{
- unsigned long tpidr, tpidrro;
-
- if (!is_compat_task()) {
- asm("mrs %0, tpidr_el0" : "=r" (tpidr));
- current->thread.tp_value = tpidr;
- }
-
- if (is_compat_thread(task_thread_info(next))) {
- tpidr = 0;
- tpidrro = next->thread.tp_value;
- } else {
- tpidr = next->thread.tp_value;
- tpidrro = 0;
- }
-
- asm(
- " msr tpidr_el0, %0\n"
- " msr tpidrro_el0, %1"
- : : "r" (tpidr), "r" (tpidrro));
-}
-
-#ifdef CONFIG_PID_IN_CONTEXTIDR
-static inline void xnarch_contextidr_thread_switch(struct task_struct *next)
-{
- asm(
- " msr contextidr_el1, %0\n"
- " isb"
- :
- : "r" (task_pid_nr(next)));
-}
-#else
-static inline void xnarch_contextidr_thread_switch(struct task_struct *next)
-{
-}
-#endif
-/* End switch support functions */
+#endif /* CONFIG_XENO_ARCH_FPU */
void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
{
struct xnarchtcb *out_tcb = &out->tcb, *in_tcb = &in->tcb;
struct mm_struct *prev_mm, *next_mm;
- struct task_struct *next;
+ struct task_struct *prev, *next;
next = in_tcb->core.host_task;
+ prev = out_tcb->core.host_task;
prev_mm = out_tcb->core.active_mm;
next_mm = in_tcb->core.mm;
@@ -198,18 +153,7 @@ void xnarch_switch_to(struct xnthread *out, struct
xnthread *in)
enter_lazy_tlb(prev_mm, next);
}
- xnarch_tls_thread_switch(in_tcb->core.tip->task);
- xnarch_contextidr_thread_switch(in_tcb->core.tip->task);
-
- /*
-* Complete any pending TLB or cache maintenance on this CPU in case
-* the thread migrates to a different CPU.
-*/
- dsb(ish);
-
- disable_fpsimd();
-
- cpu_switch_to(out_tcb->core.tip->task, in_tcb->core.tip->task);
+ __switch_to(prev, next);
}
int xnarch_escalate(void)
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[Xenomai-git] Philippe Gerum : cobalt/arm64: sanitize calibration file
Module: xenomai-3
Branch: next
Commit: 2ab7070dcc72256f2fac43aece3afb70e8903d82
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2ab7070dcc72256f2fac43aece3afb70e8903d82
Author: Philippe Gerum
Date: Thu Sep 17 04:01:49 2015 +0200
cobalt/arm64: sanitize calibration file
---
.../arch/arm64/include/asm/xenomai/calibration.h | 44 +---
1 file changed, 11 insertions(+), 33 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
index e303a04..e85521e 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
@@ -1,13 +1,10 @@
/*
- * Copyright (C) 2001,2002,2003,2004,2005 Philippe Gerum .
+ * Copyright (C) 2015 Philippe Gerum .
*
- * ARM port
- * Copyright (C) 2005 Stelian Pop
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * Xenomai is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; either version 2 of the License,
+ * or (at your option) any later version.
*
* Xenomai is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -19,41 +16,22 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
-#ifndef _COBALT_ARM_ASM_CALIBRATION_H
-#define _COBALT_ARM_ASM_CALIBRATION_H
-
-unsigned int omap_rev(void);
-#define cpu_is_omap44xx() ((omap_rev() & 0xff) == 0x44)
+#ifndef _COBALT_ARM64_ASM_CALIBRATION_H
+#define _COBALT_ARM64_ASM_CALIBRATION_H
static inline void xnarch_get_latencies(struct xnclock_gravity *p)
{
unsigned int ulat;
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
ulat = CONFIG_XENO_OPT_TIMING_SCHEDLAT;
-#elif defined(CONFIG_ARCH_AT91RM9200)
- ulat = 8500;
-#elif defined(CONFIG_ARCH_AT91SAM9263)
- ulat = 11000;
-#elif defined(CONFIG_SOC_IMX6Q)
- ulat = 6000;
-#elif defined(CONFIG_ARCH_MX51)
- ulat = 5000;
-#elif defined(CONFIG_ARCH_MX53)
- ulat = 5000;
-#elif defined(CONFIG_ARCH_MX6)
- ulat = 2000;
-#elif defined(CONFIG_SOC_IMX7)
- ulat = 2000;
-#elif defined(CONFIG_SOC_LS1021A)
- ulat = 2800;
-#elif defined(CONFIG_ARCH_OMAP)
- ulat = cpu_is_omap44xx() ? 2500 : 5000;
+#elif defined(CONFIG_ARCH_HISI)
+ ulat = 4000;
#else
- ulat = 9500;/* XXX sane? */
+ ulat = 4000;
#endif
p->user = xnclock_ns_to_ticks(&nkclock, ulat);
p->kernel = xnclock_ns_to_ticks(&nkclock,
CONFIG_XENO_OPT_TIMING_KSCHEDLAT);
p->irq = xnclock_ns_to_ticks(&nkclock, CONFIG_XENO_OPT_TIMING_IRQLAT);
}
-#endif /* !_COBALT_ARM_ASM_CALIBRATION_H */
+#endif /* !_COBALT_ARM64_ASM_CALIBRATION_H */
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: populate arch/arm64 with a copy of arch/ arm.
Module: xenomai-3 Branch: next Commit: ddae18edfee5bca3f9ff261505504e0d82ebad38 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ddae18edfee5bca3f9ff261505504e0d82ebad38 Author: Dmitriy Cherkasov Date: Wed May 6 15:27:23 2015 -0700 cobalt/arm64: populate arch/arm64 with a copy of arch/arm. kernel/cobalt/arch/arm -> kernel/cobalt/arch/arm64 lib/cobalt/arch/arm -> lib/cobalt/arch/arm64 --- configure.ac |8 + kernel/cobalt/arch/arm64/Kconfig | 40 +++ kernel/cobalt/arch/arm64/Makefile |5 + .../arch/arm64/include/asm/xenomai/calibration.h | 59 .../arch/arm64/include/asm/xenomai/features.h | 30 ++ .../cobalt/arch/arm64/include/asm/xenomai/fptest.h | 52 +++ .../arch/arm64/include/asm/xenomai/machine.h | 85 + .../arch/arm64/include/asm/xenomai/syscall.h | 74 .../arch/arm64/include/asm/xenomai/syscall32.h | 24 ++ .../cobalt/arch/arm64/include/asm/xenomai/thread.h | 123 +++ .../arch/arm64/include/asm/xenomai/uapi/arith.h| 142 .../arch/arm64/include/asm/xenomai/uapi/features.h | 43 +++ .../arch/arm64/include/asm/xenomai/uapi/fptest.h | 61 .../arch/arm64/include/asm/xenomai/uapi/syscall.h | 34 ++ .../arch/arm64/include/asm/xenomai/uapi/tsc.h | 25 ++ .../arch/arm64/include/asm/xenomai/wrappers.h | 27 ++ kernel/cobalt/arch/arm64/machine.c | 119 +++ kernel/cobalt/arch/arm64/mayday.c | 146 kernel/cobalt/arch/arm64/switch.S | 167 + kernel/cobalt/arch/arm64/syscall.c | 53 +++ kernel/cobalt/arch/arm64/thread.c | 355 lib/cobalt/arch/Makefile.am|2 +- lib/cobalt/arch/arm64/Makefile.am | 13 + lib/cobalt/arch/arm64/features.c | 102 ++ lib/cobalt/arch/arm64/include/Makefile.am |2 + lib/cobalt/arch/arm64/include/asm/Makefile.am |2 + .../arch/arm64/include/asm/xenomai/Makefile.am |5 + .../arch/arm64/include/asm/xenomai/features.h | 62 .../arch/arm64/include/asm/xenomai/syscall.h | 138 lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h| 48 +++ 30 files changed, 2045 insertions(+), 1 deletion(-) diff --git a/configure.ac b/configure.ac index 38a1749..ac9b252 100644 --- a/configure.ac +++ b/configure.ac @@ -139,6 +139,10 @@ case "$build_for" in XENO_TARGET_ARCH=arm CONFIG_XENO_DEFAULT_PERIOD=100 ;; + aarch64-*) + XENO_TARGET_ARCH=arm64 + CONFIG_XENO_DEFAULT_PERIOD=100 + ;; x86_64-*|amd64-*) use_tls=yes XENO_TARGET_ARCH=x86 @@ -854,6 +858,10 @@ AC_CONFIG_FILES([ \ lib/cobalt/arch/arm/include/Makefile \ lib/cobalt/arch/arm/include/asm/Makefile \ lib/cobalt/arch/arm/include/asm/xenomai/Makefile \ + lib/cobalt/arch/arm64/Makefile \ + lib/cobalt/arch/arm64/include/Makefile \ + lib/cobalt/arch/arm64/include/asm/Makefile \ + lib/cobalt/arch/arm64/include/asm/xenomai/Makefile \ lib/cobalt/arch/powerpc/Makefile \ lib/cobalt/arch/powerpc/include/Makefile \ lib/cobalt/arch/powerpc/include/asm/Makefile \ diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig new file mode 100644 index 000..dc6485d --- /dev/null +++ b/kernel/cobalt/arch/arm64/Kconfig @@ -0,0 +1,40 @@ +source "kernel/xenomai/Kconfig" +source "drivers/xenomai/Kconfig" + +menu "Machine/platform-specific options" + +config XENO_ARCH_UNLOCKED_SWITCH + bool "Unlocked context switch" + default y + help + The Cobalt core may allow non-atomic execution of the + machine-dependent context switching code, so that other CPUs + and/or local interrupts may execute concurrently. + + This option reduces interrupt latency when costly cache and + TLB flushes are required to switch context. + + You definitely want to enable that option on low-end ARM + platforms. +endmenu + +config IPIPE_WANT_PREEMPTIBLE_SWITCH + bool + default y if XENO_ARCH_UNLOCKED_SWITCH + default n if !XENO_ARCH_UNLOCKED_SWITCH + +config IPIPE_WANT_ACTIVE_MM + def_bool y + +config XENO_ARCH_WANT_TIP + def_bool y + +config XENO_ARCH_FPU + def_bool VFP + +config XENO_ARCH_SYS3264 +def_bool n + +config XENO_ARCH_OUTOFLINE_XNLOCK + bool + default y diff --git a/kernel/cobalt/arch/arm64/Makefile b/kernel/cobalt/arch/arm64/Makefile new file mode 100644 index 000..f2e4e20 --- /dev/null +++ b/kernel/cobalt/arch/arm64/Makefile @@ -0,0 +1,5 @@ +obj-$(CONFIG_XENOMAI) += xenomai.o + +xenomai-y := machine.o mayday.o thread.o switch.o syscall.o + +ccflags-y := -Iarch/arm/xenomai/include -Iinclude/xenomai diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
[Xenomai-git] Don Mahurin : lib/cobalt/arm64: replace tsc counter
Module: xenomai-3
Branch: next
Commit: acc64aac44340dc2d0730188648322452f2d5578
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=acc64aac44340dc2d0730188648322452f2d5578
Author: Don Mahurin
Date: Wed May 13 09:36:25 2015 -0700
lib/cobalt/arm64: replace tsc counter
---
lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h | 19 +++
1 file changed, 19 insertions(+)
diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
b/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
index 594c4ad..a055427 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
@@ -27,6 +27,8 @@
#include
#include
+#include
+#include
/*
* Putting kuser_tsc_get and kinfo.counter in the same struct results
@@ -39,10 +41,27 @@ struct __xn_full_tscinfo {
};
extern struct __xn_full_tscinfo __xn_tscinfo;
+static inline uint64_t get_counter(void)
+{
+uint64_t cval;
+
+#ifdef __aarch64__
+ asm volatile("isb; mrs %0, cntvct_el0; isb; " : "=r" (cval) ::
"memory");
+#else
+ asm volatile("isb; mrrc p15, 1, %Q0, %R0, c14; isb" : "=r" (cval) ::
"memory");
+#endif
+
+ return cval;
+}
+
static inline __attribute__((always_inline))
unsigned long long cobalt_read_tsc(void)
{
+#ifndef __aarch64__
return __xn_tscinfo.kuser_tsc_get(__xn_tscinfo.kinfo.counter);
+#else
+ return get_counter();
+#endif
}
#endif /* !_LIB_COBALT_ARM_TSC_H */
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: prepare-kernel: add arm64 arch
Module: xenomai-3 Branch: next Commit: 44fb225580cea30cb9fc725472597b648cefe7ee URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=44fb225580cea30cb9fc725472597b648cefe7ee Author: Dmitriy Cherkasov Date: Wed May 6 15:27:10 2015 -0700 cobalt/arm64: prepare-kernel: add arm64 arch --- scripts/prepare-kernel.sh |3 +++ 1 file changed, 3 insertions(+) diff --git a/scripts/prepare-kernel.sh b/scripts/prepare-kernel.sh index 333d11c..6bb9f06 100755 --- a/scripts/prepare-kernel.sh +++ b/scripts/prepare-kernel.sh @@ -284,6 +284,9 @@ while : ; do arm) linux_arch=arm ;; + arm64) + linux_arch=arm64 + ;; sh|sh4) linux_arch=sh ;; ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : testsuite/smokey: add test checking Cobalt' s cpu affinity control
Module: xenomai-3 Branch: next Commit: 1bca8574f7f01fc4b6d9ad0b9d8dd92548d63232 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1bca8574f7f01fc4b6d9ad0b9d8dd92548d63232 Author: Philippe Gerum Date: Fri Feb 26 11:44:16 2016 +0100 testsuite/smokey: add test checking Cobalt's cpu affinity control --- configure.ac |1 + 1 file changed, 1 insertion(+) diff --git a/configure.ac b/configure.ac index 527d4a6..c062226 100644 --- a/configure.ac +++ b/configure.ac @@ -909,6 +909,7 @@ AC_CONFIG_FILES([ \ testsuite/smokey/net_packet_dgram/Makefile \ testsuite/smokey/net_packet_raw/Makefile \ testsuite/smokey/net_common/Makefile \ + testsuite/smokey/cpu-affinity/Makefile \ testsuite/clocktest/Makefile \ testsuite/xeno-test/Makefile \ utils/Makefile \ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: remove code for unrelated arm architecture
Module: xenomai-3
Branch: next
Commit: 0d332937cb9790bdcbc9e74ead3fb0bbc40df21d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0d332937cb9790bdcbc9e74ead3fb0bbc40df21d
Author: Dmitriy Cherkasov
Date: Thu May 7 13:56:22 2015 -0700
cobalt/arm64: remove code for unrelated arm architecture
---
.../arch/arm64/include/asm/xenomai/machine.h | 33
.../arch/arm64/include/asm/xenomai/uapi/arith.h|4 +--
2 files changed, 2 insertions(+), 35 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index d6e965f..cf07a3f 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -32,53 +32,20 @@
#include
#include
#include
-#include
#include
#include
#include
#include
-#include
#include
#define xnarch_cache_aliasing() cache_is_vivt()
-#if __LINUX_ARM_ARCH__ < 5
-static inline __attribute_const__ unsigned long ffnz(unsigned long x)
-{
- int r = 0;
-
- if (!x)
- return 0;
- if (!(x & 0x)) {
- x >>= 16;
- r += 16;
- }
- if (!(x & 0xff)) {
- x >>= 8;
- r += 8;
- }
- if (!(x & 0xf)) {
- x >>= 4;
- r += 4;
- }
- if (!(x & 3)) {
- x >>= 2;
- r += 2;
- }
- if (!(x & 1)) {
- x >>= 1;
- r += 1;
- }
- return r;
-}
-#else
static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
{
int __r;
__asm__("clz\t%0, %1" : "=r" (__r) : "r"(ul & (-ul)) : "cc");
return 31 - __r;
}
-#endif
#include
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
index cf897b4..165cd9d 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
@@ -20,7 +20,7 @@
#include
-#if __LINUX_ARM_ARCH__ >= 4 && (!defined(CONFIG_THUMB2_KERNEL) ||
!defined(CONFIG_FTRACE))
+#if !defined(CONFIG_FTRACE)
static inline __attribute__((__const__)) unsigned long long
mach_arm_nodiv_ullimd(const unsigned long long op,
const unsigned long long frac,
@@ -49,7 +49,7 @@ mach_arm_nodiv_llimd(const long long op,
#include
-#if __LINUX_ARM_ARCH__ >= 4 && (!defined(CONFIG_THUMB2_KERNEL) ||
!defined(CONFIG_FTRACE))
+#if !defined(CONFIG_FTRACE)
#define mach_arm_nodiv_ullimd_str \
"umull %[tl], %[rl], %[opl], %[fracl]\n\t" \
"umull %[rm], %[rh], %[oph], %[frach]\n\t" \
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: add basic FPU support
Module: xenomai-3
Branch: next
Commit: 2827b867a6feb9260b31649ec7a6941789b433bd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2827b867a6feb9260b31649ec7a6941789b433bd
Author: Dmitriy Cherkasov
Date: Fri Sep 11 17:58:54 2015 -0700
cobalt/arm64: add basic FPU support
---
kernel/cobalt/arch/arm64/Kconfig |2 +-
.../cobalt/arch/arm64/include/asm/xenomai/fptest.h | 11 +-
.../cobalt/arch/arm64/include/asm/xenomai/thread.h | 17 +-
.../arch/arm64/include/asm/xenomai/uapi/fptest.h | 83 +++--
kernel/cobalt/arch/arm64/thread.c | 329 +---
lib/cobalt/arch/arm64/features.c |4 +-
6 files changed, 153 insertions(+), 293 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
index dd5a8c6..27b5026 100644
--- a/kernel/cobalt/arch/arm64/Kconfig
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -8,7 +8,7 @@ config XENO_ARCH_WANT_TIP
def_bool y
config XENO_ARCH_FPU
- def_bool VFP
+ def_bool y
config XENO_ARCH_SYS3264
def_bool n
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
index a76f1e6..743d758 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
@@ -20,15 +20,10 @@
#define _COBALT_ARM_ASM_FPTEST_H
#include
+#include
#include
-#ifdef CONFIG_VFP
-#define have_vfp (elf_hwcap & HWCAP_VFP)
-#else /* !CONFIG_VFP */
-#define have_vfp 0
-#endif /* !CONFIG_VFP */
-
-#include
+#define have_fp (elf_hwcap & HWCAP_FP)
static inline int fp_kernel_supported(void)
{
@@ -46,7 +41,7 @@ static inline void fp_linux_end(void)
static inline int fp_detect(void)
{
- return have_vfp ? __COBALT_HAVE_VFP : 0;
+ return have_fp ? __COBALT_HAVE_FPU : 0;
}
#endif /* _COBALT_ARM_ASM_FPTEST_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index a8d7ed4..bfcceb4 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -21,21 +21,12 @@
#include
-#ifdef CONFIG_XENO_ARCH_FPU
-#ifdef CONFIG_VFP
-#include
-#endif /* CONFIG_VFP */
-#endif /* !CONFIG_XENO_ARCH_FPU */
struct xnarchtcb {
struct xntcb core;
#ifdef CONFIG_XENO_ARCH_FPU
-#ifdef CONFIG_VFP
- union vfp_state *fpup;
+ struct fpsimd_state *fpup;
#define xnarch_fpu_ptr(tcb) ((tcb)->fpup)
-#else
-#define xnarch_fpu_ptr(tcb) NULL
-#endif
#endif
struct {
unsigned long pc;
@@ -67,7 +58,7 @@ static inline void xnarch_enter_root(struct xnthread *root) {
}
int xnarch_escalate(void);
-#if defined(CONFIG_XENO_ARCH_FPU) && defined(CONFIG_VFP)
+#if defined(CONFIG_XENO_ARCH_FPU)
static inline void xnarch_init_root_tcb(struct xnthread *thread)
{
@@ -88,7 +79,7 @@ void xnarch_switch_fpu(struct xnthread *from, struct xnthread
*thread);
int xnarch_handle_fpu_fault(struct xnthread *from,
struct xnthread *to, struct ipipe_trap_data *d);
-#else /* !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
+#else /* !CONFIG_XENO_ARCH_FPU */
static inline void xnarch_init_root_tcb(struct xnthread *thread) { }
static inline void xnarch_init_shadow_tcb(struct xnthread *thread) { }
@@ -114,7 +105,7 @@ static inline int xnarch_handle_fpu_fault(struct xnthread
*from,
{
return 0;
}
-#endif /* !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
+#endif /* !CONFIG_XENO_ARCH_FPU */
static inline void xnarch_enable_kfpu(void) { }
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
index 65a3e31..25bc976 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -18,53 +18,86 @@
#ifndef _COBALT_ARM_ASM_UAPI_FPTEST_H
#define _COBALT_ARM_ASM_UAPI_FPTEST_H
-#ifdef __aarch64__
-/* CP10 and CP11, used for the FP/NEON operations, are already excluded from
-the list of valid operands for the generic coprocessor instructions */
-#define __COBALT_HAVE_VFP 0
-#else
-#define __COBALT_HAVE_VFP 0x1
-#endif
+#define __COBALT_HAVE_FPU 0x1
static inline void fp_regs_set(int features, unsigned int val)
{
-#if __COBALT_HAVE_VFP != 0
- unsigned long long e[16];
+
+ unsigned long long e[32];
unsigned int i;
- if (features & __COBALT_HAVE_VFP) {
- for (i = 0; i < 16; i++)
+ if (features & __COBALT_HAVE_FPU) {
+
+ for (i = 0; i < 32; i++)
e[i] = val;
- /* vldm %0!, {d0-d15},
- AKA fldmiax %0!, {d0-d15} */
- __asm__ __volatile__("ldc p11, cr0, [%0],#32*4":
-"=r"(i): "0"(&e[0]): "memory");
+ __asm__ __volatile
[Xenomai-git] Philippe Gerum : cobalt/arm64: switch to regular system call convention
Module: xenomai-3 Branch: next Commit: 1101fe49e6535d299afc7c3f35e8caf23fd694a8 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1101fe49e6535d299afc7c3f35e8caf23fd694a8 Author: Philippe Gerum Date: Mon Oct 19 15:54:55 2015 +0200 cobalt/arm64: switch to regular system call convention --- .../arch/arm64/include/asm/xenomai/syscall.h | 29 +--- .../arch/arm64/include/asm/xenomai/uapi/syscall.h |8 +- lib/cobalt/arch/arm64/features.c |8 - .../arch/arm64/include/asm/xenomai/syscall.h | 180 lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h| 19 +-- 5 files changed, 78 insertions(+), 166 deletions(-) diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h index 949f287..9fc6522 100644 --- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h +++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h @@ -28,31 +28,16 @@ #include #include -#ifndef __NR_SYSCALL_BASE -#define __NR_SYSCALL_BASE 0 -#endif - -#ifndef __ARM_NR_ipipe -/* Legacy pipelines do not define this. */ -#define __ARM_NR_ipipe (__NR_SYSCALL_BASE + XENO_ARM_SYSCALL) -#endif - -#define __xn_reg_sys(__regs) ((__regs)->orig_x0) -/* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */ -#ifdef CONFIG_OABI_COMPAT -#define __xn_syscall_p(__regs) (((__regs)->regs[8] == __NR_OABI_SYSCALL_BASE + XENO_ARM_SYSCALL) || \ -((__regs)->regs[8] == __ARM_NR_ipipe)) -#else /* !CONFIG_OABI_COMPAT */ -#define __xn_syscall_p(__regs) ((__regs)->regs[8] == __ARM_NR_ipipe) -#endif /* !CONFIG_OABI_COMPAT */ +#define __xn_reg_sys(__regs) ((unsigned long)(__regs)->syscallno) +#define __xn_syscall_p(regs) ((__xn_reg_sys(regs) & __COBALT_SYSCALL_BIT) != 0) #define __xn_syscall(__regs) ((unsigned long)(__xn_reg_sys(__regs) & ~__COBALT_SYSCALL_BIT)) #define __xn_reg_rval(__regs) ((__regs)->regs[0]) -#define __xn_reg_arg1(__regs) ((__regs)->regs[1]) -#define __xn_reg_arg2(__regs) ((__regs)->regs[2]) -#define __xn_reg_arg3(__regs) ((__regs)->regs[3]) -#define __xn_reg_arg4(__regs) ((__regs)->regs[4]) -#define __xn_reg_arg5(__regs) ((__regs)->regs[5]) +#define __xn_reg_arg1(__regs) ((__regs)->regs[0]) +#define __xn_reg_arg2(__regs) ((__regs)->regs[1]) +#define __xn_reg_arg3(__regs) ((__regs)->regs[2]) +#define __xn_reg_arg4(__regs) ((__regs)->regs[3]) +#define __xn_reg_arg5(__regs) ((__regs)->regs[4]) #define __xn_reg_pc(__regs)((__regs)->pc) #define __xn_reg_sp(__regs)((__regs)->sp) diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h index 60dabd5..5b319d6 100644 --- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h +++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h @@ -23,12 +23,6 @@ #define __xn_syscode(__nr) (__COBALT_SYSCALL_BIT | (__nr)) -#define XENO_ARM_SYSCALL0x000F0042 /* carefully chosen... */ - -#define XENOMAI_SYSARCH_ATOMIC_ADD_RETURN 0 -#define XENOMAI_SYSARCH_ATOMIC_SET_MASK1 -#define XENOMAI_SYSARCH_ATOMIC_CLEAR_MASK 2 -#define XENOMAI_SYSARCH_XCHG 3 -#define XENOMAI_SYSARCH_TSCINFO 4 +#define XENOMAI_SYSARCH_TSCINFO0 #endif /* !_COBALT_ARM64_ASM_UAPI_SYSCALL_H */ diff --git a/lib/cobalt/arch/arm64/features.c b/lib/cobalt/arch/arm64/features.c index f5253a6..254c8ae 100644 --- a/lib/cobalt/arch/arm64/features.c +++ b/lib/cobalt/arch/arm64/features.c @@ -59,14 +59,6 @@ void cobalt_check_features(struct cobalt_featinfo *finfo) page_size = sysconf(_SC_PAGESIZE); -#ifndef __aarch64__ - __xn_tscinfo.kuser_tsc_get = - (__xn_rdtsc_t *)(0x1004 - - ((*(unsigned *)(0x0ffc) + 3) << 5)); -#else - __xn_tscinfo.kuser_tsc_get = 0; -#endif - phys_addr = (unsigned long)__xn_tscinfo.kinfo.counter; addr = __STD(mmap(NULL, page_size, PROT_READ, MAP_SHARED, diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h index 8e7ad61..d2dfda6 100644 --- a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h +++ b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h @@ -1,8 +1,5 @@ /* - * Copyright (C) 2001,2002,2003,2004 Philippe Gerum . - * - * ARM port - * Copyright (C) 2005 Stelian Pop + * Copyright (C) 2015 Philippe Gerum . * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public @@ -25,119 +22,76 @@ #include #include -/* - * Some of the following macros have been adapted from Linux's - * implementation of the syscall mechanism in : - */ - -#define LOADARGS_0(syscode, dummy...) \ - __a0 = (unsigned long) (syscode) -#define LOADARGS_1(syscode, arg1) \ - LOADARGS_0(syscode);
[Xenomai-git] Don Mahurin : lib/cobalt/arm64: disable kuser tsc get setting for armv8/ aarch64
Module: xenomai-3 Branch: next Commit: 3140a99503f2c0aff76f063ce4fd6a6a454136a2 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3140a99503f2c0aff76f063ce4fd6a6a454136a2 Author: Don Mahurin Date: Fri May 8 10:37:36 2015 -0700 lib/cobalt/arm64: disable kuser tsc get setting for armv8/aarch64 --- lib/cobalt/arch/arm64/features.c |4 1 file changed, 4 insertions(+) diff --git a/lib/cobalt/arch/arm64/features.c b/lib/cobalt/arch/arm64/features.c index edabcf2..7c7e76a 100644 --- a/lib/cobalt/arch/arm64/features.c +++ b/lib/cobalt/arch/arm64/features.c @@ -59,9 +59,13 @@ void cobalt_check_features(struct cobalt_featinfo *finfo) page_size = sysconf(_SC_PAGESIZE); +#ifndef __aarch64__ __xn_tscinfo.kuser_tsc_get = (__xn_rdtsc_t *)(0x1004 - ((*(unsigned *)(0x0ffc) + 3) << 5)); +#else + __xn_tscinfo.kuser_tsc_get = 0; +#endif phys_addr = (unsigned long)__xn_tscinfo.kinfo.counter; ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/wrappers: add wrapper for reinit_completion()
Module: xenomai-3
Branch: next
Commit: 40e1e3b85997cd4d3194851ea77cda001293861b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=40e1e3b85997cd4d3194851ea77cda001293861b
Author: Philippe Gerum
Date: Thu Mar 3 09:16:21 2016 +0100
cobalt/wrappers: add wrapper for reinit_completion()
---
kernel/cobalt/include/asm-generic/xenomai/wrappers.h |2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
index ceaf647..060ce85 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -44,7 +44,6 @@
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
#include
-#include
#undef alloc_netdev
#define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -57,6 +56,7 @@ trace_seq_buffer_ptr(struct trace_seq *s)
{
return s->buffer + s->len;
}
+
#endif /* < 3.17 */
#if LINUX_VERSION_CODE < KERNEL_VERSION(3,16,0)
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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: thread: use kernel switch_to
Module: xenomai-3
Branch: next
Commit: 9865a1e22a9ec04f3188152c3e9a66690b8935d8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9865a1e22a9ec04f3188152c3e9a66690b8935d8
Author: Dmitriy Cherkasov
Date: Fri May 15 23:26:18 2015 -0700
cobalt/arm64: thread: use kernel switch_to
---
kernel/cobalt/arch/arm64/Makefile |2 +-
kernel/cobalt/arch/arm64/switch.S | 167 -
kernel/cobalt/arch/arm64/thread.c |5 +-
3 files changed, 2 insertions(+), 172 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/Makefile
b/kernel/cobalt/arch/arm64/Makefile
index a135f99..af0a0e8 100644
--- a/kernel/cobalt/arch/arm64/Makefile
+++ b/kernel/cobalt/arch/arm64/Makefile
@@ -1,5 +1,5 @@
obj-$(CONFIG_XENOMAI) += xenomai.o
-xenomai-y := machine.o mayday.o thread.o switch.o syscall.o
+xenomai-y := machine.o mayday.o thread.o syscall.o
ccflags-y := -Iarch/arm64/xenomai/include -Iinclude/xenomai
diff --git a/kernel/cobalt/arch/arm64/switch.S
b/kernel/cobalt/arch/arm64/switch.S
deleted file mode 100644
index 505fd5a..000
--- a/kernel/cobalt/arch/arm64/switch.S
+++ /dev/null
@@ -1,167 +0,0 @@
-/*
- * Copyright (C) 2005 Stelian Pop.
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, Inc., 675 Mass Ave, Cambridge MA 02139,
- * USA; either version 2 of the License, or (at your option) any later
- * version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- */
-
-#include
-#include
-#include
-#include
-#include
-#ifdef CONFIG_VFP
-#include
-#endif
-
- .macro fpu_switch tmp
-#ifdef CONFIG_VFP
-#if __LINUX_ARM_ARCH__ <= 6
-#ifdef CONFIG_JUMP_LABEL
-9998: nop
- .pushsection __jump_table, "aw"
- .word 9998b, f, __xeno_vfp_key
- .popsection
-#else
- ldr \tmp, =elf_hwcap
- ldr \tmp, [\tmp]
- tst \tmp, #HWCAP_VFP
- beq f
-#endif
-#endif
- @ Always disable VFP so we can lazily save/restore the old
- @ state. This occurs in the context of the previous thread.
- VFPFMRX \tmp, FPEXC
- bic \tmp, \tmp, #FPEXC_EN
- VFPFMXR FPEXC, \tmp
-#if __LINUX_ARM_ARCH__ <= 6
-:
-#endif
-#endif
- .endm
-
- .text
-
-#if defined(CONFIG_VFP) && defined(CONFIG_XENO_ARCH_FPU)
-/* Copied from vfp_save_state in arch/arm/vfp/vfphw.S
- * r0 = pointer to union vfp_state, r1 = fpexc
- */
-ENTRY(__asm_vfp_save)
- VFPFSTMIA r0, r2 @ save the working registers
- VFPFMRX r2, FPSCR @ current status
- tst r1, #FPEXC_EX @ is there additional state to save?
- beq 1f
- VFPFMRX r3, FPINST @ FPINST (only if FPEXC.EX is set)
- tst r1, #FPEXC_FP2V @ is there an FPINST2 to read?
- beq 1f
- VFPFMRX r12, FPINST2@ FPINST2 if needed (and present)
-1:
- stmia r0, {r1, r2, r3, r12} @ save FPEXC, FPSCR, FPINST,
FPINST2
- mov pc, lr
-ENDPROC(__asm_vfp_save)
-
-/* Copied from no_old_VFP_process in arch/arm/vfp/vfphw.S
- * r0 = pointer to union vfp_state
- * r1 = current cpu
- */
-ENTRY(__asm_vfp_load)
-#ifdef CONFIG_SMP
- str r1, [r0, #VFP_CPU]
-#endif
- VFPFLDMIA r0, r2 @ reload the working registers while
- @ FPEXC is in a safe state
- ldmia r0, {r1, r2, r3, r12} @ load FPEXC, FPSCR, FPINST,
FPINST2
- tst r1, #FPEXC_EX @ is there additional state to restore?
- beq 1f
- VFPFMXR FPINST, r3 @ restore FPINST (only if FPEXC.EX is
set)
- tst r1, #FPEXC_FP2V @ is there an FPINST2 to write?
- beq 1f
- VFPFMXR FPINST2, r12@ FPINST2 if needed (and present)
-1:
- VFPFMXR FPSCR, r2 @ restore status
- mov pc, lr
-ENDPROC(__asm_vfp_load)
-#endif
-
-#if LINUX_VERSION_CODE < KERNEL_VERSION(3, 11, 0)
- .macro load_tls base, tp, tpuser
- ldr \tp, [\base, #TI_TP_VALUE]
- .endm
-
- .macro switch_tls base, tp, tpuser, tmp1, tmp2
- set_tls \tp, \tmp1, \tmp2
- .endm
-#else
- .macro load_tls base, tp, tpuser
- ldr \tp, [\base, #TI_TP_VALUE]
- ldr \tpuser, [\base, #TI_TP_VALUE + 4]
- .endm
-#endif
-
-/*
-/*
- * Switch context routine.
- *
- * Registers according to the ARM procedure
[Xenomai-git] Jan Kiszka : cobalt/kernel: Introduce __SCHED_CURRENT policy to setschedparam_ex
Module: xenomai-3
Branch: next
Commit: 762abc776d1bed4ac473bcea84711fee1505acaf
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=762abc776d1bed4ac473bcea84711fee1505acaf
Author: Jan Kiszka
Date: Tue Mar 8 14:41:28 2016 +0100
cobalt/kernel: Introduce __SCHED_CURRENT policy to setschedparam_ex
Define the internal scheduling policy "current": it shall refer to the
target thread's current scheduling policy. This will allow to model
pthread_setschedprio on top of pthread_setschedparam_ex with only a
single syscall.
Signed-off-by: Jan Kiszka
---
include/cobalt/uapi/sched.h|3 +++
kernel/cobalt/posix/thread.c | 10 ++
kernel/cobalt/trace/cobalt-posix.h |3 ++-
3 files changed, 15 insertions(+), 1 deletion(-)
diff --git a/include/cobalt/uapi/sched.h b/include/cobalt/uapi/sched.h
index b672095..2a1df44 100644
--- a/include/cobalt/uapi/sched.h
+++ b/include/cobalt/uapi/sched.h
@@ -21,6 +21,9 @@
#define SCHED_COBALT 42
#define SCHED_WEAK 43
+/* for internal use */
+#define __SCHED_CURRENT44
+
#ifndef SCHED_SPORADIC
#define SCHED_SPORADIC 10
#define sched_ss_low_priority sched_u.ss.__sched_low_priority
diff --git a/kernel/cobalt/posix/thread.c b/kernel/cobalt/posix/thread.c
index d87edb1..217b81b 100644
--- a/kernel/cobalt/posix/thread.c
+++ b/kernel/cobalt/posix/thread.c
@@ -242,6 +242,7 @@ struct xnthread_personality *cobalt_thread_finalize(struct
xnthread *zombie)
int __cobalt_thread_setschedparam_ex(struct cobalt_thread *thread, int policy,
const struct sched_param_ex *param_ex)
{
+ struct xnthread *base_thread = &thread->threadbase;
struct xnsched_class *sched_class;
union xnsched_policy_param param;
xnticks_t tslice;
@@ -256,6 +257,15 @@ int __cobalt_thread_setschedparam_ex(struct cobalt_thread
*thread, int policy,
goto out;
}
+ if (policy == __SCHED_CURRENT) {
+ policy = base_thread->base_class->policy;
+ if (xnthread_base_priority(base_thread) == 0)
+ policy = SCHED_NORMAL;
+ else if (base_thread->base_class == &xnsched_class_rt &&
+xnthread_test_state(base_thread, XNRRB))
+ policy = SCHED_RR;
+ }
+
tslice = thread->threadbase.rrperiod;
sched_class = cobalt_sched_policy_param(¶m, policy,
param_ex, &tslice);
diff --git a/kernel/cobalt/trace/cobalt-posix.h
b/kernel/cobalt/trace/cobalt-posix.h
index 3d0e20c..cc0eb05 100644
--- a/kernel/cobalt/trace/cobalt-posix.h
+++ b/kernel/cobalt/trace/cobalt-posix.h
@@ -90,7 +90,8 @@ DECLARE_EVENT_CLASS(syscall_exit,
{SCHED_QUOTA, "quota"},\
{SCHED_SPORADIC, "sporadic"}, \
{SCHED_COBALT, "cobalt"}, \
-{SCHED_WEAK, "weak"})
+{SCHED_WEAK, "weak"}, \
+{__SCHED_CURRENT, ""})
#define cobalt_print_sched_params(__policy, __p_ex)\
({ \
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[Xenomai-git] Philippe Gerum : cobalt/arm64: assume TLS is properly supported
Module: xenomai-3 Branch: next Commit: 9a808132591308d9a57deb711c6d8c4b34391e7c URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9a808132591308d9a57deb711c6d8c4b34391e7c Author: Philippe Gerum Date: Thu Sep 17 02:19:57 2015 +0200 cobalt/arm64: assume TLS is properly supported --- lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h |9 +++-- 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h index 1d5806c..8e7ad61 100644 --- a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h +++ b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h @@ -18,8 +18,8 @@ * License along with this library; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -#ifndef _LIB_COBALT_ARM_SYSCALL_H -#define _LIB_COBALT_ARM_SYSCALL_H +#ifndef _LIB_COBALT_ARM64_SYSCALL_H +#define _LIB_COBALT_ARM64_SYSCALL_H #include #include @@ -29,9 +29,6 @@ * Some of the following macros have been adapted from Linux's * implementation of the syscall mechanism in : */ -#if defined(HAVE_TLS) && __GNUC__ == 4 && __GNUC_MINOR__ >= 3 -#error TLS support (__thread) is broken with GCC >= 4.3, use --disable-tls when configuring -#endif #define LOADARGS_0(syscode, dummy...) \ __a0 = (unsigned long) (syscode) @@ -143,4 +140,4 @@ #define XENOMAI_SYSBIND(breq) \ XENOMAI_DO_SYSCALL(1,sc_cobalt_bind,breq) -#endif /* !_LIB_COBALT_ARM_SYSCALL_H */ +#endif /* !_LIB_COBALT_ARM64_SYSCALL_H */ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: drop aarch32 bits from feature set
Module: xenomai-3 Branch: next Commit: 2ed3757bacc52a0422e3945bd909d85c0bdea5b4 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2ed3757bacc52a0422e3945bd909d85c0bdea5b4 Author: Philippe Gerum Date: Thu Sep 17 02:16:10 2015 +0200 cobalt/arm64: drop aarch32 bits from feature set --- .../arch/arm64/include/asm/xenomai/features.h | 44 ++-- 1 file changed, 4 insertions(+), 40 deletions(-) diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h index 0d6702b..6dfe64c 100644 --- a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h +++ b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2005 Philippe Gerum . + * Copyright (C) 2015 Philippe Gerum . * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public @@ -15,52 +15,16 @@ * License along with this library; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. */ -#ifndef _LIB_COBALT_ARM_FEATURES_H -#define _LIB_COBALT_ARM_FEATURES_H +#ifndef _LIB_COBALT_ARM64_FEATURES_H +#define _LIB_COBALT_ARM64_FEATURES_H #include_next #include -#if defined(__ARM_ARCH_2__) -#define __LINUX_ARM_ARCH__ 2 -#endif /* armv2 */ - -#if defined(__ARM_ARCH_3__) -#define __LINUX_ARM_ARCH__ 3 -#endif /* armv3 */ - -#if defined(__ARM_ARCH_4__) || defined(__ARM_ARCH_4T__) -#define __LINUX_ARM_ARCH__ 4 -#endif /* armv4 */ - -#if defined(__ARM_ARCH_5__) || defined(__ARM_ARCH_5T__) \ - || defined(__ARM_ARCH_5E__) || defined(__ARM_ARCH_5TE__) -#define __LINUX_ARM_ARCH__ 5 -#endif /* armv5 */ - -#if defined(__ARM_ARCH_6__) || defined(__ARM_ARCH_6K__) \ - || defined(__ARM_ARCH_6Z__) || defined(__ARM_ARCH_6ZK__) -#define __LINUX_ARM_ARCH__ 6 -#endif /* armv6 */ - -#if defined(__ARM_ARCH_7A__) -#define __LINUX_ARM_ARCH__ 7 -#endif /* armv7 */ - -#if defined(__aarch64__) #define __LINUX_ARM_ARCH__ 8 -#endif /* armv8 */ - -#ifndef __LINUX_ARM_ARCH__ -#error "Could not find current ARM architecture" -#endif - -#if __LINUX_ARM_ARCH__ < 6 && defined(CONFIG_SMP) -#error "SMP not supported below armv6, compile with -march=armv6 or above" -#endif #include int cobalt_fp_detect(void); -#endif /* !_LIB_COBALT_ARM_FEATURES_H */ +#endif /* !_LIB_COBALT_ARM64_FEATURES_H */ ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Don Mahurin : cobalt/arm64: fix warning: expects argument of type ' long unsigned int', but argument has type 'u64'
Module: xenomai-3 Branch: next Commit: 905c36bac9bf755250019eeed8821bdb45024812 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=905c36bac9bf755250019eeed8821bdb45024812 Author: Don Mahurin Date: Thu May 14 17:34:53 2015 -0700 cobalt/arm64: fix warning: expects argument of type 'long unsigned int', but argument has type 'u64' --- kernel/cobalt/posix/syscall.c |2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c index 857f4f7..1599e7c 100644 --- a/kernel/cobalt/posix/syscall.c +++ b/kernel/cobalt/posix/syscall.c @@ -666,7 +666,7 @@ linux_syscall: return KEVENT_PROPAGATE; bad_syscall: - printk(XENO_WARNING "bad syscall <%#lx>\n", __xn_syscall(regs)); + printk(XENO_WARNING "bad syscall <%#llx>\n", __xn_syscall(regs)); __xn_error_return(regs, -ENOSYS); ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/powerpc: remove dependency on obsolete CONFIG_MATH_EMU
Module: xenomai-3 Branch: next Commit: 5f792978f8120c0869ecd60a1714c0d7e96932a1 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5f792978f8120c0869ecd60a1714c0d7e96932a1 Author: Philippe Gerum Date: Mon Jul 11 15:42:01 2016 +0200 cobalt/powerpc: remove dependency on obsolete CONFIG_MATH_EMU --- kernel/cobalt/arch/powerpc/Kconfig |4 1 file changed, 4 deletions(-) diff --git a/kernel/cobalt/arch/powerpc/Kconfig b/kernel/cobalt/arch/powerpc/Kconfig index 2069288..6ce3440 100644 --- a/kernel/cobalt/arch/powerpc/Kconfig +++ b/kernel/cobalt/arch/powerpc/Kconfig @@ -1,10 +1,6 @@ source "kernel/xenomai/Kconfig" source "drivers/xenomai/Kconfig" -config XENO_ARCH_MATH_EMU -bool - default y if MATH_EMU || MATH_EMULATION - config XENO_ARCH_FPU def_bool PPC_FPU ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: machine.h: use slightly faster ffnz implementation
Module: xenomai-3
Branch: next
Commit: 3cb888c89a4681ad34ff4e8cf8c59247bfe9edd0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3cb888c89a4681ad34ff4e8cf8c59247bfe9edd0
Author: Dmitriy Cherkasov
Date: Wed Jun 17 16:09:20 2015 -0700
cobalt/arm64: machine.h: use slightly faster ffnz implementation
---
kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h | 12 +++-
1 file changed, 11 insertions(+), 1 deletion(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index 417a7b0..b8290bf 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -37,13 +37,23 @@
#include
#include
#include
+#include
/* D-side always behaves as PIPT on AArch64 (see
arch/arm64/include/asm/cachetype.h) */
#define xnarch_cache_aliasing() 0
static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
{
- return __builtin_ffsl(ul) - 1;
+ int __r;
+
+ /* zero input is not valid */
+ XENO_WARN_ON(COBALT, ul == 0);
+
+ __asm__ ("rbit\t%0, %1\n"
+"clz\t%0, %0\n"
+ : "=r" (__r) : "r"(ul) : "cc");
+
+ return __r;
}
#include
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[Xenomai-git] Philippe Gerum : config: bump version info to 3.1-devel
Module: xenomai-3 Branch: next Commit: 2a0a008b9eb93379fc1a7cba75710c7b8d1f7c22 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2a0a008b9eb93379fc1a7cba75710c7b8d1f7c22 Author: Philippe Gerum Date: Sun Mar 20 18:51:17 2016 +0100 config: bump version info to 3.1-devel --- config/version-code |2 +- config/version-label |2 +- config/version-name |2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/config/version-code b/config/version-code index 75a22a2..ddd61cc 100644 --- a/config/version-code +++ b/config/version-code @@ -1 +1 @@ -3.0.3 +3.0.90 diff --git a/config/version-label b/config/version-label index 75a22a2..302fdd0 100644 --- a/config/version-label +++ b/config/version-label @@ -1 +1 @@ -3.0.3 +3.1-devel diff --git a/config/version-name b/config/version-name index 09ba594..8c51501 100644 --- a/config/version-name +++ b/config/version-name @@ -1 +1 @@ -Groovy Cosmic Halo +Xenomai -next ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arm64: thread: move all TCB initializers out of line
Module: xenomai-3
Branch: next
Commit: 84a5bc4e6a495e3e9e788de6cc6d47209ddee65a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=84a5bc4e6a495e3e9e788de6cc6d47209ddee65a
Author: Philippe Gerum
Date: Fri Sep 9 16:07:54 2016 +0200
cobalt/arm64: thread: move all TCB initializers out of line
Does not impact performances and fixes inclusion hell for pulling the
struct xnthread definition for good.
---
kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h |6 +-
kernel/cobalt/arch/arm64/thread.c |6 ++
2 files changed, 7 insertions(+), 5 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index ac1f1f7..319f4d8 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -60,11 +60,7 @@ int xnarch_escalate(void);
#if defined(CONFIG_XENO_ARCH_FPU)
-static inline void xnarch_init_root_tcb(struct xnthread *thread)
-{
- struct xnarchtcb *tcb = xnthread_archtcb(thread);
- tcb->fpup = NULL;
-}
+void xnarch_init_root_tcb(struct xnthread *thread);
void xnarch_init_shadow_tcb(struct xnthread *thread);
diff --git a/kernel/cobalt/arch/arm64/thread.c
b/kernel/cobalt/arch/arm64/thread.c
index b987e09..3097aeb 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -98,6 +98,12 @@ void xnarch_init_shadow_tcb(struct xnthread *thread)
tcb->fpup = &tcb->core.host_task->thread.fpsimd_state;
}
+void xnarch_init_root_tcb(struct xnthread *thread)
+{
+ struct xnarchtcb *tcb = &thread->tcb;
+ tcb->fpup = NULL;
+}
+
#endif /* CONFIG_XENO_ARCH_FPU */
void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
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[Xenomai-git] Philippe Gerum : cobalt/sched: detect preemptible switch support in pipeline
Module: xenomai-3
Branch: next
Commit: acacc96f264584f1bf7341a91b7969eb478276e2
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=acacc96f264584f1bf7341a91b7969eb478276e2
Author: Philippe Gerum
Date: Sat Nov 14 18:07:15 2015 +0100
cobalt/sched: detect preemptible switch support in pipeline
CONFIG_XENO_ARCH_UNLOCKED_SWITCH is merely an alias for
CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH, which is only meaningful to the
ARM architecture, now that PowerPC dropped such support.
Use the pipeline symbol directly to make the dependency explicit.
---
include/cobalt/kernel/sched.h |8
kernel/cobalt/sched.c | 16
kernel/cobalt/thread.c|2 +-
3 files changed, 13 insertions(+), 13 deletions(-)
diff --git a/include/cobalt/kernel/sched.h b/include/cobalt/kernel/sched.h
index fe1df7d..d5d93c2 100644
--- a/include/cobalt/kernel/sched.h
+++ b/include/cobalt/kernel/sched.h
@@ -93,7 +93,7 @@ struct xnsched {
struct xntimer rrbtimer;
/*!< Root thread control block. */
struct xnthread rootcb;
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
struct xnthread *last;
#endif
#ifdef CONFIG_XENO_ARCH_FPU
@@ -329,7 +329,7 @@ static inline int xnsched_primary_p(void)
return !xnsched_unblockable_p();
}
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
struct xnsched *xnsched_finish_unlocked_switch(struct xnsched *sched);
@@ -341,7 +341,7 @@ int xnsched_maybe_resched_after_unlocked_switch(struct
xnsched *sched)
return sched->status & XNRESCHED;
}
-#else /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#else /* !CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH */
static inline struct xnsched *
xnsched_finish_unlocked_switch(struct xnsched *sched)
@@ -358,7 +358,7 @@ xnsched_maybe_resched_after_unlocked_switch(struct xnsched
*sched)
return 0;
}
-#endif /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#endif /* !CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH */
#ifdef CONFIG_XENO_OPT_WATCHDOG
static inline void xnsched_reset_watchdog(struct xnsched *sched)
diff --git a/kernel/cobalt/sched.c b/kernel/cobalt/sched.c
index 29d8a68..d124f79 100644
--- a/kernel/cobalt/sched.c
+++ b/kernel/cobalt/sched.c
@@ -293,7 +293,7 @@ struct xnthread *xnsched_pick_next(struct xnsched *sched)
#endif /* CONFIG_XENO_OPT_SCHED_CLASSES */
}
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
struct xnsched *xnsched_finish_unlocked_switch(struct xnsched *sched)
{
@@ -319,7 +319,7 @@ struct xnsched *xnsched_finish_unlocked_switch(struct
xnsched *sched)
return sched;
}
-#endif /* CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#endif /* CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH */
void xnsched_lock(void)
{
@@ -494,16 +494,16 @@ void xnsched_migrate(struct xnthread *thread, struct
xnsched *sched)
xnsched_set_resched(thread->sched);
migrate_thread(thread, sched);
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
/*
* Mark the thread in flight, xnsched_finish_unlocked_switch()
* will put the thread on the remote runqueue.
*/
xnthread_set_state(thread, XNMIGRATE);
-#else /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#else
/* Move thread to the remote runnable queue. */
xnsched_putback(thread);
-#endif /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#endif
}
/*
@@ -709,11 +709,11 @@ struct xnthread *xnsched_rt_pick(struct xnsched *sched)
static inline void switch_context(struct xnsched *sched,
struct xnthread *prev, struct xnthread *next)
{
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
sched->last = prev;
sched->status |= XNINSW;
xnlock_clear_irqon(&nklock);
-#endif /* !CONFIG_XENO_ARCH_UNLOCKED_SWITCH */
+#endif
xnarch_switch_to(prev, next);
}
@@ -788,7 +788,7 @@ static inline void enter_root(struct xnthread *root)
{
struct xnarchtcb *rootcb __maybe_unused = xnthread_archtcb(root);
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
if (rootcb->core.mm == NULL)
set_ti_thread_flag(rootcb->core.tip, TIF_MMSWITCH_INT);
#endif
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index f134890..3d5d588 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -409,7 +409,7 @@ EXPORT_SYMBOL_GPL(xnthread_prepare_wait);
static inline int moving_target(struct xnsched *sched, struct xnthread *thread)
{
int ret = 0;
-#ifdef CONFIG_XENO_ARCH_UNLOCKED_SWITCH
+#ifdef CONFIG_IPIPE_WANT_PREEMPTIBLE_SWITCH
/*
* When deleting a thread in the course of a context switch or
* in flight to another CPU with nklock unlocked on a distant
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h
[Xenomai-git] Gilles Chanteperdrix : cobalt/arm64: attempt at fixing fpu switch
Module: xenomai-3
Branch: next
Commit: 29bf6e13adbd7d15e4be7f20aaac1d7c6fabee6b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=29bf6e13adbd7d15e4be7f20aaac1d7c6fabee6b
Author: Gilles Chanteperdrix
Date: Fri Oct 30 17:14:00 2015 +0100
cobalt/arm64: attempt at fixing fpu switch
Return to eager switching, since user-space applications use FPU
registers even when not using the FPU, but use an auxiliary backup area
when the "TIF_FOREIGN_FPSTATE" bit is set, in order to avoid clobbering
the saved FPU state.
---
.../cobalt/arch/arm64/include/asm/xenomai/thread.h | 14 +++--
kernel/cobalt/arch/arm64/thread.c | 54 +---
2 files changed, 25 insertions(+), 43 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 9055e58..4b247ac 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -24,6 +24,7 @@
struct xnarchtcb {
struct xntcb core;
#ifdef CONFIG_XENO_ARCH_FPU
+ struct fpsimd_state xnfpsimd_state;
struct fpsimd_state *fpup;
#define xnarch_fpu_ptr(tcb) ((tcb)->fpup)
#endif
@@ -67,7 +68,10 @@ static inline void xnarch_init_root_tcb(struct xnthread
*thread)
void xnarch_init_shadow_tcb(struct xnthread *thread);
-int xnarch_fault_fpu_p(struct ipipe_trap_data *d);
+static inline int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
+{
+ return xnarch_fault_trap(d) == IPIPE_TRAP_FPU_ACC;
+}
void xnarch_leave_root(struct xnthread *root);
@@ -75,8 +79,12 @@ void xnarch_save_fpu(struct xnthread *thread);
void xnarch_switch_fpu(struct xnthread *from, struct xnthread *thread);
-int xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d);
+static inline int
+xnarch_handle_fpu_fault(struct xnthread *from,
+ struct xnthread *to, struct ipipe_trap_data *d)
+{
+ return 0;
+}
#else /* !CONFIG_XENO_ARCH_FPU */
diff --git a/kernel/cobalt/arch/arm64/thread.c
b/kernel/cobalt/arch/arm64/thread.c
index 2238751..b987e09 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -6,6 +6,7 @@
*
* ARM64 port
* Copyright (C) 2015 Dmitriy Cherkasov
+ * Copyright (C) 2015 Gilles Chanteperdrix
*
* Xenomai is free software; you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by
@@ -41,7 +42,7 @@
static inline unsigned long get_cpacr(void)
{
unsigned long result;
- __asm__ __volatile__("mrs %0, cpacr_el1": "=r"(result));
+ __asm__ ("mrs %0, cpacr_el1": "=r"(result));
return result;
}
@@ -53,21 +54,20 @@ static inline void set_cpacr(long val)
: /* */ : "r"(val));
}
-static void enable_fpsimd(void)
+static inline void enable_fpsimd(void)
{
- unsigned long cpacr = get_cpacr();
- cpacr |= FPSIMD_EN;
- set_cpacr(cpacr);
+ set_cpacr(get_cpacr() | FPSIMD_EN);
}
-int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
+static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *rootcb)
{
- return (d->exception == IPIPE_TRAP_FPU_ACC);
-}
+ struct task_struct *curr = rootcb->core.host_task;
-static inline struct fpsimd_state *get_fpu_owner(struct xnarchtcb *tcb)
-{
- return &(tcb->core.tsp->fpsimd_state);
+ if (test_ti_thread_flag(task_thread_info(curr), TIF_FOREIGN_FPSTATE))
+ /* Foreign fpu state, use auxiliary backup area */
+ return &rootcb->xnfpsimd_state;
+
+ return &curr->thread.fpsimd_state;
}
void xnarch_leave_root(struct xnthread *root)
@@ -76,13 +76,6 @@ void xnarch_leave_root(struct xnthread *root)
rootcb->fpup = get_fpu_owner(rootcb);
}
-void xnarch_save_fpu(struct xnthread *thread)
-{
- struct xnarchtcb *tcb = &(thread->tcb);
- if (xnarch_fpu_ptr(tcb))
- fpsimd_save_state(tcb->fpup);
-}
-
void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
{
struct fpsimd_state *const from_fpup = from ? from->tcb.fpup : NULL;
@@ -93,35 +86,16 @@ void xnarch_switch_fpu(struct xnthread *from, struct
xnthread *to)
if (from_fpup == to_fpup)
return;
- if (from_fpup)
- fpsimd_save_state(from_fpup);
+ fpsimd_save_state(from_fpup);
fpsimd_load_state(to_fpup);
-}
-
-int xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d)
-{
- spl_t s;
-
- /* FPU should already be enabled for XNFPU tasks. */
- if (xnthread_test_state(to, XNFPU))
- BUG();
-
- xnlock_get_irqsave(&nklock, s);
- xnthread_set_state(to, XNFPU);
- xnlock_put_irqrestore(&nklock, s);
-
- xnarch_switch_fpu(from, to);
-
- return 1;
+ to_fpup->cpu = ip
[Xenomai-git] Philippe Gerum : cobalt/arm64: disable callee-saved logic in fptest helpers
Module: xenomai-3
Branch: next
Commit: 76057980da943d62d75d75f7c36dcdbf19dc2c70
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=76057980da943d62d75d75f7c36dcdbf19dc2c70
Author: Philippe Gerum
Date: Thu Oct 22 14:45:05 2015 +0200
cobalt/arm64: disable callee-saved logic in fptest helpers
We don't want GCC to apply any callee-saved logic to fpsimd registers
in fp_regs_set() before fp_regs_check() can verify their contents, but
we still want GCC to know about the registers we have clobbered.
---
.../arch/arm64/include/asm/xenomai/uapi/fptest.h | 160 ++--
testsuite/switchtest/switchtest.c | 14 +-
2 files changed, 92 insertions(+), 82 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
index 84607b7..7a2cb92 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -20,86 +20,86 @@
#define __COBALT_HAVE_FPU 0x1
-static inline void fp_regs_set(int features, unsigned int val)
-{
-
- unsigned long long e[32];
- unsigned int i;
-
- if (features & __COBALT_HAVE_FPU) {
-
- for (i = 0; i < 32; i++)
- e[i] = val;
-
- __asm__ __volatile__("ldp d0, d1, [%0, #8 * 0] \n\
- ldp d2, d3, [%0, #8 *
2] \n\
- ldp d4, d5, [%0, #8
* 4]\n\
- ldp d6, d7, [%0, #8
* 6]\n\
- ldp d8, d9, [%0, #8
* 8]\n\
- ldp d10, d11, [%0,
#8 * 10]\n\
- ldp d12, d13, [%0,
#8 * 12]\n\
- ldp d14, d15, [%0,
#8 * 14]\n\
- ldp d16, d17, [%0,
#8 * 16]\n\
- ldp d18, d19, [%0,
#8 * 18]\n\
- ldp d20, d21, [%0,
#8 * 20]\n\
- ldp d22, d23, [%0,
#8 * 22]\n\
- ldp d24, d25, [%0,
#8 * 24]\n\
- ldp d26, d27, [%0,
#8 * 26]\n\
- ldp d28, d29, [%0,
#8 * 28]\n\
- ldp d30, d31, [%0,
#8 * 30]"
-
- : /* No outputs. */
- : "r"(&e[0])
- : "d0", "d1", "d2", "d3", "d4", "d5", "d6",
"d7", "d8", "d9", "d10", "d11", "d12", "d13", "d14", "d15",
- "d16", "d17", "d18", "d19", "d20",
"d21", "d22", "d23", "d24", "d25", "d26", "d27", "d28", "d29", "d30", "d31",
"memory"
- );
- }
-
-}
-
-static inline unsigned int fp_regs_check(int features, unsigned int val,
-int (*report)(const char *fmt, ...))
-{
- unsigned int result = val;
-
- unsigned int i;
- unsigned long long e[32];
-
- if (features & __COBALT_HAVE_FPU) {
-
- __asm__ __volatile__("stp d0, d1, [%0, #8 * 0] \n\
- stp d2, d3, [%0, #8 *
2] \n\
- stp d4, d5, [%0, #8
* 4]\n\
- stp d6, d7, [%0, #8
* 6]\n\
- stp d8, d9,
[%0, #8 * 8]\n\
- stp d10, d11, [%0,
#8 * 10]\n\
- stp d12, d13, [%0,
#8 * 12]\n\
- stp d14, d15, [%0,
#8 * 14]\n\
- stp d16, d17, [%0,
#8 * 16]\n\
- stp d18, d19, [%0,
#8 * 18]\n\
- stp d20, d21, [%0,
#8 * 20]\n\
- stp d22, d23, [%0,
#8 * 22]\n\
- stp d24, d25, [%0,
#8 * 24]\n\
- stp d26, d27, [%0,
#8 * 26]\n\
- stp d28, d29, [%0,
#8 * 28]\n\
- stp d30, d31, [%0,
#8 * 30]"
-
- : /* No outputs. */
-
[Xenomai-git] Philippe Gerum : cobalt/arm64: use lazy fpsimd switch mode
Module: xenomai-3 Branch: next Commit: 2bebba96036221438f7e99ded6f483d759ad9929 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2bebba96036221438f7e99ded6f483d759ad9929 Author: Philippe Gerum Date: Mon Oct 19 10:38:21 2015 +0200 cobalt/arm64: use lazy fpsimd switch mode --- kernel/cobalt/arch/arm64/thread.c |2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kernel/cobalt/arch/arm64/thread.c b/kernel/cobalt/arch/arm64/thread.c index 5282b0c..2238751 100644 --- a/kernel/cobalt/arch/arm64/thread.c +++ b/kernel/cobalt/arch/arm64/thread.c @@ -153,7 +153,7 @@ void xnarch_switch_to(struct xnthread *out, struct xnthread *in) enter_lazy_tlb(prev_mm, next); } - __switch_to(prev, next); + ipipe_switch_to(prev, next); } int xnarch_escalate(void) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: update register struct usage for arm64
Module: xenomai-3
Branch: next
Commit: 7399dcef4fe62842e30249487fdc36d62367783d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7399dcef4fe62842e30249487fdc36d62367783d
Author: Dmitriy Cherkasov
Date: Thu May 7 13:58:14 2015 -0700
cobalt/arm64: update register struct usage for arm64
---
.../arch/arm64/include/asm/xenomai/syscall.h | 22 ++--
kernel/cobalt/arch/arm64/mayday.c | 20 +-
2 files changed, 21 insertions(+), 21 deletions(-)
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
index d80df77..f0a1090 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -36,21 +36,21 @@
#define __xn_reg_sys(__regs) ((__regs)->ARM_ORIG_r0)
/* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */
#ifdef CONFIG_OABI_COMPAT
-#define __xn_syscall_p(__regs) (((__regs)->ARM_r7 == __NR_OABI_SYSCALL_BASE +
XENO_ARM_SYSCALL) || \
-((__regs)->ARM_r7 == __ARM_NR_ipipe))
+#define __xn_syscall_p(__regs) (((__regs)->regs[7] == __NR_OABI_SYSCALL_BASE +
XENO_ARM_SYSCALL) || \
+((__regs)->regs[7] == __ARM_NR_ipipe))
#else /* !CONFIG_OABI_COMPAT */
-#define __xn_syscall_p(__regs) ((__regs)->ARM_r7 == __ARM_NR_ipipe)
+#define __xn_syscall_p(__regs) ((__regs)->regs[7] == __ARM_NR_ipipe)
#endif /* !CONFIG_OABI_COMPAT */
#define __xn_syscall(__regs) (__xn_reg_sys(__regs) & ~__COBALT_SYSCALL_BIT)
-#define __xn_reg_rval(__regs) ((__regs)->ARM_r0)
-#define __xn_reg_arg1(__regs) ((__regs)->ARM_r1)
-#define __xn_reg_arg2(__regs) ((__regs)->ARM_r2)
-#define __xn_reg_arg3(__regs) ((__regs)->ARM_r3)
-#define __xn_reg_arg4(__regs) ((__regs)->ARM_r4)
-#define __xn_reg_arg5(__regs) ((__regs)->ARM_r5)
-#define __xn_reg_pc(__regs)((__regs)->ARM_ip)
-#define __xn_reg_sp(__regs)((__regs)->ARM_sp)
+#define __xn_reg_rval(__regs) ((__regs)->regs[0])
+#define __xn_reg_arg1(__regs) ((__regs)->regs[1])
+#define __xn_reg_arg2(__regs) ((__regs)->regs[2])
+#define __xn_reg_arg3(__regs) ((__regs)->regs[3])
+#define __xn_reg_arg4(__regs) ((__regs)->regs[4])
+#define __xn_reg_arg5(__regs) ((__regs)->regs[5])
+#define __xn_reg_pc(__regs)((__regs)->ip)
+#define __xn_reg_sp(__regs)((__regs)->sp)
static inline void __xn_error_return(struct pt_regs *regs, int v)
{
diff --git a/kernel/cobalt/arch/arm64/mayday.c
b/kernel/cobalt/arch/arm64/mayday.c
index 20e4559..bc51ad6 100644
--- a/kernel/cobalt/arch/arm64/mayday.c
+++ b/kernel/cobalt/arch/arm64/mayday.c
@@ -120,27 +120,27 @@ void *xnarch_get_mayday_page(void)
void xnarch_handle_mayday(struct xnarchtcb *tcb, struct pt_regs *regs,
unsigned long tramp)
{
- tcb->mayday.pc = regs->ARM_pc;
- tcb->mayday.r0 = regs->ARM_r0;
+ tcb->mayday.pc = regs->pc;
+ tcb->mayday.r0 = regs->regs[0];
#ifdef __ARM_EABI__
- tcb->mayday.r7 = regs->ARM_r7;
+ tcb->mayday.r7 = regs->regs[7];
#endif
#ifdef CONFIG_ARM_THUMB
/* The code on the mayday page must be run in ARM mode */
- tcb->mayday.psr = regs->ARM_cpsr;
- regs->ARM_cpsr &= ~PSR_T_BIT;
+ tcb->mayday.psr = regs->cpsr;
+ regs->cpsr &= ~PSR_T_BIT;
#endif
- regs->ARM_pc = tramp;
+ regs->pc = tramp;
}
void xnarch_fixup_mayday(struct xnarchtcb *tcb, struct pt_regs *regs)
{
- regs->ARM_pc = tcb->mayday.pc;
- regs->ARM_r0 = tcb->mayday.r0;
+ regs->pc = tcb->mayday.pc;
+ regs->regs[0] = tcb->mayday.r0;
#ifdef __ARM_EABI__
- regs->ARM_r7 = tcb->mayday.r7;
+ regs->regs[7] = tcb->mayday.r7;
#endif
#ifdef CONFIG_ARM_THUMB
- regs->ARM_cpsr = tcb->mayday.psr;
+ regs->cpsr = tcb->mayday.psr;
#endif
}
___
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Xenomai-git@xenomai.org
https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Don Mahurin : lib/cobalt/arm64: add __LINUX_ARM_ARCH__ form armv8/aarch64
Module: xenomai-3 Branch: next Commit: 3bbd3b26e47000ea2693c17e20d8bf473b131a6a URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3bbd3b26e47000ea2693c17e20d8bf473b131a6a Author: Don Mahurin Date: Fri May 8 10:39:01 2015 -0700 lib/cobalt/arm64: add __LINUX_ARM_ARCH__ form armv8/aarch64 --- lib/cobalt/arch/arm64/include/asm/xenomai/features.h |4 1 file changed, 4 insertions(+) diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h index 10bd0c7..0d6702b 100644 --- a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h +++ b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h @@ -47,6 +47,10 @@ #define __LINUX_ARM_ARCH__ 7 #endif /* armv7 */ +#if defined(__aarch64__) +#define __LINUX_ARM_ARCH__ 8 +#endif /* armv8 */ + #ifndef __LINUX_ARM_ARCH__ #error "Could not find current ARM architecture" #endif ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
[Xenomai-git] Philippe Gerum : cobalt/arch: fixup READMEs
Module: xenomai-3 Branch: next Commit: a29ac853fb5d229a4928c0338fdbfe5785323e5f URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a29ac853fb5d229a4928c0338fdbfe5785323e5f Author: Philippe Gerum Date: Mon Nov 2 15:41:31 2015 +0100 cobalt/arch: fixup READMEs --- kernel/cobalt/arch/arm/patches/README | 21 - kernel/cobalt/arch/arm64/patches/README| 15 +-- kernel/cobalt/arch/blackfin/patches/README | 23 +-- kernel/cobalt/arch/powerpc/patches/README | 23 +-- kernel/cobalt/arch/x86/patches/README | 21 - 5 files changed, 43 insertions(+), 60 deletions(-) diff --git a/kernel/cobalt/arch/arm/patches/README b/kernel/cobalt/arch/arm/patches/README index dcc6407..d637872 100644 --- a/kernel/cobalt/arch/arm/patches/README +++ b/kernel/cobalt/arch/arm/patches/README @@ -1,23 +1,18 @@ -- arch/arm/patches -Xenomai needs special kernel support to deliver fast and deterministic +Cobalt needs special kernel support to deliver fast and deterministic response time to external interrupts, and also to provide real-time services highly integrated with the standard Linux kernel. This support is provided by the interrupt pipeline (aka I-pipe) in the form of a kernel patch you have to apply against a vanilla kernel -tree, before you attempt to compile the Xenomai codebase against the -latter kernel. +source tree as published by kernel.org. -Apply one of the patches found into this directory against the -corresponding kernel release. You may want to have a look at the -README.*INSTALL guides at the top of the Xenomai tree for more -information. +You may want to have a look at +http://xenomai.org/installing-xenomai-3-x/ for detailed information +about installing Xenomai. -This directory only contains the most recent patches for ARM -platforms; you may find the complete collection of I-pipe patches at -the following locations (see note): +This directory only contains the most recent patches for ARM platforms +at the time of the release; you may find the complete collection of +I-pipe patches issued for this architecture at the following location: http://xenomai.org/downloads/ipipe/v3.x/arm/ - -NOTE: -Xenomai 3.x requires the latest IPIPE core series (API revision >= 2). diff --git a/kernel/cobalt/arch/arm64/patches/README b/kernel/cobalt/arch/arm64/patches/README index fd85e06..e39758e 100644 --- a/kernel/cobalt/arch/arm64/patches/README +++ b/kernel/cobalt/arch/arm64/patches/README @@ -1,16 +1,19 @@ -- arch/arm64/patches -Xenomai needs special kernel support to deliver fast and deterministic +Cobalt needs special kernel support to deliver fast and deterministic response time to external interrupts, and also to provide real-time services highly integrated with the standard Linux kernel. This support is provided by the interrupt pipeline (aka I-pipe) in the form of a kernel patch you have to apply against a vanilla kernel -tree, before you attempt to compile the Xenomai codebase against the -latter kernel. +source tree as published by kernel.org. -The Xenomai arm64 port is work in progress. The I-pipe support for -this architecture is exclusively available from this development tree -at the moment: +You may want to have a look at +http://xenomai.org/installing-xenomai-3-x/ for detailed information +about installing Xenomai. + +The Cobalt/arm64 port is work in progress. The I-pipe support for this +architecture is exclusively available from this development tree at +the moment: git://git.xenomai.org/ipipe.git, branch devel/ipipe-3.18-linaro-arm64. diff --git a/kernel/cobalt/arch/blackfin/patches/README b/kernel/cobalt/arch/blackfin/patches/README index 3b92e89..92d6dc4 100644 --- a/kernel/cobalt/arch/blackfin/patches/README +++ b/kernel/cobalt/arch/blackfin/patches/README @@ -1,23 +1,18 @@ -- arch/blackfin/patches -Xenomai needs special kernel support to deliver fast and deterministic +Cobalt needs special kernel support to deliver fast and deterministic response time to external interrupts, and also to provide real-time services highly integrated with the standard Linux kernel. This support is provided by the interrupt pipeline (aka I-pipe) in the form of a kernel patch you have to apply against a vanilla kernel -tree, before you attempt to compile the Xenomai codebase against the -latter kernel. +source tree as published by kernel.org. -Apply one of the patches found into this directory against the -corresponding kernel release. You may want to have a look at the -README.*INSTALL guides at the top of the Xenomai tree for more -information. +You may want to have a look at +http://xenomai.org/installing-xenomai-3-x/ for detailed information +about installing Xenomai. -This directory only contains the most recent patches for blackfin -platforms; you may find the complete collection of I-pipe patches at -the following locations (see note): -http://xenomai.or
[Xenomai-git] Philippe Gerum : cobalt: bump ABI revision level
Module: xenomai-3 Branch: next Commit: 0e5ce32397674b589dfd4f064b33844049752a73 URL: http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0e5ce32397674b589dfd4f064b33844049752a73 Author: Philippe Gerum Date: Thu Jul 30 14:20:45 2015 +0200 cobalt: bump ABI revision level --- kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h |2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h index 85faa59..3bea0ef 100644 --- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h +++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h @@ -22,7 +22,7 @@ #define _COBALT_ARM_ASM_UAPI_FEATURES_H /* The ABI revision level we use on this arch. */ -#define XENOMAI_ABI_REV 15UL +#define XENOMAI_ABI_REV 16UL #define XENOMAI_FEAT_DEP (__xn_feat_generic_mask) ___ Xenomai-git mailing list Xenomai-git@xenomai.org https://xenomai.org/mailman/listinfo/xenomai-git
