[Xenomai-git] Ronny Meeus : include/psos: remove dependency on tunables.h

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: dfec891315969f92aec781d037dd5cbb11cbdb1c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=dfec891315969f92aec781d037dd5cbb11cbdb1c

Author: Ronny Meeus 
Date:   Tue Nov 29 15:03:00 2016 +0100

include/psos: remove dependency on tunables.h

The psos.h file pollutes the application's namespace with defines
of the boilerplate code because the tunables.h is included. In our
application we already have a definition of the list_entry macro,
resulting in a redefinition. The psos.h should be kept clean.

Following small test program clearly shows the issue:

int main(int argc, char * const argv[])
{
  return 0;
}

When compiling the code above a warning is generated:

simple_test.c:3:1: warning: "list_entry" redefined
In file included from boilerplate/list.h:24,
 from boilerplate/setup.h:21,
 from boilerplate/tunables.h:22,
 from psos/psos.h:28,
 from simple_test.c:1:
boilerplate/shared-list.h:233:1: warning: this is the location of the previous 
definition

This patch resolves the issue by moving the tunable related functionality in
a seperate header file.

---

 include/psos/Makefile.am |4 +++-
 include/psos/psos.h  |   13 
 include/psos/tunables.h  |   49 ++
 3 files changed, 52 insertions(+), 14 deletions(-)

diff --git a/include/psos/Makefile.am b/include/psos/Makefile.am
index 0174271..ee7c5c8 100644
--- a/include/psos/Makefile.am
+++ b/include/psos/Makefile.am
@@ -1,3 +1,5 @@
 includesubdir = $(includedir)/psos
 
-includesub_HEADERS = psos.h
+includesub_HEADERS = \
+   psos.h \
+   tunables.h
diff --git a/include/psos/psos.h b/include/psos/psos.h
index a6f1559..1554244 100644
--- a/include/psos/psos.h
+++ b/include/psos/psos.h
@@ -25,7 +25,6 @@
 #define _XENOMAI_PSOS_PSOS_H
 
 #include 
-#include 
 
 #ifndef SUCCESS
 #define SUCCESS 0
@@ -370,18 +369,6 @@ int psos_task_normalize_priority(u_long psos_prio);
 
 u_long psos_task_denormalize_priority(int core_prio);
 
-extern int psos_long_names;
-
-static inline define_config_tunable(long_names, int, on)
-{
-   psos_long_names = on;
-}
-
-static inline read_config_tunable(long_names, int)
-{
-   return psos_long_names;
-}
-
 #ifdef __cplusplus
 }
 #endif /* __cplusplus */
diff --git a/include/psos/tunables.h b/include/psos/tunables.h
new file mode 100644
index 000..2dbd3f0
--- /dev/null
+++ b/include/psos/tunables.h
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2001-2010 Philippe Gerum .
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.
+ *
+ * This file satisfies the references within the emulator code
+ * mimicking a pSOS-like API built upon the copperplate library.
+ *
+ * pSOS and pSOS+ are registered trademarks of Wind River Systems, Inc.
+ */
+
+#ifndef _XENOMAI_PSOS_TUNABLES_H
+#define _XENOMAI_PSOS_TUNABLES_H
+
+#include 
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+extern int psos_long_names;
+
+static inline define_config_tunable(long_names, int, on)
+{
+   psos_long_names = on;
+}
+
+static inline read_config_tunable(long_names, int)
+{
+   return psos_long_names;
+}
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* !_XENOMAI_PSOS_TUNABLES_H */


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[Xenomai-git] Ronny Meeus : boilerplate: solve compiler warning when libgen.h is included

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 12fa18f4267cc67882d477b282eb72b2daa5c193
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=12fa18f4267cc67882d477b282eb72b2daa5c193

Author: Ronny Meeus 
Date:   Tue Nov 29 14:26:00 2016 +0100

boilerplate: solve compiler warning when libgen.h is included

In boilerplate function 'get_program_name', basename is used.

When libgen.h is included in your program, the basename gets the POSIX
version (no const char*, see 'man basename'): char *basename(char
*path);

This results in the following compiler warning:
boilerplate/setup.h: In function 'const char* get_program_name()':
boilerplate/setup.h:107: error: invalid conversion from 'const char*' to 'char*'
boilerplate/setup.h:107: error:   initializing argument 1 of 'char* 
__xpg_basename(char*)'

Test application:

int main(int argc, char * const argv[])
{
  return 0;
}

When the libgen.h is not included, the warning is not seen.

This patch solve the above issue by moving the implementation to setup.c
instead of using an inline function.

---

 include/boilerplate/setup.h |5 +
 lib/boilerplate/setup.c |5 +
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/include/boilerplate/setup.h b/include/boilerplate/setup.h
index 5a18f6a..374758b 100644
--- a/include/boilerplate/setup.h
+++ b/include/boilerplate/setup.h
@@ -102,10 +102,7 @@ extern int __config_done;
 
 extern struct base_setup_data __base_setup_data;
 
-static inline const char *get_program_name(void)
-{
-   return basename(__base_setup_data.arg0 ?: "program");
-}
+const char *get_program_name(void);
 
 void __trace_me(const char *fmt, ...);
 
diff --git a/lib/boilerplate/setup.c b/lib/boilerplate/setup.c
index dbeb5e1..f1760e6 100644
--- a/lib/boilerplate/setup.c
+++ b/lib/boilerplate/setup.c
@@ -644,3 +644,8 @@ void __register_setup_call(struct setup_descriptor *p, int 
id)
}
pvlist_prepend(>__reserved.next, _list);
 }
+
+const char *get_program_name(void)
+{
+   return basename(__base_setup_data.arg0 ?: "program");
+}


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[Xenomai-git] Philippe Gerum : cobalt/arm64: fpu: drop obsolete xnarch_save_fpu()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 24dbc79a6b756381dd9976385195e8253476414e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=24dbc79a6b756381dd9976385195e8253476414e

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/powerpc: remove dependency on obsolete CONFIG_MATH_EMU

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9c355e91c09b489e129fe5a81736f55ebee5219d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9c355e91c09b489e129fe5a81736f55ebee5219d

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
 


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[Xenomai-git] Philippe Gerum : testsuite/smokey: add test checking Cobalt' s cpu affinity control

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Module: xenomai-3
Branch: next
Commit: 7ebcfb584352aae058f435ef6049a194c713f55c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7ebcfb584352aae058f435ef6049a194c713f55c

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 4d9aee6..f8a11fc 100644
--- a/configure.ac
+++ b/configure.ac
@@ -916,6 +916,7 @@ 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 \


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[Xenomai-git] Jan Kiszka : cobalt/kernel: Introduce __SCHED_CURRENT policy to setschedparam_ex

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: c61187e8f1359555a24158a9f9340ae6218478dd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c61187e8f1359555a24158a9f9340ae6218478dd

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 = >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 == _class_rt &&
+xnthread_test_state(base_thread, XNRRB))
+   policy = SCHED_RR;
+   }
+
tslice = thread->threadbase.rrperiod;
sched_class = cobalt_sched_policy_param(, policy,
param_ex, );
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] Jan Kiszka : lib/cobalt: Provide RT-capable usleep

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Module: xenomai-3
Branch: next
Commit: a0981fb6c607eaf59492a596c4b15e7097590508
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a0981fb6c607eaf59492a596c4b15e7097590508

Author: Jan Kiszka 
Date:   Mon May 30 14:58:07 2016 +0200

lib/cobalt: Provide RT-capable usleep

User may expect this (probably last) sleeping service to be available
under Cobalt just like sleep, nanosleep & Co.

Signed-off-by: Jan Kiszka 

---

 include/cobalt/unistd.h|2 ++
 lib/cobalt/clock.c |   14 ++
 lib/cobalt/cobalt.wrappers |1 +
 lib/cobalt/wrappers.c  |6 ++
 4 files changed, 23 insertions(+)

diff --git a/include/cobalt/unistd.h b/include/cobalt/unistd.h
index 8ad2b40..fe3992a 100644
--- a/include/cobalt/unistd.h
+++ b/include/cobalt/unistd.h
@@ -35,6 +35,8 @@ COBALT_DECL(int, close(int fildes));
 
 COBALT_DECL(unsigned int, sleep(unsigned int seconds));
 
+COBALT_DECL(int, usleep(useconds_t usec));
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/lib/cobalt/clock.c b/lib/cobalt/clock.c
index 0450019..7b4ef54 100644
--- a/lib/cobalt/clock.c
+++ b/lib/cobalt/clock.c
@@ -364,6 +364,20 @@ COBALT_IMPL(unsigned int, sleep, (unsigned int seconds))
return 0;
 }
 
+/* @apitags{thread-unrestricted, switch-primary} */
+
+COBALT_IMPL(int, usleep, (useconds_t usec))
+{
+   struct timespec rqt;
+
+   if (cobalt_get_current_fast() == XN_NO_HANDLE)
+   return __STD(usleep(usec));
+
+   rqt.tv_sec = usec / 100;
+   rqt.tv_nsec = (usec % 100) * 1000;
+   return __WRAP(clock_nanosleep(CLOCK_MONOTONIC, 0, , NULL));
+}
+
 /* @apitags{unrestricted} */
 
 COBALT_IMPL(int, gettimeofday, (struct timeval *tv, struct timezone *tz))
diff --git a/lib/cobalt/cobalt.wrappers b/lib/cobalt/cobalt.wrappers
index 19153ae..bf7a810 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -110,6 +110,7 @@
 --wrap sigqueue
 --wrap kill
 --wrap sleep
+--wrap usleep
 --wrap mmap
 --wrap mmap64
 --wrap time
diff --git a/lib/cobalt/wrappers.c b/lib/cobalt/wrappers.c
index 1f1664e..43ca630 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -538,3 +538,9 @@ unsigned int __real_sleep(unsigned int seconds)
 {
return sleep(seconds);
 }
+
+__weak
+int __real_usleep(useconds_t usec)
+{
+   return usleep(usec);
+}


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[Xenomai-git] Jorge Ramirez-Ortiz : gpiopwm: display udp server information

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 8b20a4e7588dea6bc9f903af09731739b09b2767
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8b20a4e7588dea6bc9f903af09731739b09b2767

Author: Jorge Ramirez-Ortiz 
Date:   Wed Mar 30 13:30:11 2016 -0400

gpiopwm: display udp server information

---

 demo/posix/cobalt/gpiopwm.c |   62 ---
 1 file changed, 59 insertions(+), 3 deletions(-)

diff --git a/demo/posix/cobalt/gpiopwm.c b/demo/posix/cobalt/gpiopwm.c
index e093fbe..71a87d4 100644
--- a/demo/posix/cobalt/gpiopwm.c
+++ b/demo/posix/cobalt/gpiopwm.c
@@ -18,9 +18,10 @@
 #include 
 #include 
 #include 
+#include 
 
-#define MIN_DUTY_CYCLE 0
-#define MAX_DUTY_CYCLE 100
+#define MIN_DUTY_CYCLE (0)
+#define MAX_DUTY_CYCLE (100)
 
 typedef void *(*gpiopwm_control_thread)(void *cookie);
 #define DEVICE_NAME "/dev/rtdm/gpiopwm"
@@ -33,6 +34,11 @@ static int stop;
 static int step = 1;
 static int port = 6;
 
+#define MAX_IP_INTERFACES  (9)
+static char *ip_str[MAX_IP_INTERFACES + 1];
+static int last_ip;
+
+
 #define GPIO_PWM_SERVO_CONFIG  \
 {  \
.duty_cycle =   50, \
@@ -75,7 +81,11 @@ static inline void clear_screen(void)
 
 static inline void print_config(char *str)
 {
+   int i;
+
printf("Config: %s\n", str);
+   for (i = 0; i < last_ip ; i++)
+   printf("%s", ip_str[i]);
printf(" device : %s\n", device_name);
printf(" range  : [%d, %d]\n", config.range_min, config.range_max);
printf(" period : %d nsec\n", config.period);
@@ -90,6 +100,51 @@ static inline void input_message(void)
printf( "  Enter duty_cycle [0-100] : ");
 }
 
+static void get_ip_addresses(void)
+{
+   char ip[INET_ADDRSTRLEN];
+   struct sockaddr_in *s_in;
+   struct ifconf ifconf;
+   struct ifreq ifr[10];
+   int ret;
+   int ifs;
+   int i;
+   int s;
+
+   s = socket(AF_INET, SOCK_STREAM, 0);
+   if (s < 0)
+   return;
+
+   ifconf.ifc_buf = (char *) ifr;
+   ifconf.ifc_len = sizeof(ifr);
+
+   if (ioctl(s, SIOCGIFCONF, ) == -1)
+   return;
+
+   ifs = ifconf.ifc_len / sizeof(ifr[0]);
+
+   /* we wont _display_ more than MAX_IP_INTERFACES */
+   if (ifs > MAX_IP_INTERFACES)
+   ifs = MAX_IP_INTERFACES;
+
+   last_ip = ifs + 1;
+
+   for (i = 0; i < ifs; i++) {
+   s_in = (struct sockaddr_in *) [i].ifr_addr;
+   if (!inet_ntop(AF_INET, _in->sin_addr, ip, sizeof(ip)))
+   return;
+   ret = asprintf(_str[i]," ip  : %s\n", ip);
+   if (ret)
+   perror("asprintf");
+   }
+
+   ret = asprintf(_str[i]," port: %d\n\n", port);
+   if (ret)
+   perror("asprintf");
+
+   close(s);
+}
+
 static void setup_sched_parameters(pthread_attr_t *attr, int prio)
 {
struct sched_param p;
@@ -171,7 +226,7 @@ static void *gpiopwm_udp_ctrl_thread(void *cookie)
for (;;) {
 
clear_screen();
-   print_config("UDP server");
+   print_config("UDP Server\n");
 
memset(buf,'\0', blen);
ret = recvfrom(sockfd, buf, blen - 1, 0, , );
@@ -382,6 +437,7 @@ int main(int argc, char *argv[])
case udp_opt:
handler = gpiopwm_udp_ctrl_thread;
port = atoi(optarg);
+   get_ip_addresses();
break;
case config_opt:
p = strtok(optarg,":");


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[Xenomai-git] Philippe Gerum : boilerplate: add AVL library

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: fe7c0f7fe424e98ec9f367765d43147964812ced
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fe7c0f7fe424e98ec9f367765d43147964812ced

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  (1<thr |= 1 << avl_type2index(side))
+#define avlh_thr_clr(holder, side) ((holder)->thr &= ~(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 

[Xenomai-git] Jan Kiszka : lib/cobalt: Wrap pthread_setschedprio for proper real-time support

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 57059034e9e86131ab42c8b02628b4ac03a7bfae
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=57059034e9e86131ab42c8b02628b4ac03a7bfae

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, _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] Jan Kiszka : smokey/posix-mutex: Fix test case by destroying barriers correctly

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: cdf93ceb0ff21ee84c35898ea4e1297070d501c4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=cdf93ceb0ff21ee84c35898ea4e1297070d501c4

Author: Jan Kiszka 
Date:   Tue Dec  6 16:34:48 2016 +0100

smokey/posix-mutex: Fix test case by destroying barriers correctly

At least on x86-64-compat, the missing destruction of the smokey
barriers, specifically their embedded mutexes, cause crashes of the
test. The reason is likely a mismatch between the kernel's and
userland's view on which object is still active, combined with the fact
that userland kept them on the volatile stack.

Signed-off-by: Jan Kiszka 

---

 testsuite/smokey/posix-mutex/posix-mutex.c |6 ++
 1 file changed, 6 insertions(+)

diff --git a/testsuite/smokey/posix-mutex/posix-mutex.c 
b/testsuite/smokey/posix-mutex/posix-mutex.c
index 151c2f3..9a1592b 100644
--- a/testsuite/smokey/posix-mutex/posix-mutex.c
+++ b/testsuite/smokey/posix-mutex/posix-mutex.c
@@ -291,6 +291,8 @@ static int do_contend(pthread_mutex_t *mutex, int type)
if (!__Tassert(status == NULL))
return -EINVAL;
 
+   smokey_barrier_destroy();
+
return 0;
 }
 
@@ -471,6 +473,8 @@ static int do_pi_contend(int prio)
if (!__T(ret, pthread_mutex_destroy()))
return ret;
 
+   smokey_barrier_destroy();
+
return 0;
 }
 
@@ -578,6 +582,8 @@ static int do_steal(int may_steal)
if (!__T(ret, pthread_mutex_destroy()))
return ret;
 
+   smokey_barrier_destroy();
+
return 0;
 }
 


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[Xenomai-git] Jorge Ramirez-Ortiz : gpiopwm: pwm signal generator and servo motor control demo code

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 0aa540d26c292d2b0da41c377437ed178d71c003
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0aa540d26c292d2b0da41c377437ed178d71c003

Author: Jorge Ramirez-Ortiz 
Date:   Tue Mar 15 19:18:15 2016 -0400

gpiopwm: pwm signal generator and servo motor control demo code

---

 demo/posix/cobalt/Makefile.am|6 +
 demo/posix/cobalt/gpiopwm.c  |  448 ++
 include/cobalt/kernel/rtdm/gpiopwm.h |   24 ++
 include/rtdm/uapi/gpiopwm.h  |   56 +
 include/rtdm/uapi/rtdm.h |1 +
 kernel/drivers/Kconfig   |1 +
 kernel/drivers/Makefile  |3 +-
 kernel/drivers/gpiopwm/Kconfig   |9 +
 kernel/drivers/gpiopwm/Makefile  |5 +
 kernel/drivers/gpiopwm/gpiopwm.c |  301 +++
 10 files changed, 853 insertions(+), 1 deletion(-)

diff --git a/demo/posix/cobalt/Makefile.am b/demo/posix/cobalt/Makefile.am
index eedc346..9e35cf1 100644
--- a/demo/posix/cobalt/Makefile.am
+++ b/demo/posix/cobalt/Makefile.am
@@ -3,6 +3,7 @@ demodir = @XENO_DEMO_DIR@
 CCLD = $(top_srcdir)/scripts/wrap-link.sh $(CC)
 
 demo_PROGRAMS =\
+   gpiopwm \
bufp-label  \
bufp-readwrite  \
can_rtt \
@@ -24,6 +25,11 @@ ldadd =  \
 @XENO_USER_LDADD@  \
-lpthread -lrt
 
+gpiopwm_SOURCES = gpiopwm.c
+gpiopwm_CPPFLAGS = $(cppflags) -I$(top_srcdir)/include/rtdm/uapi
+gpiopwm_LDFLAGS = $(ldflags)
+gpiopwm_LDADD = $(ldadd)
+
 bufp_label_SOURCES = bufp-label.c
 bufp_label_CPPFLAGS = $(cppflags)
 bufp_label_LDFLAGS = $(ldflags)
diff --git a/demo/posix/cobalt/gpiopwm.c b/demo/posix/cobalt/gpiopwm.c
new file mode 100644
index 000..e093fbe
--- /dev/null
+++ b/demo/posix/cobalt/gpiopwm.c
@@ -0,0 +1,448 @@
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#define MIN_DUTY_CYCLE 0
+#define MAX_DUTY_CYCLE 100
+
+typedef void *(*gpiopwm_control_thread)(void *cookie);
+#define DEVICE_NAME "/dev/rtdm/gpiopwm"
+char *device_name;
+int dev;
+
+static sem_t synch;
+static sem_t setup;
+static int stop;
+static int step = 1;
+static int port = 6;
+
+#define GPIO_PWM_SERVO_CONFIG  \
+{  \
+   .duty_cycle =   50, \
+   .range_min  =   950,\
+   .range_max  =   2050,   \
+   .period =   2000,   \
+   .gpio   =   1,  \
+}
+
+static struct gpiopwm config = GPIO_PWM_SERVO_CONFIG;
+
+static void fail(const char *reason)
+{
+   perror(reason);
+   exit(EXIT_FAILURE);
+}
+
+static void sem_sync(sem_t *sem)
+{
+   int ret;
+
+   for (;;) {
+   ret = sem_wait(sem);
+   if (ret == 0)
+   return;
+   if (errno != EINTR)
+   fail("sem_wait");
+   }
+}
+
+static inline void clear_screen(void)
+{
+   const char* cmd = "\e[1;1H\e[2J";
+   int ret;
+
+   ret = write(2, cmd, strlen(cmd));
+   if (!ret)
+   error(1, ret, "clear screen error");
+}
+
+static inline void print_config(char *str)
+{
+   printf("Config: %s\n", str);
+   printf(" device : %s\n", device_name);
+   printf(" range  : [%d, %d]\n", config.range_min, config.range_max);
+   printf(" period : %d nsec\n", config.period);
+   printf(" gpio pin   : %d\n", config.gpio);
+   printf(" duty cycle : %d\n", config.duty_cycle);
+}
+
+static inline void input_message(void)
+{
+   print_config("");
+   printf("\n GPIO PWM Control\n");
+   printf( "  Enter duty_cycle [0-100] : ");
+}
+
+static void setup_sched_parameters(pthread_attr_t *attr, int prio)
+{
+   struct sched_param p;
+   int ret;
+
+   ret = pthread_attr_init(attr);
+   if (ret)
+   error(1, ret, "pthread_attr_init()");
+
+   ret = pthread_attr_setinheritsched(attr, PTHREAD_EXPLICIT_SCHED);
+   if (ret)
+   error(1, ret, "pthread_attr_setinheritsched()");
+
+   ret = pthread_attr_setschedpolicy(attr, prio ? SCHED_FIFO : 
SCHED_OTHER);
+   if (ret)
+   error(1, ret, "pthread_attr_setschedpolicy()");
+
+   p.sched_priority = prio;
+   ret = pthread_attr_setschedparam(attr, );
+   if (ret)
+   error(1, ret, "pthread_attr_setschedparam()");
+}
+
+static void *gpiopwm_init_thread(void *cookie)
+{
+   int ret;
+
+   pthread_setname_np(pthread_self(), "gpio-pwm-handler");
+   ret = ioctl(dev, GPIOPWM_RTIOC_SET_CONFIG, config);
+   if (ret)
+   error(1, ret, "failed to set config");
+
+   ioctl(dev, GPIOPWM_RTIOC_START);
+
+ 

[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet testsuite

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e5f13fe6f74398a92f92d5329a5dbb7a2848ca6d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e5f13fe6f74398a92f92d5329a5dbb7a2848ca6d

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 ab13f96..a5accf1 100644
--- a/configure.ac
+++ b/configure.ac
@@ -912,6 +912,9 @@ 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 \


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[Xenomai-git] Philippe Gerum : cobalt/thread: add schedparam lazy propagation

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 789ea1f3acf0c6cbab325c68fe306654313d049c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=789ea1f3acf0c6cbab325c68fe306654313d049c

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 d00714c..7db3c1b 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -24,6 +24,7 @@
 #include 
 #include 
 #include 
+#include 
 #include 
 #include 
 #include 
@@ -1961,6 +1962,11 @@ 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;
 }
 
@@ -2082,6 +2088,40 @@ static void post_wakeup(struct task_struct *p)
ipipe_post_work_root(, 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 

[Xenomai-git] Philippe Gerum : cobalt/arm64: thread: move all TCB initializers out of line

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 851df8896ef416b403b584c2391afcdc6edbb86e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=851df8896ef416b403b584c2391afcdc6edbb86e

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 = >core.host_task->thread.fpsimd_state;
 }
 
+void xnarch_init_root_tcb(struct xnthread *thread)
+{
+   struct xnarchtcb *tcb = >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/wrappers: add wrapper for reinit_completion()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f174ad62d856d8194fbd605a90ca092b13dcec6b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f174ad62d856d8194fbd605a90ca092b13dcec6b

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] Jan Kiszka : cobalt/kernel: Trigger missing reschedule after PP deboost

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: cb7f3deadf872df9e4cc4c0406070f285084f27a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=cb7f3deadf872df9e4cc4c0406070f285084f27a

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(, s);
 


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[Xenomai-git] Philippe Gerum : lib/cobalt: use lazy schedparam propagation

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 73ac1d8f11238b913aad00acddc4e0a897050bfa
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=73ac1d8f11238b913aad00acddc4e0a897050bfa

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, _param);
-   ret = __STD(sched_setscheduler(pid, std_policy, _param));
-   if (ret)
-   return errno;
+
+   if (cobalt_is_relaxed()) {
+   std_policy = cobalt_xlate_schedparam(policy, param_ex, 
_param);
+   ret = __STD(sched_setscheduler(pid, std_policy, _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] Jorge Ramirez-Ortiz : utils/analogy: fix error check [SIGSEGV]

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 4798b7c4e84bf0850e6ac839e2db9385dd69119d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=4798b7c4e84bf0850e6ac839e2db9385dd69119d

Author: Jorge Ramirez-Ortiz 
Date:   Wed Oct  5 21:34:27 2016 +0200

utils/analogy: fix error check [SIGSEGV]

---

 utils/analogy/cmd_read.c |4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/utils/analogy/cmd_read.c b/utils/analogy/cmd_read.c
index a507801..86522f4 100644
--- a/utils/analogy/cmd_read.c
+++ b/utils/analogy/cmd_read.c
@@ -261,12 +261,12 @@ static int map_subdevice_buffer(a4l_desc_t *dsc, unsigned 
long *buf_size, void *
 
 static int cmd_read(struct arguments *arg)
 {
-   unsigned int i, scan_size = 0, cnt = 0, ret = 0, len, ofs;
+   unsigned int i, scan_size = 0, cnt = 0, len, ofs;
dump_function_t dump_function = dump_text;
a4l_desc_t dsc = { .sbdata = NULL };
unsigned long buf_size;
char **argv = arg->argv;
-   int argc = arg->argc;
+   int ret = 0, argc = arg->argc;
void *map = NULL;
 
for (;;) {


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[Xenomai-git] Philippe Gerum : net/drivers/e1000: work around UMR issue

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6a1ad1368ca752e97aed547a156144b8ca02d76b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6a1ad1368ca752e97aed547a156144b8ca02d76b

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/synch: add support for priority ceiling protocol

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7d3040759614630513e580e1dbea394447fd953d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7d3040759614630513e580e1dbea394447fd953d

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(>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 

[Xenomai-git] Philippe Gerum : testsuite/smokey: mutex: simplify, introduce PP tests

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 98a303f67439a4e5a80e88496b8eb58b829a8cc4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=98a303f67439a4e5a80e88496b8eb58b829a8cc4

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(, NULL);
+   ts.tv_nsec = ms * 100;
+   clock_nanosleep(CLOCK_MONOTONIC, 0, , 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, );
-   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);
-   }
+   

[Xenomai-git] Philippe Gerum : config: bump version info to 3.1-devel

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7b7a4f881b7c4e2d6d6fc3da97a3cf01976c1eef
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7b7a4f881b7c4e2d6d6fc3da97a3cf01976c1eef

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


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[Xenomai-git] Philippe Gerum : cobalt: bump ABI revision level

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 2616d207230f13bed48663a87288cb55ca9bebe6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2616d207230f13bed48663a87288cb55ca9bebe6

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)
 


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[Xenomai-git] Jan Kiszka : smokey/posix-mutex: Fix test case /wrt mutex object reuse

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 32489b87cdd70db322764390d52dfb0a27f18049
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=32489b87cdd70db322764390d52dfb0a27f18049

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()))
+   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()))
+   return ret;
+
return 0;
 }
 
@@ -699,7 +705,10 @@ static int protect_weak(void)
if (!__T(ret, pthread_setschedparam(pthread_self(),
old_policy, _param)))
return ret;
-   
+
+   if (!__T(ret, pthread_mutex_destroy()))
+   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(_high)) ||
+   !__T(ret, pthread_mutex_destroy(_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(_pp)))
+   return ret;
+
return 0;
 }
 


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[Xenomai-git] Philippe Gerum : cobalt/arm: track current mm unconditionally

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e24f212f7cc49c3ba057e604d59f33c3da96c434
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e24f212f7cc49c3ba057e604d59f33c3da96c434

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
 


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[Xenomai-git] Philippe Gerum : lib/cobalt/mutex: add support for priority ceiling protocol

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 4a086f0fd728d69b369ccb3e4d504319e9151ef5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=4a086f0fd728d69b369ccb3e4d504319e9151ef5

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 f8a11fc..24b283d 100644
--- a/configure.ac
+++ b/configure.ac
@@ -514,6 +514,8 @@ 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 d8b0334..4cd80b0 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 

[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: add lazy FPU switching

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b598ba86afea76a9d4873a4bfb982e9219cd973e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b598ba86afea76a9d4873a4bfb982e9219cd973e

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(, s);
+   xnthread_set_state(to, XNFPU);
+   xnlock_put_irqrestore(, 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(, s);
+   xnthread_clear_state(thread, XNFPU);
+   xnlock_put_irqrestore(, 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] Philippe Gerum : cobalt/arch: fixup READMEs

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 52ee546575f4a6b5f65d21c54325851342196ef9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=52ee546575f4a6b5f65d21c54325851342196ef9

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):

[Xenomai-git] Philippe Gerum : boilerplate/libc: provide placeholders for prioceiling ops

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b5c65a5a3a3e86226009b90bcc962ea04d13f548
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b5c65a5a3a3e86226009b90bcc962ea04d13f548

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 24b283d..1df8e3e 100644
--- a/configure.ac
+++ b/configure.ac
@@ -517,6 +517,8 @@ 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 4cd80b0..6616cef 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] Jan Kiszka : cobalt/kernel: Return need_resched flag from xnsynch_release

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9ec0b1291662fa337d45658e58b72b3c35fad502
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9ec0b1291662fa337d45658e58b72b3c35fad502

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(>synchbase, curr) != NULL;
+   need_resched |= xnsynch_release(>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(>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(>pendq)) {
synch->owner = NULL;
atomic_set(lockp, XN_NO_HANDLE);
-   return NULL;
+   return false;
}
 
nextowner = list_first_entry(>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;
 
   

[Xenomai-git] Philippe Gerum : cobalt/arm64: drop useless test on target architecture

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 5218edbe07052364020971fbb7d257cb8e2c71be
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5218edbe07052364020971fbb7d257cb8e2c71be

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/arm64: use lazy fpsimd switch mode

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: c5cb437cfc9959f7a0038bb8dfa68b30286b7c12
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=c5cb437cfc9959f7a0038bb8dfa68b30286b7c12

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)


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[Xenomai-git] Philippe Gerum : lib/cobalt: add config switch to enable lazy setsched update mode

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b60e7481d533197c4f8efdc85bf015455e04cef6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b60e7481d533197c4f8efdc85bf015455e04cef6

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 1df8e3e..07b4d15 100644
--- a/configure.ac
+++ b/configure.ac
@@ -291,6 +291,25 @@ 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, 
_param);
ret = __STD(sched_setscheduler(pid, std_policy, _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, 
_param);
ret = __STD(pthread_setschedparam(thread, std_policy, 
_param));
if (ret)


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[Xenomai-git] Philippe Gerum : cobalt/powerpc: drop obsolete config knob

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 367a6c8e85881c2eecbf9293e2e7f29be92a926f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=367a6c8e85881c2eecbf9293e2e7f29be92a926f

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


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[Xenomai-git] Philippe Gerum : cobalt/powerpc: track current mm unconditionally

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 121a29fe0722b09520fdadc5f0b0906a7be5439e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=121a29fe0722b09520fdadc5f0b0906a7be5439e

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
 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: add basic FPU support

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 570df423902f253cf8d84c64f3446b843e66eab8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=570df423902f253cf8d84c64f3446b843e66eab8

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"([0]): "memory");
+

[Xenomai-git] Philippe Gerum : cobalt/sched: detect preemptible switch support in pipeline

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: d4e4bdfd1e2c1ad2479e99b7b344755d0b7503b7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d4e4bdfd1e2c1ad2479e99b7b344755d0b7503b7

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 09960ac..b0d65d3 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();
-#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 e0c488e..76dfbce 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -407,7 +407,7 @@ 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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[Xenomai-git] Gilles Chanteperdrix : cobalt/arm64: attempt at fixing fpu switch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9848284dfc20ae70f672ff3db3b8df60b331f799
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9848284dfc20ae70f672ff3db3b8df60b331f799

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 >xnfpsimd_state;
+
+   return >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(, s);
-   xnthread_set_state(to, XNFPU);
-   xnlock_put_irqrestore(, s);
-
-   xnarch_switch_fpu(from, 

[Xenomai-git] Philippe Gerum : cobalt/powerpc: drop support for unlocked context switch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e3c0194faf039873dd2f671d350f11ed923862e2
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e3c0194faf039873dd2f671d350f11ed923862e2

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


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[Xenomai-git] Philippe Gerum : cobalt/arm64: drop obsolete config knob

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 8c1a8a4df9675db147ac39d12c42029211797728
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8c1a8a4df9675db147ac39d12c42029211797728

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
 


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[Xenomai-git] Gilles Chanteperdrix : testsuite/smokey: add RTnet raw packets test

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f8677ac59c44fd9cd916cc4c0cf38bbd5f07bf66
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f8677ac59c44fd9cd916cc4c0cf38bbd5f07bf66

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 a5accf1..4d9aee6 100644
--- a/configure.ac
+++ b/configure.ac
@@ -914,6 +914,7 @@ 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 \


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[Xenomai-git] Philippe Gerum : testsuite/smokey: add basic FPU stress test

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b4eadefcd31e1303e4f3331308135e6193544e34
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b4eadefcd31e1303e4f3331308135e6193544e34

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 14d2f8e..ab13f96 100644
--- a/configure.ac
+++ b/configure.ac
@@ -911,11 +911,7 @@ 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 b0904d2..e253d6f 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, , 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();
+   pthread_attr_setdetachstate(, PTHREAD_CREATE_JOINABLE);
+   pthread_attr_setinheritsched(, PTHREAD_EXPLICIT_SCHED);
+   pthread_attr_setschedpolicy(, SCHED_FIFO);
+   param.sched_priority = 10;
+   pthread_attr_setschedparam(, );
+   ret = pthread_create(, , 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, , NULL));
+   if (fp_regs_check(fp_features, n, report_error) != n) {
+   ret = -EINVAL;
+   break;
+   }
+   }
+
+   pthread_cancel(tid);
+   pthread_join(tid, NULL);
+
+   return ret;
+}


___
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[Xenomai-git] Philippe Gerum : cobalt/arm64: leave mm tracking to the pipeline

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f960f5669438ae8845515540a2046abd78fc42ed
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f960f5669438ae8845515540a2046abd78fc42ed

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
 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: set cache aliasing and disable floating point coprocessor instructions form aarch64 /arm64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 226aac8ed6090f8eb77bf66a8a27fe292beaccd8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=226aac8ed6090f8eb77bf66a8a27fe292beaccd8

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"([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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f4c72d57002fba6f2797f3b2534b7ba22281f68d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f4c72d57002fba6f2797f3b2534b7ba22281f68d

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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9ecde186d7a97981e8738c2b8328f353e1b4bd2c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9ecde186d7a97981e8738c2b8328f353e1b4bd2c

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 = >tcb, *in_tcb = >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/kernel: fixup for v3.19+ (trace_seq)

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 71ed37ff95f5caf8d9f4294a2b1682932c889ad0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=71ed37ff95f5caf8d9f4294a2b1682932c889ad0

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] Don Mahurin : cobalt/arm64: Use empty mayday implementation for arm64.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: acd3d782200697015e0e55e7fa9db9ed1a42dd2b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=acd3d782200697015e0e55e7fa9db9ed1a42dd2b

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, , 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] Dmitriy Cherkasov : cobalt/arm64: features.h: disable XNARCH_HAVE_LLMULSHFT, XNARCH_HAVE_NODIV_LLIMD for armv8/aarch64, as arm64 does not have these

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 955c820facdc67788c469182476007c8e8f9d7ba
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=955c820facdc67788c469182476007c8e8f9d7ba

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] Philippe Gerum : cobalt/kernel: fixup for v3.19+ (user_msghdr)

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 22ba669a110ee7089df55ab7de923afb6f79ed0f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=22ba669a110ee7089df55ab7de923afb6f79ed0f

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 */


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: populate arch/arm64 with a copy of arch/ arm.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 328fa9a5b527fe59d2934e78d81b7b1686835463
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=328fa9a5b527fe59d2934e78d81b7b1686835463

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 b33ff12..14d2f8e 100644
--- a/configure.ac
+++ b/configure.ac
@@ -139,6 +139,10 @@ case "$build_for" in
target_cpu_arch=arm
CONFIG_XENO_DEFAULT_PERIOD=100
;;
+ aarch64-*)
+   XENO_TARGET_ARCH=arm64
+   CONFIG_XENO_DEFAULT_PERIOD=100
+   ;;
  x86_64-*|amd64-*)
use_tls=yes
target_cpu_arch=x86
@@ -860,6 +864,10 @@ 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 

[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: Makefile: fix arch path

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 64ccf1169ae43ed35de93180b0216877e63cecde
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=64ccf1169ae43ed35de93180b0216877e63cecde

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


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[Xenomai-git] Philippe Gerum : cobalt/arm64: assume TLS is properly supported

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7a3bc955a5afb51849aebc86b0de757d29346219
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7a3bc955a5afb51849aebc86b0de757d29346219

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 */


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[Xenomai-git] Philippe Gerum : cobalt/arm64: add README for I-pipe support

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9bb7b117d8bdee9155950a3616b7968dfa9f7f41
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9bb7b117d8bdee9155950a3616b7968dfa9f7f41

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.


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[Xenomai-git] Philippe Gerum : cobalt/thread: track thread_info unconditionally

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 93e397f3b3021d631f4f5f65679ca9dd4f49996f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=93e397f3b3021d631f4f5f65679ca9dd4f49996f

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 cbe14bd..09960ac 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 = >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 34eca35..e0c488e 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -260,9 +260,7 @@ void xnthread_init_shadow_tcb(struct xnthread *thread)
tcb->core.tsp = >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 */
@@ -278,9 +276,7 @@ void xnthread_init_root_tcb(struct xnthread *thread)
tcb->core.host_task = p;
tcb->core.tsp = >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] Dmitriy Cherkasov : cobalt/arm64: FPU code cleanup

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 1c5f5583772012cc7cea9dc34d4ab7b753d1e787
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1c5f5583772012cc7cea9dc34d4ab7b753d1e787

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(, 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(, s);
xnthread_clear_state(thread, XNFPU);
-   xnlock_put_irqrestore(, 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)
-   

[Xenomai-git] Philippe Gerum : demo/cross-link: fix multiple error reports

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 8fe023a422aab5cebfbd0363d6f06cbe2386eca4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8fe023a422aab5cebfbd0363d6f06cbe2386eca4

Author: Philippe Gerum 
Date:   Tue Nov 29 09:37:48 2016 +0100

demo/cross-link: fix multiple error reports

---

 demo/alchemy/cobalt/cross-link.c |   16 
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/demo/alchemy/cobalt/cross-link.c b/demo/alchemy/cobalt/cross-link.c
index 8c0f53f..9b1fb34 100644
--- a/demo/alchemy/cobalt/cross-link.c
+++ b/demo/alchemy/cobalt/cross-link.c
@@ -89,7 +89,7 @@ static int close_file( int fd, char *name)
break;
default:
printf(MAIN_PREFIX "%s -> %s\n", name,
-  strerror(-err));
+  strerror(errno));
break;
}
} while (err == -EAGAIN && i < 10);
@@ -158,7 +158,7 @@ static void write_task_proc(void *arg)
written = write(write_fd, _time, sz);
if (written < 0 ) {
printf(WTASK_PREFIX "error on write, %s\n",
-  strerror(-err));
+  strerror(errno));
break;
} else if (written != sz) {
printf(WTASK_PREFIX "only %d / %zd byte transmitted\n",
@@ -201,7 +201,7 @@ static void read_task_proc(void *arg)
if (err) {
printf(RTASK_PREFIX
   "error on RTSER_RTIOC_WAIT_EVENT, %s\n",
-  strerror(-err));
+  strerror(errno));
if (err == -ETIMEDOUT)
continue;
break;
@@ -218,7 +218,7 @@ static void read_task_proc(void *arg)
nr++;
} else if (rd < 0 ) {
printf(RTASK_PREFIX "error on read, code %s\n",
-  strerror(-err));
+  strerror(errno));
break;
} else {
printf(RTASK_PREFIX "only %d / %zd byte received \n",
@@ -245,7 +245,7 @@ int main(int argc, char* argv[])
write_fd = open( WRITE_FILE, 0);
if (write_fd < 0) {
printf(MAIN_PREFIX "can't open %s (write), %s\n", WRITE_FILE,
-  strerror(-write_fd));
+  strerror(errno));
goto error;
}
write_state |= STATE_FILE_OPENED;
@@ -255,7 +255,7 @@ int main(int argc, char* argv[])
err = ioctl(write_fd, RTSER_RTIOC_SET_CONFIG, _config);
if (err) {
printf(MAIN_PREFIX "error while RTSER_RTIOC_SET_CONFIG, %s\n",
-  strerror(-err));
+  strerror(errno));
goto error;
}
printf(MAIN_PREFIX "write-config written\n");
@@ -264,7 +264,7 @@ int main(int argc, char* argv[])
read_fd = open( READ_FILE, 0 );
if (read_fd < 0) {
printf(MAIN_PREFIX "can't open %s (read), %s\n", READ_FILE,
-  strerror(-read_fd));
+  strerror(errno));
goto error;
}
read_state |= STATE_FILE_OPENED;
@@ -274,7 +274,7 @@ int main(int argc, char* argv[])
err = ioctl(read_fd, RTSER_RTIOC_SET_CONFIG, _config);
if (err) {
printf(MAIN_PREFIX "error while ioctl, %s\n",
-  strerror(-err));
+  strerror(errno));
goto error;
}
printf(MAIN_PREFIX "read-config written\n");


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[Xenomai-git] Philippe Gerum : cobalt: bump ABI revision level

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 28eeb0681333a1da2a34c602663babb9c7fbd2d9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=28eeb0681333a1da2a34c602663babb9c7fbd2d9

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)
 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: thread.h & syscall.h: fix register references for arm64

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Module: xenomai-3
Branch: next
Commit: 81db06b0d9b1bce65434436cb127518fd3d74349
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=81db06b0d9b1bce65434436cb127518fd3d74349

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] Dmitriy Cherkasov : cobalt/arm64: update register struct usage for arm64

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Module: xenomai-3
Branch: next
Commit: 79911bbc8e182f7ab551d7fd7d03b5ed5c698763
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=79911bbc8e182f7ab551d7fd7d03b5ed5c698763

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] Philippe Gerum : cobalt/arm64: switch to regular system call convention

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 99e0f028ecbd78673773a979e82fc1b0785fd006
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=99e0f028ecbd78673773a979e82fc1b0785fd006

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 

[Xenomai-git] Don Mahurin : lib/cobalt/arm64: implement syscall for armv8/aarch64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: fb4f93521c7c38d09d0a7a25d743e830ff96efa4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fb4f93521c7c38d09d0a7a25d743e830ff96efa4

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/arm64: fix inclusion guards

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Module: xenomai-3
Branch: next
Commit: b10275dbfef57bdcb8b9049292694e593974ce08
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b10275dbfef57bdcb8b9049292694e593974ce08

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 

[Xenomai-git] Philippe Gerum : cobalt/arm64: restrict unlocked switch to SMP

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 363487cb8d3f57d6f64e6edcc7911169b7b5433b
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=363487cb8d3f57d6f64e6edcc7911169b7b5433b

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


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[Xenomai-git] Philippe Gerum : cobalt/arm64: sanitize calibration file

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 0c8f0dfdab1cff9065c804b6a30fd6dc98769515
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0c8f0dfdab1cff9065c804b6a30fd6dc98769515

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(, ulat);
p->kernel = xnclock_ns_to_ticks(, 
CONFIG_XENO_OPT_TIMING_KSCHEDLAT);
p->irq = xnclock_ns_to_ticks(, 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: remove code for unrelated arm architecture

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 5fa86880300ef48d95e4069eac05f6fce4fef4fe
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5fa86880300ef48d95e4069eac05f6fce4fef4fe

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: machine.h: use slightly faster ffnz implementation

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 2d10fdade27511975614f831dcde9ca7f05a39da
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2d10fdade27511975614f831dcde9ca7f05a39da

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] Dmitriy Cherkasov : cobalt/arm64: thread: use kernel switch_to

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 44262c83838726d3913d00549d162d5a34fe9ee1
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=44262c83838726d3913d00549d162d5a34fe9ee1

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 

[Xenomai-git] Jan Kiszka : net/drivers/pcnet32: Replace deprecated pci_dma_supported with dma_supported

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b0f8a6cb0260117a14d46de02a4564e3fa5498c7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b0f8a6cb0260117a14d46de02a4564e3fa5498c7

Author: Jan Kiszka 
Date:   Thu Dec  1 17:16:16 2016 +0100

net/drivers/pcnet32: Replace deprecated pci_dma_supported with dma_supported

The old function is no longer available with latest kernels.

Signed-off-by: Jan Kiszka 

---

 kernel/drivers/net/drivers/pcnet32.c |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/drivers/net/drivers/pcnet32.c 
b/kernel/drivers/net/drivers/pcnet32.c
index 7dfe28f..b041397 100644
--- a/kernel/drivers/net/drivers/pcnet32.c
+++ b/kernel/drivers/net/drivers/pcnet32.c
@@ -513,7 +513,7 @@ static int pcnet32_probe_pci(struct pci_dev *pdev, const 
struct pci_device_id *e
return -ENODEV;
 }
 
-if (!pci_dma_supported(pdev, PCNET32_DMA_MASK)) {
+if (!dma_supported(>dev, PCNET32_DMA_MASK)) {
printk(KERN_ERR PFX "architecture does not support 32bit PCI busmaster 
DMA\n");
return -ENODEV;
 }


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[Xenomai-git] Philippe Gerum : cobalt/arm64: drop aarch32 bits from feature set

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 138ceb511b4c1e0e90b1a0f1364fb2eb09c81f75
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=138ceb511b4c1e0e90b1a0f1364fb2eb09c81f75

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 */


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: xenomai/syscall.h: update syscall register

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: d1bb52e396d5c16d42863e1fae676237c20d3f3c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d1bb52e396d5c16d42863e1fae676237c20d3f3c

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)
 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: prepare-kernel: add arm64 arch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f684ebc52e878228e8a489cb5bb16707e9e8ce8c
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f684ebc52e878228e8a489cb5bb16707e9e8ce8c

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
   ;;


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[Xenomai-git] Don Mahurin : cobalt/arm64: fix build for mismatched printf type (%lx, u64) on arm64.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 494efb1939c0804f6f8f754460388520c8c47fae
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=494efb1939c0804f6f8f754460388520c8c47fae

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] Don Mahurin : cobalt/arm64: fix warning: expects argument of type ' long unsigned int', but argument has type 'u64'

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 2cfd9406413a1d75fd975631499d98bde90f01d0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2cfd9406413a1d75fd975631499d98bde90f01d0

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);
 


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: machine.h: Add 64-bit ffnz implementation. This fixes crash when running xddp-echo.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 096c98ee9ab0abd20031dd66d72fd93f6810ba3f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=096c98ee9ab0abd20031dd66d72fd93f6810ba3f

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] Don Mahurin : lib/cobalt/arm64: disable kuser tsc get setting for armv8/ aarch64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 0eb21156fd31e13db8c20990d90dc67e3c7ab1f5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0eb21156fd31e13db8c20990d90dc67e3c7ab1f5

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;
 


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[Xenomai-git] Jan Kiszka : net/drivers/pcnet32: Replace deprecated pci_dma_supported with dma_supported

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: b0f8a6cb0260117a14d46de02a4564e3fa5498c7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b0f8a6cb0260117a14d46de02a4564e3fa5498c7

Author: Jan Kiszka 
Date:   Thu Dec  1 17:16:16 2016 +0100

net/drivers/pcnet32: Replace deprecated pci_dma_supported with dma_supported

The old function is no longer available with latest kernels.

Signed-off-by: Jan Kiszka 

---

 kernel/drivers/net/drivers/pcnet32.c |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kernel/drivers/net/drivers/pcnet32.c 
b/kernel/drivers/net/drivers/pcnet32.c
index 7dfe28f..b041397 100644
--- a/kernel/drivers/net/drivers/pcnet32.c
+++ b/kernel/drivers/net/drivers/pcnet32.c
@@ -513,7 +513,7 @@ static int pcnet32_probe_pci(struct pci_dev *pdev, const 
struct pci_device_id *e
return -ENODEV;
 }
 
-if (!pci_dma_supported(pdev, PCNET32_DMA_MASK)) {
+if (!dma_supported(>dev, PCNET32_DMA_MASK)) {
printk(KERN_ERR PFX "architecture does not support 32bit PCI busmaster 
DMA\n");
return -ENODEV;
 }


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[Xenomai-git] Philippe Gerum : demo/cross-link: fix multiple error reports

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 8fe023a422aab5cebfbd0363d6f06cbe2386eca4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8fe023a422aab5cebfbd0363d6f06cbe2386eca4

Author: Philippe Gerum 
Date:   Tue Nov 29 09:37:48 2016 +0100

demo/cross-link: fix multiple error reports

---

 demo/alchemy/cobalt/cross-link.c |   16 
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/demo/alchemy/cobalt/cross-link.c b/demo/alchemy/cobalt/cross-link.c
index 8c0f53f..9b1fb34 100644
--- a/demo/alchemy/cobalt/cross-link.c
+++ b/demo/alchemy/cobalt/cross-link.c
@@ -89,7 +89,7 @@ static int close_file( int fd, char *name)
break;
default:
printf(MAIN_PREFIX "%s -> %s\n", name,
-  strerror(-err));
+  strerror(errno));
break;
}
} while (err == -EAGAIN && i < 10);
@@ -158,7 +158,7 @@ static void write_task_proc(void *arg)
written = write(write_fd, _time, sz);
if (written < 0 ) {
printf(WTASK_PREFIX "error on write, %s\n",
-  strerror(-err));
+  strerror(errno));
break;
} else if (written != sz) {
printf(WTASK_PREFIX "only %d / %zd byte transmitted\n",
@@ -201,7 +201,7 @@ static void read_task_proc(void *arg)
if (err) {
printf(RTASK_PREFIX
   "error on RTSER_RTIOC_WAIT_EVENT, %s\n",
-  strerror(-err));
+  strerror(errno));
if (err == -ETIMEDOUT)
continue;
break;
@@ -218,7 +218,7 @@ static void read_task_proc(void *arg)
nr++;
} else if (rd < 0 ) {
printf(RTASK_PREFIX "error on read, code %s\n",
-  strerror(-err));
+  strerror(errno));
break;
} else {
printf(RTASK_PREFIX "only %d / %zd byte received \n",
@@ -245,7 +245,7 @@ int main(int argc, char* argv[])
write_fd = open( WRITE_FILE, 0);
if (write_fd < 0) {
printf(MAIN_PREFIX "can't open %s (write), %s\n", WRITE_FILE,
-  strerror(-write_fd));
+  strerror(errno));
goto error;
}
write_state |= STATE_FILE_OPENED;
@@ -255,7 +255,7 @@ int main(int argc, char* argv[])
err = ioctl(write_fd, RTSER_RTIOC_SET_CONFIG, _config);
if (err) {
printf(MAIN_PREFIX "error while RTSER_RTIOC_SET_CONFIG, %s\n",
-  strerror(-err));
+  strerror(errno));
goto error;
}
printf(MAIN_PREFIX "write-config written\n");
@@ -264,7 +264,7 @@ int main(int argc, char* argv[])
read_fd = open( READ_FILE, 0 );
if (read_fd < 0) {
printf(MAIN_PREFIX "can't open %s (read), %s\n", READ_FILE,
-  strerror(-read_fd));
+  strerror(errno));
goto error;
}
read_state |= STATE_FILE_OPENED;
@@ -274,7 +274,7 @@ int main(int argc, char* argv[])
err = ioctl(read_fd, RTSER_RTIOC_SET_CONFIG, _config);
if (err) {
printf(MAIN_PREFIX "error while ioctl, %s\n",
-  strerror(-err));
+  strerror(errno));
goto error;
}
printf(MAIN_PREFIX "read-config written\n");


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