[Xenomai-git] Philippe Gerum : cobalt/arm64: disable callee-saved logic in fptest helpers

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 433b280ec3b964fa22563c9fb9e066be595076b4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=433b280ec3b964fa22563c9fb9e066be595076b4

Author: Philippe Gerum 
Date:   Thu Oct 22 14:45:05 2015 +0200

cobalt/arm64: disable callee-saved logic in fptest helpers

We don't want GCC to apply any callee-saved logic to fpsimd registers
in fp_regs_set() before fp_regs_check() can verify their contents, but
we still want GCC to know about the registers we have clobbered.

---

 .../arch/arm64/include/asm/xenomai/uapi/fptest.h   |  160 ++--
 testsuite/switchtest/switchtest.c  |   14 +-
 2 files changed, 92 insertions(+), 82 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
index 84607b7..7a2cb92 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -20,86 +20,86 @@
 
 #define __COBALT_HAVE_FPU  0x1
 
-static inline void fp_regs_set(int features, unsigned int val)
-{
-
-   unsigned long long e[32];
-   unsigned int i;
-
-   if (features & __COBALT_HAVE_FPU) {
-
-   for (i = 0; i < 32; i++)
-   e[i] = val;
-
-   __asm__ __volatile__("ldp d0, d1, [%0, #8 * 0] \n\
-   ldp   d2, d3, [%0, #8 * 
2] \n\
-   ldp d4, d5, [%0, #8 
* 4]\n\
-   ldp d6, d7, [%0, #8 
* 6]\n\
-   ldp d8, d9, [%0, #8 
* 8]\n\
-   ldp d10, d11, [%0, 
#8 * 10]\n\
-   ldp d12, d13, [%0, 
#8 * 12]\n\
-   ldp d14, d15, [%0, 
#8 * 14]\n\
-   ldp d16, d17, [%0, 
#8 * 16]\n\
-   ldp d18, d19, [%0, 
#8 * 18]\n\
-   ldp d20, d21, [%0, 
#8 * 20]\n\
-   ldp d22, d23, [%0, 
#8 * 22]\n\
-   ldp d24, d25, [%0, 
#8 * 24]\n\
-   ldp d26, d27, [%0, 
#8 * 26]\n\
-   ldp d28, d29, [%0, 
#8 * 28]\n\
-   ldp d30, d31, [%0, 
#8 * 30]"
-
-   : /* No outputs. */
-   : "r"([0])
- : "d0", "d1", "d2", "d3", "d4", "d5", "d6", 
"d7", "d8", "d9", "d10", "d11", "d12", "d13", "d14", "d15",
-   "d16", "d17", "d18", "d19", "d20", 
"d21", "d22", "d23", "d24", "d25", "d26", "d27", "d28", "d29", "d30", "d31", 
"memory"
-   );
-   }
-
-}
-
-static inline unsigned int fp_regs_check(int features, unsigned int val,
-int (*report)(const char *fmt, ...))
-{
-   unsigned int result = val;
-
-   unsigned int i;
-   unsigned long long e[32];
-
-   if (features & __COBALT_HAVE_FPU) {
-
-   __asm__ __volatile__("stp d0, d1, [%0, #8 * 0] \n\
-   stp   d2, d3, [%0, #8 * 
2] \n\
-   stp d4, d5, [%0, #8 
* 4]\n\
-   stp d6, d7, [%0, #8 
* 6]\n\
-   stp d8, d9, 
[%0, #8 * 8]\n\
-   stp d10, d11, [%0, 
#8 * 10]\n\
-   stp d12, d13, [%0, 
#8 * 12]\n\
-   stp d14, d15, [%0, 
#8 * 14]\n\
-   stp d16, d17, [%0, 
#8 * 16]\n\
-   stp d18, d19, [%0, 
#8 * 18]\n\
-   stp d20, d21, [%0, 
#8 * 20]\n\
-   stp d22, d23, [%0, 
#8 * 22]\n\
-   stp d24, d25, [%0, 
#8 * 24]\n\
-   stp d26, d27, [%0, 
#8 * 26]\n\
-   stp d28, d29, [%0, 
#8 * 28]\n\
-   stp d30, d31, [%0, 
#8 * 30]"
-
-   :  /* No 

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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: fb2c77d4101644af2e3d57cc1da473f6834c3cf9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fb2c77d4101644af2e3d57cc1da473f6834c3cf9

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 : config: bump version info to 3.1-devel

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: bdf6e0be040dfb8311566ae5be67954e4eb9fb6f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=bdf6e0be040dfb8311566ae5be67954e4eb9fb6f

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/arm64: drop obsolete config knob

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 981d628af180bb6e57e2a04ba3e266cbbd41ccfc
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=981d628af180bb6e57e2a04ba3e266cbbd41ccfc

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] Philippe Gerum : testsuite/smokey: mutex: simplify, introduce PP tests

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 25bb2b95b066ec51420e7a616b88854970a39dbf
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=25bb2b95b066ec51420e7a616b88854970a39dbf

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 : boilerplate: add AVL library

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7e9ad1e620889bc6bbd63565206f9f31c9496713
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7e9ad1e620889bc6bbd63565206f9f31c9496713

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 : smokey/posix-mutex: Fix test case /wrt mutex object reuse

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9fd3f287a85ee0d18e96aab39e0ab6ba74e0fe58
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9fd3f287a85ee0d18e96aab39e0ab6ba74e0fe58

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/powerpc: track current mm unconditionally

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9f8468e877173cde9241031c3fc3ae0354128924
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9f8468e877173cde9241031c3fc3ae0354128924

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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f6b46be8a2424ece897364799dd95313da9545de
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f6b46be8a2424ece897364799dd95313da9545de

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 : boilerplate/libc: add placeholder for pthread_setschedprio()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: cdd947a84fc9298e820742befd4b0d1f3a7f0769
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=cdd947a84fc9298e820742befd4b0d1f3a7f0769

Author: Philippe Gerum 
Date:   Tue May 24 09:43:29 2016 +0200

boilerplate/libc: add placeholder for pthread_setschedprio()

For outdated uClibc.

---

 configure.ac   |1 +
 include/boilerplate/libc.h |   19 +++
 2 files changed, 20 insertions(+)

diff --git a/configure.ac b/configure.ac
index 6ff8afb..5b9f518 100644
--- a/configure.ac
+++ b/configure.ac
@@ -546,6 +546,7 @@ AC_CHECK_FUNCS([pthread_mutexattr_setprotocol   \
pthread_getattr_np  \
pthread_atfork  \
pthread_setname_np  \
+   pthread_setschedprio\
sched_getcpu\
clock_nanosleep \
shm_open\
diff --git a/include/boilerplate/libc.h b/include/boilerplate/libc.h
index 6616cef..3c9c970 100644
--- a/include/boilerplate/libc.h
+++ b/include/boilerplate/libc.h
@@ -168,6 +168,25 @@ int pthread_setaffinity_np(pthread_t thread, size_t 
cpusetsize,
 
 #endif /* !HAVE_PTHREAD_ATTR_SETAFFINITY_NP */
 
+#ifndef HAVE_PTHREAD_SETSCHEDPRIO
+
+static inline
+int pthread_setschedprio(pthread_t thread, int prio)
+{
+   struct sched_param param;
+   int policy, ret;
+
+   ret = pthread_getschedparam(thread, , );
+   if (ret)
+   return ret;
+
+   param.sched_priority = prio;
+
+   return pthread_setschedparam(thread, policy, );
+}
+
+#endif /* !HAVE_PTHREAD_SETSCHEDPRIO */
+
 #if !defined(HAVE_CLOCK_NANOSLEEP) && defined(CONFIG_XENO_MERCURY)
 /*
  * Best effort for a Mercury setup based on an outdated libc lacking


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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: dcb57fced75e97705cefce20e395b6e08d60c04d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=dcb57fced75e97705cefce20e395b6e08d60c04d

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 2926d7e..8186a0f 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -666,7 +666,7 @@ linux_syscall:
return KEVENT_PROPAGATE;
 
 bad_syscall:
-   printk(XENO_WARNING "bad syscall <%#llx>\n", __xn_syscall(regs));
+   printk(XENO_WARNING "bad syscall <%#lx>\n", __xn_syscall(regs));
 
__xn_error_return(regs, -ENOSYS);
 


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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 35cc74edf3c729844e7efea1a78c12628f80a0d4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=35cc74edf3c729844e7efea1a78c12628f80a0d4

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] Philippe Gerum : testsuite/smokey: add basic FPU stress test

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6c92ab2f1279dffcddb178ca010faa0422e2d2b1
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6c92ab2f1279dffcddb178ca010faa0422e2d2b1

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 2197e55..9925d54 100644
--- a/configure.ac
+++ b/configure.ac
@@ -915,11 +915,7 @@ 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: bump ABI revision level

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: d9ddc082b341d3ce4014421077952edef25b2829
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d9ddc082b341d3ce4014421077952edef25b2829

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 by destroying barriers correctly

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 27a5142c28df4f469fbc0807afecc9d4a5010bf6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=27a5142c28df4f469fbc0807afecc9d4a5010bf6

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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e0982ec4cacb0772e9983d4fbd81fa97afd5f430
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e0982ec4cacb0772e9983d4fbd81fa97afd5f430

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 3595583..6ff8afb 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 2d9c0b9..c1bb5a2 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] Dmitriy Cherkasov : cobalt/arm64: update register struct usage for arm64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f5cefd5fed35519fd071b2d25b3c3e4ec05f7908
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f5cefd5fed35519fd071b2d25b3c3e4ec05f7908

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

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Module: xenomai-3
Branch: next
Commit: 63fd227d50cfa967f68deaf0d885cf13b2829229
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=63fd227d50cfa967f68deaf0d885cf13b2829229

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 4f883f3..f8bda39 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 65dc3bd..fc9d790 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -61,6 +61,12 @@ int __real_pthread_getschedparam(pthread_t thread,
 }
 
 __weak
+int __real_pthread_setschedprio(pthread_t thread, int prio)
+{
+   return pthread_setschedprio(thread, prio);
+}
+
+__weak
 int __real_sched_yield(void)
 {
return sched_yield();


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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: a1fdc7f90ecb3832079ae50b6093aabe92ca5179
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a1fdc7f90ecb3832079ae50b6093aabe92ca5179

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 37637f6..6f30fcd 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 2582949..0aeff28 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] Don Mahurin : cobalt/arm64: Use empty mayday implementation for arm64.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 0cf549293f0f8e2711a9e55fce0c8c39fc64fe08
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0cf549293f0f8e2711a9e55fce0c8c39fc64fe08

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] Jorge Ramirez-Ortiz : gpiopwm: display udp server information

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Module: xenomai-3
Branch: next
Commit: 795bbab5ab394002bc087e7623265ae74aa431f0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=795bbab5ab394002bc087e7623265ae74aa431f0

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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 93001e4f6b3d2b15ba327eef9d3b303c9e470a1f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=93001e4f6b3d2b15ba327eef9d3b303c9e470a1f

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: prepare-kernel: add arm64 arch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 244e0534012bb66776c40f3d3547754f2d035865
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=244e0534012bb66776c40f3d3547754f2d035865

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] Gilles Chanteperdrix : cobalt/arm64: attempt at fixing fpu switch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 71b4401fc6e01c0006fd7ccf35781e38867acc42
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=71b4401fc6e01c0006fd7ccf35781e38867acc42

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/arm64: fpu: drop obsolete xnarch_save_fpu()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 2e3624f380a8ba1de40bad57c1d17547bd56f5e3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2e3624f380a8ba1de40bad57c1d17547bd56f5e3

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] Gilles Chanteperdrix : testsuite/smokey: add RTnet testsuite

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6b58eaa21a7c7bf9c83530c14eebaad99421cec9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6b58eaa21a7c7bf9c83530c14eebaad99421cec9

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 9925d54..0408f4d 100644
--- a/configure.ac
+++ b/configure.ac
@@ -916,6 +916,9 @@ 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/arch: fixup READMEs

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 422c2b2a594006b5e8c08d7b3c7d49d8aa07f0fc
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=422c2b2a594006b5e8c08d7b3c7d49d8aa07f0fc

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 : lib/cobalt: use lazy schedparam propagation

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 56eea84e15049204f9c3cb04cd83efe5916793a4
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=56eea84e15049204f9c3cb04cd83efe5916793a4

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] 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: 8f1d6beac337d7b2e6935e3e32254d7122ae4635
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=8f1d6beac337d7b2e6935e3e32254d7122ae4635

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: 2f9eb745bc786242bbb0529997dfd908b246a407
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=2f9eb745bc786242bbb0529997dfd908b246a407

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 |   12 ++--
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h 
b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
index 0f9ab14..8ad4108 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -38,6 +38,12 @@
  *   symbol, so that obsolete wrappers can be spotted.
  */
 
+#if LINUX_VERSION_CODE < KERNEL_VERSION(4,0,0)
+#define cobalt_get_restart_block(p)(_thread_info(p)->restart_block)
+#else
+#define cobalt_get_restart_block(p)(&(p)->restart_block)
+#endif
+
 #if LINUX_VERSION_CODE < KERNEL_VERSION(3,19,0)
 #define user_msghdr msghdr
 #endif
@@ -133,10 +139,4 @@ 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(4,0,0)
-#define cobalt_get_restart_block(p)(_thread_info(p)->restart_block)
-#else
-#define cobalt_get_restart_block(p)(&(p)->restart_block)
-#endif
-
 #endif /* _COBALT_ASM_GENERIC_WRAPPERS_H */


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: thread: use kernel switch_to

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 5d071aaec6012b2ff4e1b74c42e4d86efc9c3814
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5d071aaec6012b2ff4e1b74c42e4d86efc9c3814

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] Philippe Gerum : cobalt/arm64: use lazy fpsimd switch mode

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 5825c12b5c598db92854fd24aaac968caeb5e770
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=5825c12b5c598db92854fd24aaac968caeb5e770

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 : cobalt/wrappers: add wrapper for reinit_completion()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 40c5e4e215e046352e7c973ddadb145000fc
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=40c5e4e215e046352e7c973ddadb145000fc

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 a9424b9..8ad4108 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -50,7 +50,6 @@
 
 #if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
 #include 
-#include 
 
 #undef alloc_netdev
 #define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -63,6 +62,7 @@ trace_seq_buffer_ptr(struct trace_seq *s)
 {
return s->buffer + s->len;
 }
+
 #endif /* < 3.17 */
 
 #if LINUX_VERSION_CODE < KERNEL_VERSION(3,16,0)


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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 04eec24334713f316d796cc53a2b463c19b3266f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=04eec24334713f316d796cc53a2b463c19b3266f

Author: Dmitriy Cherkasov 
Date:   Mon Jun 15 17:10:37 2015 -0700

cobalt/arm64: machine.h: Add 64-bit ffnz implementation. This fixes crash when 
running xddp-echo.

---

 kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h |4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h 
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index e078564..417a7b0 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -43,9 +43,7 @@
 
 static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
 {
-   int __r;
-   __asm__("clz\t%0, %1" : "=r" (__r) : "r"(ul & (-ul)) : "cc");
-   return 31 - __r;
+   return __builtin_ffsl(ul) - 1;
 }
 
 #include 


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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: d88e32b34c454b53a44e15e2bdcf599f6b16d425
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d88e32b34c454b53a44e15e2bdcf599f6b16d425

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/synch: add support for priority ceiling protocol

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e65a90c770549ad688bc56d40049d6a2c3993ded
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e65a90c770549ad688bc56d40049d6a2c3993ded

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 : cobalt/arm: track current mm unconditionally

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7cc63f50f57c67d6803b0e8c473e89a6b9d3cf56
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7cc63f50f57c67d6803b0e8c473e89a6b9d3cf56

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 : cobalt/arm64: assume TLS is properly supported

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b864011a0a8d13ad15a46f515455244c3810707d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b864011a0a8d13ad15a46f515455244c3810707d

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/thread: track thread_info unconditionally

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 557d8c9a15cd601b381cfcc559c8e0fe30344978
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=557d8c9a15cd601b381cfcc559c8e0fe30344978

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] Philippe Gerum : cobalt/powerpc: drop obsolete config knob

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 1a898ede0ff3f39f69db9077aa8226efff9163c0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1a898ede0ff3f39f69db9077aa8226efff9163c0

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] Jan Kiszka : cobalt/kernel: Return need_resched flag from xnsynch_release

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6067be34b827633ef19f1091754b19350963db65
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6067be34b827633ef19f1091754b19350963db65

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 7abdb1e..4808b93 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 : boilerplate/libc: provide placeholders for prioceiling ops

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: d55307fd3cb87444c64a04ec5323a4b15c4f3b15
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d55307fd3cb87444c64a04ec5323a4b15c4f3b15

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 bc40ee9..3595583 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] Dmitriy Cherkasov : cobalt/arm64: add lazy FPU switching

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: ea32eae8d98390d8346361610140bbbe1091795e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ea32eae8d98390d8346361610140bbbe1091795e

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/powerpc: remove dependency on obsolete CONFIG_MATH_EMU

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 9ea66f719a3e6758ece90f2781e4a03a6ce9535a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=9ea66f719a3e6758ece90f2781e4a03a6ce9535a

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 : cobalt/arm64: add README for I-pipe support

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: df72f17c28e5757c98e5646860019d8592aba367
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=df72f17c28e5757c98e5646860019d8592aba367

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/powerpc: drop support for unlocked context switch

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 45ba1a37fa821a2b31c5c709f1496ec3f2f1fe07
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=45ba1a37fa821a2b31c5c709f1496ec3f2f1fe07

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] Dmitriy Cherkasov : cobalt/arm64: populate arch/arm64 with a copy of arch/ arm.

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: f084cb58aacd0ca722068e8b3410eb857944dd5f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f084cb58aacd0ca722068e8b3410eb857944dd5f

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 83bc809..2197e55 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
@@ -862,6 +866,10 @@ 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] Don Mahurin : lib/cobalt/arm64: implement syscall for armv8/aarch64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: d6be3d20817c31eb9dda960168663640423cb399
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d6be3d20817c31eb9dda960168663640423cb399

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] Gilles Chanteperdrix : testsuite/smokey: add RTnet raw packets test

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: ddfd83649517f45081a0caf4330e7e32be82a4c5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ddfd83649517f45081a0caf4330e7e32be82a4c5

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 0408f4d..1a738a5 100644
--- a/configure.ac
+++ b/configure.ac
@@ -918,6 +918,7 @@ 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] Dmitriy Cherkasov : cobalt/arm64: add basic FPU support

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: aee63f4d23784fa6cc95732d38988df7f9c01e64
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=aee63f4d23784fa6cc95732d38988df7f9c01e64

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: bump ABI revision level

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 447f95ee40aba43036a2c0400669e40791c3aa86
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=447f95ee40aba43036a2c0400669e40791c3aa86

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] Jan Kiszka : lib/cobalt: Provide RT-capable usleep

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b20f4a2dc0b3627c821af18efcbb45ca1e609291
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b20f4a2dc0b3627c821af18efcbb45ca1e609291

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 f8bda39..91bd5ef 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -108,6 +108,7 @@
 --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 fc9d790..fa7fbcb 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -541,6 +541,12 @@ unsigned int __real_sleep(unsigned int seconds)
 }
 
 __weak
+int __real_usleep(useconds_t usec)
+{
+   return usleep(usec);
+}
+
+__weak
 int __real___cxa_guard_acquire(__guard *g)
 {
return __cxa_guard_acquire(g);


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[Xenomai-git] Dmitriy Cherkasov : cobalt/arm64: FPU code cleanup

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 803335f8c02d50830930599d200e1d4d552c1ba7
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=803335f8c02d50830930599d200e1d4d552c1ba7

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] Jorge Ramirez-Ortiz : utils/analogy: fix error check [SIGSEGV]

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: eca0af116da15b0f75519172be2b4f047d167761
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=eca0af116da15b0f75519172be2b4f047d167761

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 : testsuite/smokey: add test checking Cobalt' s cpu affinity control

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: ec88d006b71e949cc46d9d85c81a0cc754ba3ca8
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ec88d006b71e949cc46d9d85c81a0cc754ba3ca8

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 1a738a5..c6506b8 100644
--- a/configure.ac
+++ b/configure.ac
@@ -920,6 +920,7 @@ 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] Dmitriy Cherkasov : cobalt/arm64: xenomai/syscall.h: update syscall register

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6a2d1ea03f5daaf71316d9e4de31a51f2fb270a3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6a2d1ea03f5daaf71316d9e4de31a51f2fb270a3

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] Philippe Gerum : cobalt/syscalls: allow for handing over mode selection to syscall handlers

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 931ba88ab98597f387f7c73d56ae1758d315a2a3
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=931ba88ab98597f387f7c73d56ae1758d315a2a3

Author: Philippe Gerum 
Date:   Thu Jul  7 17:05:16 2016 +0200

cobalt/syscalls: allow for handing over mode selection to syscall handlers

Specific system calls may benefit from dealing with the caller's
runtime mode by themselves, depending on internal information which
the generic syscall dispatcher does not have access to.

To this end, a new syscall mode called "handover" is
introduced. Syscalls bearing this mode bit are always entered from the
current calling domain. The syscall handler may return -ENOSYS to
trigger a switch to the converse domain until all domains have been
visited once, at which point the syscall fails with -ENOSYS
automatically.

---

 kernel/cobalt/posix/syscall.c |1 -
 1 file changed, 1 deletion(-)

diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index 0aeff28..25d21ea 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -737,7 +737,6 @@ restart:
 * domain. This is a slow path, so proceed with any
 * pending schedparam update on the fly.
 */
-   switched = 0;
if (thread)
xnthread_propagate_schedparam(thread);
}


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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: a24c7e794c5eaf830207033d8c46fecfa8b21751
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=a24c7e794c5eaf830207033d8c46fecfa8b21751

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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 571fa9fc8c38fbc276193d1839b130a247291286
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=571fa9fc8c38fbc276193d1839b130a247291286

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 |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 8ad4108..a9424b9 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/wrappers.h
@@ -50,6 +50,7 @@
 
 #if LINUX_VERSION_CODE < KERNEL_VERSION(3,17,0)
 #include 
+#include 
 
 #undef alloc_netdev
 #define alloc_netdev(sizeof_priv, name, name_assign_type, setup) \
@@ -62,7 +63,6 @@ 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)


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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 0e0757ed4ef77fcb5feeaa98b04a77b59e8f66f9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0e0757ed4ef77fcb5feeaa98b04a77b59e8f66f9

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 : lib/cobalt/mutex: add support for priority ceiling protocol

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 10d1609288f12daa6ba019c652a9e9f26859333e
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=10d1609288f12daa6ba019c652a9e9f26859333e

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 c6506b8..bc40ee9 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 0378abf..4f883f3 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 9f58c6a..2d9c0b9 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);
@@ -85,4 +87,10 @@ int __cxa_guard_acquire(__guard*);
 void __cxa_guard_release(__guard*);
 void __cxa_guard_abort(__guard*);
 
+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] Philippe Gerum : cobalt/arm64: drop aarch32 bits from feature set

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 47393cc97790566375ceca0e64efbbadfa0b80e6
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=47393cc97790566375ceca0e64efbbadfa0b80e6

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] Philippe Gerum : cobalt/arm64: leave mm tracking to the pipeline

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 75e4c7dd6408a6618dd11ae35a933a6ee7d4d8dd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=75e4c7dd6408a6618dd11ae35a933a6ee7d4d8dd

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] Don Mahurin : lib/cobalt/arm64: replace tsc counter

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 864ac277a866d2f3229e647aebbd88bf967e1ef0
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=864ac277a866d2f3229e647aebbd88bf967e1ef0

Author: Don Mahurin 
Date:   Wed May 13 09:36:25 2015 -0700

lib/cobalt/arm64: replace tsc counter

---

 lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h |   19 +++
 1 file changed, 19 insertions(+)

diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h 
b/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
index 594c4ad..a055427 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
@@ -27,6 +27,8 @@
 
 #include 
 #include 
+#include 
+#include 
 
 /*
  * Putting kuser_tsc_get and kinfo.counter in the same struct results
@@ -39,10 +41,27 @@ struct __xn_full_tscinfo {
 };
 extern struct __xn_full_tscinfo __xn_tscinfo;
 
+static inline uint64_t get_counter(void)
+{
+uint64_t cval;
+
+#ifdef __aarch64__
+   asm volatile("isb; mrs %0, cntvct_el0; isb; " : "=r" (cval) :: 
"memory");
+#else
+   asm volatile("isb; mrrc p15, 1, %Q0, %R0, c14; isb" : "=r" (cval) :: 
"memory");
+#endif
+
+   return cval;
+}
+
 static inline __attribute__((always_inline))
 unsigned long long cobalt_read_tsc(void)
 {
+#ifndef __aarch64__
return __xn_tscinfo.kuser_tsc_get(__xn_tscinfo.kinfo.counter);
+#else
+   return get_counter();
+#endif
 }
 
 #endif /* !_LIB_COBALT_ARM_TSC_H */


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

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: cb4339bd38ed71567bb006f4c0bb15c3e43e1761
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=cb4339bd38ed71567bb006f4c0bb15c3e43e1761

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  |2 +-
 kernel/drivers/gpiopwm/Kconfig   |9 +
 kernel/drivers/gpiopwm/Makefile  |5 +
 kernel/drivers/gpiopwm/gpiopwm.c |  301 +++
 10 files changed, 852 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] Philippe Gerum : cobalt/arm64: sanitize calibration file

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: d820285a53e41470c3559a45771fd38b08df4727
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=d820285a53e41470c3559a45771fd38b08df4727

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] Philippe Gerum : cobalt/arm64: fix inclusion guards

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: e8be0a16fa3d2f63c6ebb82093e2c4ebd9a592bd
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=e8be0a16fa3d2f63c6ebb82093e2c4ebd9a592bd

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] Jan Kiszka : cobalt/kernel: Introduce __SCHED_CURRENT policy to setschedparam_ex

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: b943ac065d4814a707e286b974726b8c3ff38308
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=b943ac065d4814a707e286b974726b8c3ff38308

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] Dmitriy Cherkasov : cobalt/arm64: fix fpu exception names

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7630c6d128301da4b1d432ec827a812405120b06
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7630c6d128301da4b1d432ec827a812405120b06

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] Don Mahurin : lib/cobalt/arm64: add __LINUX_ARM_ARCH__ form armv8/aarch64

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 6d1ca7a557ea5911728e0c864f2b2f3c12451517
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=6d1ca7a557ea5911728e0c864f2b2f3c12451517

Author: Don Mahurin 
Date:   Fri May  8 10:39:01 2015 -0700

lib/cobalt/arm64: add __LINUX_ARM_ARCH__ form armv8/aarch64

---

 lib/cobalt/arch/arm64/include/asm/xenomai/features.h |4 
 1 file changed, 4 insertions(+)

diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h 
b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
index 10bd0c7..0d6702b 100644
--- a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
@@ -47,6 +47,10 @@
 #define __LINUX_ARM_ARCH__ 7
 #endif /* armv7 */
 
+#if defined(__aarch64__)
+#define __LINUX_ARM_ARCH__ 8
+#endif /* armv8 */
+
 #ifndef __LINUX_ARM_ARCH__
 #error "Could not find current ARM architecture"
 #endif


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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: 1fb7ee70db44203981593146e4a6a171dd2732bc
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1fb7ee70db44203981593146e4a6a171dd2732bc

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] Philippe Gerum : cobalt/arm64: restrict unlocked switch to SMP

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: fc6ff4c47d963c0fc96311cde792910c7323c2c9
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=fc6ff4c47d963c0fc96311cde792910c7323c2c9

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] Dmitriy Cherkasov : cobalt/arm64: Makefile: fix arch path

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 7817f3436f27a9a41eaf9268e47b0fb8083ad81f
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=7817f3436f27a9a41eaf9268e47b0fb8083ad81f

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] Henning Schild : scripts/xeno-config: fix error message, dump_wrappers is not just POSIX

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 197e96eef5fe5485e625eabb493edb55cc38edd5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=197e96eef5fe5485e625eabb493edb55cc38edd5

Author: Henning Schild 
Date:   Wed Jan 25 16:08:00 2017 +0100

scripts/xeno-config: fix error message, dump_wrappers is not just POSIX

Signed-off-by: Henning Schild 

---

 scripts/xeno-config-cobalt.in |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/xeno-config-cobalt.in b/scripts/xeno-config-cobalt.in
index 62c1f33..d102d04 100644
--- a/scripts/xeno-config-cobalt.in
+++ b/scripts/xeno-config-cobalt.in
@@ -25,7 +25,7 @@ dump_wrappers()
 {
file=$1
if test \! -r ${XENO_LIBRARY_DIR}/$file; then
-  echo "Xenomai: POSIX wrappers cannot be read from 
${XENO_LIBRARY_DIR}/${file}" >&2
+  echo "Xenomai: wrappers cannot be read from ${XENO_LIBRARY_DIR}/${file}" 
>&2
   exit 1
fi
if test "$LD_FILE_OPTION" = "yes"; then


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[Xenomai-git] Henning Schild : lib/cobalt: wrap CXXABI One-time Constructor functions

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: be90f09cf277083ff7021b1f0f1a856c66c42b46
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=be90f09cf277083ff7021b1f0f1a856c66c42b46

Author: Henning Schild 
Date:   Wed Jan 25 16:08:00 2017 +0100

lib/cobalt: wrap CXXABI One-time Constructor functions

The implementation of these functions uses locks and has the potential
to trigger a SIGXCPU when contended. Wrap them with assert_nrt so they
reliably cause a switch when used in the rt context.

Signed-off-by: Henning Schild 

---

 lib/cobalt/assert.wrappers  |3 +++
 lib/cobalt/assert_context.c |   19 +++
 lib/cobalt/internal.h   |   12 
 lib/cobalt/wrappers.c   |   37 +
 4 files changed, 71 insertions(+)

diff --git a/lib/cobalt/assert.wrappers b/lib/cobalt/assert.wrappers
index 7164858..65320ab 100644
--- a/lib/cobalt/assert.wrappers
+++ b/lib/cobalt/assert.wrappers
@@ -1,2 +1,5 @@
 --wrap malloc
 --wrap free
+--wrap __cxa_guard_acquire
+--wrap __cxa_guard_release
+--wrap __cxa_guard_abort
diff --git a/lib/cobalt/assert_context.c b/lib/cobalt/assert_context.c
index 2085953..fd18d6b 100644
--- a/lib/cobalt/assert_context.c
+++ b/lib/cobalt/assert_context.c
@@ -66,3 +66,22 @@ COBALT_IMPL(void, free, (void *ptr))
assert_nrt();
__STD(free(ptr));
 }
+
+/* CXXABI 3.3.2 One-time Construction API */
+COBALT_IMPL(int, __cxa_guard_acquire, (__guard *g))
+{
+   assert_nrt();
+   return __STD(__cxa_guard_acquire(g));
+}
+
+COBALT_IMPL(void, __cxa_guard_release, (__guard *g))
+{
+   assert_nrt();
+   __STD(__cxa_guard_release(g));
+}
+
+COBALT_IMPL(void, __cxa_guard_abort, (__guard *g))
+{
+   assert_nrt();
+   __STD(__cxa_guard_abort(g));
+}
diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
index fee3fe1..9f58c6a 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -73,4 +73,16 @@ void cobalt_check_features(struct cobalt_featinfo *finfo);
 
 extern struct sigaction __cobalt_orig_sigdebug;
 
+#ifdef __ARM_EABI__
+typedef uint32_t __guard;
+#else
+typedef uint64_t __guard;
+#endif
+int __real___cxa_guard_acquire(__guard*);
+void __real___cxa_guard_release(__guard*);
+void __real___cxa_guard_abort(__guard*);
+int __cxa_guard_acquire(__guard*);
+void __cxa_guard_release(__guard*);
+void __cxa_guard_abort(__guard*);
+
 #endif /* _LIB_COBALT_INTERNAL_H */
diff --git a/lib/cobalt/wrappers.c b/lib/cobalt/wrappers.c
index 09c74e5..65dc3bd 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -43,6 +43,7 @@
 #include 
 #include 
 #include 
+#include 
 
 /* sched */
 __weak
@@ -532,3 +533,39 @@ unsigned int __real_sleep(unsigned int seconds)
 {
return sleep(seconds);
 }
+
+__weak
+int __real___cxa_guard_acquire(__guard *g)
+{
+   return __cxa_guard_acquire(g);
+}
+
+__weak
+void __real___cxa_guard_release(__guard *g)
+{
+   return __cxa_guard_release(g);
+}
+
+__weak
+void __real___cxa_guard_abort(__guard *g)
+{
+   return __cxa_guard_abort(g);
+}
+
+__weak
+int __cxa_guard_acquire(__guard *g)
+{
+   return 0;
+}
+
+__weak
+void __cxa_guard_release(__guard *g)
+{
+   return;
+}
+
+__weak
+void __cxa_guard_abort(__guard *g)
+{
+   return;
+}


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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: ff294ec6d9adb1c07b6fd20bb3e0bfed045fa8af
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ff294ec6d9adb1c07b6fd20bb3e0bfed045fa8af

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] Philippe Gerum : lib/smokey: fix documentation

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 559f1dc7dc80be5566452b51459d1241f434a381
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=559f1dc7dc80be5566452b51459d1241f434a381

Author: Philippe Gerum 
Date:   Thu Jan 12 10:34:52 2017 +0100

lib/smokey: fix documentation

---

 lib/smokey/init.c |   26 +-
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/lib/smokey/init.c b/lib/smokey/init.c
index b69f24c..9df9a55 100644
--- a/lib/smokey/init.c
+++ b/lib/smokey/init.c
@@ -91,13 +91,11 @@
  *
  * static int run_foo(struct smokey_test *t, int argc, char *const argv[])
  * {
+ *  int i_arg = 0, nargs;
  *  char *s_arg = NULL;
  *  bool b_arg = false;
- *  int i_arg = 0, ret;
  *
- * ret = smokey_parse_args(t, argc, argv);
- *  if (ret)
- *  return ret;
+ * nargs = smokey_parse_args(t, argc, argv);
  *
  * if (SMOKEY_ARG_ISSET(foo, some_integer))
  * i_arg = SMOKEY_ARG_INT(foo, some_integer);
@@ -124,15 +122,17 @@
  * where @a name should match one of the declarators.  Before the
  * test-specific arguments can be accessed, a call to
  * smokey_parse_args() must be issued by the test code, passing the
- * parameters received in the run handler.
- *
- * Once smokey_parse_args() has returned, each argument can be checked
- * individually for presence. If a valid argument was matched on the
- * command line, SMOKEY_ARG_ISSET(test_name, arg_name) returns
- * non-zero. In the latter case, its value can be retrieved by a
- * similar call to SMOKEY_ARG_INT(test_name, arg_name),
- * SMOKEY_ARG_STRING(test_name, arg_name) or
- * SMOKEY_ARG_BOOL(test_name, arg_name).
+ * parameters received in the run handler. This routine returns the
+ * number of arguments found on the command line matching the
+ * an entry in SMOKEY_ARGLIST().
+ *
+ * Once smokey_parse_args() has returned with a non-zero value, each
+ * argument can be checked individually for presence. If a valid
+ * argument was matched on the command line,
+ * SMOKEY_ARG_ISSET(test_name, arg_name) returns non-zero. In the
+ * latter case, its value can be retrieved by a similar call to
+ * SMOKEY_ARG_INT(test_name, arg_name), SMOKEY_ARG_STRING(test_name,
+ * arg_name) or SMOKEY_ARG_BOOL(test_name, arg_name).
  *
  * In the above example, passing "some_integer=3" on the command line of
  * any program implementing such Smokey-based test would cause the


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[Xenomai-git] Philippe Gerum : testsuite/smokey: setsched: drop invalid test of pthread_setschedprio()

[git repository hosting]

Module: xenomai-3
Branch: next
Commit: 1f8cadb9ce402aadf61133e3930afb2090b5ce90
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1f8cadb9ce402aadf61133e3930afb2090b5ce90

Author: Philippe Gerum 
Date:   Thu Jan 26 15:44:46 2017 +0100

testsuite/smokey: setsched: drop invalid test of pthread_setschedprio()

pthread_setschedprio() is not part of the libcobalt interface. The
outcome of such test can only be wrong.

---

 testsuite/smokey/setsched/setsched.c |   17 -
 1 file changed, 17 deletions(-)

diff --git a/testsuite/smokey/setsched/setsched.c 
b/testsuite/smokey/setsched/setsched.c
index 359f190..f227f65 100644
--- a/testsuite/smokey/setsched/setsched.c
+++ b/testsuite/smokey/setsched/setsched.c
@@ -94,23 +94,6 @@ static void *thread_body(void *arg)
 
check_linux_schedparams(SCHED_FIFO, 2);
 
-   cobalt_thread_harden();
-
-   if (smokey_check_status(cobalt_thread_stat(thread_pid, )))
-   pthread_exit((void *)(long)-EINVAL);
-   msw = stats.msw;
-
-   if (smokey_check_status(pthread_setschedprio(pthread_self(), 3)))
-   pthread_exit((void *)(long)-EINVAL);
-
-   check_rt_schedparams(SCHED_FIFO, 3);
-
-   if (smokey_check_status(cobalt_thread_stat(thread_pid, )) ||
-   !smokey_assert(stats.msw == msw))
-   pthread_exit((void *)(long)-EINVAL);
-
-   check_linux_schedparams(SCHED_FIFO, 3);
-
return (void *)0L;
 }
 


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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: 24cea7abaec4bd26ad2db787bf133dfbab4aaf14
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=24cea7abaec4bd26ad2db787bf133dfbab4aaf14

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] Henning Schild : scripts/xeno-config: fix error message, dump_wrappers is not just POSIX

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 197e96eef5fe5485e625eabb493edb55cc38edd5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=197e96eef5fe5485e625eabb493edb55cc38edd5

Author: Henning Schild 
Date:   Wed Jan 25 16:08:00 2017 +0100

scripts/xeno-config: fix error message, dump_wrappers is not just POSIX

Signed-off-by: Henning Schild 

---

 scripts/xeno-config-cobalt.in |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/xeno-config-cobalt.in b/scripts/xeno-config-cobalt.in
index 62c1f33..d102d04 100644
--- a/scripts/xeno-config-cobalt.in
+++ b/scripts/xeno-config-cobalt.in
@@ -25,7 +25,7 @@ dump_wrappers()
 {
file=$1
if test \! -r ${XENO_LIBRARY_DIR}/$file; then
-  echo "Xenomai: POSIX wrappers cannot be read from 
${XENO_LIBRARY_DIR}/${file}" >&2
+  echo "Xenomai: wrappers cannot be read from ${XENO_LIBRARY_DIR}/${file}" 
>&2
   exit 1
fi
if test "$LD_FILE_OPTION" = "yes"; then


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[Xenomai-git] Henning Schild : scripts/xeno-config: apply the assert_nrt wrappers on all skins

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: ebc039b62c40e8fe9bac2f1892f630515f2f09de
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ebc039b62c40e8fe9bac2f1892f630515f2f09de

Author: Henning Schild 
Date:   Wed Jan 25 16:08:00 2017 +0100

scripts/xeno-config: apply the assert_nrt wrappers on all skins

There are basically two classes of wrappers. Those that actually change
the implementation, and those that just assert that certain calls are
not made from a realtime context. The latter are usefull for all skins
and should always be applied.

Signed-off-by: Henning Schild 

---

 configure.ac  |   12 +++-
 debian/libxenomai-dev.install |1 +
 lib/cobalt/Makefile.am|4 +++-
 lib/cobalt/assert.wrappers|2 ++
 lib/cobalt/cobalt.wrappers|2 --
 scripts/xeno-config-cobalt.in |4 ++--
 6 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/configure.ac b/configure.ac
index 1308f8b..83bc809 100644
--- a/configure.ac
+++ b/configure.ac
@@ -796,17 +796,19 @@ dnl Build wrapping information. XENO_POSIX_WRAPPERS lists 
all wrapping
 dnl directives in a format the linker understands, for building the
 dnl in-tree executables which require POSIX symbol wrapping.
 
+   assert_wrappers="$topdir/lib/cobalt/assert.wrappers"
cobalt_wrappers="$topdir/lib/cobalt/cobalt.wrappers"
if [[ $ac_cv_ld_file_option = yes ]]; then
-   XENO_POSIX_WRAPPERS="-Wl,@$cobalt_wrappers"
+   XENO_POSIX_WRAPPERS="-Wl,@$assert_wrappers -Wl,@$cobalt_wrappers"
else
-   XENO_POSIX_WRAPPERS=`while read wrap_option symbol ; do \
-   echo -n "-Wl,$wrap_option,$symbol " ; \
-   done < $cobalt_wrappers`
+   XENO_POSIX_WRAPPERS=`cat $assert_wrappers $cobalt_wrappers | \
+   while read wrap_option symbol ; do \
+   echo -n "-Wl,$wrap_option,$symbol " ; \
+   done`
fi
 
AC_SUBST(XENO_POSIX_WRAPPERS)
-   AC_SUBST([CONFIG_STATUS_DEPENDENCIES], ["$cobalt_wrappers"])
+   AC_SUBST([CONFIG_STATUS_DEPENDENCIES], ["$assert_wrappers 
$cobalt_wrappers"])
 fi
 
 dnl
diff --git a/debian/libxenomai-dev.install b/debian/libxenomai-dev.install
index 7b107cb..6d7eb7b 100644
--- a/debian/libxenomai-dev.install
+++ b/debian/libxenomai-dev.install
@@ -2,5 +2,6 @@ usr/include
 usr/lib/*.la
 usr/lib/*.a
 usr/lib/*.so
+usr/lib/assert.wrappers
 usr/lib/cobalt.wrappers
 usr/lib/dynlist.ld
diff --git a/lib/cobalt/Makefile.am b/lib/cobalt/Makefile.am
index 576122d..459b207 100644
--- a/lib/cobalt/Makefile.am
+++ b/lib/cobalt/Makefile.am
@@ -46,10 +46,12 @@ libcobalt_la_CPPFLAGS = \
 install-data-local:
$(mkinstalldirs) $(DESTDIR)$(libdir)
$(INSTALL_DATA) $(srcdir)/cobalt.wrappers $(DESTDIR)$(libdir)
+   $(INSTALL_DATA) $(srcdir)/assert.wrappers $(DESTDIR)$(libdir)
 
 uninstall-local:
$(RM) $(DESTDIR)$(libdir)/cobalt.wrappers
+   $(RM) $(DESTDIR)$(libdir)/assert.wrappers
 
-EXTRA_DIST = cobalt.wrappers
+EXTRA_DIST = cobalt.wrappers assert.wrappers
 
 SUBDIRS = arch
diff --git a/lib/cobalt/assert.wrappers b/lib/cobalt/assert.wrappers
new file mode 100644
index 000..7164858
--- /dev/null
+++ b/lib/cobalt/assert.wrappers
@@ -0,0 +1,2 @@
+--wrap malloc
+--wrap free
diff --git a/lib/cobalt/cobalt.wrappers b/lib/cobalt/cobalt.wrappers
index 9480f34..0378abf 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -91,8 +91,6 @@
 --wrap fclose
 --wrap syslog
 --wrap vsyslog
---wrap malloc
---wrap free
 --wrap gettimeofday
 --wrap __vfprintf_chk
 --wrap __vprintf_chk
diff --git a/scripts/xeno-config-cobalt.in b/scripts/xeno-config-cobalt.in
index d102d04..3e1f64c 100644
--- a/scripts/xeno-config-cobalt.in
+++ b/scripts/xeno-config-cobalt.in
@@ -235,8 +235,8 @@ if test x$do_ldflags = xy; then
echo "no API specified, missing --skin before --ldflags" 1>&2
exit 1
 fi
-ldflags=
-test x$compat = xy && ldflags="-ltrank "
+ldflags="`dump_wrappers assert.wrappers`"
+test x$compat = xy && ldflags="-ltrank $ldflags"
 copperplate=
 for skin in $skin_list; do
case "$skin" in


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[Xenomai-git] Philippe Gerum : lib/boilerplate: bootstrap: fix Blackfin build

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 1d46b59eda88933b2af4d255b549bf7d2e6f5f1a
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1d46b59eda88933b2af4d255b549bf7d2e6f5f1a

Author: Philippe Gerum 
Date:   Thu Jan 26 15:04:37 2017 +0100

lib/boilerplate: bootstrap: fix Blackfin build

The bootstrap module object is built in two forms:

- in static object form, to be glued to the main executable, which
  should include a wrapper interposing on the main() routine for
  auto-init purpose. Such wrapper is activated when symbol wrapping is
  enabled at link time (--wrap).

- in dynamic object form, to be included in a shared library target
  which enables the auto-init feature. This form should not include
  any wrapper to a main() routine - which does not exist - but only a
  constructor routine performing the inits.

The FDPIC format is used for building static and dynamic objects on
the Blackfin architecture, for which GCC defines __PIC__ in both
cases. This prevents from testing __PIC__ as a way to differentiate
between the static and dynamic versions of the bootstrap module on
Blackfin.

To fix this, set and check for a dedicated macro (__INTERCEPT_MAIN__)
to figure out whether the main() interception code should be present
in the relocatable object.

---

 lib/boilerplate/init/Makefile.am |1 +
 lib/boilerplate/init/bootstrap.c |   21 +++--
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/lib/boilerplate/init/Makefile.am b/lib/boilerplate/init/Makefile.am
index f41f419..702c900 100644
--- a/lib/boilerplate/init/Makefile.am
+++ b/lib/boilerplate/init/Makefile.am
@@ -3,6 +3,7 @@ noinst_LIBRARIES = libbootstrap.a
 libbootstrap_a_SOURCES = bootstrap.c
 
 libbootstrap_a_CPPFLAGS =  \
+   -D__INTERCEPT_MAIN__\
@XENO_USER_CFLAGS@  \
-I$(top_srcdir)/include \
-I$(top_srcdir)/lib
diff --git a/lib/boilerplate/init/bootstrap.c b/lib/boilerplate/init/bootstrap.c
index b0d4a12..118f861 100644
--- a/lib/boilerplate/init/bootstrap.c
+++ b/lib/boilerplate/init/bootstrap.c
@@ -28,7 +28,24 @@ static char *const *early_argv;
 
 const int xenomai_auto_bootstrap = 1;
 
-#ifndef __PIC__
+/*
+ * The bootstrap module object is built in two forms:
+ *
+ * - in static object form, to be glued to the main executable, which
+ *   should include a wrapper interposing on the main() routine for
+ *   auto-init purpose. Such wrapper is activated when symbol wrapping
+ *   is enabled at link time (--wrap).
+ *
+ * - in dynamic object form, to be included in a shared library target
+ *   which enables the auto-init feature. This form should not include
+ *   any wrapper to a main() routine - which does not exist - but only
+ *   a constructor routine performing the inits.
+ *
+ * The dedicated macro __INTERCEPT_MAIN__ tells us whether the main()
+ * interception code should be present in the relocatable object.
+ */
+
+#ifdef __INTERCEPT_MAIN__
 
 int __real_main(int argc, char *const argv[]);
 
@@ -45,7 +62,7 @@ int xenomai_main(int argc, char *const argv[])
return __real_main(argc, argv);
 }
 
-#endif /* !__PIC__ */
+#endif /* !__INTERCEPT_MAIN__ */
 
 __bootstrap_ctor static void xenomai_bootstrap(void)
 {


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[Xenomai-git] Philippe Gerum : testsuite/smokey: setsched: drop invalid test of pthread_setschedprio()

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 1f8cadb9ce402aadf61133e3930afb2090b5ce90
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=1f8cadb9ce402aadf61133e3930afb2090b5ce90

Author: Philippe Gerum 
Date:   Thu Jan 26 15:44:46 2017 +0100

testsuite/smokey: setsched: drop invalid test of pthread_setschedprio()

pthread_setschedprio() is not part of the libcobalt interface. The
outcome of such test can only be wrong.

---

 testsuite/smokey/setsched/setsched.c |   17 -
 1 file changed, 17 deletions(-)

diff --git a/testsuite/smokey/setsched/setsched.c 
b/testsuite/smokey/setsched/setsched.c
index 359f190..f227f65 100644
--- a/testsuite/smokey/setsched/setsched.c
+++ b/testsuite/smokey/setsched/setsched.c
@@ -94,23 +94,6 @@ static void *thread_body(void *arg)
 
check_linux_schedparams(SCHED_FIFO, 2);
 
-   cobalt_thread_harden();
-
-   if (smokey_check_status(cobalt_thread_stat(thread_pid, )))
-   pthread_exit((void *)(long)-EINVAL);
-   msw = stats.msw;
-
-   if (smokey_check_status(pthread_setschedprio(pthread_self(), 3)))
-   pthread_exit((void *)(long)-EINVAL);
-
-   check_rt_schedparams(SCHED_FIFO, 3);
-
-   if (smokey_check_status(cobalt_thread_stat(thread_pid, )) ||
-   !smokey_assert(stats.msw == msw))
-   pthread_exit((void *)(long)-EINVAL);
-
-   check_linux_schedparams(SCHED_FIFO, 3);
-
return (void *)0L;
 }
 


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[Xenomai-git] Henning Schild : lib/cobalt: wrap CXXABI One-time Constructor functions

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: be90f09cf277083ff7021b1f0f1a856c66c42b46
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=be90f09cf277083ff7021b1f0f1a856c66c42b46

Author: Henning Schild 
Date:   Wed Jan 25 16:08:00 2017 +0100

lib/cobalt: wrap CXXABI One-time Constructor functions

The implementation of these functions uses locks and has the potential
to trigger a SIGXCPU when contended. Wrap them with assert_nrt so they
reliably cause a switch when used in the rt context.

Signed-off-by: Henning Schild 

---

 lib/cobalt/assert.wrappers  |3 +++
 lib/cobalt/assert_context.c |   19 +++
 lib/cobalt/internal.h   |   12 
 lib/cobalt/wrappers.c   |   37 +
 4 files changed, 71 insertions(+)

diff --git a/lib/cobalt/assert.wrappers b/lib/cobalt/assert.wrappers
index 7164858..65320ab 100644
--- a/lib/cobalt/assert.wrappers
+++ b/lib/cobalt/assert.wrappers
@@ -1,2 +1,5 @@
 --wrap malloc
 --wrap free
+--wrap __cxa_guard_acquire
+--wrap __cxa_guard_release
+--wrap __cxa_guard_abort
diff --git a/lib/cobalt/assert_context.c b/lib/cobalt/assert_context.c
index 2085953..fd18d6b 100644
--- a/lib/cobalt/assert_context.c
+++ b/lib/cobalt/assert_context.c
@@ -66,3 +66,22 @@ COBALT_IMPL(void, free, (void *ptr))
assert_nrt();
__STD(free(ptr));
 }
+
+/* CXXABI 3.3.2 One-time Construction API */
+COBALT_IMPL(int, __cxa_guard_acquire, (__guard *g))
+{
+   assert_nrt();
+   return __STD(__cxa_guard_acquire(g));
+}
+
+COBALT_IMPL(void, __cxa_guard_release, (__guard *g))
+{
+   assert_nrt();
+   __STD(__cxa_guard_release(g));
+}
+
+COBALT_IMPL(void, __cxa_guard_abort, (__guard *g))
+{
+   assert_nrt();
+   __STD(__cxa_guard_abort(g));
+}
diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
index fee3fe1..9f58c6a 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -73,4 +73,16 @@ void cobalt_check_features(struct cobalt_featinfo *finfo);
 
 extern struct sigaction __cobalt_orig_sigdebug;
 
+#ifdef __ARM_EABI__
+typedef uint32_t __guard;
+#else
+typedef uint64_t __guard;
+#endif
+int __real___cxa_guard_acquire(__guard*);
+void __real___cxa_guard_release(__guard*);
+void __real___cxa_guard_abort(__guard*);
+int __cxa_guard_acquire(__guard*);
+void __cxa_guard_release(__guard*);
+void __cxa_guard_abort(__guard*);
+
 #endif /* _LIB_COBALT_INTERNAL_H */
diff --git a/lib/cobalt/wrappers.c b/lib/cobalt/wrappers.c
index 09c74e5..65dc3bd 100644
--- a/lib/cobalt/wrappers.c
+++ b/lib/cobalt/wrappers.c
@@ -43,6 +43,7 @@
 #include 
 #include 
 #include 
+#include 
 
 /* sched */
 __weak
@@ -532,3 +533,39 @@ unsigned int __real_sleep(unsigned int seconds)
 {
return sleep(seconds);
 }
+
+__weak
+int __real___cxa_guard_acquire(__guard *g)
+{
+   return __cxa_guard_acquire(g);
+}
+
+__weak
+void __real___cxa_guard_release(__guard *g)
+{
+   return __cxa_guard_release(g);
+}
+
+__weak
+void __real___cxa_guard_abort(__guard *g)
+{
+   return __cxa_guard_abort(g);
+}
+
+__weak
+int __cxa_guard_acquire(__guard *g)
+{
+   return 0;
+}
+
+__weak
+void __cxa_guard_release(__guard *g)
+{
+   return;
+}
+
+__weak
+void __cxa_guard_abort(__guard *g)
+{
+   return;
+}


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[Xenomai-git] Henning Schild : scripts/xeno-config: apply the assert_nrt wrappers on all skins

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: ebc039b62c40e8fe9bac2f1892f630515f2f09de
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=ebc039b62c40e8fe9bac2f1892f630515f2f09de

Author: Henning Schild 
Date:   Wed Jan 25 16:08:00 2017 +0100

scripts/xeno-config: apply the assert_nrt wrappers on all skins

There are basically two classes of wrappers. Those that actually change
the implementation, and those that just assert that certain calls are
not made from a realtime context. The latter are usefull for all skins
and should always be applied.

Signed-off-by: Henning Schild 

---

 configure.ac  |   12 +++-
 debian/libxenomai-dev.install |1 +
 lib/cobalt/Makefile.am|4 +++-
 lib/cobalt/assert.wrappers|2 ++
 lib/cobalt/cobalt.wrappers|2 --
 scripts/xeno-config-cobalt.in |4 ++--
 6 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/configure.ac b/configure.ac
index 1308f8b..83bc809 100644
--- a/configure.ac
+++ b/configure.ac
@@ -796,17 +796,19 @@ dnl Build wrapping information. XENO_POSIX_WRAPPERS lists 
all wrapping
 dnl directives in a format the linker understands, for building the
 dnl in-tree executables which require POSIX symbol wrapping.
 
+   assert_wrappers="$topdir/lib/cobalt/assert.wrappers"
cobalt_wrappers="$topdir/lib/cobalt/cobalt.wrappers"
if [[ $ac_cv_ld_file_option = yes ]]; then
-   XENO_POSIX_WRAPPERS="-Wl,@$cobalt_wrappers"
+   XENO_POSIX_WRAPPERS="-Wl,@$assert_wrappers -Wl,@$cobalt_wrappers"
else
-   XENO_POSIX_WRAPPERS=`while read wrap_option symbol ; do \
-   echo -n "-Wl,$wrap_option,$symbol " ; \
-   done < $cobalt_wrappers`
+   XENO_POSIX_WRAPPERS=`cat $assert_wrappers $cobalt_wrappers | \
+   while read wrap_option symbol ; do \
+   echo -n "-Wl,$wrap_option,$symbol " ; \
+   done`
fi
 
AC_SUBST(XENO_POSIX_WRAPPERS)
-   AC_SUBST([CONFIG_STATUS_DEPENDENCIES], ["$cobalt_wrappers"])
+   AC_SUBST([CONFIG_STATUS_DEPENDENCIES], ["$assert_wrappers 
$cobalt_wrappers"])
 fi
 
 dnl
diff --git a/debian/libxenomai-dev.install b/debian/libxenomai-dev.install
index 7b107cb..6d7eb7b 100644
--- a/debian/libxenomai-dev.install
+++ b/debian/libxenomai-dev.install
@@ -2,5 +2,6 @@ usr/include
 usr/lib/*.la
 usr/lib/*.a
 usr/lib/*.so
+usr/lib/assert.wrappers
 usr/lib/cobalt.wrappers
 usr/lib/dynlist.ld
diff --git a/lib/cobalt/Makefile.am b/lib/cobalt/Makefile.am
index 576122d..459b207 100644
--- a/lib/cobalt/Makefile.am
+++ b/lib/cobalt/Makefile.am
@@ -46,10 +46,12 @@ libcobalt_la_CPPFLAGS = \
 install-data-local:
$(mkinstalldirs) $(DESTDIR)$(libdir)
$(INSTALL_DATA) $(srcdir)/cobalt.wrappers $(DESTDIR)$(libdir)
+   $(INSTALL_DATA) $(srcdir)/assert.wrappers $(DESTDIR)$(libdir)
 
 uninstall-local:
$(RM) $(DESTDIR)$(libdir)/cobalt.wrappers
+   $(RM) $(DESTDIR)$(libdir)/assert.wrappers
 
-EXTRA_DIST = cobalt.wrappers
+EXTRA_DIST = cobalt.wrappers assert.wrappers
 
 SUBDIRS = arch
diff --git a/lib/cobalt/assert.wrappers b/lib/cobalt/assert.wrappers
new file mode 100644
index 000..7164858
--- /dev/null
+++ b/lib/cobalt/assert.wrappers
@@ -0,0 +1,2 @@
+--wrap malloc
+--wrap free
diff --git a/lib/cobalt/cobalt.wrappers b/lib/cobalt/cobalt.wrappers
index 9480f34..0378abf 100644
--- a/lib/cobalt/cobalt.wrappers
+++ b/lib/cobalt/cobalt.wrappers
@@ -91,8 +91,6 @@
 --wrap fclose
 --wrap syslog
 --wrap vsyslog
---wrap malloc
---wrap free
 --wrap gettimeofday
 --wrap __vfprintf_chk
 --wrap __vprintf_chk
diff --git a/scripts/xeno-config-cobalt.in b/scripts/xeno-config-cobalt.in
index d102d04..3e1f64c 100644
--- a/scripts/xeno-config-cobalt.in
+++ b/scripts/xeno-config-cobalt.in
@@ -235,8 +235,8 @@ if test x$do_ldflags = xy; then
echo "no API specified, missing --skin before --ldflags" 1>&2
exit 1
 fi
-ldflags=
-test x$compat = xy && ldflags="-ltrank "
+ldflags="`dump_wrappers assert.wrappers`"
+test x$compat = xy && ldflags="-ltrank $ldflags"
 copperplate=
 for skin in $skin_list; do
case "$skin" in


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[Xenomai-git] Philippe Gerum : lib/smokey: fix documentation

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 559f1dc7dc80be5566452b51459d1241f434a381
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=559f1dc7dc80be5566452b51459d1241f434a381

Author: Philippe Gerum 
Date:   Thu Jan 12 10:34:52 2017 +0100

lib/smokey: fix documentation

---

 lib/smokey/init.c |   26 +-
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/lib/smokey/init.c b/lib/smokey/init.c
index b69f24c..9df9a55 100644
--- a/lib/smokey/init.c
+++ b/lib/smokey/init.c
@@ -91,13 +91,11 @@
  *
  * static int run_foo(struct smokey_test *t, int argc, char *const argv[])
  * {
+ *  int i_arg = 0, nargs;
  *  char *s_arg = NULL;
  *  bool b_arg = false;
- *  int i_arg = 0, ret;
  *
- * ret = smokey_parse_args(t, argc, argv);
- *  if (ret)
- *  return ret;
+ * nargs = smokey_parse_args(t, argc, argv);
  *
  * if (SMOKEY_ARG_ISSET(foo, some_integer))
  * i_arg = SMOKEY_ARG_INT(foo, some_integer);
@@ -124,15 +122,17 @@
  * where @a name should match one of the declarators.  Before the
  * test-specific arguments can be accessed, a call to
  * smokey_parse_args() must be issued by the test code, passing the
- * parameters received in the run handler.
- *
- * Once smokey_parse_args() has returned, each argument can be checked
- * individually for presence. If a valid argument was matched on the
- * command line, SMOKEY_ARG_ISSET(test_name, arg_name) returns
- * non-zero. In the latter case, its value can be retrieved by a
- * similar call to SMOKEY_ARG_INT(test_name, arg_name),
- * SMOKEY_ARG_STRING(test_name, arg_name) or
- * SMOKEY_ARG_BOOL(test_name, arg_name).
+ * parameters received in the run handler. This routine returns the
+ * number of arguments found on the command line matching the
+ * an entry in SMOKEY_ARGLIST().
+ *
+ * Once smokey_parse_args() has returned with a non-zero value, each
+ * argument can be checked individually for presence. If a valid
+ * argument was matched on the command line,
+ * SMOKEY_ARG_ISSET(test_name, arg_name) returns non-zero. In the
+ * latter case, its value can be retrieved by a similar call to
+ * SMOKEY_ARG_INT(test_name, arg_name), SMOKEY_ARG_STRING(test_name,
+ * arg_name) or SMOKEY_ARG_BOOL(test_name, arg_name).
  *
  * In the above example, passing "some_integer=3" on the command line of
  * any program implementing such Smokey-based test would cause the


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[Xenomai-git] Philippe Gerum : testsuite/smokey: setsched: drop invalid test of pthread_setschedprio()

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 3c3bdb54d812c0074e768fe4c099f8b9800d7224
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=3c3bdb54d812c0074e768fe4c099f8b9800d7224

Author: Philippe Gerum 
Date:   Thu Jan 26 15:44:46 2017 +0100

testsuite/smokey: setsched: drop invalid test of pthread_setschedprio()

pthread_setschedprio() is not part of the libcobalt interface. The
outcome of such test can only be wrong.

---

 testsuite/smokey/setsched/setsched.c |   17 -
 1 file changed, 17 deletions(-)

diff --git a/testsuite/smokey/setsched/setsched.c 
b/testsuite/smokey/setsched/setsched.c
index 359f190..f227f65 100644
--- a/testsuite/smokey/setsched/setsched.c
+++ b/testsuite/smokey/setsched/setsched.c
@@ -94,23 +94,6 @@ static void *thread_body(void *arg)
 
check_linux_schedparams(SCHED_FIFO, 2);
 
-   cobalt_thread_harden();
-
-   if (smokey_check_status(cobalt_thread_stat(thread_pid, )))
-   pthread_exit((void *)(long)-EINVAL);
-   msw = stats.msw;
-
-   if (smokey_check_status(pthread_setschedprio(pthread_self(), 3)))
-   pthread_exit((void *)(long)-EINVAL);
-
-   check_rt_schedparams(SCHED_FIFO, 3);
-
-   if (smokey_check_status(cobalt_thread_stat(thread_pid, )) ||
-   !smokey_assert(stats.msw == msw))
-   pthread_exit((void *)(long)-EINVAL);
-
-   check_linux_schedparams(SCHED_FIFO, 3);
-
return (void *)0L;
 }
 


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[Xenomai-git] Henning Schild : lib/cobalt: wrap CXXABI One-time Constructor functions

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 0b66d5e9bf392ff68c82e2fede92627a4ddb5550
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0b66d5e9bf392ff68c82e2fede92627a4ddb5550

Author: Henning Schild 
Date:   Wed Jan 25 16:08:00 2017 +0100

lib/cobalt: wrap CXXABI One-time Constructor functions

The implementation of these functions uses locks and has the potential
to trigger a SIGXCPU when contended. Wrap them with assert_nrt so they
reliably cause a switch when used in the rt context.

Signed-off-by: Henning Schild 

---

 lib/cobalt/assert.wrappers  |3 +
 lib/cobalt/assert_context.c |   19 ++
 lib/cobalt/internal.h   |   12 +
 lib/cobalt/internal.h.orig  |   76 ++
 lib/cobalt/wrappers.c   |   37 +++
 lib/cobalt/wrappers.c.orig  |  534 +++
 6 files changed, 681 insertions(+)

diff --git a/lib/cobalt/assert.wrappers b/lib/cobalt/assert.wrappers
index 7164858..65320ab 100644
--- a/lib/cobalt/assert.wrappers
+++ b/lib/cobalt/assert.wrappers
@@ -1,2 +1,5 @@
 --wrap malloc
 --wrap free
+--wrap __cxa_guard_acquire
+--wrap __cxa_guard_release
+--wrap __cxa_guard_abort
diff --git a/lib/cobalt/assert_context.c b/lib/cobalt/assert_context.c
index 2085953..fd18d6b 100644
--- a/lib/cobalt/assert_context.c
+++ b/lib/cobalt/assert_context.c
@@ -66,3 +66,22 @@ COBALT_IMPL(void, free, (void *ptr))
assert_nrt();
__STD(free(ptr));
 }
+
+/* CXXABI 3.3.2 One-time Construction API */
+COBALT_IMPL(int, __cxa_guard_acquire, (__guard *g))
+{
+   assert_nrt();
+   return __STD(__cxa_guard_acquire(g));
+}
+
+COBALT_IMPL(void, __cxa_guard_release, (__guard *g))
+{
+   assert_nrt();
+   __STD(__cxa_guard_release(g));
+}
+
+COBALT_IMPL(void, __cxa_guard_abort, (__guard *g))
+{
+   assert_nrt();
+   __STD(__cxa_guard_abort(g));
+}
diff --git a/lib/cobalt/internal.h b/lib/cobalt/internal.h
index fee3fe1..9f58c6a 100644
--- a/lib/cobalt/internal.h
+++ b/lib/cobalt/internal.h
@@ -73,4 +73,16 @@ void cobalt_check_features(struct cobalt_featinfo *finfo);
 
 extern struct sigaction __cobalt_orig_sigdebug;
 
+#ifdef __ARM_EABI__
+typedef uint32_t __guard;
+#else
+typedef uint64_t __guard;
+#endif
+int __real___cxa_guard_acquire(__guard*);
+void __real___cxa_guard_release(__guard*);
+void __real___cxa_guard_abort(__guard*);
+int __cxa_guard_acquire(__guard*);
+void __cxa_guard_release(__guard*);
+void __cxa_guard_abort(__guard*);
+
 #endif /* _LIB_COBALT_INTERNAL_H */
diff --git a/lib/cobalt/internal.h.orig b/lib/cobalt/internal.h.orig
new file mode 100644
index 000..fee3fe1
--- /dev/null
+++ b/lib/cobalt/internal.h.orig
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2008 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.
+ */
+#ifndef _LIB_COBALT_INTERNAL_H
+#define _LIB_COBALT_INTERNAL_H
+
+#include 
+#include 
+#include 
+#include "current.h"
+
+extern void *cobalt_umm_private;
+
+extern void *cobalt_umm_shared;
+
+static inline int cobalt_is_relaxed(void)
+{
+   return cobalt_get_current_mode() & XNRELAX;
+}
+
+static inline
+struct cobalt_mutex_state *mutex_get_state(struct cobalt_mutex_shadow *shadow)
+{
+   if (shadow->attr.pshared)
+   return cobalt_umm_shared + shadow->state_offset;
+
+   return cobalt_umm_private + shadow->state_offset;
+}
+
+static inline atomic_t *mutex_get_ownerp(struct cobalt_mutex_shadow *shadow)
+{
+   return _get_state(shadow)->owner;
+}
+
+void cobalt_sigshadow_install_once(void);
+
+void cobalt_thread_init(void);
+
+int cobalt_thread_probe(pid_t pid);
+
+void cobalt_print_init(void);
+
+void cobalt_print_init_atfork(void);
+
+void cobalt_ticks_init(unsigned long long freq);
+
+void cobalt_mutex_init(void);
+
+void cobalt_default_condattr_init(void);
+
+int cobalt_xlate_schedparam(int policy,
+   const struct sched_param_ex *param_ex,
+   struct sched_param *param);
+int cobalt_init(void);
+
+struct cobalt_featinfo;
+
+void cobalt_check_features(struct cobalt_featinfo *finfo);
+
+extern struct sigaction __cobalt_orig_sigdebug;
+
+#endif /* _LIB_COBALT_INTERNAL_H */
diff --git a/lib/cobalt/wrappers.c b/lib/cobalt/wrappers.c
index 09c74e5..65dc3bd 100644

[Xenomai-git] Philippe Gerum : cobalt/timer: fix spurious assertion trigger

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 0326d526edeb377948b68d86a51b25a403b67c81
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0326d526edeb377948b68d86a51b25a403b67c81

Author: Philippe Gerum 
Date:   Tue Jan  3 11:20:28 2017 +0100

cobalt/timer: fix spurious assertion trigger

Commit #ccbd3750c introduced a debug assertion which only makes sense
when the timer is running. Reduce the scope of this check in order to
eliminate triggers on false positive.

---

 kernel/cobalt/timer.c |   15 +++
 1 file changed, 7 insertions(+), 8 deletions(-)

diff --git a/kernel/cobalt/timer.c b/kernel/cobalt/timer.c
index 3a4732d..aa3bc9e 100644
--- a/kernel/cobalt/timer.c
+++ b/kernel/cobalt/timer.c
@@ -601,23 +601,21 @@ void xntimer_release_ipi(void)
 unsigned long long xntimer_get_overruns(struct xntimer *timer, xnticks_t now)
 {
xnticks_t period = timer->interval;
-   xnsticks_t delta;
unsigned long long overruns = 0;
+   xnsticks_t delta;
+   xntimerq_t *q;
 
-   XENO_BUG_ON(COBALT, (timer->status &
-(XNTIMER_DEQUEUED|XNTIMER_PERIODIC)) != XNTIMER_PERIODIC);
-   
delta = now - xntimer_pexpect(timer);
if (unlikely(delta >= (xnsticks_t) period)) {
-   xntimerq_t *q;
-
period = timer->interval_ns;
delta = xnclock_ticks_to_ns(xntimer_clock(timer), delta);
overruns = xnarch_div64(delta, period);
timer->pexpect_ticks += overruns;
-
if (xntimer_running_p(timer)) {
-   q = xntimer_percpu_queue(timer);
+   XENO_BUG_ON(COBALT, (timer->status &
+   (XNTIMER_DEQUEUED|XNTIMER_PERIODIC))
+   != XNTIMER_PERIODIC);
+   q = xntimer_percpu_queue(timer);
xntimer_dequeue(timer, q);
while (xntimerh_date(>aplink) < now) {
timer->periodic_ticks++;
@@ -628,6 +626,7 @@ unsigned long long xntimer_get_overruns(struct xntimer 
*timer, xnticks_t now)
}
 
timer->pexpect_ticks++;
+
return overruns;
 }
 EXPORT_SYMBOL_GPL(xntimer_get_overruns);


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[Xenomai-git] Henning Schild : scripts/xeno-config: fix error message, dump_wrappers is not just POSIX

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 197e96eef5fe5485e625eabb493edb55cc38edd5
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=197e96eef5fe5485e625eabb493edb55cc38edd5

Author: Henning Schild 
Date:   Wed Jan 25 16:08:00 2017 +0100

scripts/xeno-config: fix error message, dump_wrappers is not just POSIX

Signed-off-by: Henning Schild 

---

 scripts/xeno-config-cobalt.in |2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/xeno-config-cobalt.in b/scripts/xeno-config-cobalt.in
index 62c1f33..d102d04 100644
--- a/scripts/xeno-config-cobalt.in
+++ b/scripts/xeno-config-cobalt.in
@@ -25,7 +25,7 @@ dump_wrappers()
 {
file=$1
if test \! -r ${XENO_LIBRARY_DIR}/$file; then
-  echo "Xenomai: POSIX wrappers cannot be read from 
${XENO_LIBRARY_DIR}/${file}" >&2
+  echo "Xenomai: wrappers cannot be read from ${XENO_LIBRARY_DIR}/${file}" 
>&2
   exit 1
fi
if test "$LD_FILE_OPTION" = "yes"; then


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[Xenomai-git] Philippe Gerum : lib/boilerplate: bootstrap: fix Blackfin build

[git repository hosting]

Module: xenomai-3
Branch: stable-3.0.x
Commit: 0129217e7a8b1df94ae50baa72a4eac047121060
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=0129217e7a8b1df94ae50baa72a4eac047121060

Author: Philippe Gerum 
Date:   Thu Jan 26 15:04:37 2017 +0100

lib/boilerplate: bootstrap: fix Blackfin build

The bootstrap module object is built in two forms:

- in static object form, to be glued to the main executable, which
  should include a wrapper interposing on the main() routine for
  auto-init purpose. Such wrapper is activated when symbol wrapping is
  enabled at link time (--wrap).

- in dynamic object form, to be included in a shared library target
  which enables the auto-init feature. This form should not include
  any wrapper to a main() routine - which does not exist - but only a
  constructor routine performing the inits.

The FDPIC format is used for building static and dynamic objects on
the Blackfin architecture, for which GCC defines __PIC__ in both
cases. This prevents from testing __PIC__ as a way to differentiate
between the static and dynamic versions of the bootstrap module on
Blackfin.

To fix this, set and check for a dedicated macro (__INTERCEPT_MAIN__)
to figure out whether the main() interception code should be present
in the relocatable object.

---

 lib/boilerplate/init/Makefile.am |1 +
 lib/boilerplate/init/bootstrap.c |   21 +++--
 2 files changed, 20 insertions(+), 2 deletions(-)

diff --git a/lib/boilerplate/init/Makefile.am b/lib/boilerplate/init/Makefile.am
index f41f419..702c900 100644
--- a/lib/boilerplate/init/Makefile.am
+++ b/lib/boilerplate/init/Makefile.am
@@ -3,6 +3,7 @@ noinst_LIBRARIES = libbootstrap.a
 libbootstrap_a_SOURCES = bootstrap.c
 
 libbootstrap_a_CPPFLAGS =  \
+   -D__INTERCEPT_MAIN__\
@XENO_USER_CFLAGS@  \
-I$(top_srcdir)/include \
-I$(top_srcdir)/lib
diff --git a/lib/boilerplate/init/bootstrap.c b/lib/boilerplate/init/bootstrap.c
index b0d4a12..118f861 100644
--- a/lib/boilerplate/init/bootstrap.c
+++ b/lib/boilerplate/init/bootstrap.c
@@ -28,7 +28,24 @@ static char *const *early_argv;
 
 const int xenomai_auto_bootstrap = 1;
 
-#ifndef __PIC__
+/*
+ * The bootstrap module object is built in two forms:
+ *
+ * - in static object form, to be glued to the main executable, which
+ *   should include a wrapper interposing on the main() routine for
+ *   auto-init purpose. Such wrapper is activated when symbol wrapping
+ *   is enabled at link time (--wrap).
+ *
+ * - in dynamic object form, to be included in a shared library target
+ *   which enables the auto-init feature. This form should not include
+ *   any wrapper to a main() routine - which does not exist - but only
+ *   a constructor routine performing the inits.
+ *
+ * The dedicated macro __INTERCEPT_MAIN__ tells us whether the main()
+ * interception code should be present in the relocatable object.
+ */
+
+#ifdef __INTERCEPT_MAIN__
 
 int __real_main(int argc, char *const argv[]);
 
@@ -45,7 +62,7 @@ int xenomai_main(int argc, char *const argv[])
return __real_main(argc, argv);
 }
 
-#endif /* !__PIC__ */
+#endif /* !__INTERCEPT_MAIN__ */
 
 __bootstrap_ctor static void xenomai_bootstrap(void)
 {


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