Philippe Gerum wrote:
Here is an update regarding the way things progress on the v2.1 branch:
o The build system has been deeply revamped, so that we now fully leave
the burden of building Xenomai's kernel support to Linux. To this end,
the code tree has been reorganized in two major sections, the first one
contains the kernel-related sources (ksrc/), the other is hosting the
user-space support (src/). Since the user-space portion does not need to
know about the kernel sources anymore, several issues have been solved
in the same move. All in all, things are way simpler than before, which
seems to indicate that we are heading to the right direction. The
documentation for the installation process needs to be updated though.
I like it a lot.
o Also as a matter of build system (and a bit more), v2.1 has been
backported to Linux 2.4, starting with the ppc32 support. We rely on
Denx's 2_4-devel tree as our 2.4 kernel of reference for this port [1].
A second backport to 2.4/x86 will happen when this combo is I-pipe
ready. We are ahead of schedule regarding this backport, since it was
initially planned for Q12006, but since we are going to add more
supported architectures in the next months, it's better to have a stable
build system for that.
Just tested Xenomai with adeos-ipipe-2.4.25-ppc-denx-0.9-02.patch on a
recent DENX kernel tree. MPC 8xx support was missing. I have attached
the patch to fix it. Furthermore I have not found the "Machine" options
(here from 2.6):
#
# Machine
#
# CONFIG_XENO_HW_FPU is not set
CONFIG_XENO_HW_PERIODIC_TIMER=y
CONFIG_XENO_HW_TIMER_LATENCY=1
CONFIG_XENO_HW_SCHED_LATENCY=1
The latency figures on my TQM860L board with Xenomai 2.1 and Liunx 2.4
are close to the one I measured with Xenomail 2.0 with Linux 2.6:
LATENCY with load on TQM860L:
Linux |-----lat min|-----lat avg|-----latmax|-overrun|---test-time
2.6.13 | 60480| 120960| 224320| 0| 00:09:46
2.4.25 | 64080| 95120| 225040| 0| 00:10:00
o PowerPC-wise (again), we should be close to ready for 2.6.15, since
Heikki merged both the 32 and 64-bit trees in a single one.
All other tasks planned are undergoing. For my part, I'm going to fiddle
now with ADI's Blackfin for which we already have the required Adeos
support, and create the Xenomai port for it. Since this one is uClinux
based, we should be able to check that the new build system is ok to
host any kind of port sanely.
[1] http://www.denx.de/en/Software/CVS/
Thanks.
Have a nice weekend.
Wolfgang.
+ diff -u linuxppc_2_4_devel-2005-11-19_1437-ipipe/arch/ppc/kernel/head_8xx.S.IPIPE2 linuxppc_2_4_devel-2005-11-19_1437-ipipe/arch/ppc/kernel/head_8xx.S
--- linuxppc_2_4_devel-2005-11-19_1437-ipipe/arch/ppc/kernel/head_8xx.S.IPIPE2 2005-02-13 21:04:14.000000000 +0100
+++ linuxppc_2_4_devel-2005-11-19_1437-ipipe/arch/ppc/kernel/head_8xx.S 2005-11-19 14:51:27.000000000 +0100
@@ -231,7 +231,11 @@
bl transfer_to_handler
.globl do_IRQ_intercept
do_IRQ_intercept:
- .long do_IRQ;
+#ifdef CONFIG_IPIPE
+ .long __ipipe_grab_irq
+#else /* !CONFIG_IPIPE */
+ .long do_IRQ
+#endif /* CONFIG_IPIPE */
.long ret_from_intercept
/* Alignment exception */
@@ -268,7 +272,11 @@
bl transfer_to_handler
.globl timer_interrupt_intercept
timer_interrupt_intercept:
- .long timer_interrupt
+#ifdef CONFIG_IPIPE
+ .long __ipipe_grab_timer
+#else /* !CONFIG_IPIPE */
+ .long timer_interrupt
+#endif /* CONFIG_IPIPE */
.long ret_from_intercept
STD_EXCEPTION(0xa00, Trap_0a, UnknownException)
_______________________________________________
Xenomai-core mailing list
Xenomai-core@gna.org
https://mail.gna.org/listinfo/xenomai-core
