On 11/07/2012 08:26 PM, Michael Haberler wrote:
>
> Am 07.11.2012 um 20:16 schrieb Wolfgang Grandegger:
>
>> On 11/07/2012 08:06 PM, Michael Haberler wrote:
>>> As suggested, I adapted the LinuxCNC kernel support from native
>>> to RTDM API; my remaining issues are:
>>>
>>> - how do I achieve CPU binding which is available in
>>> rt_task_create() (T_CPU(cpuid))? - do I need to tell an RTDM task
>>> that the thread might use the FPU (T_FPU in rt_task_create()) ?
>>
>> http://www.xenomai.org/documentation/trunk/html/api/group__task.html#ga03387550693c21d0223f739570ccd992
>>
>>
it pretty clear.
>
> Wolfgang -
>
> I was suggested:
>
>> Also note that if LinuxCNC code runs in kernel-space, you should
>> not be using the native API, but the RTDM API.
>
> which I translate as 'use rtdm_task_init instead of rt_task_create'
>
> I have the kernel code using the native API just fine. The concern I
> have is for long-term compatibility, which is why I'm attempting to
> port to RTDM.
In xenomai 3.0, FPU in kernel-space will not be supported. But it is
true that we lack a service to set affinity for RTDM tasks. Though if
you are creating the task from a linux context (module initialization
function, or linux kernel threas), you can probably use set_cpus_allowed
before rtdm_task_init to get the task created on the target cpu (set
call it again after to restore the mask).
--
Gilles.
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