rtai_xeno.h

rtai-3.1-test3的源代码(Real-Time Application Interface )

/*
 * Copyright (C) 2001,2002,2003 Philippe Gerum <[e-mail]>.
 *
 * 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
 * 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 Xenomai; if not, write to the Free Software Foundation,
 * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * As a special exception, the RTAI project gives permission
 * for additional uses of the text contained in its release of
 * Xenomai.
 *
 * The exception is that, if you link the Xenomai libraries with other
 * files to produce an executable, this does not by itself cause the
 * resulting executable to be covered by the GNU General Public License.
 * Your use of that executable is in no way restricted on account of
 * linking the Xenomai libraries code into it.
 *
 * This exception does not however invalidate any other reasons why
 * the executable file might be covered by the GNU General Public
 * License.
 *
 * This exception applies only to the code released by the
 * RTAI project under the name Xenomai.  If you copy code from other
 * RTAI project releases into a copy of Xenomai, as the General Public
 * License permits, the exception does not apply to the code that you
 * add in this way.  To avoid misleading anyone as to the status of
 * such modified files, you must delete this exception notice from
 * them.
 *
 * If you write modifications of your own for Xenomai, it is your
 * choice whether to permit this exception to apply to your
 * modifications. If you do not wish that, delete this exception
 * notice.
 */

#ifndef _VM_ASM_RTAI_XENO_H
#define _VM_ASM_RTAI_XENO_H

#include <sys/time.h>
#include <errno.h>
#include <malloc.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <stdio.h>
#include <setjmp.h>
#include <asm/rtai_xnatomic.h>
#include <xenomai/fusion.h>

#define XNARCH_DEFAULT_TICK   1000000 /* ns, i.e. 1ms */
#define XNARCH_IRQ_MAX        32
#define XNARCH_SIG_RESTART    SIGUSR1
#define XNARCH_HOST_TICK      0	/* No host ticking service */
#define XNARCH_APERIODIC_PREC 0	/* No aperiodic support */
#define XNARCH_SCHED_LATENCY  0 /* No scheduling latency */

struct xnthread;

typedef struct xnarchtcb {	/* Per-thread arch-dependent block */

    const char *name;		/* Symbolic name of thread (can be NULL) */
    struct xnthread *thread;	/* VM thread pointer (opaque) */
    void *khandle;		/* Kernel handle (opaque) */
    void (*entry)(void *);	/* Thread entry */
    void *cookie;		/* Thread cookie passed on entry */
    int imask;			/* Initial interrupt mask */
    jmp_buf rstenv;             /* Restart context info */
    pid_t ppid;
    int syncflag;
    pthread_t thid;

    /* The following fields are not used by the Fusion skin, however
       they are set by the nucleus. */
    unsigned stacksize;		/* Aligned size of stack (bytes) */
    unsigned long *stackbase;	/* Stack space */

} xnarchtcb_t;

extern xnarchtcb_t *vml_root;

extern xnarchtcb_t *vml_current;

extern int vml_irqlock;

typedef void *xnarch_fltinfo_t;	/* Unused but required */

#define xnarch_fault_trap(fi)  (0)
#define xnarch_fault_code(fi)  (0)
#define xnarch_fault_pc(fi)    (0L)

#define XNARCH_THREAD_COOKIE  NULL
#define XNARCH_THREAD_STACKSZ 0 /* Use the default POSIX value. */
#define XNARCH_ROOT_STACKSZ   0	/* Only a placeholder -- no stack */

#define xnarch_printf              printf
#define printk                     printf
#define xnarch_llimd(ll,m,d)       ((int)(ll) * (int)(m) / (int)(d))
#define xnarch_imuldiv(i,m,d)      ((int)(i) * (int)(m) / (int)(d))
#define xnarch_ulldiv(ull,uld,rem) (((*rem) = ((ull) % (uld))), (ull) / (uld))
#define xnarch_ullmod(ull,uld,rem) ((*rem) = ((ull) % (uld)))

#define xnarch_stack_size(tcb)     ((tcb)->stacksize)
#define xnarch_fpu_ptr(tcb)        (NULL)

static inline int __attribute__ ((unused))
xnarch_read_environ (const char *name, const char **ptype, void *pvar)

{
    char *value;

    if (*ptype == NULL)
	return 0;	/* Already read in */

    *ptype = NULL;

    value = getenv(name);

    if (!value)
	return -1;

    if (**ptype == 's')
	*((char **)pvar) = value;
    else
	*((int *)pvar) = atoi(value);

    return 1;
}

static int inline xnarch_lock_irq (void) {

    extern int vml_irqlock;
    return xnarch_atomic_xchg(&vml_irqlock,1);
}

static inline void xnarch_unlock_irq (int x) {

    extern int vml_irqlock, vml_irqpend;

    if (!x && vml_irqlock)
	{
	if (xnarch_atomic_xchg(&vml_irqpend,0))
	    __pthread_release_vm(&vml_irqlock);
	else
	    vml_irqlock = 0;
	}
}

void xnarch_sync_irq(void);

int xnarch_setimask(int imask);

typedef int spl_t;

#define splhigh(x)    ((x) = xnarch_lock_irq())
#define splexit(x)    xnarch_unlock_irq(x)
#define splnone()     xnarch_unlock_irq(0)

/* Module arg macros */
#define vartype(var)               var ## _ ## tYpE
#define MODULE_DESCRIPTION(s);
#define MODULE_LICENSE(s);
#define MODULE_AUTHOR(s);
#define MODULE_PARM(var,type)      static const char *vartype(var) = type
#define MODULE_PARM_DESC(var,desc);
#define MODULE_PARM_VALUE(var)     (xnarch_read_environ(#var,&vartype(var),&var),var)

/* Nullify other kernel macros */
#define EXPORT_SYMBOL(sym);
#define module_init(sym);
#define module_exit(sym);

#ifdef __cplusplus
extern "C" {
#endif

void xnpod_welcome_thread(struct xnthread *);

#ifdef XENO_INTR_MODULE

int vml_irqlock = 0;

int vml_irqpend = 0;

void xnarch_sync_irq (void)

{
    if (vml_irqlock)
	__pthread_hold_vm(&vml_irqpend);
}

static inline int xnarch_hook_irq (unsigned irq,
				   void (*handler)(unsigned irq,
						   void *cookie),
				   void *cookie) {
    if (irq == 0)
	return -EINVAL;	/* Reserved for the timer thread. */

    return -ENOSYS;
}

static inline int xnarch_release_irq (unsigned irq) {
    return -ENOSYS;
}

static inline int xnarch_enable_irq (unsigned irq) {
    return -ENOSYS;
}

static inline int xnarch_disable_irq (unsigned irq) {
    return -ENOSYS;
}

static inline void xnarch_isr_chain_irq (unsigned irq) {
    /* Nop */
}

static inline void xnarch_isr_enable_irq (unsigned irq) {
    /* Nop */
}

#endif /* XENO_INTR_MODULE */

#ifdef XENO_MAIN_MODULE

int __xeno_main_init(void);

void __xeno_main_exit(void);

int __xeno_skin_init(void);

void __xeno_skin_exit(void);

int __xeno_user_init(void);

void __xeno_user_exit(void);

int vml_done = 0;

static inline int xnarch_init (void) {
    return 0;
}

static inline void xnarch_exit (void) {
}

static void xnarch_restart_handler (int sig) {

    longjmp(vml_current->rstenv,1);
}

void xnarch_exit_handler (int sig)

{
    vml_done = 1;
    __pthread_activate_vm(vml_root->khandle,vml_current->khandle);
    exit(99);
}

int main (int argc, char *argv[])

{
    struct sigaction sa;
    int err;

    if (geteuid() !=0)
	{
        fprintf(stderr,"This program must be run with root privileges");
	exit(1);
	}

    err = __xeno_main_init();

    if (err)
	{
        fprintf(stderr,"main_init() failed, err=%x\n",err);
        exit(2);
	}

    err = __xeno_skin_init();

    if (err)
	{
        fprintf(stderr,"skin_init() failed, err=%x\n",err);
        exit(3);
	}

    err = __xeno_user_init();

    if (err)
	{
        fprintf(stderr,"user_init() failed, err=%x\n",err);
        exit(4);
	}

    sa.sa_handler = &xnarch_restart_handler;
    sigemptyset(&sa.sa_mask);
    sa.sa_flags = SA_RESTART;
    sigaction(XNARCH_SIG_RESTART,&sa,NULL);

    sa.sa_handler = &xnarch_exit_handler;
    sa.sa_flags = 0;
    sigaction(SIGTERM,&sa,NULL);
    sigaction(SIGHUP,&sa,NULL);
    sigaction(SIGINT,&sa,NULL);

    while (!vml_done)
	__pthread_idle_vm(&vml_irqlock);