api.changes

xenomai 很好的linux实时补丁

This file documents externally visible changes of the native API. Make
sure you read it carefully when upgrading versions of this software.

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0.6.9 -> 0.7

	o mlockall() is no longer implicitely issued by the
	rt_task_create() service in user-space. Applications should 
	make sure to lock the memory pages appropriately by
	themselves (--rpm 2005-02-22).

	o The skin now uses an increasing priority scale for
	tasks which is the same as the Linux one for the SCHED_FIFO
	scheduling class, i.e. 1 - 99 with 1 being the lowest
	effective priority level (--rpm 2005-03-13).

	o The default task stack size in user-space is now
	PTHREAD_STACK_MIN * 4. A mininum size of PTHREAD_STACK_MIN
	is enforced in rt_task_create().

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0.7.2 -> 0.7.3

	o Added basic message-passing support: rt_task_send(),
	rt_task_receive(), rt_task_reply(). Those work the QNX way.

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0.7.3 -> 0.7.4

	o Renames:
	  rt_pipe_open() -> rt_pipe_create()
	  rt_pipe_close() -> rt_pipe_delete()
	  rt_pipe_read() -> rt_pipe_receive()
	  rt_pipe_write() -> rt_pipe_send()

	o Added "name" parameter to rt_pipe_create() as 2nd argument,
	so that message pipe objects can be registered for naming
	support.

	o New implementations of rt_pipe_write() and rt_pipe_read()
	taking raw data buffers instead of canned message buffers.

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0.8.2 -> 0.8.3

	o Added "iack" parameter to rt_intr_create() from the
	kernel-space API, so that a specific acknowledge routine for
	the interrupt can be installed.

        o Fixed rt_timer_ns2ticks and rt_timer_ticks2ns behaviour,
        so that calling rt_task_sleep(rt_timer_ns2ticks(2000000000))
        will sleep two seconds whatever the timer mode is.

        o Added rt_timer_ns2tsc and rt_timer_tsc2ns to convert 
        between nanoseconds and values returned by rt_timer_tsc.

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0.8.3 -> 0.9

	o Added a timeout parameter to rt_mutex_lock(). Calling
	rt_mutex_lock(mutex,TM_INFINITE) is equivalent to the former
	single-parameter syntax.

	o Added a timeout parameter to all rt_*_bind()
	services. Calling rt_*_bind(descp,name,TM_INFINITE) is equivalent
	to the former syntax.

        o rt_task_set_periodic requires the value passed as a start time
        to be obtained using rt_timer_read().

        o the timer rt_timer_info structure has a "tsc" member, whose value is
         synchronized with the value of the date member.
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2.0 -> 2.1-rc1

	o Added a parameter to rt_pipe_create(), specifying the size
	of a local memory pool to associate to the message
	pipe. Passing zero is equivalent to the former
	syntax. Additionally, rt_pipe_alloc() and rt_pipe_free() now
	need to be passed the address of the message pipe descriptor
	of reference.
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2.1-rc2 -> 2.1-rc3

	o rt_event_wait() has been fixed so that the satisfied event
	bits are not auto-cleared upon receipt anymore. An explicit
	call to rt_event_clear() is therefore needed to zero the
	received bits into the event group.

	o rt_heap_create() called from user-space with a null "mode"
	argument now creates a regular mappable heap supporting
	multiple blocks of memory, instead of a shared memory segment
	managed as a single-block area. Passing H_SHARED is equivalent
	to the former behaviour.

	o rt_timer_start() and rt_timer_stop() have been deprecated.
	The Xenomai nucleus now automatically starts the system timer
	according to the configured policy and period when a real-time
	skin is loaded (see CONFIG_XENO_OPT_TIMING_PERIOD). The new
	rt_timer_set_mode() service can be used to change the current
	timing mode and clock tick rate dynamically.
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2.1-rc3 -> 2.1-rc4

	o rt_task_wait_period() now takes a pointer-to-variable
	parameter which is used to collect the number of pending
	overruns. Passing NULL tells the API to discard this
	count. Once collected or discarded, the count of past overruns
	is cleared, and the timeline is resynchronized to the current
	period. This update is basically a fix, which allows
	applications to tell their overrun recovery procedure about
	the exact number of pending overruns at once.