From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <51405E4A.9010607@hilscher.com> Date: Wed, 13 Mar 2013 12:08:58 +0100 From: Jerome Poncin MIME-Version: 1.0 References: <512C806F.2020209@hilscher.com> <512C9E78.1060208@siemens.com> <512CC5C6.8050204@hilscher.com> <512CC6A3.1010005@siemens.com> <512F120A.5060109@hilscher.com> <512F4005.60000@siemens.com> <512F48AA.8020601@hilscher.com> <5130B39C.70300@hilscher.com> <513465CF.4030807@hilscher.com> <51350D5B.6060309@xenomai.org> <5135CCDE.5090401@hilscher.com> <5135D667.8060309@siemens.com> <51361281.20307@hilscher.com> <51364A61.3090002@xenomai.org> <5136F9E9.9030604@hilscher.com> <5136FC1E.6060608@xenomai.org> <51371B89.4020103@hilscher.com> <513730CE.2070102@xenomai.org> <51374B98.7030103@hilscher.com> <51376093.7060701@siemens.com> <5137AF89.1020009@xenomai.org> <5138B33C.1060506@hilscher.com> <5139BABA.8010602@hilscher.com> <5139D7F5.2090904@xenomai.org> <513EF0F0.4070705@hilscher.com> <513F1DBD.5090603@xenomai.org> <513F4944.9010202@hilscher.com> <513F8434.6070405@xenomai.org> In-Reply-To: <513F8434.6070405@xenomai.org> Content-Type: text/plain; charset="utf-8"; format="flowed" Content-Transfer-Encoding: 8bit Subject: Re: [Xenomai] Hilscher driver for cifX boards List-Id: Discussions about the Xenomai project List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: "xenomai@xenomai.org" Le 12/03/2013 20:38, Gilles Chanteperdrix a écrit : > On 03/12/2013 04:27 PM, Jerome Poncin wrote: > >> Le 12/03/2013 13:21, Gilles Chanteperdrix a écrit : >>> On 03/12/2013 10:10 AM, Jerome Poncin wrote: >>> >>>> Le 08/03/2013 13:22, Gilles Chanteperdrix a écrit : >>>>> On 03/08/2013 11:17 AM, Jerome Poncin wrote: >>>>> >>>>>> Le 07/03/2013 16:33, Jerome Poncin a écrit : >>>>>>> Le 06/03/2013 22:05, Gilles Chanteperdrix a écrit : >>>>>>>> On 03/06/2013 04:28 PM, Jan Kiszka wrote: >>>>>>>> >>>>>>>>> Also here: Do not misuse write(), define an IOCTL that contains >>>>>>>>> something like "MMAP" and another one with MUNMAP in its name - that's >>>>>>>>> the purpose of this service, no? >>>>>>>> A lot of drivers probably have to reinvent a way to pass all the >>>>>>>> parameters for an mmap, why not adding an "mmap" method to RTDM drivers? >>>>>>>> >>>>>>>> >>>>>>> Hello, >>>>>>> >>>>>>> I re factored my code with all your remarks (I think and I hope). >>>>>>> >>>>>>> Could you say me if it's correct now ? >>>>>>> >>>>>>> Jan, you're right, It's possible to use Xenomai with UIO driver, but I >>>>>>> would like to use more real time possibilities of Xenomai in future >>>>>>> (like IRQ). >>>>>>> My first goal is to have a code compliant. >>>>>>> I added IRQ, and my next step will be to understand why the kernel >>>>>>> crash after IRQ registration. >>>>>>> >>>>>>> Thank you for your help, >>>>>>> >>>>>>> Jerome >>>>>>> >>>>>>> >>>>>>> >>>>>> Hello, >>>>>> >>>>>> I have good news because, I arrived to validated driver with IRQ >>>>>> support. I changed position of cifx on my motherboard in my PC and the >>>>>> IRQ affected is not shared ;-) ! >>>>>> >>>>>> I have now a question about IRQ. What is the good method to signal to >>>>>> user-land that there is an IRQ. Is there an example ? >>>>> Almost every "read" call is an example... ;-) >>>>> >>>> Hello, >>>> >>>> I'm finishing my driver with IRQ. I saw that there is two mode, Real >>>> time and Non real time for RTDM driver function. >>>> My driver should run in the two mode. When I compile my User Space >>>> Shared library that call Xenomai Kernel driver, >>>> I saw that library call every time Non real time function and no real >>>> time function... >>>> I use a shared library with posix skin with makefile in attached file. I >>>> read explanation for static library with posix skin : >>>> >>>> http://www.xenomai.org/index.php/Porting_POSIX_applications_to_Xenomai >>>> >>>> What must I do with shared library for using rt mode ? >>> Use the LDLIBS variable when linking the library? >>> >> Gilles, >> >> you're right ;-), I didn't use LDLIBS for linking the library, therefore >> I corrected this. >> >> Now I have this as link line for my library : >> >> gcc -shared -Xlinker -rpath -Xlinker /usr/xenomai/lib >> -I/usr/xenomai/include/include/xenomai >> -I/usr/xenomai/include/include/xenomai/compat >> -I/usr/xenomai/include/include/xenomai/posix -I./ -I.//Toolkit >> -Wl,@/usr/xenomai/lib/posix.wrappers -L/usr/xenomai/lib -lpthread_rt >> -lxenomai -lpthread -lrt -o libcifx.so .//cifXDownload.o >> .//cifXEndianess.o .//cifXFunctions.o .//cifXHWFunctions.o .//cifXInit.o >> .//cifXInterrupt.o .//md5.o .//cifx_xenomai.o .//OS_xenomai.o >> .//USER_xenomai.o >> >> and this for the application : >> >> gcc -DCONSUMER -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT >> -D__XENO__ -I/usr/xenomai/include/posix -I../libcifx >> -I../libcifx/Toolkit -O2 -lcifx -lpciaccess -lrtdm -Xlinker -rpath >> -Xlinker /usr/xenomai/lib cifx_xenomai_sample.c >> -Wl,@/usr/xenomai/lib/posix.wrappers -L/usr/xenomai/lib -lpthread_rt >> -lxenomai -lpthread -lrt -lcifx -lpciaccess -lrtdm -o cifx_xenomai_sample >> >> with >> >> mlockall(MCL_CURRENT | MCL_FUTURE); >> >> >> first line in main >> >> I have a new log : >> >> [ 4700.073616] cifx 0000:04:01.0: PCI INT A -> GSI 16 (level, low) -> IRQ 16 >> [ 4700.073643] cifx 0000:04:01.0: DPM at FEBF0000 >> [ 4700.073654] cifx 0000:04:01.0: registered CifX card >> [ 4734.146888] NRT mode >> [ 4751.104009] rt >> [ 4751.388002] Xenomai: Posix: destroying mutex f8419600. >> >> But as you see It seems I'm always in Non Real Time mode... > > I do not see anything, as I do not see the sources for either your > driver or application. > >> Do you have an idea about my problem ? >> >> The log "rt" and " Xenomai: Posix: destroying mutex f8419600." is normal ? > > It depends if you consider normal leaving an application with a mutex > created but not destroyed. Hello Gilles, First, I checked mutex Creation and Destroy and all is correct all created are destroyed... I will continue to investigate, it's very strange ! Secondly, I read that if a program use file or stdio library "causes switches to secondary mode". In my shared library, I have read file and fprintf at start (initialization), therefore I think that's why the library run in NRT mode. But is possible to switch in RT mode after, or must I do two thread ? thank you for your help, Jerome