[PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task

[PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task

[hongzha1]

Initialise and start a real-time task on specified cpu.

Introduce rtdm_task_init_with_affinity as base called by other init
task services to avoid code duplication.

Signed-off-by: hongzha1 <hongzhan.chen@intel.com>

diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
index 733c49df8..5406e54a5 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -1024,6 +1024,11 @@ typedef void (*rtdm_task_proc_t)(void *arg);
 int rtdm_task_init(rtdm_task_t *task, const char *name,
 		   rtdm_task_proc_t task_proc, void *arg,
 		   int priority, nanosecs_rel_t period);
+
+int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, const char *name,
+		rtdm_task_proc_t task_proc, void *arg,
+		int priority, nanosecs_rel_t period);
+
 int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
 void rtdm_task_busy_sleep(nanosecs_rel_t delay);
 
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index b914fa312..069a442e5 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -86,13 +86,14 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
  */
 
 /**
- * @brief Initialise and start a real-time task
+ * @brief Initialise and start a real-time task with cpu affinity
  *
  * After initialising a task, the task handle remains valid and can be
  * passed to RTDM services until either rtdm_task_destroy() or
  * rtdm_task_join() was invoked.
  *
  * @param[in,out] task Task handle
+ * @param[in] cpu affinity that task want to run with
  * @param[in] name Optional task name
  * @param[in] task_proc Procedure to be executed by the task
  * @param[in] arg Custom argument passed to @c task_proc() on entry
@@ -106,9 +107,10 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
  *
  * @coretags{secondary-only, might-switch}
  */
-int rtdm_task_init(rtdm_task_t *task, const char *name,
-		   rtdm_task_proc_t task_proc, void *arg,
-		   int priority, nanosecs_rel_t period)
+static inline int rtdm_task_init_with_affinity(rtdm_task_t *task,
+		cpumask_t affinity, const char *name,
+		rtdm_task_proc_t task_proc, void *arg,
+		int priority, nanosecs_rel_t period)
 {
 	union xnsched_policy_param param;
 	struct xnthread_start_attr sattr;
@@ -121,7 +123,7 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
 	iattr.name = name;
 	iattr.flags = 0;
 	iattr.personality = &xenomai_personality;
-	iattr.affinity = CPU_MASK_ALL;
+	iattr.affinity = affinity;
 	param.rt.prio = priority;
 
 	err = xnthread_init(task, &iattr, &xnsched_class_rt, &param);
@@ -155,8 +157,71 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
 	return err;
 }
 
+/**
+ * @brief Initialise and start a real-time task
+ *
+ * After initialising a task, the task handle remains valid and can be
+ * passed to RTDM services until either rtdm_task_destroy() or
+ * rtdm_task_join() was invoked.
+ *
+ * @param[in,out] task Task handle
+ * @param[in] name Optional task name
+ * @param[in] task_proc Procedure to be executed by the task
+ * @param[in] arg Custom argument passed to @c task_proc() on entry
+ * @param[in] priority Priority of the task, see also
+ * @ref rtdmtaskprio "Task Priority Range"
+ * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
+ * mode. Waiting for the first and subsequent periodic events is
+ * done using rtdm_task_wait_period().
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{secondary-only, might-switch}
+ */
+int rtdm_task_init(rtdm_task_t *task, const char *name,
+		   rtdm_task_proc_t task_proc, void *arg,
+		   int priority, nanosecs_rel_t period)
+{
+	return rtdm_task_init_with_affinity(task, CPU_MASK_ALL,
+			name, task_proc, arg, priority, period);
+}
 EXPORT_SYMBOL_GPL(rtdm_task_init);
 
+/**
+ * @brief Initialise and start a real-time task on specified cpu
+ *
+ * After initialising a task, the task handle remains valid and can be
+ * passed to RTDM services until either rtdm_task_destroy() or
+ * rtdm_task_join() was invoked.
+ *
+ * @param[in,out] task Task handle
+ * @param[in] cpu that task want to run on
+ * @param[in] name Optional task name
+ * @param[in] task_proc Procedure to be executed by the task
+ * @param[in] arg Custom argument passed to @c task_proc() on entry
+ * @param[in] priority Priority of the task, see also
+ * @ref rtdmtaskprio "Task Priority Range"
+ * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
+ * mode. Waiting for the first and subsequent periodic events is
+ * done using rtdm_task_wait_period().
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{secondary-only, might-switch}
+ */
+int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu,
+		const char *name, rtdm_task_proc_t task_proc, void *arg,
+		int priority, nanosecs_rel_t period)
+{
+	if (!cpu_online(cpu))
+		return -EINVAL;
+
+	return rtdm_task_init_with_affinity(task, *cpumask_of(cpu),
+			name, task_proc, arg, priority, period);
+
+}
+EXPORT_SYMBOL_GPL(rtdm_task_init_on_cpu);
+
 #ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
 /**
  * @brief Destroy a real-time task
-- 
2.17.1

[PATCH 2/2] cobalt/rtdm: introduce new interface to init timer

[hongzha1]

Initialise timer on specified cpu.

Signed-off-by: hongzha1 <hongzhan.chen@intel.com>

diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
index 5406e54a5..d58df33ce 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -966,6 +966,9 @@ enum rtdm_timer_mode {
 int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
 		    const char *name);
 
+int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
+		    const char *name, int cpu);
+
 void rtdm_timer_destroy(rtdm_timer_t *timer);
 
 int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index 069a442e5..268bf8fbf 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
 int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
 		    const char *name)
 {
+	/*cpu0 is used when no affinity was given*/
+	return rtdm_timer_init_on_cpu(timer, handler, name, 0);
+}
+EXPORT_SYMBOL_GPL(rtdm_timer_init);
+
+/**
+ * @brief Initialise a timer on specified cpu
+ *
+ * @param[in,out] timer Timer handle
+ * @param[in] handler Handler to be called on timer expiry
+ * @param[in] name Optional timer name
+ * @param[in] cpu that run on
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{task-unrestricted}
+ */
+int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
+		rtdm_timer_handler_t handler, const char *name, int cpu)
+{
+	struct xnsched *sched;
+
 	if (!realtime_core_enabled())
 		return -ENOSYS;
 
-	xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
+	if (!cpu_online(cpu))
+		return -EINVAL;
+
+	sched = xnsched_struct(cpu);
+	if (sched == NULL)
+		return -EINVAL;
+
+	xntimer_init((timer), &nkclock, handler, sched, XNTIMER_IGRAVITY);
 	xntimer_set_name((timer), (name));
+
 	return 0;
 }
-
-EXPORT_SYMBOL_GPL(rtdm_timer_init);
+EXPORT_SYMBOL_GPL(rtdm_timer_init_on_cpu);
 
 /**
  * @brief Destroy a timer
-- 
2.17.1

Re: [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer

[Philippe Gerum]

hongzha1 via Xenomai <xenomai@xenomai.org> writes:

> Initialise timer on specified cpu.
>
> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>
> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
> index 5406e54a5..d58df33ce 100644
> --- a/include/cobalt/kernel/rtdm/driver.h
> +++ b/include/cobalt/kernel/rtdm/driver.h
> @@ -966,6 +966,9 @@ enum rtdm_timer_mode {
>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>  		    const char *name);
>  
> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
> +		    const char *name, int cpu);
> +
>  void rtdm_timer_destroy(rtdm_timer_t *timer);
>  
>  int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
> index 069a442e5..268bf8fbf 100644
> --- a/kernel/cobalt/rtdm/drvlib.c
> +++ b/kernel/cobalt/rtdm/drvlib.c
> @@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>  		    const char *name)
>  {
> +	/*cpu0 is used when no affinity was given*/
> +	return rtdm_timer_init_on_cpu(timer, handler, name, 0);
> +}
> +EXPORT_SYMBOL_GPL(rtdm_timer_init);
> +
> +/**
> + * @brief Initialise a timer on specified cpu
> + *
> + * @param[in,out] timer Timer handle
> + * @param[in] handler Handler to be called on timer expiry
> + * @param[in] name Optional timer name
> + * @param[in] cpu that run on
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{task-unrestricted}
> + */
> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
> +		rtdm_timer_handler_t handler, const char *name, int cpu)
> +{
> +	struct xnsched *sched;
> +
>  	if (!realtime_core_enabled())
>  		return -ENOSYS;
>  
> -	xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
> +	if (!cpu_online(cpu))
> +		return -EINVAL;
> +
> +	sched = xnsched_struct(cpu);
> +	if (sched == NULL)
> +		return -EINVAL;
> +
> +	xntimer_init((timer), &nkclock, handler, sched, XNTIMER_IGRAVITY);
>  	xntimer_set_name((timer), (name));
> +
>  	return 0;
>  }
> -
> -EXPORT_SYMBOL_GPL(rtdm_timer_init);
> +EXPORT_SYMBOL_GPL(rtdm_timer_init_on_cpu);
>  
>  /**
>   * @brief Destroy a timer

Do we have a potential user for this call?

-- 
Philippe.

RE: [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer

[Chen, Hongzhan]

>-----Original Message-----
>From: Philippe Gerum <rpm@xenomai.org> 
>Sent: Thursday, March 11, 2021 4:14 PM
>To: Chen, Hongzhan <hongzhan.chen@intel.com>
>Cc: xenomai@xenomai.org
>Subject: Re: [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer
>
>
>hongzha1 via Xenomai <xenomai@xenomai.org> writes:
>
>> Initialise timer on specified cpu.
>>
>> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>>
>> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
>> index 5406e54a5..d58df33ce 100644
>> --- a/include/cobalt/kernel/rtdm/driver.h
>> +++ b/include/cobalt/kernel/rtdm/driver.h
>> @@ -966,6 +966,9 @@ enum rtdm_timer_mode {
>>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>>  		    const char *name);
>>  
>> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>> +		    const char *name, int cpu);
>> +
>>  void rtdm_timer_destroy(rtdm_timer_t *timer);
>>  
>>  int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
>> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
>> index 069a442e5..268bf8fbf 100644
>> --- a/kernel/cobalt/rtdm/drvlib.c
>> +++ b/kernel/cobalt/rtdm/drvlib.c
>> @@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
>>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>>  		    const char *name)
>>  {
>> +	/*cpu0 is used when no affinity was given*/
>> +	return rtdm_timer_init_on_cpu(timer, handler, name, 0);
>> +}
>> +EXPORT_SYMBOL_GPL(rtdm_timer_init);
>> +
>> +/**
>> + * @brief Initialise a timer on specified cpu
>> + *
>> + * @param[in,out] timer Timer handle
>> + * @param[in] handler Handler to be called on timer expiry
>> + * @param[in] name Optional timer name
>> + * @param[in] cpu that run on
>> + *
>> + * @return 0 on success, otherwise negative error code
>> + *
>> + * @coretags{task-unrestricted}
>> + */
>> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
>> +		rtdm_timer_handler_t handler, const char *name, int cpu)
>> +{
>> +	struct xnsched *sched;
>> +
>>  	if (!realtime_core_enabled())
>>  		return -ENOSYS;
>>  
>> -	xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
>> +	if (!cpu_online(cpu))
>> +		return -EINVAL;
>> +
>> +	sched = xnsched_struct(cpu);
>> +	if (sched == NULL)
>> +		return -EINVAL;
>> +
>> +	xntimer_init((timer), &nkclock, handler, sched, XNTIMER_IGRAVITY);
>  	xntimer_set_name((timer), (name));
> +
>  	return 0;
>  }
> -
> -EXPORT_SYMBOL_GPL(rtdm_timer_init);
> +EXPORT_SYMBOL_GPL(rtdm_timer_init_on_cpu);
>  
>  /**
>   * @brief Destroy a timer
>
>Do we have a potential user for this call?

Yes. Latmus is supposed to use it. Evl  Latmus  is calling evl_init_timer_on_cpu in 
create_uthread_runner. So I think Xenomai should have corresponding one.

Regards

Hongzhan Chen
>
>-- 
>Philippe.

Re: [PATCH 1/2] cobalt/rtdm: introduce new interfaces to init task

[Philippe Gerum]

hongzha1 via Xenomai <xenomai@xenomai.org> writes:

> Initialise and start a real-time task on specified cpu.
>
> Introduce rtdm_task_init_with_affinity as base called by other init
> task services to avoid code duplication.
>
> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>
> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
> index 733c49df8..5406e54a5 100644
> --- a/include/cobalt/kernel/rtdm/driver.h
> +++ b/include/cobalt/kernel/rtdm/driver.h
> @@ -1024,6 +1024,11 @@ typedef void (*rtdm_task_proc_t)(void *arg);
>  int rtdm_task_init(rtdm_task_t *task, const char *name,
>  		   rtdm_task_proc_t task_proc, void *arg,
>  		   int priority, nanosecs_rel_t period);
> +
> +int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu, const char *name,
> +		rtdm_task_proc_t task_proc, void *arg,
> +		int priority, nanosecs_rel_t period);
> +
>  int __rtdm_task_sleep(xnticks_t timeout, xntmode_t mode);
>  void rtdm_task_busy_sleep(nanosecs_rel_t delay);
>  
> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
> index b914fa312..069a442e5 100644
> --- a/kernel/cobalt/rtdm/drvlib.c
> +++ b/kernel/cobalt/rtdm/drvlib.c
> @@ -86,13 +86,14 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
>   */
>  
>  /**
> - * @brief Initialise and start a real-time task
> + * @brief Initialise and start a real-time task with cpu affinity
>   *
>   * After initialising a task, the task handle remains valid and can be
>   * passed to RTDM services until either rtdm_task_destroy() or
>   * rtdm_task_join() was invoked.
>   *
>   * @param[in,out] task Task handle
> + * @param[in] cpu affinity that task want to run with
>   * @param[in] name Optional task name
>   * @param[in] task_proc Procedure to be executed by the task
>   * @param[in] arg Custom argument passed to @c task_proc() on entry
> @@ -106,9 +107,10 @@ nanosecs_abs_t rtdm_clock_read_monotonic(void);
>   *
>   * @coretags{secondary-only, might-switch}
>   */
> -int rtdm_task_init(rtdm_task_t *task, const char *name,
> -		   rtdm_task_proc_t task_proc, void *arg,
> -		   int priority, nanosecs_rel_t period)
> +static inline int rtdm_task_init_with_affinity(rtdm_task_t *task,
> +		cpumask_t affinity, const char *name,
> +		rtdm_task_proc_t task_proc, void *arg,
> +		int priority, nanosecs_rel_t period)


In general, I would refrain from passing CPU masks by value; these may
represent pretty large data on x86 platforms, although the optimizer
might find its way using a reference internally in this specific
case. Receiving struct cpumask * would be better nevertheless.
xnintr_affinity() is another candidate for such a change.

>  {
>  	union xnsched_policy_param param;
>  	struct xnthread_start_attr sattr;
> @@ -121,7 +123,7 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
>  	iattr.name = name;
>  	iattr.flags = 0;
>  	iattr.personality = &xenomai_personality;
> -	iattr.affinity = CPU_MASK_ALL;
> +	iattr.affinity = affinity;
>  	param.rt.prio = priority;
>  
>  	err = xnthread_init(task, &iattr, &xnsched_class_rt, &param);
> @@ -155,8 +157,71 @@ int rtdm_task_init(rtdm_task_t *task, const char *name,
>  	return err;
>  }
>  
> +/**
> + * @brief Initialise and start a real-time task
> + *
> + * After initialising a task, the task handle remains valid and can be
> + * passed to RTDM services until either rtdm_task_destroy() or
> + * rtdm_task_join() was invoked.
> + *
> + * @param[in,out] task Task handle
> + * @param[in] name Optional task name
> + * @param[in] task_proc Procedure to be executed by the task
> + * @param[in] arg Custom argument passed to @c task_proc() on entry
> + * @param[in] priority Priority of the task, see also
> + * @ref rtdmtaskprio "Task Priority Range"
> + * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
> + * mode. Waiting for the first and subsequent periodic events is
> + * done using rtdm_task_wait_period().
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{secondary-only, might-switch}
> + */
> +int rtdm_task_init(rtdm_task_t *task, const char *name,
> +		   rtdm_task_proc_t task_proc, void *arg,
> +		   int priority, nanosecs_rel_t period)
> +{
> +	return rtdm_task_init_with_affinity(task, CPU_MASK_ALL,
> +			name, task_proc, arg, priority, period);
> +}
>  EXPORT_SYMBOL_GPL(rtdm_task_init);
>  
> +/**
> + * @brief Initialise and start a real-time task on specified cpu
> + *
> + * After initialising a task, the task handle remains valid and can be
> + * passed to RTDM services until either rtdm_task_destroy() or
> + * rtdm_task_join() was invoked.
> + *
> + * @param[in,out] task Task handle
> + * @param[in] cpu that task want to run on
> + * @param[in] name Optional task name
> + * @param[in] task_proc Procedure to be executed by the task
> + * @param[in] arg Custom argument passed to @c task_proc() on entry
> + * @param[in] priority Priority of the task, see also
> + * @ref rtdmtaskprio "Task Priority Range"
> + * @param[in] period Period in nanoseconds of a cyclic task, 0 for non-cyclic
> + * mode. Waiting for the first and subsequent periodic events is
> + * done using rtdm_task_wait_period().
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{secondary-only, might-switch}
> + */
> +int rtdm_task_init_on_cpu(rtdm_task_t *task, int cpu,
> +		const char *name, rtdm_task_proc_t task_proc, void *arg,
> +		int priority, nanosecs_rel_t period)
> +{
> +	if (!cpu_online(cpu))
> +		return -EINVAL;
> +
> +	return rtdm_task_init_with_affinity(task, *cpumask_of(cpu),
> +			name, task_proc, arg, priority, period);
> +
> +}
> +EXPORT_SYMBOL_GPL(rtdm_task_init_on_cpu);
> +
>  #ifdef DOXYGEN_CPP /* Only used for doxygen doc generation */
>  /**
>   * @brief Destroy a real-time task


-- 
Philippe.

Re: [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer

[Philippe Gerum]

Chen, Hongzhan <hongzhan.chen@intel.com> writes:

>>-----Original Message-----
>>From: Philippe Gerum <rpm@xenomai.org> 
>>Sent: Thursday, March 11, 2021 4:14 PM
>>To: Chen, Hongzhan <hongzhan.chen@intel.com>
>>Cc: xenomai@xenomai.org
>>Subject: Re: [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer
>>
>>
>>hongzha1 via Xenomai <xenomai@xenomai.org> writes:
>>
>>> Initialise timer on specified cpu.
>>>
>>> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>>>
>>> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
>>> index 5406e54a5..d58df33ce 100644
>>> --- a/include/cobalt/kernel/rtdm/driver.h
>>> +++ b/include/cobalt/kernel/rtdm/driver.h
>>> @@ -966,6 +966,9 @@ enum rtdm_timer_mode {
>>>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>>>  		    const char *name);
>>>  
>>> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>>> +		    const char *name, int cpu);
>>> +
>>>  void rtdm_timer_destroy(rtdm_timer_t *timer);
>>>  
>>>  int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
>>> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
>>> index 069a442e5..268bf8fbf 100644
>>> --- a/kernel/cobalt/rtdm/drvlib.c
>>> +++ b/kernel/cobalt/rtdm/drvlib.c
>>> @@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
>>>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>>>  		    const char *name)
>>>  {
>>> +	/*cpu0 is used when no affinity was given*/
>>> +	return rtdm_timer_init_on_cpu(timer, handler, name, 0);
>>> +}
>>> +EXPORT_SYMBOL_GPL(rtdm_timer_init);
>>> +
>>> +/**
>>> + * @brief Initialise a timer on specified cpu
>>> + *
>>> + * @param[in,out] timer Timer handle
>>> + * @param[in] handler Handler to be called on timer expiry
>>> + * @param[in] name Optional timer name
>>> + * @param[in] cpu that run on
>>> + *
>>> + * @return 0 on success, otherwise negative error code
>>> + *
>>> + * @coretags{task-unrestricted}
>>> + */
>>> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
>>> +		rtdm_timer_handler_t handler, const char *name, int cpu)
>>> +{
>>> +	struct xnsched *sched;
>>> +
>>>  	if (!realtime_core_enabled())
>>>  		return -ENOSYS;
>>>  
>>> -	xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
>>> +	if (!cpu_online(cpu))
>>> +		return -EINVAL;
>>> +
>>> +	sched = xnsched_struct(cpu);
>>> +	if (sched == NULL)
>>> +		return -EINVAL;
>>> +
>>> +	xntimer_init((timer), &nkclock, handler, sched, XNTIMER_IGRAVITY);
>>  	xntimer_set_name((timer), (name));
>> +
>>  	return 0;
>>  }
>> -
>> -EXPORT_SYMBOL_GPL(rtdm_timer_init);
>> +EXPORT_SYMBOL_GPL(rtdm_timer_init_on_cpu);
>>  
>>  /**
>>   * @brief Destroy a timer
>>
>>Do we have a potential user for this call?
>
> Yes. Latmus is supposed to use it. Evl  Latmus  is calling evl_init_timer_on_cpu in 
> create_uthread_runner. So I think Xenomai should have corresponding one.
>

Agreed. Today, the timer benchmarking code can only land on CPU0,
regardless of the affinity instruction given to 'latency', which is
wrong. So we need this new call in order to be able to place the
sampling timer on the tested CPU.

-- 
Philippe.

Re: [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer

[Philippe Gerum]

hongzha1 via Xenomai <xenomai@xenomai.org> writes:

> Initialise timer on specified cpu.
>
> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>
> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
> index 5406e54a5..d58df33ce 100644
> --- a/include/cobalt/kernel/rtdm/driver.h
> +++ b/include/cobalt/kernel/rtdm/driver.h
> @@ -966,6 +966,9 @@ enum rtdm_timer_mode {
>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>  		    const char *name);
>  
> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
> +		    const char *name, int cpu);
> +
>  void rtdm_timer_destroy(rtdm_timer_t *timer);
>  
>  int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
> index 069a442e5..268bf8fbf 100644
> --- a/kernel/cobalt/rtdm/drvlib.c
> +++ b/kernel/cobalt/rtdm/drvlib.c
> @@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>  		    const char *name)
>  {
> +	/*cpu0 is used when no affinity was given*/
> +	return rtdm_timer_init_on_cpu(timer, handler, name, 0);
> +}
> +EXPORT_SYMBOL_GPL(rtdm_timer_init);
> +
> +/**
> + * @brief Initialise a timer on specified cpu
> + *
> + * @param[in,out] timer Timer handle
> + * @param[in] handler Handler to be called on timer expiry
> + * @param[in] name Optional timer name
> + * @param[in] cpu that run on
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{task-unrestricted}
> + */
> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
> +		rtdm_timer_handler_t handler, const char *name, int cpu)
> +{
> +	struct xnsched *sched;
> +
>  	if (!realtime_core_enabled())
>  		return -ENOSYS;
>  
> -	xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
> +	if (!cpu_online(cpu))
> +		return -EINVAL;
> +

We also have to check the CPU against the xnsched_realtime_cpus
mask. Only the CPUs set in the latter receive clock ticks.

-- 
Philippe.

Re: [PATCH 2/2] cobalt/rtdm: introduce new interface to init timer

[Philippe Gerum]

hongzha1 via Xenomai <xenomai@xenomai.org> writes:

> Initialise timer on specified cpu.
>
> Signed-off-by: hongzha1 <hongzhan.chen@intel.com>
>
> diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
> index 5406e54a5..d58df33ce 100644
> --- a/include/cobalt/kernel/rtdm/driver.h
> +++ b/include/cobalt/kernel/rtdm/driver.h
> @@ -966,6 +966,9 @@ enum rtdm_timer_mode {
>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>  		    const char *name);
>  
> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
> +		    const char *name, int cpu);
> +
>  void rtdm_timer_destroy(rtdm_timer_t *timer);
>  
>  int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
> diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
> index 22ae79256..604947662 100644
> --- a/kernel/cobalt/rtdm/drvlib.c
> +++ b/kernel/cobalt/rtdm/drvlib.c
> @@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
>  int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
>  		    const char *name)
>  {
> +	/* cpu0 is used when no affinity was given */
> +	return rtdm_timer_init_on_cpu(timer, handler, name, 0);
> +}
> +EXPORT_SYMBOL_GPL(rtdm_timer_init);
> +
> +/**
> + * @brief Initialise a timer on specified cpu
> + *
> + * @param[in,out] timer Timer handle
> + * @param[in] handler Handler to be called on timer expiry
> + * @param[in] name Optional timer name
> + * @param[in] cpu that run on
> + *
> + * @return 0 on success, otherwise negative error code
> + *
> + * @coretags{task-unrestricted}
> + */
> +int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
> +		rtdm_timer_handler_t handler, const char *name, int cpu)
> +{
> +	struct xnsched *sched;
> +
>  	if (!realtime_core_enabled())
>  		return -ENOSYS;
>  
> -	xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
> +	if (!cpu_online(cpu) || !xnsched_supported_cpu(cpu))
> +		return -EINVAL;
> +
> +	sched = xnsched_struct(cpu);
> +	if (sched == NULL)
> +		return -EINVAL;
> +
> +	xntimer_init((timer), &nkclock, handler, sched, XNTIMER_IGRAVITY);
>  	xntimer_set_name((timer), (name));
> +
>  	return 0;
>  }
> -
> -EXPORT_SYMBOL_GPL(rtdm_timer_init);
> +EXPORT_SYMBOL_GPL(rtdm_timer_init_on_cpu);
>  
>  /**
>   * @brief Destroy a timer

Merged, thanks.

-- 
Philippe.

[PATCH 2/2] cobalt/rtdm: introduce new interface to init timer

[hongzha1]

Initialise timer on specified cpu.

Signed-off-by: hongzha1 <hongzhan.chen@intel.com>

diff --git a/include/cobalt/kernel/rtdm/driver.h b/include/cobalt/kernel/rtdm/driver.h
index 5406e54a5..d58df33ce 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -966,6 +966,9 @@ enum rtdm_timer_mode {
 int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
 		    const char *name);
 
+int rtdm_timer_init_on_cpu(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
+		    const char *name, int cpu);
+
 void rtdm_timer_destroy(rtdm_timer_t *timer);
 
 int rtdm_timer_start(rtdm_timer_t *timer, nanosecs_abs_t expiry,
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index 22ae79256..604947662 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -583,15 +583,44 @@ EXPORT_SYMBOL_GPL(rtdm_task_busy_sleep);
 int rtdm_timer_init(rtdm_timer_t *timer, rtdm_timer_handler_t handler,
 		    const char *name)
 {
+	/* cpu0 is used when no affinity was given */
+	return rtdm_timer_init_on_cpu(timer, handler, name, 0);
+}
+EXPORT_SYMBOL_GPL(rtdm_timer_init);
+
+/**
+ * @brief Initialise a timer on specified cpu
+ *
+ * @param[in,out] timer Timer handle
+ * @param[in] handler Handler to be called on timer expiry
+ * @param[in] name Optional timer name
+ * @param[in] cpu that run on
+ *
+ * @return 0 on success, otherwise negative error code
+ *
+ * @coretags{task-unrestricted}
+ */
+int rtdm_timer_init_on_cpu(rtdm_timer_t *timer,
+		rtdm_timer_handler_t handler, const char *name, int cpu)
+{
+	struct xnsched *sched;
+
 	if (!realtime_core_enabled())
 		return -ENOSYS;
 
-	xntimer_init((timer), &nkclock, handler, NULL, XNTIMER_IGRAVITY);
+	if (!cpu_online(cpu) || !xnsched_supported_cpu(cpu))
+		return -EINVAL;
+
+	sched = xnsched_struct(cpu);
+	if (sched == NULL)
+		return -EINVAL;
+
+	xntimer_init((timer), &nkclock, handler, sched, XNTIMER_IGRAVITY);
 	xntimer_set_name((timer), (name));
+
 	return 0;
 }
-
-EXPORT_SYMBOL_GPL(rtdm_timer_init);
+EXPORT_SYMBOL_GPL(rtdm_timer_init_on_cpu);
 
 /**
  * @brief Destroy a timer
-- 
2.17.1