/usr/include/xenomai/nucleus/pod.h is in libxenomai-dev 2.6.4+dfsg-0.2.
This file is owned by root:root, with mode 0o644.
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* \brief Real-time pod interface header.
* \author Philippe Gerum
*
* Copyright (C) 2001-2007 Philippe Gerum <rpm@xenomai.org>.
* Copyright (C) 2004 The RTAI project <http://www.rtai.org>
* Copyright (C) 2004 The HYADES project <http://www.hyades-itea.org>
* Copyright (C) 2004 The Xenomai project <http://www.xenomai.org>
*
* 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.
*
* \ingroup pod
*/
#ifndef _XENO_NUCLEUS_POD_H
#define _XENO_NUCLEUS_POD_H
/*! \addtogroup pod
*@{*/
#include <nucleus/sched.h>
/* Pod status flags */
#define XNFATAL 0x00000001 /* Fatal error in progress */
#define XNPEXEC 0x00000002 /* Pod is active (a skin is attached) */
/* These flags are available to the real-time interfaces */
#define XNPOD_SPARE0 0x01000000
#define XNPOD_SPARE1 0x02000000
#define XNPOD_SPARE2 0x04000000
#define XNPOD_SPARE3 0x08000000
#define XNPOD_SPARE4 0x10000000
#define XNPOD_SPARE5 0x20000000
#define XNPOD_SPARE6 0x40000000
#define XNPOD_SPARE7 0x80000000
#define XNPOD_NORMAL_EXIT 0x0
#define XNPOD_FATAL_EXIT 0x1
#define XNPOD_ALL_CPUS XNARCH_CPU_MASK_ALL
#define XNPOD_FATAL_BUFSZ 16384
#define nkpod (&nkpod_struct)
struct xnsynch;
/*!
* \brief Real-time pod descriptor.
*
* The source of all Xenomai magic.
*/
struct xnpod {
xnflags_t status; /*!< Status bitmask. */
xnsched_t sched[XNARCH_NR_CPUS]; /*!< Per-cpu scheduler slots. */
xnqueue_t threadq; /*!< All existing threads. */
#ifdef CONFIG_XENO_OPT_VFILE
struct xnvfile_rev_tag threadlist_tag;
#endif
xnqueue_t tstartq, /*!< Thread start hook queue. */
tswitchq, /*!< Thread switch hook queue. */
tdeleteq; /*!< Thread delete hook queue. */
atomic_counter_t timerlck; /*!< Timer lock depth. */
xntimer_t tslicer; /*!< Time-slicing timer for aperiodic mode */
int tsliced; /*!< Number of threads using the slicer */
int refcnt; /*!< Reference count. */
#ifdef __XENO_SIM__
void (*schedhook) (xnthread_t *thread, xnflags_t mask); /*!< Internal scheduling hook. */
#endif /* __XENO_SIM__ */
};
typedef struct xnpod xnpod_t;
DECLARE_EXTERN_XNLOCK(nklock);
extern u_long nklatency;
extern u_long nktimerlat;
extern xnarch_cpumask_t nkaffinity;
extern xnpod_t nkpod_struct;
#ifdef CONFIG_XENO_OPT_VFILE
int xnpod_init_proc(void);
void xnpod_cleanup_proc(void);
#else /* !CONFIG_XENO_OPT_VFILE */
static inline int xnpod_init_proc(void) { return 0; }
static inline void xnpod_cleanup_proc(void) {}
#endif /* !CONFIG_XENO_OPT_VFILE */
static inline int xnpod_mount(void)
{
xnsched_register_classes();
return xnpod_init_proc();
}
static inline void xnpod_umount(void)
{
xnpod_cleanup_proc();
}
#ifdef __cplusplus
extern "C" {
#endif
int __xnpod_set_thread_schedparam(struct xnthread *thread,
struct xnsched_class *sched_class,
const union xnsched_policy_param *sched_param,
int propagate);
#ifdef CONFIG_XENO_HW_FPU
void xnpod_switch_fpu(xnsched_t *sched);
#endif /* CONFIG_XENO_HW_FPU */
void __xnpod_schedule(struct xnsched *sched);
/* -- Beginning of the exported interface */
#define xnpod_sched_slot(cpu) \
(&nkpod->sched[cpu])
#define xnpod_current_sched() \
xnpod_sched_slot(xnarch_current_cpu())
#define xnpod_active_p() \
testbits(nkpod->status, XNPEXEC)
#define xnpod_fatal_p() \
testbits(nkpod->status, XNFATAL)
#define xnpod_interrupt_p() \
testbits(xnpod_current_sched()->lflags, XNINIRQ)
#define xnpod_callout_p() \
testbits(xnpod_current_sched()->status, XNKCOUT)
#define xnpod_asynch_p() \
({ \
xnsched_t *sched = xnpod_current_sched(); \
testbits(sched->status | sched->lflags, XNKCOUT|XNINIRQ); \
})
#define xnpod_current_thread() \
(xnpod_current_sched()->curr)
#define xnpod_current_root() \
(&xnpod_current_sched()->rootcb)
#ifdef CONFIG_XENO_OPT_PERVASIVE
#define xnpod_current_p(thread) \
({ int __shadow_p = xnthread_test_state(thread, XNSHADOW); \
int __curr_p = __shadow_p ? xnshadow_thread(current) == thread \
: thread == xnpod_current_thread(); \
__curr_p;})
#else
#define xnpod_current_p(thread) \
(xnpod_current_thread() == (thread))
#endif
#define xnpod_locked_p() \
xnthread_test_state(xnpod_current_thread(), XNLOCK)
#define xnpod_unblockable_p() \
(xnpod_asynch_p() || xnthread_test_state(xnpod_current_thread(), XNROOT))
#define xnpod_root_p() \
xnthread_test_state(xnpod_current_thread(),XNROOT)
#define xnpod_shadow_p() \
xnthread_test_state(xnpod_current_thread(),XNSHADOW)
#define xnpod_userspace_p() \
xnthread_test_state(xnpod_current_thread(),XNROOT|XNSHADOW)
#define xnpod_primary_p() \
(!(xnpod_asynch_p() || xnpod_root_p()))
#define xnpod_secondary_p() xnpod_root_p()
#define xnpod_idle_p() xnpod_root_p()
int xnpod_init(void);
int xnpod_enable_timesource(void);
void xnpod_disable_timesource(void);
void xnpod_shutdown(int xtype);
int xnpod_init_thread(struct xnthread *thread,
const struct xnthread_init_attr *attr,
struct xnsched_class *sched_class,
const union xnsched_policy_param *sched_param);
int xnpod_start_thread(xnthread_t *thread,
const struct xnthread_start_attr *attr);
void xnpod_stop_thread(xnthread_t *thread);
void xnpod_restart_thread(xnthread_t *thread);
void xnpod_delete_thread(xnthread_t *thread);
void xnpod_abort_thread(xnthread_t *thread);
xnflags_t xnpod_set_thread_mode(xnthread_t *thread,
xnflags_t clrmask,
xnflags_t setmask);
void xnpod_suspend_thread(xnthread_t *thread,
xnflags_t mask,
xnticks_t timeout,
xntmode_t timeout_mode,
struct xnsynch *wchan);
void xnpod_resume_thread(xnthread_t *thread,
xnflags_t mask);
int xnpod_unblock_thread(xnthread_t *thread);
int xnpod_set_thread_schedparam(struct xnthread *thread,
struct xnsched_class *sched_class,
const union xnsched_policy_param *sched_param);
int xnpod_migrate_thread(int cpu);
void xnpod_dispatch_signals(void);
static inline void xnpod_schedule(void)
{
struct xnsched *sched;
/*
* NOTE: Since __xnpod_schedule() won't run if an escalation
* to primary domain is needed, we won't use critical
* scheduler information before we actually run in primary
* mode; therefore we can first test the scheduler status then
* escalate. Running in the primary domain means that no
* Linux-triggered CPU migration may occur from that point
* either. Finally, since migration is always a self-directed
* operation for Xenomai threads, we can safely read the
* scheduler state bits without holding the nklock.
*
* Said differently, if we race here because of a CPU
* migration, it must have been Linux-triggered because we run
* in secondary mode; in which case we will escalate to the
* primary domain, then unwind the current call frame without
* running the rescheduling procedure in
* __xnpod_schedule(). Therefore, the scheduler pointer will
* be either valid, or unused.
*/
sched = xnpod_current_sched();
/*
* No immediate rescheduling is possible if an ISR or callout
* context is active, or if we are caught in the middle of a
* unlocked context switch.
*/
#if XENO_DEBUG(NUCLEUS)
if (testbits(sched->status | sched->lflags,
XNKCOUT|XNINIRQ|XNINSW|XNINLOCK))
return;
#else /* !XENO_DEBUG(NUCLEUS) */
if (testbits(sched->status | sched->lflags,
XNKCOUT|XNINIRQ|XNINSW|XNRESCHED|XNINLOCK) != XNRESCHED)
return;
#endif /* !XENO_DEBUG(NUCLEUS) */
__xnpod_schedule(sched);
}
void ___xnpod_lock_sched(xnsched_t *sched);
void ___xnpod_unlock_sched(xnsched_t *sched);
static inline void __xnpod_lock_sched(void)
{
xnsched_t *sched;
barrier();
sched = xnpod_current_sched();
___xnpod_lock_sched(sched);
}
static inline void __xnpod_unlock_sched(void)
{
xnsched_t *sched;
barrier();
sched = xnpod_current_sched();
___xnpod_unlock_sched(sched);
}
static inline void xnpod_lock_sched(void)
{
xnsched_t *sched;
spl_t s;
xnlock_get_irqsave(&nklock, s);
sched = xnpod_current_sched();
___xnpod_lock_sched(sched);
xnlock_put_irqrestore(&nklock, s);
}
static inline void xnpod_unlock_sched(void)
{
xnsched_t *sched;
spl_t s;
xnlock_get_irqsave(&nklock, s);
sched = xnpod_current_sched();
___xnpod_unlock_sched(sched);
xnlock_put_irqrestore(&nklock, s);
}
void xnpod_fire_callouts(xnqueue_t *hookq,
xnthread_t *thread);
static inline void xnpod_run_hooks(struct xnqueue *q,
struct xnthread *thread, const char *type)
{
if (!emptyq_p(q)) {
trace_mark(xn_nucleus, thread_callout,
"thread %p thread_name %s hook %s",
thread, xnthread_name(thread), type);
xnpod_fire_callouts(q, thread);
}
}
int xnpod_set_thread_periodic(xnthread_t *thread,
xnticks_t idate,
xnticks_t period);
int xnpod_wait_thread_period(unsigned long *overruns_r);
int xnpod_set_thread_tslice(struct xnthread *thread,
xnticks_t quantum);
static inline xntime_t xnpod_get_cpu_time(void)
{
return xnarch_get_cpu_time();
}
int xnpod_add_hook(int type, void (*routine) (xnthread_t *));
int xnpod_remove_hook(int type, void (*routine) (xnthread_t *));
static inline void xnpod_yield(void)
{
xnpod_resume_thread(xnpod_current_thread(), 0);
xnpod_schedule();
}
static inline void xnpod_delay(xnticks_t timeout)
{
xnpod_suspend_thread(xnpod_current_thread(), XNDELAY, timeout, XN_RELATIVE, NULL);
}
static inline void xnpod_suspend_self(void)
{
xnpod_suspend_thread(xnpod_current_thread(), XNSUSP, XN_INFINITE, XN_RELATIVE, NULL);
}
static inline void xnpod_delete_self(void)
{
xnpod_delete_thread(xnpod_current_thread());
}
#ifdef __cplusplus
}
#endif
/*@}*/
#endif /* !_XENO_NUCLEUS_POD_H */
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