xeno native target works now for RMA example

git-svn-id: https://tecsw.estec.esa.int/svn/taste/trunk/po-hi-c@2331 129961e7-ef38-4bb5-a8f7-c9a525a55882

examples/aadlv2/rma/rma-xtratum-leon3.aadl

 package RMAAadl
 public
   with Deployment;
+  with ARINC653;
 
 -----------------
 -- Subprograms --
@@ -72,6 +73,9 @@ processor implementation cpurm.impl
 subcomponents
    part1 : virtual processor partition_runtime.i;
    part2 : virtual processor partition_runtime.i;
+properties
+   ARINC653::Partition_Slots => (1000 ms, 1000 ms);
+   ARINC653::Slots_Allocation => ( reference (part1), reference (part2));
 end cpurm.impl;
 
 ---------------
@@ -87,6 +91,32 @@ subcomponents
    Task2 : thread Task.impl_2;
 end node_a.impl;
 
+memory myram
+end myram;
+
+memory segment
+end segment;
+
+memory implementation segment.i
+end segment.i;
+
+memory implementation  myram.stram
+properties
+   Base_Address => 40000000;
+   Byte_Count   => 4194304;
+end myram.stram;
+
+memory implementation myram.sdram
+subcomponents
+	segment1 : memory segment.i {Base_Address => 60000000; Byte_Count => 131072;};
+	segment2 : memory segment.i {Base_Address => 60020000; Byte_Count => 131072;};
+properties
+   Base_Address => 60000000;
+   Byte_Count   => 134217728;
+end myram.sdram;
+
+
+
 ------------
 -- System --
 ------------
@@ -99,9 +129,13 @@ subcomponents
    node_a : process node_a.impl;
    node_b : process node_a.impl;
    cpu_rm : processor cpurm.impl;
+   mem    :  memory myram.sdram;
+   memst  :  memory myram.stram;
 properties
    Actual_Processor_Binding => (reference (cpu_rm.part1)) applies to node_a;
    Actual_Processor_Binding => (reference (cpu_rm.part2)) applies to node_b;
+   actual_memory_binding => (reference (mem.segment1)) applies to Node_A;
+   actual_memory_binding => (reference (mem.segment2)) applies to Node_B;
 end rma.impl;
 
 end RMAAadl;

share/make/Makefile.am

@@ -2,6 +2,7 @@ EXTRA_DIST=$(srcdir)/Makefile.common \
            $(srcdir)/Makefile.arm.dslinux \
 			  $(srcdir)/Makefile.arm.n770 \
 			  $(srcdir)/Makefile.leon.ork \
+			  $(srcdir)/Makefile.leon3-xm3 \
 			  $(srcdir)/Makefile.leon.rtems \
 			  $(srcdir)/Makefile.linux32 \
 			  $(srcdir)/Makefile.linux32-xenomai-native \

share/make/Makefile.common

@@ -223,6 +223,13 @@ $(BINARY): generate-asn1-deployment target-objects check-rtems compile-po-hi $(U
 	$(make-exe)
 endif
 
+ifeq ($(TARGET), leon3-xm3)
+OBJS = $(USER_OBJS) $(PO_HI_OBJS) $(GENERATED_OBJS) $(EXTERNAL_OBJECTS) 
+$(BINARY): generate-asn1-deployment target-objects check-rtems compile-po-hi $(USER_OBJS) $(GENERATED_OBJS)
+	$(make-exe)
+endif
+
+
 ifeq ($(TARGET), x86.rtems)
 OBJS = $(USER_OBJS) $(PO_HI_OBJS) $(GENERATED_OBJS) $(EXTERNAL_OBJECTS) 
 $(BINARY): generate-asn1-deployment target-objects check-rtems compile-po-hi $(USER_OBJS) $(GENERATED_OBJS)

share/make/Makefile.linux32-xenomai-native

-TARGET_CFLAGS   = `xeno-config --skin native --cflags` -DXENO_NATIVE -D_POSIX_SOURCE -D_GNU_SOURCE 
-TARGET_LDFLAGS  = `xeno-config --skin native --ldflags` 
+TARGET_CFLAGS   = `xeno-config --skin native --cflags` -DXENO_NATIVE -D_POSIX_SOURCE -D_GNU_SOURCE  -m32
+TARGET_LDFLAGS  = `xeno-config --skin native --ldflags`  -m32
 SIMULINK_LDFLAGS  = -lm
 CC              = gcc
 LD              = ld

share/make/Makefile.linux32-xenomai-posix

-TARGET_CFLAGS   = `xeno-config --skin posix --cflags` -DXENO_POSIX -D_POSIX_SOURCE -D_GNU_SOURCE 
-TARGET_LDFLAGS  = `xeno-config --skin posix --ldflags`  
+TARGET_CFLAGS   = `xeno-config --skin posix --cflags` -DXENO_POSIX -D_POSIX_SOURCE -D_GNU_SOURCE -m32
+TARGET_LDFLAGS  = `xeno-config --skin posix --ldflags` -m32 
 
 SIMULINK_LDFLAGS  = -lm
 CC              = gcc

share/utils/Makefile.am

-EXTRA_DIST=$(srcdir)/x86-rtems-boot.img
+EXTRA_DIST=$(srcdir)/x86-rtems-boot.img $(srcdir)/xpath
 
 CLEANFILES = *~
 

share/utils/xpath

+#!/bin/bash
+# usage: xpath:  [-c] [-f file] [-n nspace] xpath
+# xpath obtains the conf params from the xml files using a standarized notation.
+# xpath query, see: http://www.w3.org/TR/xpath
+
+prog=$(basename $0)
+nspaces=
+file=
+
+function warn() { echo $* 1>&2; }
+function usage() {
+	warn "usage: $prog: -f file [-c] [-n nspace] xpath"
+	exit 2
+}
+
+if ! which xmllint >/dev/null 2>&1; then
+	warn $(basename $0): xmllint not found
+	exit 1
+fi
+
+cflag=false
+while getopts 'cf:n:' c
+do
+	case $c in
+	c)	cflag=true;;
+	f)	file="$OPTARG";;
+	n)	nspaces="$nspaces $OPTARG";;
+	?)	usage;;
+	esac
+done
+shift $(($OPTIND - 1))
+
+if test -z "$file"; then
+	usage
+fi
+
+# detect xtratum namespace and set xm by default
+if grep -q 'xmlns="http://www.xtratum.org/.*"' $file; then
+       xm=`sed -n 's|.*xmlns="\(http://www.xtratum.org/xm-...\)".*|\1|p' $file`
+       nspaces="$nspaces xm=$xm"
+fi
+
+
+(
+	for ns in $nspaces; do
+		echo "setns $ns"
+	done
+	for xp in $*; do
+		echo "xpath $xp"
+	done
+) |
+	xmllint --noent --shell "$file" |
+	if $cflag; then
+		awk '/content/ { if (split($0, content, /=/) == 2) print content[2]; }'
+	else
+		cat
+	fi
+

src/po_hi_task.c

@@ -64,9 +64,18 @@ void __po_hi_wait_for_tasks ()
     {
       pthread_join( tasks[i].tid , NULL );
     }
-#endif
-#ifdef RTEMS_PURE
+#elif defined (RTEMS_PURE)
   rtems_task_suspend(RTEMS_SELF);
+#elif defined (XENO_NATIVE)
+  int ret;
+  while (1)
+  {
+  ret = rt_task_join (&(tasks[0].xeno_id));
+  if (ret != 0)
+  {
+      __DEBUGMSG ("Error while calling rt_task_suspend in __po_hi_wait_for_tasks (ret=%d)\n", ret);
+  }
+  }
 #endif
 }
 
@@ -94,14 +103,14 @@ int __po_hi_compute_next_period (__po_hi_task_id task)
 
    if (tasks[task].ratemon_period == RTEMS_INVALID_ID)
    {
-   name = rtems_build_name ('P', 'R', 'D' + (char)task, ' ');
+      name = rtems_build_name ('P', 'R', 'D' + (char)task, ' ');
 
-   __DEBUGMSG ("Create monotonic server for task %d\n", task);
-   ret = rtems_rate_monotonic_create (name, &(tasks[task].ratemon_period));
-   if (ret != RTEMS_SUCCESSFUL)
-   {
-      __DEBUGMSG ("Error while creating the monotonic server, task=%d, status=%d\n", task, ret);
-   }
+      __DEBUGMSG ("Create monotonic server for task %d\n", task);
+      ret = rtems_rate_monotonic_create (name, &(tasks[task].ratemon_period));
+      if (ret != RTEMS_SUCCESSFUL)
+      {
+         __DEBUGMSG ("Error while creating the monotonic server, task=%d, status=%d\n", task, ret);
+      }
    }
   return (__PO_HI_SUCCESS);
 #else
@@ -142,11 +151,20 @@ int __po_hi_wait_for_next_period (__po_hi_task_id task)
 
    return (__PO_HI_UNAVAILABLE);
 #elif defined (XENO_NATIVE)
-   if ( ! rt_task_wait_period (NULL))
+   unsigned long overrun;
+   int ret;
+   ret = rt_task_wait_period (&overrun);
+   if ( ret != 0)
    {
+         __DEBUGMSG ("Error in rt_task_period (task=%d;ret=%d)\n", task, ret);
          return (__PO_HI_ERROR_TASK_PERIOD);
    }
 
+   if (overrun != 0)
+   {
+      return (__PO_HI_ERROR_TASK_PERIOD);
+   }
+
    return (__PO_HI_SUCCESS);
 #else
   return (__PO_HI_UNAVAILABLE);
@@ -297,23 +315,20 @@ RT_TASK __po_hi_xenomai_create_thread (__po_hi_priority_t priority,
 {
    RT_TASK newtask;
 
-   if (! rt_task_create (&newtask, NULL, stack_size, priority, 0))
+   /*
+    * Uses T_JOINABLE at this time, should avoid that later and put 0 instead
+    * to be able to use kernel-based threads.
+    */
+
+   if (rt_task_create (&newtask, NULL, stack_size, priority, T_JOINABLE))
    {
       __DEBUGMSG ("ERROR when creating the task\n");
    }
-   if ( ! rt_task_start (&newtask, (void*)start_routine, NULL))
-   {
-      __DEBUGMSG ("ERROR when starting the task\n");
-   }
-
    return newtask;
 }
 #endif
 
 
-
-
-
 int __po_hi_create_generic_task (__po_hi_task_id    id, 
                                  __po_hi_time_t     period, 
                                  __po_hi_priority_t priority, 
@@ -364,10 +379,11 @@ int __po_hi_create_periodic_task (__po_hi_task_id    id,
 				  __po_hi_stack_t    stack_size,
 				  void*              (*start_routine)(void))
 {
-  if (__po_hi_create_generic_task( id, period , priority , stack_size, start_routine ) != 1)
-    {
+   if (__po_hi_create_generic_task( id, period , priority , stack_size, start_routine ) != 1)
+   {
+      __DEBUGMSG ("ERROR when creating generic task (task id=%d)\n", id);
       return (__PO_HI_ERROR_CREATE_TASK);
-    }
+   }
 
   /*
    * Compute the next period of the task, using the 
@@ -379,10 +395,20 @@ int __po_hi_create_periodic_task (__po_hi_task_id    id,
       return (__PO_HI_ERROR_CLOCK);
     }
 #elif defined (XENO_NATIVE)
-   if (! rt_task_set_periodic (&(tasks[id].xeno_id), TM_NOW, tasks[id].period * 1000000))
+
+   int ret;
+
+   ret = rt_task_set_periodic (&(tasks[id].xeno_id), TM_NOW,  tasks[id].period * 1000);
+   if (ret != 0)
    {
+      __DEBUGMSG ("ERROR when calling rt_task_set_periodic on task %d, ret=%d, period=%lu\n", id, ret, (unsigned long)tasks[id].period);
       return (__PO_HI_ERROR_CLOCK);
    }
+
+   if (rt_task_start (&(tasks[id].xeno_id), (void*)start_routine, NULL))
+   {
+      __DEBUGMSG ("ERROR when starting the task\n");
+   }
 #endif
     
   return (__PO_HI_SUCCESS);
@@ -404,6 +430,23 @@ int __po_hi_create_sporadic_task (__po_hi_task_id    id,
       return (__PO_HI_ERROR_CREATE_TASK);
     }
   
+#if defined (XENO_NATIVE)
+
+   int ret;
+
+   ret = rt_task_set_periodic (&(tasks[id].xeno_id), TM_NOW,  tasks[id].period * 1000);
+   if (ret != 0)
+   {
+      __DEBUGMSG ("ERROR when calling rt_task_set_periodic on task %d, ret=%d, period=%lu\n", id, ret, (unsigned long)tasks[id].period);
+      return (__PO_HI_ERROR_CLOCK);
+   }
+
+   if (rt_task_start (&(tasks[id].xeno_id), (void*)start_routine, NULL))
+   {
+      __DEBUGMSG ("ERROR when starting the task\n");
+   }
+#endif
+ 
   return (__PO_HI_SUCCESS);
 }