base/include/rtai_lxrt.h File Reference

Detailed Description

LXRT main header.

Author:: Paolo Mantegazza

Note:: Copyright © 1999-2003 Paolo Mantegazza <mantegazza@aero.polimi.it>

This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This library 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 Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.

ACKNOWLEDGMENTS: Pierre Cloutier (pcloutier@poseidoncontrols.com) has suggested the 6 characters names and fixed many inconsistencies within this file.

Definition in file rtai_lxrt.h.

Include dependency graph for rtai_lxrt.h:

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Data Structures

struct mode_regs

struct linux_syscalls_list

Defines

#define YIELD   0

#define SUSPEND   1

#define RESUME   2

#define MAKE_PERIODIC   3

#define WAIT_PERIOD   4

#define SLEEP   5

#define SLEEP_UNTIL   6

#define START_TIMER   7

#define STOP_TIMER   8

#define GET_TIME   9

#define COUNT2NANO   10

#define NANO2COUNT   11

#define BUSY_SLEEP   12

#define SET_PERIODIC_MODE   13

#define SET_ONESHOT_MODE   14

#define SIGNAL_HANDLER   15

#define TASK_USE_FPU   16

#define GET_TASK_INFO   17

#define HARD_TIMER_COUNT   18

#define GET_TIME_NS   19

#define GET_CPU_TIME_NS   20

#define SET_RUNNABLE_ON_CPUS   21

#define SET_RUNNABLE_ON_CPUID   22

#define GET_TIMER_CPU   23

#define START_RT_APIC_TIMERS   24

#define HARD_TIMER_COUNT_CPUID   25

#define COUNT2NANO_CPUID   26

#define NANO2COUNT_CPUID   27

#define GET_TIME_CPUID   28

#define GET_TIME_NS_CPUID   29

#define MAKE_PERIODIC_NS   30

#define SET_SCHED_POLICY   31

#define SET_RESUME_END   32

#define SPV_RMS   33

#define WAKEUP_SLEEPING   34

#define CHANGE_TASK_PRIO   35

#define SET_RESUME_TIME   36

#define SET_PERIOD   37

#define HARD_TIMER_RUNNING   38

#define TYPED_SEM_INIT   39

#define SEM_DELETE   40

#define NAMED_SEM_INIT   41

#define NAMED_SEM_DELETE   42

#define SEM_SIGNAL   43

#define SEM_WAIT   44

#define SEM_WAIT_IF   45

#define SEM_WAIT_UNTIL   46

#define SEM_WAIT_TIMED   47

#define SEM_BROADCAST   48

#define SEM_WAIT_BARRIER   49

#define SEM_COUNT   50

#define COND_WAIT   51

#define COND_WAIT_UNTIL   52

#define COND_WAIT_TIMED   53

#define RWL_INIT   54

#define RWL_DELETE   55

#define NAMED_RWL_INIT   56

#define NAMED_RWL_DELETE   57

#define RWL_RDLOCK   58

#define RWL_RDLOCK_IF   59

#define RWL_RDLOCK_UNTIL   60

#define RWL_RDLOCK_TIMED   61

#define RWL_WRLOCK   62

#define RWL_WRLOCK_IF   63

#define RWL_WRLOCK_UNTIL   64

#define RWL_WRLOCK_TIMED   65

#define RWL_UNLOCK   66

#define SPL_INIT   67

#define SPL_DELETE   68

#define NAMED_SPL_INIT   69

#define NAMED_SPL_DELETE   70

#define SPL_LOCK   71

#define SPL_LOCK_IF   72

#define SPL_LOCK_TIMED   73

#define SPL_UNLOCK   74

#define TYPED_MBX_INIT   75

#define MBX_DELETE   76

#define NAMED_MBX_INIT   77

#define NAMED_MBX_DELETE   78

#define MBX_SEND   79

#define MBX_SEND_WP   80

#define MBX_SEND_IF   81

#define MBX_SEND_UNTIL   82

#define MBX_SEND_TIMED   83

#define MBX_RECEIVE   84

#define MBX_RECEIVE_WP   85

#define MBX_RECEIVE_IF   86

#define MBX_RECEIVE_UNTIL   87

#define MBX_RECEIVE_TIMED   88

#define MBX_EVDRP   89

#define MBX_OVRWR_SEND   90

#define SENDMSG   91

#define SEND_IF   92

#define SEND_UNTIL   93

#define SEND_TIMED   94

#define RECEIVEMSG   95

#define RECEIVE_IF   96

#define RECEIVE_UNTIL   97

#define RECEIVE_TIMED   98

#define RPCMSG   99

#define RPC_IF   100

#define RPC_UNTIL   101

#define RPC_TIMED   102

#define EVDRP   103

#define ISRPC   104

#define RETURNMSG   105

#define RPCX   106

#define RPCX_IF   107

#define RPCX_UNTIL   108

#define RPCX_TIMED   109

#define SENDX   110

#define SENDX_IF   111

#define SENDX_UNTIL   112

#define SENDX_TIMED   113

#define RETURNX   114

#define RECEIVEX   115

#define RECEIVEX_IF   116

#define RECEIVEX_UNTIL   117

#define RECEIVEX_TIMED   118

#define EVDRPX   119

#define PROXY_ATTACH   120

#define PROXY_DETACH   121

#define PROXY_TRIGGER   122

#define RT_SEND   123

#define RT_RECEIVE   124

#define RT_CRECEIVE   125

#define RT_REPLY   126

#define RT_PROXY_ATTACH   127

#define RT_PROXY_DETACH   128

#define RT_TRIGGER   129

#define RT_NAME_ATTACH   130

#define RT_NAME_DETACH   131

#define RT_NAME_LOCATE   132

#define BITS_INIT   133

#define BITS_DELETE   134

#define NAMED_BITS_INIT   135

#define NAMED_BITS_DELETE   136

#define BITS_GET   137

#define BITS_RESET   138

#define BITS_SIGNAL   139

#define BITS_WAIT   140

#define BITS_WAIT_IF   141

#define BITS_WAIT_UNTIL   142

#define BITS_WAIT_TIMED   143

#define TBX_INIT   144

#define TBX_DELETE   145

#define NAMED_TBX_INIT   146

#define NAMED_TBX_DELETE   147

#define TBX_SEND   148

#define TBX_SEND_IF   149

#define TBX_SEND_UNTIL   150

#define TBX_SEND_TIMED   151

#define TBX_RECEIVE   152

#define TBX_RECEIVE_IF   153

#define TBX_RECEIVE_UNTIL   154

#define TBX_RECEIVE_TIMED   155

#define TBX_BROADCAST   156

#define TBX_BROADCAST_IF   157

#define TBX_BROADCAST_UNTIL   158

#define TBX_BROADCAST_TIMED   159

#define TBX_URGENT   160

#define TBX_URGENT_IF   161

#define TBX_URGENT_UNTIL   162

#define TBX_URGENT_TIMED   163

#define MQ_OPEN   164

#define MQ_RECEIVE   165

#define MQ_SEND   166

#define MQ_CLOSE   167

#define MQ_GETATTR   168

#define MQ_SETATTR   169

#define MQ_NOTIFY   170

#define MQ_UNLINK   171

#define MQ_TIMEDRECEIVE   172

#define MQ_TIMEDSEND   173

#define NAMED_TASK_INIT   174

#define NAMED_TASK_INIT_CPUID   175

#define NAMED_TASK_DELETE   176

#define GET_ADR   177

#define GET_NAME   178

#define NETRPC   179

#define SEND_REQ_REL_PORT   180

#define DDN2NL   181

#define SET_THIS_NODE   182

#define FIND_ASGN_STUB   183

#define REL_STUB   184

#define WAITING_RETURN   185

#define COND_SIGNAL   186

#define SHM_ALLOC   187

#define SHM_FREE   188

#define SHM_SIZE   189

#define HEAP_SET   190

#define HEAP_ALLOC   191

#define HEAP_FREE   192

#define HEAP_NAMED_ALLOC   193

#define HEAP_NAMED_FREE   194

#define MALLOC   195

#define FREE   196

#define NAMED_MALLOC   197

#define NAMED_FREE   198

#define SUSPEND_IF   199

#define SUSPEND_UNTIL   200

#define SUSPEND_TIMED   201

#define IRQ_WAIT   202

#define IRQ_WAIT_IF   203

#define IRQ_WAIT_UNTIL   204

#define IRQ_WAIT_TIMED   205

#define IRQ_SIGNAL   206

#define REQUEST_IRQ_TASK   207

#define RELEASE_IRQ_TASK   208

#define SCHED_LOCK   209

#define SCHED_UNLOCK   210

#define PEND_LINUX_IRQ   211

#define SET_LINUX_SYSCALL_MODE   212

#define REQUEST_RTC   214

#define RELEASE_RTC   215

#define RT_GETTID   216

#define SET_NETRPC_TIMEOUT   217

#define GET_REAL_TIME   218

#define GET_REAL_TIME_NS   219

#define MQ_REG_USP_NOTIFIER   220

#define RT_SIGNAL_HELPER   221

#define RT_SIGNAL_WAITSIG   222

#define RT_SIGNAL_REQUEST   223

#define RT_SIGNAL_RELEASE   224

#define RT_SIGNAL_ENABLE   225

#define RT_SIGNAL_DISABLE   226

#define RT_SIGNAL_TRIGGER   227

#define SEM_RT_POLL   228

#define RT_POLL_NETRPC   229

#define MAX_LXRT_FUN   230

#define RT_INITTICKQUEUE   69

#define RT_RELEASETICKQUEUE   70

#define RT_QDYNALLOC   71

#define RT_QDYNFREE   72

#define RT_QDYNINIT   73

#define RT_QBLKWAIT   74

#define RT_QBLKREPEAT   75

#define RT_QBLKSOON   76

#define RT_QBLKDEQUEUE   77

#define RT_QBLKCANCEL   78

#define RT_QSYNC   79

#define RT_QRECEIVE   80

#define RT_QLOOP   81

#define RT_QSTEP   82

#define RT_QBLKBEFORE   83

#define RT_QBLKAFTER   84

#define RT_QBLKUNHOOK   85

#define RT_QBLKRELEASE   86

#define RT_QBLKCOMPLETE   87

#define RT_QHOOKFLUSH   88

#define RT_QBLKATHEAD   89

#define RT_QBLKATTAIL   90

#define RT_QHOOKINIT   91

#define RT_QHOOKRELEASE   92

#define RT_QBLKSCHEDULE   93

#define RT_GETTICKQUEUEHOOK   94

#define RT_BOOM   95

#define RTAI_MALLOC   96

#define RT_FREE   97

#define RT_MMGR_STATS   98

#define RT_STOMP   99

#define RT_VC_ATTACH   100

#define RT_VC_RELEASE   101

#define RT_VC_RESERVE   102

#define RT_GET_LINUX_SIGNAL   103

#define RT_GET_ERRNO   104

#define RT_SET_LINUX_SIGNAL_HANDLER   105

#define LXRT_GET_ADR   1000

#define LXRT_GET_NAME   1001

#define LXRT_TASK_INIT   1002

#define LXRT_TASK_DELETE   1003

#define LXRT_SEM_INIT   1004

#define LXRT_SEM_DELETE   1005

#define LXRT_MBX_INIT   1006

#define LXRT_MBX_DELETE   1007

#define MAKE_SOFT_RT   1008

#define MAKE_HARD_RT   1009

#define PRINT_TO_SCREEN   1010

#define NONROOT_HRT   1011

#define RT_BUDDY   1012

#define HRT_USE_FPU   1013

#define USP_SIGHDL   1014

#define GET_USP_FLAGS   1015

#define SET_USP_FLAGS   1016

#define GET_USP_FLG_MSK   1017

#define SET_USP_FLG_MSK   1018

#define IS_HARD   1019

#define LINUX_SERVER_INIT   1020

#define ALLOC_REGISTER   1021

#define DELETE_DEREGISTER   1022

#define FORCE_TASK_SOFT   1023

#define PRINTK   1024

#define GET_EXECTIME   1025

#define GET_TIMEORIG   1026

#define LXRT_RWL_INIT   1027

#define LXRT_RWL_DELETE   1028

#define LXRT_SPL_INIT   1029

#define LXRT_SPL_DELETE   1030

#define FORCE_SOFT   0x80000000

#define GT_NR_SYSCALLS   (1 << 11)

#define ENCODE_LXRT_REQ(dynx, srq, lsize)   (((dynx) << 24) | ((srq) << 12) | GT_NR_SYSCALLS | (lsize))

#define SRQ(x)   (((x) >> 12) & 0xFFF)

#define NARG(x)   ((x) & (GT_NR_SYSCALLS - 1))

#define INDX(x)   (((x) >> 24) & 0xF)

#define SYNC_LINUX_SYSCALL   1

#define ASYNC_LINUX_SYSCALL   0

#define SRV_NSYSCALL_REGS   7

#define PAC_NSYSCALL_ARGS   6

#define rt_grow_and_lock_stack(incr)   do { } while (0)

#define BIDX   0

#define SIZARG   sizeof(arg)

#define RT_THREAD_STACK_MIN   64*1024

#define rt_sync_async_linux_syscall_server_create(task, mode, cbfun, nr_calls)   rt_create_linux_syscall_server(task, mode, cbfun, nr_calls)

#define rt_linux_syscall_server_create(task)   rt_sync_async_linux_syscall_server_create(task, SYNC_LINUX_SYSCALL, NULL, 1);

#define rt_task_delete(task)   rt_thread_delete(task)

#define rt_named_task_init(task_name, thread, data, stack_size, prio, uses_fpu, signal)   rt_task_init(nam2num(task_name), thread, data, stack_size, prio, uses_fpu, signal)

#define rt_named_task_init_cpuid(task_name, thread, data, stack_size, prio, uses_fpu, signal, run_on_cpu)   rt_task_init_cpuid(nam2num(task_name), thread, data, stack_size, prio, uses_fpu, signal, run_on_cpu)

#define VSNPRINTF_BUF_SIZE   256

#define rt_buddy()   rt_agent()

#define rt_is_soft_real_time(rt_task)   (!rt_is_hard_real_time((rt_task)))

#define rt_task_wakeup_sleeping(task)   rt_task_masked_unblock(task, RT_SCHED_DELAYED)

Functions

static void * rt_get_adr (unsigned long name)

Get an object address by its name.

static unsigned long rt_get_name (void *adr)

Get an object name by its address.

static RT_TASK * rt_task_init_schmod (unsigned long name, int priority, int stack_size, int max_msg_size, int policy, int cpus_allowed)

static int rt_clone (void *fun, void *args, long stack_size, unsigned long flags)

static long rt_thread_create (void *fun, void *args, int stack_size)

static int rt_thread_join (long thread)

static int rt_thread_delete (RT_TASK *task)

static void linux_syscall_server_fun (struct linux_syscalls_list *list)

static void rt_set_linux_syscall_mode (int mode, void(*callback_fun)(long, long))

static int rt_create_linux_syscall_server (RT_TASK *task, int mode, void(*callback_fun)(long, long), int nr_bufd_async_calls)

static RT_TASK * rt_thread_init (unsigned long name, int priority, int max_msg_size, int policy, int cpus_allowed)

static RT_TASK * rt_task_init (unsigned long name, int priority, int stack_size, int max_msg_size)

Create an RTAI task extension for a Linux process/task in user space.

static void rt_set_sched_policy (RT_TASK *task, int policy, int rr_quantum_ns)

static int rt_change_prio (RT_TASK *task, int priority)

static void rt_make_soft_real_time (void)

Return a hard real time Linux process, or pthread to the standard Linux behavior.

static int rt_task_yield (void)

static int rt_task_suspend (RT_TASK *task)

static int rt_task_suspend_if (RT_TASK *task)

static int rt_task_suspend_until (RT_TASK *task, RTIME time)

static int rt_task_suspend_timed (RT_TASK *task, RTIME delay)

static int rt_task_resume (RT_TASK *task)

static void rt_sched_lock (void)

static void rt_sched_unlock (void)

static void rt_pend_linux_irq (unsigned irq)

static int rt_irq_wait (unsigned irq)

static int rt_irq_wait_if (unsigned irq)

static int rt_irq_wait_until (unsigned irq, RTIME time)

static int rt_irq_wait_timed (unsigned irq, RTIME delay)

static int rt_irq_signal (unsigned irq)

static int rt_request_irq_task (unsigned irq, void *handler, int type, int affine2task)

static int rt_release_irq_task (unsigned irq)

static int rt_task_make_periodic (RT_TASK *task, RTIME start_time, RTIME period)

static int rt_task_make_periodic_relative_ns (RT_TASK *task, RTIME start_delay, RTIME period)

static int rt_task_wait_period (void)

static int rt_sleep (RTIME delay)

static int rt_sleep_until (RTIME time)

static int rt_is_hard_timer_running (void)

static RTIME start_rt_timer (int period)

static void stop_rt_timer (void)

static void rt_request_rtc (int rtc_freq, void *handler)

static void rt_release_rtc (void)

static RTIME rt_get_time (void)

static RTIME rt_get_real_time (void)

static RTIME rt_get_real_time_ns (void)

static RTIME count2nano (RTIME count)

static RTIME nano2count (RTIME nanos)

static void rt_busy_sleep (int ns)

static void rt_set_periodic_mode (void)

static void rt_set_oneshot_mode (void)

static int rt_task_signal_handler (RT_TASK *task, void(*handler)(void))

static int rt_task_use_fpu (RT_TASK *task, int use_fpu_flag)

static int rt_buddy_task_use_fpu (RT_TASK *task, int use_fpu_flag)

static int rt_task_get_info (RT_TASK *task, RT_TASK_INFO *task_info)

static int rt_get_priorities (RT_TASK *task, int *priority, int *base_priority)

static int rt_hard_timer_tick (void)

static RTIME rt_get_time_ns (void)

static RTIME rt_get_cpu_time_ns (void)

static void rt_set_runnable_on_cpus (RT_TASK *task, unsigned long cpu_mask)

static void rt_set_runnable_on_cpuid (RT_TASK *task, unsigned int cpuid)

static int rt_get_timer_cpu (void)

static void start_rt_apic_timers (struct apic_timer_setup_data *setup_mode, unsigned int rcvr_jiffies_cpuid)

static int rt_hard_timer_tick_cpuid (int cpuid)

static RTIME count2nano_cpuid (RTIME count, unsigned int cpuid)

static RTIME nano2count_cpuid (RTIME nanos, unsigned int cpuid)

static RTIME rt_get_time_cpuid (unsigned int cpuid)

static RTIME rt_get_time_ns_cpuid (unsigned int cpuid)

static void rt_boom (void)

static void rt_mmgr_stats (void)

static void rt_stomp (void)

static int rt_get_linux_signal (RT_TASK *task)

static int rt_get_errno (RT_TASK *task)

static int rt_set_linux_signal_handler (RT_TASK *task, void(*handler)(int sig))

static int rtai_print_to_screen (const char *format,...)

static int rt_printk (const char *format,...)

static int rt_usp_signal_handler (void(*handler)(void))

static unsigned long rt_get_usp_flags (RT_TASK *rt_task)

static unsigned long rt_get_usp_flags_mask (RT_TASK *rt_task)

static void rt_set_usp_flags (RT_TASK *rt_task, unsigned long flags)

static void rt_set_usp_flags_mask (unsigned long flags_mask)

static RT_TASK * rt_force_task_soft (int pid)

static RT_TASK * rt_agent (void)

static int rt_gettid (void)

static void rt_make_hard_real_time (void)

Give a Linux process, or pthread, hard real time execution capabilities allowing full kernel preemption.

static void rt_allow_nonroot_hrt (void)

Allows a non root user to use the Linux POSIX soft real time process management and memory lock functions, and allows it to do any input-output operation from user space.

static int rt_is_hard_real_time (RT_TASK *rt_task)

static void rt_task_set_resume_end_times (RTIME resume, RTIME end)

static int rt_set_resume_time (RT_TASK *rt_task, RTIME new_resume_time)

static int rt_set_period (RT_TASK *rt_task, RTIME new_period)

static void rt_spv_RMS (int cpuid)

static int rt_task_masked_unblock (RT_TASK *task, unsigned long mask)

static void rt_get_exectime (RT_TASK *task, RTIME *exectime)

static void rt_gettimeorig (RTIME time_orig[])

static RT_TASK * ftask_init (unsigned long name, int priority)

static RTIME start_ftimer (long period, long ftick_freq)

static RTIME stop_ftimer (void)

Generated on Tue Feb 2 17:46:44 2010 for RTAI API by

1.4.7


Data Structures
struct	mode_regs
struct	linux_syscalls_list
Defines
#define	YIELD 0
#define	SUSPEND 1
#define	RESUME 2
#define	MAKE_PERIODIC 3
#define	WAIT_PERIOD 4
#define	SLEEP 5
#define	SLEEP_UNTIL 6
#define	START_TIMER 7
#define	STOP_TIMER 8
#define	GET_TIME 9
#define	COUNT2NANO 10
#define	NANO2COUNT 11
#define	BUSY_SLEEP 12
#define	SET_PERIODIC_MODE 13
#define	SET_ONESHOT_MODE 14
#define	SIGNAL_HANDLER 15
#define	TASK_USE_FPU 16
#define	GET_TASK_INFO 17
#define	HARD_TIMER_COUNT 18
#define	GET_TIME_NS 19
#define	GET_CPU_TIME_NS 20
#define	SET_RUNNABLE_ON_CPUS 21
#define	SET_RUNNABLE_ON_CPUID 22
#define	GET_TIMER_CPU 23
#define	START_RT_APIC_TIMERS 24
#define	HARD_TIMER_COUNT_CPUID 25
#define	COUNT2NANO_CPUID 26
#define	NANO2COUNT_CPUID 27
#define	GET_TIME_CPUID 28
#define	GET_TIME_NS_CPUID 29
#define	MAKE_PERIODIC_NS 30
#define	SET_SCHED_POLICY 31
#define	SET_RESUME_END 32
#define	SPV_RMS 33
#define	WAKEUP_SLEEPING 34
#define	CHANGE_TASK_PRIO 35
#define	SET_RESUME_TIME 36
#define	SET_PERIOD 37
#define	HARD_TIMER_RUNNING 38
#define	TYPED_SEM_INIT 39
#define	SEM_DELETE 40
#define	NAMED_SEM_INIT 41
#define	NAMED_SEM_DELETE 42
#define	SEM_SIGNAL 43
#define	SEM_WAIT 44
#define	SEM_WAIT_IF 45
#define	SEM_WAIT_UNTIL 46
#define	SEM_WAIT_TIMED 47
#define	SEM_BROADCAST 48
#define	SEM_WAIT_BARRIER 49
#define	SEM_COUNT 50
#define	COND_WAIT 51
#define	COND_WAIT_UNTIL 52
#define	COND_WAIT_TIMED 53
#define	RWL_INIT 54
#define	RWL_DELETE 55
#define	NAMED_RWL_INIT 56
#define	NAMED_RWL_DELETE 57
#define	RWL_RDLOCK 58
#define	RWL_RDLOCK_IF 59
#define	RWL_RDLOCK_UNTIL 60
#define	RWL_RDLOCK_TIMED 61
#define	RWL_WRLOCK 62
#define	RWL_WRLOCK_IF 63
#define	RWL_WRLOCK_UNTIL 64
#define	RWL_WRLOCK_TIMED 65
#define	RWL_UNLOCK 66
#define	SPL_INIT 67
#define	SPL_DELETE 68
#define	NAMED_SPL_INIT 69
#define	NAMED_SPL_DELETE 70
#define	SPL_LOCK 71
#define	SPL_LOCK_IF 72
#define	SPL_LOCK_TIMED 73
#define	SPL_UNLOCK 74
#define	TYPED_MBX_INIT 75
#define	MBX_DELETE 76
#define	NAMED_MBX_INIT 77
#define	NAMED_MBX_DELETE 78
#define	MBX_SEND 79
#define	MBX_SEND_WP 80
#define	MBX_SEND_IF 81
#define	MBX_SEND_UNTIL 82
#define	MBX_SEND_TIMED 83
#define	MBX_RECEIVE 84
#define	MBX_RECEIVE_WP 85
#define	MBX_RECEIVE_IF 86
#define	MBX_RECEIVE_UNTIL 87
#define	MBX_RECEIVE_TIMED 88
#define	MBX_EVDRP 89
#define	MBX_OVRWR_SEND 90
#define	SENDMSG 91
#define	SEND_IF 92
#define	SEND_UNTIL 93
#define	SEND_TIMED 94
#define	RECEIVEMSG 95
#define	RECEIVE_IF 96
#define	RECEIVE_UNTIL 97
#define	RECEIVE_TIMED 98
#define	RPCMSG 99
#define	RPC_IF 100
#define	RPC_UNTIL 101
#define	RPC_TIMED 102
#define	EVDRP 103
#define	ISRPC 104
#define	RETURNMSG 105
#define	RPCX 106
#define	RPCX_IF 107
#define	RPCX_UNTIL 108
#define	RPCX_TIMED 109
#define	SENDX 110
#define	SENDX_IF 111
#define	SENDX_UNTIL 112
#define	SENDX_TIMED 113
#define	RETURNX 114
#define	RECEIVEX 115
#define	RECEIVEX_IF 116
#define	RECEIVEX_UNTIL 117
#define	RECEIVEX_TIMED 118
#define	EVDRPX 119
#define	PROXY_ATTACH 120
#define	PROXY_DETACH 121
#define	PROXY_TRIGGER 122
#define	RT_SEND 123
#define	RT_RECEIVE 124
#define	RT_CRECEIVE 125
#define	RT_REPLY 126
#define	RT_PROXY_ATTACH 127
#define	RT_PROXY_DETACH 128
#define	RT_TRIGGER 129
#define	RT_NAME_ATTACH 130
#define	RT_NAME_DETACH 131
#define	RT_NAME_LOCATE 132
#define	BITS_INIT 133
#define	BITS_DELETE 134
#define	NAMED_BITS_INIT 135
#define	NAMED_BITS_DELETE 136
#define	BITS_GET 137
#define	BITS_RESET 138
#define	BITS_SIGNAL 139
#define	BITS_WAIT 140
#define	BITS_WAIT_IF 141
#define	BITS_WAIT_UNTIL 142
#define	BITS_WAIT_TIMED 143
#define	TBX_INIT 144
#define	TBX_DELETE 145
#define	NAMED_TBX_INIT 146
#define	NAMED_TBX_DELETE 147
#define	TBX_SEND 148
#define	TBX_SEND_IF 149
#define	TBX_SEND_UNTIL 150
#define	TBX_SEND_TIMED 151
#define	TBX_RECEIVE 152
#define	TBX_RECEIVE_IF 153
#define	TBX_RECEIVE_UNTIL 154
#define	TBX_RECEIVE_TIMED 155
#define	TBX_BROADCAST 156
#define	TBX_BROADCAST_IF 157
#define	TBX_BROADCAST_UNTIL 158
#define	TBX_BROADCAST_TIMED 159
#define	TBX_URGENT 160
#define	TBX_URGENT_IF 161
#define	TBX_URGENT_UNTIL 162
#define	TBX_URGENT_TIMED 163
#define	MQ_OPEN 164
#define	MQ_RECEIVE 165
#define	MQ_SEND 166
#define	MQ_CLOSE 167
#define	MQ_GETATTR 168
#define	MQ_SETATTR 169
#define	MQ_NOTIFY 170
#define	MQ_UNLINK 171
#define	MQ_TIMEDRECEIVE 172
#define	MQ_TIMEDSEND 173
#define	NAMED_TASK_INIT 174
#define	NAMED_TASK_INIT_CPUID 175
#define	NAMED_TASK_DELETE 176
#define	GET_ADR 177
#define	GET_NAME 178
#define	NETRPC 179
#define	SEND_REQ_REL_PORT 180
#define	DDN2NL 181
#define	SET_THIS_NODE 182
#define	FIND_ASGN_STUB 183
#define	REL_STUB 184
#define	WAITING_RETURN 185
#define	COND_SIGNAL 186
#define	SHM_ALLOC 187
#define	SHM_FREE 188
#define	SHM_SIZE 189
#define	HEAP_SET 190
#define	HEAP_ALLOC 191
#define	HEAP_FREE 192
#define	HEAP_NAMED_ALLOC 193
#define	HEAP_NAMED_FREE 194
#define	MALLOC 195
#define	FREE 196
#define	NAMED_MALLOC 197
#define	NAMED_FREE 198
#define	SUSPEND_IF 199
#define	SUSPEND_UNTIL 200
#define	SUSPEND_TIMED 201
#define	IRQ_WAIT 202
#define	IRQ_WAIT_IF 203
#define	IRQ_WAIT_UNTIL 204
#define	IRQ_WAIT_TIMED 205
#define	IRQ_SIGNAL 206
#define	REQUEST_IRQ_TASK 207
#define	RELEASE_IRQ_TASK 208
#define	SCHED_LOCK 209
#define	SCHED_UNLOCK 210
#define	PEND_LINUX_IRQ 211
#define	SET_LINUX_SYSCALL_MODE 212
#define	REQUEST_RTC 214
#define	RELEASE_RTC 215
#define	RT_GETTID 216
#define	SET_NETRPC_TIMEOUT 217
#define	GET_REAL_TIME 218
#define	GET_REAL_TIME_NS 219
#define	MQ_REG_USP_NOTIFIER 220
#define	RT_SIGNAL_HELPER 221
#define	RT_SIGNAL_WAITSIG 222
#define	RT_SIGNAL_REQUEST 223
#define	RT_SIGNAL_RELEASE 224
#define	RT_SIGNAL_ENABLE 225
#define	RT_SIGNAL_DISABLE 226
#define	RT_SIGNAL_TRIGGER 227
#define	SEM_RT_POLL 228
#define	RT_POLL_NETRPC 229
#define	MAX_LXRT_FUN 230
#define	RT_INITTICKQUEUE 69
#define	RT_RELEASETICKQUEUE 70
#define	RT_QDYNALLOC 71
#define	RT_QDYNFREE 72
#define	RT_QDYNINIT 73
#define	RT_QBLKWAIT 74
#define	RT_QBLKREPEAT 75
#define	RT_QBLKSOON 76
#define	RT_QBLKDEQUEUE 77
#define	RT_QBLKCANCEL 78
#define	RT_QSYNC 79
#define	RT_QRECEIVE 80
#define	RT_QLOOP 81
#define	RT_QSTEP 82
#define	RT_QBLKBEFORE 83
#define	RT_QBLKAFTER 84
#define	RT_QBLKUNHOOK 85
#define	RT_QBLKRELEASE 86
#define	RT_QBLKCOMPLETE 87
#define	RT_QHOOKFLUSH 88
#define	RT_QBLKATHEAD 89
#define	RT_QBLKATTAIL 90
#define	RT_QHOOKINIT 91
#define	RT_QHOOKRELEASE 92
#define	RT_QBLKSCHEDULE 93
#define	RT_GETTICKQUEUEHOOK 94
#define	RT_BOOM 95
#define	RTAI_MALLOC 96
#define	RT_FREE 97
#define	RT_MMGR_STATS 98
#define	RT_STOMP 99
#define	RT_VC_ATTACH 100
#define	RT_VC_RELEASE 101
#define	RT_VC_RESERVE 102
#define	RT_GET_LINUX_SIGNAL 103
#define	RT_GET_ERRNO 104
#define	RT_SET_LINUX_SIGNAL_HANDLER 105
#define	LXRT_GET_ADR 1000
#define	LXRT_GET_NAME 1001
#define	LXRT_TASK_INIT 1002
#define	LXRT_TASK_DELETE 1003
#define	LXRT_SEM_INIT 1004
#define	LXRT_SEM_DELETE 1005
#define	LXRT_MBX_INIT 1006
#define	LXRT_MBX_DELETE 1007
#define	MAKE_SOFT_RT 1008
#define	MAKE_HARD_RT 1009
#define	PRINT_TO_SCREEN 1010
#define	NONROOT_HRT 1011
#define	RT_BUDDY 1012
#define	HRT_USE_FPU 1013
#define	USP_SIGHDL 1014
#define	GET_USP_FLAGS 1015
#define	SET_USP_FLAGS 1016
#define	GET_USP_FLG_MSK 1017
#define	SET_USP_FLG_MSK 1018
#define	IS_HARD 1019
#define	LINUX_SERVER_INIT 1020
#define	ALLOC_REGISTER 1021
#define	DELETE_DEREGISTER 1022
#define	FORCE_TASK_SOFT 1023
#define	PRINTK 1024
#define	GET_EXECTIME 1025
#define	GET_TIMEORIG 1026
#define	LXRT_RWL_INIT 1027
#define	LXRT_RWL_DELETE 1028
#define	LXRT_SPL_INIT 1029
#define	LXRT_SPL_DELETE 1030
#define	FORCE_SOFT 0x80000000
#define	GT_NR_SYSCALLS (1 << 11)
#define	ENCODE_LXRT_REQ(dynx, srq, lsize) (((dynx) << 24) \| ((srq) << 12) \| GT_NR_SYSCALLS \| (lsize))
#define	SRQ(x) (((x) >> 12) & 0xFFF)
#define	NARG(x) ((x) & (GT_NR_SYSCALLS - 1))
#define	INDX(x) (((x) >> 24) & 0xF)
#define	SYNC_LINUX_SYSCALL 1
#define	ASYNC_LINUX_SYSCALL 0
#define	SRV_NSYSCALL_REGS 7
#define	PAC_NSYSCALL_ARGS 6
#define	rt_grow_and_lock_stack(incr) do { } while (0)
#define	BIDX 0
#define	SIZARG sizeof(arg)
#define	RT_THREAD_STACK_MIN 64*1024
#define	rt_sync_async_linux_syscall_server_create(task, mode, cbfun, nr_calls) rt_create_linux_syscall_server(task, mode, cbfun, nr_calls)
#define	rt_linux_syscall_server_create(task) rt_sync_async_linux_syscall_server_create(task, SYNC_LINUX_SYSCALL, NULL, 1);
#define	rt_task_delete(task) rt_thread_delete(task)
#define	rt_named_task_init(task_name, thread, data, stack_size, prio, uses_fpu, signal) rt_task_init(nam2num(task_name), thread, data, stack_size, prio, uses_fpu, signal)
#define	rt_named_task_init_cpuid(task_name, thread, data, stack_size, prio, uses_fpu, signal, run_on_cpu) rt_task_init_cpuid(nam2num(task_name), thread, data, stack_size, prio, uses_fpu, signal, run_on_cpu)
#define	VSNPRINTF_BUF_SIZE 256
#define	rt_buddy() rt_agent()
#define	rt_is_soft_real_time(rt_task) (!rt_is_hard_real_time((rt_task)))
#define	rt_task_wakeup_sleeping(task) rt_task_masked_unblock(task, RT_SCHED_DELAYED)
Functions
static void *	rt_get_adr (unsigned long name)
	Get an object address by its name.
static unsigned long	rt_get_name (void *adr)
	Get an object name by its address.
static RT_TASK *	rt_task_init_schmod (unsigned long name, int priority, int stack_size, int max_msg_size, int policy, int cpus_allowed)
static int	rt_clone (void fun, void args, long stack_size, unsigned long flags)
static long	rt_thread_create (void fun, void args, int stack_size)
static int	rt_thread_join (long thread)
static int	rt_thread_delete (RT_TASK *task)
static void	linux_syscall_server_fun (struct linux_syscalls_list *list)
static void	rt_set_linux_syscall_mode (int mode, void(*callback_fun)(long, long))
static int	rt_create_linux_syscall_server (RT_TASK task, int mode, void(callback_fun)(long, long), int nr_bufd_async_calls)
static RT_TASK *	rt_thread_init (unsigned long name, int priority, int max_msg_size, int policy, int cpus_allowed)
static RT_TASK *	rt_task_init (unsigned long name, int priority, int stack_size, int max_msg_size)
	Create an RTAI task extension for a Linux process/task in user space.
static void	rt_set_sched_policy (RT_TASK *task, int policy, int rr_quantum_ns)
static int	rt_change_prio (RT_TASK *task, int priority)
static void	rt_make_soft_real_time (void)
	Return a hard real time Linux process, or pthread to the standard Linux behavior.
static int	rt_task_yield (void)
static int	rt_task_suspend (RT_TASK *task)
static int	rt_task_suspend_if (RT_TASK *task)
static int	rt_task_suspend_until (RT_TASK *task, RTIME time)
static int	rt_task_suspend_timed (RT_TASK *task, RTIME delay)
static int	rt_task_resume (RT_TASK *task)
static void	rt_sched_lock (void)
static void	rt_sched_unlock (void)
static void	rt_pend_linux_irq (unsigned irq)
static int	rt_irq_wait (unsigned irq)
static int	rt_irq_wait_if (unsigned irq)
static int	rt_irq_wait_until (unsigned irq, RTIME time)
static int	rt_irq_wait_timed (unsigned irq, RTIME delay)
static int	rt_irq_signal (unsigned irq)
static int	rt_request_irq_task (unsigned irq, void *handler, int type, int affine2task)
static int	rt_release_irq_task (unsigned irq)
static int	rt_task_make_periodic (RT_TASK *task, RTIME start_time, RTIME period)
static int	rt_task_make_periodic_relative_ns (RT_TASK *task, RTIME start_delay, RTIME period)
static int	rt_task_wait_period (void)
static int	rt_sleep (RTIME delay)
static int	rt_sleep_until (RTIME time)
static int	rt_is_hard_timer_running (void)
static RTIME	start_rt_timer (int period)
static void	stop_rt_timer (void)
static void	rt_request_rtc (int rtc_freq, void *handler)
static void	rt_release_rtc (void)
static RTIME	rt_get_time (void)
static RTIME	rt_get_real_time (void)
static RTIME	rt_get_real_time_ns (void)
static RTIME	count2nano (RTIME count)
static RTIME	nano2count (RTIME nanos)
static void	rt_busy_sleep (int ns)
static void	rt_set_periodic_mode (void)
static void	rt_set_oneshot_mode (void)
static int	rt_task_signal_handler (RT_TASK task, void(handler)(void))
static int	rt_task_use_fpu (RT_TASK *task, int use_fpu_flag)
static int	rt_buddy_task_use_fpu (RT_TASK *task, int use_fpu_flag)
static int	rt_task_get_info (RT_TASK task, RT_TASK_INFO task_info)
static int	rt_get_priorities (RT_TASK task, int priority, int *base_priority)
static int	rt_hard_timer_tick (void)
static RTIME	rt_get_time_ns (void)
static RTIME	rt_get_cpu_time_ns (void)
static void	rt_set_runnable_on_cpus (RT_TASK *task, unsigned long cpu_mask)
static void	rt_set_runnable_on_cpuid (RT_TASK *task, unsigned int cpuid)
static int	rt_get_timer_cpu (void)
static void	start_rt_apic_timers (struct apic_timer_setup_data *setup_mode, unsigned int rcvr_jiffies_cpuid)
static int	rt_hard_timer_tick_cpuid (int cpuid)
static RTIME	count2nano_cpuid (RTIME count, unsigned int cpuid)
static RTIME	nano2count_cpuid (RTIME nanos, unsigned int cpuid)
static RTIME	rt_get_time_cpuid (unsigned int cpuid)
static RTIME	rt_get_time_ns_cpuid (unsigned int cpuid)
static void	rt_boom (void)
static void	rt_mmgr_stats (void)
static void	rt_stomp (void)
static int	rt_get_linux_signal (RT_TASK *task)
static int	rt_get_errno (RT_TASK *task)
static int	rt_set_linux_signal_handler (RT_TASK task, void(handler)(int sig))
static int	rtai_print_to_screen (const char *format,...)
static int	rt_printk (const char *format,...)
static int	rt_usp_signal_handler (void(*handler)(void))
static unsigned long	rt_get_usp_flags (RT_TASK *rt_task)
static unsigned long	rt_get_usp_flags_mask (RT_TASK *rt_task)
static void	rt_set_usp_flags (RT_TASK *rt_task, unsigned long flags)
static void	rt_set_usp_flags_mask (unsigned long flags_mask)
static RT_TASK *	rt_force_task_soft (int pid)
static RT_TASK *	rt_agent (void)
static int	rt_gettid (void)
static void	rt_make_hard_real_time (void)
	Give a Linux process, or pthread, hard real time execution capabilities allowing full kernel preemption.
static void	rt_allow_nonroot_hrt (void)
	Allows a non root user to use the Linux POSIX soft real time process management and memory lock functions, and allows it to do any input-output operation from user space.
static int	rt_is_hard_real_time (RT_TASK *rt_task)
static void	rt_task_set_resume_end_times (RTIME resume, RTIME end)
static int	rt_set_resume_time (RT_TASK *rt_task, RTIME new_resume_time)
static int	rt_set_period (RT_TASK *rt_task, RTIME new_period)
static void	rt_spv_RMS (int cpuid)
static int	rt_task_masked_unblock (RT_TASK *task, unsigned long mask)
static void	rt_get_exectime (RT_TASK task, RTIME exectime)
static void	rt_gettimeorig (RTIME time_orig[])
static RT_TASK *	ftask_init (unsigned long name, int priority)
static RTIME	start_ftimer (long period, long ftick_freq)
static RTIME	stop_ftimer (void)