hm2_eth: Create support library's / Xenomai3 support / Xenomai4 OOB improvements

docs/src/man/man9/hm2_eth.9.adoc

@@ -156,16 +156,6 @@ hm2___<BoardType>__.__<BoardNum>__.packet-read-timeout (s32, rw)::
 Setting this value too low can cause spurious read errors.
 Setting it too high can cause realtime delay errors.
 
-== FUNCTIONS
-
-hm2_eth.realtime-init::
-  Realtime initialization function. This function initializes the realtime
-  ethernet for *evl*. With *posix*, this function is not needed.
-  It needs to be called once at startup using:
-....
-initf hm2_eth.realtime-init servo-thread
-....
-
 == NOTES
 
 hm2_eth installs firewall rules to control the network interface while

rtnet_down.sh

@@ -0,0 +1,6 @@
+#! /bin/sh
+rtifconfig rteth0 down
+
+rmmod rt_igb
+modprobe igb
+ifup enp2s0f0

rtnet_up.sh

@@ -0,0 +1,15 @@
+#! /bin/sh
+ifdown enp2s0f0
+
+modprobe rt_loopback
+modprobe rtudp
+modprobe rtipv4
+rmmod igb
+rmmod rt_igb
+modprobe rt_igb
+rtifconfig rteth0 up 192.168.1.120 netmask 255.255.255.254
+sleep 1
+rtroute solicit 192.168.1.121 dev rteth0
+sleep 1
+rtping 192.168.1.121
+

src/Makefile

@@ -1080,11 +1080,8 @@ hm2_pci-objs  :=			  \
     $(MATHSTUB)
 hm2_eth-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_eth.o   \
-    hal/drivers/mesa-hostmot2/hm2_eth_net_posix.o
-ifeq ($(CONFIG_USPACE_XENOMAI_EVL),y)
-hm2_eth-objs  += hal/drivers/mesa-hostmot2/hm2_eth_net_evl.o
-endif
-hm2_eth-objs  += $(MATHSTUB)
+    hal/drivers/mesa-hostmot2/hm2_eth_net_posix.o \
+    $(MATHSTUB)
 hm2_spi-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_spi.o   \
     hal/drivers/mesa-hostmot2/llio_info.o \
@@ -1329,7 +1326,7 @@ modules: $(patsubst %.o,../rtlib/%.so,$(obj-m))
 	$(Q)objdump -w -j .rtapi_export -t objects/$*.tmp \
 	| awk 'BEGIN{print "{ global :"} /rtapi_exported_/{printf("%s;\n", substr($$6,16))} END{print "local : * ; };"}' \
 	> objects/$*.ver
-	$(Q)$(CC) -shared -Bsymbolic -Wl,--version-script,objects/$*.ver -o $@ $^ -lm $(XENOMAI_EVL_LDFLAGS) $(LDFLAGS)
+	$(Q)$(CC) -shared -Bsymbolic -Wl,--version-script,objects/$*.ver -o $@ $^ -lm $(LDFLAGS)
 	$(Q)chmod -x $@
 
 RTFLAGS += -fno-strict-aliasing -fwrapv
@@ -1340,7 +1337,7 @@ $(sort $(filter-out objects/rtemc/tp/cruckig/%,$(RTOBJS))) : objects/rt%.o : %.c
 	@rm -f $@
 	@mkdir -p $(dir $@)
 	$(Q)$(CC) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DRTAPI \
-		$(EXTRA_CFLAGS) $(XENOMAI_EVL_CFLAGS) \
+		$(EXTRA_CFLAGS) \
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 

src/Makefile.inc.in

@@ -235,6 +235,7 @@ RTAI_LXRT_LDFLAGS=@RTAI_LXRT_LDFLAGS@
 CONFIG_USPACE_XENOMAI=@CONFIG_USPACE_XENOMAI@
 XENOMAI_CFLAGS=@XENOMAI_CFLAGS@
 XENOMAI_LDFLAGS=@XENOMAI_LDFLAGS@
+XENOMAI_LDFLAGS_NOINIT=@XENOMAI_LDFLAGS_NOINIT@
 
 CONFIG_USPACE_XENOMAI_EVL=@CONFIG_USPACE_XENOMAI_EVL@
 XENOMAI_EVL_CFLAGS=@XENOMAI_EVL_CFLAGS@

src/configure.ac

@@ -242,17 +242,21 @@ if test "$RTS" = uspace || test -z "$RTS" -a "$RTAI_CONFIG" = "none" ; then
     CONFIG_USPACE_XENOMAI=n
     XENOMAI_CFLAGS=
     XENOMAI_LDFLAGS=
+    XENOMAI_LDFLAGS_NOINIT=
   else
     USPACE_XENOMAI=+xenomai
     CONFIG_USPACE_XENOMAI=y
     XENOMAI_CFLAGS=`$XENOMAI_CONFIG --skin posix --cflags`
     XENOMAI_LDFLAGS=`$XENOMAI_CONFIG --skin posix --ldflags`
+    #Libs need --no-auto-init, otherwhise, each module initialises xenomai at load
+    XENOMAI_LDFLAGS_NOINIT=`$XENOMAI_CONFIG --skin posix --ldflags --no-auto-init`
     AC_DEFINE([USPACE_XENOMAI], [], [Define if uspace realtime should optionally support Xenomai])
   fi
 
   AC_SUBST([CONFIG_USPACE_XENOMAI])
   AC_SUBST([XENOMAI_CFLAGS])
   AC_SUBST([XENOMAI_LDFLAGS])
+  AC_SUBST([XENOMAI_LDFLAGS_NOINIT])
 
   if test "$HAS_EVL" = "n" ; then
     USPACE_XENOMAI_EVL=

src/hal/drivers/Submakefile

@@ -39,3 +39,25 @@ modules:                                                         \
     hal/drivers/pluto_step_rbf.h
 endif
 
+
+ifeq ($(CONFIG_USPACE_XENOMAI_EVL),y)
+NET_EVL_SRCS := hal/drivers/mesa-hostmot2/hm2_eth_net_evl.c
+USERSRCS += $(NET_EVL_SRCS)
+$(call TOOBJSDEPS, $(NET_EVL_SRCS)): EXTRAFLAGS += -fPIC $(XENOMAI_EVL_CFLAGS)
+../lib/liblinuxcnc-hm2_eth_net_evl.so.0: $(call TOOBJS, $(NET_EVL_SRCS))
+	$(ECHO) Linking $(notdir $@)
+	$(Q)$(CXX) -shared $(LDFLAGS) -o $@ $^ $(XENOMAI_EVL_LDFLAGS) -Wl,-soname,$(notdir $@)
+TARGETS += ../lib/liblinuxcnc-hm2_eth_net_evl.so.0
+TARGETS += ../lib/liblinuxcnc-hm2_eth_net_evl.so
+endif
+
+ifeq ($(CONFIG_USPACE_XENOMAI),y)
+NET_XENOMAI_SRCS := hal/drivers/mesa-hostmot2/hm2_eth_net_xenomai.c
+USERSRCS += $(NET_XENOMAI_SRCS)
+$(call TOOBJSDEPS, $(NET_XENOMAI_SRCS)): EXTRAFLAGS += -fPIC $(XENOMAI_CFLAGS)
+../lib/liblinuxcnc-hm2_eth_net_xenomai.so.0: $(call TOOBJS, $(NET_XENOMAI_SRCS))
+	$(ECHO) Linking $(notdir $@)
+	$(Q)$(CXX) -shared $(LDFLAGS) -o $@ $^ $(XENOMAI_LDFLAGS_NOINIT) -Wl,-soname,$(notdir $@)
+TARGETS += ../lib/liblinuxcnc-hm2_eth_net_xenomai.so.0
+TARGETS += ../lib/liblinuxcnc-hm2_eth_net_xenomai.so
+endif