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RTLinux upgrading notes: API, installation, usage
Michael Barabanov (baraban@fsmlabs.com)
Copyright FSMLabs Inc. 1999. All rights reserved.
This information is for people upgrading from previous versions
(1.3 and earlier) of RTLinux.
RTLinux versions 2.x and above provide a new API that is aiming
to POSIX compliance. This has many nice implications, so
you are encouraged to update your programs to use the new interface.
To get started, please read the GettingStarted.txt file. Most of the new
API functions are the POSIX functions. Documentation for these functions
can be found in the Single UNIX specification
(http://www.opengroup.org/onlinepubs/7908799/index.html).
The Single UNIX spec is also included locally in HTML format with the
RTLinux distribution.
There are also certain non-POSIX extension functions in the new API.
There are manual pages for these functions in the man/ directory.
Here's a description of how the old RT-task API maps to the new
pthread-based one.
Old API New API
rt_get_time gethrtime(3), clock_gettime(3), clock_gethrtime(3)
rt_task_init pthread_create(3)
rt_task_delete pthread_delete_np (3)
rt_task_make_periodic pthread_make_periodic_np (3), clock_nanosleep(3)
rt_task_wait pthread_wait_np(3)
request_RTirq rtl_request_irq(3), rtl_hard_enable_irq(3)
free_RTirq rtl_free_irq(3)
NOTES
0. Whereas RTLinux v1 and v2 only had rt_get_time() for obtaining the current
time, the latest versions of RTLinux have several software clock sources,
each with a specific purpose. You can use the function
clock_gethrtime(3) to obtain a reading from a specific clock.
Most blocking functions that to not explicitely specify the clock,
accepts timeouts with respects to the standard POSIX clock, CLOCK_REALTIME.
CLOCK_REALTIME measures time elapsed since the Epoch.
The notable exception is the pthread_make_periodic_np, that schedules
threads with respect to CPU-local RT-scheduler clock, CLOCK_RTL_SCHED.
CLOCK_MONOTONIC is another POSIX standard clock.
It provides a high-resolution timestamp source.
gethrtime() is a shorthand for clock_gethrtime(CLOCK_MONOTONIC).
1. Unlike rt_task_init, pthread_create starts the task immediately.
Please note that this causes some restructuring of periodic tasks code:
OLD WAY: NEW WAY:
task_code() { thread_code() {
while(1) { while(1) {
// NOTE, THE ORDER CHANGES!
pthread_wait_np();
do_work(); do_work();
rt_task_wait();
} }
} }
init_module() { init_module() {
rt_task_init(...); pthread_create(...);
rt_task_make_periodic(...); pthread_(...);
} }
Switching to the new API also affects enabling RT-tasks to use FPU operations.
Calling pthread_use_fp_np after pthread_create is generally too late. It is
therefore best to use pthread attributes (pthread_attr_setfp_np(3)) to enable
FPU operations before any thread code executes. Please see
examples/fp/rt_process.c.
2. With rtl_request_irq(3), hardware interrupts must be explicitely
enabled in the handler with rtl_hard_enable_irq(3) to receive further
interrupts.
The old API is also supported in RTLinux v2.x and v3.x. It is implemented
on top of the current API (include/rtl_compat.h, schedulers/rtl_compat.c).
Other notable differences:
- RTLinux components have been separated from the Linux kernel.
Please see the INSTALL file for installation instructions.
- Building your own programs is much simplified by using
the rtl.mk file. This file is created during compilation of RTLinux
It contains gcc compiler flags, include paths: everything that is needed
to build an RTLinux program module.
- User processes should close all open RT-FIFOs before the module
that created them can be unloaded.
Please direct comments and suggestions about this file to
Michael Barabanov <baraban@fsmlabs.com>
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