Merge 5056fc0 into cbba08b

.travis.yml

@@ -73,13 +73,16 @@ jobs:
 
   - env: WINE=32 TEST=NO BCFG=static
 
-  - env: WINE=32 TEST=NO
+#  - env: WINE=32 TEST=NO
 
 # Cross-compilation to RTEMS
 
-  - env: RTEMS=4.10
+#  - env: RTEMS=4.10
 
-  - env: RTEMS=4.9
+#  - env: RTEMS=4.9
+
+  - env: RTEMS=5
+#
 
 # MacOS build
 

configure/CONFIG_COMMON

@@ -142,9 +142,10 @@ BUILDLIB_SUFFIX = $(BUILDLIB_SUFFIX_$(SHARED_LIBRARIES))
 #--------------------------------------------------
 # vpath directories
 POSIX_YES = os/posix
+OS_IMPL_DIRS = $(if $(OS_API),os/$(OS_CLASS)-$(OS_API),) os/$(OS_CLASS)
 GENERIC_SRC_DIRS = .. $(SRC_DIRS)
 OS_SRC_DIRS += . $(foreach dir, .. $(SRC_DIRS), \
-       $(addprefix $(dir)/, os/$(OS_CLASS) $(POSIX_$(POSIX)) os/default ))
+       $(addprefix $(dir)/, $(OS_IMPL_DIRS) $(POSIX_$(POSIX)) os/default ))
 CMPLR_SRC_DIRS += . $(foreach dir, .. $(SRC_DIRS), \
        $(addprefix $(dir)/, compiler/$(CMPLR_CLASS) compiler/default ))
 ALL_SRC_DIRS = $(CMPLR_SRC_DIRS) $(OS_SRC_DIRS) $(GENERIC_SRC_DIRS)
@@ -306,7 +307,7 @@ LDLIBS = $(POSIX_LDLIBS) $(ARCH_DEP_LDLIBS) $(DEBUG_LDLIBS) $(OP_SYS_LDLIBS)\
 CPPFLAGS = $($(BUILD_CLASS)_CPPFLAGS) $(POSIX_CPPFLAGS) $(OPT_CPPFLAGS)\
  $(DEBUG_CPPFLAGS) $(WARN_CPPFLAGS) $(BASE_CPPFLAGS) $(TARGET_CPPFLAGS)\
  $(USR_CPPFLAGS) $(CMD_CPPFLAGS) $(ARCH_DEP_CPPFLAGS) $(OP_SYS_CPPFLAGS)\
- $(OP_SYS_INCLUDE_CPPFLAGS) $(CODE_CPPFLAGS) $(API_CPPFLAGS)
+ $(OP_SYS_INCLUDE_CPPFLAGS) $(CODE_CPPFLAGS)
 
 #--------------------------------------------------
 # ar definition default

configure/os/CONFIG.Common.RTEMS

@@ -33,7 +33,7 @@ RTEMS_BSP ?= $(subst RTEMS-,,$(T_A))
 
 #-------------------------------------------------------
 # Pick up the RTEMS tool/path definitions from the RTEMS BSP directory.
-include $(RTEMS_BASE)/$(RTEMS_TARGET_CPU)-rtems$(RTEMS_VERSION)/$(RTEMS_BSP)/Makefile.inc
+include $(RTEMS_BASE)/$(GNU_TARGET)$(RTEMS_VERSION)/$(RTEMS_BSP)/Makefile.inc
 include $(RTEMS_CUSTOM)
 include $(CONFIG.CC)
 
@@ -94,16 +94,50 @@ MODEXT=.obj
 # operating system class (include/os/<os_class>)
 OS_CLASS = RTEMS
 
+#--------------------------------------------------
+#print warning
+ifeq ($(RTEMS_HAS_POSIX_API),no)
+ifeq ($(EPICS_VERSION),7)
+        $(error Warning: Epics Version $(EPICS_VERSION) must not be used without POSIX enabled on RTEMS !!!)
+endif
+endif
+# operating system API (src/os/<os_class>-<os-api>)
+ifeq ($(RTEMS_HAS_POSIX_API),yes)
+OS_API = posix
+else
+OS_API = kernel
+endif
+
+# meantime we still use kernel for 4.9 and 4.10
+ifneq ($(RTEMS_API),5)
+OS_API = kernel
+endif
 #--------------------------------------------------
 # Operating system flags
-OP_SYS_LDLIBS += -lrtemsCom -lc -lrtemscpu -lCom -lnfs -lm
-OP_SYS_LDFLAGS += $(CPU_CFLAGS) -u Init \
+#OP_SYS_LDLIBS += -lrtemsCom -lc -lrtemscpu -lCom -lnfs -lm
+ifeq ($(RTEMS_API),5)
+OP_SYS_CFLAGS += -D__LINUX_ERRNO_EXTENSIONS__
+#OP_SYS_LDLIBS += -lrtemsCom -lrtemscpu -lrtemsbsp -ltftpfs -ltelnetd -lbsd -lz -lm
+OP_SYS_LDLIBS += -lrtemsCom -lc -lrtemscpu  -ltftpfs -lbsd -lz -lm
+else
+OP_SYS_LDLIBS += -lrtemsCom -lrtemscpu -lrtemsbsp
+endif
+
+ifeq ($(RTEMS_HAS_NETWORKING),yes)
+OP_SYS_CFLAGS += -DRTEMS_LEGACY_STACK
+else
+OP_SYS_CFLAGS += -DHAVE_SOCKADDR_SA_LEN=1
+endif
+
+OP_SYS_LDFLAGS_posix += -u POSIX_Init
+OP_SYS_LDFLAGS_kernel += $(CPU_CFLAGS) -u Init \
                  $(PROJECT_RELEASE)/lib/no-dpmem.rel \
                  $(PROJECT_RELEASE)/lib/no-mp.rel \
                  $(PROJECT_RELEASE)/lib/no-part.rel \
                  $(PROJECT_RELEASE)/lib/no-signal.rel \
                  $(PROJECT_RELEASE)/lib/no-rtmon.rel
 
+OP_SYS_LDFLAGS += $(CPU_CFLAGS) $(OP_SYS_LDFLAGS_$(OS_API))
 MOD_SYS_LDFLAGS += $(CPU_CFLAGS) -Wl,-r -nostdlib
 
 # Do not link against libraries which are part of the Generic Image

configure/os/CONFIG.Common.RTEMS-beagleboneblack

@@ -0,0 +1,18 @@
+#
+# CONFIG.Common.RTEMS-beaglebineblack
+# Author: Heinz Junkes <junkes@fhi-berlin.mpg.de> 
+#
+# All RTEMS targets use the same Makefile fragment
+#
+#EXE = .elf
+RTEMS_BSP = beagleboneblack
+RTEMS_TARGET_CPU = arm
+GNU_TARGET = arm-rtems
+
+OP_SYS_LDLIBS += -Wl,--gc-sections
+ARCH_DEP_LDFLAGS = -L$(RTEMS_BASE)/$(GNU_TARGET)$(RTEMS_VERSION)/beagleboneblack/lib/
+
+include $(CONFIG)/os/CONFIG.Common.RTEMS
+
+
+

configure/os/CONFIG.Common.RTEMS-beatnik

@@ -8,14 +8,18 @@ EXE = .elf
 RTEMS_BSP = beatnik
 RTEMS_TARGET_CPU = powerpc
 GNU_TARGET = powerpc-rtems
-ARCH_DEP_CFLAGS += -DMY_DO_BOOTP=NULL
+# optimization trouble in postfix.c
+ARCH_DEP_CFLAGS += -DRTEMS_HAS_ALTIVEC
+#will use bootp
+#ARCH_DEP_CFLAGS += -DMY_DO_BOOTP=NULL
 ARCH_DEP_CFLAGS += -DHAVE_MOTLOAD
 ARCH_DEP_CFLAGS += -DRTEMS_NETWORK_CONFIG_MBUF_SPACE=2048
 ARCH_DEP_CFLAGS += -DRTEMS_NETWORK_CONFIG_CLUSTER_SPACE=5120
 
-OP_SYS_LDLIBS += -lbspExt
+OP_SYS_LDLIBS += -lbspExt #does not use posix stuff ... want to ignore
 
 MUNCH_SUFFIX = .boot
+MUNCHNAME = $(PRODNAME:%$(EXE)=%$(MUNCH_SUFFIX))
 define MUNCH_CMD
 	$(RTEMS_TOOLS)/bin/$(OBJCOPY_FOR_TARGET) -O binary $< $@
 endef

configure/os/CONFIG.Common.RTEMS-pc386

@@ -7,15 +7,16 @@
 #
 RTEMS_BSP = pc386
 RTEMS_TARGET_CPU = i386
+GNU_TARGET = i386-rtems
 
 MUNCH_SUFFIX = .boot
 define MUNCH_CMD
-	$(RM) $*.bin
-	$(RTEMS_TOOLS)/bin/$(OBJCOPY_FOR_TARGET) -O binary -R .comment -S $< $*.bin
-	$(BIN2BOOT) $@ 0x00097E00 \
-	    $(PROJECT_RELEASE)/lib/start16.bin 0x00097C00 0 $*.bin 0x00100000 0
+	$(RTEMS_TOOLS)/bin/$(OBJCOPY_FOR_TARGET) -O binary -R .comment -S $< $@ 
 endef
 
+OP_SYS_LDLIBS += -Wl,--gc-sections
+ARCH_DEP_LDFLAGS = -L$(RTEMS_BASE)/$(GNU_TARGET)$(RTEMS_VERSION)/pc686/lib/
+
 include $(CONFIG)/os/CONFIG.Common.RTEMS
 
 #

configure/os/CONFIG.Common.RTEMS-pc386-qemu

@@ -6,6 +6,7 @@
 #-------------------------------------------------------
 
 # Include definitions from RTEMS-pc386
-include $(CONFIG)/os/CONFIG.Common.RTEMS-pc386
+# For Tests overwrite it with pc686
+include $(CONFIG)/os/CONFIG.Common.RTEMS-pc686
 
 RTEMS_QEMU_FIXUPS = YES

configure/os/CONFIG.Common.RTEMS-pc686

@@ -0,0 +1,25 @@
+#
+# Author: W. Eric Norum
+#         Canadian Light Source
+#         eric@cls.usask.ca
+#
+# All RTEMS targets use the same Makefile fragment
+#
+RTEMS_BSP = pc686
+RTEMS_TARGET_CPU = i386
+GNU_TARGET = i386-rtems
+
+MUNCH_SUFFIX = .boot
+define MUNCH_CMD
+	$(RTEMS_TOOLS)/bin/$(OBJCOPY_FOR_TARGET) -O binary -R .comment -S $< $@ 
+endef
+
+OP_SYS_LDLIBS += -Wl,--gc-sections
+ARCH_DEP_LDFLAGS = -L$(RTEMS_BASE)/$(GNU_TARGET)$(RTEMS_VERSION)/pc686/lib/
+
+include $(CONFIG)/os/CONFIG.Common.RTEMS
+
+#
+# Put text segment where it will work with etherboot
+#
+OP_SYS_LDFLAGS += -Wl,-Ttext,0x100000

configure/os/CONFIG.Common.RTEMS-qoriq_e500

@@ -0,0 +1,48 @@
+#
+# CONFIG.Common.RTEMS-qoriq_e500
+# Author: Heinz Junkes <junkes@fhi-berlin.mpg.de> 
+#
+# All RTEMS targets use the same Makefile fragment
+#
+EXE = .elf
+RTEMS_BSP = qoriq_e500
+RTEMS_TARGET_CPU = powerpc
+GNU_TARGET = powerpc-rtems
+# optimization trouble in postfix.c
+#ARCH_DEP_CFLAGS += -DRTEMS_HAS_ALTIVEC
+#will use bootp
+#ARCH_DEP_CFLAGS += -DMY_DO_BOOTP=NULL
+
+#ARCH_DEP_CFLAGS += -DRTEMS_NETWORK_CONFIG_MBUF_SPACE=2048
+#ARCH_DEP_CFLAGS += -DRTEMS_NETWORK_CONFIG_CLUSTER_SPACE=5120
+
+#netbsdlib
+#ARCH_DEP_CFLAGS += -I$(RTEMS_BASE)/powerpc-rtems5/qoriq_e500/lib/include
+
+#OP_SYS_LDLIBS += -lbspExt #does not use posix stuff ... want to ignore
+OP_SYS_LDLIBS += -Wl,--gc-sections
+#ARCH_DEP_LDFLAGS = -mcpu=8540 -meabi -msdata=sysv -mstrict-align -mspe -mabi=spe -mfloat-gprs=double 
+ARCH_DEP_LDFLAGS = -L$(RTEMS_BASE)/powerpc-rtems5/qoriq_e500/lib  
+
+MUNCH_SUFFIX = .img
+MUNCHNAME = $(PRODNAME:%$(EXE)=%$(MUNCH_SUFFIX))
+define MUNCH_CMD
+	$(RTEMS_TOOLS)/bin/$(OBJCOPY_FOR_TARGET) -O binary $< $@
+	gzip -9 -f $@
+	mkimage -A ppc -O linux -T kernel -a 0x4000 -e 0x4000 -n $* -d $@.gz $*.img 
+endef
+
+include $(CONFIG)/os/CONFIG.Common.RTEMS
+
+RTEMSSYMS=$(PRODNAME:%$(EXE)=%.sym)
+RTEMSIMGS=$(PRODNAME:%$(EXE)=%.bin)
+INSTALL_RTEMSSYMS=$(RTEMSSYMS:%=$(INSTALL_BIN)/%)
+INSTALL_RTEMSIMGS=$(RTEMSIMGS:%=$(INSTALL_BIN)/%)
+
+%.sym: %$(EXE)
+	$(XSYMS) $^ $@
+
+%.bin: %$(EXE)
+	$(OBJCOPY) -Obinary $^ $@
+
+#PRODTARGETS+=$(INSTALL_RTEMSSYMS) $(INSTALL_RTEMSIMGS)

configure/os/CONFIG.Common.RTEMS-xilinx_zynq_a9_qemu

@@ -0,0 +1,20 @@
+#
+# CONFIG.Common.RTEMS-xilinx_zynq_a9_qemu
+# Author: Heinz Junkes <junkes@fhi-berlin.mpg.de> 
+#
+# All RTEMS targets use the same Makefile fragment
+#
+#EXE = .elf
+RTEMS_BSP = xilinx_zynq_a9_qemu
+RTEMS_TARGET_CPU = arm
+GNU_TARGET = arm-rtems
+
+#use dhcp/bootp
+ARCH_DEP_CFLAGS += -DMY_DO_BOOTP=NULL
+
+OP_SYS_LDLIBS += -Wl,--gc-sections
+ARCH_DEP_LDFLAGS = -L$(RTEMS_BASE)/$(GNU_TARGET)$(RTEMS_VERSION)/xilinx_zynq_a9_qemu/lib/
+
+
+include $(CONFIG)/os/CONFIG.Common.RTEMS
+

configure/os/CONFIG.Common.RTEMS-xilinx_zynq_zedboard

@@ -0,0 +1,19 @@
+#
+# CONFIG.Common.RTEMS-xilinx_zynq_zedboard
+# Author: Heinz Junkes <junkes@fhi-berlin.mpg.de> 
+#
+# All RTEMS targets use the same Makefile fragment
+#
+#EXE = .elf
+RTEMS_BSP = xilinx_zynq_zedboard
+RTEMS_TARGET_CPU = arm
+GNU_TARGET = arm-rtems
+
+OP_SYS_LDLIBS += -Wl,--gc-sections
+ARCH_DEP_LDFLAGS = -L$(RTEMS_BASE)/$(GNU_TARGET)$(RTEMS_VERSION)/xilinx_zynq_zedboard/lib/
+
+
+include $(CONFIG)/os/CONFIG.Common.RTEMS
+
+
+

configure/os/CONFIG.darwin-x86.Common

@@ -3,6 +3,7 @@
 # Definitions for darwin-x86 host builds
 # Sites may override these definitions in CONFIG_SITE.darwin-x86.Common
 #-------------------------------------------------------
-
+#support for IPv6 etc.
+OP_SYS_CFLAGS += -DHAVE_SOCKADDR_SA_LEN=1
 #Include definitions common to unix hosts
 include $(CONFIG)/os/CONFIG.UnixCommon.Common

configure/os/CONFIG_SITE.Common.RTEMS

@@ -5,9 +5,9 @@
 
 # Where to find RTEMS
 #
-# APS:
-RTEMS_VERSION = 4.10.2
-RTEMS_BASE = /usr/local/vw/rtems/rtems-$(RTEMS_VERSION)
+# FHI:
+RTEMS_VERSION = 5
+RTEMS_BASE = /home/h1/GSOC/RTEMS/
 
 # Cross-compile toolchain in $(RTEMS_TOOLS)/bin
 #

documentation/RELEASE_NOTES.md

@@ -17,6 +17,23 @@ should also be read to understand what has changed since earlier releases.
 
 <!-- Insert new items immediately below here ... -->
 
+### Support for RTEMS 5 (5.1 released aug 2020)
+
+The new major release of the RTEMS real-time OS contains many changes including
+the ability to support SMP systems. The earlier EPICS support for RTEMS made use
+of various RTEMS-specific kernel APIs which cannot be used on an SMP system, so
+the changes here required acompletely new port to the Posix real-time APIs that
+RTEMS-5 now recommends.
+A new RTEMS configuration variable RTEMS_SERIES has been added which should be
+set to the first two components of the OS version number, e.g. 4.9. When this
+is 4.12 or greater, true for 5.0 as well, the new libCom/osi/os/RTEMS-posix
+source files will be used; the older API source files can now be found in
+libCom/osi/os/RTEMS-kernel, and those which are common to both installations are
+in libCom/osi/os/RTEMS. The compiler options are read from the Makefile.inc of
+the corresponding BSP and set in the configuration files. It checks that the BSP
+was also built with the --enable-posix option. It also checks if the BSP was built
+with the legacy stack or libbsd.
+
 ### Add registerAllRecordDeviceDrivers()
 
 Addition of registerAllRecordDeviceDrivers() as an iocsh function

modules/libcom/RTEMS/Makefile

@@ -11,22 +11,31 @@ TOP = ../../..
 include $(TOP)/configure/CONFIG
 include $(TOP)/configure/CONFIG_LIBCOM_VERSION
 
+# check check
+SRC_DIRS += ../$(OS_API)
+
 PERL_SCRIPTS += epicsMakeMemFs.pl
 
 INC += epicsRtemsInitHooks.h
 INC += epicsMemFs.h
+INC += epicsNtp.h
 
 ifeq ($(RTEMS_QEMU_FIXUPS),YES)
 rtems_init_CPPFLAGS += -DQEMU_FIXUPS
 endif
 rtemsCom_SRCS += rtems_init.c
 rtemsCom_SRCS += rtems_config.c
+ifeq ($(RTEMS_HAS_NETWORKING), yes)
 rtemsCom_SRCS += rtems_netconfig.c
+else
+rtemsCom_SRCS += libbsd_netconfig.c
+endif
 rtemsCom_SRCS += rtems_util.c
 rtemsCom_SRCS += setBootConfigFromNVRAM.c
 rtemsCom_SRCS += epicsRtemsInitHookPre.c
 rtemsCom_SRCS += epicsRtemsInitHookPost.c
 rtemsCom_SRCS += epicsMemFs.c
+rtemsCom_SRCS += epicsNtp.c
 
 ifeq ($(RTEMS_BSP),pc386)
 rtemsCom_SRCS += ne2kpci.c

modules/libcom/RTEMS/epicsMemFs.c

@@ -1,6 +1,5 @@
 /*************************************************************************\
 * Copyright (c) 2014 Brookhaven National Laboratory.
-* SPDX-License-Identifier: EPICS
 * EPICS BASE is distributed subject to a Software License Agreement found
 * in file LICENSE that is included with this distribution.
 \*************************************************************************/

modules/libcom/RTEMS/epicsMemFs.h

@@ -1,6 +1,5 @@
 /*************************************************************************\
 * Copyright (c) 2014 Brookhaven National Laboratory.
-* SPDX-License-Identifier: EPICS
 * EPICS BASE is distributed subject to a Software License Agreement found
 * in file LICENSE that is included with this distribution.
 \*************************************************************************/
@@ -20,14 +19,6 @@ typedef struct {
     const epicsMemFile * const *files;
 } epicsMemFS;
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
 int epicsMemFsLoad(const epicsMemFS *fs);
 
-#ifdef __cplusplus
-}
-#endif
-
 #endif // EPICSMEMFS_H