Re: iocsh under Epics r3.14 RTEMS

[Till Straumann <strauman@SLAC.Stanford.EDU>]

Hi Bill.

Finally some RTEMS posting :-)

Bill Nolan wrote:

> Hi all, 
>  I've come to an interesting impass in trying to get the example IOC to start
> using R3.14.beta1 and RTEMS. I hope the problem is that I'me being simple.. 
>
>      Drunig the boot sequence with rtems the Init() function is called from 
> rtems_init.c to setup the network, time , syslog etc. in Init() iocsh("st.cmd")
> is called. 
> But Init() is called before main(). 
I slightly patched rtems_init.c so it calls main(). Note that the appended
patch also contains some other (small but important) fixes and workarounds
useful under RTEMS - some things have already been fixed, I had been
told, but probably are not in the distributed beta1 release yet.

What CPU/BSP are you using?

Regards
-- Till

> so the app specific iocRegester calls are never made, Sould I cuntomize 
> rtems_init.c for each app ? 
> or export a replacement iocshRegisterRTEMS() ?
>
> Thanks. 
> Bill N.
> wnolan@bnl.gov
> ############################################################
> The things you can't remember, tell the things you 
> can't forget.
> ############################################################


Index: RTEMS/base/rtems_init.c
===================================================================
RCS file: /afs/slac/g/spear/cvsrep/epics/base/src/RTEMS/base/rtems_init.c,v
retrieving revision 1.1.1.1
diff -c -r1.1.1.1 rtems_init.c
*** rtems_init.c	2002/03/09 18:09:24	1.1.1.1
--- rtems_init.c	2002/07/11 01:00:13
***************
*** 193,204 ****
--- 193,213 ----
      &rtems_bsdnet_config
  };
  
+ #define DO_NORMAL_MAIN
+ 
  /*
   * RTEMS Startup task
   */
  rtems_task
  Init (rtems_task_argument ignored)
  {
+ #ifndef DO_NORMAL_MAIN
+ /* T. Straumann: invoke global constructors
+  *               from a task context...
+  */
+ extern void __do_global_ctors(void);
+     __do_global_ctors();
+ #endif
      /*
       * Create a reasonable environment
       */
***************
*** 207,224 ****
      putenv ("IOCSH_PS1=epics> ");
      putenv ("IOCSH_HISTSIZE=20");
  
      /*
       * Start network
       */
      printf ("***** Initializing network *****\n");
      rtems_bsdnet_initialize_network ();
      printf ("***** Initializing TFTP *****\n");
      rtems_bsdnet_initialize_tftp_filesystem ();
      for (;;) {
          printf ("***** Initializing NTP *****\n");
          if (rtems_bsdnet_synchronize_ntp (0, 0) >= 0)
              break;
!         epicsThreadSleep (10.0);
      }
      printf ("***** Initializing syslog *****\n");
      openlog ("IOC", LOG_CONS, LOG_DAEMON);
--- 216,239 ----
      putenv ("IOCSH_PS1=epics> ");
      putenv ("IOCSH_HISTSIZE=20");
  
+ 	/* T. Straumann: epicsThreadSleep() doesnt work before clockInit() */
+ 	clockInit();
+ 
      /*
       * Start network
       */
+ 	printf ("\nWelcome to EPICS on RTEMS\n");
      printf ("***** Initializing network *****\n");
      rtems_bsdnet_initialize_network ();
      printf ("***** Initializing TFTP *****\n");
      rtems_bsdnet_initialize_tftp_filesystem ();
      for (;;) {
+ 		double sl=10.0;
          printf ("***** Initializing NTP *****\n");
          if (rtems_bsdnet_synchronize_ntp (0, 0) >= 0)
              break;
! 		printf("SLEEP %g\n",sl);
!         epicsThreadSleep (sl);
      }
      printf ("***** Initializing syslog *****\n");
      openlog ("IOC", LOG_CONS, LOG_DAEMON);
***************
*** 230,235 ****
--- 245,251 ----
      printf ("***** Executing EPICS startup script *****\n");
      iocshRegisterRTEMS ();
      rtems_set_directory ();
+ #if 0
      iocsh ("st.cmd");
  
      /*
***************
*** 237,242 ****
--- 253,272 ----
       */
      epicsThreadSleep (2.0);
      iocsh (NULL);
+ #else
+ #ifdef DO_NORMAL_MAIN
+     {
+     char *args[]={"iocsh","st.cmd"};
+     main(2,args);
+     }
+ #else
+ 	{
+     extern int rtems_main(int, char **);
+     char *args[]={"iocsh","st.cmd"};
+     rtems_main(2,args);
+     }
+ #endif
+ #endif
      LogFatal ("Console command interpreter terminated");
  }
  
Index: RTEMS/base/rtems_netconfig.c
===================================================================
RCS file: /afs/slac/g/spear/cvsrep/epics/base/src/RTEMS/base/rtems_netconfig.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -c -r1.1.1.1 -r1.2
*** rtems_netconfig.c	2002/03/09 18:09:24	1.1.1.1
--- rtems_netconfig.c	2002/03/09 19:08:38	1.2
***************
*** 44,49 ****
--- 44,52 ----
  #else                                    /* Use NIC provided by BSP */
  # define NIC_NAME   RTEMS_BSP_NETWORK_DRIVER_NAME
  # define NIC_ATTACH RTEMS_BSP_NETWORK_DRIVER_ATTACH
+ /* T. Straumann, TSILL, 12/18/2001, added declaration, just in case */
+ extern int
+ RTEMS_BSP_NETWORK_DRIVER_ATTACH();
  #endif
  
  static struct rtems_bsdnet_ifconfig netdriver_config = {
Index: libCom/cxxTemplates/tsFreeList.h
===================================================================
RCS file: /afs/slac/g/spear/cvsrep/epics/base/src/libCom/cxxTemplates/tsFreeList.h,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -c -r1.1.1.1 -r1.2
*** tsFreeList.h	2002/03/09 18:09:30	1.1.1.1
--- tsFreeList.h	2002/04/05 00:52:34	1.2
***************
*** 74,81 ****
  
  template < class T, unsigned N = 0x400, unsigned DEBUG_LEVEL = 0u >
  struct tsFreeListChunk {
!     tsFreeListChunk < T, N, DEBUG_LEVEL > *pNext;
      tsFreeListItem < T, DEBUG_LEVEL > items [N];
  };
  
  template < class T, unsigned N = 0x400, unsigned DEBUG_LEVEL = 0u >
--- 74,84 ----
  
  template < class T, unsigned N = 0x400, unsigned DEBUG_LEVEL = 0u >
  struct tsFreeListChunk {
!     /* Till Straumann <strauman@slac.stanford.edu>, 2002/4/4
!      * put the items first to maintain alignment.
!      */
      tsFreeListItem < T, DEBUG_LEVEL > items [N];
+     tsFreeListChunk < T, N, DEBUG_LEVEL > *pNext;
  };
  
  template < class T, unsigned N = 0x400, unsigned DEBUG_LEVEL = 0u >
Index: libCom/osi/os/RTEMS/osdPoolStatus.c
===================================================================
RCS file: /afs/slac/g/spear/cvsrep/epics/base/src/libCom/osi/os/RTEMS/osdPoolStatus.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -c -r1.1.1.1 -r1.2
*** osdPoolStatus.c	2002/03/09 18:09:31	1.1.1.1
--- osdPoolStatus.c	2002/03/09 18:38:31	1.2
***************
*** 8,12 ****
--- 8,17 ----
   */
  epicsShareFunc int epicsShareAPI osiSufficentSpaceInPool ()
  {
+ /* T. Straumann: 2/12/2002 the current RTEMS implementation
+                  of this has a serious flaw (killing 
+                  real-time responsiveness!!!)  DONT USE
      return (malloc_free_space() > 100000);
+  */
+     return 1;
  }
Index: libCom/osi/os/RTEMS/osdThread.c
===================================================================
RCS file: /afs/slac/g/spear/cvsrep/epics/base/src/libCom/osi/os/RTEMS/osdThread.c,v
retrieving revision 1.1.1.1
retrieving revision 1.2
diff -c -r1.1.1.1 -r1.2
*** osdThread.c	2002/03/09 18:09:31	1.1.1.1
--- osdThread.c	2002/03/09 18:52:38	1.2
***************
*** 118,131 ****
  unsigned int
  epicsThreadGetStackSize (epicsThreadStackSizeClass size)
  {
      switch(size) {
!     case epicsThreadStackSmall:  return( 4000*ARCH_STACK_FACTOR);
!     case epicsThreadStackMedium: return( 6000*ARCH_STACK_FACTOR);
!     case epicsThreadStackBig:    return(11000*ARCH_STACK_FACTOR);
      default:
          errlogPrintf("epicsThreadGetStackSize illegal argument");
      }
!     return(11000*ARCH_STACK_FACTOR);
  }
  
  /*
--- 118,136 ----
  unsigned int
  epicsThreadGetStackSize (epicsThreadStackSizeClass size)
  {
+ unsigned int rval=(11000*ARCH_STACK_FACTOR);
+ /* T. Straumann: make sure we allocate at least RTEMS_MINIMUM_STACK_SIZE */
      switch(size) {
!     case epicsThreadStackSmall:  rval = ( 4000*ARCH_STACK_FACTOR); break;
!     case epicsThreadStackMedium: rval = ( 6000*ARCH_STACK_FACTOR);
!     case epicsThreadStackBig:    break;
      default:
          errlogPrintf("epicsThreadGetStackSize illegal argument");
+ 	break;
      }
!     if (rval < RTEMS_MINIMUM_STACK_SIZE)
!     	rval = RTEMS_MINIMUM_STACK_SIZE;
!     return rval;
  }
  
  /*
***************
*** 261,267 ****
      if (!initialized) epicsThreadInit();
      if (stackSize < RTEMS_MINIMUM_STACK_SIZE) {
          errlogPrintf ("epicsThreadCreate %s illegal stackSize %d\n",name,stackSize);
!         return 0;
      }
      strncpy (c, name, sizeof c);
      sc = rtems_task_create (rtems_build_name (c[0], c[1], c[2], c[3]),
--- 266,274 ----
      if (!initialized) epicsThreadInit();
      if (stackSize < RTEMS_MINIMUM_STACK_SIZE) {
          errlogPrintf ("epicsThreadCreate %s illegal stackSize %d\n",name,stackSize);
!         /* T. Straumann: just increase the stack size */
!         /* return 0; */
!         stackSize=RTEMS_MINIMUM_STACK_SIZE;
      }
      strncpy (c, name, sizeof c);
      sc = rtems_task_create (rtems_build_name (c[0], c[1], c[2], c[3]),