lpcmanager

Add explicit Xenomai initialization, when dlopening shared object
revamp
2018-04-03, Edouard Tisserant
a8d903663e94
Parents bd451154e9f8
Children 68faf0ff3869
Add explicit Xenomai initialization, when dlopening shared object
2 files changed, 17 insertions(+), 3 deletions(-)
  • +3 -3
    MC9target/XSD
  • +14 -0
    MC9target/plc_MC9_main_retain.c
    • --- a/MC9target/XSD Fri Mar 23 13:03:53 2018 +0100
    +++ b/MC9target/XSD Tue Apr 03 11:14:53 2018 +0200
    @@ -1,9 +1,9 @@
    <xsd:element name="MC9">
    <xsd:complexType>
    - <xsd:attribute name="Compiler" type="xsd:string" use="optional" default="arm-linux-gnueabi-gcc"/>
    + <xsd:attribute name="Compiler" type="xsd:string" use="optional" default="arm-unknown-linux-gnueabi-gcc"/>
    <xsd:attribute name="CFLAGS" type="xsd:string" use="optional" default="--sysroot=../arm-linux-gnueabi-apf28 -DHAVE_RETAIN -pipe -Wno-unused-but-set-variable -Wno-unused-function -Wno-unused-variable -I../arm-linux-gnueabi-apf28/usr/include/xenomai/cobalt -I../arm-linux-gnueabi-apf28/usr/include/xenomai -D_LARGEFILE_SOURCE -D_LARGEFILE64_SOURCE -D_FILE_OFFSET_BITS=64 -Os -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__COBALT__ -I../arm-linux-gnueabi-apf28/usr/include/xenomai/alchemy -D__COBALT_WRAP__ "/>
    - <xsd:attribute name="Linker" type="xsd:string" use="optional" default="arm-linux-gnueabi-gcc"/>
    - <xsd:attribute name="LDFLAGS" type="xsd:string" use="optional" default="--sysroot=../arm-linux-gnueabi-apf28 -lpthread -Wl,--no-as-needed -Wl,@../arm-linux-gnueabi-apf28/usr/lib/cobalt.wrappers -Wl,@../arm-linux-gnueabi-apf28/usr/lib/modechk.wrappers -lalchemy -lcopperplate ../arm-linux-gnueabi-apf28/usr/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=../arm-linux-gnueabi-apf28/usr/lib/dynlist.ld -L../arm-linux-gnueabi-apf28/usr/lib -lcobalt -lmodechk -lpthread -lrt "/>
    + <xsd:attribute name="Linker" type="xsd:string" use="optional" default="arm-unknown-linux-gnueabi-gcc"/>
    + <xsd:attribute name="LDFLAGS" type="xsd:string" use="optional" default="--sysroot=../arm-linux-gnueabi-apf28 -lpthread -Wl,--no-as-needed -Wl,@../arm-linux-gnueabi-apf28/usr/lib/cobalt.wrappers -Wl,@../arm-linux-gnueabi-apf28/usr/lib/modechk.wrappers -lalchemy -lcopperplate ../arm-linux-gnueabi-apf28/usr/lib/xenomai/bootstrap-pic.o -L../arm-linux-gnueabi-apf28/usr/lib -lcobalt -lmodechk -lpthread -lrt "/>
    <xsd:attribute name="XenoConfig" type="xsd:string" use="optional"/>
    </xsd:complexType>
    </xsd:element>
    --- a/MC9target/plc_MC9_main_retain.c Fri Mar 23 13:03:53 2018 +0100
    +++ b/MC9target/plc_MC9_main_retain.c Tue Apr 03 11:14:53 2018 +0200
    @@ -3,6 +3,8 @@
    #include <alchemy/mutex.h>
    #include <rtdm/rtdm.h>
    #include <rtdm/spi_apf28_rtdm_ioctl.h>
    +#include <xenomai/init.h>
    +
    #define TEST_SPI_BUS_NUMBER 2
    @@ -311,4 +313,16 @@
    memcpy(p, &priv.buf.vars[offset], count);
    }
    +__attribute__((constructor))
    +void _init_xenomai() {
    + int argc = 0;
    + char *const *argv;
    + xenomai_init(&argc, &argv);
    +}
    +/*
    +__attribute__((destructor))
    +void _cleanup_xenomai() {
    +}
    +*/
    +