Rootless uspace preempt-rt (rebase of #918, fixes for #3928)

debian/control.top.in

@@ -28,6 +28,7 @@ Build-Depends:
     libgl-dev | libgl1-mesa-dev,
     libglu1-mesa-dev,
     libgtk-3-dev,
+    libcap-dev,
     libmodbus-dev (>= 3.0),
     libgpiod-dev,
     @LIBREADLINE_DEV@,

debian/extras/lib/udev/rules.d/99-linuxcnc-hm2-pci.rules

@@ -0,0 +1,51 @@
+# LinuxCNC - grant Mesa HostMot2 PCI cards to the plugdev group so
+# rtapi_app can map their config space and BARs without CAP_DAC_OVERRIDE.
+# Needed only for rootless (file-capabilities) builds; setuid-root builds
+# bypass DAC regardless.
+#
+# Add or remove Mesa subsystem IDs below to match new boards.  SSIDs come
+# from src/hal/drivers/mesa-hostmot2/hm2_pci.h.
+
+ACTION!="add|change", GOTO="linuxcnc_hm2_end"
+SUBSYSTEM!="pci", GOTO="linuxcnc_hm2_end"
+
+# Direct-Mesa cards (5i24, 5i25, 5i25T, 6i25, 6i25T): single vendor match.
+ATTR{vendor}=="0x2718", GOTO="linuxcnc_hm2_chmod"
+
+# PLX-bridged Mesa cards share vendor 0x10B5 with generic PLX bridges,
+# so match Mesa subsystem_device ids one at a time.
+ATTR{vendor}!="0x10b5", GOTO="linuxcnc_hm2_end"
+# 5i20
+ATTRS{subsystem_device}=="0x3131", GOTO="linuxcnc_hm2_chmod"
+# 4i65
+ATTRS{subsystem_device}=="0x3132", GOTO="linuxcnc_hm2_chmod"
+# 4i68 (old SSID)
+ATTRS{subsystem_device}=="0x3133", GOTO="linuxcnc_hm2_chmod"
+# 4i68 (new SSID)
+ATTRS{subsystem_device}=="0x3311", GOTO="linuxcnc_hm2_chmod"
+# 5i21
+ATTRS{subsystem_device}=="0x3312", GOTO="linuxcnc_hm2_chmod"
+# 5i22-1.5M
+ATTRS{subsystem_device}=="0x3313", GOTO="linuxcnc_hm2_chmod"
+# 5i22-1.0M
+ATTRS{subsystem_device}=="0x3314", GOTO="linuxcnc_hm2_chmod"
+# 5i23
+ATTRS{subsystem_device}=="0x3315", GOTO="linuxcnc_hm2_chmod"
+# 3x20-10
+ATTRS{subsystem_device}=="0x3427", GOTO="linuxcnc_hm2_chmod"
+# 3x20-15
+ATTRS{subsystem_device}=="0x3428", GOTO="linuxcnc_hm2_chmod"
+# 3x20-20
+ATTRS{subsystem_device}=="0x3429", GOTO="linuxcnc_hm2_chmod"
+# 4i69-16
+ATTRS{subsystem_device}=="0x3472", GOTO="linuxcnc_hm2_chmod"
+# 4i69-25
+ATTRS{subsystem_device}=="0x3473", GOTO="linuxcnc_hm2_chmod"
+GOTO="linuxcnc_hm2_end"
+
+LABEL="linuxcnc_hm2_chmod"
+# Fork a helper; sysfs files may not exist until the device is fully
+# sized, so the chmod failures are ignored.
+RUN+="/bin/sh -c 'chgrp plugdev /sys%p/config /sys%p/resource* 2>/dev/null; chmod g+rw /sys%p/config /sys%p/resource* 2>/dev/null; exit 0'"
+
+LABEL="linuxcnc_hm2_end"

debian/extras/lib/udev/rules.d/99-linuxcnc-realtime.rules

@@ -0,0 +1,8 @@
+# LinuxCNC - expose realtime tuning knobs to the plugdev group so that
+# rtapi_app can tune latency without CAP_DAC_OVERRIDE when running under
+# file capabilities.  setuid-root builds do not need this rule.
+
+# /dev/cpu_dma_latency: harden_rt() opens this to pin CPU idle states at
+# C0, cutting wake-up jitter on AC-powered machines.  Default is 0600
+# root:root, so an unprivileged rtapi_app would fail to open it.
+KERNEL=="cpu_dma_latency", MODE="0660", GROUP="plugdev"

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

@@ -7,14 +7,24 @@ IO boards, with HostMot2 firmware.
 
 == SYNOPSIS
 
-*loadrt hm2_eth* [**config=**"__str__[,__str__...]"] [**board_ip=**__ip__[,__ip__...] ] [**board_mac=**__mac__[,__mac__...] ]
+*loadrt hm2_eth* [**config=**"__str__[,__str__...]"] [**board_ip=**__ip__[,__ip__...] ] [**board_mac=**__mac__[,__mac__...] ] [**no_iptables=**__0|1__]
 
 ____
 *config* [default: ""]::
   HostMot2 config strings, described in the hostmot2(9) manpage.
 *board_ip* [default: ""]::
   The IP address of the board(s), separated by commas.
   As shipped, the board address is 192.168.1.121.
+*no_iptables* [default: 0]::
+  Explicit override that disables all iptables interaction.  By default
+  hm2_eth installs *iptables* and *ip6tables* rules itself; rtapi_app
+  raises *cap_net_admin* into its ambient capability set at startup so
+  the calls succeed under both setuid-root and rootless (file-cap)
+  installs.  If the cap is not held the probe fails and rule
+  installation is skipped with a warning; in that case configure the
+  rules manually using the recipe in the NOTES section below.  Set
+  *no_iptables=1* when iptables is reachable but you prefer to manage
+  the firewall externally (nftables, firewalld, systemd units).
 ____
 
 == DESCRIPTION
@@ -146,6 +156,53 @@ At (normal) exit, hm2_eth will remove the rules. After a crash, you can
 manually clear the rules with *sudo iptables -F hm2-eth-rules-output*;
 the rules are also removed by a reboot.
 
+=== Manual iptables configuration
+
+When LinuxCNC is installed without *cap_net_admin* on rtapi_app
+(typically because *sudo make setcap* was not run after the build),
+hm2_eth cannot install its rules and prints a warning.  Set up the
+chain manually as root.  Adjust the IP addresses, UDP destination port,
+and interface name to match your install:
+
+----
+HOST_IP=192.168.1.1
+BOARD_IP=192.168.1.121
+BOARD_DPORT=27181
+IFACE=eth1
+
+iptables -N hm2-eth-rules-output
+iptables -I OUTPUT 1 -j hm2-eth-rules-output
+iptables -A hm2-eth-rules-output \
+    -p udp -m udp -d $BOARD_IP --dport $BOARD_DPORT \
+    -s $HOST_IP -j ACCEPT
+iptables -A hm2-eth-rules-output -o $IFACE -p icmp -j DROP
+iptables -A hm2-eth-rules-output -o $IFACE \
+    -j REJECT --reject-with icmp-admin-prohibited
+ip6tables -N hm2-eth-rules-output
+ip6tables -I OUTPUT 1 -j hm2-eth-rules-output
+ip6tables -A hm2-eth-rules-output -o $IFACE -j DROP
+----
+
+For full IPv6 quiescence (no router solicitations or neighbor discovery
+on the dedicated interface), additionally add this line to
+`/etc/sysctl.d/99-hm2-eth.conf` and reboot:
+
+----
+net.ipv6.conf.IFACE.disable_ipv6 = 1
+----
+
+(The default ip6tables rule above only drops outbound IPv6; the kernel
+still generates the packets.)  Tear down the runtime rules with:
+
+----
+iptables -F hm2-eth-rules-output
+iptables -D OUTPUT -j hm2-eth-rules-output
+iptables -X hm2-eth-rules-output
+ip6tables -F hm2-eth-rules-output
+ip6tables -D OUTPUT -j hm2-eth-rules-output
+ip6tables -X hm2-eth-rules-output
+----
+
 "hardware-irq-coalesce-rx-usecs" decreases time waiting to receive a packet on most systems,
 but on at least some Marvel-chipset NICs it is harmful.
 If the line does not improve system performance, then remove it.

docs/src/man/man9/hm2_rpspi.9.adoc

@@ -70,10 +70,14 @@ Mesa's SPI based Anything I/O boards (with the HostMot2 firmware) to the
 LinuxCNC HAL. This driver is not based on the linux spidev driver, but
 on a dedicated BCM2835-SPI driver.
 
-It is *strongly* recommended that you unload/disable the kernel's spidev
-driver by disabling it using *raspi-config*. Please note that having
-both kernel and user-space SPI drivers installed can result in
-unexpected interactions and system instabilities.
+The kernel's *spi_bcm2835* driver conflicts with this user-space driver
+and must be disabled before *hm2_rpspi* will load. Use *raspi-config*
+(Interface Options -> SPI -> Disable) and reboot. If the kernel module
+is still present at load time the driver will refuse to start with
+"Kernel SPI driver spi_bcm2835 is loaded and conflicts" rather than
+fight the kernel for the bus. Having both kernel and user-space SPI
+drivers installed otherwise leads to unexpected interactions and
+system instabilities.
 
 The supported boards are: 7I90HD.
 

docs/src/man/man9/hm2_spix.9.adoc

@@ -208,13 +208,27 @@ setting would be to set one step below the maximum speeds.
 
 == NOTES
 
-If you know your setup and do not require the spix_spidev driver, then
-it is *strongly* recommended that you unload/disable the kernel's SPI
-drivers *dw_spi* and *dw_spi_mmio* for the RPi5 or *spi_bmc2835* for the
-RPi3 and RPi4. The hm2_spix hardware drivers attempt to unload the
-kernel driver at startup if detected and restore it at exit if initially
-loaded. However, there are no guarantees about the effectiveness of the
-module unload/load actions.
+If you do not require the spix_spidev driver you must disable the
+kernel's SPI driver before *hm2_spix* will load. The conflicting module
+is *spi_bcm2835* on the RPi3 / RPi4 and *dw_spi_mmio* (with its
+dependency *dw_spi*) on the RPi5. The driver detects the kernel module
+at startup and refuses to load with "Kernel SPI driver ... is loaded
+and conflicts" rather than fight the kernel for the bus.
+
+To disable on RPi3 / RPi4, run *raspi-config* and pick
+Interface Options -> SPI -> Disable, then reboot.
+
+To disable on RPi5, blacklist both kernel modules. Create
+*/etc/modprobe.d/blacklist-linuxcnc.conf* containing:
+
+----
+blacklist dw_spi_mmio
+blacklist dw_spi
+----
+
+Then reboot. If either module is built-in to the kernel rather than
+loadable, use a kernel command-line override
+(*modprobe.blacklist=dw_spi_mmio,dw_spi* in `/boot/firmware/cmdline.txt`).
 
 *Warning*: having both kernel and user-space SPI drivers installed can
 result in unexpected interactions and system instabilities.

src/Makefile

@@ -57,7 +57,7 @@ endif
 ifeq ($(MAKECMDGOALS),)
 TRIVIAL_BUILD=no
 else
-ifeq ($(filter-out docclean clean setuid install tags swish,$(MAKECMDGOALS)),)
+ifeq ($(filter-out docclean clean setuid setcap install tags swish,$(MAKECMDGOALS)),)
 TRIVIAL_BUILD=yes
 else
 TRIVIAL_BUILD=no
@@ -140,7 +140,13 @@ ifeq ($(RUN_IN_PLACE),yes)
 ifneq ($(BUILD_SYS),uspace)
 	@if [ -f ../bin/linuxcnc_module_helper ]; then if ! [ `id -u` = 0 -a -O ../bin/linuxcnc_module_helper -a -u ../bin/linuxcnc_module_helper ]; then $(VECHO) "You now need to run 'sudo make setuid' in order to run in place."; fi; fi
 else
-	@if [ -f ../bin/rtapi_app ]; then if ! [ `id -u` = 0 -a -O  ../bin/rtapi_app -a -u ../bin/rtapi_app ]; then $(VECHO) "You now need to run 'sudo make setuid' in order to run in place with access to hardware."; fi; fi
+	@if [ -f ../bin/rtapi_app ]; then \
+	    if [ `id -u` = 0 -a -O ../bin/rtapi_app -a -u ../bin/rtapi_app ]; then :; \
+	    elif PATH="/sbin:/usr/sbin:$$PATH" command -v getcap >/dev/null 2>&1 \
+	         && [ -n "`PATH=/sbin:/usr/sbin:$$PATH getcap ../bin/rtapi_app 2>/dev/null`" ]; then :; \
+	    else $(VECHO) "You now need to run 'sudo make setuid' or 'sudo make setcap' in order to run in place with access to hardware."; \
+	    fi; \
+	fi
 endif
 endif
 
@@ -568,6 +574,25 @@ endif
 	chown root ../bin/linuxcnc_module_helper
 	chmod 4750 ../bin/linuxcnc_module_helper
 
+# File capabilities alternative to setuid (uspace only).
+# Grants rtapi_app the kernel privileges it needs without running as root:
+#   cap_ipc_lock   - mlock() for realtime memory
+#   cap_net_admin  - raw socket access for hm2_eth / iptables management
+#   cap_sys_rawio  - iopl() and /dev/mem for parallel port and PCI I/O
+#   cap_sys_nice   - SCHED_FIFO scheduling and CPU affinity
+# Linux capabilities are not inherited across exec(), so /sbin/iptables
+# launched from rtapi_app would run unprivileged.  rtapi_app raises
+# cap_net_admin into its ambient set at startup so it survives execve().
+# Clears any setuid bit left by a prior 'make setuid' so the two paths don't
+# silently stack.
+setcap:
+ifeq ($(BUILD_SYS),uspace)
+	chmod u-s ../bin/rtapi_app
+	setcap cap_ipc_lock,cap_net_admin,cap_sys_rawio,cap_sys_nice+ep ../bin/rtapi_app
+else
+	@echo "setcap target is only supported for uspace builds" >&2; exit 1
+endif
+
 # These rules allows a header file from this directory to be installed into
 # ../include.  A pair of rules like these will exist in the Submakefile
 # of each file that contains headers.
@@ -1022,7 +1047,6 @@ hm2_pci-objs  :=			  \
     $(MATHSTUB)
 hm2_eth-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_eth.o   \
-    hal/drivers/mesa-hostmot2/eshellf.o   \
     $(MATHSTUB)
 hm2_spi-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_spi.o   \
@@ -1031,15 +1055,15 @@ hm2_spi-objs  :=			  \
 hm2_rpspi-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_rpspi.o \
     hal/drivers/mesa-hostmot2/llio_info.o \
-    hal/drivers/mesa-hostmot2/eshellf.o   \
+    hal/drivers/mesa-hostmot2/kmod_check.o \
     $(MATHSTUB)
 hm2_spix-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_spix.o  \
     hal/drivers/mesa-hostmot2/spix_rpi5.o \
     hal/drivers/mesa-hostmot2/spix_rpi3.o \
     hal/drivers/mesa-hostmot2/spix_spidev.o \
     hal/drivers/mesa-hostmot2/llio_info.o \
-    hal/drivers/mesa-hostmot2/eshellf.o \
+    hal/drivers/mesa-hostmot2/kmod_check.o \
     $(MATHSTUB)
 hm2_modbus-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_modbus.o \

src/hal/drivers/hal_evoreg.c

@@ -66,20 +66,9 @@
 #include <rtapi_ctype.h>	/* isspace() */
 #include <rtapi.h>		/* RTAPI realtime OS API */
 #include <rtapi_app.h>		/* RTAPI realtime module decls */
+#include <rtapi_io.h>		/* rtapi_inb(), rtapi_outb() */
 #include <hal.h>		/* HAL public API decls */
 
-/* If FASTIO is defined, uses outb() and inb() from <asm.io>,
-   instead of rtapi_outb() and rtapi_inb() - the <asm.io> ones
-   are inlined, and save a microsecond or two (on my 233MHz box)
-*/
-#define FASTIO
-
-#ifdef FASTIO
-#define rtapi_inb inb
-#define rtapi_outb outb
-#include <asm/io.h>
-#endif
-
 /* module information */
 MODULE_AUTHOR("Martin Kuhnle");
 MODULE_DESCRIPTION("SIEMENS-EVOREG Driver for EMC HAL");