Mesa Hostmot2 Xenomai4 OOB networking support

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

@@ -7,13 +7,17 @@ IO boards, with HostMot2 firmware.
 
 == SYNOPSIS
 
-*loadrt hm2_eth* [**config=**"__str__[,__str__...]"] [**board_ip=**__ip__[,__ip__...] ] [**board_mac=**__mac__[,__mac__...] ] [**firewall=**__auto|iptables|nft|none__]
+*loadrt hm2_eth* [**config=**"__str__[,__str__...]"] [**board_ip=**__ip__[,__ip__...] ] [**board_rtnet=**__posix|evl__[,__posix|evl__...] ]  [**board_mac=**__mac__[,__mac__...] ] [**firewall=**__auto|iptables|nft|none__]
 
 *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.
+*board_rtnet* [default: posix]::
+  The real time ethernet implementation of the board(s), separated by
+  commas. Use *posix* for PREEMT_RT. Use *evl* if you are running a
+  Xenomai4 EVL kernel and have a supported network card.
 *firewall* [default: auto]::
   Selects the firewall backend used to isolate the dedicated interface.
   By default hm2_eth installs the rules itself; rtapi_app raises
@@ -124,6 +128,8 @@ hm2___<BoardType>__.__<BoardNum>__.packet-error-level (s32, out)::
   The error level is always in the range from 0 to packet-error-limit, inclusive.
 hm2___<BoardType>__.__<BoardNum>__.packet-error-exceeded (bit, out)::
   This pin is TRUE when the current error level is equal to the maximum, and FALSE at other times.
+hm2___<BoardType>__.__<BoardNum>__.packet-error-total (u32, io)::
+  This pin shows the total package error count.
 
 == PARAMETERS
 
@@ -150,6 +156,16 @@ hm2___<BoardType>__.__<BoardNum>__.packet-read-timeout (s32, rw)::
 Setting this value too low can cause spurious read errors.
 Setting it too high can cause realtime delay errors.
 
+== FUNCTIONS
+
+hm2_eth.realtime-init::
+  Realtime initialization function. This function initializes the realtime
+  ethernet for *evl*. With *posix*, this function is not needed.
+  It needs to be called once at startup using:
+....
+initf hm2_eth.realtime-init servo-thread
+....
+
 == NOTES
 
 hm2_eth installs firewall rules to control the network interface while

src/Makefile

@@ -1049,7 +1049,11 @@ hm2_pci-objs  :=			  \
     $(MATHSTUB)
 hm2_eth-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_eth.o   \
-    $(MATHSTUB)
+    hal/drivers/mesa-hostmot2/hm2_eth_net_posix.o
+ifeq ($(CONFIG_USPACE_XENOMAI_EVL),y)
+hm2_eth-objs  += hal/drivers/mesa-hostmot2/hm2_eth_net_evl.o
+endif
+hm2_eth-objs  += $(MATHSTUB)
 hm2_spi-objs  :=			  \
     hal/drivers/mesa-hostmot2/hm2_spi.o   \
     hal/drivers/mesa-hostmot2/llio_info.o \
@@ -1286,7 +1290,7 @@ modules: $(patsubst %.o,../rtlib/%.so,$(obj-m))
 	$(Q)objdump -w -j .rtapi_export -t objects/$*.tmp \
 	| awk 'BEGIN{print "{ global :"} /rtapi_exported_/{printf("%s;\n", substr($$6,16))} END{print "local : * ; };"}' \
 	> objects/$*.ver
-	$(Q)$(CC) -shared -Bsymbolic -Wl,--version-script,objects/$*.ver -o $@ $^ -lm $(LDFLAGS)
+	$(Q)$(CC) -shared -Bsymbolic -Wl,--version-script,objects/$*.ver -o $@ $^ -lm $(XENOMAI_EVL_LDFLAGS) $(LDFLAGS)
 	$(Q)chmod -x $@
 
 RTFLAGS += -fno-strict-aliasing -fwrapv
@@ -1297,7 +1301,7 @@ $(sort $(filter-out objects/rtemc/tp/cruckig/%,$(RTOBJS))) : objects/rt%.o : %.c
 	@rm -f $@
 	@mkdir -p $(dir $@)
 	$(Q)$(CC) -c $(OPT) $(DEBUG) $(EXTRA_DEBUG) -DRTAPI \
-		$(EXTRA_CFLAGS) \
+		$(EXTRA_CFLAGS) $(XENOMAI_EVL_CFLAGS) \
 		-MP -MD -MF "${@:.o=.d}" -MT "$@" \
 		$< -o $@
 

src/configure.ac

@@ -264,7 +264,7 @@ if test "$RTS" = uspace || test -z "$RTS" -a "$RTAI_CONFIG" = "none" ; then
     CONFIG_USPACE_XENOMAI_EVL=y
     XENOMAI_EVL_CFLAGS=
     XENOMAI_EVL_LDFLAGS=-levl
-    AC_DEFINE([USPACE_XENOMAI_EVL], [], [Define if uspace realtime should optionally support Xenomai-evl])
+    AC_DEFINE([USPACE_XENOMAI_EVL], [], [Define if uspace realtime should optionally support Xenomai EVL])
   fi
 
   AC_SUBST([CONFIG_USPACE_XENOMAI_EVL])