rthal5g-2.4.22.patch

rtai-3.1-test3的源代码(Real-Time Application Interface )

-/* how many counter cycles in a jiffy */
-static unsigned long cycles_per_jiffy;
-
 /* Cycle counter value at the previous timer interrupt.. */
 static unsigned int timerhi, timerlo;
 
@@ -90,6 +87,10 @@
  */
 static void null_timer_ack(void) { /* nothing */ }
 
+#ifdef CONFIG_RTHAL
+static volatile unsigned long rtai_count;
+#endif
+
 /*
  * Null high precision timer functions for systems lacking one.
  */
@@ -100,23 +101,43 @@
 
 static void null_hpt_init(unsigned int count) { /* nothing */ }
 
+/* how many counter cycles in a jiffy */
+unsigned long cycles_per_jiffy=0;
 
 /*
  * Timer ack for an R4k-compatible timer of a known frequency.
  */
 static void c0_timer_ack(void)
 {
-	unsigned int count;
-
+#ifndef CONFIG_RTHAL
+   unsigned int count;
+#endif   
 	/* Ack this timer interrupt and set the next one.  */
 	expirelo += cycles_per_jiffy;
 	write_c0_compare(expirelo);
 
 	/* Check to see if we have missed any timer interrupts.  */
-	count = read_c0_count();
-	if ((count - expirelo) < 0x7fffffff) {
+#ifdef CONFIG_RTHAL
+   rtai_count=
+#else
+     count=
+#endif     
+	read_c0_count();
+	if ((
+#ifdef CONFIG_RTHAL
+	     rtai_count
+#else
+	     count
+#endif
+	     - expirelo) < 0x7fffffff) {
 		/* missed_timer_count++; */
-		expirelo = count + cycles_per_jiffy;
+		expirelo = 
+#ifdef CONFIG_RTHAL
+	     rtai_count
+#else
+	     count
+#endif	     
+	     + cycles_per_jiffy;
 		write_c0_compare(expirelo);
 	}
 }
@@ -132,17 +153,28 @@
 /* For use solely as a high precision timer.  */
 static void c0_hpt_init(unsigned int count)
 {
+#ifdef CONFIG_RTHAL
+   extern struct rt_hal rthal;
+   
+   if (!rthal.rtai_active)
+#endif
+   
 	write_c0_count(read_c0_count() - count);
 }
 
 /* For use both as a high precision timer and an interrupt source.  */
 static void c0_hpt_timer_init(unsigned int count)
 {
-	count = read_c0_count() - count;
-	expirelo = (count / cycles_per_jiffy + 1) * cycles_per_jiffy;
-	write_c0_count(expirelo - cycles_per_jiffy);
-	write_c0_compare(expirelo);
-	write_c0_count(count);
+#ifdef CONFIG_RTHAL
+   extern struct rt_hal rthal;
+
+   if (rthal.rtai_active) return; //do nothing
+#endif
+   count = read_c0_count() - count;
+   expirelo = (count / cycles_per_jiffy + 1) * cycles_per_jiffy;
+   write_c0_count(expirelo - cycles_per_jiffy);
+   write_c0_compare(expirelo);
+   write_c0_count(count);
 }
 
 int (*mips_timer_state)(void);
@@ -202,7 +234,10 @@
 	time_maxerror = NTP_PHASE_LIMIT;
 	time_esterror = NTP_PHASE_LIMIT;
 
-	write_unlock_irq(&xtime_lock);
+   //steve here
+   rtc_set_time(xtime.tv_sec);
+   
+	write_unlock_irq (&xtime_lock);
 }
 
 
@@ -223,6 +258,17 @@
 	return 0;
 }
 
+/* usecs per counter cycle, shifted to left by 32 bits */
+static unsigned int sll32_usecs_per_cycle;
+
+/* Cycle counter value at the previous timer interrupt.. */
+static unsigned int timerhi, timerlo;
+
+/* expirelo is the count value for next CPU timer interrupt */
+static unsigned int expirelo;
+
+/* last time when xtime and rtc are sync'ed up */
+static long last_rtc_update;
 
 /* The function pointer to one of the gettimeoffset funcs.  */
 unsigned long (*do_gettimeoffset)(void) = null_gettimeoffset;
@@ -405,47 +451,63 @@
 #endif
 }
 
+static inline int 
+bit64_compare(unsigned hi1, unsigned lo1, unsigned hi2, unsigned lo2)
+{
+	if (hi1 == hi2) 
+		return lo1 - lo2;
+	else
+		return hi1 - hi2;
+}
+
 /*
  * High-level timer interrupt service routines.  This function
  * is set as irqaction->handler and is invoked through do_IRQ.
  */
 void timer_interrupt(int irq, void *dev_id, struct pt_regs *regs)
 {
-	unsigned long j;
-	unsigned int count;
-
-	count = mips_hpt_read();
-	mips_timer_ack();
-
-	/* Update timerhi/timerlo for intra-jiffy calibration. */
-	timerhi += count < timerlo;			/* Wrap around */
-	timerlo = count;
-
-	/*
-	 * call the generic timer interrupt handling
-	 */
-	do_timer(regs);
-
-	/*
-	 * If we have an externally synchronized Linux clock, then update
-	 * CMOS clock accordingly every ~11 minutes. rtc_set_time() has to be
-	 * called as close as possible to 500 ms before the new second starts.
-	 */
-	read_lock(&xtime_lock);
-	if ((time_status & STA_UNSYNC) == 0 &&
-	    xtime.tv_sec > last_rtc_update + 660 &&
-	    xtime.tv_usec >= 500000 - ((unsigned) tick) / 2 &&
-	    xtime.tv_usec <= 500000 + ((unsigned) tick) / 2) {
-		if (rtc_set_mmss(xtime.tv_sec) == 0) {
-			last_rtc_update = xtime.tv_sec;
-		} else {
-			/* do it again in 60 s */
-			last_rtc_update = xtime.tv_sec - 600;
-		}
-	}
-	read_unlock(&xtime_lock);
-
-	/*
+   unsigned long j;
+   unsigned int count = mips_hpt_read();
+#ifdef CONFIG_RTHAL
+   extern struct rt_hal rthal;
+   
+   if(!rthal.rtai_active)
+#endif     
+   mips_timer_ack();
+   
+   /* Update timerhi/timerlo for intra-jiffy calibration. */
+   timerhi += count < timerlo;                     /* Wrap around */
+   timerlo = count;
+   
+   /*
+    * call the generic timer interrupt handling
+    */
+   do_timer(regs);
+   
+   /*
+    * If we have an externally synchronized Linux clock, then update
+    * CMOS clock accordingly every ~11 minutes. rtc_set_time() has to be
+    * called as close as possible to 500 ms before the new second starts.
+    */
+   read_lock(&xtime_lock);
+   if ((time_status & STA_UNSYNC) == 0 &&
+       xtime.tv_sec > last_rtc_update + 660 &&
+       xtime.tv_usec >= 500000 - ((unsigned) tick) / 2 &&
+       xtime.tv_usec <= 500000 + ((unsigned) tick) / 2) 
+     {	
+	if (rtc_set_mmss(xtime.tv_sec) == 0) 
+	  {	     
+	     last_rtc_update = xtime.tv_sec;
+	  }
+	else 
+	  {	     
+	     /* do it again in 60 s */
+	     last_rtc_update = xtime.tv_sec - 600;
+	  }	
+     }   
+   read_unlock(&xtime_lock);
+   
+         /*
 	 * If jiffies has overflown in this timer_interrupt, we must
 	 * update the timer[hi]/[lo] to make fast gettimeoffset funcs
 	 * quotient calc still valid. -arca
@@ -486,46 +548,33 @@
 		}
 	}
 
+
 #if !defined(CONFIG_SMP)
+   /*
+    * In UP mode, we call local_timer_interrupt() to do profiling
+    * and process accouting.
+    *
+    * In SMP mode, local_timer_interrupt() is invoked by appropriate
+    * low-level local timer interrupt handler.
+    */
+   local_timer_interrupt(irq, dev_id, regs);
+   
+#else   /* CONFIG_SMP */
+   
+   if (emulate_local_timer_interrupt) 
+     {	
 	/*
-	 * In UP mode, we call local_timer_interrupt() to do profiling
+	 * this is the place where we send out inter-process
+	 * interrupts and let each CPU do its own profiling
 	 * and process accouting.
 	 *
-	 * In SMP mode, local_timer_interrupt() is invoked by appropriate
-	 * low-level local timer interrupt handler.
+	 * Obviously we need to call local_timer_interrupt() for
+	 * the current CPU too.
 	 */
-	local_timer_interrupt(irq, dev_id, regs);
-
-#else	/* CONFIG_SMP */
-
-	if (emulate_local_timer_interrupt) {
-		/*
-		 * this is the place where we send out inter-process
-		 * interrupts and let each CPU do its own profiling
-		 * and process accouting.
-		 *
-		 * Obviously we need to call local_timer_interrupt() for
-		 * the current CPU too.
-		 */
-		panic("Not implemented yet!!!");
-	}
-#endif	/* CONFIG_SMP */
-}
-
-asmlinkage void ll_timer_interrupt(int irq, struct pt_regs *regs)
-{
-	int cpu = smp_processor_id();
-
-	irq_enter(cpu, irq);
-	kstat.irqs[cpu][irq]++;
-
-	/* we keep interrupt disabled all the time */
-	timer_interrupt(irq, NULL, regs);
-
-	irq_exit(cpu, irq);
-
-	if (softirq_pending(cpu))
-		do_softirq();
+	panic("Not implemented yet!!!");
+     }
+   
+#endif  /* CONFIG_SMP */   
 }
 
 asmlinkage void ll_local_timer_interrupt(int irq, struct pt_regs *regs)
@@ -620,9 +669,6 @@
 	if (board_time_init)
 		board_time_init();
 
-	if (!rtc_set_mmss)
-		rtc_set_mmss = rtc_set_time;
-
 	xtime.tv_sec = rtc_get_time();
 	xtime.tv_usec = 0;
 
@@ -673,8 +719,7 @@
 		do_gettimeoffset = fixed_rate_gettimeoffset;
 
 		/* Calculate cache parameters.  */
-		cycles_per_jiffy = (mips_hpt_frequency + HZ / 2) / HZ;
-
+	   cycles_per_jiffy = (mips_hpt_frequency + HZ / 2) / HZ;
 		/* sll32_usecs_per_cycle = 10^6 * 2^32 / mips_counter_freq  */
 		do_div64_32(sll32_usecs_per_cycle,
 			    1000000, mips_hpt_frequency / 2,
@@ -755,6 +800,44 @@
 }
 
 EXPORT_SYMBOL(rtc_lock);
+
+#ifdef CONFIG_RTHAL
+
+void linux_mips_timer_intr(int irq, void *dev_id, struct pt_regs *regs)
+{   
+   extern struct rt_hal rthal;
+   
+   long flags;
+
+   save_and_cli(flags);
+   mips_timer_ack();
+   rthal.tsc.hltsc[1] += (rtai_count < rthal.tsc.hltsc[0]);
+   rthal.tsc.hltsc[0] = rtai_count;   
+   restore_flags(flags);
+   timer_interrupt(irq, dev_id, regs);
+}
+
+void linux_soft_mips_timer_intr(int irq, void *dev_id, struct pt_regs *regs)
+{   
+   extern struct rt_hal rthal;
+   unsigned long count;
+   long flags;
+
+   hard_save_flags_and_cli(flags);
+   expirelo += cycles_per_jiffy;
+   count = read_c0_count();
+
+   if ((count - expirelo) < 0x7fffffff) {
+      expirelo = count + cycles_per_jiffy;
+   }
+   
+   rthal.tsc.hltsc[1] += (count < rthal.tsc.hltsc[0]);
+   rthal.tsc.hltsc[0] = count;
+   hard_restore_flags(flags);
+   timer_interrupt(irq, dev_id, regs);
+}
+#endif //CONFIG_RTHAL
+
 EXPORT_SYMBOL(to_tm);
 EXPORT_SYMBOL(rtc_set_time);
 EXPORT_SYMBOL(rtc_get_time);
diff -Nur -X dontdiff.dat linux-2.4.22.orig/arch/mips/mm/pg-r4k.S linux-2.4.22/arch/mips/mm/pg-r4k.S
--- linux-2.4.22.orig/arch/mips/mm/pg-r4k.S	2003-08-27 16:14:29.000000000 -0700
+++ linux-2.4.22/arch/mips/mm/pg-r4k.S	2003-08-27 09:20:32.000000000 -0700
@@ -166,6 +166,7 @@
 
 LEAF(r4k_clear_page_r4600_v2)
 	.set	mips3
+#ifndef CONFIG_RTHAL
 	mfc0	a1, CP0_STATUS
 	ori	AT, a1, 1
 	xori	AT, 1
@@ -173,7 +174,13 @@
 	nop
 	nop
 	nop
-
+#else
+     	lw	a1, (rthal + 36) //cli
+	nop
+	jalr	a1
+	nop
+	move	a1, v0
+#endif
 	.set	volatile
 	la	AT, KSEG1
 	lw	zero, (AT)
@@ -193,6 +200,7 @@
 	sd	zero, -8(a0)
 	bne	AT, a0, 1b
 
+#ifndef CONFIG_RTHAL
 	mfc0	AT, CP0_STATUS			# __restore_flags
 	andi	a1, 1
 	ori	AT, 1
@@ -202,7 +210,13 @@
 	nop
 	nop
 	nop
-
+#else
+     	move	a0, a1
+	lw	a1, (rthal + 32) //setflags
+	nop
+	jalr	a1
+	nop
+#endif
 	jr	ra
 	END(r4k_clear_page_r4600_v2)
 
@@ -469,6 +483,7 @@
 
 LEAF(r4k_copy_page_r4600_v2)
 	.set	mips3
+#ifndef CONFIG_RTHAL
 	mfc0	v1, CP0_STATUS
 	ori	AT, v1, 1
 	xori	AT, 1
@@ -477,7 +492,13 @@
 	nop
 	nop
 	nop
-
+#else
+     	lw	a1, (rthal + 36) //cli
+	nop
+	jalr	a1
+	nop
+	move	v1, v0
+#endif
 	addiu	AT, a0, _PAGE_SIZE
 1:	nop
 	nop
@@ -525,6 +546,7 @@
 	sw	a2, -4(a0)
 	bne	AT, a0, 1b
 
+#ifndef CONFIG_RTHAL
 	mfc0	AT, CP0_STATUS			# __restore_flags
 	andi	v1, 1
 	ori	AT, 1
@@ -534,6 +556,13 @@
 	nop
 	nop
 	nop
+#else
+     	move	a0, v1
+	lw	a1, (rthal + 32) //setflags
+	nop
+	jalr	a1
+	nop     	
+#endif
 	jr	ra
 	END(r4k_copy_page_r4600_v2)
 
diff -Nur -X dontdiff.dat linux-2.4.22.orig/arch/mips/mm/tlb-r4k.c linux-2.4.22/arch/mips/mm/tlb-r4k.c
--- linux-2.4.22.orig/arch/mips/mm/tlb-r4k.c	2003-08-27 16:14:29.000000000 -0700
+++ linux-2.4.22/arch/mips/mm/tlb-r4k.c	2003-08-27 07:24:03.000000000 -0700
@@ -24,6 +24,22 @@
 #include <asm/pgtable.h>
 #include <asm/system.h>
 
+#ifdef CONFIG_RTHAL
+#if 1
+/*
+ * You may likely need this for your board...
+ * Sucks that this eats away at some RTAI performance, too. :(
+ * 
+ * (then again, it beats crashing) -- don't forget include/asm/mmu_context.h
+ */
+
+#undef local_irq_save
+#undef local_irq_restore
+#define IRQ_SAFE_TLB
+#define local_irq_save(x) hard_save_flags_and_cli(x)
+#define local_irq_restore(x) hard_restore_flags(x)
+#endif
+#endif
 #undef DEBUG_TLB
 #undef DEBUG_TLBUPDATE
 
@@ -41,7 +57,7 @@
 	int entry;
 
 #ifdef DEBUG_TLB
-	printk("[tlball]");
+	printk("[tlball]\n");
 #endif
 
 	local_irq_save(flags);
@@ -77,7 +93,7 @@
 
 	if (cpu_context(cpu, mm) != 0) {
 #ifdef DEBUG_TLB
-		printk("[tlbmm<%d>]", cpu_context(cpu, mm));
+		printk("[tlbmm<%d>]\n", cpu_context(cpu, mm));
 #endif