patch-2.4.19-rmk-arm-rthal5

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

diff -urNp --exclude=CVS linux-2.4.19-rmk7-tux1/Makefile linux-2.4.19-rmk7-tux1-rthal/Makefile
--- linux-2.4.19-rmk7-tux1/Makefile	Wed Jul  9 20:15:29 2003
+++ linux-2.4.19-rmk7-tux1-rthal/Makefile	Wed Dec 17 12:55:36 2003
@@ -1,7 +1,7 @@
 VERSION = 2
 PATCHLEVEL = 4
 SUBLEVEL = 19
-EXTRAVERSION = -rmk7
+EXTRAVERSION = -rmk7-rthal5
 
 KERNELRELEASE=$(VERSION).$(PATCHLEVEL).$(SUBLEVEL)$(EXTRAVERSION)
 
diff -urNp --exclude=CVS linux-2.4.19-rmk7-tux1/arch/arm/config.in linux-2.4.19-rmk7-tux1-rthal/arch/arm/config.in
--- linux-2.4.19-rmk7-tux1/arch/arm/config.in	Wed Jul  9 20:15:29 2003
+++ linux-2.4.19-rmk7-tux1-rthal/arch/arm/config.in	Wed Dec 17 12:55:36 2003
@@ -467,6 +467,7 @@ if [ "$CONFIG_ARCH_SA1100" = "y" -o \
 fi
 
 source drivers/pci/Config.in
+bool 'RTAI Realtime Hardware abstraction Layer' CONFIG_RTHAL
 bool 'Support for hot-pluggable devices' CONFIG_HOTPLUG
 if [ "$CONFIG_HOTPLUG" = "y" ]; then
    source drivers/pcmcia/Config.in
diff -urNp --exclude=CVS linux-2.4.19-rmk7-tux1/arch/arm/defconfig linux-2.4.19-rmk7-tux1-rthal/arch/arm/defconfig
--- linux-2.4.19-rmk7-tux1/arch/arm/defconfig	Mon Nov 26 00:12:57 2001
+++ linux-2.4.19-rmk7-tux1-rthal/arch/arm/defconfig	Wed Dec 17 12:55:36 2003
@@ -74,6 +74,7 @@ CONFIG_PCI=y
 # CONFIG_ISA is not set
 # CONFIG_ISA_DMA is not set
 CONFIG_PCI_NAMES=y
+# CONFIG_RTHAL is not set
 # CONFIG_HOTPLUG is not set
 # CONFIG_PCMCIA is not set
 CONFIG_NET=y
diff -urNp --exclude=CVS linux-2.4.19-rmk7-tux1/arch/arm/kernel/armksyms.c linux-2.4.19-rmk7-tux1-rthal/arch/arm/kernel/armksyms.c
--- linux-2.4.19-rmk7-tux1/arch/arm/kernel/armksyms.c	Thu Jun 19 10:54:30 2003
+++ linux-2.4.19-rmk7-tux1-rthal/arch/arm/kernel/armksyms.c	Wed Dec 17 12:55:36 2003
@@ -20,6 +20,10 @@
 #include <linux/interrupt.h>
 #include <linux/pm.h>
 #include <linux/vt_kern.h>
+#ifdef CONFIG_RTHAL
+#include <linux/console.h>
+#include <linux/sched.h>
+#endif
 
 #include <asm/byteorder.h>
 #include <asm/elf.h>
@@ -105,6 +109,10 @@ EXPORT_SYMBOL(kd_mksound);
 
 EXPORT_SYMBOL_NOVERS(__do_softirq);
 
+#ifdef CONFIG_RTHAL
+EXPORT_SYMBOL(console_drivers);
+#endif
+
 	/* platform dependent support */
 EXPORT_SYMBOL(dump_thread);
 EXPORT_SYMBOL(dump_fpu);
@@ -252,10 +260,13 @@ EXPORT_SYMBOL(elf_platform);
 EXPORT_SYMBOL(elf_hwcap);
 
 	/* syscalls */
+#ifndef CONFIG_RTHAL
+/* exported elsewhere when CONFIG_RTHAL is on */
 EXPORT_SYMBOL(sys_write);
 EXPORT_SYMBOL(sys_read);
-EXPORT_SYMBOL(sys_lseek);
 EXPORT_SYMBOL(sys_open);
+#endif
+EXPORT_SYMBOL(sys_lseek);
 EXPORT_SYMBOL(sys_exit);
 EXPORT_SYMBOL(sys_wait4);
 
@@ -266,3 +277,11 @@ EXPORT_SYMBOL_NOVERS(__down_trylock_fail
 EXPORT_SYMBOL_NOVERS(__up_wakeup);
 
 EXPORT_SYMBOL(get_wchan);
+
+	/* RTAI */
+#ifdef CONFIG_RTHAL
+extern struct irqdesc irq_desc[NR_IRQS];
+EXPORT_SYMBOL(rthal);
+EXPORT_SYMBOL(irq_desc); 
+EXPORT_SYMBOL(do_timer);
+#endif
diff -urNp --exclude=CVS linux-2.4.19-rmk7-tux1/arch/arm/kernel/entry-armv.S linux-2.4.19-rmk7-tux1-rthal/arch/arm/kernel/entry-armv.S
--- linux-2.4.19-rmk7-tux1/arch/arm/kernel/entry-armv.S	Thu Jun 19 10:54:30 2003
+++ linux-2.4.19-rmk7-tux1-rthal/arch/arm/kernel/entry-armv.S	Thu Dec 25 23:59:08 2003
@@ -380,6 +380,11 @@ ENTRY(soft_irq_mask)
 		ands	\irqstat, \irqstat, \irqnr
 		mov	\irqnr, #0
 		beq	1001f
+#ifdef CONFIG_RTHAL
+		tst	\irqstat, #0x04000000	@ check OSMR0 first
+		movne	\irqnr, #26
+		bne	1001f
+#endif
 		tst	\irqstat, #0xff
 		moveq	\irqstat, \irqstat, lsr #8
 		addeq	\irqnr, \irqnr, #8
@@ -690,9 +695,8 @@ __dabt_svc:	sub	sp, sp, #S_FRAME_SIZE
 		msr	cpsr_c, r9
 		mov	r2, sp
 		bl	SYMBOL_NAME(do_DataAbort)
-		mov	r0, #I_BIT | MODE_SVC
-		msr	cpsr_c, r0
-		ldr	r0, [sp, #S_PSR]
+		disable_irq r0				@ Yes, this disables interrupts - for
+		ldr	r0, [sp, #S_PSR]		@ the next 2 instructions. Safe.
 		msr	spsr, r0
 		ldmia	sp, {r0 - pc}^			@ load r0 - pc, cpsr
 
@@ -711,7 +715,12 @@ __irq_svc:	sub	sp, sp, #S_FRAME_SIZE
 		@ routine called with r0 = irq number, r1 = struct pt_regs *
 		@
 		adrsvc	ne, lr, 1b
+#ifndef CONFIG_RTHAL
 		bne	asm_do_IRQ
+#else
+		ldrne	r7, .rthal			@ load pointer rthal
+		ldrne	pc, [r7, #0]			@ branch to rthal.do_IRQ (1st in RTHAL)
+#endif
 		ldr	r0, [sp, #S_PSR]		@ irqs are already disabled
 		msr	spsr, r0
 		ldmia	sp, {r0 - pc}^			@ load r0 - pc, cpsr
@@ -728,6 +737,19 @@ __und_svc:	sub	sp, sp, #S_FRAME_SIZE
 		add	r4, sp, #S_SP
 		stmia	r4, {r5 - r9}			@ save sp_SVC, lr_SVC, pc, cpsr, old_ro
 
+#ifdef CONFIG_RTHAL
+		ldr	r7, .rthal			@ load pointer rthal
+		ldr	r7, [r7, #8]			@ load pointer rthal.do_TRAP (3rd in RTHAL)
+		cmp	r7, #0
+		beq	2f
+		mov	r0, #4				@ SIGILL
+		mov	r1, sp				@ struct pt_regs *regs
+		mov	lr, pc
+		mov	pc, r7				@ check, if this is a relevant code
+		cmp	r0, #0				@ check return value
+		beq	1f				@ else let linux do what it has to do
+2:		
+#endif
 		adrsvc	al, r9, 1f			@ r9  = normal FP return
 		bl	call_fpe			@ lr  = undefined instr return
 
@@ -735,8 +757,7 @@ __und_svc:	sub	sp, sp, #S_FRAME_SIZE
 		mov	r1, sp				@ struct pt_regs *regs
 		bl	SYMBOL_NAME(do_undefinstr)
 
-1:		mov	r0, #I_BIT | MODE_SVC
-		msr	cpsr_c, r0
+1:		disable_irq r0
 		ldr	lr, [sp, #S_PSR]		@ Get SVC cpsr
 		msr	spsr, lr
 		ldmia	sp, {r0 - pc}^			@ Restore SVC registers
@@ -757,8 +778,7 @@ __pabt_svc:	sub	sp, sp, #S_FRAME_SIZE
 		mov	r0, r2				@ address (pc)
 		mov	r1, sp				@ regs
 		bl	SYMBOL_NAME(do_PrefetchAbort)	@ call abort handler
-		mov	r0, #I_BIT | MODE_SVC
-		msr	cpsr_c, r0
+		disable_irq r0
 		ldr	r0, [sp, #S_PSR]
 		msr	spsr, r0
 		ldmia	sp, {r0 - pc}^			@ load r0 - pc, cpsr
@@ -770,6 +790,9 @@ __pabt_svc:	sub	sp, sp, #S_FRAME_SIZE
 #ifdef MULTI_CPU
 .LCprocfns:	.word	SYMBOL_NAME(processor)
 #endif
+#ifdef CONFIG_RTHAL
+.rthal:		.word	SYMBOL_NAME(rthal)
+#endif
 .LCfp:		.word	SYMBOL_NAME(fp_enter)
 
 		irq_prio_table
@@ -795,8 +818,7 @@ __dabt_usr:	sub	sp, sp, #S_FRAME_SIZE		@
 #else
 		bl	cpu_data_abort
 #endif
-		mov	r2, #MODE_SVC
-		msr	cpsr_c, r2			@ Enable interrupts
+		enable_irq r2				@ Enable interrupts
 		mov	r2, sp
 		adrsvc	al, lr, ret_from_exception
 		b	SYMBOL_NAME(do_DataAbort)
@@ -817,7 +839,13 @@ __irq_usr:	sub	sp, sp, #S_FRAME_SIZE
 		@
 		@ routine called with r0 = irq number, r1 = struct pt_regs *
 		@
+#ifndef CONFIG_RTHAL
 		bne	asm_do_IRQ
+#else
+		ldrne	r7, .rthal			@ load pointer rthal
+		ldrne	pc, [r7, #0]			@ branch to rthal.do_IRQ (1st in RTHAL)
+		disable_irq r7				@ we do not disable IRQs in dispatch_irq - do it here
+#endif
 		mov	why, #0
 		get_current_task tsk
 		b	ret_to_user
@@ -846,8 +874,7 @@ call_fpe:	get_current_task r10
 		add	r10, r10, #TSS_FPESAVE		@ r10 = workspace
 		ldr	pc, [r4]			@ Call FP module USR entry point
 
-fpundefinstr:	mov	r0, #MODE_SVC
-		msr	cpsr_c, r0			@ Enable interrupts
+fpundefinstr:	enable_irq r0				@ Enable interrupts
 		mov	r0, lr
 		mov	r1, sp
 		adrsvc	al, lr, ret_from_exception
@@ -863,8 +890,7 @@ __pabt_usr:	sub	sp, sp, #S_FRAME_SIZE		@
 		stmdb	r8, {sp, lr}^			@ Save sp_usr lr_usr
 		alignment_trap r4, r7, __temp_abt
 		zero_fp
-		mov	r0, #MODE_SVC
-		msr	cpsr_c, r0			@ Enable interrupts
+		enable_irq r0				@ Enable interrupts
 		mov	r0, r5				@ address (pc)
 		mov	r1, sp				@ regs
 		bl	SYMBOL_NAME(do_PrefetchAbort)	@ call abort handler
diff -urNp --exclude=CVS linux-2.4.19-rmk7-tux1/arch/arm/kernel/entry-common.S linux-2.4.19-rmk7-tux1-rthal/arch/arm/kernel/entry-common.S
--- linux-2.4.19-rmk7-tux1/arch/arm/kernel/entry-common.S	Thu Jun 19 10:54:30 2003
+++ linux-2.4.19-rmk7-tux1-rthal/arch/arm/kernel/entry-common.S	Wed Dec 17 12:55:36 2003
@@ -53,7 +53,11 @@ slow:	str	r0, [sp, #S_R0+S_OFF]!	@ retur
  * "slow" syscall return path.  "why" tells us if this was a real syscall.
  */
 reschedule:
+#ifndef CONFIG_RTHAL
 	bl	SYMBOL_NAME(schedule)
+#else
+	bl	SYMBOL_NAME(rt_wrap_schedule)
+#endif
 ret_disable_irq:
 	disable_irq r1				@ ensure IRQs are disabled
 ENTRY(ret_to_user)
@@ -72,7 +76,11 @@ __do_signal:
 	mov	r0, #0				@ NULL 'oldset'
 	mov	r1, sp				@ 'regs'
 	mov	r2, why				@ 'syscall'
+#ifndef CONFIG_RTHAL
 	bl	SYMBOL_NAME(do_signal)		@ note the bl above sets lr
+#else
+	bl	SYMBOL_NAME(rt_wrap_do_signal)		@ note the bl above sets lr
+#endif
 	disable_irq r1				@ ensure IRQs are disabled
 	b	restore
 
@@ -90,7 +98,11 @@ ENTRY(ret_from_fork)
 	beq	ret_disable_irq
 	mov	r1, sp
 	mov	r0, #1				@ trace exit [IP = 1]
+#ifndef CONFIG_RTHAL
 	bl	SYMBOL_NAME(syscall_trace)
+#else
+	bl	SYMBOL_NAME(rt_wrap_syscall_trace)
+#endif
 	b	ret_disable_irq
 	
 
@@ -145,6 +157,11 @@ ENTRY(vector_swi)
 	get_current_task tsk
 	ldr	ip, [tsk, #TSK_PTRACE]		@ check for syscall tracing
 	bic	scno, scno, #0xff000000		@ mask off SWI op-code
+#ifdef CONFIG_RTHAL
+	ldr	tbl, .rtai_magic		@ check for RTAI SRQ
+	cmp	scno, tbl			@ (use tbl for scratch)
+	beq	4f
+#endif
 	eor	scno, scno, #OS_NUMBER << 20	@ check OS number
 	adr	tbl, sys_call_table		@ load syscall table pointer
 	tst	ip, #PT_TRACESYS		@ are we tracing syscalls?
@@ -160,6 +177,20 @@ ENTRY(vector_swi)
 	eor	r0, scno, #OS_NUMBER << 20	@ put OS number back
 	bcs	SYMBOL_NAME(arm_syscall)	
 	b	SYMBOL_NAME(sys_ni_syscall)	@ not private func
+
+#ifdef CONFIG_RTHAL
+4:	ldr	r7, .rthal		@ load pointer to rthal
+	ldr	r7, [r7, #4]		@ load pointer to do_SRQ, [rthal+4]
+	cmp	r7, #0
+	movne	lr, pc                  @ call ...
+	movne	pc, r7			@ ... if available
+	str	r0, [sp, #S_R0 + S_OFF]	@ save returned r0
+	str	r1, [sp, #S_R1 + S_OFF]	@ save returned r1
+	add	sp, sp, #S_OFF		@ hmm, leave anyway
+	b	restore
+.rtai_magic:	.word	0x404404		@ RTAI SRQ MAGIC
+.rthal:		.word	SYMBOL_NAME(rthal)	@ RTHAL
+#endif
 
 	/*
 	 * This is the really slow path.  We're going to be doing
diff -urNp --exclude=CVS linux-2.4.19-rmk7-tux1/arch/arm/kernel/irq.c linux-2.4.19-rmk7-tux1-rthal/arch/arm/kernel/irq.c
--- linux-2.4.19-rmk7-tux1/arch/arm/kernel/irq.c	Fri Dec 26 00:08:54 2003
+++ linux-2.4.19-rmk7-tux1-rthal/arch/arm/kernel/irq.c	Fri Dec 26 00:45:57 2003
@@ -674,3 +674,181 @@ void __init init_IRQ(void)
 	init_arch_irq();
 	init_dma();
 }
+
+#ifdef CONFIG_RTHAL
+/*
+ * RTAI
+ * This is the most appropriate place to setup rthal.
+ */
+static void linux_cli(void)
+{
+	hard_local_irq_disable();
+}
+
+static void linux_sti(void)
+{
+	hard_local_irq_enable();
+}
+
+static unsigned int linux_save_flags(void)
+{
+	int flags;
+	hard_local_save_flags(flags);
+	return flags;
+}
+
+static unsigned int linux_save_flags_cli(void)
+{
+	int flags;
+	hard_local_irq_save(flags);
+	return flags;
+}
+
+static void linux_restore_flags(unsigned int flags)
+{
+	hard_local_irq_restore(flags);
+}
+
+static void linux_fcli(void)
+{
+	hard_clf();
+}
+
+static void linux_fsti(void)
+{
+	hard_stf();
+}
+
+volatile struct rt_hal rthal = {
+	.do_IRQ			= asm_do_IRQ,	/* irq-dispatcher */
+	.do_SRQ			= NULL,		/* srq-dispatcher */
+	.do_TRAP		= NULL,		/* trap-handler */
+	.disint			= linux_cli,
+	.enint			= linux_sti,
+	.getflags		= linux_save_flags,
+	.setflags		= linux_restore_flags,
+	.getflags_and_cli	= linux_save_flags_cli,
+	.fdisint		= linux_fcli,
+	.fenint			= linux_fsti,
+	.copy_back		= NULL, /* copy linux-flags back, don't deliver pending interrupts */
+	.c_do_IRQ		= do_IRQ,
+};
+
+/* Wrappers for entry-common.S
+ * Assumption: the only exceptions, allowed in rt-context,
+ * are interrupts and traps (e.g. floating point emulation),
+ * which are processed accordingly. All the rest can happen
+ * only in Linux. Which means, that interrupts before the
+ * exception were hard-enabled, the state of soft I-bit is
+ * unknown.
+ * Concept - all these wrappers are called on the path:
+ * - exception
+ *   (possibly, enable interrupts)
+ * - call a Linux C-function, which might schedule, sleep,
+ *   change interrupt-status
+ * - return to asm
+ *   (possibly, change interupt status)
+ * - switch back to where exception occured
+ * So, the wrappers do:
+ * - modify Linux I-bit according to the current hard I-bit
+ * - hard enable interrupts
+ * - call the wrapped function
+ * - save the current Linux I-bit to the hard I-bit
+ * - restore Linux I-bit state from before-wrapping
+ *   (emulate return from exception)
+ */
+