hal5-2.6.5.patch

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

diff -uNrp linux-2.6.5/Documentation/adeos.txt linux-2.6.5-adeos/Documentation/adeos.txt
--- linux-2.6.5/Documentation/adeos.txt	1970-01-01 01:00:00.000000000 +0100
+++ linux-2.6.5-adeos/Documentation/adeos.txt	2004-05-27 18:59:35.000000000 +0200
@@ -0,0 +1,176 @@
+
+The Adeos nanokernel is based on research and publications made in the
+early '90s on the subject of nanokernels. Our basic method was to
+reverse the approach described in most of the papers on the subject.
+Instead of first building the nanokernel and then building the client
+OSes, we started from a live and known-to-be-functional OS, Linux, and
+inserted a nanokernel beneath it. Starting from Adeos, other client
+OSes can now be put side-by-side with the Linux kernel.
+
+To this end, Adeos enables multiple domains to exist simultaneously on
+the same hardware. None of these domains see each other, but all of
+them see Adeos. A domain is most probably a complete OS, but there is
+no assumption being made regarding the sophistication of what's in
+a domain.
+
+To share the hardware among the different OSes, Adeos implements an
+interrupt pipeline (ipipe). Every OS domain has an entry in the ipipe.
+Each interrupt that comes in the ipipe is passed on to every domain
+in the ipipe. Instead of disabling/enabling interrupts, each domain
+in the pipeline only needs to stall/unstall his pipeline stage. If
+an ipipe stage is stalled, then the interrupts do not progress in the
+ipipe until that stage has been unstalled. Each stage of the ipipe
+can, of course, decide to do a number of things with an interrupt.
+Among other things, it can decide that it's the last recipient of the
+interrupt. In that case, the ipipe does not propagate the interrupt
+to the rest of the domains in the ipipe.
+
+Regardless of the operations being done in the ipipe, the Adeos code
+does __not__ play with the interrupt masks. The only case where the
+hardware masks are altered is during the addition/removal of a domain
+from the ipipe. This also means that no OS is allowed to use the real
+hardware cli/sti. But this is OK, since the stall/unstall calls
+achieve the same functionality.
+
+Our approach is based on the following papers (links to these
+papers are provided at the bottom of this message):
+[1] D. Probert, J. Bruno, and M. Karzaorman. "Space: a new approach to
+operating system abstraction." In: International Workshop on Object
+Orientation in Operating Systems, pages 133-137, October 1991.
+[2] D. Probert, J. Bruno. "Building fundamentally extensible application-
+specific operating systems in Space", March 1995.
+[3] D. Cheriton, K. Duda. "A caching model of operating system kernel
+functionality". In: Proc. Symp. on Operating Systems Design and
+Implementation, pages 179-194, Monterey CA (USA), 1994.
+[4] D. Engler, M. Kaashoek, and J. O'Toole Jr. "Exokernel: an operating
+system architecture for application-specific resource management",
+December 1995.
+
+If you don't want to go fetch the complete papers, here's a summary.
+The first 2 discuss the Space nanokernel, the 3rd discussed the cache
+nanokernel, and the last discusses exokernel.
+
+The complete Adeos approach has been thoroughly documented in a whitepaper
+published more than a year ago entitled "Adaptive Domain Environment
+for Operating Systems" and available here: http://www.opersys.com/adeos
+The current implementation is slightly different. Mainly, we do not
+implement the functionality to move Linux out of ring 0. Although of
+interest, this approach is not very portable.
+
+Instead, our patch taps right into Linux's main source of control
+over the hardware, the interrupt dispatching code, and inserts an
+interrupt pipeline which can then serve all the nanokernel's clients,
+including Linux.
+
+This is not a novelty in itself. Other OSes have been modified in such
+a way for a wide range of purposes. One of the most interesting
+examples is described by Stodolsky, Chen, and Bershad in a paper
+entitled "Fast Interrupt Priority Management in Operating System
+Kernels" published in 1993 as part of the Usenix Microkernels and
+Other Kernel Architectures Symposium. In that case, cli/sti were
+replaced by virtual cli/sti which did not modify the real interrupt
+mask in any way. Instead, interrupts were defered and delivered to
+the OS upon a call to the virtualized sti.
+
+Mainly, this resulted in increased performance for the OS. Although
+we haven't done any measurements on Linux's interrupt handling
+performance with Adeos, our nanokernel includes by definition the
+code implementing the technique described in the abovementioned
+Stodolsky paper, which we use to redirect the hardware interrupt flow
+to the pipeline.
+
+i386 and armnommu are currently supported. Most of the
+architecture-dependent code is easily portable to other architectures.
+
+Aside of adding the Adeos module (driver/adeos), we also modified some
+files to tap into Linux interrupt and system event dispatching (all
+the modifications are encapsulated in #ifdef CONFIG_ADEOS_*/#endif).
+
+We modified the idle task so it gives control back to Adeos in order for
+the ipipe to continue propagation.
+
+We modified init/main.c to initialize Adeos very early in the startup.
+
+Of course, we also added the appropriate makefile modifications and
+config options so that you can choose to enable/disable Adeos as
+part of the kernel build configuration.
+
+Adeos' public API is fully documented here:
+http://www.freesoftware.fsf.org/adeos/doc/api/index.html.
+
+In Linux's case, adeos_register_domain() is called very early during
+system startup.
+
+To add your domain to the ipipe, you need to:
+1) Register your domain with Adeos using adeos_register_domain()
+2) Call adeos_virtualize_irq() for all the IRQs you wish to be
+notified about in the ipipe.
+
+That's it. Provided you gave Adeos appropriate handlers in step
+#2, your interrupts will be delivered via the ipipe.
+
+During runtime, you may change your position in the ipipe using
+adeos_renice_domain(). You may also stall/unstall the pipeline
+and change the ipipe's handling of the interrupts according to your
+needs.
+
+Adeos supports SMP, and APIC support on UP.
+
+Here are some of the possible uses for Adeos (this list is far
+from complete):
+1) Much like User-Mode Linux, it should now be possible to have 2
+Linux kernels living side-by-side on the same hardware. In contrast
+to UML, this would not be 2 kernels one ontop of the other, but
+really side-by-side. Since Linux can be told at boot time to use
+only one portion of the available RAM, on a 128MB machine this
+would mean that the first could be made to use the 0-64MB space and
+the second would use the 64-128MB space. We realize that many
+modifications are required. Among other things, one of the 2 kernels
+will not need to conduct hardware initialization. Nevertheless, this
+possibility should be studied closer.
+
+2) It follows from #1 that adding other kernels beside Linux should
+be feasible. BSD is a prime candidate, but it would also be nice to
+see what virtualizers such as VMWare and Plex86 could do with Adeos.
+Proprietary operating systems could potentially also be accomodated.
+
+3) All the previous work that has been done on nanokernels should now
+be easily ported to Linux. Mainly, we would be very interested to
+hear about extensions to Adeos. Primarily, we have no mechanisms
+currently enabling multiple domains to share information. The papers
+mentioned earlier provide such mechanisms, but we'd like to see
+actual practical examples.
+
+4) Kernel debuggers' main problem (tapping into the kernel's
+interrupts) is solved and it should then be possible to provide
+patchless kernel debuggers. They would then become loadable kernel
+modules.
+
+5) Drivers who require absolute priority and dislike other kernel
+portions who use cli/sti can now create a domain of their own
+and place themselves before Linux in the ipipe. This provides a
+mechanism for the implementation of systems that can provide guaranteed
+realtime response.
+
+Philippe Gerum <[e-mail]>
+Karim Yaghmour <[e-mail]>
+
+----------------------------------------------------------------------
+Links to papers:
+1-
+http://citeseer.nj.nec.com/probert91space.html
+ftp://ftp.cs.ucsb.edu/pub/papers/space/iwooos91.ps.gz (not working)
+http://www4.informatik.uni-erlangen.de/~tsthiel/Papers/Space-iwooos91.ps.gz
+
+2-
+http://www.cs.ucsb.edu/research/trcs/abstracts/1995-06.shtml
+http://www4.informatik.uni-erlangen.de/~tsthiel/Papers/Space-trcs95-06.ps.gz
+
+3-
+http://citeseer.nj.nec.com/kenneth94caching.html
+http://guir.cs.berkeley.edu/projects/osprelims/papers/cachmodel-OSkernel.ps.gz
+
+4-
+http://citeseer.nj.nec.com/engler95exokernel.html
+ftp://ftp.cag.lcs.mit.edu/multiscale/exokernel.ps.Z
+----------------------------------------------------------------------
diff -uNrp linux-2.6.5/Makefile linux-2.6.5-adeos/Makefile
--- linux-2.6.5/Makefile	2004-04-21 15:24:01.000000000 +0200
+++ linux-2.6.5-adeos/Makefile	2004-05-27 18:59:35.000000000 +0200
@@ -1,7 +1,7 @@
 VERSION = 2
 PATCHLEVEL = 6
 SUBLEVEL = 5
-EXTRAVERSION =
+EXTRAVERSION = -adeos
 NAME=Zonked Quokka
 
 # *DOCUMENTATION*
@@ -426,6 +426,8 @@ AFLAGS := $(CPPFLAGS) $(AFLAGS)
 
 core-y		+= kernel/ mm/ fs/ ipc/ security/ crypto/
 
+core-$(CONFIG_ADEOS) += adeos/
+
 SUBDIRS		+= $(patsubst %/,%,$(filter %/, $(init-y) $(init-m) \
 		     $(core-y) $(core-m) $(drivers-y) $(drivers-m) \
 		     $(net-y) $(net-m) $(libs-y) $(libs-m)))
@@ -469,7 +471,7 @@ CFLAGS += $(call check_gcc,-Wdeclaration
 # images.  Uncomment if you want to place them anywhere other than root.
 #
 
-#export	INSTALL_PATH=/boot
+export	INSTALL_PATH=/boot
 
 #
 # INSTALL_MOD_PATH specifies a prefix to MODLIB for module directory
diff -uNrp linux-2.6.5/adeos/Kconfig linux-2.6.5-adeos/adeos/Kconfig
--- linux-2.6.5/adeos/Kconfig	1970-01-01 01:00:00.000000000 +0100
+++ linux-2.6.5-adeos/adeos/Kconfig	2004-05-27 18:59:35.000000000 +0200
@@ -0,0 +1,15 @@
+menu "Adeos support"
+
+config ADEOS
+	tristate "Adeos support"
+	default y
+	---help---
+	  Activate this option if you want the Adeos nanokernel to be
+	  compiled in.
+
+config ADEOS_CORE
+	bool
+	depends on ADEOS
+	default y
+
+endmenu
diff -uNrp linux-2.6.5/adeos/Makefile linux-2.6.5-adeos/adeos/Makefile
--- linux-2.6.5/adeos/Makefile	1970-01-01 01:00:00.000000000 +0100
+++ linux-2.6.5-adeos/adeos/Makefile	2004-05-27 18:59:35.000000000 +0200
@@ -0,0 +1,11 @@
+#
+# Makefile for the Adeos layer.
+#
+
+obj-$(CONFIG_ADEOS)	+= adeos.o
+
+adeos-objs		:= generic.o
+
+adeos-$(CONFIG_X86)	+= x86.o
+
+adeos-$(CONFIG_IA64)	+= ia64.o
diff -uNrp linux-2.6.5/adeos/generic.c linux-2.6.5-adeos/adeos/generic.c
--- linux-2.6.5/adeos/generic.c	1970-01-01 01:00:00.000000000 +0100
+++ linux-2.6.5-adeos/adeos/generic.c	2004-06-01 09:42:28.000000000 +0200
@@ -0,0 +1,790 @@
+/*
+ *   linux/adeos/generic.c
+ *
+ *   Copyright (C) 2002 Philippe Gerum.
+ *
+ *   This program is free software; you can redistribute it and/or modify
+ *   it under the terms of the GNU General Public License as published by
+ *   the Free Software Foundation, Inc., 675 Mass Ave, Cambridge MA 02139,
+ *   USA; either version 2 of the License, or (at your option) any later
+ *   version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU General Public License for more details.
+ *
+ *   You should have received a copy of the GNU General Public License
+ *   along with this program; if not, write to the Free Software
+ *   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ *   Architecture-independent ADEOS services.
+ */
+
+#include <linux/version.h>
+#include <linux/module.h>
+#include <linux/init.h>
+#include <linux/kernel.h>
+#include <linux/sched.h>
+#include <linux/irq.h>
+
+MODULE_DESCRIPTION("Adeos nanokernel");
+MODULE_AUTHOR("Philippe Gerum");
+MODULE_LICENSE("GPL");
+
+extern spinlock_t __adeos_pipelock;
+
+extern struct list_head __adeos_pipeline;
+
+/* adeos_register_domain() -- Add a new domain to the system. All
+   client domains must call this routine to register themselves to
+   ADEOS before using its services. */
+
+int adeos_register_domain (adomain_t *adp, adattr_t *attr)
+
+{
+    struct list_head *pos;
+    unsigned long flags;
+    int n;
+
+    if (adp_current != adp_root)
+	{
+	printk(KERN_WARNING "Adeos: Only the root domain may register a new domain.\n");
+	return -EPERM;
+	}
+
+    flags = adeos_critical_enter(NULL);
+
+    list_for_each(pos,&__adeos_pipeline) {
+    	adomain_t *_adp = list_entry(pos,adomain_t,p_link);
+	if (_adp->domid == attr->domid)
+            break;
+    }
+
+    adeos_critical_exit(flags);
+
+    if (pos != &__adeos_pipeline)
+	/* A domain with the given id already exists -- fail. */
+	return -EBUSY;
+
+    for (n = 0; n < ADEOS_NR_CPUS; n++)
+	adp->cpudata[n].status = 0;
+
+    /* A special case for domains who won't process events (i.e. no
+       entry). We have to mark them as suspended so that
+       adeos_suspend_domain() won't consider them, unless they
+       _actually_ receive events, which would lead to a panic
+       situation since they have no stack context... :o> */
+
+    for (n = 0; n < ADEOS_NR_CPUS; n++)
+	{
+	set_bit(IPIPE_SLEEP_FLAG,&adp->cpudata[n].status);
+
+	if (attr->entry == NULL)
+	    adp->estackbase[n] = 0;
+	}
+
+    adp->name = attr->name;
+    adp->priority = attr->priority;
+    adp->domid = attr->domid;
+    adp->dswitch = attr->dswitch;
+    adp->flags = 0;
+    adp->ptd_setfun = attr->ptdset;
+    adp->ptd_getfun = attr->ptdget;
+    adp->ptd_keymap = 0;
+    adp->ptd_keycount = 0;
+    adp->ptd_keymax = attr->nptdkeys;
+
+    for (n = 0; n < ADEOS_NR_EVENTS; n++)
+	/* Event handlers must be cleared before the i-pipe stage is
+	   inserted since an exception may occur on behalf of the new
+	   emerging domain. */
+	adp->events[n].handler = NULL;
+
+    if (attr->entry != NULL)
+	__adeos_init_domain(adp,attr);
+
+    /* Insert the domain in the interrupt pipeline last, so it won't
+       be resumed for processing interrupts until it has a valid stack
+       context. */
+
+    __adeos_init_stage(adp);
+
+    INIT_LIST_HEAD(&adp->p_link);
+
+    flags = adeos_critical_enter(NULL);
+
+    list_for_each(pos,&__adeos_pipeline) {
+    	adomain_t *_adp = list_entry(pos,adomain_t,p_link);
+	if (adp->priority > _adp->priority)
+            break;
+    }
+
+    list_add_tail(&adp->p_link,pos);
+
+    adeos_critical_exit(flags);
+
+    printk(KERN_WARNING "Adeos: Domain %s registered.\n",adp->name);
+
+    /* Finally, allow the new domain to perform its initialization
+       chores on behalf of its own stack context. */
+
+    if (attr->entry != NULL)
+	{
+	adeos_declare_cpuid;
+
+	adeos_get_cpu(flags);
+
+	__adeos_switch_to(adp,cpuid);
+
+	adeos_load_cpuid();	/* Processor might have changed. */
+
+	if (!test_bit(IPIPE_STALL_FLAG,&adp_root->cpudata[cpuid].status) &&
+	    adp_root->cpudata[cpuid].irq_pending_hi != 0)
+	    __adeos_sync_stage(IPIPE_IRQMASK_ANY);
+
+	adeos_put_cpu(flags);
+	}
+
+    return 0;
+}
+
+/* adeos_unregister_domain() -- Remove a domain from the system. All
+   client domains must call this routine to unregister themselves from
+   the ADEOS layer. */
+
+int adeos_unregister_domain (adomain_t *adp)
+
+{
+    unsigned long flags;
+    unsigned event;
+
+    if (adp_current != adp_root)
+	{
+	printk(KERN_WARNING "Adeos: Only the root domain may unregister a domain.\n");
+	return -EPERM;
+	}
+
+    if (adp == adp_root)
+	{
+	printk(KERN_WARNING "Adeos: Cannot unregister the root domain.\n");