rthal5g-2.4.19.patch

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

diff -uNrp linux-2.4.19-cris/Documentation/Configure.help linux-2.4.19-cris-rthal/Documentation/Configure.help
--- linux-2.4.19-cris/Documentation/Configure.help	2004-01-02 15:40:15.000000000 +0100
+++ linux-2.4.19-cris-rthal/Documentation/Configure.help	2004-01-02 12:36:12.000000000 +0100
@@ -253,6 +253,23 @@ CONFIG_X86_UP_IOAPIC
   If you have a system with several CPUs, you do not need to say Y
   here: the IO-APIC will be used automatically.
 
+Real-Time Harware Abstraction
+CONFIG_RTHAL
+  The Real-Time Hardware Abstraction Layer (RTHAL) is used by
+  the Real-Time Application Interface (RTAI) to provide a
+  hard real-time environment as part of Linux.  This feature
+  cannot be turned off if you want to use RTAI, so say Y.
+  Note: When you intend to use RTAI it is recommended that the
+  watchdog is disabled (CONFIG_WATCHDOG).
+
+Using the timers in cascade-mode under RTAI
+CONFIG_ETRAX_DISABLE_CASCADED_TIMERS_IN_RTAI
+  When RTAI is loaded it uses both available timers in hardware
+  set to cascade-mode. This gives a significant performance
+  increase for the accuracy of the real-time scheduler. Set this
+  option to Y if you want to disable this feature. Then RTAI
+  only uses timer0, which is possible but not recommended.
+
 Local APIC Support on Uniprocessors
 CONFIG_X86_UP_APIC
   A local APIC (Advanced Programmable Interrupt Controller) is an
diff -uNrp linux-2.4.19-cris/Makefile linux-2.4.19-cris-rthal/Makefile
--- linux-2.4.19-cris/Makefile	2004-01-02 15:40:15.000000000 +0100
+++ linux-2.4.19-cris-rthal/Makefile	2004-01-02 12:36:12.000000000 +0100
@@ -1,7 +1,7 @@
 VERSION = 2
 PATCHLEVEL = 4
 SUBLEVEL = 19
-EXTRAVERSION =
+EXTRAVERSION = rthal
 
 KERNELRELEASE=$(VERSION).$(PATCHLEVEL).$(SUBLEVEL)$(EXTRAVERSION)
 
@@ -124,7 +124,11 @@ export SVGA_MODE = -DSVGA_MODE=NORMAL_VG
 
 #export RAMDISK = -DRAMDISK=512
 
+ifdef CONFIG_RTHAL
+CORE_FILES      =kernel/kernel.o mm/mm.o fs/fs.o ipc/ipc.o rtai/rtai.o
+else
 CORE_FILES	=kernel/kernel.o mm/mm.o fs/fs.o ipc/ipc.o
+endif
 NETWORKS	=net/network.o
 
 LIBS		=$(TOPDIR)/lib/lib.a
diff -uNrp linux-2.4.19-cris/arch/cris/Makefile linux-2.4.19-cris-rthal/arch/cris/Makefile
--- linux-2.4.19-cris/arch/cris/Makefile	2002-08-03 02:39:42.000000000 +0200
+++ linux-2.4.19-cris-rthal/arch/cris/Makefile	2004-01-02 14:26:12.000000000 +0100
@@ -39,7 +39,7 @@ OBJCOPY := $(CROSS_COMPILE)objcopy -O bi
 
 # -mlinux enables -march=v10, -fno-underscores, -D__linux__ among others
 
-CFLAGS := $(CFLAGS) -mlinux -pipe
+CFLAGS := $(CFLAGS) -mlinux -pipe -Wa,--underscore
 
 ifdef CONFIG_ETRAX_KGDB
 CFLAGS := $(subst -fomit-frame-pointer,,$(CFLAGS)) -g
diff -uNrp linux-2.4.19-cris/arch/cris/config.in linux-2.4.19-cris-rthal/arch/cris/config.in
--- linux-2.4.19-cris/arch/cris/config.in	2004-01-02 15:40:15.000000000 +0100
+++ linux-2.4.19-cris-rthal/arch/cris/config.in	2004-01-02 12:36:12.000000000 +0100
@@ -41,6 +41,12 @@ fi
 
 bool 'Enable ETRAX fast timer API' CONFIG_ETRAX_FAST_TIMER
 
+comment 'CONFIG_RTHAL must be yes to use RTAI'
+bool 'Real-Time Hardware Abstraction Layer' CONFIG_RTHAL
+if [ "$CONFIG_RTHAL" = "y" ]; then
+	bool '  Disable cascaded-mode timers in RTAI' CONFIG_ETRAX_DISABLE_CASCADED_TIMERS_IN_RTAI
+fi
+
 endmenu
 
 mainmenu_option next_comment
diff -uNrp linux-2.4.19-cris/arch/cris/defconfig linux-2.4.19-cris-rthal/arch/cris/defconfig
--- linux-2.4.19-cris/arch/cris/defconfig	2002-08-03 02:39:42.000000000 +0200
+++ linux-2.4.19-cris-rthal/arch/cris/defconfig	2004-01-02 12:36:12.000000000 +0100
@@ -11,6 +11,12 @@ CONFIG_RWSEM_GENERIC_SPINLOCK=y
 CONFIG_EXPERIMENTAL=y
 
 #
+# RTHAL
+#
+CONFIG_RTHAL=y
+# CONFIG_ETRAX_DISABLE_CASCADED_TIMERS_IN_RTAI is not set
+
+#
 # General setup
 #
 CONFIG_NET=y
diff -uNrp linux-2.4.19-cris/arch/cris/kernel/entry.S linux-2.4.19-cris-rthal/arch/cris/kernel/entry.S
--- linux-2.4.19-cris/arch/cris/kernel/entry.S	2002-08-03 02:39:42.000000000 +0200
+++ linux-2.4.19-cris-rthal/arch/cris/kernel/entry.S	2004-01-02 12:36:12.000000000 +0100
@@ -240,6 +240,10 @@ ret_from_intr:
 	btstq	8, $r0		; U-flag
 	bpl	_Rexit		; go back directly
 	nop
+#ifdef CONFIG_RTHAL
+	move.d  rthal, $r0
+	jsr	[$r0+32]     ; Long path in usermode, ei to reduce latency 
+#endif
 	ba	_ret_with_reschedule  ; go back but check schedule and signals first 
 	nop
 
diff -uNrp linux-2.4.19-cris/arch/cris/kernel/irq.c linux-2.4.19-cris-rthal/arch/cris/kernel/irq.c
--- linux-2.4.19-cris/arch/cris/kernel/irq.c	2002-02-25 20:37:52.000000000 +0100
+++ linux-2.4.19-cris-rthal/arch/cris/kernel/irq.c	2004-01-02 12:36:12.000000000 +0100
@@ -55,6 +55,62 @@ unmask_irq(unsigned int irq_nr)
 	*R_VECT_MASK_SET = 1 << irq_nr;
 }
 
+#ifdef CONFIG_RTHAL
+
+/*
+  RTAI
+  This is the most appropriate place to setup rthal.
+*/
+
+static void linux_cli(void)
+{
+	hard_cli();
+}
+
+static void linux_sti(void)
+{
+	hard_sti();
+}
+
+static unsigned long linux_save_flags(void)
+{
+	unsigned long flags;
+	hard_save_flags(flags);
+	return flags;
+}
+
+static unsigned long linux_save_flags_and_cli(void)
+{
+	unsigned long flags;
+	hard_save_flags_cli(flags);
+	return flags;
+}
+
+static void linux_restore_flags(unsigned long flags)
+{
+	hard_restore_flags(flags);
+}
+
+asmlinkage void do_IRQ(int, struct pt_regs*);
+
+static void do_nothing_void(void) { }
+static long long do_nothing(int what, unsigned long ever) { }
+
+struct rt_hal rthal = {
+	do_IRQ,                   /* rthal.do_IRQ (irq-dispatcher) */
+	do_IRQ,                   /* rthal.do_timer_IRQ (irq-dispatcher for timer) */
+	do_nothing,               /* rthal.do_SRQ (srq-dispatcher if rtai is mounted) */
+	linux_cli,                /* rthal.disint */
+	linux_sti,                /* rthal.enint */
+	linux_save_flags,         /* rthal.getflags */ 
+	linux_restore_flags,      /* rthal.setflags */
+	linux_save_flags_and_cli, /* rthal.getflags_and_cli */
+	do_nothing_void,          /* rthal.ei_if_rtai */
+	unmask_irq                /* rthal.unmask_if_not_rtai */
+};
+
+#endif  /* CONFIG_RTHAL */
+
 void
 disable_irq(unsigned int irq_nr)
 {
@@ -211,7 +267,32 @@ static void (*bad_interrupt[NR_IRQS])(vo
 /*
  * Initial irq handlers.
  */
+#ifdef CONFIG_RTHAL
+struct irqaction *irq_action[NR_IRQS] = {
+	NULL, NULL, NULL, NULL,
+	NULL, NULL, NULL, NULL,
+	NULL, NULL, NULL, NULL,
+	NULL, NULL, NULL, NULL,
+	NULL, NULL, NULL, NULL,
+	NULL, NULL, NULL, NULL,
+	NULL, NULL, NULL, NULL,
+	NULL, NULL, NULL, NULL
+};
+
+void startup_irq(int irq)
+{
+	irq_shortcuts[irq] = sinterrupt[irq];
+
+	etrax_irv->v[irq + 0x20] = (irqvectptr)interrupt[irq];
+}
+
+void shutdown_irq(int irq)
+{
+	irq_shortcuts[irq] = 0;
 
+	etrax_irv->v[irq + 0x20] = (irqvectptr)bad_interrupt[irq];
+}
+#else
 static struct irqaction *irq_action[NR_IRQS] = {
 	NULL, NULL, NULL, NULL,
 	NULL, NULL, NULL, NULL,
@@ -222,6 +303,7 @@ static struct irqaction *irq_action[NR_I
 	NULL, NULL, NULL, NULL,
 	NULL, NULL, NULL, NULL
 };
+#endif
 
 int get_irq_list(char *buf)
 {
diff -uNrp linux-2.4.19-cris/arch/cris/kernel/ksyms.c linux-2.4.19-cris-rthal/arch/cris/kernel/ksyms.c
--- linux-2.4.19-cris/arch/cris/kernel/ksyms.c	2004-01-02 15:40:15.000000000 +0100
+++ linux-2.4.19-cris-rthal/arch/cris/kernel/ksyms.c	2004-01-02 12:36:12.000000000 +0100
@@ -28,6 +28,25 @@ extern void __Umod(void);
 extern void __ashrdi3(void);
 extern void iounmap(void *addr);
 
+#ifdef CONFIG_RTHAL
+/* Added for RTHAL */
+EXPORT_SYMBOL(rthal);
+EXPORT_SYMBOL(startup_irq);
+EXPORT_SYMBOL(shutdown_irq);
+EXPORT_SYMBOL(irq_action);
+EXPORT_SYMBOL(r_timer_ctrl_shadow);
+extern void reset_watchdog(void);
+EXPORT_SYMBOL(reset_watchdog);
+extern void soft_timer_interrupt(int, void*, struct pt_regs*);
+EXPORT_SYMBOL(soft_timer_interrupt);
+extern void __udivdi3(void);
+EXPORT_SYMBOL_NOVERS(__udivdi3);
+extern void __negdi2(void);
+EXPORT_SYMBOL_NOVERS(__negdi2);
+extern void __Div(void);