rthal5g-2.4.19.patch

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

+EXPORT_SYMBOL_NOVERS(__Div);
+#endif
+
 /* Platform dependent support */
 EXPORT_SYMBOL(dump_thread);
 EXPORT_SYMBOL(enable_irq);
diff -uNrp linux-2.4.19-cris/arch/cris/kernel/time.c linux-2.4.19-cris-rthal/arch/cris/kernel/time.c
--- linux-2.4.19-cris/arch/cris/kernel/time.c	2004-01-02 15:40:15.000000000 +0100
+++ linux-2.4.19-cris-rthal/arch/cris/kernel/time.c	2004-01-02 12:36:12.000000000 +0100
@@ -428,6 +428,35 @@ timer_interrupt(int irq, void *dev_id, s
 	}
 }
 
+#ifdef CONFIG_RTHAL 
+/*
+ * Soft timer interrupt. Called instead of timer_interrupt
+ * from linux interrupt dispatcher when RTAI is mounted.
+ */
+void
+soft_timer_interrupt(int irq, void *dev_id, struct pt_regs *regs)
+{
+	/* call the real timer interrupt handler */
+	
+	do_timer(regs);
+	
+	/*
+	 * If we have an externally synchronized Linux clock, then update
+	 * CMOS clock accordingly every ~11 minutes. Set_rtc_mmss() has to be
+	 * called as close as possible to 500 ms before the new second starts.
+	 */
+	if ((time_status & STA_UNSYNC) == 0 &&
+	    xtime.tv_sec > last_rtc_update + 660 &&
+	    xtime.tv_usec > 500000 - (tick >> 1) &&
+	    xtime.tv_usec < 500000 + (tick >> 1)) {
+		if (set_rtc_mmss(xtime.tv_sec) == 0)
+			last_rtc_update = xtime.tv_sec;
+		else
+			last_rtc_update = xtime.tv_sec - 600;
+	}
+}
+#endif /* CONFIG_RTHAL */
+
 #if 0
 /* some old debug code for testing the microsecond timing of packets */
 static unsigned int lastjiff;
diff -uNrp linux-2.4.19-cris/arch/cris/mm/fault.c linux-2.4.19-cris-rthal/arch/cris/mm/fault.c
--- linux-2.4.19-cris/arch/cris/mm/fault.c	2004-01-02 15:40:15.000000000 +0100
+++ linux-2.4.19-cris-rthal/arch/cris/mm/fault.c	2004-01-02 12:36:12.000000000 +0100
@@ -282,8 +282,12 @@ do_page_fault(unsigned long address, str
 	    !user_mode(regs))
 		goto vmalloc_fault;
 
-	/* we can and should enable interrupts at this point */
+/* we can and should enable interrupts at this point */
+#ifdef CONFIG_RTHAL
+	hard_sti();
+#else	
 	sti();
+#endif
 
 	mm = tsk->mm;
 	writeaccess = error_code & 2;
diff -uNrp linux-2.4.19-cris/include/asm-cris/irq.h linux-2.4.19-cris-rthal/include/asm-cris/irq.h
--- linux-2.4.19-cris/include/asm-cris/irq.h	2002-02-25 20:38:11.000000000 +0100
+++ linux-2.4.19-cris-rthal/include/asm-cris/irq.h	2004-01-02 12:36:12.000000000 +0100
@@ -92,6 +92,12 @@ extern struct etrax_interrupt_vector *et
 void set_int_vector(int n, irqvectptr addr, irqvectptr saddr);
 void set_break_vector(int n, irqvectptr addr);
 
+#ifdef CONFIG_RTHAL
+void startup_irq(int n);
+void shutdown_irq(int n);
+extern struct irqaction *irq_action[NR_IRQS];
+#endif
+
 #define __STR(x) #x
 #define STR(x) __STR(x)
  
@@ -131,6 +137,32 @@ void set_break_vector(int n, irqvectptr 
    * will acknowledge the interrupt is run.
    */
 
+#ifdef CONFIG_RTHAL
+#define BUILD_IRQ(nr,mask) \
+void IRQ_NAME(nr); \
+void sIRQ_NAME(nr); \
+void BAD_IRQ_NAME(nr); \
+__asm__ ( \
+      ".text\n\t" \
+      "IRQ" #nr "_interrupt:\n\t" \
+	  SAVE_ALL \
+	  "sIRQ" #nr "_interrupt:\n\t" /* shortcut for the multiple irq handler */ \
+	  BLOCK_IRQ(mask,nr) /* this must be done to prevent irq loops when we ei later */ \
+	  "moveq "#nr",$r10\n\t" \
+	  "move.d $sp,$r11\n\t" \
+	  "jsr [rthal]\n\t" /* irq.c, r10 and r11 are arguments */ \
+          "moveq "#nr",$r10\n\t" \
+	  "move.d rthal, $r0\n\t" \
+	  "jsr [$r0 + 36]\n\t" \
+	  "moveq 0,$r9\n\t" /* make ret_from_intr realise we came from an irq */ \
+	  "jump ret_from_intr\n\t" \
+          "bad_IRQ" #nr "_interrupt:\n\t" \
+	  "push $r0\n\t" \
+	  BLOCK_IRQ(mask,nr) \
+	  "pop $r0\n\t" \
+          "reti\n\t" \
+          "nop\n");
+#else
 #define BUILD_IRQ(nr,mask) \
 void IRQ_NAME(nr); \
 void sIRQ_NAME(nr); \
@@ -154,6 +186,8 @@ __asm__ ( \
           "reti\n\t" \
           "nop\n");
 
+#endif  /* RTHAL */
+
 /* This is subtle. The timer interrupt is crucial and it should not be disabled for 
  * too long. However, if it had been a normal interrupt as per BUILD_IRQ, it would
  * have been BLOCK'ed, and then softirq's are run before we return here to UNBLOCK.
@@ -169,6 +203,29 @@ __asm__ ( \
  * be an sti() before the timer irq handler is run to acknowledge the interrupt.
  */
 
+#ifdef CONFIG_RTHAL
+#define BUILD_TIMER_IRQ(nr,mask) \
+void IRQ_NAME(nr); \
+void sIRQ_NAME(nr); \
+void BAD_IRQ_NAME(nr); \
+__asm__ ( \
+          ".text\n\t" \
+          "IRQ" #nr "_interrupt:\n\t" \
+	  SAVE_ALL \
+	  "sIRQ" #nr "_interrupt:\n\t" /* shortcut for the multiple irq handler */ \
+	  "moveq "#nr",$r10\n\t" \
+	  "move.d $sp,$r11\n\t" \
+          "move.d rthal, $r0\n\t" \
+	  "jsr [$r0+4]\n\t" \
+          "moveq 0,$r9\n\t" /* make ret_from_intr realise we came from an irq */ \
+	  "jump ret_from_intr\n\t" \
+          "bad_IRQ" #nr "_interrupt:\n\t" \
+	  "push $r0\n\t" \
+	  BLOCK_IRQ(mask,nr) \
+	  "pop $r0\n\t" \
+          "reti\n\t" \
+          "nop\n");
+#else
 #define BUILD_TIMER_IRQ(nr,mask) \
 void IRQ_NAME(nr); \
 void sIRQ_NAME(nr); \
@@ -190,6 +247,8 @@ __asm__ ( \
           "reti\n\t" \
           "nop\n");
 
+#endif  /* CONFIG_RTHAL */
+
 #endif  /* _ASM_IRQ_H */
 
 
diff -uNrp linux-2.4.19-cris/include/asm-cris/system.h linux-2.4.19-cris-rthal/include/asm-cris/system.h
--- linux-2.4.19-cris/include/asm-cris/system.h	2002-08-03 02:39:45.000000000 +0200
+++ linux-2.4.19-cris-rthal/include/asm-cris/system.h	2004-01-02 12:36:12.000000000 +0100
@@ -54,6 +54,50 @@ static inline unsigned long _get_base(ch
 struct __xchg_dummy { unsigned long a[100]; };
 #define __xg(x) ((struct __xchg_dummy *)(x))
 
+#ifdef CONFIG_RTHAL
+
+/* includes pt_regs needed in rt_hal */
+#include <asm/ptrace.h>
+
+#define hard_save_flags(x) __asm__ __volatile__    ("move $ccr,%0" : "=rm" (x) :          : "memory");
+#define hard_restore_flags(x) __asm__ __volatile__ ("move %0,$ccr" :           : "rm" (x) : "memory");
+#define hard_cli() __asm__ __volatile__            ( "di"          :           :          : "memory");
+#define hard_sti() __asm__ __volatile__            ( "ei"          :           :          : "memory");
+#define hard_save_flags_cli(x) do { hard_save_flags(x); hard_cli(); } while (0) 
+
+#define cli() __cli()
+#define sti() __sti()
+#define save_flags(x) __save_flags(x)
+#define restore_flags(x) __restore_flags(x)
+#define save_and_cli(x) do { __save_flags(x); cli(); } while(0)
+struct rt_hal {
+	void (*do_IRQ) (int, struct pt_regs*);      /*  0 */
+	void (*do_timer_IRQ)(int, struct pt_regs*); /*  4 */
+	long long (*do_SRQ) (int, unsigned long);   /*  8 */
+	void (*disint)(void);                       /* 12 */
+	void (*enint)(void);                        /* 16 */
+	unsigned long (*getflags)(void);            /* 20 */
+	void (*setflags)(unsigned long);            /* 24 */
+	unsigned long (*getflags_and_cli)(void);    /* 28 */
+	void (*ei_if_rtai)(void);                   /* 32 */
+	void (*unmask_if_not_rtai)(unsigned int);   /* 36 */
+};
+
+extern struct rt_hal rthal;
+ 
+#define __cli()		(rthal.disint())
+#define __sti()		(rthal.enint())
+#define __save_flags(x)	((x) = rthal.getflags())
+#define __restore_flags(x)	(rthal.setflags(x))
+
+/* For spinlocks etc */
+#define local_irq_save(x)	((x) = rthal.getflags_and_cli())
+#define local_irq_restore(x)	(rthal.setflags(x))
+#define local_irq_disable()	(rthal.disint())
+#define local_irq_enable()	(rthal.enint())
+
+#else
+
 #if 0
 /* use these and an oscilloscope to see the fraction of time we're running with IRQ's disabled */
 /* it assumes the LED's are on port 0x90000000 of course. */
@@ -82,6 +126,8 @@ struct __xchg_dummy { unsigned long a[10
 #define restore_flags(x) __restore_flags(x)
 #define save_and_cli(x) do { __save_flags(x); cli(); } while(0)
 
+#endif  /* CONFIG_RTHAL */
+
 static inline unsigned long __xchg(unsigned long x, void * ptr, int size)
 {
   /* since Etrax doesn't have any atomic xchg instructions, we need to disable
diff -uNrp linux-2.4.19-cris/include/linux/timex.h linux-2.4.19-cris-rthal/include/linux/timex.h
--- linux-2.4.19-cris/include/linux/timex.h	2001-11-22 20:46:18.000000000 +0100
+++ linux-2.4.19-cris-rthal/include/linux/timex.h	2004-01-02 15:03:03.000000000 +0100
@@ -151,8 +151,12 @@
  */
 #include <asm/timex.h>
 
+#ifdef CONFIG_ETRAX_DISABLE_CASCADED_TIMERS_IN_RTAI
 /* LATCH is used in the interval timer and ftape setup. */
 #define LATCH  ((CLOCK_TICK_RATE + HZ/2) / HZ)	/* For divider */
+#else /* !CONFIG_ETRAX_DISABLE_CASCADED_TIMERS_IN_RTAI */
+#define LATCH 62500
+#endif /* CONFIG_ETRAX_DISABLE_CASCADED_TIMERS_IN_RTAI */
 
 /*
  * syscall interface - used (mainly by NTP daemon)