rthal-5g-2.4.22-yd2f.patch

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

+ diff -u yd-linux-2.4.22-2f/arch/ppc/config.in.PRE_RTAI yd-linux-2.4.22-2f/arch/ppc/config.in
--- yd-linux-2.4.22-2f/arch/ppc/config.in.PRE_RTAI	2003-11-09 21:57:53.000000000 +0100
+++ yd-linux-2.4.22-2f/arch/ppc/config.in	2004-03-12 12:21:25.000000000 +0100
@@ -136,6 +136,9 @@
   bool '  Distribute interrupts on all CPUs by default' CONFIG_IRQ_ALL_CPUS
 fi
 
+#bool 'Real-Time Hardware Abstraction Layer' CONFIG_RTHAL
+define_bool CONFIG_RTHAL y
+
 if [ "$CONFIG_6xx" = "y" -a "$CONFIG_8260" = "n" ];then
   bool 'AltiVec Support' CONFIG_ALTIVEC
   bool 'Thermal Management Support' CONFIG_TAU
+ diff -u yd-linux-2.4.22-2f/arch/ppc/kernel/entry.S.PRE_RTAI yd-linux-2.4.22-2f/arch/ppc/kernel/entry.S
--- yd-linux-2.4.22-2f/arch/ppc/kernel/entry.S.PRE_RTAI	2003-11-09 21:57:52.000000000 +0100
+++ yd-linux-2.4.22-2f/arch/ppc/kernel/entry.S	2004-03-12 12:22:49.000000000 +0100
@@ -297,6 +297,7 @@
 	bl	do_signal
 	.globl	do_signal_ret
 do_signal_ret:
+	bl	do_soft_sti
 	.globl ret_to_user_hook
 ret_to_user_hook:
 	nop
+ diff -u yd-linux-2.4.22-2f/arch/ppc/kernel/head.S.PRE_RTAI yd-linux-2.4.22-2f/arch/ppc/kernel/head.S
--- yd-linux-2.4.22-2f/arch/ppc/kernel/head.S.PRE_RTAI	2003-11-09 21:57:52.000000000 +0100
+++ yd-linux-2.4.22-2f/arch/ppc/kernel/head.S	2004-03-12 12:21:25.000000000 +0100
@@ -479,7 +479,20 @@
 	.long	ret_from_except
 
 /* Single step - not used on 601 */
+#ifdef CONFIG_RTHAL
+	. = 0xd00
+SingleStep:
+	EXCEPTION_PROLOG
+	addi	r3,r1,STACK_FRAME_OVERHEAD
+	li	r20,MSR_KERNEL
+	rlwimi	r20,r23,0,16,16		/* copy EE bit from saved MSR */
+	bl	transfer_to_handler
+i0xd00:
+	.long	SingleStepException
+	.long	ret_from_except
+#else
 	STD_EXCEPTION(0xd00, SingleStep, SingleStepException)
+#endif
 	STD_EXCEPTION(0xe00, Trap_0e, UnknownException)
 
 /*
+ diff -u yd-linux-2.4.22-2f/arch/ppc/kernel/irq.c.PRE_RTAI yd-linux-2.4.22-2f/arch/ppc/kernel/irq.c
--- yd-linux-2.4.22-2f/arch/ppc/kernel/irq.c.PRE_RTAI	2003-11-09 21:57:52.000000000 +0100
+++ yd-linux-2.4.22-2f/arch/ppc/kernel/irq.c	2004-03-12 12:21:25.000000000 +0100
@@ -514,6 +514,13 @@
 	spin_unlock(&desc->lock);
 }
 
+void (*rtai_soft_sti)(void);
+
+void do_soft_sti(void)
+{
+	if(rtai_soft_sti)rtai_soft_sti();
+}
+
 int do_IRQ(struct pt_regs *regs)
 {
 	int cpu = smp_processor_id();
+ diff -u yd-linux-2.4.22-2f/arch/ppc/kernel/open_pic.c.PRE_RTAI yd-linux-2.4.22-2f/arch/ppc/kernel/open_pic.c
--- yd-linux-2.4.22-2f/arch/ppc/kernel/open_pic.c.PRE_RTAI	2004-03-12 14:20:08.000000000 +0100
+++ yd-linux-2.4.22-2f/arch/ppc/kernel/open_pic.c	2004-03-12 14:16:47.000000000 +0100
@@ -940,4 +940,7 @@
 
 	spin_unlock_irqrestore(&openpic_setup_lock, flags);
 }
+#else
+void openpic_sleep_save_intrs(void) {printk("openpic_sleep_save_intrs() not implemented");}
+void openpic_sleep_restore_intrs(void) {printk("openpic_sleep_restore_intrs() not implemented");}
 #endif /* CONFIG_PMAC_PBOOK */
+ diff -u yd-linux-2.4.22-2f/arch/ppc/kernel/ppc_ksyms.c.PRE_RTAI yd-linux-2.4.22-2f/arch/ppc/kernel/ppc_ksyms.c
--- yd-linux-2.4.22-2f/arch/ppc/kernel/ppc_ksyms.c.PRE_RTAI	2003-11-09 21:57:53.000000000 +0100
+++ yd-linux-2.4.22-2f/arch/ppc/kernel/ppc_ksyms.c	2004-03-12 12:21:25.000000000 +0100
@@ -222,6 +222,12 @@
 EXPORT_SYMBOL(synchronize_irq);
 #endif
 
+extern int (*rtai_srq_bckdr)(struct pt_regs *);
+EXPORT_SYMBOL(rtai_srq_bckdr);
+
+extern void (*rtai_soft_sti)(void);
+EXPORT_SYMBOL(rtai_soft_sti);
+
 EXPORT_SYMBOL(ppc_md);
 
 #ifdef CONFIG_ADB
+ diff -u yd-linux-2.4.22-2f/arch/ppc/kernel/traps.c.PRE_RTAI yd-linux-2.4.22-2f/arch/ppc/kernel/traps.c
--- yd-linux-2.4.22-2f/arch/ppc/kernel/traps.c.PRE_RTAI	2003-11-09 21:57:52.000000000 +0100
+++ yd-linux-2.4.22-2f/arch/ppc/kernel/traps.c	2004-03-12 12:24:47.000000000 +0100
@@ -333,12 +333,18 @@
 	return retval;
 }
 
+int (*rtai_srq_bckdr)(struct pt_regs *regs) = NULL;
+
 void
 ProgramCheckException(struct pt_regs *regs)
 {
 	unsigned int reason = get_reason(regs);
 	extern int do_mathemu(struct pt_regs *regs);
 
+	if (rtai_srq_bckdr && !rtai_srq_bckdr(regs)) {
+		return;
+	}
+
 #ifdef CONFIG_MATH_EMULATION
 	/* (reason & REASON_ILLEGAL) would be the obvious thing here,
 	 * but there seems to be a hardware bug on the 405GP (RevD)
+ diff -u yd-linux-2.4.22-2f/arch/ppc/mm/pgtable.c.PRE_RTAI yd-linux-2.4.22-2f/arch/ppc/mm/pgtable.c
--- yd-linux-2.4.22-2f/arch/ppc/mm/pgtable.c.PRE_RTAI	2003-11-09 21:57:52.000000000 +0100
+++ yd-linux-2.4.22-2f/arch/ppc/mm/pgtable.c	2004-03-12 12:26:34.000000000 +0100
@@ -279,7 +279,7 @@
 		 * don't get ASID compares on kernel space.
 		 */
 		f = _PAGE_PRESENT | _PAGE_ACCESSED | _PAGE_SHARED | _PAGE_HWEXEC;
-#if defined(CONFIG_KGDB) || defined(CONFIG_XMON) || defined(CONFIG_BDI_SWITCH)
+#if defined(CONFIG_KGDB) || defined(CONFIG_XMON) || defined(CONFIG_BDI_SWITCH) || defined (CONFIG_RTHAL)
 		/* Allows stub to set breakpoints everywhere */
 		f |= _PAGE_WRENABLE;
 #else	/* !CONFIG_KGDB && !CONFIG_XMON && !CONFIG_BDI_SWITCH */
@@ -291,7 +291,7 @@
 			   forces R/W kernel access */
 			f |= _PAGE_USER;
 #endif /* CONFIG_PPC_STD_MMU */
-#endif /* CONFIG_KGDB || CONFIG_XMON */
+#endif /* CONFIG_KGDB || CONFIG_XMON || CONFIG_BDI_SWITCH */
 		map_page(v, p, f);
 		v += PAGE_SIZE;
 		p += PAGE_SIZE;
+ diff -u yd-linux-2.4.22-2f/Documentation/Configure.help.PRE_RTAI yd-linux-2.4.22-2f/Documentation/Configure.help
--- yd-linux-2.4.22-2f/Documentation/Configure.help.PRE_RTAI	2003-11-09 21:57:53.000000000 +0100
+++ yd-linux-2.4.22-2f/Documentation/Configure.help	2004-03-12 12:21:25.000000000 +0100
@@ -262,6 +262,13 @@
 
   If you don't have this computer, you may safely say N.
 
+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, so say Y.
+
 IO-APIC support on uniprocessors
 CONFIG_X86_UP_IOAPIC
   An IO-APIC (I/O Advanced Programmable Interrupt Controller) is an
+ diff -u yd-linux-2.4.22-2f/drivers/video/aty128fb.c.PRE_RTAI yd-linux-2.4.22-2f/drivers/video/aty128fb.c
--- yd-linux-2.4.22-2f/drivers/video/aty128fb.c.PRE_RTAI	2003-11-09 21:57:53.000000000 +0100
+++ yd-linux-2.4.22-2f/drivers/video/aty128fb.c	2004-03-12 13:26:32.000000000 +0100
@@ -2630,8 +2630,10 @@
 	struct fb_info_aty128 *info = (struct fb_info_aty128 *)data;
 	unsigned int reg = aty_ld_le32(LVDS_GEN_CNTL);
 
+#ifdef CONFIG_PMAC_PBOOK
 	if (!info->lcd_on)
 		on = 0;
+#endif
 	reg |= LVDS_BL_MOD_EN | LVDS_BLON;
 	if (on && level > BACKLIGHT_OFF) {
 		reg |= LVDS_DIGION;
+ diff -u yd-linux-2.4.22-2f/include/asm-ppc/system.h.PRE_RTAI yd-linux-2.4.22-2f/include/asm-ppc/system.h
--- yd-linux-2.4.22-2f/include/asm-ppc/system.h.PRE_RTAI	2003-11-09 22:49:53.000000000 +0100
+++ yd-linux-2.4.22-2f/include/asm-ppc/system.h	2004-03-12 12:36:55.000000000 +0100
@@ -82,6 +82,7 @@
 
 struct task_struct;
 #define prepare_to_switch()	do { } while(0)
+#define end_switch()		do { } while(0)
 #define switch_to(prev,next,last) _switch_to((prev),(next),&(last))
 extern void _switch_to(struct task_struct *, struct task_struct *,
 		       struct task_struct **);
+ diff -u yd-linux-2.4.22-2f/include/linux/sched.h.PRE_RTAI yd-linux-2.4.22-2f/include/linux/sched.h
--- yd-linux-2.4.22-2f/include/linux/sched.h.PRE_RTAI	2003-11-09 22:49:54.000000000 +0100
+++ yd-linux-2.4.22-2f/include/linux/sched.h	2004-03-12 12:36:55.000000000 +0100
@@ -415,6 +415,8 @@
 
 /* journalling filesystem info */
 	void *journal_info;
+
+	void *this_rt_task[2];
 };
 
 /*
@@ -509,6 +511,7 @@
     blocked:		{{0}},						\
     alloc_lock:		SPIN_LOCK_UNLOCKED,				\
     journal_info:	NULL,						\
+    this_rt_task:	{0,0},						\
 }
 
 
+ diff -u yd-linux-2.4.22-2f/kernel/exit.c.PRE_RTAI yd-linux-2.4.22-2f/kernel/exit.c
--- yd-linux-2.4.22-2f/kernel/exit.c.PRE_RTAI	2002-11-29 00:53:15.000000000 +0100
+++ yd-linux-2.4.22-2f/kernel/exit.c	2004-03-12 12:21:25.000000000 +0100
@@ -422,6 +422,71 @@
 	write_unlock_irq(&tasklist_lock);
 }
 
+//
+// PGGC added these lines to callback rtai when a task dies.
+// A list of functions allows different rt_modules to be informed.
+//
+static struct t_callback {
+	void (*rtai_callback)(struct task_struct *tsk);
+	struct t_callback *next;
+	} *rtai_callback_list;
+
+extern int  set_rtai_callback(    void (*fun)(struct task_struct *tsk));
+extern void remove_rtai_callback( void (*fun)(struct task_struct *tsk));
+
+void inform_rtai(void)
+{
+	struct t_callback *pt;
+
+	pt = rtai_callback_list;
+	while (pt) {
+		(*(pt->rtai_callback))(current);
+		pt = pt->next;
+	}
+//printk( "Task pid %d going down\n", current->pid);
+}
+
+int set_rtai_callback( void (*pt)(struct task_struct *tsk))
+{
+	struct t_callback *ptn;
+
+	ptn = kmalloc(sizeof(struct t_callback), GFP_KERNEL);
+	if (!ptn) {
+		return -ENOMEM;
+	}
+	ptn->rtai_callback = pt;
+	ptn->next = rtai_callback_list ? rtai_callback_list : 0;
+	rtai_callback_list = ptn;
+	return 0;
+}
+
+void remove_rtai_callback(void (*pt)(struct task_struct *tsk))
+{
+	struct t_callback *pto, *ptoo, *ptd;
+
+	pto  = rtai_callback_list;
+	ptoo = 0;
+	while (pto) {
+		if (pto->rtai_callback == pt) {
+			if (!ptoo) {
+				rtai_callback_list = pto->next;
+			} else {
+				ptoo->next = pto->next; 
+			}
+ 			ptd = pto;
+			pto = pto->next;
+			kfree(ptd);
+		} else {
+			ptoo = pto;
+			pto = pto->next;
+		}