rthal-5g-2.4.18.patch

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

+ diff -u linux-2.4.18/arch/ppc/config.in.PRE_RTAI linux-2.4.18/arch/ppc/config.in
--- linux-2.4.18/arch/ppc/config.in.PRE_RTAI	Thu Mar 21 09:33:13 2002
+++ linux-2.4.18/arch/ppc/config.in	Thu Mar 21 10:59:06 2002
@@ -109,6 +109,9 @@
   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 linux-2.4.18/arch/ppc/kernel/entry.S.PRE_RTAI linux-2.4.18/arch/ppc/kernel/entry.S
--- linux-2.4.18/arch/ppc/kernel/entry.S.PRE_RTAI	Thu Mar 21 09:33:13 2002
+++ linux-2.4.18/arch/ppc/kernel/entry.S	Thu Mar 21 10:59:06 2002
@@ -294,6 +294,7 @@
 	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 linux-2.4.18/arch/ppc/kernel/irq.c.PRE_RTAI linux-2.4.18/arch/ppc/kernel/irq.c
--- linux-2.4.18/arch/ppc/kernel/irq.c.PRE_RTAI	Thu Mar 21 09:33:13 2002
+++ linux-2.4.18/arch/ppc/kernel/irq.c	Thu Mar 21 11:05:30 2002
@@ -534,12 +534,21 @@
 	spin_unlock(&desc->lock);
 }
 
-int do_IRQ(struct pt_regs *regs)
+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 isfake)
 {
 	int cpu = smp_processor_id();
 	int irq, first = 1;
         hardirq_enter( cpu );
 
+	if (do_IRQ == (unsigned long)do_IRQ_intercept) {
+
 	for (;;) {
 		/*
 		 * Every arch is required to implement ppc_md.get_irq.
@@ -561,6 +570,11 @@
 		}
 		first = 0;
 	}
+
+	} else {
+		ppc_irq_dispatch_handler(regs, isfake);
+	}
+
         hardirq_exit( cpu );
 
 	if (softirq_pending(cpu))
+ diff -u linux-2.4.18/arch/ppc/kernel/ppc_ksyms.c.PRE_RTAI linux-2.4.18/arch/ppc/kernel/ppc_ksyms.c
--- linux-2.4.18/arch/ppc/kernel/ppc_ksyms.c.PRE_RTAI	Thu Mar 21 09:33:13 2002
+++ linux-2.4.18/arch/ppc/kernel/ppc_ksyms.c	Thu Mar 21 10:59:06 2002
@@ -217,6 +217,12 @@
 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 linux-2.4.18/arch/ppc/kernel/traps.c.PRE_RTAI linux-2.4.18/arch/ppc/kernel/traps.c
--- linux-2.4.18/arch/ppc/kernel/traps.c.PRE_RTAI	Thu Mar 21 09:33:13 2002
+++ linux-2.4.18/arch/ppc/kernel/traps.c	Thu Mar 21 11:10:27 2002
@@ -269,9 +269,15 @@
 	return(retval);
 }
 
+int (*rtai_srq_bckdr)(struct pt_regs *regs) = NULL;
+
 void
 ProgramCheckException(struct pt_regs *regs)
 {
+	if (rtai_srq_bckdr && !rtai_srq_bckdr(regs)) {
+		return;
+	}
+
 #if defined(CONFIG_4xx)
 	unsigned int esr = mfspr(SPRN_ESR);
 
+ diff -u linux-2.4.18/arch/ppc/mm/pgtable.c.PRE_RTAI linux-2.4.18/arch/ppc/mm/pgtable.c
--- linux-2.4.18/arch/ppc/mm/pgtable.c.PRE_RTAI	Thu Mar 21 09:33:14 2002
+++ linux-2.4.18/arch/ppc/mm/pgtable.c	Thu Mar 21 11:12:04 2002
@@ -273,7 +273,7 @@
 		 * don't get ASID compares on kernel space.
 		 */
 		f = _PAGE_PRESENT | _PAGE_ACCESSED | _PAGE_SHARED;
-#if defined(CONFIG_KGDB) || defined(CONFIG_XMON)
+#if defined(CONFIG_KGDB) || defined(CONFIG_XMON) || defined(CONFIG_RTHAL)
 		/* Allows stub to set breakpoints everywhere */
 		f |= _PAGE_WRENABLE;
 #else	/* !CONFIG_KGDB && !CONFIG_XMON */
+ diff -u linux-2.4.18/Documentation/Configure.help.PRE_RTAI linux-2.4.18/Documentation/Configure.help
--- linux-2.4.18/Documentation/Configure.help.PRE_RTAI	Thu Mar 21 09:33:13 2002
+++ linux-2.4.18/Documentation/Configure.help	Thu Mar 21 10:59:06 2002
@@ -241,6 +241,13 @@
   You will need a new lynxer.elf file to flash your firmware with - send
   email to [e-mail]
 
+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 linux-2.4.18/include/asm-ppc/system.h.PRE_RTAI linux-2.4.18/include/asm-ppc/system.h
--- linux-2.4.18/include/asm-ppc/system.h.PRE_RTAI	Thu Mar 21 10:34:16 2002
+++ linux-2.4.18/include/asm-ppc/system.h	Thu Mar 21 10:59:06 2002
@@ -81,6 +81,7 @@
 
 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 linux-2.4.18/include/linux/sched.h.PRE_RTAI linux-2.4.18/include/linux/sched.h
--- linux-2.4.18/include/linux/sched.h.PRE_RTAI	Thu Mar 21 10:34:17 2002
+++ linux-2.4.18/include/linux/sched.h	Thu Mar 21 11:18:05 2002
@@ -410,6 +410,8 @@
 
 /* journalling filesystem info */
 	void *journal_info;
+
+	void *this_rt_task[2];
 };
 
 /*
@@ -501,6 +503,7 @@
     blocked:		{{0}},						\
     alloc_lock:		SPIN_LOCK_UNLOCKED,				\
     journal_info:	NULL,						\
+    this_rt_task:	{0,0},						\
 }
 
 
+ diff -u linux-2.4.18/kernel/exit.c.PRE_RTAI linux-2.4.18/kernel/exit.c
--- linux-2.4.18/kernel/exit.c.PRE_RTAI	Mon Feb 25 20:38:13 2002
+++ linux-2.4.18/kernel/exit.c	Thu Mar 21 10:59:07 2002
@@ -429,6 +429,71 @@
 	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;
+		}	
+	}
+//printk("rtai_callback_list %X\n", rtai_callback_list);
+}
+//
+//
+//
+
 NORET_TYPE void do_exit(long code)
 {
 	struct task_struct *tsk = current;
@@ -446,6 +511,18 @@
 #ifdef CONFIG_BSD_PROCESS_ACCT
 	acct_process(code);
 #endif
+
+/*
+ * PGGC added these lines to callback rtai when a task dies.
+ * This assumes that a LXRT task should/will always set its
+ * scheduling police to SCHED_FIFO or SCHED_RR.
+ * We may want to enforce this in rt_task_init(...).
+ * (For the moment it is not so, thus let's inform LXRT anyhow (Paolo))
+ */
+	if(tsk->this_rt_task[0]) {
+		inform_rtai();
+	}
+
 	__exit_mm(tsk);
 
 	lock_kernel();
+ diff -u linux-2.4.18/kernel/fork.c.PRE_RTAI linux-2.4.18/kernel/fork.c
--- linux-2.4.18/kernel/fork.c.PRE_RTAI	Mon Feb 25 20:38:13 2002
+++ linux-2.4.18/kernel/fork.c	Thu Mar 21 10:59:07 2002
@@ -220,7 +220,9 @@
 	atomic_set(&mm->mm_count, 1);
 	init_rwsem(&mm->mmap_sem);
 	mm->page_table_lock = SPIN_LOCK_UNLOCKED;
+	lock_kernel();
 	mm->pgd = pgd_alloc(mm);
+	unlock_kernel();
 	mm->def_flags = 0;
 	if (mm->pgd)
 		return mm;
@@ -252,7 +254,9 @@
 inline void __mmdrop(struct mm_struct *mm)
 {
 	if (mm == &init_mm) BUG();
+	lock_kernel();
 	pgd_free(mm->pgd);
+	unlock_kernel();
 	destroy_context(mm);
 	free_mm(mm);
 }
+ diff -u linux-2.4.18/kernel/ksyms.c.PRE_RTAI linux-2.4.18/kernel/ksyms.c
--- linux-2.4.18/kernel/ksyms.c.PRE_RTAI	Mon Feb 25 20:38:13 2002
+++ linux-2.4.18/kernel/ksyms.c	Thu Mar 21 10:59:07 2002
@@ -559,3 +559,44 @@
 
 EXPORT_SYMBOL(tasklist_lock);
 EXPORT_SYMBOL(pidhash);
+
+/*
+ * used to inform rtai a task is about to die.
+ */
+extern int  set_rtai_callback(   void (*fun)(struct task_struct *tsk));
+extern void remove_rtai_callback(void (*fun)(struct task_struct *tsk));
+extern NORET_TYPE void do_exit(long code);
+EXPORT_SYMBOL(set_rtai_callback);
+EXPORT_SYMBOL(remove_rtai_callback);
+EXPORT_SYMBOL(do_exit);
+
+/*
+ * used to inform RTAI LXRT a task should deal with a Linux signal, and for rt_lxrt_fork()
+ */
+extern int (*rtai_signal_handler)(struct task_struct *lnxt, int sig);
+EXPORT_SYMBOL(rtai_signal_handler);
+extern int do_fork(unsigned long clone_flags, unsigned long stack_start, struct pt_regs *regs, unsigned long stack_size);
+EXPORT_SYMBOL(do_fork);
+
+/*
+ * used to provide async io support (aio) to RTAI LXRT.
+ */
+extern ssize_t sys_read(unsigned int fd, char * buf, size_t count);
+extern ssize_t sys_write(unsigned int fd, const char * buf, size_t count);
+extern ssize_t sys_pread(unsigned int fd, char * buf,
+				                             size_t count, loff_t pos);
+extern ssize_t sys_pwrite(unsigned int fd, const char * buf,
+				                              size_t count, loff_t pos);
+extern long sys_fsync(unsigned int fd);
+extern long sys_fdatasync(unsigned int fd);
+extern long sys_open(const char * filename, int flags, int mode);
+extern long sys_close(unsigned int fd);
+
+EXPORT_SYMBOL(sys_read);
+EXPORT_SYMBOL(sys_write);
+EXPORT_SYMBOL(sys_open);
+//EXPORT_SYMBOL(sys_close);
+EXPORT_SYMBOL(sys_pread);
+EXPORT_SYMBOL(sys_pwrite);
+EXPORT_SYMBOL(sys_fsync);
+EXPORT_SYMBOL(sys_fdatasync);
+ diff -u linux-2.4.18/kernel/sched.c.PRE_RTAI linux-2.4.18/kernel/sched.c
--- linux-2.4.18/kernel/sched.c.PRE_RTAI	Fri Dec 21 18:42:04 2001
+++ linux-2.4.18/kernel/sched.c	Thu Mar 21 10:59:07 2002
@@ -546,6 +546,75 @@
  * tasks can run. It can not be killed, and it cannot sleep. The 'state'
  * information in task[0] is never used.
  */
+
+int idle_weight = -1000;
+#define MAX_MM 4096  // How large should it be?
+static struct smm_t { int in, out; struct mm_struct *mm[MAX_MM]; } smm[NR_CPUS];
+#define incpnd(x) do { x = (x + 1) & (MAX_MM - 1); } while(0)
+
+#ifdef CONFIG_X86
+static inline void pend_mm(struct mm_struct *mm, int cpu)
+{
+	if (rthal.lxrt_global_cli) {
+        	struct smm_t *p = smm + cpu;
+        	p->mm[p->in] = mm;
+	        incpnd(p->in);
+	} else {
+		mmdrop(mm);
+	}
+}
+
+static inline void drop_mm(void)
+{
+	if (rthal.lxrt_global_cli) {
+        	struct smm_t *p = smm + smp_processor_id();
+	        while (p->out != p->in) {
+        	        mmdrop(p->mm[p->out]);
+              		incpnd(p->out);
+        	}
+        }
+}
+
+void switch_mem(struct task_struct *prevp, struct task_struct *nextp, int cpuid)
+{
+	if (cpuid < 0) {
+		struct mm_struct *next = nextp->active_mm;
+		if (prevp->active_mm != next || (cpuid & 0x40000000)) {
+			if ((prevp->active_mm)->context.segments != next->context.segments) {
+				load_LDT(next);
+			}
+			set_bit(cpuid & 0xFFFFFFF, &next->context.cpuvalid);
+			asm volatile("movl %0,%%cr3": :"r" (__pa(next->pgd)));
+		}
+#ifdef CONFIG_SMP
+		  else if (!test_and_set_bit(cpuid & 0xFFFFFFF, &next->context.cpuvalid)) {
+			load_LDT(next);
+		}
+#endif
+	} else {
+		struct mm_struct *oldmm = prevp->active_mm;
+		if (nextp->mm) {
+			switch_mm(oldmm, nextp->mm, nextp, cpuid);
+		} else {
+			nextp->active_mm = oldmm;
+			atomic_inc(&oldmm->mm_count);
+			enter_lazy_tlb(oldmm, nextp, cpuid);
+		}
+		if (!prevp->mm) {
+			prevp->active_mm = NULL;
+			pend_mm(oldmm, cpuid);
+		}
+	}
+}
+#else
+static inline void pend_mm(struct mm_struct *mm, int cpu)
+{
+	mmdrop(mm);
+}
+static inline void drop_mm(void) {}
+void switch_mem(struct task_struct *prevp, struct task_struct *nextp, int cpuid) {}
+#endif
+
 asmlinkage void schedule(void)
 {
 	struct schedule_data * sched_data;
@@ -604,7 +673,7 @@
 	 * Default process to select..
 	 */
 	next = idle_task(this_cpu);
-	c = -1000;
+	c = idle_weight;
 	list_for_each(tmp, &runqueue_head) {
 		p = list_entry(tmp, struct task_struct, run_list);
 		if (can_schedule(p, this_cpu)) {
@@ -686,7 +755,7 @@
 
 		if (!prev->mm) {
 			prev->active_mm = NULL;
-			mmdrop(oldmm);
+			pend_mm(oldmm, this_cpu);
 		}
 	}
 
@@ -695,6 +764,7 @@
 	 * stack.
 	 */
 	switch_to(prev, next, prev);
+	drop_mm();
 	__schedule_tail(prev);
 
 same_process:
+ diff -u linux-2.4.18/kernel/signal.c.PRE_RTAI linux-2.4.18/kernel/signal.c
--- linux-2.4.18/kernel/signal.c.PRE_RTAI	Thu Nov 22 01:26:27 2001
+++ linux-2.4.18/kernel/signal.c	Thu Mar 21 10:59:07 2002
@@ -974,9 +974,30 @@
 	return ret;
 }
 
+//
+//  Add this pointer to the RTAI signal handler.
+//
+int (*rtai_signal_handler)(struct task_struct *lnxt, int sig);
+
 asmlinkage long
 sys_kill(int pid, int sig)
 {
+// Add this section to call the RTAI signal handler.
+//
+	{
+	struct task_struct *p;
+	int ret;
+
+	if (rtai_signal_handler) {
+	    p = find_task_by_pid(pid);
+		if(p && (p->policy == SCHED_FIFO || p->policy == SCHED_RR) && p->this_rt_task[0]) {
+			ret = rtai_signal_handler(p, sig);
+			if(!ret) return 0; //let Linux deal with it.
+			}
+		}
+	}
+
+	{
 	struct siginfo info;
 
 	info.si_signo = sig;
@@ -986,6 +1007,7 @@
 	info.si_uid = current->uid;
 
 	return kill_something_info(sig, &info, pid);
+	}
 }
 
 asmlinkage long
+ diff -u linux-2.4.18/Makefile.PRE_RTAI linux-2.4.18/Makefile
--- linux-2.4.18/Makefile.PRE_RTAI	Thu Mar 21 09:33:13 2002
+++ linux-2.4.18/Makefile	Thu Mar 21 10:59:06 2002
@@ -1,7 +1,7 @@
 VERSION = 2
 PATCHLEVEL = 4
 SUBLEVEL = 18
-EXTRAVERSION =
+EXTRAVERSION = -rthal5
 
 KERNELRELEASE=$(VERSION).$(PATCHLEVEL).$(SUBLEVEL)$(EXTRAVERSION)
 
+ diff -u linux-2.4.18/mm/vmalloc.c.PRE_RTAI linux-2.4.18/mm/vmalloc.c
--- linux-2.4.18/mm/vmalloc.c.PRE_RTAI	Mon Feb 25 20:38:14 2002
+++ linux-2.4.18/mm/vmalloc.c	Thu Mar 21 10:59:07 2002
@@ -148,6 +148,9 @@
 	spin_lock(&init_mm.page_table_lock);
 	do {
 		pmd_t *pmd;
+#ifdef CONFIG_X86
+		pgd_t olddir = *dir;
+#endif
 		
 		pmd = pmd_alloc(&init_mm, dir, address);
 		ret = -ENOMEM;
@@ -157,6 +160,10 @@
 		ret = -ENOMEM;
 		if (alloc_area_pmd(pmd, address, end - address, gfp_mask, prot))
 			break;
+#ifdef CONFIG_X86
+		if (pgd_val(olddir) != pgd_val(*dir))
+			set_pgdir(address, *dir);
+#endif
 
 		address = (address + PGDIR_SIZE) & PGDIR_MASK;
 		dir++;