rtai_xeno.h

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

/*
 * Copyright (C) 2001,2002,2003 Philippe Gerum <[e-mail]>.
 *
 * Xenomai 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; either version 2 of the License, or
 * (at your option) any later version.
 *
 * Xenomai 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 Xenomai; if not, write to the Free Software Foundation,
 * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
 *
 * As a special exception, the RTAI project gives permission
 * for additional uses of the text contained in its release of
 * Xenomai.
 *
 * The exception is that, if you link the Xenomai libraries with other
 * files to produce an executable, this does not by itself cause the
 * resulting executable to be covered by the GNU General Public License.
 * Your use of that executable is in no way restricted on account of
 * linking the Xenomai libraries code into it.
 *
 * This exception does not however invalidate any other reasons why
 * the executable file might be covered by the GNU General Public
 * License.
 *
 * This exception applies only to the code released by the
 * RTAI project under the name Xenomai.  If you copy code from other
 * RTAI project releases into a copy of Xenomai, as the General Public
 * License permits, the exception does not apply to the code that you
 * add in this way.  To avoid misleading anyone as to the status of
 * such modified files, you must delete this exception notice from
 * them.
 *
 * If you write modifications of your own for Xenomai, it is your
 * choice whether to permit this exception to apply to your
 * modifications. If you do not wish that, delete this exception
 * notice.
 *
 * This file implements the interface between the Xenomai nucleus and
 * RTAI/Adeos in kernel space.
 */

#ifndef _RTAI_ASM_I386_XENO_H
#define _RTAI_ASM_I386_XENO_H

#include <linux/kernel.h>
#include <linux/version.h>
#include <linux/module.h>
#include <linux/slab.h>
#include <linux/errno.h>
#include <linux/adeos.h>
#include <asm/uaccess.h>
#include <asm/param.h>
#include <asm/mmu_context.h>
#include <rtai_config.h>
#include <asm/rtai_hal.h>
#include <asm/rtai_xnatomic.h>
#include <xenomai/shadow.h>

#define MODULE_PARM_VALUE(parm) (parm)
#ifndef MODULE_LICENSE
#define MODULE_LICENSE(s)
#endif /* MODULE_LICENSE */

typedef unsigned long spl_t;

#define splhigh(x)  rtai_local_irq_save(x)
#define splexit(x)  rtai_local_irq_restore(x)
#define splnone()   rtai_sti()
#define spltest()   rtai_local_irq_test()
#define splget(x)   rtai_local_irq_flags(x)

#define XNARCH_DEFAULT_TICK   1000000 /* ns, i.e. 1ms */
#define XNARCH_IRQ_MAX        NR_IRQS
#define XNARCH_HOST_TICK      (1000000000UL/HZ)
#define XNARCH_APERIODIC_PREC 1000 /* 1us, aperiodic precision */
#define XNARCH_SCHED_LATENCY  CONFIG_RTAI_SCHED_8254_LATENCY

#define XNARCH_THREAD_COOKIE  (THIS_MODULE)
#define XNARCH_THREAD_STACKSZ 4096
#define XNARCH_ROOT_STACKSZ   0	/* Only a placeholder -- no stack */

#define xnarch_printf                printk /* Yup! This is safe under ARTI */
#define xnarch_ullmod(ull,uld,rem)   (xnarch_ulldiv(ull,uld,rem), (*rem))
#define xnarch_ulldiv                rtai_ulldiv
#define xnarch_imuldiv               rtai_imuldiv
#define xnarch_llimd                 rtai_llimd
#define xnarch_get_cpu_tsc           rtai_rdtsc

struct xnthread;
struct xnmutex;
struct module;
struct task_struct;

#define xnarch_stack_size(tcb)  ((tcb)->stacksize)
#define xnarch_fpu_ptr(tcb)     ((tcb)->fpup)

typedef struct xnarchtcb {	/* Per-thread arch-dependent block */

    /* Kernel mode side */
    union i387_union fpuenv __attribute__ ((aligned (16))); /* FPU backup area */
    unsigned stacksize;		/* Aligned size of stack (bytes) */
    unsigned long *stackbase;	/* Stack space */
    unsigned long esp;		/* Saved ESP for kernel-based threads */
    unsigned long eip;		/* Saved EIP for kernel-based threads */
    struct module *module;	/* Creator's module */

    /* User mode side */
    struct task_struct *user_task;	/* Shadowed user-space task */
    struct task_struct *active_task;	/* Active user-space task */

    unsigned long *espp;	/* Pointer to ESP backup area (&esp or &user->thread.esp) */
    unsigned long *eipp;	/* Pointer to EIP backup area (&eip or &user->thread.eip) */
    union i387_union *fpup;	/* Pointer to the FPU backup area (&fpuenv or &user->thread.i387.f[x]save */

} xnarchtcb_t;

typedef struct xnarch_fltinfo {

    unsigned vector;
    long errcode;
    struct pt_regs *regs;

} xnarch_fltinfo_t;

#define xnarch_fault_trap(fi)  ((fi)->vector)
#define xnarch_fault_code(fi)  ((fi)->errcode)
#define xnarch_fault_pc(fi)    ((fi)->regs->eip)

#ifdef __cplusplus
extern "C" {
#endif

static inline unsigned long long xnarch_tsc_to_ns (unsigned long long ts) {
    return xnarch_llimd(ts,1000000000,RTAI_CPU_FREQ);
}

static inline unsigned long long xnarch_ns_to_tsc (unsigned long long ns) {
    return xnarch_llimd(ns,RTAI_CPU_FREQ,1000000000);
}

static inline unsigned long long xnarch_get_cpu_time (void) {
    return xnarch_tsc_to_ns(xnarch_get_cpu_tsc());
}

static inline unsigned long long xnarch_get_cpu_freq (void) {
    return RTAI_CPU_FREQ;
}

#define xnarch_halt(emsg) \
do { \
    adeos_set_printk_sync(adp_current); \
    xnarch_printf("Xenomai: fatal: %s\n",emsg); \
    BUG(); \
} while(0)

int xnarch_setimask(int imask);

#ifdef XENO_INTR_MODULE

static inline int xnarch_hook_irq (unsigned irq,
				   void (*handler)(unsigned irq,
						   void *cookie),
				   void *cookie)
{
    int err = rt_request_irq(irq,handler,cookie);

    if (!err)
	rt_enable_irq(irq);

    return err;
}

static inline int xnarch_release_irq (unsigned irq) {

    return rt_release_irq(irq);
}

static inline int xnarch_enable_irq (unsigned irq)

{
    if (irq >= XNARCH_IRQ_MAX)
	return -EINVAL;

    rt_enable_irq(irq);

    return 0;
}

static inline int xnarch_disable_irq (unsigned irq)

{
    if (irq >= XNARCH_IRQ_MAX)
	return -EINVAL;

    rt_disable_irq(irq);

    return 0;
}

static inline void xnarch_isr_chain_irq (unsigned irq) {
    rt_pend_linux_irq(irq);
}

static inline void xnarch_isr_enable_irq (unsigned irq) {
    rt_enable_irq(irq);
}

#endif /* XENO_INTR_MODULE */

#ifdef XENO_POD_MODULE

void xnpod_welcome_thread(struct xnthread *);

void xnpod_delete_thread(struct xnthread *,
			 struct xnmutex *mutex);

static inline void xnarch_start_timer (int ns, void (*tickhandler)(void))

{
    if (ns > 0)	/* Periodic setup. */
	{
	unsigned period = (unsigned)xnarch_llimd(ns,RTAI_FREQ_8254,1000000000);
	rt_request_timer(tickhandler,period > LATCH ? LATCH : period,0);
	}
    else  /* Aperiodic setup. */
	rt_request_timer(tickhandler,0,0);
}

static inline void xnarch_leave_root (xnarchtcb_t *rootcb)

{
    TRACE_RTAI_SWITCHTO_RT(0);
    set_bit(0,&rtai_cpu_realtime);
    /* Remember the preempted non-RT task pointer. */
    rootcb->user_task = rootcb->active_task = rtai_get_current(0);
    /* So that xnarch_save_fpu() will operate on the right FPU area. */
    rootcb->fpup = &rootcb->user_task->thread.i387;
}

static inline void xnarch_enter_root (xnarchtcb_t *rootcb) {
    TRACE_RTAI_SWITCHTO_LINUX(0);
    clear_bit(0,&rtai_cpu_realtime);
}

static inline void __switch_threads(xnarchtcb_t *out_tcb,
				    xnarchtcb_t *in_tcb,
				    struct task_struct *outproc,
				    struct task_struct *inproc)
{
	__asm__ __volatile__( \
        "pushl %%ecx\n\t" \
        "pushl %%edi\n\t" \
        "pushl %%ebp\n\t" \
	"movl %0,%%ecx\n\t" \
	"movl %%esp,(%%ecx)\n\t" \
	"movl %1,%%ecx\n\t" \
	"movl $1f,(%%ecx)\n\t" \
	"movl %2,%%ecx\n\t" \
	"movl %3,%%edi\n\t" \
	"movl (%%ecx),%%esp\n\t" \
	"pushl (%%edi)\n\t" \
	"testl %%edx,%%edx\n\t" \
	"jne  __switch_to\n\t" \
	"ret\n\t" \
"1: 	 popl %%ebp\n\t" \
	"popl %%edi\n\t" \
	"popl %%ecx\n\t" \
      : /* no output */ \
      : "m" (out_tcb->espp), \
        "m" (out_tcb->eipp), \
        "m" (in_tcb->espp), \
        "m" (in_tcb->eipp), \
        "b" (out_tcb), \
        "S" (in_tcb), \
        "a" (outproc), \
        "d" (inproc));
}

static inline void xnarch_switch_to (xnarchtcb_t *out_tcb,
				     xnarchtcb_t *in_tcb)
{
    struct task_struct *outproc = out_tcb->active_task;
    struct task_struct *inproc = in_tcb->user_task;
    static int cr0;

    if (out_tcb->user_task)
	{
	__asm__ __volatile__ ("movl %%cr0,%0": "=r" (cr0));
	clts();
	}