adeos-ipipe-2.6.12-bf533-1.2-00.patch

xenomai 很好的linux实时补丁

-		while (!need_resched())
+		while (!need_resched()) {
+		    ipipe_suspend_domain();
 		      __asm__("nop;\n\t \
                      nop;\n\t \
                      nop;\n\t \
                      idle;\n\t": : :"cc");
+		}
 		leds_switch(LED_ON);
 		schedule();
 	}
diff -uNrp linux-2.6.12/arch/blackfin/kernel/time.c 2.6.12-ipipe/arch/blackfin/kernel/time.c
--- linux-2.6.12/arch/blackfin/kernel/time.c	2005-10-18 06:23:57.000000000 +0200
+++ 2.6.12-ipipe/arch/blackfin/kernel/time.c	2006-02-13 07:36:35.000000000 +0100
@@ -7,7 +7,7 @@
  * Description:  This file contains the bfin-specific time handling details.
  *               Most of the stuff is located in the machine specific files.
  *
- * Rev:          $Id: time.c,v 1.30 2005/10/18 04:23:57 magicyang Exp $
+ * Rev:          $Id: time.c,v 1.1 2006/02/11 22:01:00 rpm Exp $
  *
  * Modified:
  *               Copyright 2004-2005 Analog Devices Inc.
@@ -134,6 +134,27 @@ static struct irqaction bfin_timer_irq =
 void
 time_sched_init(irqreturn_t(*timer_routine) (int, void *, struct pt_regs *))
 {
+#ifdef CONFIG_IPIPE
+	/* Use builtin TIMER0 for time source instead of the high
+	 * priority core timer; this makes the latter available to
+	 * client RTOS running over the I-pipe. Xenomai will make good
+	 * use of this. */
+
+	/* Power down the core timer, just to play safe. */
+	*pTCNTL = 0;
+	__builtin_bfin_csync();
+	/* We use TIMER0 in PWM_OUT, periodic mode. */
+	*pTIMER_DISABLE = 1;	/* Disable TIMER0 for now. */
+	__builtin_bfin_ssync();
+	*pTIMER0_CONFIG = 0x19;	/* IRQ enable, periodic, PWM_OUT, SCLKed */
+	__builtin_bfin_ssync();
+	*pTIMER0_PERIOD = get_sclk() / HZ;
+	__builtin_bfin_ssync();
+	*pTIMER0_WIDTH = 1;
+	__builtin_bfin_ssync();
+	*pTIMER_ENABLE = 1;	/* Enable TIMER0. */
+	__builtin_bfin_ssync();
+#else /* !CONFIG_IPIPE */
 	/* power up the timer, but don't enable it just yet */
 	*pTCNTL = 1;
 	__builtin_bfin_csync();
@@ -149,10 +170,11 @@ time_sched_init(irqreturn_t(*timer_routi
 	__builtin_bfin_csync();
 
 	*pTCNTL = 7;
-
+#endif /* CONFIG_IPIPE */
 	bfin_timer_irq.handler = timer_routine;
-	/* call setup_irq instead of request_irq because request_irq calls kmalloc which has not been initialized yet */
-	setup_irq(IRQ_CORETMR, &bfin_timer_irq);
+	/* call setup_irq instead of request_irq because request_irq
+	   calls kmalloc which has not been initialized yet */
+	setup_irq(IRQ_SYSTMR, &bfin_timer_irq);
 }
 
 unsigned long gettimeoffset(void)
@@ -164,7 +186,7 @@ unsigned long gettimeoffset(void)
 	    tick_usec * (clocks_per_jiffy - (*pTCOUNT + 1)) / clocks_per_jiffy;
 
 	/* Check if we just wrapped the counters and maybe missed a tick */
-	if ((*pILAT & (1 << IRQ_CORETMR)) && (offset < (100000 / HZ / 2)))
+	if ((*pILAT & (1 << IRQ_PRIOTMR)) && (offset < (100000 / HZ / 2)))
 		offset += (1000000 / HZ);
 
 	return offset;
diff -uNrp linux-2.6.12/arch/blackfin/kernel/traps.c 2.6.12-ipipe/arch/blackfin/kernel/traps.c
--- linux-2.6.12/arch/blackfin/kernel/traps.c	2005-12-29 07:47:47.000000000 +0100
+++ 2.6.12-ipipe/arch/blackfin/kernel/traps.c	2006-02-11 23:01:00.000000000 +0100
@@ -6,7 +6,7 @@
  * Created:
  * Description:  uses S/W interrupt 15 for the system calls
  *
- * Rev:          $Id: traps.c,v 1.38.2.1 2005/12/29 06:47:47 sonicz Exp $
+ * Rev:          $Id: traps.c,v 1.1 2006/02/11 22:01:00 rpm Exp $
  *
  * Modified:
  *               Copyright 2004-2005 Analog Devices Inc.
@@ -249,6 +249,10 @@ asmlinkage void trap_c(struct pt_regs *f
 		sig = SIGTRAP;
 		break;
 	}
+
+	if (ipipe_trap_notify(fp->seqstat & 0x3f,fp))
+	    goto nsig;
+
 	info.si_signo = sig;
 	info.si_errno = 0;
 	info.si_addr = (void *)fp->pc;
diff -uNrp linux-2.6.12/arch/blackfin/lib/ins.S 2.6.12-ipipe/arch/blackfin/lib/ins.S
--- linux-2.6.12/arch/blackfin/lib/ins.S	2005-10-28 06:02:10.000000000 +0200
+++ 2.6.12-ipipe/arch/blackfin/lib/ins.S	2006-02-12 23:12:21.000000000 +0100
@@ -1,7 +1,7 @@
 /*
  * File:	ins.S
  * Description:	Implementation of ins{bwl} for BlackFin processors using zero overhead loops.
- * Rev:		$Id: ins.S,v 1.7 2005/10/28 04:02:10 magicyang Exp $
+ * Rev:		$Id: ins.S,v 1.1 2006/02/12 22:12:21 rpm Exp $
  * Created:	Tue Mar 22 15:27:24 CEST 2005
  * Author:	Bas Vermeulen
  * Email:	[e-mail]
@@ -31,7 +31,16 @@ ENTRY(_insl)
 	P0 = R0;	/* P0 = port */
 	P1 = R1;	/* P1 = address */
 	P2 = R2;	/* P2 = count */
+#ifdef CONFIG_IPIPE
+	[--sp] = rets
+	[--sp] = (P5:0);
+	sp += -12
+	call _ipipe_stall_root_raw
+	sp += 12
+	(P5:0) = [sp++];
+#else /* !CONFIG_IPIPE */
 	cli R2;
+#endif /* CONFIG_IPIPE */
 	NOP;
 	NOP;
 
@@ -39,14 +48,30 @@ ENTRY(_insl)
 long_loop_s: R0 = [P0];
 long_loop_e: [P1++] = R0;
 
-    sti R2;
+#ifdef CONFIG_IPIPE
+	sp += -12
+	call _ipipe_unstall_root_raw
+	sp += 12
+	rets = [sp++]
+#else /* !CONFIG_IPIPE */
+	sti R2;
+#endif /* CONFIG_IPIPE */
 	RTS;
 
 ENTRY(_insw)
 	P0 = R0;	/* P0 = port */
 	P1 = R1;	/* P1 = address */
 	P2 = R2;	/* P2 = count */
+#ifdef CONFIG_IPIPE
+	[--sp] = rets
+	[--sp] = (P5:0);
+	sp += -12
+	call _ipipe_stall_root_raw
+	sp += 12
+	(P5:0) = [sp++];
+#else /* !CONFIG_IPIPE */
 	cli R2;
+#endif /* CONFIG_IPIPE */
 	NOP;
 	NOP;
 
@@ -54,19 +79,42 @@ ENTRY(_insw)
 word_loop_s: R0 = W[P0];
 word_loop_e: W[P1++] = R0;
 
+#ifdef CONFIG_IPIPE
+	sp += -12
+	call _ipipe_unstall_root_raw
+	sp += 12
+	rets = [sp++]
+#else /* !CONFIG_IPIPE */
 	sti R2;
+#endif /* CONFIG_IPIPE */
 	RTS;
 
 ENTRY(_insb)
 	P0 = R0;	/* P0 = port */
 	P1 = R1;	/* P1 = address */
 	P2 = R2;	/* P2 = count */
+#ifdef CONFIG_IPIPE
+	[--sp] = rets
+	[--sp] = (P5:0);
+	sp += -12
+	call _ipipe_stall_root_raw
+	sp += 12
+	(P5:0) = [sp++];
+#else		
 	cli R2;
+#endif	
 	NOP;
 	NOP;
 
 	LSETUP( byte_loop_s, byte_loop_e) LC0 = P2;
 byte_loop_s: R0 = B[P0];
 byte_loop_e: B[P1++] = R0;
+#ifdef CONFIG_IPIPE
+	sp += -12
+	call _ipipe_unstall_root_raw
+	sp += 12
+	rets = [sp++]
+#else		
 	sti R2;
+#endif	
 	RTS;
diff -uNrp linux-2.6.12/arch/blackfin/mach-bf533/Kconfig 2.6.12-ipipe/arch/blackfin/mach-bf533/Kconfig
--- linux-2.6.12/arch/blackfin/mach-bf533/Kconfig	2005-10-28 06:07:34.000000000 +0200
+++ 2.6.12-ipipe/arch/blackfin/mach-bf533/Kconfig	2006-02-11 22:41:02.000000000 +0100
@@ -60,7 +60,7 @@ config  DMA7_UARTTX
 
 config 	TIMER0
 	int "TIMER0"
-	default 11
+	default 7
 config 	TIMER1
 	int "TIMER1"
 	default 11
diff -uNrp linux-2.6.12/arch/blackfin/mach-common/entry.S 2.6.12-ipipe/arch/blackfin/mach-common/entry.S
--- linux-2.6.12/arch/blackfin/mach-common/entry.S	2005-12-29 07:47:47.000000000 +0100
+++ 2.6.12-ipipe/arch/blackfin/mach-common/entry.S	2006-02-13 08:14:50.000000000 +0100
@@ -383,6 +383,19 @@ ENTRY(system_call)
 	p2 = [p2];
 
 	[p2+(TASK_THREAD+THREAD_KSP)] = sp;
+#ifdef CONFIG_IPIPE
+	r0 = sp; 
+	SP += -12;
+	call ___ipipe_syscall_root; 
+	SP += 12;
+	cc = r0 == 1;
+	if cc jump syscall_really_exit;
+	cc = r0 == -1;
+	if cc jump resume_userspace;
+	r3 = [sp + PT_R3]; 
+	r4 = [sp + PT_R4]; 
+	p0 = [sp + PT_ORIG_P0]; 
+#endif /* CONFIG_IPIPE */
 
 	/* Check the System Call */
 	r7 = __NR_syscall;
@@ -564,6 +577,15 @@ new_old_task:
 	rts;
 
 ENTRY(ret_from_exception)
+#ifdef CONFIG_IPIPE
+	[--sp] = rets;
+	SP += -12;
+	call ___ipipe_check_root
+	SP += 12
+	rets = [sp++];
+	cc = r0 == 0;
+        if cc jump 4f;		/* not on behalf of Linux, get out */
+#endif /* CONFIG_IPIPE */
         p2.l = lo(IPEND);
         p2.h = hi(IPEND);
 
@@ -657,7 +679,7 @@ ENTRY(return_from_int)
 2:
 	rts;
 
-ENTRY(_lower_to_irq14)
+ENTRY(_lower_to_irq14) /* Not called when the I-pipe is enabled. */
 	r0 = 0x401f;
 	sti r0;
 	raise 14;
diff -uNrp linux-2.6.12/arch/blackfin/mach-common/interrupt.S 2.6.12-ipipe/arch/blackfin/mach-common/interrupt.S
--- linux-2.6.12/arch/blackfin/mach-common/interrupt.S	2005-12-21 02:38:51.000000000 +0100
+++ 2.6.12-ipipe/arch/blackfin/mach-common/interrupt.S	2006-02-16 15:40:40.000000000 +0100
@@ -39,6 +39,85 @@
 #include <asm/entry.h>
 #include <asm/asm-offsets.h>
 
+#ifdef CONFIG_IPIPE
+
+/* Note: we do call return_from_int before eventually branching to
+   the IRQ tail code, since the former returns early - and as
+   such would not cause high latencies - if the condition which
+   triggers the latter is detected (i.e. the current IRQ did not
+   preempt user code). */
+	
+.macro handle_irq /* r0 contains the IRQ level set by caller. */
+	p2.l = lo(IPEND);
+        p2.h = hi(IPEND);
+        csync;
+        r2 = [p2];              /* Read current IPEND */
+        [sp + PT_IPEND] = r2;   /* Store IPEND */
+	r1 = sp
+	sp += -12
+	call ___ipipe_grab_irq
+	sp += 12
+	cc = r0 == 0;
+	if cc jump 1f;
+	call return_from_int;
+1:	
+.endm
+
+ENTRY(___ipipe_call_irqtail)
+
+	r0.l = 1f;
+        r0.h = 1f;
+	reti = r0; 
+	rti
+1:
+	[--sp] = rets; 
+	[--sp] = ( r7:4, p5:3 );
+	p0.l = ___ipipe_irq_tail_hook;
+        p0.h = ___ipipe_irq_tail_hook;
+	p0 = [p0] ;
+	sp += -12 ; 
+	call (p0) ;
+	sp += 12;
+	( r7:4, p5:3 ) = [sp++];
+	rets = [sp++]; 
+
+	[--sp] = reti;
+	reti = [sp++];		/* IRQs are off. */
+	r0.h = 3f; 
+	r0.l = 3f; 
+	p0.l = lo(EVT14);
+	p0.h = hi(EVT14);
+	[p0] = r0;
+	csync; 
+	r0 = 0x401f; 
+	sti r0;
+	raise 14;
+	[--sp] = reti; 		/* IRQs on. */
+2:
+	jump 2b			/* Likely paranoid. */
+3:
+	sp += 4;		/* Discard saved RETI */
+	r0.h = _evt14_softirq; 
+	r0.l = _evt14_softirq; 
+	p0.l = lo(EVT14);
+	p0.h = hi(EVT14);
+	[p0] = r0; 
+	csync
+	p0.l = _irq_flags;
+	p0.h = _irq_flags;
+	r0 = [p0];
+	sti r0
+	rts;
+
+#else /* !CONFIG_IPIPE */
+.macro handle_irq
+	r1 = sp
+	sp += -12
+	call _do_irq
+	sp += 12
+	call return_from_int;
+.endm
+#endif /* CONFIG_IPIPE */
 .text
 
 .align 4 	/* just in case */
@@ -103,26 +182,15 @@ call_do_ovf:
 	RESTORE_CONTEXT
 	rti;
 #endif
-/* interrupt routine for core timer - 6 */
+/* interrupt routine for core timer - 6. CONFIG_IPIPE reserves it for
+	client RTOS. Linux is timed by TIMER0. */
 ENTRY(_evt_timer)
 	SAVE_CONTEXT
 #ifdef CONFIG_FRAME_POINTER
 	fp = 0;
 #endif
-	/* SAVE_CONTEXT ignores IPEND; we need to save it since the user_mode
-	   macro accesses it to determine where to account time.  */
-	p2.l = lo(IPEND);
-	p2.h = hi(IPEND);
-	csync;
-	r0 = [p2];
-	[sp + PT_IPEND] = r0;
-
  	r0 = EVT_IVTMR_P;
-	r1 =  sp;
-	SP += -12;
-	call _do_irq;
-	SP += 12;
-	call return_from_int;
+	handle_irq;
 	RESTORE_CONTEXT
 	rti;
 
@@ -147,11 +215,7 @@ ENTRY(_evt_evt7)
 	fp = 0;
 #endif
  	r0 = EVT_IVG7_P;
-	r1 =  sp;
-	SP += -12;
-	call _do_irq;
-	SP += 12;
-	call return_from_int;
+	handle_irq;
 	RESTORE_CONTEXT
 	rti;
 
@@ -162,11 +226,7 @@ ENTRY(_evt_evt8)
 	fp = 0;
 #endif
 	r0 = EVT_IVG8_P;
-	r1 =  sp;
-	SP += -12;
-	call _do_irq;
-	SP += 12;
-	call return_from_int;
+	handle_irq;
 	RESTORE_CONTEXT
 	rti;
 
@@ -177,11 +237,7 @@ ENTRY(_evt_evt9)
 	fp = 0;
 #endif
 	r0 = EVT_IVG9_P;
-	r1 =  sp;
-	SP += -12;
-	call _do_irq;
-	SP += 12;
-	call return_from_int;
+	handle_irq;
 	RESTORE_CONTEXT
 	rti;
 
@@ -192,11 +248,7 @@ ENTRY(_evt_evt10)
 	fp = 0;
 #endif
 	r0 = EVT_IVG10_P;
-	r1 =  sp;
-	SP += -12;
-	call _do_irq;
-	SP += 12;
-	call return_from_int;
+	handle_irq;
 	RESTORE_CONTEXT
 	rti;
 
@@ -207,11 +259,7 @@ ENTRY(_evt_evt11)
 	fp = 0;
 #endif
 	r0 = EVT_IVG11_P;
-	r1 =  sp;
-	SP += -12;
-	call _do_irq;
-	SP += 12;
-	call return_from_int;
+	handle_irq;
 	RESTORE_CONTEXT
 	rti;
 
@@ -222,11 +270,7 @@ ENTRY(_evt_evt12)
 	fp = 0;
 #endif
 	r0 = EVT_IVG12_P;
-	r1 =  sp;
-	SP += -12;
-	call _do_irq;
-	SP += 12;