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diff -Naur linux-2.4.20/Documentation/Configure.help linux-2.4.20-rtai/Documentation/Configure.help--- linux-2.4.20/Documentation/Configure.help Fri Nov 29 19:01:31 2002+++ linux-2.4.20-rtai/Documentation/Configure.help Mon Dec 2 16:11:55 2002@@ -254,6 +254,13 @@ You will need a new lynxer.elf file to flash your firmware with - send email to Martin.Bligh@us.ibm.com +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.+ Support for IBM Summit (EXA) systems CONFIG_X86_SUMMIT This option is needed for IBM systems that use the Summit/EXA chipset.diff -Naur linux-2.4.20/arch/i386/config.in linux-2.4.20-rtai/arch/i386/config.in--- linux-2.4.20/arch/i386/config.in Fri Nov 29 19:01:34 2002+++ linux-2.4.20-rtai/arch/i386/config.in Mon Dec 2 16:11:55 2002@@ -256,6 +256,8 @@ if [ "$CONFIG_SMP" = "y" -a "$CONFIG_X86_CMPXCHG" = "y" ]; then define_bool CONFIG_HAVE_DEC_LOCK y fi+comment 'CONFIG_RTHAL must be yes'+bool 'Real-Time Hardware Abstraction Layer' CONFIG_RTHAL endmenu mainmenu_option next_commentdiff -Naur linux-2.4.20/arch/i386/defconfig linux-2.4.20-rtai/arch/i386/defconfig--- linux-2.4.20/arch/i386/defconfig Fri Nov 29 19:01:34 2002+++ linux-2.4.20-rtai/arch/i386/defconfig Mon Dec 2 16:11:55 2002@@ -66,6 +66,7 @@ # CONFIG_MULTIQUAD is not set CONFIG_HAVE_DEC_LOCK=y CONFIG_NR_CPUS=32+CONFIG_RTHAL=y
# # General setupdiff -Naur linux-2.4.20/arch/i386/kernel/entry.S linux-2.4.20-rtai/arch/i386/kernel/entry.S--- linux-2.4.20/arch/i386/kernel/entry.S Fri Nov 29 19:01:34 2002+++ linux-2.4.20-rtai/arch/i386/kernel/entry.S Mon Dec 2 16:11:55 2002@@ -184,6 +184,7 @@ ENTRY(ret_from_fork)+ sti pushl %ebx call SYMBOL_NAME(schedule_tail) addl $4, %esp@@ -210,17 +211,20 @@ call *SYMBOL_NAME(sys_call_table)(,%eax,4) movl %eax,EAX(%esp) # save the return value ENTRY(ret_from_sys_call)- cli # need_resched and signals atomic test+ call *(SYMBOL_NAME(rthal) + 12) # cli cmpl $0,need_resched(%ebx) jne reschedule cmpl $0,sigpending(%ebx) jne signal_return+ sti+ call *(SYMBOL_NAME(rthal) + 16) # sti restore_all: RESTORE_ALL ALIGN signal_return:- sti # we can get here from an interrupt handler+ sti # we can get here from an interrupt handler+ call *(SYMBOL_NAME(rthal) + 16) # sti testl $(VM_MASK),EFLAGS(%esp) movl %esp,%eax jne v86_signal_returndiff -Naur linux-2.4.20/arch/i386/kernel/i386_ksyms.c linux-2.4.20-rtai/arch/i386/kernel/i386_ksyms.c--- linux-2.4.20/arch/i386/kernel/i386_ksyms.c Sat Aug 3 02:39:42 2002+++ linux-2.4.20-rtai/arch/i386/kernel/i386_ksyms.c Mon Dec 2 16:11:55 2002@@ -32,6 +32,18 @@ extern void dump_thread(struct pt_regs *, struct user *); extern spinlock_t rtc_lock; +EXPORT_SYMBOL_NOVERS(rthal);++#ifdef CONFIG_VT+ #include <linux/vt_kern.h>+ EXPORT_SYMBOL(kd_mksound);+#endif++#include <linux/console.h>+EXPORT_SYMBOL(console_drivers);+extern unsigned long cpu_khz;+EXPORT_SYMBOL(cpu_khz);+ #if defined(CONFIG_APM) || defined(CONFIG_APM_MODULE) extern void machine_real_restart(unsigned char *, int); EXPORT_SYMBOL(machine_real_restart);@@ -172,6 +184,13 @@ #ifdef CONFIG_HAVE_DEC_LOCK EXPORT_SYMBOL(atomic_dec_and_lock);+#endif++#ifdef CONFIG_X86_REMOTE_DEBUG+#include <linux/gdb.h>+EXPORT_SYMBOL(linux_debug_hook);+EXPORT_SYMBOL(gdb_irq);+EXPORT_SYMBOL(gdb_interrupt); #endif extern int is_sony_vaio_laptop;diff -Naur linux-2.4.20/arch/i386/kernel/i8259.c linux-2.4.20-rtai/arch/i386/kernel/i8259.c--- linux-2.4.20/arch/i386/kernel/i8259.c Tue Sep 18 08:03:09 2001+++ linux-2.4.20-rtai/arch/i386/kernel/i8259.c Mon Dec 2 16:11:55 2002@@ -290,12 +290,12 @@ handle_real_irq: if (irq & 8) {- inb(0xA1); /* DUMMY - (do we need this?) */+// inb(0xA1); /* DUMMY - (do we need this?) */ outb(cached_A1,0xA1); outb(0x60+(irq&7),0xA0);/* 'Specific EOI' to slave */ outb(0x62,0x20); /* 'Specific EOI' to master-IRQ2 */ } else {- inb(0x21); /* DUMMY - (do we need this?) */+// inb(0x21); /* DUMMY - (do we need this?) */ outb(cached_21,0x21); outb(0x60+irq,0x20); /* 'Specific EOI' to master */ }@@ -508,3 +508,17 @@ if (boot_cpu_data.hard_math && !cpu_has_fpu) setup_irq(13, &irq13); }++void ack_8259_irq(unsigned int irq)+{+ spin_lock(&i8259A_lock);+ if (irq & 8) {+ outb(0x62,0x20);+ outb(0x20,0xA0);+ } else {+ outb(0x20,0x20);+ }+ spin_unlock(&i8259A_lock);+ return;+}+diff -Naur linux-2.4.20/arch/i386/kernel/io_apic.c linux-2.4.20-rtai/arch/i386/kernel/io_apic.c--- linux-2.4.20/arch/i386/kernel/io_apic.c Fri Nov 29 19:01:34 2002+++ linux-2.4.20-rtai/arch/i386/kernel/io_apic.c Mon Dec 2 16:11:55 2002@@ -38,7 +38,7 @@ #undef APIC_LOCKUP_DEBUG -#define APIC_LOCKUP_DEBUG+//#define APIC_LOCKUP_DEBUG static spinlock_t ioapic_lock = SPIN_LOCK_UNLOCKED; @@ -1282,11 +1282,10 @@ #define enable_level_ioapic_irq unmask_IO_APIC_irq #define disable_level_ioapic_irq mask_IO_APIC_irq +static unsigned long strange_level;+ static void end_level_ioapic_irq (unsigned int irq) {- unsigned long v;- int i;- /* * It appears there is an erratum which affects at least version 0x11 * of I/O APIC (that's the 82093AA and cores integrated into various@@ -1306,12 +1305,8 @@ * operation to prevent an edge-triggered interrupt escaping meanwhile. * The idea is from Manfred Spraul. --macro */- i = IO_APIC_VECTOR(irq);- v = apic_read(APIC_TMR + ((i & ~0x1f) >> 1));-- ack_APIC_irq(); - if (!(v & (1 << (i & 0x1f)))) {+ if (test_and_clear_bit(irq, &strange_level)) { #ifdef APIC_LOCKUP_DEBUG struct irq_pin_list *entry; #endif@@ -1320,7 +1315,6 @@ atomic_inc(&irq_mis_count); #endif spin_lock(&ioapic_lock);- __mask_and_edge_IO_APIC_irq(irq); #ifdef APIC_LOCKUP_DEBUG for (entry = irq_2_pin + irq;;) { unsigned int reg;@@ -1338,10 +1332,30 @@ #endif __unmask_and_level_IO_APIC_irq(irq); spin_unlock(&ioapic_lock);+ } else {+ spin_lock(&ioapic_lock);+ __unmask_IO_APIC_irq(irq);+ spin_unlock(&ioapic_lock); } } -static void mask_and_ack_level_ioapic_irq (unsigned int irq) { /* nothing */ }+static void mask_and_ack_level_ioapic_irq (unsigned int irq)+{+ unsigned long i;++ i = IO_APIC_VECTOR(irq);+ if (!(apic_read(APIC_TMR + ((i & ~0x1f) >> 1)) & (1 << (i & 0x1f)))) {+ test_and_set_bit(irq, &strange_level);+ spin_lock(&ioapic_lock);+ __mask_and_edge_IO_APIC_irq(irq);+ spin_unlock(&ioapic_lock);+ } else {+ spin_lock(&ioapic_lock);+ __mask_IO_APIC_irq(irq);+ spin_unlock(&ioapic_lock);+ }+ ack_APIC_irq();+}
#ifndef CONFIG_SMP
diff -Naur linux-2.4.20/arch/i386/kernel/irq.c linux-2.4.20-rtai/arch/i386/kernel/irq.c--- linux-2.4.20/arch/i386/kernel/irq.c Fri Nov 29 19:01:34 2002+++ linux-2.4.20-rtai/arch/i386/kernel/irq.c Mon Dec 2 16:11:55 2002@@ -1212,3 +1212,71 @@ register_irq_proc(i); } +static void linux_cli(void)+{+ hard_cli();+}++static void linux_sti(void)+{+ hard_sti();+}++static unsigned int linux_save_flags(void)+{+ int flags;+ hard_save_flags(flags);+ return flags;+}++static void linux_restore_flags(unsigned int flags)+{+ hard_restore_flags(flags);+}++static unsigned int linux_save_flags_and_cli(void)+{+ int flags;+ hard_save_flags_and_cli(flags);+ return flags;+}++#include <asm/mmu_context.h>++#ifndef CONFIG_X86_IO_APIC+int irq_vector[];+#endif+#ifndef CONFIG_SMP+void smp_invalidate_interrupt(void) { }+static unsigned long irq_affinity [NR_IRQS] = { [0 ... NR_IRQS-1] = ~0UL };+static volatile int physical_apicid_2_cpu[1];+#endif++extern void *ret_from_intr;+extern struct desc_struct idt_table[];+extern void ack_8259_irq(unsigned int);+extern int idle_weight;+extern void smp_invalidate_interrupt(void);+extern void switch_mem(struct task_struct *, struct task_struct *, int);+extern volatile int physical_apicid_2_cpu[];++struct rt_hal rthal = {+ ret_from_intr: &ret_from_intr,+ __switch_to: __switch_to,+ idt_table: idt_table,+ disint: linux_cli,+ enint: linux_sti,+ getflags: linux_save_flags,+ setflags: linux_restore_flags,+ getflags_and_cli: linux_save_flags_and_cli,+ irq_desc: irq_desc,+ irq_vector: irq_vector,+ irq_affinity: irq_affinity,+ smp_invalidate_interrupt: smp_invalidate_interrupt,+ ack_8259_irq: ack_8259_irq,+ idle_weight: &idle_weight,+ lxrt_global_cli: NULL,+ switch_mem: switch_mem,+ init_tasks: init_tasks,+ apicmap: physical_apicid_2_cpu,+};diff -Naur linux-2.4.20/arch/i386/kernel/smp.c linux-2.4.20-rtai/arch/i386/kernel/smp.c--- linux-2.4.20/arch/i386/kernel/smp.c Fri Nov 29 19:01:34 2002+++ linux-2.4.20-rtai/arch/i386/kernel/smp.c Mon Dec 2 16:11:55 2002@@ -160,8 +160,7 @@ unsigned long cfg; unsigned long flags; - __save_flags(flags);- __cli();+ hard_save_flags_and_cli(flags); /*@@ -185,7 +184,7 @@ */ apic_write_around(APIC_ICR, cfg); - __restore_flags(flags);+ hard_restore_flags(flags); } static inline void send_IPI_mask_sequence(int mask, int vector)diff -Naur linux-2.4.20/arch/i386/kernel/time.c linux-2.4.20-rtai/arch/i386/kernel/time.c--- linux-2.4.20/arch/i386/kernel/time.c Fri Nov 29 19:01:34 2002+++ linux-2.4.20-rtai/arch/i386/kernel/time.c Mon Dec 2 16:11:55 2002@@ -673,6 +673,7 @@ rdtscl(last_tsc_low); +#if 0 spin_lock(&i8253_lock); outb_p(0x00, 0x43); /* latch the count ASAP */ @@ -704,6 +705,7 @@ count = ((LATCH-1) - count) * TICK_SIZE; delay_at_last_interrupt = (count + LATCH/2) / LATCH;+#endif } do_timer_interrupt(irq, NULL, regs);diff -Naur linux-2.4.20/arch/i386/mm/fault.c linux-2.4.20-rtai/arch/i386/mm/fault.c--- linux-2.4.20/arch/i386/mm/fault.c Fri Nov 29 19:01:34 2002+++ linux-2.4.20-rtai/arch/i386/mm/fault.c Mon Dec 2 16:11:55 2002@@ -153,7 +153,7 @@ /* It's safe to allow irq's after cr2 has been saved */ if (regs->eflags & X86_EFLAGS_IF)- local_irq_enable();+ hard_sti(); tsk = current; diff -Naur linux-2.4.20/arch/i386/mm/ioremap.c linux-2.4.20-rtai/arch/i386/mm/ioremap.c--- linux-2.4.20/arch/i386/mm/ioremap.c Sat Aug 3 02:39:42 2002+++ linux-2.4.20-rtai/arch/i386/mm/ioremap.c Mon Dec 2 16:11:55 2002@@ -81,6 +81,7 @@ if (remap_area_pmd(pmd, address, end - address, phys_addr + address, flags)) break;+ set_pgdir(address, *dir); error = 0; address = (address + PGDIR_SIZE) & PGDIR_MASK; dir++;diff -Naur linux-2.4.20/arch/ppc/config.in linux-2.4.20-rtai/arch/ppc/config.in--- linux-2.4.20/arch/ppc/config.in Fri Nov 29 19:01:45 2002+++ linux-2.4.20-rtai/arch/ppc/config.in Mon Dec 2 16:11:55 2002@@ -125,6 +125,9 @@ 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_TAUdiff -Naur linux-2.4.20/arch/ppc/kernel/entry.S linux-2.4.20-rtai/arch/ppc/kernel/entry.S--- linux-2.4.20/arch/ppc/kernel/entry.S Fri Nov 29 19:01:45 2002+++ linux-2.4.20-rtai/arch/ppc/kernel/entry.S Mon Dec 2 16:11:55 2002@@ -291,6 +291,7 @@ bl do_signal .globl do_signal_ret do_signal_ret:+ bl do_soft_sti .globl ret_to_user_hook ret_to_user_hook: nopdiff -Naur linux-2.4.20/arch/ppc/kernel/irq.c linux-2.4.20-rtai/arch/ppc/kernel/irq.c--- linux-2.4.20/arch/ppc/kernel/irq.c Fri Nov 29 19:01:45 2002+++ linux-2.4.20-rtai/arch/ppc/kernel/irq.c Mon Dec 2 16:11:55 2002@@ -510,6 +510,17 @@ spin_unlock(&desc->lock); } +void do_soft_cli(void)+{+}++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 -Naur linux-2.4.20/arch/ppc/kernel/traps.c linux-2.4.20-rtai/arch/ppc/kernel/traps.c--- linux-2.4.20/arch/ppc/kernel/traps.c Sat Nov 3 02:43:54 2001+++ linux-2.4.20-rtai/arch/ppc/kernel/traps.c Mon Dec 2 16:11:55 2002@@ -320,9 +320,15 @@ 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;+ }+{ unsigned int reason = get_reason(regs); extern int do_mathemu(struct pt_regs *regs); @@ -378,6 +384,7 @@ } _exception(SIGILL, regs, ILL_ILLOPC, regs->nip);+} } voiddiff -Naur linux-2.4.20/arch/ppc/kernel/ppc_ksyms.c linux-2.4.20-rtai/arch/ppc/kernel/ppc_ksyms.c--- linux-2.4.20/arch/ppc/kernel/ppc_ksyms.c Fri Nov 29 19:01:46 2002+++ linux-2.4.20-rtai/arch/ppc/kernel/ppc_ksyms.c Mon Dec 2 16:11:55 2002@@ -220,6 +220,12 @@ 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_ADBdiff -Naur linux-2.4.20/include/asm-i386/hw_irq.h linux-2.4.20-rtai/include/asm-i386/hw_irq.h--- linux-2.4.20/include/asm-i386/hw_irq.h Thu Nov 22 20:46:18 2001+++ linux-2.4.20-rtai/include/asm-i386/hw_irq.h Mon Dec 2 16:16:00 2002@@ -37,18 +37,31 @@ * * Vectors 0xf0-0xfa are free (reserved for future Linux use). */+#ifdef CONFIG_RTHAL+/* the standard definitions conflict with LXRT */+#define SPURIOUS_APIC_VECTOR 0xdf+#define ERROR_APIC_VECTOR 0xde+#define INVALIDATE_TLB_VECTOR 0xdd+#define RESCHEDULE_VECTOR 0xdc+#define CALL_FUNCTION_VECTOR 0xdb+#else #define SPURIOUS_APIC_VECTOR 0xff #define ERROR_APIC_VECTOR 0xfe #define INVALIDATE_TLB_VECTOR 0xfd #define RESCHEDULE_VECTOR 0xfc #define CALL_FUNCTION_VECTOR 0xfb+#endif /* * Local APIC timer IRQ vector is on a different priority level, * to work around the 'lost local interrupt if more than 2 IRQ * sources per level' errata. */+#ifdef CONFIG_RTHAL+#define LOCAL_TIMER_VECTOR 0xcf+#else #define LOCAL_TIMER_VECTOR 0xef+#endif /* * First APIC vector available to drivers: (vectors 0x30-0xee)@@ -56,7 +69,11 @@ * levels. (0x80 is the syscall vector) */ #define FIRST_DEVICE_VECTOR 0x31+#ifdef CONFIG_RTHAL+#define FIRST_SYSTEM_VECTOR 0xcf+#else #define FIRST_SYSTEM_VECTOR 0xef+#endif extern int irq_vector[NR_IRQS]; #define IO_APIC_VECTOR(irq) irq_vector[irq]diff -Naur linux-2.4.20/include/asm-i386/irq.h linux-2.4.20-rtai/include/asm-i386/irq.h--- linux-2.4.20/include/asm-i386/irq.h Sat Aug 3 02:39:45 2002+++ linux-2.4.20-rtai/include/asm-i386/irq.h Mon Dec 2 16:11:55 2002@@ -26,7 +26,7 @@ #ifdef CONFIG_X86_IO_APIC #define NR_IRQS 224 #else-#define NR_IRQS 16+#define NR_IRQS 32 /* 2.4.19 vanilla has 16, this is rtai back compatibility */ #endif static __inline__ int irq_cannonicalize(int irq)diff -Naur linux-2.4.20/include/asm-i386/pgalloc.h linux-2.4.20-rtai/include/asm-i386/pgalloc.h--- linux-2.4.20/include/asm-i386/pgalloc.h Sat Aug 3 02:39:45 2002+++ linux-2.4.20-rtai/include/asm-i386/pgalloc.h Mon Dec 2 16:16:00 2002@@ -158,6 +158,33 @@ extern int do_check_pgt_cache(int, int); +extern inline void set_pgdir(unsigned long address, pgd_t entry)+{+ struct task_struct * p;+ pgd_t *pgd;+#ifdef CONFIG_SMP+ int i;+#endif ++ read_lock(&tasklist_lock);+ for_each_task(p) {+ if (!p->mm)+ continue;+ *pgd_offset(p->mm,address) = entry;+ }+ read_unlock(&tasklist_lock);+#ifndef CONFIG_SMP+ for (pgd = (pgd_t *)pgd_quicklist; pgd; pgd = (pgd_t *)*(unsigned long *)pgd)+ pgd[address >> PGDIR_SHIFT] = entry;+#else+ /* To pgd_alloc/pgd_free, one holds master kernel lock and so does our callee, so we can+ modify pgd caches of other CPUs as well. -jj */+ for (i = 0; i < NR_CPUS; i++)+ for (pgd = (pgd_t *)cpu_data[i].pgd_quick; pgd; pgd = (pgd_t *)*(unsigned long *)pgd)+ pgd[address >> PGDIR_SHIFT] = entry;+#endif+}+ /* * TLB flushing: *diff -Naur linux-2.4.20/include/asm-i386/system.h linux-2.4.20-rtai/include/asm-i386/system.h--- linux-2.4.20/include/asm-i386/system.h Fri Nov 29 19:02:50 2002+++ linux-2.4.20-rtai/include/asm-i386/system.h Mon Dec 2 16:16:00 2002@@ -12,7 +12,12 @@ struct task_struct; /* one of the stranger aspects of C forward declarations.. */ extern void FASTCALL(__switch_to(struct task_struct *prev, struct task_struct *next)); -#define prepare_to_switch() do { } while(0)+#define prepare_to_switch() do { \+ if (rthal.lxrt_global_cli) { \+ rthal.lxrt_global_cli(); \+ } \+} while(0)+ #define switch_to(prev,next,last) do { \ asm volatile("pushl %%esi\n\t" \ "pushl %%edi\n\t" \@@ -23,6 +28,7 @@ "pushl %4\n\t" /* restore EIP */ \ "jmp __switch_to\n" \ "1:\t" \+ "sti\n\t" \ "popl %%ebp\n\t" \ "popl %%edi\n\t" \ "popl %%esi\n\t" \@@ -315,29 +321,59 @@ #define set_wmb(var, value) do { var = value; wmb(); } while (0) +struct rt_hal {+ void *ret_from_intr;+ void *__switch_to;+ struct desc_struct *idt_table;+ void (*disint)(void);+ void (*enint)(void);+ unsigned int (*getflags)(void);+ void (*setflags)(unsigned int flags);+ unsigned int (*getflags_and_cli)(void);+ void *irq_desc;+ int *irq_vector;+ unsigned long *irq_affinity;+ void (*smp_invalidate_interrupt)(void);+ void (*ack_8259_irq)(unsigned int);+ int *idle_weight;+ void (*lxrt_global_cli)(void);+ void (*switch_mem)(struct task_struct *, struct task_struct *, int);+ struct task_struct **init_tasks;+ unsigned int *apicmap;+};++extern struct rt_hal rthal;+ /* interrupt control.. */-#define __save_flags(x) __asm__ __volatile__("pushfl ; popl %0":"=g" (x): /* no input */)-#define __restore_flags(x) __asm__ __volatile__("pushl %0 ; popfl": /* no output */ :"g" (x):"memory", "cc")-#define __cli() __asm__ __volatile__("cli": : :"memory")-#define __sti() __asm__ __volatile__("sti": : :"memory")-/* used in the idle loop; sti takes one instruction cycle to complete */-#define safe_halt() __asm__ __volatile__("sti; hlt": : :"memory")+#define hard_save_flags(x) __asm__ __volatile__("pushfl ; popl %0":"=g" (x): /* no input */)+#define hard_restore_flags(x) __asm__ __volatile__("pushl %0 ; popfl": /* no output */ :"g" (x):"memory", "cc")+#define hard_cli() __asm__ __volatile__("cli": : :"memory")+#define hard_sti() __asm__ __volatile__("sti": : :"memory")+#define hard_save_flags_and_cli(x) __asm__ __volatile__("pushfl; popl %0; cli":"=g" (x): /* no input */)++#define __cli() do { rthal.disint(); } while (0)+#define __sti() do { rthal.enint(); } while (0)+#define __save_flags(x) do { x = rthal.getflags(); } while (0)+#define __restore_flags(x) do { rthal.setflags(x); } while (0)++#define __save_and_cli(x) do { x = rthal.getflags_and_cli(); } while (0)+#define __save_and_sti(x) do { x = rthal.getflags(); rthal.enint(); } while (0) -#define __save_and_cli(x) do { __save_flags(x); __cli(); } while(0);-#define __save_and_sti(x) do { __save_flags(x); __sti(); } while(0);+/* used in the idle loop; sti takes one instruction cycle to complete */+#define safe_halt() __asm__ __volatile__("call *"SYMBOL_NAME_STR(rthal + 16)"; hlt": : :"memory") /* For spinlocks etc */ #if 0 #define local_irq_save(x) __asm__ __volatile__("pushfl ; popl %0 ; cli":"=g" (x): /* no input */ :"memory") #define local_irq_set(x) __asm__ __volatile__("pushfl ; popl %0 ; sti":"=g" (x): /* no input */ :"memory") #else-#define local_irq_save(x) __save_and_cli(x)-#define local_irq_set(x) __save_and_sti(x)+#define local_irq_save(x) do { x = rthal.getflags_and_cli(); } while (0)+#define local_irq_set(x) do { x = rthal.getflags(); rthal.enint(); } while (0) #endif -#define local_irq_restore(x) __restore_flags(x)-#define local_irq_disable() __cli()-#define local_irq_enable() __sti()+#define local_irq_restore(x) do { rthal.setflags(x); } while (0)+#define local_irq_disable() do { rthal.disint(); } while (0)+#define local_irq_enable() do { rthal.enint(); } while (0) #ifdef CONFIG_SMP diff -Naur linux-2.4.20/include/asm-ppc/system.h linux-2.4.20-rtai/include/asm-ppc/system.h--- linux-2.4.20/include/asm-ppc/system.h Sat Aug 3 02:39:45 2002+++ linux-2.4.20-rtai/include/asm-ppc/system.h Mon Dec 2 16:11:55 2002@@ -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 -Naur linux-2.4.20/include/linux/sched.h linux-2.4.20-rtai/include/linux/sched.h--- linux-2.4.20/include/linux/sched.h Fri Nov 29 19:03:06 2002+++ linux-2.4.20-rtai/include/linux/sched.h Mon Dec 2 16:16:00 2002@@ -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 -Naur linux-2.4.20/kernel/exit.c linux-2.4.20-rtai/kernel/exit.c--- linux-2.4.20/kernel/exit.c Fri Nov 29 19:03:07 2002+++ linux-2.4.20-rtai/kernel/exit.c Mon Dec 2 16:11:55 2002@@ -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;+ } + }+//printk("rtai_callback_list %X\n", rtai_callback_list);+}+//+//+//+ NORET_TYPE void do_exit(long code) { struct task_struct *tsk = current;@@ -439,6 +504,18 @@ #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 -Naur linux-2.4.20/kernel/fork.c linux-2.4.20-rtai/kernel/fork.c--- linux-2.4.20/kernel/fork.c Fri Nov 29 19:03:07 2002+++ linux-2.4.20-rtai/kernel/fork.c Mon Dec 2 16:11:55 2002@@ -233,7 +233,9 @@ 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;@@ -265,7 +267,9 @@ inline void __mmdrop(struct mm_struct *mm) { BUG_ON(mm == &init_mm);+ lock_kernel(); pgd_free(mm->pgd);+ unlock_kernel(); check_pgt_cache(); destroy_context(mm); free_mm(mm);diff -Naur linux-2.4.20/kernel/ksyms.c linux-2.4.20-rtai/kernel/ksyms.c--- linux-2.4.20/kernel/ksyms.c Fri Nov 29 19:03:07 2002+++ linux-2.4.20-rtai/kernel/ksyms.c Mon Dec 2 16:11:55 2002@@ -600,3 +600,44 @@ /* To match ksyms with System.map */ extern const char _end[]; EXPORT_SYMBOL(_end);++/*+ * 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 -Naur linux-2.4.20/kernel/sched.c linux-2.4.20-rtai/kernel/sched.c--- linux-2.4.20/kernel/sched.c Fri Nov 29 19:03:07 2002+++ linux-2.4.20-rtai/kernel/sched.c Mon Dec 2 16:11:55 2002@@ -544,6 +544,43 @@ * 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 1024 // 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)++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)+{+ struct mm_struct *oldmm = prevp->active_mm;+ switch_mm(oldmm, nextp->active_mm, nextp, cpuid & 0x0FFFFFFF);+ if (!nextp->mm) {+ enter_lazy_tlb(oldmm, nextp, cpuid & 0x0FFFFFFF);+ }+}+ asmlinkage void schedule(void) { struct schedule_data * sched_data;@@ -602,7 +639,7 @@ * 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)) {@@ -684,7 +721,7 @@ if (!prev->mm) { prev->active_mm = NULL;- mmdrop(oldmm);+ pend_mm(oldmm, this_cpu); } } @@ -693,6 +730,7 @@ * stack. */ switch_to(prev, next, prev);+ drop_mm(); __schedule_tail(prev); same_process:diff -Naur linux-2.4.20/kernel/signal.c linux-2.4.20-rtai/kernel/signal.c--- linux-2.4.20/kernel/signal.c Fri Nov 29 19:03:07 2002+++ linux-2.4.20-rtai/kernel/signal.c Mon Dec 2 16:11:55 2002@@ -1010,9 +1010,30 @@ 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;@@ -1022,6 +1043,7 @@ info.si_uid = current->uid; return kill_something_info(sig, &info, pid);+ } } /*diff -Naur linux-2.4.20/mm/vmalloc.c linux-2.4.20-rtai/mm/vmalloc.c--- linux-2.4.20/mm/vmalloc.c Fri Nov 29 19:03:09 2002+++ linux-2.4.20-rtai/mm/vmalloc.c Mon Dec 2 16:11:55 2002@@ -166,6 +166,9 @@ 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;@@ -175,6 +178,10 @@ ret = -ENOMEM; if (alloc_area_pmd(pmd, address, end - address, gfp_mask, prot, pages)) break;+#ifdef CONFIG_X86+ if (pgd_val(olddir) != pgd_val(*dir))+ set_pgdir(address, *dir);+#endif address = (address + PGDIR_SIZE) & PGDIR_MASK; dir++;
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