Hi,
(repost from xenomai-core)
I'm new to Xenomai and started an experimental port to the Freescale
P4080 platform.
Below a lengthy explanation of my findings and additions to Xenomai (or
probably especially ipipe) regarding Inter-Processor Interrupts found on
this platform.
I'll appreciate any comments on this topic.
P4080 is a multicore PPC platform (from a software point of view it is
similar to the 85xx series of PowerQUICC PPCs. The CPU core is called
e500mc).
Support for this platform is available in mainline Linux for some time.
When it comes to interrupt handling of Inter-Processor Interrupts (IPIs)
it is different to the previous editions of e500-based platforms.
From what I've found out so far IPIs are directly asserted as processor
interrupts (handled using assembly instructions msgsnd and msgclr),
consequently called doorbell interrupts.
As far as I can see previous multicore PPCs made use of the interrupt
controller for this purpose and fed the result of an IPI to the CPU as
an "external interrupt".
Xenomai seems to somehow work on that platform when built for PPC with
SMP support.
Due to the different handling of IPIs on other SMP-enabled PPCs the
Xenomai mechanism of grabbing all external interrupts in
arch/powerpc/kernel/head_fsl_booke.S by the way of __ipipe_grab_irq()
obviously doesn't work in respect to IPIs.
The mechanism for sending IPIs is fine since its abstracted in Linux
using smp_85xx_ops.message_pass [1] but the receiving end is
"disconnected". During boot of a Xenomai-enabled kernel the system fails
to continue since "mutiplexed" SMP messages of type PPC_MSG_IPIPE_DEMUX
aren't properly dispatched.
An initial working hack aims at hooking doorbell_exception() [2] in
order to forword IPIs into the common IPIPE path as well.
I've extracted the necessary pieces from __ipipe_grab_irq() and put it
in __ipipe_grab_ipi(), which is called from my version of
doorbell_exception() using the expected interrupt numbers.
Patches below (on top of 2.6.35.7 kernel +
adeos-ipipe-2.6.35.7-powerpc-2.11-02.patch + all additional patches from
ipipe-2.6.35.7-powerpc-2.12-01).
I'm totally unsure if this is the right approach for handling IPIs in
Xenomai and would be happy for any comments on this.
So far this properly boots a Xenomai-enabled Linux kernel.
I've tested most of the sample programs shipped as part of Xenomai
without problems so far. I somehow feel that this not sufficient...
Thanks in advance.
Cheers,
Florian
[1]
http://lxr.linux.no/#linux+v2.6.35.7/arch/powerpc/platforms/85xx/smp.c#L120
[2] http://lxr.linux.no/#linux+v2.6.35.7/arch/powerpc/kernel/traps.c#L1348
commit 2a7eefa749128bdd88ce0520cbcd821cc524e24c
Author: Florian Boelstler <[email protected]>
Date: Wed Mar 2 17:54:55 2011 +0100
Try to handle P4080 doorbell-style IPIs in ipipe
Xenomai's ipipe seems to handle only OpenPIC-side
IPIs so far. On P4080 (and other) platforms IPIs are
triggered through doorbells, which in turn are "real" PPC
interrupts.
This hack tries to "grab" those exceptions and feed
them to the "conventional" IRQ handler of ipipe.
diff --git a/arch/powerpc/kernel/ipipe.c b/arch/powerpc/kernel/ipipe.c
index 825dc26..1cfc918 100644
--- a/arch/powerpc/kernel/ipipe.c
+++ b/arch/powerpc/kernel/ipipe.c
@@ -467,11 +467,35 @@ static int __ipipe_exit_irq(struct pt_regs *regs)
return 0;
}
+void __ipipe_grab_ipi(struct pt_regs *regs, int irq)
+{
+ //printk(KERN_INFO "%s(): I-pipe: irq %d\n", __func__, irq);
+
+ if (likely(irq != NO_IRQ_IGNORE)) {
+ ipipe_trace_irq_entry(irq);
+#ifdef CONFIG_SMP
+ /* Check for cascaded I-pipe IPIs */
+ if (irq == __ipipe_ipi_irq)
+ {
+ //printk(KERN_INFO "I-pipe: grabbed ipi irq %d\n", irq);
+ __ipipe_ipi_demux(irq, regs);
+ }
+ else
+#endif /* CONFIG_SMP */
+ __ipipe_handle_irq(irq, regs);
+ }
+
+ ipipe_trace_irq_exit(irq);
+
+ __ipipe_exit_irq(regs);
+}
+
asmlinkage int __ipipe_grab_irq(struct pt_regs *regs)
{
int irq;
irq = ppc_md.get_irq();
+ //printk(KERN_INFO "I-pipe: grabbed irq %d\n", irq);
if (unlikely(irq == NO_IRQ)) {
__get_cpu_var(irq_stat).spurious_irqs++;
return __ipipe_exit_irq(regs);
@@ -482,7 +506,10 @@ asmlinkage int __ipipe_grab_irq(struct pt_regs *regs)
#ifdef CONFIG_SMP
/* Check for cascaded I-pipe IPIs */
if (irq == __ipipe_ipi_irq)
+ {
+ printk(KERN_INFO "I-pipe: ipi irq %d\n", irq);
__ipipe_ipi_demux(irq, regs);
+ }
else
#endif /* CONFIG_SMP */
__ipipe_handle_irq(irq, regs);
diff --git a/arch/powerpc/kernel/smp.c b/arch/powerpc/kernel/smp.c
index 5f7d048..2dc860c 100644
--- a/arch/powerpc/kernel/smp.c
+++ b/arch/powerpc/kernel/smp.c
@@ -113,6 +113,7 @@ void smp_message_recv(int msg)
#endif /* CONFIG_DEBUGGER */
/* FALLTHROUGH */
default:
+ dump_stack();
printk("SMP %d: smp_message_recv(): unknown msg %d\n",
smp_processor_id(), msg);
break;
diff --git a/arch/powerpc/kernel/traps.c b/arch/powerpc/kernel/traps.c
index 2866cf0..344bc7a 100644
--- a/arch/powerpc/kernel/traps.c
+++ b/arch/powerpc/kernel/traps.c
@@ -1386,6 +1386,7 @@ void vsx_assist_exception(struct pt_regs *regs)
void doorbell_exception(struct pt_regs *regs)
{
#ifdef CONFIG_SMP
+ extern void __ipipe_grab_ipi(struct pt_regs *regs, int irq);
int cpu = smp_processor_id();
int msg;
@@ -1394,7 +1395,8 @@ void doorbell_exception(struct pt_regs *regs)
for (msg = 0; msg < 4; msg++)
if (test_and_clear_bit(msg, &dbell_smp_message[cpu]))
- smp_message_recv(msg);
+ //smp_message_recv(msg);
+ __ipipe_grab_ipi(regs,255-(4-msg));
#else
printk(KERN_WARNING "Received doorbell on non-smp system\n");
#endif
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