Add SMP timer support code for the powerpc arch in Xenomai 2.1. Still a
bit rough, but I'll clean it up as I go. Compiled and tested on G5 UP,
SMP (I-pipe 2.6.14 0.9-02) and G4 UP (I-pipe 2.6.14 1.0-07). Doesn't
seem to break anything. On a G5, SMP seems to bring a 2-3usec latency
penalty.
-- Heikki Lindholm
diff -Nru xenomai/include/asm-powerpc/hal.h
xenomai-devel/include/asm-powerpc/hal.h
--- xenomai/include/asm-powerpc/hal.h 2005-12-04 12:21:36.0 +0200
+++ xenomai-devel/include/asm-powerpc/hal.h 2005-12-06 13:15:35.0
+0200
@@ -138,6 +138,10 @@
#define RTHAL_TIMER_IRQ ADEOS_TIMER_VIRQ
#else /* !CONFIG_ADEOS_CORE */
#define RTHAL_TIMER_IRQ IPIPE_TIMER_VIRQ
+#ifdef CONFIG_SMP
+#define RTHAL_TIMER_IPIIPIPE_SERVICE_IPI3
+#define RTHAL_HOST_TIMER_IPI IPIPE_SERVICE_IPI4
+#endif /* CONFIG_SMP */
#endif /* CONFIG_ADEOS_CORE */
#define rthal_irq_descp(irq) (irq_desc[(irq)])
@@ -204,7 +208,7 @@
#ifdef CONFIG_40x
mtspr(SPRN_PIT,delay);
#else /* !CONFIG_40x */
-set_dec(delay);
+set_dec((int)delay); /* decrementer is only 32-bits */
#endif /* CONFIG_40x */
}
diff -Nru xenomai/include/asm-powerpc/system.h
xenomai-devel/include/asm-powerpc/system.h
--- xenomai/include/asm-powerpc/system.h2005-12-04 12:21:36.0
+0200
+++ xenomai-devel/include/asm-powerpc/system.h 2005-12-06 13:18:11.0
+0200
@@ -581,12 +581,11 @@
}
static inline int xnarch_send_timer_ipi (xnarch_cpumask_t mask)
-
{
#ifdef CONFIG_SMP
-return -1; /* FIXME */
+ return rthal_send_ipi(RTHAL_TIMER_IPI, mask);
#else /* ! CONFIG_SMP */
-return 0;
+ return 0;
#endif /* CONFIG_SMP */
}
@@ -595,9 +594,12 @@
#ifdef XENO_INTR_MODULE
static inline void xnarch_relay_tick (void)
-
{
-rthal_irq_host_pend(RTHAL_TIMER_IRQ);
+#ifdef CONFIG_SMP
+ rthal_send_ipi(RTHAL_HOST_TIMER_IPI, cpu_online_map);
+#else /* !CONFIG_SMP */
+ rthal_irq_host_pend(RTHAL_TIMER_IRQ);
+#endif /* CONFIG_SMP */
}
static inline void xnarch_announce_tick(void)
diff -Nru xenomai/ksrc/arch/powerpc/hal.c xenomai-devel/ksrc/arch/powerpc/hal.c
--- xenomai/ksrc/arch/powerpc/hal.c 2005-12-04 12:21:43.0 +0200
+++ xenomai-devel/ksrc/arch/powerpc/hal.c 2005-12-06 13:33:54.0
+0200
@@ -31,6 +31,8 @@
*
[EMAIL PROTECTED]/
+#undef DEBUG
+
#include linux/version.h
#include linux/slab.h
#include linux/errno.h
@@ -51,6 +53,12 @@
#endif /* CONFIG_PROC_FS */
#include stdarg.h
+#ifdef DEBUG
+#define DBG(fmt...) udbg_printf(fmt)
+#else
+#define DBG(fmt...)
+#endif
+
static struct {
unsigned long flags;
@@ -58,69 +66,215 @@
} rthal_linux_irq[IPIPE_NR_XIRQS];
-static int rthal_periodic_p;
+static int rthal_periodic_p[RTHAL_NR_CPUS];
-int rthal_timer_request (void (*handler)(void),
-unsigned long nstick)
+/* the following two functions are very much alike to the I-pipe tune_timer
+ * implementation, but tuned for crtitical_enter/exit usage
+ *
+ * rthal_set_local_timer might come useful with processor hotplug events
+ */
+static void rthal_set_local_cpu_timer(void)
{
-unsigned long flags;
-int err;
+ long ticks;
+ rthal_declare_cpuid;
-flags = rthal_critical_enter(NULL);
+ rthal_load_cpuid();
-if (nstick 0)
- {
- /* Periodic setup --
- Use the built-in Adeos service directly. */
- err = rthal_set_timer(nstick);
- rthal_periodic_p = 1;
- }
-else
- {
- /* Oneshot setup. */
- disarm_decr[rthal_processor_id()] = 1;
- rthal_periodic_p = 0;
+ disarm_decr[cpuid] = (__ipipe_decr_ticks != tb_ticks_per_jiffy);
#ifdef CONFIG_40x
-mtspr(SPRN_TCR,mfspr(SPRN_TCR) ~TCR_ARE); /* Auto-reload off. */
-#endif /* CONFIG_40x */
- rthal_timer_program_shot(tb_ticks_per_jiffy);
+ /* Enable and set auto-reload. */
+ mtspr(SPRN_TCR, mfspr(SPRN_TCR) | TCR_ARE);
+ mtspr(SPRN_PIT, __ipipe_decr_ticks);
+#else /* !CONFIG_40x */
+ ticks = (long)(__ipipe_decr_next[cpuid] - __ipipe_read_timebase());
+ set_dec(ticks 0 ? ticks : 0);
+#endif /* CONFIG_40x */
+ DBG(rthal_set_local_cpu_timer(%d): %ld\n, cpuid, ticks);
+}
+
+static int rthal_set_cpu_timers_unsafe(unsigned long ns)
+{
+ unsigned long ticks;
+ unsigned long offset, previous_tb;
+ int i;
+ rthal_declare_cpuid;
+
+ DBG(rthal_set_cpu_timers_unsafe: %lu\n, ns);
+
+ if (ns == 0)
+ ticks = tb_ticks_per_jiffy;
+ else {
+ ticks = ns * tb_ticks_per_jiffy / (10 / HZ);
+
+ if (ticks tb_ticks_per_jiffy) {
+ DBG(rthal_set_cpu_timers_unsafe: -EINVAL (%lu)\n,
ticks);
+ return -EINVAL;
+ }
}
-rthal_irq_release(RTHAL_TIMER_IRQ);
-
-err = rthal_irq_request(RTHAL_TIMER_IRQ,
- (rthal_irq_handler_t)handler,
-
