Module: xenomai-forge
Branch: master
Commit: b90a7c6cabb5f19ad913680a934d00160edc1bcb
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=b90a7c6cabb5f19ad913680a934d00160edc1bcb
Author: Philippe Gerum <r...@xenomai.org>
Date: Mon Jan 7 17:53:03 2013 +0100
cobalt/arm: convert to native linux kthreads
---
include/asm-arm/thread.h | 123 ++++++++---------------
kernel/cobalt/arch/arm/Kconfig | 4 -
kernel/cobalt/arch/arm/switch.S | 14 ---
kernel/cobalt/arch/arm/thread.c | 212 ++++++++-------------------------------
4 files changed, 84 insertions(+), 269 deletions(-)
diff --git a/include/asm-arm/thread.h b/include/asm-arm/thread.h
index 5c99f0c..8e1bf67 100644
--- a/include/asm-arm/thread.h
+++ b/include/asm-arm/thread.h
@@ -20,23 +20,7 @@
#ifndef _XENO_ASM_ARM_THREAD_H
#define _XENO_ASM_ARM_THREAD_H
-#ifndef __KERNEL__
-#error "Pure kernel header included from user-space!"
-#endif
-
-#include <asm/ptrace.h>
-#include <asm/processor.h>
-
-struct xnthread;
-struct task_struct;
-
-#define XNARCH_THREAD_STACKSZ 4096
-
-#define xnarch_stack_size(tcb) ((tcb)->stacksize)
-#define xnarch_stack_base(tcb) ((tcb)->stackbase)
-#define xnarch_stack_end(tcb) ((caddr_t)(tcb)->stackbase - (tcb)->stacksize)
-#define xnarch_user_task(tcb) ((tcb)->user_task)
-#define xnarch_user_pid(tcb) ((tcb)->user_task->pid)
+#include <asm-generic/xenomai/thread.h>
#ifdef CONFIG_XENO_HW_FPU
@@ -57,43 +41,18 @@ struct arm_fpustate {
union vfp_state vfpstate;
};
-int xnarch_fault_fpu_p(struct ipipe_trap_data *d);
-#else /* !CONFIG_XENO_HW_FPU */
-/*
- * Userland may raise FPU faults with FPU-enabled kernels, regardless
- * of whether real-time threads actually use FPU, so we simply ignore
- * these faults.
- */
-static inline int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
-{
- return 0;
-}
#endif /* !CONFIG_XENO_HW_FPU */
struct xnarchtcb {
+ struct xntcb core;
#ifdef CONFIG_XENO_HW_FPU
struct arm_fpustate fpuenv;
- struct arm_fpustate *fpup; /* Pointer to the FPU backup area */
- struct task_struct *user_fpu_owner;
- /*
- * Pointer the the FPU owner in userspace:
- * - NULL for RT K threads,
- * - last_task_used_math for Linux US threads (only current or NULL
when MP)
- * - current for RT US threads.
- */
- unsigned is_root;
-#define xnarch_fpu_ptr(tcb) ((tcb)->fpup)
-#else /* !CONFIG_XENO_HW_FPU */
-#define xnarch_fpu_ptr(tcb) NULL
-#endif /* CONFIG_XENO_HW_FPU */
- unsigned int stacksize; /* Aligned size of stack (bytes) */
- unsigned long *stackbase; /* Stack space */
- struct task_struct *user_task; /* Shadowed user-space task */
- struct task_struct *active_task; /* Active user-space task */
- struct mm_struct *mm;
- struct mm_struct *active_mm;
- struct thread_info ti; /* Holds kernel-based thread info */
- struct thread_info *tip; /* Pointer to the active thread
info (ti or user->thread_info). */
+ struct arm_fpustate *fpup;
+ unsigned int is_root;
+#define xnarch_fpu_ptr(tcb) ((tcb)->fpup)
+#else
+#define xnarch_fpu_ptr(tcb) NULL
+#endif
struct {
unsigned long pc;
unsigned long r0;
@@ -104,11 +63,6 @@ struct xnarchtcb {
unsigned long psr;
#endif
} mayday;
- struct xnthread *self;
- int imask;
- const char *name;
- void (*entry)(void *cookie);
- void *cookie;
};
#define xnarch_fault_regs(d) ((d)->regs)
@@ -122,46 +76,57 @@ struct xnarchtcb {
#define xnarch_fault_notify(d) (!xnarch_fault_bp_p(d))
-void xnarch_switch_to(struct xnarchtcb *out_tcb, struct xnarchtcb *in_tcb);
+void xnarch_enable_fpu(struct xnarchtcb *current_tcb);
-void xnarch_init_thread(struct xnarchtcb *tcb,
- void (*entry)(void *),
- void *cookie,
- int imask,
- struct xnthread *thread, char *name);
+void xnarch_save_fpu(struct xnarchtcb *tcb);
-void xnarch_enter_root(struct xnarchtcb *rootcb);
+void xnarch_restore_fpu(struct xnarchtcb *tcb);
-void xnarch_leave_root(struct xnarchtcb *rootcb);
+void xnarch_switch_to(struct xnarchtcb *out_tcb, struct xnarchtcb *in_tcb);
+
+static inline void xnarch_enter_root(struct xnarchtcb *rootcb) { }
int xnarch_escalate(void);
-void xnarch_init_root_tcb(struct xnarchtcb *tcb,
- struct xnthread *thread,
- const char *name);
+#ifdef CONFIG_XENO_HW_FPU
-void xnarch_init_shadow_tcb(struct xnarchtcb *tcb,
- struct xnthread *thread,
- const char *name);
+static inline void xnarch_init_root_tcb(struct xnarchtcb *tcb)
+{
+ tcb->fpup = NULL;
+}
-void xnarch_init_tcb(struct xnarchtcb *tcb);
+static inline void xnarch_init_shadow_tcb(struct xnarchtcb *tcb)
+{
+ tcb->fpup = (struct arm_fpustate *)
+ &task_thread_info(tcb->core.host_task)->used_cp[0];
+}
-int xnarch_alloc_stack(struct xnarchtcb *tcb, size_t stacksize);
+int xnarch_fault_fpu_p(struct ipipe_trap_data *d);
-void xnarch_free_stack(struct xnarchtcb *tcb);
+void xnarch_leave_root(struct xnarchtcb *rootcb);
+
+#else /* !CONFIG_XENO_HW_FPU */
-static inline int xnarch_fpu_init_p(struct task_struct *task)
+static inline void xnarch_init_root_tcb(struct xnarchtcb *tcb) { }
+static inline void xnarch_init_shadow_tcb(struct xnarchtcb *tcb) { }
+
+/*
+ * Userland may raise FPU faults with FPU-enabled kernels, regardless
+ * of whether real-time threads actually use FPU, so we simply ignore
+ * these faults.
+ */
+static inline int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
{
- /* No lazy FPU init on ARM. */
- return 1;
+ return 0;
}
-void xnarch_enable_fpu(struct xnarchtcb *current_tcb);
-
-void xnarch_init_fpu(struct xnarchtcb *tcb);
+static inline void xnarch_leave_root(struct xnarchtcb *rootcb) { }
-void xnarch_save_fpu(struct xnarchtcb *tcb);
+#endif /* !CONFIG_XENO_HW_FPU */
-void xnarch_restore_fpu(struct xnarchtcb *tcb);
+static inline int xnarch_handle_fpu_fault(struct xnarchtcb *tcb)
+{
+ return 0;
+}
#endif /* !_XENO_ASM_ARM_THREAD_H */
diff --git a/kernel/cobalt/arch/arm/Kconfig b/kernel/cobalt/arch/arm/Kconfig
index d72324c..4045310 100644
--- a/kernel/cobalt/arch/arm/Kconfig
+++ b/kernel/cobalt/arch/arm/Kconfig
@@ -1,7 +1,3 @@
-config XENO_GENERIC_STACKPOOL
- bool
- default y
-
menu "Hardware options"
config IPIPE_WANT_PREEMPTIBLE_SWITCH
diff --git a/kernel/cobalt/arch/arm/switch.S b/kernel/cobalt/arch/arm/switch.S
index 64a285f..8c88cee 100644
--- a/kernel/cobalt/arch/arm/switch.S
+++ b/kernel/cobalt/arch/arm/switch.S
@@ -47,11 +47,6 @@
#endif /* CONFIG_CPU_USE_DOMAINS */
#endif /* Linux >= 2.6.38 */
-#ifdef CONFIG_CC_STACKPROTECTOR
-#warning "Buffer overflow detection not supported for Xenomai on ARM"
-#error "Disable CONFIG_CC_STACKPROTECTOR in your kernel configuration"
-#endif
-
.macro fpu_switch tmp
#ifdef CONFIG_VFP
@ Always disable VFP so we can lazily save/restore the old
@@ -167,12 +162,3 @@ ENTRY(__asm_thread_switch)
THUMB( ldr sp, [ip], #4 )
THUMB( ldr pc, [ip] )
ENDPROC(__asm_thread_switch)
-
-/*
- * r4 = thread_trampoline
- * r5 = struct xnarchtcb *
- */
-ENTRY(__asm_thread_trampoline)
- mov r0, r5
- mov pc, r4
-ENDPROC(__asm_thread_trampoline)
diff --git a/kernel/cobalt/arch/arm/thread.c b/kernel/cobalt/arch/arm/thread.c
index 1ef6da9..0971176 100644
--- a/kernel/cobalt/arch/arm/thread.c
+++ b/kernel/cobalt/arch/arm/thread.c
@@ -24,8 +24,7 @@
#include <linux/ipipe.h>
#include <linux/mm.h>
#include <asm/mmu_context.h>
-#include <nucleus/pod.h>
-#include <nucleus/heap.h>
+#include <nucleus/thread.h>
asmlinkage void __asm_thread_switch(struct task_struct *prev,
struct thread_info *out,
@@ -251,157 +250,46 @@ int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
return exc != IPIPE_TRAP_UNDEFINSTR;
}
-#endif /* CONFIG_XENO_HW_FPU */
-
-void xnarch_init_root_tcb(struct xnarchtcb *tcb,
- struct xnthread *thread,
- const char *name)
-{
- tcb->user_task = current;
- tcb->active_task = NULL;
- tcb->mm = current->mm;
- tcb->active_mm = NULL;
- tcb->tip = &tcb->ti;
-#ifdef CONFIG_XENO_HW_FPU
- tcb->user_fpu_owner = NULL;
- tcb->fpup = NULL;
- tcb->is_root = 1;
-#endif /* CONFIG_XENO_HW_FPU */
- tcb->entry = NULL;
- tcb->cookie = NULL;
- tcb->self = thread;
- tcb->imask = 0;
- tcb->name = name;
-}
-
-void xnarch_init_shadow_tcb(struct xnarchtcb *tcb,
- struct xnthread *thread,
- const char *name)
-{
- struct task_struct *task = current;
-
- tcb->user_task = task;
- tcb->active_task = NULL;
- tcb->mm = task->mm;
- tcb->active_mm = NULL;
- tcb->tip = task_thread_info(task);
-#ifdef CONFIG_XENO_HW_FPU
- tcb->user_fpu_owner = task;
- tcb->fpup = (struct arm_fpustate *) &
task_thread_info(task)->used_cp[0];
-#endif /* CONFIG_XENO_HW_FPU */
- tcb->entry = NULL;
- tcb->cookie = NULL;
- tcb->self = thread;
- tcb->imask = 0;
- tcb->name = name;
-}
-
-static inline unsigned long xnarch_current_domain_access_control(void)
-{
- unsigned long domain_access_control;
- asm("mrc p15, 0, %0, c3, c0":"=r"(domain_access_control));
- return domain_access_control;
-}
-
-void xnarch_init_tcb(struct xnarchtcb *tcb)
-{
-
- tcb->user_task = NULL;
- tcb->active_task = NULL;
- tcb->mm = NULL;
- tcb->active_mm = NULL;
- tcb->tip = &tcb->ti;
- tcb->ti.tp_value = 0;
- tcb->ti.cpu_domain = xnarch_current_domain_access_control();
-#ifdef CONFIG_XENO_HW_FPU
- tcb->user_fpu_owner = NULL;
- tcb->fpup = &tcb->fpuenv;
- tcb->is_root = 0;
-#endif /* CONFIG_XENO_HW_FPU */
- /* Must be followed by xnarch_init_thread(). */
-}
-
-void xnarch_enter_root(struct xnarchtcb *rootcb)
-{
- if (rootcb->mm == NULL)
- set_ti_thread_flag(rootcb->tip, TIF_MMSWITCH_INT);
-
- ipipe_unmute_pic();
-}
-
void xnarch_leave_root(struct xnarchtcb *rootcb)
{
- ipipe_mute_pic();
- /* Remember the preempted Linux task pointer. */
- rootcb->user_task = rootcb->active_task = current;
- rootcb->mm = rootcb->active_mm = ipipe_get_active_mm();
- rootcb->tip = current_thread_info();
-#ifdef CONFIG_XENO_HW_FPU
#ifdef CONFIG_VFP
rootcb->fpup = get_fpu_owner();
#else /* !CONFIG_VFP */
- rootcb->user_fpu_owner = get_fpu_owner(rootcb->user_task);
+ rootcb->core.user_fpu_owner = get_fpu_owner(rootcb->core.host_task);
/* So that xnarch_save_fpu() will operate on the right FPU area. */
- rootcb->fpup = (rootcb->user_fpu_owner
- ? task_fpenv(rootcb->user_fpu_owner) : NULL);
+ rootcb->fpup = (rootcb->core.user_fpu_owner
+ ? task_fpenv(rootcb->core.user_fpu_owner) : NULL);
#endif /* !CONFIG_VFP */
-#endif /* CONFIG_XENO_HW_FPU */
}
-void xnarch_switch_to(struct xnarchtcb *out_tcb,
- struct xnarchtcb *in_tcb)
+#endif /* CONFIG_XENO_HW_FPU */
+
+void xnarch_switch_to(struct xnarchtcb *out_tcb, struct xnarchtcb *in_tcb)
{
- struct task_struct *prev = out_tcb->active_task;
- struct mm_struct *prev_mm = out_tcb->active_mm;
- struct task_struct *next = in_tcb->user_task;
-
- if (likely(next != NULL)) {
- in_tcb->active_task = next;
- in_tcb->active_mm = in_tcb->mm;
- ipipe_clear_foreign_stack(&xnarch_machdata.domain);
- } else {
- in_tcb->active_task = prev;
- in_tcb->active_mm = prev_mm;
- ipipe_set_foreign_stack(&xnarch_machdata.domain);
- }
+ struct mm_struct *prev_mm, *next_mm;
+ struct task_struct *next;
+
+ next = in_tcb->core.host_task;
+ prev_mm = out_tcb->core.active_mm;
- if (prev_mm != in_tcb->active_mm) {
- /* Switch to new user-space thread? */
- if (in_tcb->active_mm)
- switch_mm(prev_mm, in_tcb->active_mm, next);
- if (!next->mm)
+ next_mm = in_tcb->core.mm;
+ if (next_mm == NULL) {
+ in_tcb->core.active_mm = prev_mm;
+ enter_lazy_tlb(prev_mm, next);
+ } else {
+ switch_mm(prev_mm, next_mm, next);
+ /*
+ * We might be switching back to the root thread,
+ * which we preempted earlier, shortly after "current"
+ * dropped its mm context in the do_exit() path
+ * (next->mm == NULL). In that particular case, the
+ * kernel expects a lazy TLB state for leaving the mm.
+ */
+ if (next->mm == NULL)
enter_lazy_tlb(prev_mm, next);
}
- __asm_thread_switch(prev, out_tcb->tip, in_tcb->tip);
-}
-
-asmlinkage static void thread_trampoline(struct xnarchtcb *tcb)
-{
- xnpod_welcome_thread(tcb->self, tcb->imask);
- tcb->entry(tcb->cookie);
- xnpod_delete_thread(tcb->self);
-}
-
-void xnarch_init_thread(struct xnarchtcb *tcb,
- void (*entry)(void *),
- void *cookie, int imask,
- struct xnthread *thread, char *name)
-{
- struct cpu_context_save *regs;
-
- regs = &tcb->ti.cpu_context;
- memset(regs, 0, sizeof(*regs));
- regs->pc = (unsigned long)__asm_thread_trampoline;
- regs->r4 = (unsigned long)thread_trampoline;
- regs->r5 = (unsigned long)tcb;
- regs->sp = (unsigned long)tcb->stackbase + tcb->stacksize;
-
- tcb->entry = entry;
- tcb->cookie = cookie;
- tcb->self = thread;
- tcb->imask = imask;
- tcb->name = name;
+ __asm_thread_switch(prev, out_tcb->core.tip, in_tcb->core.tip);
}
void xnarch_enable_fpu(struct xnarchtcb *tcb)
@@ -418,7 +306,7 @@ void xnarch_enable_fpu(struct xnarchtcb *tcb)
/* No exception should be pending, since it should have caused
a trap earlier.
*/
- } else if (tcb->fpup && tcb->fpup == task_fpenv(tcb->user_task)) {
+ } else if (tcb->fpup && tcb->fpup == task_fpenv(tcb->core.host_task)) {
unsigned fpexc = do_enable_fpu();
#ifndef CONFIG_SMP
if (likely(!(fpexc & XNARCH_VFP_ANY_EXC)
@@ -443,7 +331,7 @@ void xnarch_enable_fpu(struct xnarchtcb *tcb)
do_disable_fpu();
}
#else /* !CONFIG_VFP */
- if (!tcb->user_task)
+ if (!tcb->core.host_task)
do_enable_fpu();
#endif /* !CONFIG_VFP */
#endif /* CONFIG_XENO_HW_FPU */
@@ -451,9 +339,11 @@ void xnarch_enable_fpu(struct xnarchtcb *tcb)
void xnarch_init_fpu(struct xnarchtcb *tcb)
{
+ /*
+ * This must run on behalf of the thread we initialize the FPU
+ * for.
+ */
#ifdef CONFIG_XENO_HW_FPU
- /* Initialize the FPU for an emerging kernel-based RT thread. This
- must be run on behalf of the emerging thread. */
memset(&tcb->fpuenv, 0, sizeof(tcb->fpuenv));
do_init_fpu(&tcb->fpuenv);
#ifdef CONFIG_VFP
@@ -473,9 +363,9 @@ void xnarch_save_fpu(struct xnarchtcb *tcb)
if (tcb->fpup) {
do_save_fpu(tcb->fpup);
- if (tcb->user_fpu_owner &&
task_thread_info(tcb->user_fpu_owner)) {
- task_thread_info(tcb->user_fpu_owner)->used_cp[1] = 0;
- task_thread_info(tcb->user_fpu_owner)->used_cp[2] = 0;
+ if (tcb->core.user_fpu_owner &&
task_thread_info(tcb->core.user_fpu_owner)) {
+ task_thread_info(tcb->core.user_fpu_owner)->used_cp[1]
= 0;
+ task_thread_info(tcb->core.user_fpu_owner)->used_cp[2]
= 0;
}
}
#endif /* !CONFIG_VFP */
@@ -510,15 +400,15 @@ void xnarch_restore_fpu(struct xnarchtcb *tcb)
if (tcb->fpup) {
do_restore_fpu(tcb->fpup);
- if (tcb->user_fpu_owner &&
task_thread_info(tcb->user_fpu_owner)) {
- task_thread_info(tcb->user_fpu_owner)->used_cp[1] = 1;
- task_thread_info(tcb->user_fpu_owner)->used_cp[2] = 1;
+ if (tcb->core.user_fpu_owner &&
task_thread_info(tcb->core.user_fpu_owner)) {
+ task_thread_info(tcb->core.user_fpu_owner)->used_cp[1]
= 1;
+ task_thread_info(tcb->core.user_fpu_owner)->used_cp[2]
= 1;
}
}
/* FIXME: We restore FPU "as it was" when Xenomai preempted Linux,
whereas we could be much lazier. */
- if (tcb->user_task)
+ if (tcb->core.host_task)
do_disable_fpu();
#endif /* !CONFIG_VFP */
#endif /* CONFIG_XENO_HW_FPU */
@@ -533,25 +423,3 @@ int xnarch_escalate(void)
return 0;
}
-
-int xnarch_alloc_stack(struct xnarchtcb *tcb, size_t stacksize)
-{
- int ret = 0;
-
- tcb->stacksize = stacksize;
- if (stacksize == 0)
- tcb->stackbase = NULL;
- else {
- tcb->stackbase = xnheap_alloc(&kstacks, stacksize);
- if (tcb->stackbase == NULL)
- ret = -ENOMEM;
- }
-
- return ret;
-}
-
-void xnarch_free_stack(struct xnarchtcb *tcb)
-{
- if (tcb->stackbase)
- xnheap_free(&kstacks, tcb->stackbase);
-}
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