Module: xenomai-3
Branch: wip/dovetail
Commit: f8f9b5200dc8323ac4d6157deb2573368e2aab33
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f8f9b5200dc8323ac4d6157deb2573368e2aab33
Author: Philippe Gerum <r...@xenomai.org>
Date: Tue Dec 29 10:15:25 2015 +0100
cobalt/kernel: WIP: convert to dovetail interface
This is work in progress, with more changes expected from the IRQ
pipeline and dovetail interfaces.
---
include/cobalt/kernel/apc.h | 4 +-
include/cobalt/kernel/assert.h | 4 +-
include/cobalt/kernel/clock.h | 4 +-
include/cobalt/kernel/intr.h | 56 +--
include/cobalt/kernel/lock.h | 2 +-
include/cobalt/kernel/rtdm/driver.h | 4 +-
include/cobalt/kernel/sched.h | 4 +-
include/cobalt/kernel/timer.h | 2 +
kernel/cobalt/Kconfig | 2 +-
kernel/cobalt/apc.c | 8 +-
.../cobalt/arch/arm/include/asm/xenomai/machine.h | 2 -
.../cobalt/arch/arm/include/asm/xenomai/thread.h | 11 +-
kernel/cobalt/arch/arm/machine.c | 56 ---
kernel/cobalt/arch/arm/mayday.c | 1 -
kernel/cobalt/arch/arm/syscall.c | 14 +-
kernel/cobalt/arch/arm/thread.c | 5 +-
.../arch/arm64/include/asm/xenomai/machine.h | 2 -
.../cobalt/arch/arm64/include/asm/xenomai/thread.h | 9 +-
kernel/cobalt/arch/arm64/machine.c | 56 ---
kernel/cobalt/arch/arm64/mayday.c | 1 -
kernel/cobalt/arch/arm64/syscall.c | 13 +-
kernel/cobalt/arch/arm64/thread.c | 3 +-
.../arch/blackfin/include/asm/xenomai/machine.h | 2 -
.../arch/blackfin/include/asm/xenomai/thread.h | 3 +-
kernel/cobalt/arch/blackfin/machine.c | 6 -
kernel/cobalt/arch/blackfin/mayday.c | 1 -
kernel/cobalt/arch/blackfin/thread.c | 3 +-
.../arch/powerpc/include/asm/xenomai/machine.h | 2 -
.../arch/powerpc/include/asm/xenomai/thread.h | 5 +-
kernel/cobalt/arch/powerpc/machine.c | 6 -
kernel/cobalt/arch/powerpc/mayday.c | 1 -
kernel/cobalt/arch/powerpc/thread.c | 1 -
.../arch/x86/include/asm/xenomai/calibration.h | 4 +-
.../cobalt/arch/x86/include/asm/xenomai/machine.h | 2 -
.../arch/x86/include/asm/xenomai/syscall32.h | 4 +-
.../cobalt/arch/x86/include/asm/xenomai/thread.h | 5 +-
kernel/cobalt/arch/x86/machine.c | 36 --
kernel/cobalt/arch/x86/mayday.c | 1 -
kernel/cobalt/arch/x86/thread.c | 4 +-
kernel/cobalt/clock.c | 24 +-
.../cobalt/include/asm-generic/xenomai/machine.h | 12 +-
kernel/cobalt/init.c | 117 ++---
kernel/cobalt/intr.c | 448 ++++++++------------
kernel/cobalt/posix/corectl.c | 4 +-
kernel/cobalt/posix/process.c | 75 ++--
kernel/cobalt/posix/syscall.c | 28 +-
kernel/cobalt/rtdm/drvlib.c | 6 +-
kernel/cobalt/rtdm/fd.c | 12 +-
kernel/cobalt/sched.c | 56 +--
kernel/cobalt/thread.c | 37 +-
kernel/cobalt/timer.c | 375 +++++++---------
kernel/cobalt/trace/cobalt-core.h | 2 +-
scripts/Kconfig.frag | 3 +-
scripts/prepare-kernel.sh | 4 +-
54 files changed, 599 insertions(+), 953 deletions(-)
diff --git a/include/cobalt/kernel/apc.h b/include/cobalt/kernel/apc.h
index 7075ad0..1ed88b4 100644
--- a/include/cobalt/kernel/apc.h
+++ b/include/cobalt/kernel/apc.h
@@ -19,7 +19,7 @@
#ifndef _COBALT_KERNEL_APC_H
#define _COBALT_KERNEL_APC_H
-#include <linux/ipipe.h>
+#include <linux/irq_pipeline.h>
#include <asm/xenomai/machine.h>
/**
@@ -72,7 +72,7 @@ static inline void xnapc_schedule(int apc)
ipipe_restore_head(flags);
}
-void apc_dispatch(unsigned int virq, void *arg);
+irqreturn_t apc_dispatch(int virq, void *dev_id);
/** @} */
diff --git a/include/cobalt/kernel/assert.h b/include/cobalt/kernel/assert.h
index 2d2d653..4434571 100644
--- a/include/cobalt/kernel/assert.h
+++ b/include/cobalt/kernel/assert.h
@@ -57,8 +57,8 @@
do { } while (0)
#endif
-#define primary_mode_only() XENO_BUG_ON(CONTEXT, ipipe_root_p)
-#define secondary_mode_only() XENO_BUG_ON(CONTEXT, !ipipe_root_p)
+#define primary_mode_only() XENO_BUG_ON(CONTEXT, on_root_stage())
+#define secondary_mode_only() XENO_BUG_ON(CONTEXT, !on_root_stage())
#define interrupt_only() XENO_BUG_ON(CONTEXT, !xnsched_interrupt_p())
#define realtime_cpu_only() XENO_BUG_ON(CONTEXT,
!xnsched_supported_cpu(ipipe_processor_id()))
#define thread_only() XENO_BUG_ON(CONTEXT, xnsched_interrupt_p())
diff --git a/include/cobalt/kernel/clock.h b/include/cobalt/kernel/clock.h
index c290b1d..302fa44 100644
--- a/include/cobalt/kernel/clock.h
+++ b/include/cobalt/kernel/clock.h
@@ -19,7 +19,7 @@
#ifndef _COBALT_KERNEL_CLOCK_H
#define _COBALT_KERNEL_CLOCK_H
-#include <linux/ipipe.h>
+#include <linux/irq_pipeline.h>
#include <cobalt/kernel/list.h>
#include <cobalt/kernel/vfile.h>
#include <cobalt/uapi/kernel/types.h>
@@ -92,8 +92,6 @@ struct xnclock {
extern struct xnclock nkclock;
-extern unsigned long nktimerlat;
-
extern unsigned int nkclock_lock;
int xnclock_register(struct xnclock *clock,
diff --git a/include/cobalt/kernel/intr.h b/include/cobalt/kernel/intr.h
index af20ca1..7d6fe24 100644
--- a/include/cobalt/kernel/intr.h
+++ b/include/cobalt/kernel/intr.h
@@ -20,6 +20,8 @@
#define _COBALT_KERNEL_INTR_H
#include <linux/spinlock.h>
+#include <linux/list.h>
+#include <linux/cpumask.h>
#include <cobalt/kernel/stat.h>
/**
@@ -49,8 +51,6 @@ struct xnsched;
typedef int (*xnisr_t)(struct xnintr *intr);
-typedef void (*xniack_t)(unsigned irq, void *arg);
-
struct xnirqstat {
/** Number of handled receipts since attachment. */
xnstat_counter_t hits;
@@ -63,22 +63,20 @@ struct xnirqstat {
struct xnintr {
#ifdef CONFIG_XENO_OPT_SHIRQ
/** Next object in the IRQ-sharing chain. */
- struct xnintr *next;
+ struct xnintr *next_handler;
#endif
/** Number of consequent unhandled interrupts */
unsigned int unhandled;
/** Interrupt service routine. */
xnisr_t isr;
- /** User-defined cookie value. */
- void *cookie;
+ /** Opaque device id. */
+ void *dev_id;
/** runtime status */
unsigned long status;
/** Creation flags. */
int flags;
/** IRQ number. */
unsigned int irq;
- /** Interrupt acknowledge routine. */
- xniack_t iack;
/** Symbolic name. */
const char *name;
/** Descriptor maintenance lock. */
@@ -87,25 +85,36 @@ struct xnintr {
/** Statistics. */
struct xnirqstat *stats;
#endif
+ struct list_head next;
};
struct xnintr_iterator {
- int cpu; /** Current CPU in iteration. */
- unsigned long hits; /** Current hit counter. */
- xnticks_t exectime_period; /** Used CPU time in current accounting period.
*/
- xnticks_t account_period; /** Length of accounting period. */
- xnticks_t exectime_total; /** Overall CPU time consumed. */
- int list_rev; /** System-wide xnintr list revision (internal use). */
- struct xnintr *prev; /** Previously visited xnintr object (internal
use). */
+ /** Current CPU. */
+ int cpu;
+ /** Remaining CPUs to iterate over. */
+ cpumask_t cpus;
+ /** Current hit counter. */
+ unsigned long hits;
+ /** Used CPU time in current accounting period. */
+ xnticks_t exectime_period;
+ /** Length of accounting period. */
+ xnticks_t account_period;
+ /** Overall CPU time consumed. */
+ xnticks_t exectime_total;
+ /** System-wide xnintr list revision (internal use). */
+ int list_rev;
+ /** Currently visited xnintr object (internal use). */
+ struct xnintr *curr;
+ /** Previously visited xnintr object (internal use). */
+ struct xnintr *prev;
};
extern struct xnintr nktimer;
int xnintr_mount(void);
-void xnintr_core_clock_handler(void);
-
-void xnintr_host_tick(struct xnsched *sched);
+irqreturn_t xnintr_core_clock_handler(int irq,
+ void *dev_id);
void xnintr_init_proc(void);
@@ -115,15 +124,14 @@ void xnintr_cleanup_proc(void);
int xnintr_init(struct xnintr *intr,
const char *name,
- unsigned irq,
+ int irq,
xnisr_t isr,
- xniack_t iack,
int flags);
void xnintr_destroy(struct xnintr *intr);
int xnintr_attach(struct xnintr *intr,
- void *cookie);
+ void *dev_id);
void xnintr_detach(struct xnintr *intr);
@@ -136,12 +144,12 @@ void xnintr_affinity(struct xnintr *intr,
int xnintr_query_init(struct xnintr_iterator *iterator);
-int xnintr_get_query_lock(void);
+int xnintr_query_next(struct xnintr_iterator *iterator,
+ char *name_buf);
-void xnintr_put_query_lock(void);
+void xnintr_list_lock(void);
-int xnintr_query_next(int irq, struct xnintr_iterator *iterator,
- char *name_buf);
+void xnintr_list_unlock(void);
/** @} */
diff --git a/include/cobalt/kernel/lock.h b/include/cobalt/kernel/lock.h
index 36f8168..80cce74 100644
--- a/include/cobalt/kernel/lock.h
+++ b/include/cobalt/kernel/lock.h
@@ -20,7 +20,7 @@
#ifndef _COBALT_KERNEL_LOCK_H
#define _COBALT_KERNEL_LOCK_H
-#include <linux/ipipe.h>
+#include <linux/irq_pipeline.h>
#include <linux/percpu.h>
#include <cobalt/kernel/assert.h>
diff --git a/include/cobalt/kernel/rtdm/driver.h
b/include/cobalt/kernel/rtdm/driver.h
index b0a37c4..a87b2ef 100644
--- a/include/cobalt/kernel/rtdm/driver.h
+++ b/include/cobalt/kernel/rtdm/driver.h
@@ -828,7 +828,7 @@ typedef int (*rtdm_irq_handler_t)(rtdm_irq_t *irq_handle);
*
* @coretags{unrestricted}
*/
-#define rtdm_irq_get_arg(irq_handle, type) ((type *)irq_handle->cookie)
+#define rtdm_irq_get_arg(irq_handle, type) ((type *)irq_handle->dev_id)
/** @} rtdm_irq */
int rtdm_irq_request(rtdm_irq_t *irq_handle, unsigned int irq_no,
@@ -1292,7 +1292,7 @@ static inline int rtdm_rt_capable(struct rtdm_fd *fd)
static inline int rtdm_in_rt_context(void)
{
- return (ipipe_current_domain != ipipe_root_domain);
+ return current_irq_stage != &root_irq_stage;
}
#endif /* !DOXYGEN_CPP */
diff --git a/include/cobalt/kernel/sched.h b/include/cobalt/kernel/sched.h
index d5d93c2..bc27cde 100644
--- a/include/cobalt/kernel/sched.h
+++ b/include/cobalt/kernel/sched.h
@@ -209,8 +209,6 @@ static inline void xnsched_set_self_resched(struct xnsched
*sched)
sched->status |= XNRESCHED;
}
-#define xnsched_realtime_domain cobalt_pipeline.domain
-
/* Set resched flag for the given scheduler. */
#ifdef CONFIG_SMP
@@ -256,7 +254,7 @@ static inline int xnsched_supported_cpu(int cpu)
int ___xnsched_run(struct xnsched *sched);
-void __xnsched_run_handler(void);
+irqreturn_t __xnsched_run_handler(int irq, void *dev_id);
static inline int __xnsched_run(struct xnsched *sched)
{
diff --git a/include/cobalt/kernel/timer.h b/include/cobalt/kernel/timer.h
index 00aa411..f14f007 100644
--- a/include/cobalt/kernel/timer.h
+++ b/include/cobalt/kernel/timer.h
@@ -529,6 +529,8 @@ static inline void xntimer_set_sched(struct xntimer *timer,
char *xntimer_format_time(xnticks_t ns,
char *buf, size_t bufsz);
+void xntimer_host_tick(struct xnsched *sched);
+
int xntimer_grab_hardware(void);
void xntimer_release_hardware(void);
diff --git a/kernel/cobalt/Kconfig b/kernel/cobalt/Kconfig
index afa62d2..7a9f423 100644
--- a/kernel/cobalt/Kconfig
+++ b/kernel/cobalt/Kconfig
@@ -207,7 +207,7 @@ config XENO_OPT_TIMER_HEAP_CAPACITY
Set the maximum number of timers the binary heap can index.
config XENO_OPT_HOSTRT
- depends on IPIPE_HAVE_HOSTRT
+ depends on DOVETAIL_HAVE_HOSTRT
def_bool y
config XENO_OPT_PIPE
diff --git a/kernel/cobalt/apc.c b/kernel/cobalt/apc.c
index 3383a26..930cbfc 100644
--- a/kernel/cobalt/apc.c
+++ b/kernel/cobalt/apc.c
@@ -17,7 +17,7 @@
* 02111-1307, USA.
*/
#include <linux/spinlock.h>
-#include <linux/ipipe.h>
+#include <cobalt/kernel/assert.h>
#include <cobalt/kernel/apc.h>
/**
@@ -40,7 +40,7 @@
*/
static IPIPE_DEFINE_SPINLOCK(apc_lock);
-void apc_dispatch(unsigned int virq, void *arg)
+irqreturn_t apc_dispatch(int virq, void *dev_id)
{
void (*handler)(void *), *cookie;
unsigned long *p;
@@ -71,6 +71,8 @@ void apc_dispatch(unsigned int virq, void *arg)
}
spin_unlock(&apc_lock);
+
+ return IRQ_HANDLED;
}
/**
@@ -151,7 +153,7 @@ EXPORT_SYMBOL_GPL(xnapc_alloc);
*/
void xnapc_free(int apc)
{
- BUG_ON(apc < 0 || apc >= BITS_PER_LONG);
+ XENO_BUG_ON(COBALT, apc < 0 || apc >= BITS_PER_LONG);
clear_bit(apc, &cobalt_pipeline.apc_map);
smp_mb__after_atomic();
}
diff --git a/kernel/cobalt/arch/arm/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm/include/asm/xenomai/machine.h
index d6e965f..ffc1bb7 100644
--- a/kernel/cobalt/arch/arm/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm/include/asm/xenomai/machine.h
@@ -26,8 +26,6 @@
#include <linux/version.h>
#include <asm/byteorder.h>
-#define XNARCH_HOST_TICK_IRQ __ipipe_hrtimer_irq
-
#include <asm/barrier.h>
#include <asm/compiler.h>
#include <asm/cmpxchg.h>
diff --git a/kernel/cobalt/arch/arm/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm/include/asm/xenomai/thread.h
index 3e332b2..4849020 100644
--- a/kernel/cobalt/arch/arm/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm/include/asm/xenomai/thread.h
@@ -67,7 +67,7 @@ static inline void xnarch_enter_root(struct xnthread *root) {
}
static inline int xnarch_escalate(void)
{
- if (ipipe_root_p) {
+ if (on_root_stage()) {
ipipe_raise_irq(cobalt_pipeline.escalate_virq);
return 1;
}
@@ -85,7 +85,7 @@ static inline void xnarch_init_root_tcb(struct xnthread
*thread)
void xnarch_init_shadow_tcb(struct xnthread *thread);
-int xnarch_fault_fpu_p(struct ipipe_trap_data *d);
+int xnarch_fault_fpu_p(struct dovetail_trap_data *d);
void xnarch_leave_root(struct xnthread *root);
@@ -94,7 +94,7 @@ void xnarch_save_fpu(struct xnthread *thread);
void xnarch_switch_fpu(struct xnthread *from, struct xnthread *thread);
int xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d);
+ struct xnthread *to, struct dovetail_trap_data *d);
#else /* !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
@@ -106,7 +106,7 @@ static inline void xnarch_init_shadow_tcb(struct xnthread
*thread) { }
* 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)
+static inline int xnarch_fault_fpu_p(struct dovetail_trap_data *d)
{
return 0;
}
@@ -118,7 +118,8 @@ static inline void xnarch_save_fpu(struct xnthread *thread)
{ }
static inline void xnarch_switch_fpu(struct xnthread *f, struct xnthread *t) {
}
static inline int xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct
ipipe_trap_data *d)
+ struct xnthread *to,
+ struct dovetail_trap_data *d)
{
return 0;
}
diff --git a/kernel/cobalt/arch/arm/machine.c b/kernel/cobalt/arch/arm/machine.c
index f48d4a8..90d0818 100644
--- a/kernel/cobalt/arch/arm/machine.c
+++ b/kernel/cobalt/arch/arm/machine.c
@@ -19,7 +19,6 @@
*/
#include <linux/mm.h>
-#include <linux/ipipe_tickdev.h>
#include <cobalt/kernel/arith.h>
#include <asm/cacheflush.h>
#include <asm/xenomai/machine.h>
@@ -39,60 +38,6 @@ static void mach_arm_prefault(struct vm_area_struct *vma)
}
}
-static unsigned long mach_arm_calibrate(void)
-{
- unsigned long long start, end, sum = 0, sum_sq = 0;
- volatile unsigned const_delay = 0xffffffff;
- unsigned long result, flags, tsc_lat;
- unsigned int delay = const_delay;
- long long diff;
- int i, j;
-
- flags = ipipe_critical_enter(NULL);
-
- /*
- * Hw interrupts off, other CPUs quiesced, no migration
- * possible. We can now fiddle with the timer chip (per-cpu
- * local or global, ipipe_timer_set() will handle this
- * transparently).
- */
- ipipe_read_tsc(start);
- barrier();
- ipipe_read_tsc(end);
- tsc_lat = end - start;
- barrier();
-
- for (i = 0; i < CALIBRATION_LOOPS; i++) {
- flush_cache_all();
- for (j = 0; j < CALIBRATION_LOOPS; j++) {
- ipipe_read_tsc(start);
- barrier();
- ipipe_timer_set(delay);
- barrier();
- ipipe_read_tsc(end);
- diff = end - start - tsc_lat;
- if (diff > 0) {
- sum += diff;
- sum_sq += diff * diff;
- }
- }
- }
-
- ipipe_critical_exit(flags);
-
- /* Use average + standard deviation as timer programming latency. */
- do_div(sum, CALIBRATION_LOOPS * CALIBRATION_LOOPS);
- do_div(sum_sq, CALIBRATION_LOOPS * CALIBRATION_LOOPS);
- result = sum + int_sqrt(sum_sq - sum * sum) + 1;
- /*
- * Reset the max trace, since it contains the calibration time
- * now.
- */
- ipipe_trace_max_reset();
-
- return result;
-}
-
static const char *const fault_labels[] = {
[IPIPE_TRAP_ACCESS] = "Data or instruction access",
[IPIPE_TRAP_SECTION] = "Section fault",
@@ -113,7 +58,6 @@ struct cobalt_machine cobalt_machine = {
.init = NULL,
.late_init = NULL,
.cleanup = NULL,
- .calibrate = mach_arm_calibrate,
.prefault = mach_arm_prefault,
.fault_labels = fault_labels,
};
diff --git a/kernel/cobalt/arch/arm/mayday.c b/kernel/cobalt/arch/arm/mayday.c
index 20e4559..ad9c0e9 100644
--- a/kernel/cobalt/arch/arm/mayday.c
+++ b/kernel/cobalt/arch/arm/mayday.c
@@ -17,7 +17,6 @@
* 02111-1307, USA.
*/
#include <linux/types.h>
-#include <linux/ipipe.h>
#include <linux/vmalloc.h>
#include <cobalt/kernel/thread.h>
#include <cobalt/uapi/syscall.h>
diff --git a/kernel/cobalt/arch/arm/syscall.c b/kernel/cobalt/arch/arm/syscall.c
index ee78243..5c3e51d 100644
--- a/kernel/cobalt/arch/arm/syscall.c
+++ b/kernel/cobalt/arch/arm/syscall.c
@@ -17,8 +17,7 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
-
-#include <linux/ipipe.h>
+#include <asm/xenomai/machine.h>
#include <asm/xenomai/syscall.h>
#include <asm/xenomai/uapi/tsc.h>
@@ -26,18 +25,15 @@ int xnarch_local_syscall(unsigned long a1, unsigned long a2,
unsigned long a3, unsigned long a4,
unsigned long a5)
{
- struct ipipe_sysinfo ipipe_info;
- struct __ipipe_tscinfo *p = &ipipe_info.arch.tsc;
+ struct __ipipe_tscinfo *p;
struct __xn_tscinfo info;
int ret;
if (a1 != XENOMAI_SYSARCH_TSCINFO)
return -EINVAL;
-
- ret = ipipe_get_sysinfo(&ipipe_info);
- if (ret)
- return ret;
-
+
+ p = &cobalt_pipeline.clock_data.arch.tsc;
+
switch (p->type) {
case IPIPE_TSC_TYPE_DECREMENTER:
info.counter = p->u.dec.counter;
diff --git a/kernel/cobalt/arch/arm/thread.c b/kernel/cobalt/arch/arm/thread.c
index 7e2b7cf..7b9250a 100644
--- a/kernel/cobalt/arch/arm/thread.c
+++ b/kernel/cobalt/arch/arm/thread.c
@@ -21,7 +21,6 @@
*/
#include <linux/sched.h>
-#include <linux/ipipe.h>
#include <linux/mm.h>
#include <linux/jump_label.h>
#include <asm/mmu_context.h>
@@ -104,7 +103,7 @@ static inline union vfp_state *get_fpu_owner(void)
_fpexc; \
})
-int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
+int xnarch_fault_fpu_p(struct dovetail_trap_data *d)
{
/* This function does the same thing to decode the faulting instruct as
"call_fpe" in arch/arm/entry-armv.S */
@@ -268,7 +267,7 @@ void xnarch_switch_fpu(struct xnthread *from, struct
xnthread *to)
}
int xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d)
+ struct xnthread *to, struct dovetail_trap_data *d)
{
if (xnthread_test_state(to, XNFPU))
/* FPU is already enabled, probably an exception */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
index 7444cc8..7f8bfe4 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -26,8 +26,6 @@
#include <linux/version.h>
#include <asm/byteorder.h>
-#define XNARCH_HOST_TICK_IRQ __ipipe_hrtimer_irq
-
#include <asm/barrier.h>
#include <asm/compiler.h>
#include <asm/cmpxchg.h>
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
index 4b247ac..967da75 100644
--- a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -68,7 +68,7 @@ static inline void xnarch_init_root_tcb(struct xnthread
*thread)
void xnarch_init_shadow_tcb(struct xnthread *thread);
-static inline int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
+static inline int xnarch_fault_fpu_p(struct dovetail_trap_data *d)
{
return xnarch_fault_trap(d) == IPIPE_TRAP_FPU_ACC;
}
@@ -81,7 +81,7 @@ void xnarch_switch_fpu(struct xnthread *from, struct xnthread
*thread);
static inline int
xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d)
+ struct xnthread *to, struct dovetail_trap_data *d)
{
return 0;
}
@@ -96,7 +96,7 @@ static inline void xnarch_init_shadow_tcb(struct xnthread
*thread) { }
* 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)
+static inline int xnarch_fault_fpu_p(struct dovetail_trap_data *d)
{
return 0;
}
@@ -108,7 +108,8 @@ static inline void xnarch_save_fpu(struct xnthread *thread)
{ }
static inline void xnarch_switch_fpu(struct xnthread *f, struct xnthread *t) {
}
static inline int xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct
ipipe_trap_data *d)
+ struct xnthread *to,
+ struct dovetail_trap_data *d)
{
return 0;
}
diff --git a/kernel/cobalt/arch/arm64/machine.c
b/kernel/cobalt/arch/arm64/machine.c
index ddf65a8..a644d7f 100644
--- a/kernel/cobalt/arch/arm64/machine.c
+++ b/kernel/cobalt/arch/arm64/machine.c
@@ -19,7 +19,6 @@
*/
#include <linux/mm.h>
-#include <linux/ipipe_tickdev.h>
#include <cobalt/kernel/arith.h>
#include <asm/cacheflush.h>
#include <asm/xenomai/machine.h>
@@ -39,60 +38,6 @@ static void mach_arm_prefault(struct vm_area_struct *vma)
}
}
-static unsigned long mach_arm_calibrate(void)
-{
- unsigned long long start, end, sum = 0, sum_sq = 0;
- volatile unsigned const_delay = 0xffffffff;
- unsigned long result, flags, tsc_lat;
- unsigned int delay = const_delay;
- long long diff;
- int i, j;
-
- flags = ipipe_critical_enter(NULL);
-
- /*
- * Hw interrupts off, other CPUs quiesced, no migration
- * possible. We can now fiddle with the timer chip (per-cpu
- * local or global, ipipe_timer_set() will handle this
- * transparently).
- */
- ipipe_read_tsc(start);
- barrier();
- ipipe_read_tsc(end);
- tsc_lat = end - start;
- barrier();
-
- for (i = 0; i < CALIBRATION_LOOPS; i++) {
- flush_cache_all();
- for (j = 0; j < CALIBRATION_LOOPS; j++) {
- ipipe_read_tsc(start);
- barrier();
- ipipe_timer_set(delay);
- barrier();
- ipipe_read_tsc(end);
- diff = end - start - tsc_lat;
- if (diff > 0) {
- sum += diff;
- sum_sq += diff * diff;
- }
- }
- }
-
- ipipe_critical_exit(flags);
-
- /* Use average + standard deviation as timer programming latency. */
- do_div(sum, CALIBRATION_LOOPS * CALIBRATION_LOOPS);
- do_div(sum_sq, CALIBRATION_LOOPS * CALIBRATION_LOOPS);
- result = sum + int_sqrt(sum_sq - sum * sum) + 1;
- /*
- * Reset the max trace, since it contains the calibration time
- * now.
- */
- ipipe_trace_max_reset();
-
- return result;
-}
-
static const char *const fault_labels[] = {
[IPIPE_TRAP_ACCESS] = "Data or instruction access",
[IPIPE_TRAP_SECTION] = "Section fault",
@@ -113,7 +58,6 @@ struct cobalt_machine cobalt_machine = {
.init = NULL,
.late_init = NULL,
.cleanup = NULL,
- .calibrate = mach_arm_calibrate,
.prefault = mach_arm_prefault,
.fault_labels = fault_labels,
};
diff --git a/kernel/cobalt/arch/arm64/mayday.c
b/kernel/cobalt/arch/arm64/mayday.c
index ca1151c..7a67c35 100644
--- a/kernel/cobalt/arch/arm64/mayday.c
+++ b/kernel/cobalt/arch/arm64/mayday.c
@@ -17,7 +17,6 @@
* 02111-1307, USA.
*/
#include <linux/types.h>
-#include <linux/ipipe.h>
#include <linux/vmalloc.h>
#include <cobalt/kernel/thread.h>
#include <cobalt/uapi/syscall.h>
diff --git a/kernel/cobalt/arch/arm64/syscall.c
b/kernel/cobalt/arch/arm64/syscall.c
index ee78243..313a28b 100644
--- a/kernel/cobalt/arch/arm64/syscall.c
+++ b/kernel/cobalt/arch/arm64/syscall.c
@@ -18,7 +18,7 @@
* 02111-1307, USA.
*/
-#include <linux/ipipe.h>
+#include <linux/irq_pipeline.h>
#include <asm/xenomai/syscall.h>
#include <asm/xenomai/uapi/tsc.h>
@@ -26,18 +26,15 @@ int xnarch_local_syscall(unsigned long a1, unsigned long a2,
unsigned long a3, unsigned long a4,
unsigned long a5)
{
- struct ipipe_sysinfo ipipe_info;
- struct __ipipe_tscinfo *p = &ipipe_info.arch.tsc;
+ struct __ipipe_tscinfo *p;
struct __xn_tscinfo info;
int ret;
if (a1 != XENOMAI_SYSARCH_TSCINFO)
return -EINVAL;
-
- ret = ipipe_get_sysinfo(&ipipe_info);
- if (ret)
- return ret;
-
+
+ p = &cobalt_pipeline.clock_data.arch.tsc;
+
switch (p->type) {
case IPIPE_TSC_TYPE_DECREMENTER:
info.counter = p->u.dec.counter;
diff --git a/kernel/cobalt/arch/arm64/thread.c
b/kernel/cobalt/arch/arm64/thread.c
index b987e09..cd093b5 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -25,7 +25,6 @@
*/
#include <linux/sched.h>
-#include <linux/ipipe.h>
#include <linux/mm.h>
#include <linux/jump_label.h>
#include <asm/mmu_context.h>
@@ -132,7 +131,7 @@ void xnarch_switch_to(struct xnthread *out, struct xnthread
*in)
int xnarch_escalate(void)
{
- if (ipipe_root_p) {
+ if (on_root_stage()) {
ipipe_raise_irq(cobalt_pipeline.escalate_virq);
return 1;
}
diff --git a/kernel/cobalt/arch/blackfin/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/blackfin/include/asm/xenomai/machine.h
index 8e3c03a..d918550 100644
--- a/kernel/cobalt/arch/blackfin/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/blackfin/include/asm/xenomai/machine.h
@@ -24,8 +24,6 @@
#include <linux/linkage.h>
#include <linux/bitops.h>
-#define XNARCH_HOST_TICK_IRQ __ipipe_hrtimer_irq
-
static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
{
return ffs(ul) - 1;
diff --git a/kernel/cobalt/arch/blackfin/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/blackfin/include/asm/xenomai/thread.h
index e270fa8..8f9bb07 100644
--- a/kernel/cobalt/arch/blackfin/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/blackfin/include/asm/xenomai/thread.h
@@ -62,7 +62,8 @@ xnarch_switch_fpu(struct xnthread *from, struct xnthread
*thread)
static inline int
xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d)
+ struct xnthread *to,
+ struct dovetail_trap_data *d)
{
return 0;
}
diff --git a/kernel/cobalt/arch/blackfin/machine.c
b/kernel/cobalt/arch/blackfin/machine.c
index b0a70fe..49bb6ca 100644
--- a/kernel/cobalt/arch/blackfin/machine.c
+++ b/kernel/cobalt/arch/blackfin/machine.c
@@ -21,11 +21,6 @@
#include <cobalt/kernel/sched.h>
#include <asm/xenomai/machine.h>
-static unsigned long mach_blackfin_calibrate(void)
-{
- return 20; /* 20 clock cycles */
-}
-
static void schedule_deferred(void)
{
xnsched_run();
@@ -84,7 +79,6 @@ struct cobalt_machine cobalt_machine = {
.init = NULL,
.late_init = mach_blackfin_late_init,
.cleanup = mach_blackfin_cleanup,
- .calibrate = mach_blackfin_calibrate,
.prefault = NULL,
.fault_labels = fault_labels,
};
diff --git a/kernel/cobalt/arch/blackfin/mayday.c
b/kernel/cobalt/arch/blackfin/mayday.c
index bd76fee..5c5fa1c 100644
--- a/kernel/cobalt/arch/blackfin/mayday.c
+++ b/kernel/cobalt/arch/blackfin/mayday.c
@@ -17,7 +17,6 @@
* 02111-1307, USA.
*/
#include <linux/types.h>
-#include <linux/ipipe.h>
#include <linux/vmalloc.h>
#include <cobalt/kernel/thread.h>
#include <cobalt/uapi/syscall.h>
diff --git a/kernel/cobalt/arch/blackfin/thread.c
b/kernel/cobalt/arch/blackfin/thread.c
index d4cda91..9e6d194 100644
--- a/kernel/cobalt/arch/blackfin/thread.c
+++ b/kernel/cobalt/arch/blackfin/thread.c
@@ -18,7 +18,6 @@
*/
#include <linux/sched.h>
-#include <linux/ipipe.h>
#include <linux/mm.h>
#include <asm/mmu_context.h>
#include <cobalt/kernel/thread.h>
@@ -94,7 +93,7 @@ int xnarch_escalate(void)
return 1;
}
- if (ipipe_root_p) {
+ if (on_root_stage()) {
ipipe_raise_irq(cobalt_pipeline.escalate_virq);
__ipipe_unlock_root();
return 1;
diff --git a/kernel/cobalt/arch/powerpc/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/powerpc/include/asm/xenomai/machine.h
index 6737ddc..72910ae 100644
--- a/kernel/cobalt/arch/powerpc/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/powerpc/include/asm/xenomai/machine.h
@@ -25,8 +25,6 @@
#include <linux/compiler.h>
-#define XNARCH_HOST_TICK_IRQ __ipipe_hrtimer_irq
-
static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
{
#ifdef CONFIG_PPC64
diff --git a/kernel/cobalt/arch/powerpc/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/powerpc/include/asm/xenomai/thread.h
index 8d6be84..661889b 100644
--- a/kernel/cobalt/arch/powerpc/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/powerpc/include/asm/xenomai/thread.h
@@ -76,14 +76,15 @@ static inline void xnarch_leave_root(struct xnthread *root)
{ }
static inline int
xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d)
+ struct xnthread *to,
+ struct dovetail_trap_data *d)
{
return 0;
}
static inline int xnarch_escalate(void)
{
- if (ipipe_root_p) {
+ if (on_root_stage()) {
ipipe_raise_irq(cobalt_pipeline.escalate_virq);
return 1;
}
diff --git a/kernel/cobalt/arch/powerpc/machine.c
b/kernel/cobalt/arch/powerpc/machine.c
index 2e1643a..14e2c4f 100644
--- a/kernel/cobalt/arch/powerpc/machine.c
+++ b/kernel/cobalt/arch/powerpc/machine.c
@@ -24,11 +24,6 @@
#include <asm/cputable.h>
#include <asm/xenomai/machine.h>
-static unsigned long mach_powerpc_calibrate(void)
-{
- return 5; /* 5 clock cycles. */
-}
-
static int mach_powerpc_init(void)
{
#ifdef CONFIG_ALTIVEC
@@ -67,7 +62,6 @@ struct cobalt_machine cobalt_machine = {
.init = mach_powerpc_init,
.late_init = NULL,
.cleanup = NULL,
- .calibrate = mach_powerpc_calibrate,
.prefault = NULL,
.fault_labels = fault_labels,
};
diff --git a/kernel/cobalt/arch/powerpc/mayday.c
b/kernel/cobalt/arch/powerpc/mayday.c
index 254f9ab..7051ba7 100644
--- a/kernel/cobalt/arch/powerpc/mayday.c
+++ b/kernel/cobalt/arch/powerpc/mayday.c
@@ -18,7 +18,6 @@
*/
#include <linux/types.h>
-#include <linux/ipipe.h>
#include <linux/vmalloc.h>
#include <cobalt/kernel/thread.h>
#include <cobalt/uapi/syscall.h>
diff --git a/kernel/cobalt/arch/powerpc/thread.c
b/kernel/cobalt/arch/powerpc/thread.c
index 7f6ff87..44441a4 100644
--- a/kernel/cobalt/arch/powerpc/thread.c
+++ b/kernel/cobalt/arch/powerpc/thread.c
@@ -21,7 +21,6 @@
*/
#include <linux/sched.h>
-#include <linux/ipipe.h>
#include <linux/mm.h>
#include <asm/mmu_context.h>
#include <cobalt/kernel/thread.h>
diff --git a/kernel/cobalt/arch/x86/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/x86/include/asm/xenomai/calibration.h
index a9190e1..0971055 100644
--- a/kernel/cobalt/arch/x86/include/asm/xenomai/calibration.h
+++ b/kernel/cobalt/arch/x86/include/asm/xenomai/calibration.h
@@ -34,7 +34,7 @@ static inline void xnarch_get_latencies(struct
xnclock_gravity *p)
sched_latency = CONFIG_XENO_OPT_TIMING_SCHEDLAT;
#else /* !CONFIG_XENO_OPT_TIMING_SCHEDLAT */
- if (strcmp(ipipe_timer_name(), "lapic") == 0) {
+ if (strcmp(tick_device_name(), "lapic") == 0) {
#ifdef CONFIG_SMP
if (num_online_cpus() > 1)
sched_latency = 3350;
@@ -43,7 +43,7 @@ static inline void xnarch_get_latencies(struct
xnclock_gravity *p)
#else /* !SMP */
sched_latency = 1000;
#endif /* !SMP */
- } else if (strcmp(ipipe_timer_name(), "pit")) { /* HPET */
+ } else if (strcmp(tick_device_name(), "pit")) { /* HPET */
#ifdef CONFIG_SMP
if (num_online_cpus() > 1)
sched_latency = 3350;
diff --git a/kernel/cobalt/arch/x86/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/x86/include/asm/xenomai/machine.h
index bb5ccc1..c34ce7f 100644
--- a/kernel/cobalt/arch/x86/include/asm/xenomai/machine.h
+++ b/kernel/cobalt/arch/x86/include/asm/xenomai/machine.h
@@ -31,8 +31,6 @@ static inline __attribute_const__ unsigned long ffnz(unsigned
long ul)
return ul;
}
-#define XNARCH_HOST_TICK_IRQ __ipipe_hrtimer_irq
-
long strncpy_from_user_nocheck(char *dst,
const char __user *src,
long count);
diff --git a/kernel/cobalt/arch/x86/include/asm/xenomai/syscall32.h
b/kernel/cobalt/arch/x86/include/asm/xenomai/syscall32.h
index 4fc1be8..3885cc7 100644
--- a/kernel/cobalt/arch/x86/include/asm/xenomai/syscall32.h
+++ b/kernel/cobalt/arch/x86/include/asm/xenomai/syscall32.h
@@ -98,13 +98,13 @@
#define __COBALT_SYSNR32emu(__reg) \
({ \
long __nr = __reg; \
- if (current_thread_info()->status & TS_COMPAT) \
+ if (test_thread_local_flags(TS_COMPAT)) \
__nr += __COBALT_IA32_BASE; \
__nr; \
})
#define __COBALT_COMPAT32emu(__reg) \
- ((current_thread_info()->status & TS_COMPAT) ? __COBALT_COMPAT_BIT : 0)
+ (test_thread_local_flags(TS_COMPAT) ? __COBALT_COMPAT_BIT : 0)
#if __NR_COBALT_SYSCALLS > __COBALT_IA32_BASE
#error "__NR_COBALT_SYSCALLS > __COBALT_IA32_BASE"
diff --git a/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
index 3862e33..6f4393d 100644
--- a/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
+++ b/kernel/cobalt/arch/x86/include/asm/xenomai/thread.h
@@ -64,7 +64,8 @@ void xnarch_save_fpu(struct xnthread *thread);
void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to);
int xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d);
+ struct xnthread *to,
+ struct dovetail_trap_data *d);
void xnarch_leave_root(struct xnthread *root);
@@ -78,7 +79,7 @@ static inline void xnarch_enter_root(struct xnthread *root) {
}
static inline int xnarch_escalate(void)
{
- if (ipipe_root_p) {
+ if (on_root_stage()) {
ipipe_raise_irq(cobalt_pipeline.escalate_virq);
return 1;
}
diff --git a/kernel/cobalt/arch/x86/machine.c b/kernel/cobalt/arch/x86/machine.c
index 14443e0..611af62 100644
--- a/kernel/cobalt/arch/x86/machine.c
+++ b/kernel/cobalt/arch/x86/machine.c
@@ -18,7 +18,6 @@
* 02111-1307, USA.
*/
-#include <linux/ipipe_tickdev.h>
#include <cobalt/kernel/arith.h>
#include <asm/xenomai/machine.h>
#include <asm/xenomai/smi.h>
@@ -112,40 +111,6 @@ long strncpy_from_user_nocheck(char *dst, const char
__user *src, long count)
}
EXPORT_SYMBOL_GPL(strncpy_from_user_nocheck);
-static unsigned long mach_x86_calibrate(void)
-{
- unsigned long delay = (cobalt_pipeline.timer_freq + HZ / 2) / HZ;
- unsigned long long t0, t1, dt;
- unsigned long flags;
- int i;
-
- flags = ipipe_critical_enter(NULL);
-
- ipipe_timer_set(delay);
-
- ipipe_read_tsc(t0);
-
- for (i = 0; i < 100; i++)
- ipipe_timer_set(delay);
-
- ipipe_read_tsc(t1);
- dt = t1 - t0;
-
- ipipe_critical_exit(flags);
-
- /*
- * Reset the max trace, since it contains the calibration time
- * now.
- */
- ipipe_trace_max_reset();
-
- /*
- * Compute average with a 5% margin to avoid negative
- * latencies with PIT.
- */
- return xnarch_ulldiv(dt, i + 5, NULL);
-}
-
static int mach_x86_init(void)
{
mach_x86_c1e_disable();
@@ -189,7 +154,6 @@ struct cobalt_machine cobalt_machine = {
.init = mach_x86_init,
.late_init = NULL,
.cleanup = mach_x86_cleanup,
- .calibrate = mach_x86_calibrate,
.prefault = NULL,
.fault_labels = fault_labels,
};
diff --git a/kernel/cobalt/arch/x86/mayday.c b/kernel/cobalt/arch/x86/mayday.c
index 15f07bd..bcc535f 100644
--- a/kernel/cobalt/arch/x86/mayday.c
+++ b/kernel/cobalt/arch/x86/mayday.c
@@ -18,7 +18,6 @@
*/
#include <linux/types.h>
-#include <linux/ipipe.h>
#include <linux/vmalloc.h>
#include <cobalt/kernel/thread.h>
#include <cobalt/uapi/syscall.h>
diff --git a/kernel/cobalt/arch/x86/thread.c b/kernel/cobalt/arch/x86/thread.c
index d367d13..aff5fe0 100644
--- a/kernel/cobalt/arch/x86/thread.c
+++ b/kernel/cobalt/arch/x86/thread.c
@@ -19,7 +19,7 @@
*/
#include <linux/sched.h>
-#include <linux/ipipe.h>
+#include <linux/dovetail.h>
#include <linux/mm.h>
#include <cobalt/kernel/thread.h>
#include <asm/mmu_context.h>
@@ -277,7 +277,7 @@ static inline void __do_restore_i387(x86_fpustate *fpup)
}
int xnarch_handle_fpu_fault(struct xnthread *from,
- struct xnthread *to, struct ipipe_trap_data *d)
+ struct xnthread *to, struct dovetail_trap_data *d)
{
struct xnarchtcb *tcb = xnthread_archtcb(to);
struct task_struct *p = tcb->core.host_task;
diff --git a/kernel/cobalt/clock.c b/kernel/cobalt/clock.c
index a696f0e..3f9c50b 100644
--- a/kernel/cobalt/clock.c
+++ b/kernel/cobalt/clock.c
@@ -16,9 +16,12 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
+#include <linux/kernel.h>
#include <linux/percpu.h>
#include <linux/errno.h>
-#include <linux/ipipe_tickdev.h>
+#include <linux/clockchips.h>
+#include <linux/interrupt.h>
+#include <linux/tick.h>
#include <cobalt/kernel/sched.h>
#include <cobalt/kernel/timer.h>
#include <cobalt/kernel/clock.h>
@@ -33,8 +36,6 @@
*
* @{
*/
-unsigned long nktimerlat;
-
unsigned int nkclock_lock;
static unsigned long long clockfreq;
@@ -178,12 +179,12 @@ void xnclock_core_local_shot(struct xnsched *sched)
delay = xntimerh_date(&timer->aplink) - xnclock_core_read_raw();
if (delay < 0)
delay = 0;
- else if (delay > ULONG_MAX)
- delay = ULONG_MAX;
+ else if (delay > UINT_MAX)
+ delay = UINT_MAX;
- xntrace_tick((unsigned)delay);
+ xntrace_tick((unsigned int)delay);
- ipipe_timer_set(delay);
+ tick_next_head_event(delay);
}
#ifdef CONFIG_SMP
@@ -499,10 +500,9 @@ void print_core_clock_status(struct xnclock *clock,
#endif /* CONFIG_XENO_OPT_WATCHDOG */
xnvfile_printf(it, "%7s: timer=%s, clock=%s\n",
- "devices", ipipe_timer_name(), ipipe_clock_name());
+ "devices", tick_device_name(),
+ cobalt_pipeline.clock_data.hrclock_name);
xnvfile_printf(it, "%7s: %s%s\n", "status", tm_status, wd_status);
- xnvfile_printf(it, "%7s: %Lu\n", "setup",
- xnclock_ticks_to_ns(&nkclock, nktimerlat));
}
static int clock_show(struct xnvfile_regular_iterator *it, void *data)
@@ -832,11 +832,8 @@ static void reset_core_clock_gravity(struct xnclock *clock)
struct xnclock_gravity gravity;
xnarch_get_latencies(&gravity);
- gravity.user += nktimerlat;
if (gravity.kernel == 0)
gravity.kernel = gravity.user;
- if (gravity.irq == 0)
- gravity.irq = nktimerlat;
set_core_clock_gravity(clock, &gravity);
}
@@ -869,7 +866,6 @@ int __init xnclock_init(unsigned long long freq)
xnarch_init_u32frac(&bln_frac, 1, 1000000000);
#endif
#endif
- nktimerlat = xnarch_timer_calibrate();
xnclock_reset_gravity(&nkclock);
xnclock_register(&nkclock, &xnsched_realtime_cpus);
diff --git a/kernel/cobalt/include/asm-generic/xenomai/machine.h
b/kernel/cobalt/include/asm-generic/xenomai/machine.h
index 25764f9..366dbc1 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/machine.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/machine.h
@@ -19,8 +19,8 @@
#ifndef _COBALT_ASM_GENERIC_MACHINE_H
#define _COBALT_ASM_GENERIC_MACHINE_H
-#include <linux/ipipe.h>
#include <linux/percpu.h>
+#include <linux/dovetail.h>
#include <asm/byteorder.h>
#include <asm/xenomai/wrappers.h>
@@ -32,7 +32,6 @@ struct cobalt_machine {
int (*late_init)(void);
void (*cleanup)(void);
void (*prefault)(struct vm_area_struct *vma);
- unsigned long (*calibrate)(void);
const char *const *fault_labels;
};
@@ -47,8 +46,8 @@ struct cobalt_machine_cpudata {
DECLARE_PER_CPU(struct cobalt_machine_cpudata, cobalt_machine_cpudata);
struct cobalt_pipeline {
- struct ipipe_domain domain;
- unsigned long timer_freq;
+ struct irq_stage stage;
+ struct ipipe_sysinfo clock_data;
unsigned long clock_freq;
unsigned int apc_virq;
unsigned long apc_map;
@@ -65,11 +64,6 @@ struct cobalt_pipeline {
extern struct cobalt_pipeline cobalt_pipeline;
-static inline unsigned long xnarch_timer_calibrate(void)
-{
- return cobalt_machine.calibrate();
-}
-
#ifndef xnarch_cache_aliasing
#define xnarch_cache_aliasing() 0
#endif
diff --git a/kernel/cobalt/init.c b/kernel/cobalt/init.c
index 0eab3be..a0ae270 100644
--- a/kernel/cobalt/init.c
+++ b/kernel/cobalt/init.c
@@ -18,7 +18,6 @@
*/
#include <linux/init.h>
#include <linux/module.h>
-#include <linux/ipipe_tickdev.h>
#include <xenomai/version.h>
#include <cobalt/kernel/sched.h>
#include <cobalt/kernel/clock.h>
@@ -47,9 +46,6 @@
* based on a set of generic RTOS building blocks.
*/
-static unsigned long timerfreq_arg;
-module_param_named(timerfreq, timerfreq_arg, ulong, 0444);
-
static unsigned long clockfreq_arg;
module_param_named(clockfreq, clockfreq_arg, ulong, 0444);
@@ -131,9 +127,11 @@ static void sys_shutdown(void)
int cpu;
spl_t s;
- xntimer_release_hardware();
+ if (realtime_core_state() == COBALT_STATE_RUNNING)
+ xntimer_release_hardware();
+
#ifdef CONFIG_SMP
- ipipe_free_irq(&xnsched_realtime_domain, IPIPE_RESCHEDULE_IPI);
+ free_irq(IPIPE_RESCHEDULE_IPI, &cobalt_pipeline.stage);
#endif
xnlock_get_irqsave(&nklock, s);
@@ -162,59 +160,51 @@ static void sys_shutdown(void)
static int __init mach_setup(void)
{
- struct ipipe_sysinfo sysinfo;
int ret, virq;
- ret = ipipe_select_timers(&xnsched_realtime_cpus);
- if (ret < 0)
- return ret;
-
- ipipe_get_sysinfo(&sysinfo);
-
- if (timerfreq_arg == 0)
- timerfreq_arg = sysinfo.sys_hrtimer_freq;
+ ipipe_get_sysinfo(&cobalt_pipeline.clock_data);
if (clockfreq_arg == 0)
- clockfreq_arg = sysinfo.sys_hrclock_freq;
+ clockfreq_arg = cobalt_pipeline.clock_data.sys_hrclock_freq;
if (clockfreq_arg == 0) {
printk(XENO_ERR "null clock frequency? Aborting.\n");
return -ENODEV;
}
- cobalt_pipeline.timer_freq = timerfreq_arg;
cobalt_pipeline.clock_freq = clockfreq_arg;
if (cobalt_machine.init) {
ret = cobalt_machine.init();
- if (ret)
+ if (ret) {
+ printk(XENO_ERR "machine.init() failed\n");
return ret;
+ }
}
- ipipe_register_head(&xnsched_realtime_domain, "Xenomai");
+ ipipe_register_head(&cobalt_pipeline.stage, "Xenomai");
- ret = -EBUSY;
- virq = ipipe_alloc_virq();
+ ret = -EAGAIN;
+ virq = irq_create_direct_mapping(ipipe_virq_domain);
if (virq == 0)
- goto fail_apc;
+ goto fail_apc_alloc;
cobalt_pipeline.apc_virq = virq;
+ ret = request_irq(virq, apc_dispatch, 0,
+ "Cobalt APC", &root_irq_stage);
+ if (ret)
+ goto fail_apc_request;
- ipipe_request_irq(ipipe_root_domain,
- cobalt_pipeline.apc_virq,
- apc_dispatch,
- NULL, NULL);
-
- virq = ipipe_alloc_virq();
+ ret = -EAGAIN;
+ virq = irq_create_direct_mapping(ipipe_virq_domain);
if (virq == 0)
- goto fail_escalate;
+ goto fail_escalate_alloc;
cobalt_pipeline.escalate_virq = virq;
-
- ipipe_request_irq(&xnsched_realtime_domain,
- cobalt_pipeline.escalate_virq,
- (ipipe_irq_handler_t)__xnsched_run_handler,
- NULL, NULL);
+ ret = request_irq(virq, __xnsched_run_handler, IRQF_PIPELINED,
+ "Cobalt escalation", &cobalt_pipeline.stage);
+ if (virq == 0)
+ goto fail_escalate_request;
ret = xnclock_init(cobalt_pipeline.clock_freq);
if (ret)
@@ -223,15 +213,15 @@ static int __init mach_setup(void)
return 0;
fail_clock:
- ipipe_free_irq(&xnsched_realtime_domain,
- cobalt_pipeline.escalate_virq);
- ipipe_free_virq(cobalt_pipeline.escalate_virq);
-fail_escalate:
- ipipe_free_irq(ipipe_root_domain,
- cobalt_pipeline.apc_virq);
- ipipe_free_virq(cobalt_pipeline.apc_virq);
-fail_apc:
- ipipe_unregister_head(&xnsched_realtime_domain);
+ free_irq(cobalt_pipeline.escalate_virq, &cobalt_pipeline.stage);
+fail_escalate_request:
+ irq_dispose_mapping(cobalt_pipeline.escalate_virq);
+fail_escalate_alloc:
+ free_irq(cobalt_pipeline.apc_virq, &root_irq_stage);
+fail_apc_request:
+ irq_dispose_mapping(cobalt_pipeline.apc_virq);
+fail_apc_alloc:
+ ipipe_unregister_head(&cobalt_pipeline.stage);
if (cobalt_machine.cleanup)
cobalt_machine.cleanup();
@@ -249,12 +239,12 @@ static inline int __init mach_late_setup(void)
static __init void mach_cleanup(void)
{
- ipipe_unregister_head(&xnsched_realtime_domain);
- ipipe_free_irq(&xnsched_realtime_domain,
- cobalt_pipeline.escalate_virq);
- ipipe_free_virq(cobalt_pipeline.escalate_virq);
- ipipe_timers_release();
xnclock_cleanup();
+ free_irq(cobalt_pipeline.escalate_virq, &cobalt_pipeline.stage);
+ irq_dispose_mapping(cobalt_pipeline.escalate_virq);
+ free_irq(cobalt_pipeline.apc_virq, &root_irq_stage);
+ irq_dispose_mapping(cobalt_pipeline.apc_virq);
+ ipipe_unregister_head(&cobalt_pipeline.stage);
}
static struct {
@@ -283,6 +273,7 @@ static void __init setup_init_state(void)
static __init int sys_init(void)
{
+ unsigned long heapsize;
struct xnsched *sched;
void *heapaddr;
int ret, cpu;
@@ -290,25 +281,35 @@ static __init int sys_init(void)
if (sysheap_size_arg == 0)
sysheap_size_arg = CONFIG_XENO_OPT_SYS_HEAPSZ;
- heapaddr = alloc_pages_exact(sysheap_size_arg * 1024, GFP_KERNEL);
- if (heapaddr == NULL ||
- xnheap_init(&cobalt_heap, heapaddr, sysheap_size_arg * 1024)) {
+ heapsize = sysheap_size_arg * 1024;
+ heapaddr = alloc_pages_exact(heapsize, GFP_KERNEL);
+ if (heapaddr == NULL)
return -ENOMEM;
+
+ ret = xnheap_init(&cobalt_heap, heapaddr, heapsize);
+ if (ret) {
+ free_pages_exact(heapaddr, heapsize);
+ return ret;
}
+
xnheap_set_name(&cobalt_heap, "system heap");
+#ifdef CONFIG_SMP
+ ret = request_irq(IPIPE_RESCHEDULE_IPI, __xnsched_run_handler,
+ IRQF_PIPELINED, "Cobalt reschedule",
+ &cobalt_pipeline.stage);
+ if (ret) {
+ xnheap_destroy(&cobalt_heap);
+ free_pages_exact(heapaddr, heapsize);
+ return ret;
+ }
+#endif
+
for_each_online_cpu(cpu) {
sched = &per_cpu(nksched, cpu);
xnsched_init(sched, cpu);
}
-#ifdef CONFIG_SMP
- ipipe_request_irq(&xnsched_realtime_domain,
- IPIPE_RESCHEDULE_IPI,
- (ipipe_irq_handler_t)__xnsched_run_handler,
- NULL, NULL);
-#endif
-
xnregistry_init();
/*
diff --git a/kernel/cobalt/intr.c b/kernel/cobalt/intr.c
index 5123363..ae7324d 100644
--- a/kernel/cobalt/intr.c
+++ b/kernel/cobalt/intr.c
@@ -19,8 +19,10 @@
* 02111-1307, USA.
*/
#include <linux/mutex.h>
-#include <linux/ipipe.h>
-#include <linux/ipipe_tickdev.h>
+#include <linux/interrupt.h>
+#include <linux/irq_pipeline.h>
+#include <linux/kernel_stat.h>
+#include <linux/clockchips.h>
#include <cobalt/kernel/sched.h>
#include <cobalt/kernel/intr.h>
#include <cobalt/kernel/stat.h>
@@ -33,9 +35,24 @@
* @defgroup cobalt_core_irq Interrupt management
* @{
*/
+
+static irqreturn_t xnintr_irq_handler(int irq, void *dev_id);
+
#define XNINTR_MAX_UNHANDLED 1000
-static DEFINE_MUTEX(intrlock);
+static DEFINE_MUTEX(intr_lock);
+
+static LIST_HEAD(intr_list);
+
+void xnintr_list_lock(void)
+{
+ mutex_lock(&intr_lock);
+}
+
+void xnintr_list_unlock(void)
+{
+ mutex_unlock(&intr_lock);
+}
#ifdef CONFIG_XENO_OPT_STATS
struct xnintr nktimer; /* Only for statistics */
@@ -131,18 +148,6 @@ static inline void switch_irqstats(struct xnintr *intr,
struct xnsched *sched)
xnstat_exectime_switch(sched, &statp->account);
}
-static inline xnstat_exectime_t *switch_core_irqstats(struct xnsched *sched)
-{
- struct xnirqstat *statp;
- xnstat_exectime_t *prev;
-
- statp = xnstat_percpu_data;
- prev = xnstat_exectime_switch(sched, &statp->account);
- xnstat_counter_inc(&statp->hits);
-
- return prev;
-}
-
#else /* !CONFIG_XENO_OPT_STATS */
static inline void stat_counter_inc(void) {}
@@ -164,71 +169,8 @@ static inline void inc_irqstats(struct xnintr *intr,
struct xnsched *sched, xnti
static inline void switch_irqstats(struct xnintr *intr, struct xnsched *sched)
{}
-static inline xnstat_exectime_t *switch_core_irqstats(struct xnsched *sched)
-{
- return NULL;
-}
-
#endif /* !CONFIG_XENO_OPT_STATS */
-static void xnintr_irq_handler(unsigned int irq, void *cookie);
-
-void xnintr_host_tick(struct xnsched *sched) /* Interrupts off. */
-{
- sched->lflags &= ~XNHTICK;
-#ifdef XNARCH_HOST_TICK_IRQ
- ipipe_post_irq_root(XNARCH_HOST_TICK_IRQ);
-#endif
-}
-
-/*
- * Low-level core clock irq handler. This one forwards ticks from the
- * Xenomai platform timer to nkclock exclusively.
- */
-void xnintr_core_clock_handler(void)
-{
- struct xnsched *sched = xnsched_current();
- int cpu __maybe_unused = xnsched_cpu(sched);
- xnstat_exectime_t *prev;
-
- if (!xnsched_supported_cpu(cpu)) {
-#ifdef XNARCH_HOST_TICK_IRQ
- ipipe_post_irq_root(XNARCH_HOST_TICK_IRQ);
-#endif
- return;
- }
-
- prev = switch_core_irqstats(sched);
-
- trace_cobalt_clock_entry(per_cpu(ipipe_percpu.hrtimer_irq, cpu));
-
- ++sched->inesting;
- sched->lflags |= XNINIRQ;
-
- xnlock_get(&nklock);
- xnclock_tick(&nkclock);
- xnlock_put(&nklock);
-
- trace_cobalt_clock_exit(per_cpu(ipipe_percpu.hrtimer_irq, cpu));
- xnstat_exectime_switch(sched, prev);
-
- if (--sched->inesting == 0) {
- sched->lflags &= ~XNINIRQ;
- xnsched_run();
- sched = xnsched_current();
- }
- /*
- * If the core clock interrupt preempted a real-time thread,
- * any transition to the root thread has already triggered a
- * host tick propagation from xnsched_run(), so at this point,
- * we only need to propagate the host tick in case the
- * interrupt preempted the root thread.
- */
- if ((sched->lflags & XNHTICK) &&
- xnthread_test_state(sched->curr, XNROOT))
- xnintr_host_tick(sched);
-}
-
struct irqdisable_work {
struct ipipe_work_header work; /* Must be first. */
int irq;
@@ -239,7 +181,7 @@ static void lostage_irqdisable_line(struct
ipipe_work_header *work)
struct irqdisable_work *rq;
rq = container_of(work, struct irqdisable_work, work);
- ipipe_disable_irq(rq->irq);
+ disable_irq(rq->irq);
}
static void disable_irq_line(int irq)
@@ -274,7 +216,7 @@ static inline struct xnintr *xnintr_vec_first(unsigned int
irq)
static inline struct xnintr *xnintr_vec_next(struct xnintr *prev)
{
- return prev->next;
+ return prev->next_handler;
}
static void disable_shared_irq_line(struct xnintr_vector *vec)
@@ -286,7 +228,7 @@ static void disable_shared_irq_line(struct xnintr_vector
*vec)
intr = vec->handlers;
while (intr) {
set_bit(XN_IRQSTAT_DISABLED, &intr->status);
- intr = intr->next;
+ intr = intr->next_handler;
}
xnlock_put(&vec->lock);
disable_irq_line(irq);
@@ -296,7 +238,7 @@ static void disable_shared_irq_line(struct xnintr_vector
*vec)
* Low-level interrupt handler dispatching the user-defined ISRs for
* shared interrupts -- Called with interrupts off.
*/
-static void xnintr_vec_handler(unsigned int irq, void *cookie)
+static irqreturn_t xnintr_vec_handler(int irq, void *dev_id)
{
struct xnsched *sched = xnsched_current();
struct xnintr_vector *vec = vectors + irq;
@@ -332,7 +274,7 @@ static void xnintr_vec_handler(unsigned int irq, void
*cookie)
inc_irqstats(intr, sched, start);
start = xnstat_exectime_now();
}
- intr = intr->next;
+ intr = intr->next_handler;
}
xnlock_put(&vec->lock);
@@ -351,7 +293,7 @@ static void xnintr_vec_handler(unsigned int irq, void
*cookie)
else if (s & XN_IRQ_DISABLE)
disable_shared_irq_line(vec);
else
- ipipe_end_irq(irq);
+ release_irq(irq);
out:
xnstat_exectime_switch(sched, prev);
@@ -361,13 +303,15 @@ out:
}
trace_cobalt_irq_exit(irq);
+
+ return IRQ_HANDLED;
}
/*
* Low-level interrupt handler dispatching the user-defined ISRs for
* shared edge-triggered interrupts -- Called with interrupts off.
*/
-static void xnintr_edge_vec_handler(unsigned int irq, void *cookie)
+static irqreturn_t xnintr_edge_vec_handler(int irq, void *dev_id)
{
const int MAX_EDGEIRQ_COUNTER = 128;
struct xnsched *sched = xnsched_current();
@@ -412,7 +356,7 @@ static void xnintr_edge_vec_handler(unsigned int irq, void
*cookie)
if (counter++ > MAX_EDGEIRQ_COUNTER)
break;
- intr = intr->next;
+ intr = intr->next_handler;
if (intr == NULL)
intr = vec->handlers;
}
@@ -437,7 +381,7 @@ static void xnintr_edge_vec_handler(unsigned int irq, void
*cookie)
else if (s & XN_IRQ_DISABLE)
disable_shared_irq_line(vec);
else
- ipipe_end_irq(irq);
+ release_irq(irq);
out:
xnstat_exectime_switch(sched, prev);
@@ -447,6 +391,8 @@ out:
}
trace_cobalt_irq_exit(irq);
+
+ return IRQ_HANDLED;
}
static inline int xnintr_irq_attach(struct xnintr *intr)
@@ -459,9 +405,8 @@ static inline int xnintr_irq_attach(struct xnintr *intr)
if (prev) {
/* Check on whether the shared mode is allowed. */
if ((prev->flags & intr->flags & XN_IRQTYPE_SHARED) == 0 ||
- (prev->iack != intr->iack)
- || ((prev->flags & XN_IRQTYPE_EDGE) !=
- (intr->flags & XN_IRQTYPE_EDGE)))
+ ((prev->flags & XN_IRQTYPE_EDGE) !=
+ (intr->flags & XN_IRQTYPE_EDGE)))
return -EBUSY;
/*
@@ -469,12 +414,12 @@ static inline int xnintr_irq_attach(struct xnintr *intr)
* new element.
*/
while (prev) {
- p = &prev->next;
+ p = &prev->next_handler;
prev = *p;
}
} else {
/* Initialize the corresponding interrupt channel */
- void (*handler) (unsigned, void *) = xnintr_irq_handler;
+ irq_handler_t handler = xnintr_irq_handler;
if (intr->flags & XN_IRQTYPE_SHARED) {
if (intr->flags & XN_IRQTYPE_EDGE)
@@ -485,14 +430,13 @@ static inline int xnintr_irq_attach(struct xnintr *intr)
}
vec->unhandled = 0;
- ret = ipipe_request_irq(&xnsched_realtime_domain,
- intr->irq, handler, intr,
- (ipipe_irq_ackfn_t)intr->iack);
+ ret = request_irq(intr->irq, handler, IRQF_PIPELINED,
+ intr->name, intr);
if (ret)
return ret;
}
- intr->next = NULL;
+ intr->next_handler = NULL;
/*
* Add the given interrupt object. No need to synchronise with
* the IRQ handler, we are only extending the chain.
@@ -511,18 +455,18 @@ static inline void xnintr_irq_detach(struct xnintr *intr)
if (e == intr) {
/* Remove the given interrupt object from the list. */
xnlock_get(&vec->lock);
- *p = e->next;
+ *p = e->next_handler;
xnlock_put(&vec->lock);
sync_stat_references(intr);
/* Release the IRQ line if this was the last user */
if (vec->handlers == NULL)
- ipipe_free_irq(&xnsched_realtime_domain,
intr->irq);
+ free_irq(intr->irq, intr);
return;
}
- p = &e->next;
+ p = &e->next_handler;
}
printk(XENO_ERR "attempted to detach an unregistered interrupt
descriptor\n");
@@ -540,7 +484,9 @@ static struct xnintr_vector vectors[IPIPE_NR_IRQS];
static inline struct xnintr *xnintr_vec_first(unsigned int irq)
{
- return __ipipe_irq_cookie(&xnsched_realtime_domain, irq);
+ struct irq_desc *desc = irq_to_desc(irq);
+
+ return desc->action ? desc->action->dev_id : NULL;
}
static inline struct xnintr *xnintr_vec_next(struct xnintr *prev)
@@ -550,19 +496,13 @@ static inline struct xnintr *xnintr_vec_next(struct
xnintr *prev)
static inline int xnintr_irq_attach(struct xnintr *intr)
{
- return ipipe_request_irq(&xnsched_realtime_domain,
- intr->irq, xnintr_irq_handler, intr,
- (ipipe_irq_ackfn_t)intr->iack);
+ return request_irq(intr->irq, xnintr_irq_handler,
+ IRQF_PIPELINED, intr->name, intr);
}
static inline void xnintr_irq_detach(struct xnintr *intr)
{
- int irq = intr->irq;
-
- xnlock_get(&vectors[irq].lock);
- ipipe_free_irq(&xnsched_realtime_domain, irq);
- xnlock_put(&vectors[irq].lock);
-
+ free_irq(intr->irq, intr);
sync_stat_references(intr);
}
@@ -572,7 +512,7 @@ static inline void xnintr_irq_detach(struct xnintr *intr)
* Low-level interrupt handler dispatching non-shared ISRs -- Called
* with interrupts off.
*/
-static void xnintr_irq_handler(unsigned int irq, void *cookie)
+static irqreturn_t xnintr_irq_handler(int irq, void *dev_id)
{
struct xnintr_vector __maybe_unused *vec = vectors + irq;
struct xnsched *sched = xnsched_current();
@@ -581,6 +521,15 @@ static void xnintr_irq_handler(unsigned int irq, void
*cookie)
xnticks_t start;
int s = 0;
+ /*
+ * CAUTION: we assume that no race is possible with
+ * xnintr_detach() in the current implementation, such as we
+ * might receive an interrupt on the local CPU while the
+ * remote one is releasing the xnintr descriptor. The pipeline
+ * is expected to provide such guarantee under the hood.
+ */
+ intr = dev_id;
+
prev = xnstat_exectime_get_current(sched);
start = xnstat_exectime_now();
trace_cobalt_irq_entry(irq);
@@ -590,20 +539,6 @@ static void xnintr_irq_handler(unsigned int irq, void
*cookie)
xnlock_get(&vec->lock);
-#ifdef CONFIG_SMP
- /*
- * In SMP case, we have to reload the cookie under the per-IRQ
- * lock to avoid racing with xnintr_detach. However, we
- * assume that no CPU migration will occur while running the
- * interrupt service routine, so the scheduler pointer will
- * remain valid throughout this function.
- */
- intr = __ipipe_irq_cookie(&xnsched_realtime_domain, irq);
- if (unlikely(intr == NULL))
- goto done;
-#else
- intr = cookie;
-#endif
if (unlikely(test_bit(XN_IRQSTAT_DISABLED, &intr->status))) {
/* irqdisable_work is on its way, ignore. */
xnlock_put(&vec->lock);
@@ -633,7 +568,7 @@ static void xnintr_irq_handler(unsigned int irq, void
*cookie)
else if (s & XN_IRQ_PROPAGATE)
ipipe_post_irq_root(irq);
else
- ipipe_end_irq(irq);
+ release_irq(irq);
out:
xnstat_exectime_switch(sched, prev);
@@ -643,18 +578,31 @@ out:
}
trace_cobalt_irq_exit(irq);
+
+ return IRQ_HANDLED;
}
int __init xnintr_mount(void)
{
+#if defined(CONFIG_SMP) || XENO_DEBUG(LOCKING) ||
defined(CONFIG_XENO_OPT_SHIRQ)
int i;
- for (i = 0; i < IPIPE_NR_IRQS; ++i)
+ for (i = 0; i < ARRAY_SIZE(vectors); ++i)
xnlock_init(&vectors[i].lock);
+#endif
return 0;
}
+static void register_intr(struct xnintr *intr, void *dev_id)
+{
+ intr->dev_id = dev_id;
+ clear_irqstats(intr);
+ xnintr_list_lock();
+ stat_counter_inc();
+ list_add_tail(&intr->next, &intr_list);
+ xnintr_list_unlock();
+}
+
/**
- * @fn int xnintr_init(struct xnintr *intr,const char *name,unsigned int
irq,xnisr_t isr,xniack_t iack,int flags)
* @brief Initialize an interrupt descriptor.
*
* When an interrupt occurs on the given @a irq line, the interrupt
@@ -708,14 +656,6 @@ int __init xnintr_mount(void)
* @param isr The address of an interrupt handler, which is passed the
* address of the interrupt descriptor receiving the IRQ.
*
- * @param iack The address of an optional interrupt acknowledge
- * routine, aimed at replacing the default one. Only very specific
- * situations actually require to override the default setting for
- * this parameter, like having to acknowledge non-standard PIC
- * hardware. @a iack should return a non-zero value to indicate that
- * the interrupt has been properly acknowledged. If @a iack is NULL,
- * the default routine will be used instead.
- *
* @param flags A set of creation flags affecting the operation. The
* valid flags are:
*
@@ -732,27 +672,34 @@ int __init xnintr_mount(void)
* @coretags{secondary-only}
*/
int xnintr_init(struct xnintr *intr, const char *name,
- unsigned int irq, xnisr_t isr, xniack_t iack,
- int flags)
+ int irq, xnisr_t isr, int flags)
{
secondary_mode_only();
- if (irq >= IPIPE_NR_IRQS)
+ /*
+ * A descriptor with a negative IRQ number is a placeholder
+ * and won't be attached, register it on the fly. Otherwise,
+ * this number must be valid.
+ */
+ if (irq >= 0 && irq_to_desc(irq) == NULL)
return -EINVAL;
intr->irq = irq;
intr->isr = isr;
- intr->iack = iack;
- intr->cookie = NULL;
+ intr->dev_id = NULL;
intr->name = name ? : "<unknown>";
intr->flags = flags;
intr->status = _XN_IRQSTAT_DISABLED;
intr->unhandled = 0;
raw_spin_lock_init(&intr->lock);
#ifdef CONFIG_XENO_OPT_SHIRQ
- intr->next = NULL;
+ intr->next_handler = NULL;
#endif
alloc_irqstats(intr);
+ INIT_LIST_HEAD(&intr->next);
+
+ if (irq < 0)
+ register_intr(intr, NULL);
return 0;
}
@@ -780,7 +727,7 @@ void xnintr_destroy(struct xnintr *intr)
EXPORT_SYMBOL_GPL(xnintr_destroy);
/**
- * @fn int xnintr_attach(struct xnintr *intr, void *cookie)
+ * @fn int xnintr_attach(struct xnintr *intr, void *dev_id)
* @brief Attach an interrupt descriptor.
*
* Attach an interrupt descriptor previously initialized by
@@ -791,7 +738,7 @@ EXPORT_SYMBOL_GPL(xnintr_destroy);
*
* @param intr The address of the interrupt descriptor to attach.
*
- * @param cookie A user-defined opaque value which is stored into the
+ * @param dev_id A user-defined opaque value which is stored into the
* descriptor for further retrieval by the interrupt handler.
*
* @return 0 is returned on success. Otherwise:
@@ -809,18 +756,16 @@ EXPORT_SYMBOL_GPL(xnintr_destroy);
* @note Attaching an interrupt descriptor resets the tracked number
* of IRQ receipts to zero.
*/
-int xnintr_attach(struct xnintr *intr, void *cookie)
+int xnintr_attach(struct xnintr *intr, void *dev_id)
{
int ret;
secondary_mode_only();
trace_cobalt_irq_attach(intr->irq);
-
- intr->cookie = cookie;
- clear_irqstats(intr);
+ register_intr(intr, dev_id);
#ifdef CONFIG_SMP
- ipipe_set_irq_affinity(intr->irq, cobalt_cpu_affinity);
+ irq_set_affinity(intr->irq, &cobalt_cpu_affinity);
#endif /* CONFIG_SMP */
raw_spin_lock(&intr->lock);
@@ -831,12 +776,8 @@ int xnintr_attach(struct xnintr *intr, void *cookie)
}
ret = xnintr_irq_attach(intr);
- if (ret) {
+ if (ret)
clear_bit(XN_IRQSTAT_ATTACHED, &intr->status);
- goto out;
- }
-
- stat_counter_inc();
out:
raw_spin_unlock(&intr->lock);
@@ -866,6 +807,8 @@ void xnintr_detach(struct xnintr *intr)
secondary_mode_only();
trace_cobalt_irq_detach(intr->irq);
+ xnintr_list_lock();
+
raw_spin_lock(&intr->lock);
if (test_and_clear_bit(XN_IRQSTAT_ATTACHED, &intr->status)) {
@@ -874,6 +817,11 @@ void xnintr_detach(struct xnintr *intr)
}
raw_spin_unlock(&intr->lock);
+
+ if (!list_empty(&intr->next))
+ list_del(&intr->next);
+
+ xnintr_list_unlock();
}
EXPORT_SYMBOL_GPL(xnintr_detach);
@@ -901,7 +849,7 @@ void xnintr_enable(struct xnintr *intr)
* disable_irq_line().
*/
if (test_and_clear_bit(XN_IRQSTAT_DISABLED, &intr->status))
- ipipe_enable_irq(intr->irq);
+ enable_irq(intr->irq);
raw_spin_unlock_irqrestore(&intr->lock, flags);
}
@@ -928,14 +876,9 @@ void xnintr_disable(struct xnintr *intr)
/* We only need a virtual masking. */
raw_spin_lock_irqsave(&intr->lock, flags);
- /*
- * Racing with disable_irq_line() is innocuous, the pipeline
- * would serialize calls to ipipe_disable_irq() across CPUs,
- * and the descriptor status would still properly match the
- * line status in the end.
- */
+ /* Racing with disable_irq_line() is innocuous. */
if (!test_and_set_bit(XN_IRQSTAT_DISABLED, &intr->status))
- ipipe_disable_irq(intr->irq);
+ disable_irq(intr->irq);
raw_spin_unlock_irqrestore(&intr->lock, flags);
}
@@ -962,39 +905,26 @@ void xnintr_affinity(struct xnintr *intr, cpumask_t
cpumask)
{
secondary_mode_only();
#ifdef CONFIG_SMP
- ipipe_set_irq_affinity(intr->irq, cpumask);
+ irq_set_affinity(intr->irq, &cpumask);
#endif
}
EXPORT_SYMBOL_GPL(xnintr_affinity);
-static inline int xnintr_is_timer_irq(int irq)
-{
- int cpu;
-
- for_each_realtime_cpu(cpu)
- if (irq == per_cpu(ipipe_percpu.hrtimer_irq, cpu))
- return 1;
-
- return 0;
-}
-
#ifdef CONFIG_XENO_OPT_STATS
-int xnintr_get_query_lock(void)
-{
- return mutex_lock_interruptible(&intrlock) ? -ERESTARTSYS : 0;
-}
-
-void xnintr_put_query_lock(void)
-{
- mutex_unlock(&intrlock);
-}
-
int xnintr_query_init(struct xnintr_iterator *iterator)
{
- iterator->cpu = -1;
+ iterator->cpus = *cpu_online_mask;
iterator->prev = NULL;
+ if (list_empty(&intr_list)) {
+ iterator->curr = NULL;
+ return 0;
+ }
+
+ iterator->curr = list_first_entry(&intr_list,
+ struct xnintr, next);
+
/* The order is important here: first xnintr_list_rev then
* xnintr_count. On the other hand, xnintr_attach/detach()
* update xnintr_count first and then xnintr_list_rev. This
@@ -1010,47 +940,52 @@ int xnintr_query_init(struct xnintr_iterator *iterator)
return xnintr_count;
}
-int xnintr_query_next(int irq, struct xnintr_iterator *iterator,
+int xnintr_query_next(struct xnintr_iterator *iterator,
char *name_buf)
{
- int cpu, nr_cpus = num_present_cpus();
struct xnintr *intr;
- for (cpu = iterator->cpu + 1; cpu < nr_cpus; ++cpu) {
- if (cpu_online(cpu))
- break;
- }
- if (cpu == nr_cpus)
- cpu = 0;
- iterator->cpu = cpu;
-
if (iterator->list_rev != xnintr_list_rev)
return -EAGAIN;
-
- if (!iterator->prev) {
- if (xnintr_is_timer_irq(irq))
- intr = &nktimer;
- else
- intr = xnintr_vec_first(irq);
- } else
- intr = xnintr_vec_next(iterator->prev);
-
- if (intr == NULL) {
- cpu = -1;
- iterator->prev = NULL;
+redo:
+ if (iterator->curr == NULL)
return -ENODEV;
+
+ if (cpumask_empty(&iterator->cpus)) {
+ iterator->cpus = *cpu_online_mask;
+ intr = NULL;
+ if (iterator->prev != &nktimer)
+ intr = xnintr_vec_next(iterator->prev);
+ if (intr == NULL) {
+ intr = iterator->curr;
+ iterator->curr = NULL;
+ iterator->prev = NULL;
+ if (!list_is_last(&intr->next, &intr_list))
+ iterator->curr = list_next_entry(intr, next);
+ goto redo;
+ }
+ } else {
+ intr = iterator->prev;
+ if (intr == NULL) {
+ if (iterator->curr == &nktimer)
+ intr = &nktimer;
+ else
+ intr = xnintr_vec_first(iterator->curr->irq);
+ }
}
- ksformat(name_buf, XNOBJECT_NAME_LEN, "IRQ%d: %s", irq, intr->name);
+ iterator->cpu = cpumask_first(&iterator->cpus);
+ cpumask_clear_cpu(iterator->cpu, &iterator->cpus);
+ iterator->prev = intr;
- query_irqstats(intr, cpu, iterator);
+ if (intr->irq < 0)
+ ksformat(name_buf, XNOBJECT_NAME_LEN, "%s",
+ intr->name);
+ else
+ ksformat(name_buf, XNOBJECT_NAME_LEN, "IRQ%d: %s",
+ intr->irq, intr->name);
- /*
- * Proceed to next entry in shared IRQ chain when all CPUs
- * have been visited for this one.
- */
- if (cpu + 1 == nr_cpus)
- iterator->prev = intr;
+ query_irqstats(intr, iterator->cpu, iterator);
return 0;
}
@@ -1061,63 +996,28 @@ int xnintr_query_next(int irq, struct xnintr_iterator
*iterator,
#include <cobalt/kernel/vfile.h>
-static inline int format_irq_proc(unsigned int irq,
- struct xnvfile_regular_iterator *it)
+static inline void format_irq_proc(struct xnintr *intr,
+ struct xnvfile_regular_iterator *it)
{
- struct xnintr *intr;
- int cpu;
-
- for_each_realtime_cpu(cpu)
- if (xnintr_is_timer_irq(irq)) {
- xnvfile_printf(it, " [timer/%d]", cpu);
- return 0;
- }
+ xnvfile_puts(it, " ");
-#ifdef CONFIG_SMP
- /*
- * IPI numbers on ARM are not compile time constants, so do
- * not use switch/case here.
- */
- if (irq == IPIPE_HRTIMER_IPI) {
- xnvfile_puts(it, " [timer-ipi]");
- return 0;
- }
- if (irq == IPIPE_RESCHEDULE_IPI) {
- xnvfile_puts(it, " [reschedule]");
- return 0;
- }
- if (irq == IPIPE_CRITICAL_IPI) {
- xnvfile_puts(it, " [sync]");
- return 0;
- }
-#endif /* CONFIG_SMP */
- if (ipipe_virtual_irq_p(irq)) {
- xnvfile_puts(it, " [virtual]");
- return 0;
- }
-
- mutex_lock(&intrlock);
-
- intr = xnintr_vec_first(irq);
- if (intr) {
- xnvfile_puts(it, " ");
-
- do {
- xnvfile_putc(it, ' ');
- xnvfile_puts(it, intr->name);
- intr = xnintr_vec_next(intr);
- } while (intr);
- }
-
- mutex_unlock(&intrlock);
-
- return 0;
+ do {
+ xnvfile_putc(it, ' ');
+ xnvfile_puts(it, intr->name);
+ intr = xnintr_vec_next(intr);
+ } while (intr);
}
static int irq_vfile_show(struct xnvfile_regular_iterator *it,
void *data)
{
- int cpu, irq;
+ struct xnintr *intr;
+ int irq, cpu;
+
+ xnintr_list_lock();
+
+ if (list_empty(&intr_list))
+ goto done;
/* FIXME: We assume the entire output fits in a single page. */
@@ -1126,22 +1026,20 @@ static int irq_vfile_show(struct
xnvfile_regular_iterator *it,
for_each_realtime_cpu(cpu)
xnvfile_printf(it, " CPU%d", cpu);
- for (irq = 0; irq < IPIPE_NR_IRQS; irq++) {
- if (__ipipe_irq_handler(&xnsched_realtime_domain, irq) == NULL)
+ list_for_each_entry(intr, &intr_list, next) {
+ irq = intr->irq;
+ if (irq < 0)
continue;
-
xnvfile_printf(it, "\n%5d:", irq);
-
- for_each_realtime_cpu(cpu) {
- xnvfile_printf(it, "%12lu",
-
__ipipe_cpudata_irq_hits(&xnsched_realtime_domain, cpu,
- irq));
- }
-
- format_irq_proc(irq, it);
+ for_each_realtime_cpu(cpu)
+ xnvfile_printf(it, "%12u",
+ kstat_irqs_cpu(irq, cpu));
+ format_irq_proc(intr, it);
}
xnvfile_putc(it, '\n');
+done:
+ xnintr_list_unlock();
return 0;
}
diff --git a/kernel/cobalt/posix/corectl.c b/kernel/cobalt/posix/corectl.c
index f01a562..aba36dd 100644
--- a/kernel/cobalt/posix/corectl.c
+++ b/kernel/cobalt/posix/corectl.c
@@ -17,7 +17,7 @@
*/
#include <linux/types.h>
#include <linux/errno.h>
-#include <linux/ipipe.h>
+#include <linux/irq_pipeline.h>
#include <linux/kconfig.h>
#include <linux/atomic.h>
#include <linux/printk.h>
@@ -91,7 +91,7 @@ static int do_conf_option(int option, void __user *u_buf,
size_t u_bufsz)
val = realtime_core_state();
break;
default:
- if (!ipipe_root_p)
+ if (!on_root_stage())
/* Switch to secondary mode first. */
return -ENOSYS;
vec.u_buf = u_buf;
diff --git a/kernel/cobalt/posix/process.c b/kernel/cobalt/posix/process.c
index 788a24a..30d62d2 100644
--- a/kernel/cobalt/posix/process.c
+++ b/kernel/cobalt/posix/process.c
@@ -36,8 +36,7 @@
#include <linux/vmalloc.h>
#include <linux/signal.h>
#include <linux/kallsyms.h>
-#include <linux/ipipe.h>
-#include <linux/ipipe_tickdev.h>
+#include <linux/dovetail.h>
#include <cobalt/kernel/sched.h>
#include <cobalt/kernel/heap.h>
#include <cobalt/kernel/synch.h>
@@ -587,7 +586,7 @@ static inline int disable_ondemand_memory(void)
return 0;
}
- return __ipipe_disable_ondemand_mappings(p);
+ return disable_ondemand_mappings(p);
}
static inline int get_mayday_prot(void)
@@ -619,13 +618,12 @@ static inline int get_mayday_prot(void)
/**
* @fn int cobalt_map_user(struct xnthread *thread, __u32 __user *u_winoff)
* @internal
- * @brief Create a shadow thread context over a user task.
+ * @brief Create a shadow thread context over the current user task.
*
- * This call maps a Xenomai thread to the current regular Linux task
- * running in userland. The priority and scheduling class of the
- * underlying Linux task are not affected; it is assumed that the
- * interface library did set them appropriately before issuing the
- * shadow mapping request.
+ * This call maps a Cobalt thread to the current user task. The
+ * priority and scheduling class of the underlying task are not
+ * affected; it is assumed that the interface library did set them
+ * appropriately before issuing the shadow mapping request.
*
* @param thread The descriptor address of the new shadow thread to be
* mapped to current. This descriptor must have been previously
@@ -678,12 +676,6 @@ int cobalt_map_user(struct xnthread *thread, __u32 __user
*u_winoff)
trace_cobalt_shadow_map(thread);
- /*
- * CAUTION: we enable the pipeline notifier only when our
- * shadow TCB is consistent, so that we won't trigger false
- * positive in debug code from handle_schedule_event() and
- * friends.
- */
xnthread_init_shadow_tcb(thread);
xnthread_suspend(thread, XNRELAX, XN_INFINITE, XN_RELATIVE, NULL);
init_uthread_info(thread);
@@ -699,7 +691,12 @@ int cobalt_map_user(struct xnthread *thread, __u32 __user
*u_winoff)
* it.
*/
xnthread_run_handler(thread, map_thread);
- ipipe_enable_notifier(current);
+ /*
+ * CAUTION: we enable dovetailing only when our shadow TCB is
+ * consistent, so that we won't trigger false positive in
+ * debug code from handle_schedule_event() and friends.
+ */
+ dovetail_enable(0);
attr.mode = 0;
attr.entry = NULL;
@@ -716,7 +713,7 @@ int cobalt_map_user(struct xnthread *thread, __u32 __user
*u_winoff)
return 0;
}
-static inline int handle_exception(struct ipipe_trap_data *d)
+static inline int handle_exception(struct dovetail_trap_data *d)
{
struct xnthread *thread;
struct xnsched *sched;
@@ -799,7 +796,7 @@ static int handle_mayday_event(struct pt_regs *regs)
return KEVENT_PROPAGATE;
}
-int ipipe_trap_hook(struct ipipe_trap_data *data)
+int dovetail_trap_hook(struct dovetail_trap_data *data)
{
if (data->exception == IPIPE_TRAP_MAYDAY)
return handle_mayday_event(data->regs);
@@ -824,7 +821,7 @@ int ipipe_trap_hook(struct ipipe_trap_data *data)
#ifdef CONFIG_SMP
-static int handle_setaffinity_event(struct ipipe_cpu_migration_data *d)
+static int handle_setaffinity_event(struct dovetail_migration_data *d)
{
struct task_struct *p = d->task;
struct xnthread *thread;
@@ -925,9 +922,9 @@ static inline void check_affinity(struct task_struct *p) /*
nklocked, IRQs off *
#else /* !CONFIG_SMP */
-struct ipipe_cpu_migration_data;
+struct dovetail_migration_data;
-static int handle_setaffinity_event(struct ipipe_cpu_migration_data *d)
+static int handle_setaffinity_event(struct dovetail_migration_data *d)
{
return KEVENT_PROPAGATE;
}
@@ -936,7 +933,7 @@ static inline void check_affinity(struct task_struct *p) { }
#endif /* CONFIG_SMP */
-void ipipe_migration_hook(struct task_struct *p) /* hw IRQs off */
+void dovetail_migration_hook(struct task_struct *p) /* hw IRQs off */
{
struct xnthread *thread = xnthread_from_task(p);
@@ -1029,7 +1026,7 @@ static void unregister_debugged_thread(struct xnthread
*thread)
xnlock_put_irqrestore(&nklock, s);
}
-static void __handle_taskexit_event(struct task_struct *p)
+static void __handle_taskexit_event(void)
{
struct cobalt_ppd *sys_ppd;
struct xnthread *thread;
@@ -1061,9 +1058,9 @@ static void __handle_taskexit_event(struct task_struct *p)
}
}
-static int handle_taskexit_event(struct task_struct *p) /* p == current */
+static int handle_taskexit_event(void) /* exiting current. */
{
- __handle_taskexit_event(p);
+ __handle_taskexit_event();
/*
* __xnthread_cleanup() -> ... -> finalize_thread
@@ -1199,7 +1196,7 @@ static int handle_sigwake_event(struct task_struct *p)
* we don't break any undergoing ptrace.
*/
if (p->state & (TASK_INTERRUPTIBLE|TASK_UNINTERRUPTIBLE))
- set_task_state(p, p->state | TASK_NOWAKEUP);
+ set_task_state(p, p->state | TASK_STALL);
__xnthread_kick(thread);
@@ -1240,8 +1237,8 @@ static int handle_cleanup_event(struct mm_struct *mm)
thread = xnthread_current();
running_exec = thread && (current->flags & PF_EXITING) == 0;
if (running_exec) {
- __handle_taskexit_event(current);
- ipipe_disable_notifier(current);
+ __handle_taskexit_event();
+ dovetail_disable();
}
if (atomic_dec_and_test(&sys_ppd->refcnt))
remove_process(process);
@@ -1261,27 +1258,27 @@ static int handle_cleanup_event(struct mm_struct *mm)
return KEVENT_PROPAGATE;
}
-int ipipe_kevent_hook(int kevent, void *data)
+int dovetail_kevent_hook(int kevent, void *data)
{
int ret;
switch (kevent) {
- case IPIPE_KEVT_SCHEDULE:
+ case KEVENT_SCHEDULE:
ret = handle_schedule_event(data);
break;
- case IPIPE_KEVT_SIGWAKE:
+ case KEVENT_SIGWAKE:
ret = handle_sigwake_event(data);
break;
- case IPIPE_KEVT_EXIT:
- ret = handle_taskexit_event(data);
+ case KEVENT_EXIT:
+ ret = handle_taskexit_event();
break;
- case IPIPE_KEVT_CLEANUP:
+ case KEVENT_CLEANUP:
ret = handle_cleanup_event(data);
break;
- case IPIPE_KEVT_HOSTRT:
+ case KEVENT_HOSTRT:
ret = handle_hostrt_event(data);
break;
- case IPIPE_KEVT_SETAFFINITY:
+ case KEVENT_SETAFFINITY:
ret = handle_setaffinity_event(data);
break;
default:
@@ -1520,8 +1517,10 @@ __init int cobalt_init(void)
goto fail_siginit;
init_hostrt();
- ipipe_set_hooks(ipipe_root_domain, IPIPE_SYSCALL|IPIPE_KEVENT);
- ipipe_set_hooks(&xnsched_realtime_domain, IPIPE_SYSCALL|IPIPE_TRAP);
+ dovetail_host_events(&root_irq_stage,
+ DOVETAIL_SYSCALLS|DOVETAIL_KEVENTS);
+ dovetail_host_events(&cobalt_pipeline.stage,
+ DOVETAIL_SYSCALLS|DOVETAIL_TRAPS);
if (gid_arg != -1)
printk(XENO_INFO "allowing access to group %d\n", gid_arg);
diff --git a/kernel/cobalt/posix/syscall.c b/kernel/cobalt/posix/syscall.c
index dd4dfba..cd2cb32 100644
--- a/kernel/cobalt/posix/syscall.c
+++ b/kernel/cobalt/posix/syscall.c
@@ -18,7 +18,7 @@
*/
#include <linux/types.h>
#include <linux/err.h>
-#include <linux/ipipe.h>
+#include <linux/dovetail.h>
#include <linux/kconfig.h>
#include <cobalt/uapi/corectl.h>
#include <cobalt/kernel/tree.h>
@@ -108,7 +108,7 @@ static COBALT_SYSCALL(migrate, current, (int domain))
{
struct xnthread *thread = xnthread_current();
- if (ipipe_root_p) {
+ if (on_root_stage()) {
if (domain == COBALT_PRIMARY) {
if (thread == NULL)
return -EPERM;
@@ -125,7 +125,7 @@ static COBALT_SYSCALL(migrate, current, (int domain))
return 0;
}
- /* ipipe_current_domain != ipipe_root_domain */
+ /* current_irq_stage != &root_irq_stage */
if (domain == COBALT_SECONDARY) {
xnthread_relax(0, 0);
return 1;
@@ -241,7 +241,7 @@ static COBALT_SYSCALL(serialdbg, current,
n = sizeof(buf);
if (cobalt_copy_from_user(buf, u_msg, n))
return -EFAULT;
- __ipipe_serial_debug("%.*s", n, buf);
+ raw_printk("%.*s", n, buf);
u_msg += n;
len -= n;
}
@@ -478,7 +478,7 @@ static inline int allowed_syscall(struct cobalt_process
*process,
return cap_raised(current_cap(), CAP_SYS_NICE);
}
-static int handle_head_syscall(struct ipipe_domain *ipd, struct pt_regs *regs)
+static int handle_head_syscall(struct irq_stage *stage, struct pt_regs *regs)
{
struct cobalt_process *process;
int switched, sigs, sysflags;
@@ -555,7 +555,7 @@ restart:
/*
* The syscall must run from the Linux domain.
*/
- if (ipd == &xnsched_realtime_domain) {
+ if (stage == &cobalt_pipeline.stage) {
/*
* Request originates from the Xenomai domain:
* relax the caller then invoke the syscall
@@ -580,7 +580,7 @@ restart:
* hand it over to our secondary-mode dispatcher.
* Otherwise, invoke the syscall handler immediately.
*/
- if (ipd != &xnsched_realtime_domain)
+ if (stage != &cobalt_pipeline.stage)
return KEVENT_PROPAGATE;
}
@@ -660,7 +660,7 @@ bad_syscall:
return KEVENT_STOP;
}
-static int handle_root_syscall(struct ipipe_domain *ipd, struct pt_regs *regs)
+static int handle_root_syscall(struct irq_stage *stage, struct pt_regs *regs)
{
int sysflags, switched, sigs;
struct xnthread *thread;
@@ -764,19 +764,19 @@ ret_handled:
return KEVENT_STOP;
}
-int ipipe_syscall_hook(struct ipipe_domain *ipd, struct pt_regs *regs)
+int dovetail_syscall_hook(struct irq_stage *stage, struct pt_regs *regs)
{
- if (unlikely(ipipe_root_p))
- return handle_root_syscall(ipd, regs);
+ if (unlikely(on_root_stage()))
+ return handle_root_syscall(stage, regs);
- return handle_head_syscall(ipd, regs);
+ return handle_head_syscall(stage, regs);
}
-int ipipe_fastcall_hook(struct pt_regs *regs)
+int dovetail_fastcall_hook(struct pt_regs *regs)
{
int ret;
- ret = handle_head_syscall(&xnsched_realtime_domain, regs);
+ ret = handle_head_syscall(&cobalt_pipeline.stage, regs);
XENO_BUG_ON(COBALT, ret == KEVENT_PROPAGATE);
return ret;
diff --git a/kernel/cobalt/rtdm/drvlib.c b/kernel/cobalt/rtdm/drvlib.c
index 481ad83..42307bb 100644
--- a/kernel/cobalt/rtdm/drvlib.c
+++ b/kernel/cobalt/rtdm/drvlib.c
@@ -1346,7 +1346,7 @@ int rtdm_irq_request(rtdm_irq_t *irq_handle, unsigned int
irq_no,
if (!XENO_ASSERT(COBALT, xnsched_root_p()))
return -EPERM;
- err = xnintr_init(irq_handle, device_name, irq_no, handler, NULL,
flags);
+ err = xnintr_init(irq_handle, device_name, irq_no, handler, flags);
if (err)
return err;
@@ -1356,8 +1356,6 @@ int rtdm_irq_request(rtdm_irq_t *irq_handle, unsigned int
irq_no,
return err;
}
- xnintr_enable(irq_handle);
-
return 0;
}
@@ -1526,7 +1524,7 @@ void rtdm_schedule_nrt_work(struct work_struct
*lostage_work)
.lostage_work = lostage_work,
};
- if (ipipe_root_p)
+ if (on_root_stage())
schedule_work(lostage_work);
else
ipipe_post_work_root(&ipipe_work, work);
diff --git a/kernel/cobalt/rtdm/fd.c b/kernel/cobalt/rtdm/fd.c
index eacc1cc..9113f35 100644
--- a/kernel/cobalt/rtdm/fd.c
+++ b/kernel/cobalt/rtdm/fd.c
@@ -269,7 +269,7 @@ static void __put_fd(struct rtdm_fd *fd, spl_t s)
if (!destroy)
return;
- if (ipipe_root_p)
+ if (on_root_stage())
fd->ops->close(fd);
else {
struct lostage_trigger_close closework = {
@@ -412,7 +412,7 @@ int rtdm_fd_ioctl(int ufd, unsigned int request, ...)
trace_cobalt_fd_ioctl(current, fd, ufd, request);
- if (ipipe_root_p)
+ if (on_root_stage())
err = fd->ops->ioctl_nrt(fd, request, arg);
else
err = fd->ops->ioctl_rt(fd, request, arg);
@@ -451,7 +451,7 @@ rtdm_fd_read(int ufd, void __user *buf, size_t size)
trace_cobalt_fd_read(current, fd, ufd, size);
- if (ipipe_root_p)
+ if (on_root_stage())
err = fd->ops->read_nrt(fd, buf, size);
else
err = fd->ops->read_rt(fd, buf, size);
@@ -484,7 +484,7 @@ ssize_t rtdm_fd_write(int ufd, const void __user *buf,
size_t size)
trace_cobalt_fd_write(current, fd, ufd, size);
- if (ipipe_root_p)
+ if (on_root_stage())
err = fd->ops->write_nrt(fd, buf, size);
else
err = fd->ops->write_rt(fd, buf, size);
@@ -517,7 +517,7 @@ ssize_t rtdm_fd_recvmsg(int ufd, struct user_msghdr *msg,
int flags)
trace_cobalt_fd_recvmsg(current, fd, ufd, flags);
- if (ipipe_root_p)
+ if (on_root_stage())
err = fd->ops->recvmsg_nrt(fd, msg, flags);
else
err = fd->ops->recvmsg_rt(fd, msg, flags);
@@ -549,7 +549,7 @@ ssize_t rtdm_fd_sendmsg(int ufd, const struct user_msghdr
*msg, int flags)
trace_cobalt_fd_sendmsg(current, fd, ufd, flags);
- if (ipipe_root_p)
+ if (on_root_stage())
err = fd->ops->sendmsg_nrt(fd, msg, flags);
else
err = fd->ops->sendmsg_rt(fd, msg, flags);
diff --git a/kernel/cobalt/sched.c b/kernel/cobalt/sched.c
index 3863dab..37a19fe 100644
--- a/kernel/cobalt/sched.c
+++ b/kernel/cobalt/sched.c
@@ -791,7 +791,7 @@ static inline void enter_root(struct xnthread *root)
if (rootcb->core.mm == NULL)
set_ti_thread_flag(rootcb->core.tip, TIF_MMSWITCH_INT);
#endif
- ipipe_unmute_pic();
+ irq_unmute_all();
}
static inline void leave_root(struct xnthread *root)
@@ -799,20 +799,22 @@ static inline void leave_root(struct xnthread *root)
struct xnarchtcb *rootcb = xnthread_archtcb(root);
struct task_struct *p = current;
- ipipe_notify_root_preemption();
- ipipe_mute_pic();
+ dovetail_leave_root();
/* Remember the preempted Linux task pointer. */
rootcb->core.host_task = p;
rootcb->core.tsp = &p->thread;
- rootcb->core.mm = rootcb->core.active_mm = ipipe_get_active_mm();
+ rootcb->core.mm = rootcb->core.active_mm = dovetail_get_active_mm();
rootcb->core.tip = task_thread_info(p);
xnarch_leave_root(root);
}
-void __xnsched_run_handler(void) /* hw interrupts off. */
+irqreturn_t __xnsched_run_handler(int irq, void *dev_id)
{
+ /* hw interrupts are off. */
trace_cobalt_schedule_remote(xnsched_current());
xnsched_run();
+
+ return IRQ_HANDLED;
}
int ___xnsched_run(struct xnsched *sched)
@@ -845,7 +847,7 @@ reschedule:
if (next == curr) {
if (unlikely(xnthread_test_state(next, XNROOT))) {
if (sched->lflags & XNHTICK)
- xnintr_host_tick(sched);
+ xntimer_host_tick(sched);
if (sched->lflags & XNHDEFER)
xnclock_program_shot(&nkclock, sched);
}
@@ -867,7 +869,7 @@ reschedule:
shadow = 0;
} else if (xnthread_test_state(next, XNROOT)) {
if (sched->lflags & XNHTICK)
- xnintr_host_tick(sched);
+ xntimer_host_tick(sched);
if (sched->lflags & XNHDEFER)
xnclock_program_shot(&nkclock, sched);
enter_root(next);
@@ -883,8 +885,13 @@ reschedule:
* over a shadow thread, caused by a call to xnthread_relax().
* In such a case, we are running over the regular schedule()
* tail code, so we have to skip our tail code.
+ *
+ * CAUTION: TLF_HEAD is still present in the local flags
+ * although we have switched to the root domain, until
+ * dovetail_leave_head() clears it. Always use on_root_stage()
+ * for determining the current domain in context switch code.
*/
- if (shadow && ipipe_root_p)
+ if (shadow && on_root_stage())
goto shadow_epilogue;
switched = 1;
@@ -906,7 +913,8 @@ out:
return switched;
shadow_epilogue:
- __ipipe_complete_domain_migration();
+
+ dovetail_complete_domain_migration();
XENO_BUG_ON(COBALT, xnthread_current() == NULL);
@@ -1060,19 +1068,16 @@ static spl_t vfile_schedstat_lock_s;
static int vfile_schedstat_get_lock(struct xnvfile *vfile)
{
- int ret;
-
- ret = xnintr_get_query_lock();
- if (ret < 0)
- return ret;
+ xnintr_list_lock();
xnlock_get_irqsave(&nklock, vfile_schedstat_lock_s);
+
return 0;
}
static void vfile_schedstat_put_lock(struct xnvfile *vfile)
{
xnlock_put_irqrestore(&nklock, vfile_schedstat_lock_s);
- xnintr_put_query_lock();
+ xnintr_list_unlock();
}
static struct xnvfile_lock_ops vfile_schedstat_lockops = {
@@ -1081,7 +1086,6 @@ static struct xnvfile_lock_ops vfile_schedstat_lockops = {
};
struct vfile_schedstat_priv {
- int irq;
struct xnthread *curr;
struct xnintr_iterator intr_it;
};
@@ -1123,7 +1127,6 @@ static int vfile_schedstat_rewind(struct
xnvfile_snapshot_iterator *it)
* grouped under a pseudo-thread.
*/
priv->curr = list_first_entry(&nkthreadq, struct xnthread, glink);
- priv->irq = 0;
irqnr = xnintr_query_init(&priv->intr_it) * NR_CPUS;
return irqnr + cobalt_nrthreads;
@@ -1139,11 +1142,10 @@ static int vfile_schedstat_next(struct
xnvfile_snapshot_iterator *it,
xnticks_t period;
int ret;
+ /*
+ * When done with actual threads, scan interrupt descriptors.
+ */
if (priv->curr == NULL)
- /*
- * We are done with actual threads, scan interrupt
- * descriptors.
- */
goto scan_irqs;
thread = priv->curr;
@@ -1183,15 +1185,13 @@ static int vfile_schedstat_next(struct
xnvfile_snapshot_iterator *it,
return 1;
scan_irqs:
- if (priv->irq >= IPIPE_NR_IRQS)
- return 0; /* All done. */
-
- ret = xnintr_query_next(priv->irq, &priv->intr_it, p->name);
+ ret = xnintr_query_next(&priv->intr_it, p->name);
if (ret) {
- if (ret == -EAGAIN)
+ if (ret == -EAGAIN) {
xnvfile_touch(it->vfile); /* force rewind. */
- priv->irq++;
- return VFILE_SEQ_SKIP;
+ return VFILE_SEQ_SKIP;
+ }
+ return 0; /* Done. */
}
if (!xnsched_supported_cpu(priv->intr_it.cpu))
diff --git a/kernel/cobalt/thread.c b/kernel/cobalt/thread.c
index 26ce90f..d64c4e6 100644
--- a/kernel/cobalt/thread.c
+++ b/kernel/cobalt/thread.c
@@ -248,14 +248,6 @@ void xnthread_init_shadow_tcb(struct xnthread *thread)
struct xnarchtcb *tcb = xnthread_archtcb(thread);
struct task_struct *p = current;
- /*
- * If the current task is a kthread, the pipeline will take
- * the necessary steps to make the FPU usable in such
- * context. The kernel already took care of this issue for
- * userland tasks (e.g. setting up a clean backup area).
- */
- __ipipe_share_current(0);
-
memset(tcb, 0, sizeof(*tcb));
tcb->core.host_task = p;
tcb->core.tsp = &p->thread;
@@ -1628,7 +1620,7 @@ int xnthread_join(struct xnthread *thread, bool
uninterruptible)
trace_cobalt_thread_join(thread);
- if (ipipe_root_p) {
+ if (on_root_stage()) {
if (xnthread_test_state(thread, XNJOINED)) {
ret = -EBUSY;
goto out;
@@ -1942,7 +1934,7 @@ int xnthread_harden(void)
xnthread_clear_sync_window(thread, XNRELAX);
- ret = __ipipe_migrate_head();
+ ret = dovetail_enter_head();
if (ret) {
xnthread_set_sync_window(thread, XNRELAX);
return ret;
@@ -2065,7 +2057,7 @@ void xnthread_relax(int notify, int reason)
* dropped by xnthread_suspend().
*/
xnlock_get(&nklock);
- set_task_state(p, p->state & ~TASK_NOWAKEUP);
+ set_task_state(p, p->state & ~TASK_STALL);
xnthread_run_handler_stack(thread, relax_thread);
xnthread_suspend(thread, XNRELAX, XN_INFINITE, XN_RELATIVE, NULL);
splnone();
@@ -2074,11 +2066,11 @@ void xnthread_relax(int notify, int reason)
* Basic sanity check after an expected transition to secondary
* mode.
*/
- XENO_WARN(COBALT, !ipipe_root_p,
+ XENO_WARN(COBALT, !on_root_stage(),
"xnthread_relax() failed for thread %s[%d]",
thread->name, xnthread_host_pid(thread));
- __ipipe_reenter_root();
+ dovetail_leave_head();
/* Account for secondary mode switch. */
xnstat_counter_inc(&thread->stat.ssw);
@@ -2266,7 +2258,7 @@ void __xnthread_kick(struct xnthread *thread) /* nklock
locked, irqs off */
*/
if (thread != xnsched_current_thread() &&
xnthread_test_state(thread, XNUSER))
- ipipe_raise_mayday(p);
+ dovetail_send_mayday(p);
}
void xnthread_kick(struct xnthread *thread)
@@ -2407,13 +2399,12 @@ static inline void init_kthread_info(struct xnthread
*thread)
/**
* @fn int xnthread_map(struct xnthread *thread, struct completion *done)
* @internal
- * @brief Create a shadow thread context over a kernel task.
+ * @brief Create a shadow thread context over the current kernel task.
*
- * This call maps a nucleus thread to the "current" Linux task running
- * in kernel space. The priority and scheduling class of the
- * underlying Linux task are not affected; it is assumed that the
- * caller did set them appropriately before issuing the shadow mapping
- * request.
+ * This call maps a Cobalt thread to the current kthread. The
+ * priority and scheduling class of the underlying task are not
+ * affected; it is assumed that the caller did set them appropriately
+ * before issuing the shadow mapping request.
*
* This call immediately moves the calling kernel thread to the
* Xenomai domain.
@@ -2448,7 +2439,6 @@ static inline void init_kthread_info(struct xnthread
*thread)
*/
int xnthread_map(struct xnthread *thread, struct completion *done)
{
- struct task_struct *p = current;
int ret;
spl_t s;
@@ -2469,7 +2459,8 @@ int xnthread_map(struct xnthread *thread, struct
completion *done)
xnthread_set_state(thread, XNMAPPED);
xndebug_shadow_init(thread);
xnthread_run_handler(thread, map_thread);
- ipipe_enable_notifier(p);
+ /* Enable dovetailing in the host kernel. */
+ dovetail_enable(0);
/*
* CAUTION: Soon after xnthread_init() has returned,
@@ -2517,7 +2508,7 @@ void xnthread_call_mayday(struct xnthread *thread, int
reason)
XENO_BUG_ON(COBALT, !xnthread_test_state(thread, XNUSER));
xnthread_set_info(thread, XNKICKED);
xnthread_signal(thread, SIGDEBUG, reason);
- ipipe_raise_mayday(p);
+ dovetail_send_mayday(p);
}
EXPORT_SYMBOL_GPL(xnthread_call_mayday);
diff --git a/kernel/cobalt/timer.c b/kernel/cobalt/timer.c
index db6263d..8b7583b 100644
--- a/kernel/cobalt/timer.c
+++ b/kernel/cobalt/timer.c
@@ -17,9 +17,8 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
*/
-#include <linux/ipipe.h>
-#include <linux/ipipe_tickdev.h>
#include <linux/sched.h>
+#include <linux/tick.h>
#include <cobalt/kernel/sched.h>
#include <cobalt/kernel/thread.h>
#include <cobalt/kernel/timer.h>
@@ -29,6 +28,105 @@
#include <cobalt/kernel/arith.h>
#include <trace/events/cobalt-core.h>
+static unsigned int synthetic_tick_irq;
+
+#ifdef CONFIG_XENO_OPT_STATS
+static inline xnstat_exectime_t *switch_timer_stats(struct xnsched *sched)
+{
+ struct xnirqstat *statp;
+ xnstat_exectime_t *prev;
+
+ statp = xnstat_percpu_data;
+ prev = xnstat_exectime_switch(sched, &statp->account);
+ xnstat_counter_inc(&statp->hits);
+
+ return prev;
+}
+
+#else /* !CONFIG_XENO_OPT_STATS */
+static inline xnstat_exectime_t *switch_timer_stats(struct xnsched *sched)
+{
+ return NULL;
+}
+#endif /* CONFIG_XENO_OPT_STATS */
+
+void xntimer_host_tick(struct xnsched *sched) /* hw IRQs off. */
+{
+ /*
+ * A synthetic clock device is active on this CPU, make it
+ * tick asap when the host kernel resumes; this will honour a
+ * previous set_next_event() request received from the kernel
+ * we have carried out using our core timing services.
+ *
+ * Note that being asked to relay a host tick event implies
+ * that our synthetic device received a set_next_event()
+ * request in the first place, so we know for sure that we
+ * have a valid synthetic tick IRQ number.
+ *
+ * Also, installing or dismantling the synthetic tick device
+ * in tick_switch_head/root() is done in a way that guarantees
+ * raceless operations with respect to this issue.
+ */
+ sched->lflags &= ~XNHTICK;
+ ipipe_post_irq_root(synthetic_tick_irq);
+}
+
+/*
+ * This is our core timer handler. We only have two possible callers,
+ * each of them may only run over a CPU which is a member of the
+ * real-time set:
+ *
+ * - the HRTIMER_IPI handler, such IPI is directed to members of our
+ * real-time CPU set exclusively.
+ *
+ * - the real_clock_event_handler() routine. The IRQ pipeline
+ * guarantees that such handler always runs over a CPU which is a
+ * member of the CPU set passed to tick_switch_head() (i.e. our
+ * real-time CPU set).
+ */
+static void timer_handler(int irq)
+{
+ struct xnsched *sched = xnsched_current();
+ xnstat_exectime_t *prev;
+
+ XENO_BUG_ON(COBALT, !xnsched_supported_cpu(xnsched_cpu(sched)));
+
+ prev = switch_timer_stats(sched);
+
+ trace_cobalt_clock_entry(irq);
+
+ ++sched->inesting;
+ sched->lflags |= XNINIRQ;
+
+ xnlock_get(&nklock);
+ xnclock_tick(&nkclock);
+ xnlock_put(&nklock);
+
+ trace_cobalt_clock_exit(irq);
+ xnstat_exectime_switch(sched, prev);
+
+ if (--sched->inesting == 0) {
+ sched->lflags &= ~XNINIRQ;
+ xnsched_run();
+ sched = xnsched_current();
+ }
+ /*
+ * If the core clock interrupt preempted a real-time thread,
+ * any transition to the root thread has already triggered a
+ * host tick propagation from xnsched_run(), so at this point,
+ * we only need to propagate the host tick in case the
+ * interrupt preempted the root thread.
+ */
+ if ((sched->lflags & XNHTICK) &&
+ xnthread_test_state(sched->curr, XNROOT))
+ xntimer_host_tick(sched);
+}
+
+static void real_clock_event_handler(struct clock_event_device *ced)
+{
+ timer_handler(ced->irq);
+}
+
/**
* @ingroup cobalt_core
* @defgroup cobalt_core_timer Timer services
@@ -404,8 +502,8 @@ EXPORT_SYMBOL_GPL(xntimer_set_gravity);
#ifdef CONFIG_XENO_OPT_STATS
-static void __xntimer_switch_tracking(struct xntimer *timer,
- struct xnclock *newclock)
+static void switch_clock_tracking(struct xntimer *timer,
+ struct xnclock *newclock)
{
struct xnclock *oldclock = timer->tracker;
@@ -424,7 +522,7 @@ void xntimer_switch_tracking(struct xntimer *timer,
spl_t s;
xnlock_get_irqsave(&nklock, s);
- __xntimer_switch_tracking(timer, newclock);
+ switch_clock_tracking(timer, newclock);
xnlock_put_irqrestore(&nklock, s);
}
EXPORT_SYMBOL_GPL(xntimer_switch_tracking);
@@ -432,8 +530,8 @@ EXPORT_SYMBOL_GPL(xntimer_switch_tracking);
#else
static inline
-void __xntimer_switch_tracking(struct xntimer *timer,
- struct xnclock *newclock)
+void switch_clock_tracking(struct xntimer *timer,
+ struct xnclock *newclock)
{ }
#endif /* CONFIG_XENO_OPT_STATS */
@@ -450,7 +548,7 @@ static inline void __xntimer_set_clock(struct xntimer
*timer,
cpu = xnclock_get_default_cpu(newclock, xnsched_cpu(timer->sched));
xntimer_migrate(timer, xnsched_struct(cpu));
#endif
- __xntimer_switch_tracking(timer, newclock);
+ switch_clock_tracking(timer, newclock);
}
/**
@@ -555,17 +653,23 @@ void __xntimer_migrate(struct xntimer *timer, struct
xnsched *sched)
}
EXPORT_SYMBOL_GPL(__xntimer_migrate);
+static irqreturn_t timer_ipi_handler(int irq, void *dev_id)
+{
+ timer_handler(irq);
+
+ return IRQ_HANDLED;
+}
+
int xntimer_setup_ipi(void)
{
- return ipipe_request_irq(&xnsched_realtime_domain,
- IPIPE_HRTIMER_IPI,
- (ipipe_irq_handler_t)xnintr_core_clock_handler,
- NULL, NULL);
+ return request_irq(IPIPE_HRTIMER_IPI, timer_ipi_handler,
+ IRQF_PIPELINED, "Cobalt timer IPI",
+ &cobalt_pipeline.stage);
}
void xntimer_release_ipi(void)
{
- ipipe_free_irq(&xnsched_realtime_domain, IPIPE_HRTIMER_IPI);
+ free_irq(IPIPE_HRTIMER_IPI, &cobalt_pipeline.stage);
}
#endif /* CONFIG_SMP */
@@ -590,8 +694,8 @@ void xntimer_release_ipi(void)
unsigned long long xntimer_get_overruns(struct xntimer *timer, xnticks_t now)
{
xnticks_t period = timer->interval;
- xnsticks_t delta;
unsigned long long overruns = 0;
+ xnsticks_t delta;
delta = now - xntimer_pexpect(timer);
if (unlikely(delta >= (xnsticks_t) period)) {
@@ -650,25 +754,8 @@ char *xntimer_format_time(xnticks_t ns, char *buf, size_t
bufsz)
}
EXPORT_SYMBOL_GPL(xntimer_format_time);
-/**
- * @internal
- * @fn static int program_htick_shot(unsigned long delay, struct
clock_event_device *cdev)
- *
- * @brief Program next host tick as a Xenomai timer event.
- *
- * Program the next shot for the host tick on the current CPU.
- * Emulation is done using a nucleus timer attached to the master
- * timebase.
- *
- * @param delay The time delta from the current date to the next tick,
- * expressed as a count of nanoseconds.
- *
- * @param cdev An pointer to the clock device which notifies us.
- *
- * @coretags{unrestricted}
- */
-static int program_htick_shot(unsigned long delay,
- struct clock_event_device *cdev)
+static int synthetic_clock_set_next_event(unsigned long delay_ns,
+ struct clock_event_device *ced)
{
struct xnsched *sched;
int ret;
@@ -676,85 +763,18 @@ static int program_htick_shot(unsigned long delay,
xnlock_get_irqsave(&nklock, s);
sched = xnsched_current();
- ret = xntimer_start(&sched->htimer, delay, XN_INFINITE, XN_RELATIVE);
+ ret = xntimer_start(&sched->htimer, delay_ns,
+ XN_INFINITE, XN_RELATIVE);
xnlock_put_irqrestore(&nklock, s);
return ret ? -ETIME : 0;
}
/**
- * @internal
- * @fn void switch_htick_mode(enum clock_event_mode mode, struct
clock_event_device *cdev)
- *
- * @brief Tick mode switch emulation callback.
- *
- * Changes the host tick mode for the tick device of the current CPU.
- *
- * @param mode The new mode to switch to. The possible values are:
- *
- * - CLOCK_EVT_MODE_ONESHOT, for a switch to oneshot mode.
- *
- * - CLOCK_EVT_MODE_PERIODIC, for a switch to periodic mode. The current
- * implementation for the generic clockevent layer Linux exhibits
- * should never downgrade from a oneshot to a periodic tick mode, so
- * this mode should not be encountered. This said, the associated code
- * is provided, basically for illustration purposes.
- *
- * - CLOCK_EVT_MODE_SHUTDOWN, indicates the removal of the current
- * tick device. Normally, the nucleus only interposes on tick devices
- * which should never be shut down, so this mode should not be
- * encountered.
- *
- * @param cdev An opaque pointer to the clock device which notifies us.
- *
- * @coretags{unrestricted}
- *
- * @note GENERIC_CLOCKEVENTS is required from the host kernel.
- */
-static void switch_htick_mode(enum clock_event_mode mode,
- struct clock_event_device *cdev)
-{
- struct xnsched *sched;
- xnticks_t tickval;
- spl_t s;
-
- if (mode == CLOCK_EVT_MODE_ONESHOT)
- return;
-
- xnlock_get_irqsave(&nklock, s);
-
- sched = xnsched_current();
-
- switch (mode) {
- case CLOCK_EVT_MODE_PERIODIC:
- tickval = 1000000000UL / HZ;
- xntimer_start(&sched->htimer, tickval, tickval, XN_RELATIVE);
- break;
- case CLOCK_EVT_MODE_SHUTDOWN:
- xntimer_stop(&sched->htimer);
- break;
- default:
- XENO_BUG(COBALT);
- }
-
- xnlock_put_irqrestore(&nklock, s);
-}
-
-/**
* @fn int xntimer_grab_hardware(void)
* @brief Grab the hardware timer on all real-time CPUs.
*
- * xntimer_grab_hardware() grabs and tunes the hardware timer for all
- * real-time CPUs.
- *
- * Host tick emulation is performed for sharing the clock chip between
- * Linux and Xenomai.
- *
- * @return a positive value is returned on success, representing the
- * duration of a Linux periodic tick expressed as a count of
- * nanoseconds; zero should be returned when the Linux kernel does not
- * undergo periodic timing on the given CPU (e.g. oneshot
- * mode). Otherwise:
+ * @return Zero is returned on success, otherwise:
*
* - -EBUSY is returned if the hardware timer has already been
* grabbed. xntimer_release_hardware() must be issued before
@@ -767,56 +787,14 @@ static void switch_htick_mode(enum clock_event_mode mode,
*
* @coretags{secondary-only}
*/
-static int grab_hardware_timer(int cpu)
-{
- int tickval, ret;
-
- ret = ipipe_timer_start(xnintr_core_clock_handler,
- switch_htick_mode, program_htick_shot, cpu);
- switch (ret) {
- case CLOCK_EVT_MODE_PERIODIC:
- /*
- * Oneshot tick emulation callback won't be used, ask
- * the caller to start an internal timer for emulating
- * a periodic tick.
- */
- tickval = 1000000000UL / HZ;
- break;
-
- case CLOCK_EVT_MODE_ONESHOT:
- /* oneshot tick emulation */
- tickval = 1;
- break;
-
- case CLOCK_EVT_MODE_UNUSED:
- /* we don't need to emulate the tick at all. */
- tickval = 0;
- break;
-
- case CLOCK_EVT_MODE_SHUTDOWN:
- return -ENODEV;
-
- default:
- return ret;
- }
-
- return tickval;
-}
-
int xntimer_grab_hardware(void)
{
+#ifdef CONFIG_XENO_OPT_WATCHDOG
struct xnsched *sched;
- int ret, cpu, _cpu;
+ int cpu;
spl_t s;
-
-#ifdef CONFIG_XENO_OPT_STATS
- /*
- * Only for statistical purpose, the timer interrupt is
- * attached by xntimer_grab_hardware().
- */
- xnintr_init(&nktimer, "[timer]",
- per_cpu(ipipe_percpu.hrtimer_irq, 0), NULL, NULL, 0);
-#endif /* CONFIG_XENO_OPT_STATS */
+#endif
+ int ret;
nkclock.wallclock_offset =
xnclock_get_host_time() - xnclock_read_monotonic(&nkclock);
@@ -825,69 +803,44 @@ int xntimer_grab_hardware(void)
if (ret)
return ret;
- for_each_realtime_cpu(cpu) {
- ret = grab_hardware_timer(cpu);
- if (ret < 0)
- goto fail;
-
- xnlock_get_irqsave(&nklock, s);
-
- /*
- * If the current tick device for the target CPU is
- * periodic, we won't be called back for host tick
- * emulation. Therefore, we need to start a periodic
- * nucleus timer which will emulate the ticking for
- * that CPU, since we are going to hijack the hw clock
- * chip for managing our own system timer.
- *
- * CAUTION:
- *
- * - nucleus timers may be started only _after_ the hw
- * timer has been set up for the target CPU through a
- * call to xntimer_grab_hardware().
- *
- * - we don't compensate for the elapsed portion of
- * the current host tick, since we cannot get this
- * information easily for all CPUs except the current
- * one, and also because of the declining relevance of
- * the jiffies clocksource anyway.
- *
- * - we must not hold the nklock across calls to
- * xntimer_grab_hardware().
- */
+#ifdef CONFIG_XENO_OPT_STATS
+ xnintr_init(&nktimer, "Core timer", -1, NULL, 0);
+#endif /* CONFIG_XENO_OPT_STATS */
- sched = xnsched_struct(cpu);
- /* Set up timer with host tick period if valid. */
- if (ret > 1)
- xntimer_start(&sched->htimer, ret, ret, XN_RELATIVE);
- else if (ret == 1)
- xntimer_start(&sched->htimer, 0, 0, XN_RELATIVE);
+ /*
+ * CAUTION:
+ *
+ * - core timers may be started only _after_ the hw
+ * timer has been set up for the target CPU through a
+ * call to xntimer_grab_hardware().
+ *
+ * - do not hold any lock across calls to
+ * xntimer_grab_hardware().
+ *
+ * - upon success, all clock event devices handed over by
+ * tick_switch_head() to us are running in oneshot mode.
+ */
+ ret = tick_switch_head(&xnsched_realtime_cpus,
+ real_clock_event_handler,
+ synthetic_clock_set_next_event,
+ &synthetic_tick_irq);
+ if (ret) {
+ xntimer_release_ipi();
+ return ret;
+ }
#ifdef CONFIG_XENO_OPT_WATCHDOG
- xntimer_start(&sched->wdtimer, 1000000000UL, 1000000000UL,
XN_RELATIVE);
+ xnlock_get_irqsave(&nklock, s);
+ for_each_realtime_cpu(cpu) {
+ sched = xnsched_struct(cpu);
+ xntimer_start(&sched->wdtimer, 1000000000UL,
+ 1000000000UL, XN_RELATIVE);
xnsched_reset_watchdog(sched);
-#endif
- xnlock_put_irqrestore(&nklock, s);
}
-
- return 0;
-fail:
- for_each_realtime_cpu(_cpu) {
- if (_cpu == cpu)
- break;
- xnlock_get_irqsave(&nklock, s);
- sched = xnsched_struct(cpu);
- xntimer_stop(&sched->htimer);
-#ifdef CONFIG_XENO_OPT_WATCHDOG
- xntimer_stop(&sched->wdtimer);
+ xnlock_put_irqrestore(&nklock, s);
#endif
- xnlock_put_irqrestore(&nklock, s);
- ipipe_timer_stop(_cpu);
- }
-
- xntimer_release_ipi();
- return ret;
+ return 0;
}
EXPORT_SYMBOL_GPL(xntimer_grab_hardware);
@@ -902,18 +855,8 @@ EXPORT_SYMBOL_GPL(xntimer_grab_hardware);
*/
void xntimer_release_hardware(void)
{
- int cpu;
-
- /*
- * We must not hold the nklock while stopping the hardware
- * timer, since this could cause deadlock situations to arise
- * on SMP systems.
- */
- for_each_realtime_cpu(cpu)
- ipipe_timer_stop(cpu);
-
+ tick_switch_root(); /* Keep lock free while switching. */
xntimer_release_ipi();
-
#ifdef CONFIG_XENO_OPT_STATS
xnintr_destroy(&nktimer);
#endif /* CONFIG_XENO_OPT_STATS */
diff --git a/kernel/cobalt/trace/cobalt-core.h
b/kernel/cobalt/trace/cobalt-core.h
index d9875b9..4b39158 100644
--- a/kernel/cobalt/trace/cobalt-core.h
+++ b/kernel/cobalt/trace/cobalt-core.h
@@ -277,7 +277,7 @@ TRACE_EVENT(cobalt_thread_resume,
);
TRACE_EVENT(cobalt_thread_fault,
- TP_PROTO(struct xnthread *thread, struct ipipe_trap_data *td),
+ TP_PROTO(struct xnthread *thread, struct dovetail_trap_data *td),
TP_ARGS(thread, td),
TP_STRUCT__entry(
diff --git a/scripts/Kconfig.frag b/scripts/Kconfig.frag
index a952d88..f4ba1f0 100644
--- a/scripts/Kconfig.frag
+++ b/scripts/Kconfig.frag
@@ -1,8 +1,7 @@
menuconfig XENOMAI
depends on X86_TSC || !X86
bool "Xenomai/cobalt"
- select IPIPE
- select IPIPE_WANT_APIREV_2
+ select DOVETAIL
default y
help
Xenomai's Cobalt core is a real-time extension to the Linux
diff --git a/scripts/prepare-kernel.sh b/scripts/prepare-kernel.sh
index 6bb9f06..893585c 100755
--- a/scripts/prepare-kernel.sh
+++ b/scripts/prepare-kernel.sh
@@ -318,7 +318,7 @@ if test x$verbose = x1; then
echo "Preparing kernel $linux_version$linux_EXTRAVERSION in $linux_tree..."
fi
-if test -r $linux_tree/include/linux/ipipe.h; then
+if test -r $linux_tree/include/linux/irq_pipeline.h; then
if test x$verbose = x1; then
echo "I-pipe found - bypassing patch."
fi
@@ -361,7 +361,7 @@ else
cd $curdir
fi
-if test \! -r $linux_tree/arch/$linux_arch/include/asm/ipipe.h; then
+if test \! -r $linux_tree/arch/$linux_arch/include/asm/irq_pipeline.h; then
echo "$me: $linux_tree has no I-pipe support for $linux_arch" >&2
exit 2
fi
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