Module: xenomai-3
Branch: next
Commit: f371b36a385c7b788ccecec13eac697794045a70
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=f371b36a385c7b788ccecec13eac697794045a70
Author: Dmitriy Cherkasov <dmit...@mperpetuo.com>
Date: Wed May 6 15:27:23 2015 -0700
cobalt/arm64: populate arch/arm64 with a copy of arch/arm.
kernel/cobalt/arch/arm -> kernel/cobalt/arch/arm64
lib/cobalt/arch/arm -> lib/cobalt/arch/arm64
---
configure.ac | 12 +-
kernel/cobalt/arch/arm64/Kconfig | 40 +++
kernel/cobalt/arch/arm64/Makefile | 5 +
.../arch/arm64/include/asm/xenomai/calibration.h | 59 ++++
.../arch/arm64/include/asm/xenomai/features.h | 30 ++
.../cobalt/arch/arm64/include/asm/xenomai/fptest.h | 52 +++
.../arch/arm64/include/asm/xenomai/machine.h | 85 +++++
.../arch/arm64/include/asm/xenomai/syscall.h | 74 ++++
.../arch/arm64/include/asm/xenomai/syscall32.h | 24 ++
.../cobalt/arch/arm64/include/asm/xenomai/thread.h | 123 +++++++
.../arch/arm64/include/asm/xenomai/uapi/arith.h | 142 ++++++++
.../arch/arm64/include/asm/xenomai/uapi/features.h | 43 +++
.../arch/arm64/include/asm/xenomai/uapi/fptest.h | 61 ++++
.../arch/arm64/include/asm/xenomai/uapi/syscall.h | 34 ++
.../arch/arm64/include/asm/xenomai/uapi/tsc.h | 25 ++
.../arch/arm64/include/asm/xenomai/wrappers.h | 27 ++
kernel/cobalt/arch/arm64/machine.c | 119 +++++++
kernel/cobalt/arch/arm64/mayday.c | 146 ++++++++
kernel/cobalt/arch/arm64/switch.S | 167 +++++++++
kernel/cobalt/arch/arm64/syscall.c | 53 +++
kernel/cobalt/arch/arm64/thread.c | 355 ++++++++++++++++++++
lib/cobalt/arch/Makefile.am | 2 +-
lib/cobalt/arch/arm64/Makefile.am | 13 +
lib/cobalt/arch/arm64/features.c | 102 ++++++
lib/cobalt/arch/arm64/include/Makefile.am | 2 +
lib/cobalt/arch/arm64/include/asm/Makefile.am | 2 +
.../arch/arm64/include/asm/xenomai/Makefile.am | 5 +
.../arch/arm64/include/asm/xenomai/features.h | 62 ++++
.../arch/arm64/include/asm/xenomai/syscall.h | 138 ++++++++
lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h | 48 +++
30 files changed, 2047 insertions(+), 3 deletions(-)
diff --git a/configure.ac b/configure.ac
index 6593f5d..97bebf0 100644
--- a/configure.ac
+++ b/configure.ac
@@ -139,6 +139,10 @@ case "$build_for" in
target_cpu_arch=arm
CONFIG_XENO_DEFAULT_PERIOD=1000000
;;
+ aarch64-*)
+ target_cpu_arch=arm64
+ CONFIG_XENO_DEFAULT_PERIOD=1000000
+ ;;
x86_64-*|amd64-*)
use_tls=yes
target_cpu_arch=x86
@@ -361,7 +365,7 @@ fi
dnl VSYSCALL (default: enabled) for Cobalt/x86
-if test $XENO_TARGET_ARCH = x86 -a $rtcore_type = cobalt; then
+if test $target_cpu_arch = x86 -a $rtcore_type = cobalt; then
CONFIG_XENO_X86_VSYSCALL=y
AC_MSG_CHECKING(for x86 VSYSCALL availability)
AC_ARG_ENABLE(x86-vsyscall,
@@ -788,7 +792,7 @@ dnl Autoconf-generated symbols have been listed.
AH_BOTTOM([#endif /* __IN_XENO__ */])
if test $rtcore_type = cobalt; then
- XENO_USER_CFLAGS="-I$topdir/lib/cobalt/arch/$XENO_TARGET_ARCH/include
-I$topdir/kernel/cobalt/arch/$XENO_TARGET_ARCH/include $XENO_USER_CFLAGS"
+ XENO_USER_CFLAGS="-I$topdir/lib/cobalt/arch/$target_cpu_arch/include
-I$topdir/kernel/cobalt/arch/$target_cpu_arch/include $XENO_USER_CFLAGS"
XENO_COBALT_CFLAGS="$XENO_USER_CFLAGS"
case "$build_for" in
i*86*-*) XENO_COBALT_CFLAGS="$XENO_COBALT_CFLAGS -fno-omit-frame-pointer";;
@@ -868,6 +872,10 @@ AC_CONFIG_FILES([ \
lib/cobalt/arch/arm/include/Makefile \
lib/cobalt/arch/arm/include/asm/Makefile \
lib/cobalt/arch/arm/include/asm/xenomai/Makefile \
+ lib/cobalt/arch/arm64/Makefile \
+ lib/cobalt/arch/arm64/include/Makefile \
+ lib/cobalt/arch/arm64/include/asm/Makefile \
+ lib/cobalt/arch/arm64/include/asm/xenomai/Makefile \
lib/cobalt/arch/powerpc/Makefile \
lib/cobalt/arch/powerpc/include/Makefile \
lib/cobalt/arch/powerpc/include/asm/Makefile \
diff --git a/kernel/cobalt/arch/arm64/Kconfig b/kernel/cobalt/arch/arm64/Kconfig
new file mode 100644
index 0000000..dc6485d
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/Kconfig
@@ -0,0 +1,40 @@
+source "kernel/xenomai/Kconfig"
+source "drivers/xenomai/Kconfig"
+
+menu "Machine/platform-specific options"
+
+config XENO_ARCH_UNLOCKED_SWITCH
+ bool "Unlocked context switch"
+ default y
+ help
+ The Cobalt core may allow non-atomic execution of the
+ machine-dependent context switching code, so that other CPUs
+ and/or local interrupts may execute concurrently.
+
+ This option reduces interrupt latency when costly cache and
+ TLB flushes are required to switch context.
+
+ You definitely want to enable that option on low-end ARM
+ platforms.
+endmenu
+
+config IPIPE_WANT_PREEMPTIBLE_SWITCH
+ bool
+ default y if XENO_ARCH_UNLOCKED_SWITCH
+ default n if !XENO_ARCH_UNLOCKED_SWITCH
+
+config IPIPE_WANT_ACTIVE_MM
+ def_bool y
+
+config XENO_ARCH_WANT_TIP
+ def_bool y
+
+config XENO_ARCH_FPU
+ def_bool VFP
+
+config XENO_ARCH_SYS3264
+ def_bool n
+
+config XENO_ARCH_OUTOFLINE_XNLOCK
+ bool
+ default y
diff --git a/kernel/cobalt/arch/arm64/Makefile
b/kernel/cobalt/arch/arm64/Makefile
new file mode 100644
index 0000000..f2e4e20
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/Makefile
@@ -0,0 +1,5 @@
+obj-$(CONFIG_XENOMAI) += xenomai.o
+
+xenomai-y := machine.o mayday.o thread.o switch.o syscall.o
+
+ccflags-y := -Iarch/arm/xenomai/include -Iinclude/xenomai
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
new file mode 100644
index 0000000..e303a04
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/calibration.h
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2001,2002,2003,2004,2005 Philippe Gerum <r...@xenomai.org>.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * Xenomai is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _COBALT_ARM_ASM_CALIBRATION_H
+#define _COBALT_ARM_ASM_CALIBRATION_H
+
+unsigned int omap_rev(void);
+#define cpu_is_omap44xx() ((omap_rev() & 0xff) == 0x44)
+
+static inline void xnarch_get_latencies(struct xnclock_gravity *p)
+{
+ unsigned int ulat;
+#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
+ ulat = CONFIG_XENO_OPT_TIMING_SCHEDLAT;
+#elif defined(CONFIG_ARCH_AT91RM9200)
+ ulat = 8500;
+#elif defined(CONFIG_ARCH_AT91SAM9263)
+ ulat = 11000;
+#elif defined(CONFIG_SOC_IMX6Q)
+ ulat = 6000;
+#elif defined(CONFIG_ARCH_MX51)
+ ulat = 5000;
+#elif defined(CONFIG_ARCH_MX53)
+ ulat = 5000;
+#elif defined(CONFIG_ARCH_MX6)
+ ulat = 2000;
+#elif defined(CONFIG_SOC_IMX7)
+ ulat = 2000;
+#elif defined(CONFIG_SOC_LS1021A)
+ ulat = 2800;
+#elif defined(CONFIG_ARCH_OMAP)
+ ulat = cpu_is_omap44xx() ? 2500 : 5000;
+#else
+ ulat = 9500; /* XXX sane? */
+#endif
+ p->user = xnclock_ns_to_ticks(&nkclock, ulat);
+ p->kernel = xnclock_ns_to_ticks(&nkclock,
CONFIG_XENO_OPT_TIMING_KSCHEDLAT);
+ p->irq = xnclock_ns_to_ticks(&nkclock, CONFIG_XENO_OPT_TIMING_IRQLAT);
+}
+
+#endif /* !_COBALT_ARM_ASM_CALIBRATION_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
new file mode 100644
index 0000000..d485286
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/features.h
@@ -0,0 +1,30 @@
+/*
+ * Copyright (C) 2005 Philippe Gerum <r...@xenomai.org>.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * Xenomai is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; either version 2 of the License,
+ * or (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _COBALT_ARM_ASM_FEATURES_H
+#define _COBALT_ARM_ASM_FEATURES_H
+
+struct cobalt_featinfo;
+static inline void collect_arch_features(struct cobalt_featinfo *p) { }
+
+#include <asm/xenomai/uapi/features.h>
+
+#endif /* !_COBALT_ARM_ASM_FEATURES_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
new file mode 100644
index 0000000..a76f1e6
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/fptest.h
@@ -0,0 +1,52 @@
+/*
+ * Copyright (C) 2006 Gilles Chanteperdrix <gilles.chanteperd...@xenomai.org>.
+ *
+ * Xenomai is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; either version 2 of the License,
+ * or (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _COBALT_ARM_ASM_FPTEST_H
+#define _COBALT_ARM_ASM_FPTEST_H
+
+#include <linux/errno.h>
+#include <asm/hwcap.h>
+
+#ifdef CONFIG_VFP
+#define have_vfp (elf_hwcap & HWCAP_VFP)
+#else /* !CONFIG_VFP */
+#define have_vfp 0
+#endif /* !CONFIG_VFP */
+
+#include <asm/xenomai/uapi/fptest.h>
+
+static inline int fp_kernel_supported(void)
+{
+ return 1;
+}
+
+static inline int fp_linux_begin(void)
+{
+ return -ENOSYS;
+}
+
+static inline void fp_linux_end(void)
+{
+}
+
+static inline int fp_detect(void)
+{
+ return have_vfp ? __COBALT_HAVE_VFP : 0;
+}
+
+#endif /* _COBALT_ARM_ASM_FPTEST_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
new file mode 100644
index 0000000..d6e965f
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/machine.h
@@ -0,0 +1,85 @@
+/**
+ * Copyright © 2002-2004 Philippe Gerum.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * Xenomai is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation, Inc., 675 Mass Ave,
+ * Cambridge MA 02139, USA; either version 2 of the License, or (at
+ * your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _COBALT_ARM_ASM_MACHINE_H
+#define _COBALT_ARM_ASM_MACHINE_H
+
+#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>
+#include <asm/switch_to.h>
+#include <asm/system_info.h>
+#include <asm/system_misc.h>
+#include <asm/timex.h>
+#include <asm/processor.h>
+#include <asm/ipipe.h>
+#include <asm/mach/irq.h>
+#include <asm/cacheflush.h>
+
+#define xnarch_cache_aliasing() cache_is_vivt()
+
+#if __LINUX_ARM_ARCH__ < 5
+static inline __attribute_const__ unsigned long ffnz(unsigned long x)
+{
+ int r = 0;
+
+ if (!x)
+ return 0;
+ if (!(x & 0xffff)) {
+ x >>= 16;
+ r += 16;
+ }
+ if (!(x & 0xff)) {
+ x >>= 8;
+ r += 8;
+ }
+ if (!(x & 0xf)) {
+ x >>= 4;
+ r += 4;
+ }
+ if (!(x & 3)) {
+ x >>= 2;
+ r += 2;
+ }
+ if (!(x & 1)) {
+ x >>= 1;
+ r += 1;
+ }
+ return r;
+}
+#else
+static inline __attribute_const__ unsigned long ffnz(unsigned long ul)
+{
+ int __r;
+ __asm__("clz\t%0, %1" : "=r" (__r) : "r"(ul & (-ul)) : "cc");
+ return 31 - __r;
+}
+#endif
+
+#include <asm-generic/xenomai/machine.h>
+
+#endif /* !_COBALT_ARM_ASM_MACHINE_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
new file mode 100644
index 0000000..d80df77
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2001,2002,2003,2004 Philippe Gerum <r...@xenomai.org>.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * Xenomai is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; either version 2 of the License,
+ * or (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _COBALT_ARM_ASM_SYSCALL_H
+#define _COBALT_ARM_ASM_SYSCALL_H
+
+#include <linux/errno.h>
+#include <asm/uaccess.h>
+#include <asm/unistd.h>
+#include <asm/ptrace.h>
+#include <asm-generic/xenomai/syscall.h>
+
+#ifndef __ARM_NR_ipipe
+/* Legacy pipelines do not define this. */
+#define __ARM_NR_ipipe (__NR_SYSCALL_BASE + XENO_ARM_SYSCALL)
+#endif
+
+#define __xn_reg_sys(__regs) ((__regs)->ARM_ORIG_r0)
+/* In OABI_COMPAT mode, handle both OABI and EABI userspace syscalls */
+#ifdef CONFIG_OABI_COMPAT
+#define __xn_syscall_p(__regs) (((__regs)->ARM_r7 == __NR_OABI_SYSCALL_BASE +
XENO_ARM_SYSCALL) || \
+ ((__regs)->ARM_r7 == __ARM_NR_ipipe))
+#else /* !CONFIG_OABI_COMPAT */
+#define __xn_syscall_p(__regs) ((__regs)->ARM_r7 == __ARM_NR_ipipe)
+#endif /* !CONFIG_OABI_COMPAT */
+#define __xn_syscall(__regs) (__xn_reg_sys(__regs) & ~__COBALT_SYSCALL_BIT)
+
+#define __xn_reg_rval(__regs) ((__regs)->ARM_r0)
+#define __xn_reg_arg1(__regs) ((__regs)->ARM_r1)
+#define __xn_reg_arg2(__regs) ((__regs)->ARM_r2)
+#define __xn_reg_arg3(__regs) ((__regs)->ARM_r3)
+#define __xn_reg_arg4(__regs) ((__regs)->ARM_r4)
+#define __xn_reg_arg5(__regs) ((__regs)->ARM_r5)
+#define __xn_reg_pc(__regs) ((__regs)->ARM_ip)
+#define __xn_reg_sp(__regs) ((__regs)->ARM_sp)
+
+static inline void __xn_error_return(struct pt_regs *regs, int v)
+{
+ __xn_reg_rval(regs) = v;
+}
+
+static inline void __xn_status_return(struct pt_regs *regs, long v)
+{
+ __xn_reg_rval(regs) = v;
+}
+
+static inline int __xn_interrupted_p(struct pt_regs *regs)
+{
+ return __xn_reg_rval(regs) == -EINTR;
+}
+
+int xnarch_local_syscall(unsigned long a1, unsigned long a2,
+ unsigned long a3, unsigned long a4,
+ unsigned long a5);
+
+#endif /* !_COBALT_ARM_ASM_SYSCALL_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
new file mode 100644
index 0000000..95c5a11
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/syscall32.h
@@ -0,0 +1,24 @@
+/*
+ * Copyright (C) 2014 Philippe Gerum <r...@xenomai.org>.
+ *
+ * Xenomai is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; either version 2 of the License,
+ * or (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _COBALT_ARM_ASM_SYSCALL32_H
+#define _COBALT_ARM_ASM_SYSCALL32_H
+
+#include <asm-generic/xenomai/syscall32.h>
+
+#endif /* !_COBALT_ARM_ASM_SYSCALL32_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
new file mode 100644
index 0000000..11439a3
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/thread.h
@@ -0,0 +1,123 @@
+/*
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * Xenomai is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _COBALT_ARM_ASM_THREAD_H
+#define _COBALT_ARM_ASM_THREAD_H
+
+#include <asm-generic/xenomai/thread.h>
+
+#ifdef CONFIG_XENO_ARCH_FPU
+#ifdef CONFIG_VFP
+#include <asm/vfp.h>
+#endif /* CONFIG_VFP */
+#endif /* !CONFIG_XENO_ARCH_FPU */
+
+struct xnarchtcb {
+ struct xntcb core;
+#ifdef CONFIG_XENO_ARCH_FPU
+#ifdef CONFIG_VFP
+ union vfp_state *fpup;
+#define xnarch_fpu_ptr(tcb) ((tcb)->fpup)
+#else
+#define xnarch_fpu_ptr(tcb) NULL
+#endif
+#endif
+ struct {
+ unsigned long pc;
+ unsigned long r0;
+#ifdef __ARM_EABI__
+ unsigned long r7;
+#endif
+#ifdef CONFIG_ARM_THUMB
+ unsigned long psr;
+#endif
+ } mayday;
+};
+
+#define xnarch_fault_regs(d) ((d)->regs)
+#define xnarch_fault_trap(d) ((d)->exception)
+#define xnarch_fault_code(d) (0)
+#define xnarch_fault_pc(d) ((d)->regs->ARM_pc - (thumb_mode((d)->regs) ? 2
: 4)) /* XXX ? */
+
+#define xnarch_fault_pf_p(d) ((d)->exception == IPIPE_TRAP_ACCESS)
+#define xnarch_fault_bp_p(d) ((current->ptrace & PT_PTRACED) && \
+ ((d)->exception == IPIPE_TRAP_BREAK || \
+ (d)->exception == IPIPE_TRAP_UNDEFINSTR))
+
+#define xnarch_fault_notify(d) (!xnarch_fault_bp_p(d))
+
+void xnarch_switch_to(struct xnthread *out, struct xnthread *in);
+
+static inline void xnarch_enter_root(struct xnthread *root) { }
+
+int xnarch_escalate(void);
+
+#if defined(CONFIG_XENO_ARCH_FPU) && defined(CONFIG_VFP)
+
+static inline void xnarch_init_root_tcb(struct xnthread *thread)
+{
+ struct xnarchtcb *tcb = xnthread_archtcb(thread);
+ tcb->fpup = NULL;
+}
+
+void xnarch_init_shadow_tcb(struct xnthread *thread);
+
+int xnarch_fault_fpu_p(struct ipipe_trap_data *d);
+
+void xnarch_leave_root(struct xnthread *root);
+
+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);
+
+#else /* !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
+
+static inline void xnarch_init_root_tcb(struct xnthread *thread) { }
+static inline void xnarch_init_shadow_tcb(struct xnthread *thread) { }
+
+/*
+ * Userland may raise FPU faults with FPU-enabled kernels, regardless
+ * of whether real-time threads actually use FPU, so we simply ignore
+ * these faults.
+ */
+static inline int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
+{
+ return 0;
+}
+
+static inline void xnarch_leave_root(struct xnthread *root) { }
+
+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)
+{
+ return 0;
+}
+#endif /* !CONFIG_XENO_ARCH_FPU || !CONFIG_VFP */
+
+static inline void xnarch_enable_kfpu(void) { }
+
+static inline void xnarch_disable_kfpu(void) { }
+
+#endif /* !_COBALT_ARM_ASM_THREAD_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
new file mode 100644
index 0000000..cf897b4
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/arith.h
@@ -0,0 +1,142 @@
+/*
+ * Copyright (C) 2008 Gilles Chanteperdrix <gilles.chanteperd...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _COBALT_ARM_ASM_UAPI_ARITH_H
+#define _COBALT_ARM_ASM_UAPI_ARITH_H
+
+#include <asm/xenomai/uapi/features.h>
+
+#if __LINUX_ARM_ARCH__ >= 4 && (!defined(CONFIG_THUMB2_KERNEL) ||
!defined(CONFIG_FTRACE))
+static inline __attribute__((__const__)) unsigned long long
+mach_arm_nodiv_ullimd(const unsigned long long op,
+ const unsigned long long frac,
+ const unsigned rhs_integ);
+
+#define xnarch_nodiv_ullimd(op, frac, integ) \
+ mach_arm_nodiv_ullimd((op), (frac), (integ))
+
+static inline __attribute__((__const__)) long long
+mach_arm_nodiv_llimd(const long long op,
+ const unsigned long long frac,
+ const unsigned rhs_integ);
+
+#define xnarch_nodiv_llimd(op, frac, integ) \
+ mach_arm_nodiv_llimd((op), (frac), (integ))
+#else /* arm <= v3 */
+#define xnarch_add96and64(l0, l1, l2, s0, s1) \
+ do { \
+ __asm__ ("adds %2, %2, %4\n\t" \
+ "adcs %1, %1, %3\n\t" \
+ "adc %0, %0, #0\n\t" \
+ : "+r"(l0), "+r"(l1), "+r"(l2) \
+ : "r"(s0), "r"(s1): "cc"); \
+ } while (0)
+#endif /* arm <= v3 */
+
+#include <cobalt/uapi/asm-generic/arith.h>
+
+#if __LINUX_ARM_ARCH__ >= 4 && (!defined(CONFIG_THUMB2_KERNEL) ||
!defined(CONFIG_FTRACE))
+#define mach_arm_nodiv_ullimd_str \
+ "umull %[tl], %[rl], %[opl], %[fracl]\n\t" \
+ "umull %[rm], %[rh], %[oph], %[frach]\n\t" \
+ "adds %[rl], %[rl], %[tl], lsr #31\n\t" \
+ "adcs %[rm], %[rm], #0\n\t" \
+ "adc %[rh], %[rh], #0\n\t" \
+ "umull %[tl], %[th], %[oph], %[fracl]\n\t" \
+ "adds %[rl], %[rl], %[tl]\n\t" \
+ "adcs %[rm], %[rm], %[th]\n\t" \
+ "adc %[rh], %[rh], #0\n\t" \
+ "umull %[tl], %[th], %[opl], %[frach]\n\t" \
+ "adds %[rl], %[rl], %[tl]\n\t" \
+ "adcs %[rm], %[rm], %[th]\n\t" \
+ "adc %[rh], %[rh], #0\n\t" \
+ "umlal %[rm], %[rh], %[opl], %[integ]\n\t" \
+ "mla %[rh], %[oph], %[integ], %[rh]\n\t"
+
+static inline __attribute__((__const__)) unsigned long long
+mach_arm_nodiv_ullimd(const unsigned long long op,
+ const unsigned long long frac,
+ const unsigned rhs_integ)
+{
+ register unsigned rl __asm__("r5");
+ register unsigned rm __asm__("r0");
+ register unsigned rh __asm__("r1");
+ register unsigned fracl __asm__ ("r2");
+ register unsigned frach __asm__ ("r3");
+ register unsigned integ __asm__("r4") = rhs_integ;
+ register unsigned opl __asm__ ("r6");
+ register unsigned oph __asm__ ("r7");
+ register unsigned tl __asm__("r8");
+ register unsigned th __asm__("r9");
+
+ xnarch_u64tou32(op, oph, opl);
+ xnarch_u64tou32(frac, frach, fracl);
+
+ __asm__ (mach_arm_nodiv_ullimd_str
+ : [rl]"=r"(rl), [rm]"=r"(rm), [rh]"=r"(rh),
+ [tl]"=r"(tl), [th]"=r"(th)
+ : [opl]"r"(opl), [oph]"r"(oph),
+ [fracl]"r"(fracl), [frach]"r"(frach),
+ [integ]"r"(integ)
+ : "cc");
+
+ return xnarch_u64fromu32(rh, rm);
+}
+
+static inline __attribute__((__const__)) long long
+mach_arm_nodiv_llimd(const long long op,
+ const unsigned long long frac,
+ const unsigned rhs_integ)
+{
+ register unsigned rl __asm__("r5");
+ register unsigned rm __asm__("r0");
+ register unsigned rh __asm__("r1");
+ register unsigned fracl __asm__ ("r2");
+ register unsigned frach __asm__ ("r3");
+ register unsigned integ __asm__("r4") = rhs_integ;
+ register unsigned opl __asm__ ("r6");
+ register unsigned oph __asm__ ("r7");
+ register unsigned tl __asm__("r8");
+ register unsigned th __asm__("r9");
+ register unsigned s __asm__("r10");
+
+ xnarch_u64tou32(op, oph, opl);
+ xnarch_u64tou32(frac, frach, fracl);
+
+ __asm__ ("movs %[s], %[oph], lsr #30\n\t"
+ "beq 1f\n\t"
+ "rsbs %[opl], %[opl], #0\n\t"
+ "sbc %[oph], %[oph], %[oph], lsl #1\n"
+ "1:\t"
+ mach_arm_nodiv_ullimd_str
+ "teq %[s], #0\n\t"
+ "beq 2f\n\t"
+ "rsbs %[rm], %[rm], #0\n\t"
+ "sbc %[rh], %[rh], %[rh], lsl #1\n"
+ "2:\t"
+ : [rl]"=r"(rl), [rm]"=r"(rm), [rh]"=r"(rh),
+ [tl]"=r"(tl), [th]"=r"(th), [s]"=r"(s)
+ : [opl]"r"(opl), [oph]"r"(oph),
+ [fracl]"r"(fracl), [frach]"r"(frach),
+ [integ]"r"(integ)
+ : "cc");
+
+ return xnarch_u64fromu32(rh, rm);
+}
+#endif /* arm >= v4 */
+
+#endif /* _COBALT_ARM_ASM_UAPI_ARITH_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
new file mode 100644
index 0000000..2dd1ada
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/features.h
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2005 Philippe Gerum <r...@xenomai.org>.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _COBALT_ARM_ASM_UAPI_FEATURES_H
+#define _COBALT_ARM_ASM_UAPI_FEATURES_H
+
+/* The ABI revision level we use on this arch. */
+#define XENOMAI_ABI_REV 1UL
+
+#define XENOMAI_FEAT_DEP (__xn_feat_generic_mask)
+
+#define XENOMAI_FEAT_MAN (__xn_feat_generic_man_mask)
+
+#define XNARCH_HAVE_LLMULSHFT 1
+#define XNARCH_HAVE_NODIV_LLIMD 1
+
+struct cobalt_featinfo_archdep { /* no arch-specific feature */ };
+
+#include <cobalt/uapi/asm-generic/features.h>
+
+static inline const char *get_feature_label(unsigned int feature)
+{
+ return get_generic_feature_label(feature);
+}
+
+#endif /* !_COBALT_ARM_ASM_UAPI_FEATURES_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
new file mode 100644
index 0000000..b81d109
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/fptest.h
@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2006 Gilles Chanteperdrix <gilles.chanteperd...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _COBALT_ARM_ASM_UAPI_FPTEST_H
+#define _COBALT_ARM_ASM_UAPI_FPTEST_H
+
+#define __COBALT_HAVE_VFP 0x1
+
+static inline void fp_regs_set(int features, unsigned int val)
+{
+ unsigned long long e[16];
+ unsigned int i;
+
+ if (features & __COBALT_HAVE_VFP) {
+ for (i = 0; i < 16; i++)
+ e[i] = val;
+
+ /* vldm %0!, {d0-d15},
+ AKA fldmiax %0!, {d0-d15} */
+ __asm__ __volatile__("ldc p11, cr0, [%0],#32*4":
+ "=r"(i): "0"(&e[0]): "memory");
+ }
+}
+
+static inline unsigned int fp_regs_check(int features, unsigned int val,
+ int (*report)(const char *fmt, ...))
+{
+ unsigned int result = val, i;
+ unsigned long long e[16];
+
+ if (features & __COBALT_HAVE_VFP) {
+ /* vstm %0!, {d0-d15},
+ AKA fstmiax %0!, {d0-d15} */
+ __asm__ __volatile__("stc p11, cr0, [%0],#32*4":
+ "=r"(i): "0"(&e[0]): "memory");
+
+ for (i = 0; i < 16; i++)
+ if (e[i] != val) {
+ report("d%d: %llu != %u\n", i, e[i], val);
+ result = e[i];
+ }
+ }
+
+ return result;
+}
+
+#endif /* !_COBALT_ARM_ASM_UAPI_FPTEST_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h
new file mode 100644
index 0000000..c4e3593
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/syscall.h
@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2001,2002,2003,2004 Philippe Gerum <r...@xenomai.org>.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _COBALT_ARM_ASM_UAPI_SYSCALL_H
+#define _COBALT_ARM_ASM_UAPI_SYSCALL_H
+
+#define __xn_syscode(__nr) (__COBALT_SYSCALL_BIT | (__nr))
+
+#define XENO_ARM_SYSCALL 0x000F0042 /* carefully chosen... */
+
+#define XENOMAI_SYSARCH_ATOMIC_ADD_RETURN 0
+#define XENOMAI_SYSARCH_ATOMIC_SET_MASK 1
+#define XENOMAI_SYSARCH_ATOMIC_CLEAR_MASK 2
+#define XENOMAI_SYSARCH_XCHG 3
+#define XENOMAI_SYSARCH_TSCINFO 4
+
+#endif /* !_COBALT_ARM_ASM_UAPI_SYSCALL_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/tsc.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/tsc.h
new file mode 100644
index 0000000..b17cfb2
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/uapi/tsc.h
@@ -0,0 +1,25 @@
+/*
+ * Copyright (C) 2013 Gilles Chanteperdrix <g...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _COBALT_ARM_ASM_UAPI_TSC_H
+#define _COBALT_ARM_ASM_UAPI_TSC_H
+
+struct __xn_tscinfo {
+ volatile unsigned int *counter;
+};
+
+#endif /* !_COBALT_ARM_ASM_UAPI_TSC_H */
diff --git a/kernel/cobalt/arch/arm64/include/asm/xenomai/wrappers.h
b/kernel/cobalt/arch/arm64/include/asm/xenomai/wrappers.h
new file mode 100644
index 0000000..fe59896
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/include/asm/xenomai/wrappers.h
@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2005 Philippe Gerum <r...@xenomai.org>.
+ *
+ * Xenomai is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published
+ * by the Free Software Foundation; either version 2 of the License,
+ * or (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _COBALT_ARM_ASM_WRAPPERS_H
+#define _COBALT_ARM_ASM_WRAPPERS_H
+
+#include <asm-generic/xenomai/wrappers.h> /* Read the generic portion. */
+
+#define __put_user_inatomic __put_user
+#define __get_user_inatomic __get_user
+
+#endif /* _COBALT_ARM_ASM_WRAPPERS_H */
diff --git a/kernel/cobalt/arch/arm64/machine.c
b/kernel/cobalt/arch/arm64/machine.c
new file mode 100644
index 0000000..f48d4a8
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/machine.c
@@ -0,0 +1,119 @@
+/**
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * Xenomai is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License as
+ * published by the Free Software Foundation, Inc., 675 Mass Ave,
+ * Cambridge MA 02139, USA; either version 2 of the License, or (at
+ * your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+
+#include <linux/mm.h>
+#include <linux/ipipe_tickdev.h>
+#include <cobalt/kernel/arith.h>
+#include <asm/cacheflush.h>
+#include <asm/xenomai/machine.h>
+
+#define CALIBRATION_LOOPS 10
+
+static void mach_arm_prefault(struct vm_area_struct *vma)
+{
+ unsigned long addr;
+ unsigned int flags;
+
+ if ((vma->vm_flags & VM_MAYREAD)) {
+ flags = (vma->vm_flags & VM_MAYWRITE) ? FAULT_FLAG_WRITE : 0;
+ for (addr = vma->vm_start;
+ addr != vma->vm_end; addr += PAGE_SIZE)
+ handle_mm_fault(vma->vm_mm, vma, addr, flags);
+ }
+}
+
+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",
+ [IPIPE_TRAP_DABT] = "Generic data abort",
+ [IPIPE_TRAP_UNKNOWN] = "Unknown exception",
+ [IPIPE_TRAP_BREAK] = "Instruction breakpoint",
+ [IPIPE_TRAP_FPU] = "Floating point exception",
+ [IPIPE_TRAP_VFP] = "VFP Floating point exception",
+ [IPIPE_TRAP_UNDEFINSTR] = "Undefined instruction",
+#ifdef IPIPE_TRAP_ALIGNMENT
+ [IPIPE_TRAP_ALIGNMENT] = "Unaligned access exception",
+#endif /* IPIPE_TRAP_ALIGNMENT */
+ [IPIPE_NR_FAULTS] = NULL
+};
+
+struct cobalt_machine cobalt_machine = {
+ .name = "arm",
+ .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
new file mode 100644
index 0000000..20e4559
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/mayday.c
@@ -0,0 +1,146 @@
+/*
+ * Copyright (C) 2010 Philippe Gerum <r...@xenomai.org>.
+ *
+ * Xenomai is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 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>
+#include <asm/cacheflush.h>
+#include <asm/ptrace.h>
+
+static void *mayday;
+
+static inline void setup_mayday(void *page)
+{
+ /*
+ * We want this code to appear at the top of the MAYDAY page:
+ *
+ * ifdef ARM_EABI
+ *
+ * e59f000c ldr r0, [pc, #12]
+ * e59f700c ldr r7, [pc, #12]
+ * ef000000 svc 0x00000000
+ * e3a00000 mov r0, #0
+ * e5800000 str r0, [r0] ; <bug>
+ * 1000005e .word 0x1000005e ; sc_cobalt_mayday |
__COBALT_SYSCALL_BIT
+ * 000f0042 .word 0x000f0042
+ *
+ * elif ARM_OABI
+ *
+ * e59f0008 ldr r0, [pc, #8]
+ * ef9f0042 swi 0x009f0042
+ * e3a00000 mov r0, #0
+ * e5800000 str r0, [r0] ; <bug>
+ * 1000005e .word 0x1000005e ; sc_cobalt_mayday |
__COBALT_SYSCALL_BIT
+ *
+ * endif
+ *
+ * 32bit instruction words will be laid out by the compiler as
+ * the target endianness requires.
+ *
+ * We don't mess with CPSR here, so no need to save/restore it
+ * in handle/fixup code.
+ */
+#ifdef __ARM_EABI__
+ static const struct {
+ u32 ldr_r0;
+ u32 ldr_r7;
+ u32 swi_0;
+ u32 mov_r0;
+ u32 str_r0;
+ u32 cst_r0;
+ u32 cst_r7;
+ } code = {
+ .ldr_r0 = 0xe59f000c,
+ .ldr_r7 = 0xe59f700c,
+ .swi_0 = 0xef000000,
+ .mov_r0 = 0xe3a00000,
+ .str_r0 = 0xe5800000,
+ .cst_r0 = __xn_syscode(sc_cobalt_mayday),
+ .cst_r7 = 0x000f0042,
+ };
+#else /* OABI */
+ static const struct {
+ u32 ldr_r0;
+ u32 swi_syscall;
+ u32 mov_r0;
+ u32 str_r0;
+ u32 cst_r0;
+ } code = {
+ .ldr_r0 = 0xe59f0008,
+ .swi_syscall = 0xef9f0042,
+ .mov_r0 = 0xe3a00000,
+ .str_r0 = 0xe5800000,
+ .cst_r0 = __xn_syscode(sc_cobalt_mayday),
+ };
+#endif /* OABI */
+
+ memcpy(page, &code, sizeof(code));
+
+ flush_dcache_page(vmalloc_to_page(page));
+}
+
+int xnarch_init_mayday(void)
+{
+ mayday = vmalloc(PAGE_SIZE);
+ if (mayday == NULL)
+ return -ENOMEM;
+
+ setup_mayday(mayday);
+
+ return 0;
+}
+
+void xnarch_cleanup_mayday(void)
+{
+ vfree(mayday);
+}
+
+void *xnarch_get_mayday_page(void)
+{
+ return mayday;
+}
+
+void xnarch_handle_mayday(struct xnarchtcb *tcb, struct pt_regs *regs,
+ unsigned long tramp)
+{
+ tcb->mayday.pc = regs->ARM_pc;
+ tcb->mayday.r0 = regs->ARM_r0;
+#ifdef __ARM_EABI__
+ tcb->mayday.r7 = regs->ARM_r7;
+#endif
+#ifdef CONFIG_ARM_THUMB
+ /* The code on the mayday page must be run in ARM mode */
+ tcb->mayday.psr = regs->ARM_cpsr;
+ regs->ARM_cpsr &= ~PSR_T_BIT;
+#endif
+ regs->ARM_pc = tramp;
+}
+
+void xnarch_fixup_mayday(struct xnarchtcb *tcb, struct pt_regs *regs)
+{
+ regs->ARM_pc = tcb->mayday.pc;
+ regs->ARM_r0 = tcb->mayday.r0;
+#ifdef __ARM_EABI__
+ regs->ARM_r7 = tcb->mayday.r7;
+#endif
+#ifdef CONFIG_ARM_THUMB
+ regs->ARM_cpsr = tcb->mayday.psr;
+#endif
+}
diff --git a/kernel/cobalt/arch/arm64/switch.S
b/kernel/cobalt/arch/arm64/switch.S
new file mode 100644
index 0000000..505fd5a
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/switch.S
@@ -0,0 +1,167 @@
+/*
+ * Copyright (C) 2005 Stelian Pop.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, Inc., 675 Mass Ave, Cambridge MA 02139,
+ * USA; either version 2 of the License, or (at your option) any later
+ * version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ */
+
+#include <linux/linkage.h>
+#include <linux/version.h>
+#include <asm/assembler.h>
+#include <asm/asm-offsets.h>
+#include <asm/tls.h>
+#ifdef CONFIG_VFP
+#include <asm/vfpmacros.h>
+#endif
+
+ .macro fpu_switch tmp
+#ifdef CONFIG_VFP
+#if __LINUX_ARM_ARCH__ <= 6
+#ifdef CONFIG_JUMP_LABEL
+9998: nop
+ .pushsection __jump_table, "aw"
+ .word 9998b, 9999f, __xeno_vfp_key
+ .popsection
+#else
+ ldr \tmp, =elf_hwcap
+ ldr \tmp, [\tmp]
+ tst \tmp, #HWCAP_VFP
+ beq 9999f
+#endif
+#endif
+ @ Always disable VFP so we can lazily save/restore the old
+ @ state. This occurs in the context of the previous thread.
+ VFPFMRX \tmp, FPEXC
+ bic \tmp, \tmp, #FPEXC_EN
+ VFPFMXR FPEXC, \tmp
+#if __LINUX_ARM_ARCH__ <= 6
+9999:
+#endif
+#endif
+ .endm
+
+ .text
+
+#if defined(CONFIG_VFP) && defined(CONFIG_XENO_ARCH_FPU)
+/* Copied from vfp_save_state in arch/arm/vfp/vfphw.S
+ * r0 = pointer to union vfp_state, r1 = fpexc
+ */
+ENTRY(__asm_vfp_save)
+ VFPFSTMIA r0, r2 @ save the working registers
+ VFPFMRX r2, FPSCR @ current status
+ tst r1, #FPEXC_EX @ is there additional state to save?
+ beq 1f
+ VFPFMRX r3, FPINST @ FPINST (only if FPEXC.EX is set)
+ tst r1, #FPEXC_FP2V @ is there an FPINST2 to read?
+ beq 1f
+ VFPFMRX r12, FPINST2 @ FPINST2 if needed (and present)
+1:
+ stmia r0, {r1, r2, r3, r12} @ save FPEXC, FPSCR, FPINST,
FPINST2
+ mov pc, lr
+ENDPROC(__asm_vfp_save)
+
+/* Copied from no_old_VFP_process in arch/arm/vfp/vfphw.S
+ * r0 = pointer to union vfp_state
+ * r1 = current cpu
+ */
+ENTRY(__asm_vfp_load)
+#ifdef CONFIG_SMP
+ str r1, [r0, #VFP_CPU]
+#endif
+ VFPFLDMIA r0, r2 @ reload the working registers while
+ @ FPEXC is in a safe state
+ ldmia r0, {r1, r2, r3, r12} @ load FPEXC, FPSCR, FPINST,
FPINST2
+ tst r1, #FPEXC_EX @ is there additional state to restore?
+ beq 1f
+ VFPFMXR FPINST, r3 @ restore FPINST (only if FPEXC.EX is
set)
+ tst r1, #FPEXC_FP2V @ is there an FPINST2 to write?
+ beq 1f
+ VFPFMXR FPINST2, r12 @ FPINST2 if needed (and present)
+1:
+ VFPFMXR FPSCR, r2 @ restore status
+ mov pc, lr
+ENDPROC(__asm_vfp_load)
+#endif
+
+#if LINUX_VERSION_CODE < KERNEL_VERSION(3, 11, 0)
+ .macro load_tls base, tp, tpuser
+ ldr \tp, [\base, #TI_TP_VALUE]
+ .endm
+
+ .macro switch_tls base, tp, tpuser, tmp1, tmp2
+ set_tls \tp, \tmp1, \tmp2
+ .endm
+#else
+ .macro load_tls base, tp, tpuser
+ ldr \tp, [\base, #TI_TP_VALUE]
+ ldr \tpuser, [\base, #TI_TP_VALUE + 4]
+ .endm
+#endif
+
+/*
+/*
+ * Switch context routine.
+ *
+ * Registers according to the ARM procedure call standard:
+ * Reg Description
+ * r0-r3 argument/scratch registers
+ * r4-r9 variable register
+ * r10=sl stack limit/variable register
+ * r11=fp frame pointer/variable register
+ * r12=ip intra-procedure-call scratch register
+ * r13=sp stack pointer (auto preserved)
+ * r14=lr link register
+ * r15=pc program counter (auto preserved)
+ *
+ * Copied from __switch_to, arch/arm/kernel/entry-armv.S.
+ * Right now it is identical, but who knows what the
+ * future reserves us...
+ *
+ * XXX: All the following config options are NOT tested:
+ * CONFIG_IWMMXT
+ *
+ * Calling args:
+ * r0 = previous thread_info, r1 = next thread_info
+ */
+ENTRY(__asm_thread_switch)
+ add ip, r0, #TI_CPU_SAVE
+ ARM( stmia ip!, {r4 - sl, fp, sp, lr} ) @ Store most regs on stack
+ THUMB( stmia ip!, {r4 - sl, fp} ) @ Store most regs on
stack
+ THUMB( str sp, [ip], #4 )
+ THUMB( str lr, [ip], #4 )
+ load_tls r1, r4, r5
+#ifdef CONFIG_CPU_USE_DOMAINS
+ ldr r6, [r1, #TI_CPU_DOMAIN]
+#endif
+ switch_tls r0, r4, r5, r3, r7
+#if defined(CONFIG_CC_STACKPROTECTOR) && !defined(CONFIG_SMP)
+ ldr r7, [r1, #TI_TASK]
+ ldr r8, =__stack_chk_guard
+ ldr r7, [r7, #TSK_STACK_CANARY]
+#endif
+#ifdef CONFIG_CPU_USE_DOMAINS
+ mcr p15, 0, r6, c3, c0, 0 @ Set domain register
+#endif
+ fpu_switch r4
+#if defined(CONFIG_CC_STACKPROTECTOR) && !defined(CONFIG_SMP)
+ str r7, [r8]
+#endif
+ ARM( add r4, r1, #TI_CPU_SAVE )
+ ARM( ldmia r4, {r4 - sl, fp, sp, pc} ) @ Load all regs saved previously
+ THUMB( add ip, r1, #TI_CPU_SAVE )
+ THUMB( ldmia ip!, {r4 - sl, fp} ) @ Load all regs saved
previously
+ THUMB( ldr sp, [ip], #4 )
+ THUMB( ldr pc, [ip] )
+ENDPROC(__asm_thread_switch)
diff --git a/kernel/cobalt/arch/arm64/syscall.c
b/kernel/cobalt/arch/arm64/syscall.c
new file mode 100644
index 0000000..ee78243
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/syscall.c
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2005 Stelian Pop
+ * Copyright (C) 2010 Gilles Chanteperdrix <gilles.chanteperd...@xenomai.org>
+ *
+ * Xenomai is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+
+#include <linux/ipipe.h>
+#include <asm/xenomai/syscall.h>
+#include <asm/xenomai/uapi/tsc.h>
+
+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 __xn_tscinfo info;
+ int ret;
+
+ if (a1 != XENOMAI_SYSARCH_TSCINFO)
+ return -EINVAL;
+
+ ret = ipipe_get_sysinfo(&ipipe_info);
+ if (ret)
+ return ret;
+
+ switch (p->type) {
+ case IPIPE_TSC_TYPE_DECREMENTER:
+ info.counter = p->u.dec.counter;
+ break;
+ case IPIPE_TSC_TYPE_NONE:
+ return -ENOSYS;
+ default:
+ info.counter = p->u.fr.counter;
+ break;
+ }
+
+ return cobalt_copy_to_user((void *)a2, &info, sizeof(info));
+}
diff --git a/kernel/cobalt/arch/arm64/thread.c
b/kernel/cobalt/arch/arm64/thread.c
new file mode 100644
index 0000000..825926c
--- /dev/null
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -0,0 +1,355 @@
+/*
+ * Copyright (C) 2001,2002,2003,2004 Philippe Gerum <r...@xenomai.org>.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * Xenomai is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+
+#include <linux/sched.h>
+#include <linux/ipipe.h>
+#include <linux/mm.h>
+#include <linux/jump_label.h>
+#include <asm/mmu_context.h>
+#include <cobalt/kernel/thread.h>
+
+struct static_key __xeno_vfp_key = STATIC_KEY_INIT_TRUE;
+
+asmlinkage void __asm_thread_switch(struct thread_info *out,
+ struct thread_info *in);
+
+asmlinkage void __asm_thread_trampoline(void);
+
+#if defined(CONFIG_XENO_ARCH_FPU) && defined(CONFIG_VFP)
+
+static unsigned int vfp_checked;
+static DEFINE_MUTEX(vfp_check_lock);
+
+asmlinkage void __asm_vfp_save(union vfp_state *vfp, unsigned int fpexc);
+
+asmlinkage void __asm_vfp_load(union vfp_state *vfp, unsigned int cpu);
+
+#define do_vfp_fmrx(_vfp_) \
+ ({ \
+ u32 __v; \
+ asm volatile("mrc p10, 7, %0, " __stringify(_vfp_) \
+ ", cr0, 0 @ fmrx %0, " #_vfp_: \
+ "=r" (__v)); \
+ __v; \
+ })
+
+#define do_vfp_fmxr(_vfp_,_var_) \
+ asm volatile("mcr p10, 7, %0, " __stringify(_vfp_) \
+ ", cr0, 0 @ fmxr " #_vfp_ ", %0": \
+ /* */ : "r" (_var_))
+
+extern union vfp_state *vfp_current_hw_state[NR_CPUS];
+
+static inline union vfp_state *get_fpu_owner(void)
+{
+ union vfp_state *vfp_owner;
+ unsigned int cpu;
+#ifdef CONFIG_SMP
+ unsigned int fpexc;
+#endif
+
+#if __LINUX_ARM_ARCH__ <= 6
+ if (!static_key_true(&__xeno_vfp_key))
+ return NULL;
+#endif
+
+#ifdef CONFIG_SMP
+ fpexc = do_vfp_fmrx(FPEXC);
+ if (!(fpexc & FPEXC_EN))
+ return NULL;
+#endif
+
+ cpu = ipipe_processor_id();
+ vfp_owner = vfp_current_hw_state[cpu];
+ if (!vfp_owner)
+ return NULL;
+
+#ifdef CONFIG_SMP
+ if (vfp_owner->hard.cpu != cpu)
+ return NULL;
+#endif /* SMP */
+
+ return vfp_owner;
+}
+
+#define do_disable_vfp(fpexc) \
+ do_vfp_fmxr(FPEXC, fpexc & ~FPEXC_EN)
+
+#define XNARCH_VFP_ANY_EXC \
+ (FPEXC_EX|FPEXC_DEX|FPEXC_FP2V|FPEXC_VV|FPEXC_TRAP_MASK)
+
+#define do_enable_vfp()
\
+ ({ \
+ unsigned _fpexc = do_vfp_fmrx(FPEXC) | FPEXC_EN; \
+ do_vfp_fmxr(FPEXC, _fpexc & ~XNARCH_VFP_ANY_EXC); \
+ _fpexc; \
+ })
+
+int xnarch_fault_fpu_p(struct ipipe_trap_data *d)
+{
+ /* This function does the same thing to decode the faulting instruct as
+ "call_fpe" in arch/arm/entry-armv.S */
+ static unsigned copro_to_exc[16] = {
+ IPIPE_TRAP_UNDEFINSTR,
+ /* FPE */
+ IPIPE_TRAP_FPU, IPIPE_TRAP_FPU,
+ IPIPE_TRAP_UNDEFINSTR,
+#ifdef CONFIG_CRUNCH
+ IPIPE_TRAP_FPU, IPIPE_TRAP_FPU, IPIPE_TRAP_FPU,
+#else /* !CONFIG_CRUNCH */
+ IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
IPIPE_TRAP_UNDEFINSTR,
+#endif /* !CONFIG_CRUNCH */
+ IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
IPIPE_TRAP_UNDEFINSTR,
+#ifdef CONFIG_VFP
+ IPIPE_TRAP_VFP, IPIPE_TRAP_VFP,
+#else /* !CONFIG_VFP */
+ IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
+#endif /* !CONFIG_VFP */
+ IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
+ IPIPE_TRAP_UNDEFINSTR, IPIPE_TRAP_UNDEFINSTR,
+ };
+ unsigned instr, exc, cp;
+ char *pc;
+
+ if (d->exception == IPIPE_TRAP_FPU)
+ return 1;
+
+ if (d->exception == IPIPE_TRAP_VFP)
+ goto trap_vfp;
+
+ if (d->exception != IPIPE_TRAP_UNDEFINSTR)
+ return 0;
+
+ pc = (char *) xnarch_fault_pc(d);
+ if (unlikely(thumb_mode(d->regs))) {
+ unsigned short thumbh, thumbl;
+
+#if defined(CONFIG_ARM_THUMB) && __LINUX_ARM_ARCH__ >= 6 &&
defined(CONFIG_CPU_V7)
+#if __LINUX_ARM_ARCH__ < 7
+ if (cpu_architecture() < CPU_ARCH_ARMv7)
+#else
+ if (0)
+#endif /* arch < 7 */
+#endif /* thumb && arch >= 6 && cpu_v7 */
+ return 0;
+
+ thumbh = *(unsigned short *) pc;
+ thumbl = *((unsigned short *) pc + 1);
+
+ if ((thumbh & 0x0000f800) < 0x0000e800)
+ return 0;
+ instr = (thumbh << 16) | thumbl;
+
+#ifdef CONFIG_NEON
+ if ((instr & 0xef000000) == 0xef000000
+ || (instr & 0xff100000) == 0xf9000000)
+ goto trap_vfp;
+#endif
+ } else {
+ instr = *(unsigned *) pc;
+
+#ifdef CONFIG_NEON
+ if ((instr & 0xfe000000) == 0xf2000000
+ || (instr & 0xff100000) == 0xf4000000)
+ goto trap_vfp;
+#endif
+ }
+
+ if ((instr & 0x0c000000) != 0x0c000000)
+ return 0;
+
+ cp = (instr & 0x00000f00) >> 8;
+#ifdef CONFIG_IWMMXT
+ /* We need something equivalent to _TIF_USING_IWMMXT for Xenomai kernel
+ threads */
+ if (cp <= 1) {
+ d->exception = IPIPE_TRAP_FPU;
+ return 1;
+ }
+#endif
+
+ exc = copro_to_exc[cp];
+ if (exc == IPIPE_TRAP_VFP) {
+ trap_vfp:
+ /* If an exception is pending, the VFP fault is not really an
+ "FPU unavailable" fault, so we return undefinstr in that
+ case, the nucleus will let linux handle the fault. */
+ exc = do_vfp_fmrx(FPEXC);
+ if (exc & (FPEXC_EX|FPEXC_DEX)
+ || ((exc & FPEXC_EN) && do_vfp_fmrx(FPSCR) & FPSCR_IXE))
+ exc = IPIPE_TRAP_UNDEFINSTR;
+ else
+ exc = IPIPE_TRAP_VFP;
+ }
+
+ d->exception = exc;
+ return exc != IPIPE_TRAP_UNDEFINSTR;
+}
+
+void xnarch_leave_root(struct xnthread *root)
+{
+ struct xnarchtcb *rootcb = xnthread_archtcb(root);
+ rootcb->fpup = get_fpu_owner();
+}
+
+void xnarch_save_fpu(struct xnthread *thread)
+{
+ struct xnarchtcb *tcb = &thread->tcb;
+ if (tcb->fpup)
+ __asm_vfp_save(tcb->fpup, do_enable_vfp());
+}
+
+void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
+{
+ union vfp_state *const from_fpup = from ? from->tcb.fpup : NULL;
+ unsigned cpu = ipipe_processor_id();
+
+ if (xnthread_test_state(to, XNROOT) == 0) {
+ union vfp_state *const to_fpup = to->tcb.fpup;
+ unsigned fpexc = do_enable_vfp();
+
+ if (from_fpup == to_fpup)
+ return;
+
+ if (from_fpup)
+ __asm_vfp_save(from_fpup, fpexc);
+
+ __asm_vfp_load(to_fpup, cpu);
+ } else {
+ /*
+ * We are restoring the Linux current thread. The FPU
+ * can be disabled, so that a fault will occur if the
+ * newly switched thread uses the FPU, to allow the
+ * kernel handler to pick the correct FPU context, and
+ * save in the same move the last used RT context.
+ */
+ vfp_current_hw_state[cpu] = from_fpup;
+#ifdef CONFIG_SMP
+ /*
+ * On SMP, since returning to FPU disabled mode means
+ * that we have to save fpu, avoid doing it if
+ * current FPU context belongs to the task we are
+ * switching to.
+ */
+ if (from_fpup) {
+ union vfp_state *const current_task_fpup =
+ &to->tcb.core.tip->vfpstate;
+ const unsigned fpdis = do_vfp_fmrx(FPEXC);
+ const unsigned fpen = fpdis | FPEXC_EN;
+
+ do_vfp_fmxr(FPEXC, fpen & ~XNARCH_VFP_ANY_EXC);
+ if (from_fpup == current_task_fpup)
+ return;
+
+ __asm_vfp_save(from_fpup, fpen);
+ do_vfp_fmxr(FPEXC, fpdis);
+ }
+#endif
+ }
+}
+
+int xnarch_handle_fpu_fault(struct xnthread *from,
+ struct xnthread *to, struct ipipe_trap_data *d)
+{
+ spl_t s;
+
+ if (xnthread_test_state(to, XNFPU))
+ /* FPU is already enabled, probably an exception */
+ return 0;
+
+#if __LINUX_ARM_ARCH__ <= 6
+ if (!static_key_true(&__xeno_vfp_key))
+ /* VFP instruction emitted, on a cpu without VFP, this
+ is an error */
+ return 0;
+#endif
+
+ xnlock_get_irqsave(&nklock, s);
+ xnthread_set_state(to, XNFPU);
+ xnlock_put_irqrestore(&nklock, s);
+
+ xnarch_switch_fpu(from, to);
+
+ /* Retry faulting instruction */
+ d->regs->ARM_pc = xnarch_fault_pc(d);
+ return 1;
+}
+
+void xnarch_init_shadow_tcb(struct xnthread *thread)
+{
+ struct xnarchtcb *tcb = xnthread_archtcb(thread);
+
+ tcb->fpup = &task_thread_info(tcb->core.host_task)->vfpstate;
+
+ if (vfp_checked == 0) {
+ mutex_lock(&vfp_check_lock);
+ if (vfp_checked == 0) {
+ if ((elf_hwcap & HWCAP_VFP) == 0)
+ static_key_slow_dec(&__xeno_vfp_key);
+ vfp_checked = 1;
+ }
+ mutex_unlock(&vfp_check_lock);
+ }
+
+ /* XNFPU is set upon first FPU fault */
+ xnthread_clear_state(thread, XNFPU);
+}
+#endif /* CONFIG_XENO_ARCH_FPU && CONFIG_VFP*/
+
+void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
+{
+ struct xnarchtcb *out_tcb = &out->tcb, *in_tcb = &in->tcb;
+ struct mm_struct *prev_mm, *next_mm;
+ struct task_struct *next;
+
+ next = in_tcb->core.host_task;
+ prev_mm = out_tcb->core.active_mm;
+
+ next_mm = in_tcb->core.mm;
+ if (next_mm == NULL) {
+ in_tcb->core.active_mm = prev_mm;
+ enter_lazy_tlb(prev_mm, next);
+ } else {
+ ipipe_switch_mm_head(prev_mm, next_mm, next);
+ /*
+ * We might be switching back to the root thread,
+ * which we preempted earlier, shortly after "current"
+ * dropped its mm context in the do_exit() path
+ * (next->mm == NULL). In that particular case, the
+ * kernel expects a lazy TLB state for leaving the mm.
+ */
+ if (next->mm == NULL)
+ enter_lazy_tlb(prev_mm, next);
+ }
+
+ __asm_thread_switch(out_tcb->core.tip, in_tcb->core.tip);
+}
+
+int xnarch_escalate(void)
+{
+ if (ipipe_root_p) {
+ ipipe_raise_irq(cobalt_pipeline.escalate_virq);
+ return 1;
+ }
+
+ return 0;
+}
diff --git a/lib/cobalt/arch/Makefile.am b/lib/cobalt/arch/Makefile.am
index 3073a3f..608cda1 100644
--- a/lib/cobalt/arch/Makefile.am
+++ b/lib/cobalt/arch/Makefile.am
@@ -1,4 +1,4 @@
SUBDIRS = @XENO_TARGET_ARCH@
-DIST_SUBDIRS = arm blackfin powerpc x86
+DIST_SUBDIRS = arm arm64 blackfin powerpc x86
diff --git a/lib/cobalt/arch/arm64/Makefile.am
b/lib/cobalt/arch/arm64/Makefile.am
new file mode 100644
index 0000000..0aa02d6
--- /dev/null
+++ b/lib/cobalt/arch/arm64/Makefile.am
@@ -0,0 +1,13 @@
+noinst_LTLIBRARIES = libarch.la
+
+libarch_la_LDFLAGS = @XENO_LIB_LDFLAGS@ -version-info 0:0:0
+
+libarch_la_SOURCES = features.c
+
+libarch_la_CPPFLAGS = \
+ @XENO_COBALT_CFLAGS@ \
+ -I$(srcdir)/../.. \
+ -I$(top_srcdir)/include/cobalt \
+ -I$(top_srcdir)/include
+
+SUBDIRS = include
diff --git a/lib/cobalt/arch/arm64/features.c b/lib/cobalt/arch/arm64/features.c
new file mode 100644
index 0000000..edabcf2
--- /dev/null
+++ b/lib/cobalt/arch/arm64/features.c
@@ -0,0 +1,102 @@
+/*
+ * Copyright (C) 2011 Gilles Chanteperdrix <g...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <sys/mman.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <string.h>
+#include <string.h>
+#include <unistd.h>
+#include <limits.h>
+#include <cobalt/wrappers.h>
+#include <asm/xenomai/syscall.h>
+#include <asm/xenomai/tsc.h>
+#include <asm/xenomai/features.h>
+#include <asm/xenomai/uapi/fptest.h>
+#include "internal.h"
+
+struct __xn_full_tscinfo __xn_tscinfo = {
+ .kinfo = {
+ .counter = NULL,
+ },
+};
+
+void cobalt_check_features(struct cobalt_featinfo *finfo)
+{
+ unsigned long phys_addr;
+ unsigned page_size;
+ int err, fd;
+ void *addr;
+
+ if (__xn_tscinfo.kinfo.counter != NULL)
+ return;
+
+ err = XENOMAI_SYSCALL2(sc_cobalt_archcall,
+ XENOMAI_SYSARCH_TSCINFO, &__xn_tscinfo.kinfo);
+ if (err)
+ early_panic("missing TSC emulation: %s",
+ strerror(-err));
+
+ fd = __STD(open("/dev/mem", O_RDONLY | O_SYNC));
+ if (fd == -1)
+ early_panic("failed open(/dev/mem): %s", strerror(errno));
+
+ page_size = sysconf(_SC_PAGESIZE);
+
+ __xn_tscinfo.kuser_tsc_get =
+ (__xn_rdtsc_t *)(0xffff1004 -
+ ((*(unsigned *)(0xffff0ffc) + 3) << 5));
+
+ phys_addr = (unsigned long)__xn_tscinfo.kinfo.counter;
+
+ addr = __STD(mmap(NULL, page_size, PROT_READ, MAP_SHARED,
+ fd, phys_addr & ~(page_size - 1)));
+ if (addr == MAP_FAILED)
+ early_panic("failed mmap(/dev/mem): %s", strerror(errno));
+
+ __xn_tscinfo.kinfo.counter =
+ ((volatile unsigned *)
+ ((char *) addr + (phys_addr & (page_size - 1))));
+
+ __STD(close(fd));
+}
+
+int cobalt_fp_detect(void)
+{
+ char buffer[1024];
+ int features = 0;
+ FILE *fp;
+
+ fp = fopen("/proc/cpuinfo", "r");
+ if (fp == NULL)
+ return 0;
+
+ while (fgets(buffer, sizeof(buffer), fp)) {
+ if(strncmp(buffer, "Features", sizeof("Features") - 1))
+ continue;
+ if (strstr(buffer, "vfp")) {
+ features |= __COBALT_HAVE_VFP;
+ break;
+ }
+ }
+
+ fclose(fp);
+
+ return features;
+}
diff --git a/lib/cobalt/arch/arm64/include/Makefile.am
b/lib/cobalt/arch/arm64/include/Makefile.am
new file mode 100644
index 0000000..5cac5d2
--- /dev/null
+++ b/lib/cobalt/arch/arm64/include/Makefile.am
@@ -0,0 +1,2 @@
+
+SUBDIRS = asm
diff --git a/lib/cobalt/arch/arm64/include/asm/Makefile.am
b/lib/cobalt/arch/arm64/include/asm/Makefile.am
new file mode 100644
index 0000000..55ea661
--- /dev/null
+++ b/lib/cobalt/arch/arm64/include/asm/Makefile.am
@@ -0,0 +1,2 @@
+
+SUBDIRS = xenomai
diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/Makefile.am
b/lib/cobalt/arch/arm64/include/asm/xenomai/Makefile.am
new file mode 100644
index 0000000..d308b06
--- /dev/null
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/Makefile.am
@@ -0,0 +1,5 @@
+
+noinst_HEADERS = \
+ features.h \
+ syscall.h \
+ tsc.h
diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
new file mode 100644
index 0000000..10bd0c7
--- /dev/null
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/features.h
@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2005 Philippe Gerum <r...@xenomai.org>.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _LIB_COBALT_ARM_FEATURES_H
+#define _LIB_COBALT_ARM_FEATURES_H
+
+#include_next <features.h>
+#include <xeno_config.h>
+
+#if defined(__ARM_ARCH_2__)
+#define __LINUX_ARM_ARCH__ 2
+#endif /* armv2 */
+
+#if defined(__ARM_ARCH_3__)
+#define __LINUX_ARM_ARCH__ 3
+#endif /* armv3 */
+
+#if defined(__ARM_ARCH_4__) || defined(__ARM_ARCH_4T__)
+#define __LINUX_ARM_ARCH__ 4
+#endif /* armv4 */
+
+#if defined(__ARM_ARCH_5__) || defined(__ARM_ARCH_5T__) \
+ || defined(__ARM_ARCH_5E__) || defined(__ARM_ARCH_5TE__)
+#define __LINUX_ARM_ARCH__ 5
+#endif /* armv5 */
+
+#if defined(__ARM_ARCH_6__) || defined(__ARM_ARCH_6K__) \
+ || defined(__ARM_ARCH_6Z__) || defined(__ARM_ARCH_6ZK__)
+#define __LINUX_ARM_ARCH__ 6
+#endif /* armv6 */
+
+#if defined(__ARM_ARCH_7A__)
+#define __LINUX_ARM_ARCH__ 7
+#endif /* armv7 */
+
+#ifndef __LINUX_ARM_ARCH__
+#error "Could not find current ARM architecture"
+#endif
+
+#if __LINUX_ARM_ARCH__ < 6 && defined(CONFIG_SMP)
+#error "SMP not supported below armv6, compile with -march=armv6 or above"
+#endif
+
+#include <asm/xenomai/uapi/features.h>
+
+int cobalt_fp_detect(void);
+
+#endif /* !_LIB_COBALT_ARM_FEATURES_H */
diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
new file mode 100644
index 0000000..8f48eb1
--- /dev/null
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/syscall.h
@@ -0,0 +1,138 @@
+/*
+ * Copyright (C) 2001,2002,2003,2004 Philippe Gerum <r...@xenomai.org>.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _LIB_COBALT_ARM_SYSCALL_H
+#define _LIB_COBALT_ARM_SYSCALL_H
+
+#include <xeno_config.h>
+#include <errno.h>
+#include <cobalt/uapi/syscall.h>
+
+/*
+ * Some of the following macros have been adapted from Linux's
+ * implementation of the syscall mechanism in <asm-arm/unistd.h>:
+ */
+#if defined(HAVE_TLS) && __GNUC__ == 4 && __GNUC_MINOR__ >= 3
+#error TLS support (__thread) is broken with GCC >= 4.3, use --disable-tls
when configuring
+#endif
+
+#define LOADARGS_0(syscode, dummy...) \
+ __a0 = (unsigned long) (syscode)
+#define LOADARGS_1(syscode, arg1) \
+ LOADARGS_0(syscode); \
+ __a1 = (unsigned long) (arg1)
+#define LOADARGS_2(syscode, arg1, arg2) \
+ LOADARGS_1(syscode, arg1); \
+ __a2 = (unsigned long) (arg2)
+#define LOADARGS_3(syscode, arg1, arg2, arg3) \
+ LOADARGS_2(syscode, arg1, arg2); \
+ __a3 = (unsigned long) (arg3)
+#define LOADARGS_4(syscode, arg1, arg2, arg3, arg4) \
+ LOADARGS_3(syscode, arg1, arg2, arg3); \
+ __a4 = (unsigned long) (arg4)
+#define LOADARGS_5(syscode, arg1, arg2, arg3, arg4, arg5) \
+ LOADARGS_4(syscode, arg1, arg2, arg3, arg4); \
+ __a5 = (unsigned long) (arg5)
+
+#define CLOBBER_REGS_0 "r0"
+#define CLOBBER_REGS_1 CLOBBER_REGS_0, "r1"
+#define CLOBBER_REGS_2 CLOBBER_REGS_1, "r2"
+#define CLOBBER_REGS_3 CLOBBER_REGS_2, "r3"
+#define CLOBBER_REGS_4 CLOBBER_REGS_3, "r4"
+#define CLOBBER_REGS_5 CLOBBER_REGS_4, "r5"
+
+#define LOADREGS_0 __r0 = __a0
+#define LOADREGS_1 LOADREGS_0; __r1 = __a1
+#define LOADREGS_2 LOADREGS_1; __r2 = __a2
+#define LOADREGS_3 LOADREGS_2; __r3 = __a3
+#define LOADREGS_4 LOADREGS_3; __r4 = __a4
+#define LOADREGS_5 LOADREGS_4; __r5 = __a5
+
+#define ASM_INDECL_0 \
+ unsigned long __a0; register unsigned long __r0 __asm__ ("r0");
+#define ASM_INDECL_1 ASM_INDECL_0; \
+ unsigned long __a1; register unsigned long __r1 __asm__ ("r1")
+#define ASM_INDECL_2 ASM_INDECL_1; \
+ unsigned long __a2; register unsigned long __r2 __asm__ ("r2")
+#define ASM_INDECL_3 ASM_INDECL_2; \
+ unsigned long __a3; register unsigned long __r3 __asm__ ("r3")
+#define ASM_INDECL_4 ASM_INDECL_3; \
+ unsigned long __a4; register unsigned long __r4 __asm__ ("r4")
+#define ASM_INDECL_5 ASM_INDECL_4; \
+ unsigned long __a5; register unsigned long __r5 __asm__ ("r5")
+
+#define ASM_INPUT_0 "0" (__r0)
+#define ASM_INPUT_1 ASM_INPUT_0, "r" (__r1)
+#define ASM_INPUT_2 ASM_INPUT_1, "r" (__r2)
+#define ASM_INPUT_3 ASM_INPUT_2, "r" (__r3)
+#define ASM_INPUT_4 ASM_INPUT_3, "r" (__r4)
+#define ASM_INPUT_5 ASM_INPUT_4, "r" (__r5)
+
+#define __sys2(x) #x
+#define __sys1(x) __sys2(x)
+
+#ifdef __ARM_EABI__
+#define __SYS_REG , "r7"
+#define __SYS_REG_DECL register unsigned long __r7 __asm__ ("r7")
+#define __SYS_REG_SET __r7 = XENO_ARM_SYSCALL
+#define __SYS_REG_INPUT ,"r" (__r7)
+#define __SYS_CALLOP "swi\t0"
+#else
+#define __SYS_REG
+#define __SYS_REG_DECL
+#define __SYS_REG_SET
+#define __SYS_REG_INPUT
+#define __NR_OABI_SYSCALL_BASE 0x900000
+#define __SYS_CALLOP "swi\t" __sys1(__NR_OABI_SYSCALL_BASE + XENO_ARM_SYSCALL)
""
+#endif
+
+#define XENOMAI_DO_SYSCALL(nr, op, args...) \
+ ({ \
+ ASM_INDECL_##nr; \
+ __SYS_REG_DECL; \
+ LOADARGS_##nr(__xn_syscode(op), args); \
+ __asm__ __volatile__ ("" : /* */ : /* */ : \
+ CLOBBER_REGS_##nr __SYS_REG); \
+ LOADREGS_##nr; \
+ __SYS_REG_SET; \
+ __asm__ __volatile__ ( \
+ __SYS_CALLOP \
+ : "=r" (__r0) \
+ : ASM_INPUT_##nr __SYS_REG_INPUT \
+ : "memory"); \
+ (int) __r0; \
+ })
+
+#define XENOMAI_SYSCALL0(op) \
+ XENOMAI_DO_SYSCALL(0,op)
+#define XENOMAI_SYSCALL1(op,a1) \
+ XENOMAI_DO_SYSCALL(1,op,a1)
+#define XENOMAI_SYSCALL2(op,a1,a2) \
+ XENOMAI_DO_SYSCALL(2,op,a1,a2)
+#define XENOMAI_SYSCALL3(op,a1,a2,a3) \
+ XENOMAI_DO_SYSCALL(3,op,a1,a2,a3)
+#define XENOMAI_SYSCALL4(op,a1,a2,a3,a4) \
+ XENOMAI_DO_SYSCALL(4,op,a1,a2,a3,a4)
+#define XENOMAI_SYSCALL5(op,a1,a2,a3,a4,a5) \
+ XENOMAI_DO_SYSCALL(5,op,a1,a2,a3,a4,a5)
+#define XENOMAI_SYSBIND(breq) \
+ XENOMAI_DO_SYSCALL(1,sc_cobalt_bind,breq)
+
+#endif /* !_LIB_COBALT_ARM_SYSCALL_H */
diff --git a/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
b/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
new file mode 100644
index 0000000..594c4ad
--- /dev/null
+++ b/lib/cobalt/arch/arm64/include/asm/xenomai/tsc.h
@@ -0,0 +1,48 @@
+/*
+ * Copyright (C) 2001,2002,2003,2004 Philippe Gerum <r...@xenomai.org>.
+ * Copyright (C) 2013 Gilles Chanteperdrix <g...@xenomai.org>.
+ *
+ * ARM port
+ * Copyright (C) 2005 Stelian Pop
+ *
+ * Copyright (C) 2007 Sebastian Smolorz <se...@gmx.net>
+ * Support for TSC emulation in user space for decrementing counters
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+#ifndef _LIB_COBALT_ARM_TSC_H
+#define _LIB_COBALT_ARM_TSC_H
+
+#include <asm/xenomai/uapi/tsc.h>
+#include <asm/xenomai/features.h>
+
+/*
+ * Putting kuser_tsc_get and kinfo.counter in the same struct results
+ * in less operations in PIC code, thus optimizes.
+ */
+typedef unsigned long long __xn_rdtsc_t(volatile unsigned *vaddr);
+struct __xn_full_tscinfo {
+ __xn_rdtsc_t *kuser_tsc_get;
+ struct __xn_tscinfo kinfo;
+};
+extern struct __xn_full_tscinfo __xn_tscinfo;
+
+static inline __attribute__((always_inline))
+unsigned long long cobalt_read_tsc(void)
+{
+ return __xn_tscinfo.kuser_tsc_get(__xn_tscinfo.kinfo.counter);
+}
+
+#endif /* !_LIB_COBALT_ARM_TSC_H */
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