[Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #3)

[Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #3)

[Mathieu Rondonneau]

>From 2aa9fa2759a6bfafdac5b3355d2e827cee7c200f Mon Sep 17 00:00:00 2001
From: Mathieu Rondonneau <mathieu.rondonneau@gmail.com>
Date: Fri, 13 Nov 2015 20:59:49 -0800
Subject: [PATCH] IPIPE patch for BCM2709.

 - kernel: https://github.com/raspberrypi/linux (rpi-3.18.y)
   - 1bb18c8f721ef674a447f3622273f2e2de7a205c
 - xenomai: git://git.xenomai.org/xenomai-3.git (stable-3.0.x)
   - cb72996a06ae4f29e403e3397324069f1983145e
---
 arch/arm/mach-bcm2709/armctrl.c                  |  4 ++++
 arch/arm/mach-bcm2709/bcm2708_gpio.c             |  6 ++++--
 arch/arm/mach-bcm2709/bcm2709.c                  |  9 +++++++++
 arch/arm/mach-bcm2709/include/mach/entry-macro.S | 12 ++++++++++--
 4 files changed, 27 insertions(+), 4 deletions(-)

diff --git a/arch/arm/mach-bcm2709/armctrl.c
b/arch/arm/mach-bcm2709/armctrl.c
index fc6cb8b..c50b2cb 100644
--- a/arch/arm/mach-bcm2709/armctrl.c
+++ b/arch/arm/mach-bcm2709/armctrl.c
@@ -333,6 +333,10 @@ static struct irq_chip armctrl_chip = {
 	.irq_mask = armctrl_mask_irq,
 	.irq_unmask = armctrl_unmask_irq,
 	.irq_set_wake = armctrl_set_wake,
+#ifdef CONFIG_IPIPE
+	.irq_hold = armctrl_mask_irq,
+	.irq_release = armctrl_unmask_irq,
+#endif
 };

 /**
diff --git a/arch/arm/mach-bcm2709/bcm2708_gpio.c
b/arch/arm/mach-bcm2709/bcm2708_gpio.c
index c1e9254..7852129 100644
--- a/arch/arm/mach-bcm2709/bcm2708_gpio.c
+++ b/arch/arm/mach-bcm2709/bcm2708_gpio.c
@@ -24,6 +24,7 @@
 #include <linux/pinctrl/consumer.h>

 #include <linux/platform_data/bcm2708.h>
+#include <linux/ipipe.h>

 #define BCM_GPIO_DRIVER_NAME "bcm2708_gpio"
 #define DRIVER_NAME BCM_GPIO_DRIVER_NAME
@@ -56,7 +57,8 @@ enum { GPIO_FSEL_INPUT, GPIO_FSEL_OUTPUT,
 	 * the GPIO code. This also makes the case of a GPIO routine call from
 	 * the IRQ code simpler.
 	 */
-static DEFINE_SPINLOCK(lock);	/* GPIO registers */
+static IPIPE_DEFINE_SPINLOCK(lock); /* GPIO registers */
+

 struct bcm2708_gpio {
 	struct list_head list;
@@ -294,7 +296,7 @@ static irqreturn_t bcm2708_gpio_interrupt(int irq,
void *dev_id)
 			if (!(level_bits & (1<<i)))
 				writel(1<<i,
 				       __io_address(GPIO_BASE) + GPIOEDS(bank));
-			generic_handle_irq(gpio_to_irq(gpio));
+			ipipe_handle_demuxed_irq(gpio_to_irq(gpio));
 			/* ack level triggered IRQ after handling them */
 			if (level_bits & (1<<i))
 				writel(1<<i,
diff --git a/arch/arm/mach-bcm2709/bcm2709.c
b/arch/arm/mach-bcm2709/bcm2709.c
index 6bfd99e..4dd796c 100644
--- a/arch/arm/mach-bcm2709/bcm2709.c
+++ b/arch/arm/mach-bcm2709/bcm2709.c
@@ -1072,11 +1072,13 @@ static void __init bcm2709_timer_init(void)
 static void __init bcm2709_timer_init(void)
 {
 	extern void dc4_arch_timer_init(void);
+#ifndef CONFIG_IPIPE
 	// timer control
 	writel(0, __io_address(ARM_LOCAL_CONTROL));
 	// timer pre_scaler
 	writel(0x80000000, __io_address(ARM_LOCAL_PRESCALER)); // 19.2MHz
 	//writel(0x06AAAAAB, __io_address(ARM_LOCAL_PRESCALER)); // 1MHz
+#endif

 	if (use_dt)
 	{
@@ -1085,6 +1087,13 @@ static void __init bcm2709_timer_init(void)
 	}
 	else
 		dc4_arch_timer_init();
+
+#ifdef CONFIG_IPIPE
+	// timer control
+	writel(0, __io_address(ARM_LOCAL_CONTROL));
+	// timer pre_scaler
+	writel(0x80000000, __io_address(ARM_LOCAL_PRESCALER)); // 19.2MHz
+#endif
 }

 #endif
diff --git a/arch/arm/mach-bcm2709/include/mach/entry-macro.S
b/arch/arm/mach-bcm2709/include/mach/entry-macro.S
index 101d9f1..9e089c8 100644
--- a/arch/arm/mach-bcm2709/include/mach/entry-macro.S
+++ b/arch/arm/mach-bcm2709/include/mach/entry-macro.S
@@ -52,7 +52,11 @@
 	dsb
 	mov	r1, sp
 	adr	lr, BSYM(1b)
-	b	do_IPI
+#ifdef CONFIG_IPIPE
+        b	__ipipe_grab_ipi
+#else
+        b	do_IPI
+#endif

 1030:
 	/* check gpu interrupt */
@@ -107,7 +111,11 @@
 	@ routine called with r0 = irq number, r1 = struct pt_regs *
 	@
 	adr	lr, BSYM(1b)
-	b	asm_do_IRQ
+#ifdef CONFIG_IPIPE
+        b	__ipipe_grab_irq
+#else
+        b	asm_do_IRQ
+#endif

 1020:	@ EQ will be set if no irqs pending
 	.endm
-- 
2.6.3

Re: [Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #3)

[Gilles Chanteperdrix]

On Sun, Nov 15, 2015 at 08:53:14AM -0800, Mathieu Rondonneau wrote:
> From 2aa9fa2759a6bfafdac5b3355d2e827cee7c200f Mon Sep 17 00:00:00 2001
> From: Mathieu Rondonneau <mathieu.rondonneau@gmail.com>
> Date: Fri, 13 Nov 2015 20:59:49 -0800
> Subject: [PATCH] IPIPE patch for BCM2709.
> 
>  - kernel: https://github.com/raspberrypi/linux (rpi-3.18.y)
>    - 1bb18c8f721ef674a447f3622273f2e2de7a205c
>  - xenomai: git://git.xenomai.org/xenomai-3.git (stable-3.0.x)
>    - cb72996a06ae4f29e403e3397324069f1983145e
> ---
>  arch/arm/mach-bcm2709/armctrl.c                  |  4 ++++
>  arch/arm/mach-bcm2709/bcm2708_gpio.c             |  6 ++++--
>  arch/arm/mach-bcm2709/bcm2709.c                  |  9 +++++++++
>  arch/arm/mach-bcm2709/include/mach/entry-macro.S | 12 ++++++++++--
>  4 files changed, 27 insertions(+), 4 deletions(-)

The patch looks good to me.

-- 
					    Gilles.
https://click-hack.org

Re: [Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #3)

[Mathieu Rondonneau]

On 15-11-15 11:04 AM, Gilles Chanteperdrix wrote:
> On Sun, Nov 15, 2015 at 08:53:14AM -0800, Mathieu Rondonneau wrote:
>> From 2aa9fa2759a6bfafdac5b3355d2e827cee7c200f Mon Sep 17 00:00:00 2001
>> From: Mathieu Rondonneau <mathieu.rondonneau@gmail.com>
>> Date: Fri, 13 Nov 2015 20:59:49 -0800
>> Subject: [PATCH] IPIPE patch for BCM2709.
>>
>>  - kernel: https://github.com/raspberrypi/linux (rpi-3.18.y)
>>    - 1bb18c8f721ef674a447f3622273f2e2de7a205c
>>  - xenomai: git://git.xenomai.org/xenomai-3.git (stable-3.0.x)
>>    - cb72996a06ae4f29e403e3397324069f1983145e
>> ---
>>  arch/arm/mach-bcm2709/armctrl.c                  |  4 ++++
>>  arch/arm/mach-bcm2709/bcm2708_gpio.c             |  6 ++++--
>>  arch/arm/mach-bcm2709/bcm2709.c                  |  9 +++++++++
>>  arch/arm/mach-bcm2709/include/mach/entry-macro.S | 12 ++++++++++--
>>  4 files changed, 27 insertions(+), 4 deletions(-)
> 
> The patch looks good to me.
> 
Forgot Kconfig file change in the patch...
Will send version #4 shortly.