* [PATCH 0/3] Dovetail:
@ 2020-12-16 16:44 Philippe Gerum
2020-12-16 16:44 ` [PATCH 1/3] cobalt/kernel: substitute ipipe_processor_id() with raw_smp_processor_id() Philippe Gerum
` (3 more replies)
0 siblings, 4 replies; 5+ messages in thread
From: Philippe Gerum @ 2020-12-16 16:44 UTC (permalink / raw)
To: xenomai
From: Philippe Gerum <rpm@xenomai.org>
This series starts introducting an abstraction layer between the core
and the interrupt pipeline interface, either Dovetail or the legacy
I-pipe.
Although the goal is to enable Cobalt on top of Dovetail eventually,
we keep the ability to interface with the I-pipe using a build time
switch, in order to make it easier to pinpoint regressions by
comparing the behaviour of the common code based on the different
pipeline infrastructures.
Eventually, the Cobalt implementation should branch off at the
following points:
- kernel/cobalt/{ipipe, dovetail}/arch, the arch-specific
implementation which overwhelmingly depends on the pipeline flavour.
- kernel/cobalt/{ipipe, dovetail}, the generic Cobalt code calling
pipeline services.
- kernel/cobalt/include/{ipipe, dovetail}, the client glue types and
definitions pulled into some basic kernel types by the pipeline
implementation (e.g. the thread_info extension structure).
- include/cobalt/kernel/{ipipe, dovetail}, the generic Cobalt headers
depending on services and definitions the pipeline provides for.
We start with the machine-specific, IRQ management support.
Philippe Gerum (3):
cobalt/kernel: substitute ipipe_processor_id() with
raw_smp_processor_id()
cobalt/init: pipeline: abstract pipeline-specific inits
cobalt/intr: pipeline: IRQ management code is pipeline-specific
include/cobalt/kernel/assert.h | 2 +-
.../cobalt/kernel/ipipe/pipeline/machine.h | 71 ++++++++++
include/cobalt/kernel/lock.h | 4 +-
kernel/cobalt/Makefile | 3 +-
kernel/cobalt/arch/arm/thread.c | 10 +-
kernel/cobalt/arch/arm64/thread.c | 2 +-
kernel/cobalt/arch/x86/thread.c | 6 +-
kernel/cobalt/debug.c | 2 +-
.../include/asm-generic/xenomai/machine.h | 51 +-------
kernel/cobalt/init.c | 121 +-----------------
kernel/cobalt/ipipe/Makefile | 3 +
kernel/cobalt/ipipe/init.c | 116 +++++++++++++++++
kernel/cobalt/{ => ipipe}/intr.c | 0
scripts/prepare-kernel.sh | 2 +
14 files changed, 212 insertions(+), 181 deletions(-)
create mode 100644 include/cobalt/kernel/ipipe/pipeline/machine.h
create mode 100644 kernel/cobalt/ipipe/Makefile
create mode 100644 kernel/cobalt/ipipe/init.c
rename kernel/cobalt/{ => ipipe}/intr.c (100%)
--
2.26.2
^ permalink raw reply [flat|nested] 5+ messages in thread
* [PATCH 1/3] cobalt/kernel: substitute ipipe_processor_id() with raw_smp_processor_id()
2020-12-16 16:44 [PATCH 0/3] Dovetail: Philippe Gerum
@ 2020-12-16 16:44 ` Philippe Gerum
2020-12-16 16:44 ` [PATCH 2/3] cobalt/init: pipeline: abstract pipeline-specific inits Philippe Gerum
` (2 subsequent siblings)
3 siblings, 0 replies; 5+ messages in thread
From: Philippe Gerum @ 2020-12-16 16:44 UTC (permalink / raw)
To: xenomai
From: Philippe Gerum <rpm@xenomai.org>
raw_smp_processor_id() has been callable from any pipeline domain for
many moons now, there is no point in using the legacy
ipipe_processor_id() call anymore.
Signed-off-by: Philippe Gerum <rpm@xenomai.org>
---
include/cobalt/kernel/assert.h | 2 +-
include/cobalt/kernel/lock.h | 4 ++--
kernel/cobalt/arch/arm/thread.c | 10 +++++-----
kernel/cobalt/arch/arm64/thread.c | 2 +-
kernel/cobalt/arch/x86/thread.c | 6 +++---
kernel/cobalt/debug.c | 2 +-
6 files changed, 13 insertions(+), 13 deletions(-)
diff --git a/include/cobalt/kernel/assert.h b/include/cobalt/kernel/assert.h
index 86d0a480f..7c93b7e5c 100644
--- a/include/cobalt/kernel/assert.h
+++ b/include/cobalt/kernel/assert.h
@@ -60,7 +60,7 @@
#define primary_mode_only() XENO_BUG_ON(CONTEXT, ipipe_root_p)
#define secondary_mode_only() XENO_BUG_ON(CONTEXT, !ipipe_root_p)
#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 realtime_cpu_only() XENO_BUG_ON(CONTEXT, !xnsched_supported_cpu(raw_smp_processor_id()))
#define thread_only() XENO_BUG_ON(CONTEXT, xnsched_interrupt_p())
#define irqoff_only() XENO_BUG_ON(CONTEXT, hard_irqs_disabled() == 0)
#ifdef CONFIG_XENO_OPT_DEBUG_LOCKING
diff --git a/include/cobalt/kernel/lock.h b/include/cobalt/kernel/lock.h
index 4b1909f5a..bae047524 100644
--- a/include/cobalt/kernel/lock.h
+++ b/include/cobalt/kernel/lock.h
@@ -175,7 +175,7 @@ static inline void xnlock_init (struct xnlock *lock)
static inline int ____xnlock_get(struct xnlock *lock /*, */ XNLOCK_DBG_CONTEXT_ARGS)
{
- int cpu = ipipe_processor_id();
+ int cpu = raw_smp_processor_id();
unsigned long long start;
if (lock->owner == cpu)
@@ -242,7 +242,7 @@ static inline void __xnlock_put_irqrestore(struct xnlock *lock, spl_t flags
static inline int xnlock_is_owner(struct xnlock *lock)
{
if (__locking_active__)
- return lock->owner == ipipe_processor_id();
+ return lock->owner == raw_smp_processor_id();
return 1;
}
diff --git a/kernel/cobalt/arch/arm/thread.c b/kernel/cobalt/arch/arm/thread.c
index d3c2fed83..c68b5e3f4 100644
--- a/kernel/cobalt/arch/arm/thread.c
+++ b/kernel/cobalt/arch/arm/thread.c
@@ -78,7 +78,7 @@ static inline union vfp_state *get_fpu_owner(void)
return NULL;
#endif
- cpu = ipipe_processor_id();
+ cpu = raw_smp_processor_id();
vfp_owner = vfp_current_hw_state[cpu];
if (!vfp_owner)
return NULL;
@@ -214,8 +214,8 @@ void xnarch_leave_root(struct xnthread *root)
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();
-
+ unsigned cpu = raw_smp_processor_id();
+
if (xnthread_test_state(to, XNROOT) == 0) {
union vfp_state *const to_fpup = to->tcb.fpup;
unsigned fpexc = do_enable_vfp();
@@ -252,7 +252,7 @@ void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
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);
}
@@ -260,7 +260,7 @@ void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
}
}
-int xnarch_handle_fpu_fault(struct xnthread *from,
+int xnarch_handle_fpu_fault(struct xnthread *from,
struct xnthread *to, struct ipipe_trap_data *d)
{
if (xnthread_test_state(to, XNFPU))
diff --git a/kernel/cobalt/arch/arm64/thread.c b/kernel/cobalt/arch/arm64/thread.c
index 719c30a62..1068f80cc 100644
--- a/kernel/cobalt/arch/arm64/thread.c
+++ b/kernel/cobalt/arch/arm64/thread.c
@@ -90,7 +90,7 @@ void xnarch_switch_fpu(struct xnthread *from, struct xnthread *to)
fpsimd_save_state(from_fpup);
fpsimd_load_state(to_fpup);
- to_fpup->cpu = ipipe_processor_id();
+ to_fpup->cpu = raw_smp_processor_id();
}
void xnarch_init_shadow_tcb(struct xnthread *thread)
diff --git a/kernel/cobalt/arch/x86/thread.c b/kernel/cobalt/arch/x86/thread.c
index 1ed6acb46..f1f81b750 100644
--- a/kernel/cobalt/arch/x86/thread.c
+++ b/kernel/cobalt/arch/x86/thread.c
@@ -227,7 +227,7 @@ void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
if (!copy_fpregs_to_fpstate(prev_fpu))
prev_fpu->last_cpu = -1;
else
- prev_fpu->last_cpu = smp_processor_id();
+ prev_fpu->last_cpu = raw_smp_processor_id();
}
#endif
@@ -288,7 +288,7 @@ void xnarch_switch_to(struct xnthread *out, struct xnthread *in)
* PF_KTHREAD, i.e including kernel threads.
*/
struct fpu *fpu = ¤t->thread.fpu;
- int cpu = smp_processor_id();
+ int cpu = raw_smp_processor_id();
if (!fpregs_state_valid(fpu, cpu)) {
copy_kernel_to_fpregs(&fpu->state);
@@ -513,7 +513,7 @@ void xnarch_leave_root(struct xnthread *root)
#if LINUX_VERSION_CODE >= KERNEL_VERSION(5,2,0)
switch_fpu_finish(¤t->thread.fpu);
#else
- switch_fpu_finish(¤t->thread.fpu, smp_processor_id());
+ switch_fpu_finish(¤t->thread.fpu, raw_smp_processor_id());
#endif
#else
/* mark current thread as not owning the FPU anymore */
diff --git a/kernel/cobalt/debug.c b/kernel/cobalt/debug.c
index ddfecf813..12fc57289 100644
--- a/kernel/cobalt/debug.c
+++ b/kernel/cobalt/debug.c
@@ -577,7 +577,7 @@ int xnlock_dbg_release(struct xnlock *lock,
int cpu;
lock_time = xnclock_read_raw(&nkclock) - lock->lock_date;
- cpu = ipipe_processor_id();
+ cpu = raw_smp_processor_id();
stats = &per_cpu(xnlock_stats, cpu);
if (lock->file == NULL) {
--
2.26.2
^ permalink raw reply related [flat|nested] 5+ messages in thread
* [PATCH 2/3] cobalt/init: pipeline: abstract pipeline-specific inits
2020-12-16 16:44 [PATCH 0/3] Dovetail: Philippe Gerum
2020-12-16 16:44 ` [PATCH 1/3] cobalt/kernel: substitute ipipe_processor_id() with raw_smp_processor_id() Philippe Gerum
@ 2020-12-16 16:44 ` Philippe Gerum
2020-12-16 16:44 ` [PATCH 3/3] cobalt/intr: pipeline: IRQ management code is pipeline-specific Philippe Gerum
2020-12-17 17:22 ` [PATCH 0/3] Dovetail: Jan Kiszka
3 siblings, 0 replies; 5+ messages in thread
From: Philippe Gerum @ 2020-12-16 16:44 UTC (permalink / raw)
To: xenomai
From: Philippe Gerum <rpm@xenomai.org>
This is the initial step to enabling Dovetail for the Cobalt core,
which requires to introduce an abstraction layer between such core and
the interrupt pipeline interface, either Dovetail or the legacy
I-pipe.
Eventually, the Cobalt implementation which has to interface to the
underlying pipeline should branch off at the following points:
- kernel/cobalt/{ipipe, dovetail}/arch, the arch-specific
implementation which overwhelmingly depends on the pipeline flavour.
- kernel/cobalt/{ipipe, dovetail}, the generic Cobalt code calling
pipeline services.
- kernel/cobalt/include/{ipipe, dovetail}, the client glue types and
definitions pulled into some basic kernel types by the pipeline
implementation (e.g. the thread_info extension structure).
- include/cobalt/kernel/{ipipe, dovetail}, the generic Cobalt headers
depending on services and definitions the pipeline provides for.
We start the process by abstracting the machine-level init code which
depends on the pipeline flavour.
No functional change is introduced.
Signed-off-by: Philippe Gerum <rpm@xenomai.org>
---
.../cobalt/kernel/ipipe/pipeline/machine.h | 71 ++++++++++
kernel/cobalt/Makefile | 2 +-
.../include/asm-generic/xenomai/machine.h | 51 +-------
kernel/cobalt/init.c | 121 +-----------------
kernel/cobalt/ipipe/Makefile | 3 +
kernel/cobalt/ipipe/init.c | 116 +++++++++++++++++
scripts/prepare-kernel.sh | 2 +
7 files changed, 199 insertions(+), 167 deletions(-)
create mode 100644 include/cobalt/kernel/ipipe/pipeline/machine.h
create mode 100644 kernel/cobalt/ipipe/Makefile
create mode 100644 kernel/cobalt/ipipe/init.c
diff --git a/include/cobalt/kernel/ipipe/pipeline/machine.h b/include/cobalt/kernel/ipipe/pipeline/machine.h
new file mode 100644
index 000000000..4a434bc4d
--- /dev/null
+++ b/include/cobalt/kernel/ipipe/pipeline/machine.h
@@ -0,0 +1,71 @@
+/*
+ * SPDX-License-Identifier: GPL-2.0
+ *
+ * Copyright (C) 2019 Philippe Gerum <rpm@xenomai.org>
+ */
+
+#ifndef _COBALT_KERNEL_IPIPE_MACHINE_H
+#define _COBALT_KERNEL_IPIPE_MACHINE_H
+
+#include <linux/ipipe.h>
+#include <linux/percpu.h>
+
+#ifdef CONFIG_IPIPE_TRACE
+#define boot_lat_trace_notice "[LTRACE]"
+#else
+#define boot_lat_trace_notice ""
+#endif
+
+struct vm_area_struct;
+
+struct cobalt_machine {
+ const char *name;
+ int (*init)(void);
+ int (*late_init)(void);
+ void (*cleanup)(void);
+ void (*prefault)(struct vm_area_struct *vma);
+ unsigned long (*calibrate)(void);
+ const char *const *fault_labels;
+};
+
+extern struct cobalt_machine cobalt_machine;
+
+struct cobalt_machine_cpudata {
+ unsigned long apc_pending;
+ unsigned long apc_shots[BITS_PER_LONG];
+ unsigned int faults[IPIPE_NR_FAULTS];
+};
+
+DECLARE_PER_CPU(struct cobalt_machine_cpudata, cobalt_machine_cpudata);
+
+struct cobalt_pipeline {
+ struct ipipe_domain domain;
+ unsigned long timer_freq;
+ unsigned long clock_freq;
+ unsigned int apc_virq;
+ unsigned long apc_map;
+ unsigned int escalate_virq;
+ struct {
+ void (*handler)(void *cookie);
+ void *cookie;
+ const char *name;
+ } apc_table[BITS_PER_LONG];
+#ifdef CONFIG_SMP
+ cpumask_t supported_cpus;
+#endif
+};
+
+static inline unsigned long xnarch_timer_calibrate(void)
+{
+ return cobalt_machine.calibrate();
+}
+
+int pipeline_init(void);
+
+int pipeline_late_init(void);
+
+void pipeline_cleanup(void);
+
+extern struct cobalt_pipeline cobalt_pipeline;
+
+#endif /* !_COBALT_KERNEL_IPIPE_MACHINE_H */
diff --git a/kernel/cobalt/Makefile b/kernel/cobalt/Makefile
index 6e1cebefc..7dfcae084 100644
--- a/kernel/cobalt/Makefile
+++ b/kernel/cobalt/Makefile
@@ -1,4 +1,4 @@
-obj-$(CONFIG_XENOMAI) += xenomai.o rtdm/ posix/
+obj-$(CONFIG_XENOMAI) += pipeline/ xenomai.o rtdm/ posix/
xenomai-y := apc.o \
arith.o \
diff --git a/kernel/cobalt/include/asm-generic/xenomai/machine.h b/kernel/cobalt/include/asm-generic/xenomai/machine.h
index 25764f989..f45e523df 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/machine.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/machine.h
@@ -19,56 +19,7 @@
#ifndef _COBALT_ASM_GENERIC_MACHINE_H
#define _COBALT_ASM_GENERIC_MACHINE_H
-#include <linux/ipipe.h>
-#include <linux/percpu.h>
-#include <asm/byteorder.h>
-#include <asm/xenomai/wrappers.h>
-
-struct vm_area_struct;
-
-struct cobalt_machine {
- const char *name;
- int (*init)(void);
- int (*late_init)(void);
- void (*cleanup)(void);
- void (*prefault)(struct vm_area_struct *vma);
- unsigned long (*calibrate)(void);
- const char *const *fault_labels;
-};
-
-extern struct cobalt_machine cobalt_machine;
-
-struct cobalt_machine_cpudata {
- unsigned long apc_pending;
- unsigned long apc_shots[BITS_PER_LONG];
- unsigned int faults[IPIPE_NR_FAULTS];
-};
-
-DECLARE_PER_CPU(struct cobalt_machine_cpudata, cobalt_machine_cpudata);
-
-struct cobalt_pipeline {
- struct ipipe_domain domain;
- unsigned long timer_freq;
- unsigned long clock_freq;
- unsigned int apc_virq;
- unsigned long apc_map;
- unsigned int escalate_virq;
- struct {
- void (*handler)(void *cookie);
- void *cookie;
- const char *name;
- } apc_table[BITS_PER_LONG];
-#ifdef CONFIG_SMP
- cpumask_t supported_cpus;
-#endif
-};
-
-extern struct cobalt_pipeline cobalt_pipeline;
-
-static inline unsigned long xnarch_timer_calibrate(void)
-{
- return cobalt_machine.calibrate();
-}
+#include <pipeline/machine.h>
#ifndef xnarch_cache_aliasing
#define xnarch_cache_aliasing() 0
diff --git a/kernel/cobalt/init.c b/kernel/cobalt/init.c
index dbe321c3b..94b653350 100644
--- a/kernel/cobalt/init.c
+++ b/kernel/cobalt/init.c
@@ -18,14 +18,12 @@
*/
#include <linux/init.h>
#include <linux/module.h>
-#include <linux/ipipe_tickdev.h>
#include <xenomai/version.h>
+#include <pipeline/machine.h>
#include <cobalt/kernel/sched.h>
-#include <cobalt/kernel/clock.h>
#include <cobalt/kernel/timer.h>
#include <cobalt/kernel/heap.h>
#include <cobalt/kernel/intr.h>
-#include <cobalt/kernel/apc.h>
#include <cobalt/kernel/ppd.h>
#include <cobalt/kernel/pipe.h>
#include <cobalt/kernel/select.h>
@@ -47,12 +45,6 @@
* 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);
-
#ifdef CONFIG_SMP
static unsigned long supported_cpus_arg = -1;
module_param_named(supported_cpus, supported_cpus_arg, ulong, 0444);
@@ -86,12 +78,6 @@ EXPORT_SYMBOL_GPL(cobalt_kernel_ppd);
#define boot_debug_notice ""
#endif
-#ifdef CONFIG_IPIPE_TRACE
-#define boot_lat_trace_notice "[LTRACE]"
-#else
-#define boot_lat_trace_notice ""
-#endif
-
#ifdef CONFIG_ENABLE_DEFAULT_TRACERS
#define boot_evt_trace_notice "[ETRACE]"
#else
@@ -134,103 +120,6 @@ static void sys_shutdown(void)
xnheap_vfree(membase);
}
-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;
-
- if (clockfreq_arg == 0)
- clockfreq_arg = sysinfo.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)
- return ret;
- }
-
- ipipe_register_head(&xnsched_realtime_domain, "Xenomai");
-
- ret = -EBUSY;
- virq = ipipe_alloc_virq();
- if (virq == 0)
- goto fail_apc;
-
- cobalt_pipeline.apc_virq = virq;
-
- ipipe_request_irq(ipipe_root_domain,
- cobalt_pipeline.apc_virq,
- apc_dispatch,
- NULL, NULL);
-
- virq = ipipe_alloc_virq();
- if (virq == 0)
- goto fail_escalate;
-
- 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 = xnclock_init(cobalt_pipeline.clock_freq);
- if (ret)
- goto fail_clock;
-
- 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);
-
- if (cobalt_machine.cleanup)
- cobalt_machine.cleanup();
-
- return ret;
-}
-
-static inline int __init mach_late_setup(void)
-{
- if (cobalt_machine.late_init)
- return cobalt_machine.late_init();
-
- return 0;
-}
-
-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();
-}
-
static struct {
const char *label;
enum cobalt_run_states state;
@@ -239,7 +128,7 @@ static struct {
{ "stopped", COBALT_STATE_STOPPED },
{ "enabled", COBALT_STATE_WARMUP },
};
-
+
static void __init setup_init_state(void)
{
static char warn_bad_state[] __initdata =
@@ -321,7 +210,7 @@ static int __init xenomai_init(void)
if (ret)
goto fail;
- ret = mach_setup();
+ ret = pipeline_init();
if (ret)
goto cleanup_proc;
@@ -339,7 +228,7 @@ static int __init xenomai_init(void)
if (ret)
goto cleanup_select;
- ret = mach_late_setup();
+ ret = pipeline_late_init();
if (ret)
goto cleanup_sys;
@@ -371,7 +260,7 @@ cleanup_select:
cleanup_pipe:
xnpipe_umount();
cleanup_mach:
- mach_cleanup();
+ pipeline_cleanup();
cleanup_proc:
xnprocfs_cleanup_tree();
fail:
diff --git a/kernel/cobalt/ipipe/Makefile b/kernel/cobalt/ipipe/Makefile
new file mode 100644
index 000000000..a395923a1
--- /dev/null
+++ b/kernel/cobalt/ipipe/Makefile
@@ -0,0 +1,3 @@
+obj-y += pipeline.o
+
+pipeline-y := init.o
diff --git a/kernel/cobalt/ipipe/init.c b/kernel/cobalt/ipipe/init.c
new file mode 100644
index 000000000..4d7ac04de
--- /dev/null
+++ b/kernel/cobalt/ipipe/init.c
@@ -0,0 +1,116 @@
+/*
+ * SPDX-License-Identifier: GPL-2.0
+ *
+ * Copyright (C) 2019 Philippe Gerum <rpm@xenomai.org>
+ */
+
+#include <linux/init.h>
+#include <linux/module.h>
+#include <pipeline/machine.h>
+#include <linux/ipipe_tickdev.h>
+#include <cobalt/kernel/sched.h>
+#include <cobalt/kernel/clock.h>
+#include <cobalt/kernel/apc.h>
+
+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);
+
+int __init pipeline_init(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;
+
+ if (clockfreq_arg == 0)
+ clockfreq_arg = sysinfo.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)
+ return ret;
+ }
+
+ ipipe_register_head(&xnsched_realtime_domain, "Xenomai");
+
+ ret = -EBUSY;
+ virq = ipipe_alloc_virq();
+ if (virq == 0)
+ goto fail_apc;
+
+ cobalt_pipeline.apc_virq = virq;
+
+ ipipe_request_irq(ipipe_root_domain,
+ cobalt_pipeline.apc_virq,
+ apc_dispatch,
+ NULL, NULL);
+
+ virq = ipipe_alloc_virq();
+ if (virq == 0)
+ goto fail_escalate;
+
+ 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 = xnclock_init(cobalt_pipeline.clock_freq);
+ if (ret)
+ goto fail_clock;
+
+ 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);
+
+ if (cobalt_machine.cleanup)
+ cobalt_machine.cleanup();
+
+ return ret;
+}
+
+int __init pipeline_late_init(void)
+{
+ if (cobalt_machine.late_init)
+ return cobalt_machine.late_init();
+
+ return 0;
+}
+
+__init void pipeline_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();
+}
diff --git a/scripts/prepare-kernel.sh b/scripts/prepare-kernel.sh
index 3ff9433d2..1b5fb427d 100755
--- a/scripts/prepare-kernel.sh
+++ b/scripts/prepare-kernel.sh
@@ -425,9 +425,11 @@ patch_link r n kernel/cobalt/include/asm-generic/xenomai include/asm-generic/xen
patch_link r n kernel/cobalt/include/linux/xenomai include/linux/xenomai
patch_link n m kernel/cobalt/posix kernel/xenomai/posix
patch_link n m kernel/cobalt/rtdm kernel/xenomai/rtdm
+patch_link n m kernel/cobalt/ipipe kernel/xenomai/pipeline
patch_link r m kernel/drivers drivers/xenomai
patch_link n n include/cobalt/kernel include/xenomai/cobalt/kernel
patch_link r n include/cobalt/kernel/rtdm include/xenomai/rtdm
+patch_link r n include/cobalt/kernel/ipipe/pipeline include/xenomai/pipeline
patch_link r n include/cobalt/uapi include/xenomai/cobalt/uapi
patch_link r n include/rtdm/uapi include/xenomai/rtdm/uapi
patch_link n version.h include/xenomai include/xenomai
--
2.26.2
^ permalink raw reply related [flat|nested] 5+ messages in thread
* [PATCH 3/3] cobalt/intr: pipeline: IRQ management code is pipeline-specific
2020-12-16 16:44 [PATCH 0/3] Dovetail: Philippe Gerum
2020-12-16 16:44 ` [PATCH 1/3] cobalt/kernel: substitute ipipe_processor_id() with raw_smp_processor_id() Philippe Gerum
2020-12-16 16:44 ` [PATCH 2/3] cobalt/init: pipeline: abstract pipeline-specific inits Philippe Gerum
@ 2020-12-16 16:44 ` Philippe Gerum
2020-12-17 17:22 ` [PATCH 0/3] Dovetail: Jan Kiszka
3 siblings, 0 replies; 5+ messages in thread
From: Philippe Gerum @ 2020-12-16 16:44 UTC (permalink / raw)
To: xenomai
From: Philippe Gerum <rpm@xenomai.org>
The way we request and manage interrupts depends on the underlying
pipeline interface.
As a matter of fact, Dovetail already deals with most of the logic
implemented by the xnintr layer, such as edge/level shared IRQs, fully
reusing the regular genirq interface for management. IRQ handlers with
Dovetail have regular signatures as well.
For the time being, let's move the entire xnintr layer to the I-pipe
specific section created earlier. We should be able to design the
abstract interface to IRQ management after this layer for the most
part, which we would connect to Dovetail eventually.
No functional change is introduced.
Signed-off-by: Philippe Gerum <rpm@xenomai.org>
---
kernel/cobalt/Makefile | 1 -
kernel/cobalt/ipipe/Makefile | 2 +-
kernel/cobalt/{ => ipipe}/intr.c | 0
3 files changed, 1 insertion(+), 2 deletions(-)
rename kernel/cobalt/{ => ipipe}/intr.c (100%)
diff --git a/kernel/cobalt/Makefile b/kernel/cobalt/Makefile
index 7dfcae084..de3ae1bfc 100644
--- a/kernel/cobalt/Makefile
+++ b/kernel/cobalt/Makefile
@@ -6,7 +6,6 @@ xenomai-y := apc.o \
clock.o \
heap.o \
init.o \
- intr.o \
lock.o \
registry.o \
sched-idle.o \
diff --git a/kernel/cobalt/ipipe/Makefile b/kernel/cobalt/ipipe/Makefile
index a395923a1..6021008fb 100644
--- a/kernel/cobalt/ipipe/Makefile
+++ b/kernel/cobalt/ipipe/Makefile
@@ -1,3 +1,3 @@
obj-y += pipeline.o
-pipeline-y := init.o
+pipeline-y := init.o intr.o
diff --git a/kernel/cobalt/intr.c b/kernel/cobalt/ipipe/intr.c
similarity index 100%
rename from kernel/cobalt/intr.c
rename to kernel/cobalt/ipipe/intr.c
--
2.26.2
^ permalink raw reply related [flat|nested] 5+ messages in thread
* Re: [PATCH 0/3] Dovetail:
2020-12-16 16:44 [PATCH 0/3] Dovetail: Philippe Gerum
` (2 preceding siblings ...)
2020-12-16 16:44 ` [PATCH 3/3] cobalt/intr: pipeline: IRQ management code is pipeline-specific Philippe Gerum
@ 2020-12-17 17:22 ` Jan Kiszka
3 siblings, 0 replies; 5+ messages in thread
From: Jan Kiszka @ 2020-12-17 17:22 UTC (permalink / raw)
To: Philippe Gerum, xenomai
On 16.12.20 17:44, Philippe Gerum wrote:
> From: Philippe Gerum <rpm@xenomai.org>
>
> This series starts introducting an abstraction layer between the core
> and the interrupt pipeline interface, either Dovetail or the legacy
> I-pipe.
>
> Although the goal is to enable Cobalt on top of Dovetail eventually,
> we keep the ability to interface with the I-pipe using a build time
> switch, in order to make it easier to pinpoint regressions by
> comparing the behaviour of the common code based on the different
> pipeline infrastructures.
>
> Eventually, the Cobalt implementation should branch off at the
> following points:
>
> - kernel/cobalt/{ipipe, dovetail}/arch, the arch-specific
> implementation which overwhelmingly depends on the pipeline flavour.
>
> - kernel/cobalt/{ipipe, dovetail}, the generic Cobalt code calling
> pipeline services.
>
> - kernel/cobalt/include/{ipipe, dovetail}, the client glue types and
> definitions pulled into some basic kernel types by the pipeline
> implementation (e.g. the thread_info extension structure).
>
> - include/cobalt/kernel/{ipipe, dovetail}, the generic Cobalt headers
> depending on services and definitions the pipeline provides for.
>
> We start with the machine-specific, IRQ management support.
>
> Philippe Gerum (3):
> cobalt/kernel: substitute ipipe_processor_id() with
> raw_smp_processor_id()
> cobalt/init: pipeline: abstract pipeline-specific inits
> cobalt/intr: pipeline: IRQ management code is pipeline-specific
>
> include/cobalt/kernel/assert.h | 2 +-
> .../cobalt/kernel/ipipe/pipeline/machine.h | 71 ++++++++++
> include/cobalt/kernel/lock.h | 4 +-
> kernel/cobalt/Makefile | 3 +-
> kernel/cobalt/arch/arm/thread.c | 10 +-
> kernel/cobalt/arch/arm64/thread.c | 2 +-
> kernel/cobalt/arch/x86/thread.c | 6 +-
> kernel/cobalt/debug.c | 2 +-
> .../include/asm-generic/xenomai/machine.h | 51 +-------
> kernel/cobalt/init.c | 121 +-----------------
> kernel/cobalt/ipipe/Makefile | 3 +
> kernel/cobalt/ipipe/init.c | 116 +++++++++++++++++
> kernel/cobalt/{ => ipipe}/intr.c | 0
> scripts/prepare-kernel.sh | 2 +
> 14 files changed, 212 insertions(+), 181 deletions(-)
> create mode 100644 include/cobalt/kernel/ipipe/pipeline/machine.h
> create mode 100644 kernel/cobalt/ipipe/Makefile
> create mode 100644 kernel/cobalt/ipipe/init.c
> rename kernel/cobalt/{ => ipipe}/intr.c (100%)
>
Thanks, all applied to next.
Jan
--
Siemens AG, T RDA IOT
Corporate Competence Center Embedded Linux
^ permalink raw reply [flat|nested] 5+ messages in thread
end of thread, other threads:[~2020-12-17 17:22 UTC | newest]
Thread overview: 5+ messages (download: mbox.gz / follow: Atom feed)
-- links below jump to the message on this page --
2020-12-16 16:44 [PATCH 0/3] Dovetail: Philippe Gerum
2020-12-16 16:44 ` [PATCH 1/3] cobalt/kernel: substitute ipipe_processor_id() with raw_smp_processor_id() Philippe Gerum
2020-12-16 16:44 ` [PATCH 2/3] cobalt/init: pipeline: abstract pipeline-specific inits Philippe Gerum
2020-12-16 16:44 ` [PATCH 3/3] cobalt/intr: pipeline: IRQ management code is pipeline-specific Philippe Gerum
2020-12-17 17:22 ` [PATCH 0/3] Dovetail: Jan Kiszka
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