[Xenomai] [PATCH] xenomai-3 on RPI2 with 4.1 kernel

Mathieu Rondonneau mathieu_rondonneau at hotmail.com
Sat Apr 16 06:53:59 CEST 2016


Hi All,

Just updating the rpi2 patch to run with 4.1 kernel.
No issue so far but did not do much stress test.

Any comment/improvement welcome.

Regards,
-Mathieu

>From 0062b1d3e4f2a30d7e6acd6d1848eb78e9c389d4 Mon Sep 17 00:00:00 2001
From: Mathieu Rondonneau <mathieu.rondonneau at gmail.com>
Date: Fri, 15 Apr 2016 21:36:54 -0700
Subject: [PATCH 1/1] Minimal changes to get xenomai-3 going on BCM2709.

---
 arch/arm/Kconfig                                 | 1 +
 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 | 8 ++++++++
 5 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/arch/arm/Kconfig b/arch/arm/Kconfig
index 5b894d6..d9a61ca 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -348,6 +348,7 @@ config ARCH_BCM2709
 	select MACH_BCM2709
 	select VC4
 	select FIQ
+	select IPIPE_ARM_KUSER_TSC if IPIPE
 	help
 	  This enables support for Broadcom BCM2709 boards.

diff --git a/arch/arm/mach-bcm2709/armctrl.c
b/arch/arm/mach-bcm2709/armctrl.c
index 90805a6..2e681d0 100644
--- a/arch/arm/mach-bcm2709/armctrl.c
+++ b/arch/arm/mach-bcm2709/armctrl.c
@@ -348,6 +348,10 @@ 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 e33265d..be827b4 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 e1934dc..fc66fce 100644
--- a/arch/arm/mach-bcm2709/bcm2709.c
+++ b/arch/arm/mach-bcm2709/bcm2709.c
@@ -1104,11 +1104,13 @@ 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)
 	{
@@ -1117,6 +1119,13 @@ 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 08d184c..53d3c46 100644
--- a/arch/arm/mach-bcm2709/include/mach/entry-macro.S
+++ b/arch/arm/mach-bcm2709/include/mach/entry-macro.S
@@ -52,8 +52,12 @@
 	dsb
 	mov	r1, sp
 	adr	lr, BSYM(1b)
+#ifdef CONFIG_IPIPE
+	b	__ipipe_grab_ipi
+#else
 	b	do_IPI
 #endif
+#endif
 1030:
 	/* check gpu interrupt */
 	tst	\tmp, #0x100
@@ -107,7 +111,11 @@
 	@ routine called with r0 = irq number, r1 = struct pt_regs *
 	@
 	adr	lr, BSYM(1b)
+#ifdef CONFIG_IPIPE
+	b	__ipipe_grab_irq
+#else
 	b	asm_do_IRQ
+#endif

 1020:	@ EQ will be set if no irqs pending
 	.endm
-- 
2.8.1



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