static void fun(long none)
{
volatile double s, a[MAXDIM], b[MAXDIM];
long msg;
RTIME period, wait_delay, sync_time, aim_time;
*worst_lat = -2000000000;
wait_delay = nano2count(WAIT_DELAY);
period = nano2count(PERIOD);
for(msg = 0; msg < MAXDIM; msg++) {
a[msg] = b[msg] = 3.141592;
}
rtai_cli();
aim_time = rt_get_time();
sync_time = aim_time + wait_delay;
aim_time += period;
while (!rt_receive_if(NULL, &msg)) {
WAIT_AIM_TIME();
sync_time = rt_get_time();
msg = abs((long)(sync_time - aim_time));
sync_time = aim_time + wait_delay;
aim_time += period;
if (msg > *worst_lat) {
*worst_lat = msg;
}
s = dot(a,b, MAXDIM);
rt_busy_sleep(WORKING_TIME);
rt_sleep_until(sync_time);
}
rtai_sti();
}
static void timer_handler(unsigned long data)
{
static int first;
if (!first) {
first = 1;
rtai_cli();
}
CHECK_FLAGS();
while ((ovr = rt_irq_wait_if(TIMER_IRQ)) > 0) {
if (ovr == RT_IRQ_TASK_ERR) return;
if (ovr > 0) {
/* overrun processing, if any, goes here */
rt_sem_signal(dspsem);
}
}
/* normal processing goes here */
intcnt++;
rtc_enable_irq(TIMER_IRQ, TIMER_FRQ);
rt_sem_signal(dspsem);
}
int rt_request_timers(void *rtai_time_handler)
{
int cpuid;
if (!rt_linux_hrt_next_shot) {
rt_linux_hrt_next_shot = _rt_linux_hrt_next_shot;
}
for (cpuid = 0; cpuid < num_active_cpus(); cpuid++) {
struct rt_times *rtimes;
int ret;
ret = ipipe_timer_start(rtai_time_handler, rt_linux_hrt_set_mode, rt_linux_hrt_next_shot, cpuid);
if (ret < 0 || ret == CLOCK_EVT_MODE_SHUTDOWN) {
printk("THE TIMERS REQUEST FAILED RETURNING %d FOR CPUID %d, FREEING ALL TIMERS.\n", ret, cpuid);
do {
ipipe_timer_stop(cpuid);
} while (--cpuid >= 0);
return -1;
}
rtimes = &rt_smp_times[cpuid];
if (ret == CLOCK_EVT_MODE_ONESHOT || ret == CLOCK_EVT_MODE_UNUSED) {
rtimes->linux_tick = 0;
} else {
rt_smp_times[0].linux_tick = rtai_llimd((1000000000 + HZ/2)/HZ, rtai_tunables.clock_freq, 1000000000);
}
rtimes->tick_time = rtai_rdtsc();
rtimes->intr_time = rtimes->tick_time + rtimes->linux_tick;
rtimes->linux_time = rtimes->tick_time + rtimes->linux_tick;
rtimes->periodic_tick = rtimes->linux_tick;
}
#if 0 // #ifndef CONFIG_X86_LOCAL_APIC, for calibrating 8254 with our set delay
rtai_cli();
outb(0x30, 0x43);
rt_set_timer_delay(rtai_tunables.clock_freq/50000);
rtai_sti();
#endif
return 0;
}
static void usi_cli(void)
{
rtai_cli();
}
static inline long long handle_lxrt_request (unsigned int lxsrq, long *arg, RT_TASK *task)
{
#define larg ((struct arg *)arg)
union {unsigned long name; RT_TASK *rt_task; SEM *sem; MBX *mbx; RWL *rwl; SPL *spl; int i; void *p; long long ll; } arg0;
int srq;
if (likely((srq = SRQ(lxsrq)) < MAX_LXRT_FUN)) {
unsigned long type;
struct rt_fun_entry *funcm;
/*
* The next two lines of code do a lot. It makes possible to extend the use of
* USP to any other real time module service in user space, both for soft and
* hard real time. Concept contributed and copyrighted by: Giuseppe Renoldi
* ([email protected]).
*/
if (unlikely(!(funcm = rt_fun_ext[INDX(lxsrq)]))) {
rt_printk("BAD: null rt_fun_ext, no module for extension %d?\n", INDX(lxsrq));
return -ENOSYS;
}
if (!(type = funcm[srq].type)) {
return ((RTAI_SYSCALL_MODE long long (*)(unsigned long, ...))funcm[srq].fun)(RTAI_FUN_ARGS);
}
if (unlikely(NEED_TO_RW(type))) {
lxrt_fun_call_wbuf(task, funcm[srq].fun, LXRT_NARG(lxsrq), arg, type);
} else {
lxrt_fun_call(task, funcm[srq].fun, LXRT_NARG(lxsrq), arg);
}
return task->retval;
}
arg0.name = arg[0];
switch (srq) {
case LXRT_GET_ADR: {
arg0.p = rt_get_adr(arg0.name);
return arg0.ll;
}
case LXRT_GET_NAME: {
arg0.name = rt_get_name(arg0.p);
return arg0.ll;
}
case LXRT_TASK_INIT: {
struct arg { unsigned long name; long prio, stack_size, max_msg_size, cpus_allowed; };
arg0.rt_task = __task_init(arg0.name, larg->prio, larg->stack_size, larg->max_msg_size, larg->cpus_allowed);
return arg0.ll;
}
case LXRT_TASK_DELETE: {
arg0.i = __task_delete(arg0.rt_task ? arg0.rt_task : task);
return arg0.ll;
}
case LXRT_SEM_INIT: {
if (rt_get_adr(arg0.name)) {
return 0;
}
if ((arg0.sem = rt_malloc(sizeof(SEM)))) {
struct arg { unsigned long name; long cnt; long typ; };
lxrt_typed_sem_init(arg0.sem, larg->cnt, larg->typ);
if (rt_register(larg->name, arg0.sem, IS_SEM, current)) {
return arg0.ll;
} else {
rt_free(arg0.sem);
}
}
return 0;
}
case LXRT_SEM_DELETE: {
if (lxrt_sem_delete(arg0.sem)) {
arg0.i = -EFAULT;
return arg0.ll;
}
rt_free(arg0.sem);
arg0.i = rt_drg_on_adr(arg0.sem);
return arg0.ll;
}
case LXRT_MBX_INIT: {
if (rt_get_adr(arg0.name)) {
return 0;
}
if ((arg0.mbx = rt_malloc(sizeof(MBX)))) {
struct arg { unsigned long name; long size; int qtype; };
if (lxrt_typed_mbx_init(arg0.mbx, larg->size, larg->qtype) < 0) {
rt_free(arg0.mbx);
return 0;
}
if (rt_register(larg->name, arg0.mbx, IS_MBX, current)) {
return arg0.ll;
} else {
rt_free(arg0.mbx);
}
}
return 0;
}
case LXRT_MBX_DELETE: {
if (lxrt_mbx_delete(arg0.mbx)) {
arg0.i = -EFAULT;
return arg0.ll;
}
rt_free(arg0.mbx);
arg0.i = rt_drg_on_adr(arg0.mbx);
return arg0.ll;
}
case LXRT_RWL_INIT: {
if (rt_get_adr(arg0.name)) {
return 0;
}
if ((arg0.rwl = rt_malloc(sizeof(RWL)))) {
struct arg { unsigned long name; long type; };
lxrt_typed_rwl_init(arg0.rwl, larg->type);
if (rt_register(larg->name, arg0.rwl, IS_SEM, current)) {
return arg0.ll;
} else {
rt_free(arg0.rwl);
}
}
return 0;
}
case LXRT_RWL_DELETE: {
if (lxrt_rwl_delete(arg0.rwl)) {
arg0.i = -EFAULT;
return arg0.ll;
}
rt_free(arg0.rwl);
arg0.i = rt_drg_on_adr(arg0.rwl);
return arg0.ll;
}
case LXRT_SPL_INIT: {
if (rt_get_adr(arg0.name)) {
return 0;
}
if ((arg0.spl = rt_malloc(sizeof(SPL)))) {
struct arg { unsigned long name; };
lxrt_spl_init(arg0.spl);
if (rt_register(larg->name, arg0.spl, IS_SEM, current)) {
return arg0.ll;
} else {
rt_free(arg0.spl);
}
}
return 0;
}
case LXRT_SPL_DELETE: {
if (lxrt_spl_delete(arg0.spl)) {
arg0.i = -EFAULT;
return arg0.ll;
}
rt_free(arg0.spl);
arg0.i = rt_drg_on_adr(arg0.spl);
return arg0.ll;
}
case MAKE_HARD_RT: {
rt_make_hard_real_time(task);
return 0;
if (!task || task->is_hard) {
return 0;
}
steal_from_linux(task);
return 0;
}
case MAKE_SOFT_RT: {
rt_make_soft_real_time(task);
return 0;
if (!task || !task->is_hard) {
return 0;
}
if (task->is_hard < 0) {
task->is_hard = 0;
} else {
give_back_to_linux(task, 0);
}
return 0;
}
case PRINT_TO_SCREEN: {
struct arg { char *display; long nch; };
arg0.i = rtai_print_to_screen("%s", larg->display);
return arg0.ll;
}
case PRINTK: {
struct arg { char *display; long nch; };
arg0.i = rt_printk("%s", larg->display);
return arg0.ll;
}
case NONROOT_HRT: {
#if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,24)
current->cap_effective |= ((1 << CAP_IPC_LOCK) |
(1 << CAP_SYS_RAWIO) |
(1 << CAP_SYS_NICE));
#else
set_lxrt_perm(CAP_IPC_LOCK);
set_lxrt_perm(CAP_SYS_RAWIO);
set_lxrt_perm(CAP_SYS_NICE);
#endif
return 0;
}
case RT_BUDDY: {
arg0.rt_task = task && rtai_tskext(current, TSKEXT1) == current ? task : NULL;
return arg0.ll;
}
case HRT_USE_FPU: {
struct arg { RT_TASK *task; long use_fpu; };
if(!larg->use_fpu) {
clear_lnxtsk_uses_fpu((larg->task)->lnxtsk);
} else {
init_fpu((larg->task)->lnxtsk);
}
return 0;
}
case GET_USP_FLAGS: {
arg0.name = arg0.rt_task->usp_flags;
return arg0.ll;
}
case SET_USP_FLAGS: {
struct arg { RT_TASK *task; unsigned long flags; };
arg0.rt_task->usp_flags = larg->flags;
arg0.rt_task->force_soft = (arg0.rt_task->is_hard > 0) && (larg->flags & arg0.rt_task->usp_flags_mask & FORCE_SOFT);
return 0;
}
case GET_USP_FLG_MSK: {
arg0.name = arg0.rt_task->usp_flags_mask;
return arg0.ll;
}
case SET_USP_FLG_MSK: {
task->usp_flags_mask = arg0.name;
task->force_soft = (task->is_hard > 0) && (task->usp_flags & arg0.name & FORCE_SOFT);
return 0;
}
case HARD_SOFT_TOGGLER: {
if (arg0.rt_task && arg0.rt_task->lnxtsk) {
return (arg0.rt_task->lnxtsk)->pid;
}
#ifdef CONFIG_RTAI_HARD_SOFT_TOGGLER
else if (task) {
rtai_cli();
if (task->is_hard > 0) {
rt_make_soft_real_time(task);
} else {
rt_make_hard_real_time(task);
}
rtai_sti();
}
#endif
return 0;
}
case IS_HARD: {
arg0.i = arg0.rt_task || (arg0.rt_task = rtai_tskext_t(current, TSKEXT0)) ? arg0.rt_task->is_hard : 0;
return arg0.ll;
}
case GET_EXECTIME: {
struct arg { RT_TASK *task; RTIME *exectime; };
rt_get_exectime(larg->task, larg->exectime);
return 0;
}
case NEXT_PERIOD: {
return rt_task_next_period();
}
case GET_TIMEORIG: {
struct arg { RTIME *time_orig; };
if (larg->time_orig) {
RTIME time_orig[2];
rt_gettimeorig(time_orig);
rt_copy_to_user(larg->time_orig, time_orig, sizeof(time_orig));
} else {
rt_gettimeorig(NULL);
}
return 0;
}
case LINUX_SERVER: {
struct arg { struct linux_syscalls_list syscalls; };
if (larg->syscalls.nr) {
if (larg->syscalls.task->linux_syscall_server) {
RT_TASK *serv;
rt_get_user(serv, &larg->syscalls.serv);
rt_task_masked_unblock(serv, ~RT_SCHED_READY);
}
larg->syscalls.task->linux_syscall_server = larg->syscalls.serv;
rtai_set_linux_task_priority(current, (larg->syscalls.task)->lnxtsk->policy, (larg->syscalls.task)->lnxtsk->rt_priority);
arg0.rt_task = __task_init((unsigned long)larg->syscalls.task, larg->syscalls.task->base_priority >= BASE_SOFT_PRIORITY ? larg->syscalls.task->base_priority - BASE_SOFT_PRIORITY : larg->syscalls.task->base_priority, 0, 0, 1 << larg->syscalls.task->runnable_on_cpus);
larg->syscalls.task->linux_syscall_server = arg0.rt_task;
arg0.rt_task->linux_syscall_server = larg->syscalls.serv;
return arg0.ll;
} else {
if (!larg->syscalls.task) {
larg->syscalls.task = RT_CURRENT;
}
if ((arg0.rt_task = larg->syscalls.task->linux_syscall_server)) {
larg->syscalls.task->linux_syscall_server = NULL;
arg0.rt_task->suspdepth = -RTE_HIGERR;
rt_task_masked_unblock(arg0.rt_task, ~RT_SCHED_READY);
}
}
return 0;
}
case KERNEL_CALIBRATOR: {
struct arg { long period, loops, Latency; };
#if CONFIG_RTAI_SCHED_LATENCY <= 1 || (RTAI_KERN_BUSY_ALIGN_RET_DELAY >= 0) || (RTAI_USER_BUSY_ALIGN_RET_DELAY >= 0)
extern int rt_smp_half_tick[];
int cpu;
rtai_tunables.sched_latency = rtai_imuldiv(abs((int)larg->Latency), rtai_tunables.clock_freq, 1000000000);
if (rtai_tunables.sched_latency < rtai_tunables.setup_time_TIMER_CPUNIT) {
rtai_tunables.sched_latency = rtai_tunables.setup_time_TIMER_CPUNIT;
}
for (cpu = 0; cpu < RTAI_NR_CPUS; cpu++) {
rt_smp_half_tick[cpu] = rtai_tunables.sched_latency/2;
}
#endif
return larg->Latency < 0 ? 0 : kernel_calibrator_spv(larg->period, larg->loops, task);
}
case GET_CPU_FREQ: {
extern struct calibration_data rtai_tunables;
return rtai_tunables.clock_freq;
}
default: {
rt_printk("RTAI/LXRT: Unknown srq #%d\n", srq);
arg0.i = -ENOSYS;
return arg0.ll;
}
}
return 0;
}
