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00020 #ifndef _RTAI_ASM_PPC_RTAI_H_
00021 #define _RTAI_ASM_PPC_RTAI_H_
00022
00023 #include <rtai_types.h>
00024
00025
00026 #define LATENCY_DECR 2500
00027 #define SETUP_TIME_DECR 500
00028
00029
00030 #define CPU_FREQ (tuned.cpu_freq)
00031 #define FREQ_DECR CPU_FREQ
00032 #define CALIBRATED_CPU_FREQ 0 // Use this if you know better than Linux!
00033
00034
00035 #define FREQ_8254 FREQ_DECR
00036 #define FREQ_APIC FREQ_DECR
00037 #define LATENCY_8254 3000
00038 #define SETUP_TIME_8254 500
00039 #define TIMER_8254_IRQ 0xFFFFFFFF
00040
00041 #define IFLAG 15
00042
00043 #define RTAI_NR_TRAPS 32
00044
00045
00046 #define RTAI_1_IPI 6
00047 #define RTAI_2_IPI 7
00048 #define RTAI_3_IPI 8
00049 #define RTAI_4_IPI 9
00050
00051 #define RTAI_1_VECTOR 0xD9
00052 #define RTAI_2_VECTOR 0xE1
00053 #define RTAI_3_VECTOR 0xE9
00054 #define RTAI_4_VECTOR 0xF1
00055
00056 #define RT_TIME_END 0x7FFFFFFFFFFFFFFFLL
00057
00058 #ifdef INLINE_MATH
00059 unsigned long long ullmul(unsigned long m0, unsigned long m1);
00060 unsigned long long ulldiv(unsigned long long ull, unsigned long uld, unsigned long *r);
00061 int imuldiv(int i, int mult, int div);
00062 unsigned long long llimd(unsigned long long ull, unsigned long mult, unsigned long div);
00063 #else
00064
00065 static inline unsigned long long ullmul(unsigned long m0, unsigned long m1)
00066 {
00067 unsigned long long res;
00068
00069 __asm__ __volatile__ ("mulhwu %0, %1, %2"
00070 : "=r" (((unsigned long *)&res)[0]) : "%r" (m0), "r" (m1));
00071 ((unsigned long *)&res)[1] = m0*m1;
00072
00073 return res;
00074
00075 }
00076
00077
00078 static inline unsigned long long ulldiv(unsigned long long ull, unsigned long uld, unsigned long *r)
00079 {
00080 unsigned long long q, rf;
00081 unsigned long qh, rh, ql, qf;
00082
00083 q = 0;
00084 rf = (unsigned long long)(0xFFFFFFFF - (qf = 0xFFFFFFFF / uld) * uld) + 1ULL;
00085
00086 while (ull >= uld) {
00087 ((unsigned long *)&q)[0] += (qh = ((unsigned long *)&ull)[0] / uld);
00088 rh = ((unsigned long *)&ull)[0] - qh * uld;
00089 q += rh * (unsigned long long)qf + (ql = ((unsigned long *)&ull)[1] / uld);
00090 ull = rh * rf + (((unsigned long *)&ull)[1] - ql * uld);
00091 }
00092
00093 *r = ull;
00094 return q;
00095 }
00096
00097 static inline int imuldiv(int i, int mult, int div)
00098 {
00099 unsigned long q, r;
00100
00101 q = ulldiv(ullmul(i, mult), div, &r);
00102
00103 return (r + r) > div ? q + 1 : q;
00104 }
00105
00106 static inline unsigned long long llimd(unsigned long long ull, unsigned long mult, unsigned long div)
00107 {
00108 unsigned long long low;
00109 unsigned long q, r;
00110
00111 low = ullmul(((unsigned long *)&ull)[1], mult);
00112 q = ulldiv( ullmul(((unsigned long *)&ull)[0], mult) + ((unsigned long *)&low)[0], div, (unsigned long *)&low);
00113 low = ulldiv(low, div, &r);
00114 ((unsigned long *)&low)[0] += q;
00115
00116 return (r + r) > div ? low + 1 : low;
00117 }
00118 #endif
00119
00120 #ifdef __KERNEL__
00121
00122 #ifndef __cplusplus
00123 #include <linux/types.h>
00124 #include <linux/rtc.h>
00125 #include <asm/time.h>
00126 #include <linux/kernel.h>
00127 #include <linux/smp.h>
00128 #include <linux/irq.h>
00129 #include <asm/page.h>
00130 #include <asm/ptrace.h>
00131 #include <asm/hw_irq.h>
00132 #include <asm/processor.h>
00133 #include <asm/bitops.h>
00134 #include <asm/rtai_fpu.h>
00135 #include <asm/rtai_atomic.h>
00136 #endif
00137
00138
00139 #if defined(CONFIG_PPC)
00140 #define LPT_OUTB(v) do { } while (0)
00141 #else
00142 #define LPT_OUTB(v) do { outb(v,0x378); } while(0)
00143 #endif
00144
00145 struct apic_timer_setup_data { int mode, count; };
00146
00147 struct desc_struct { void *fun; };
00148
00149 extern unsigned volatile int *locked_cpus;
00150
00151 extern void send_ipi_shorthand(unsigned int shorthand, int irq);
00152 extern void send_ipi_logical(unsigned long dest, int irq);
00153 #define rt_assign_irq_to_cpu(irq, cpu)
00154 #define rt_reset_irq_to_sym_mode(irq)
00155 extern int rt_request_global_irq(unsigned int irq, void (*handler)(unsigned int irq));
00156 extern int rt_request_global_irq_arg(unsigned int irq,
00157 int (*handler)(int,void *,struct pt_regs *),
00158 unsigned long flags,const char *dev,void *dev_id);
00159 extern int rt_request_global_irq_ext(unsigned int irq,
00160 int (*handler)(unsigned int irq, unsigned long handler),
00161 unsigned long data);
00162 extern void rt_set_global_irq_ext(unsigned int irq, int ext, unsigned long data);
00163 extern int rt_free_global_irq(unsigned int irq);
00164 extern void rt_ack_irq(unsigned int irq);
00165 extern void rt_mask_and_ack_irq(unsigned int irq);
00166 extern void rt_unmask_irq(unsigned int irq);
00167 extern unsigned int rt_startup_irq(unsigned int irq);
00168 extern void rt_shutdown_irq(unsigned int irq);
00169 extern void rt_enable_irq(unsigned int irq);
00170 extern void rt_disable_irq(unsigned int irq);
00171 extern int rt_request_linux_irq(unsigned int irq,
00172 void (*linux_handler)(int irq, void *dev_id, struct pt_regs *regs),
00173 char *linux_handler_id, void *dev_id);
00174 extern int rt_free_linux_irq(unsigned int irq, void *dev_id);
00175 extern void rt_pend_linux_irq(unsigned int irq);
00176 extern void rt_tick_linux_timer(void);
00177 extern struct desc_struct rt_set_full_intr_vect(unsigned int vector, int type, int dpl, void *handler);
00178 extern void rt_reset_full_intr_vect(unsigned int vector, struct desc_struct idt_element);
00179 #define rt_set_intr_handler(vector, handler) ((void *)0)
00180 #define rt_reset_intr_handler(vector, handler)
00181 extern int rt_request_srq(unsigned int label, void (*rtai_handler)(void), long long (*user_handler)(unsigned int whatever));
00182 extern int rt_free_srq(unsigned int srq);
00183 extern void rt_pend_linux_srq(unsigned int srq);
00184 #define rt_request_cpu_own_irq(irq, handler) rt_request_global_irq((irq), (handler))
00185 #define rt_free_cpu_own_irq(irq) rt_free_global_irq((irq))
00186 extern void rt_request_timer(void (*handler)(void), unsigned int tick, int apic);
00187 extern void rt_free_timer(void);
00188 extern void rt_request_apic_timers(void (*handler)(void), struct apic_timer_setup_data *apic_timer_data);
00189 extern void rt_free_apic_timers(void);
00190 extern void rt_mount_rtai(void);
00191 extern void rt_umount_rtai(void);
00192 extern int rt_printk(const char *format, ...);
00193 extern int rtai_print_to_screen(const char *format, ...);
00194 extern void rt_switch_to_linux(int cpuid);
00195 extern void rt_switch_to_real_time(int cpuid);
00196
00197 #ifndef DEBUG_FLAGS
00198 #define debug_flags_set(ptr,a)
00199 #define debug_flags_check(ptr)
00200 #else
00201 void debug_flags_set(void *ptr,unsigned long flags);
00202 void debug_flags_check(void *ptr);
00203 #endif
00204
00205 static inline void hard_cli(void)
00206 {
00207 debug_flags_set(__builtin_return_address(0),0);
00208 __asm__ __volatile__ (
00209 "\tmfmsr 0\n"
00210
00211 "\trlwinm 0,0,0,17,15\n"
00212 "\tmtmsr 0\n"
00213 : : : "r0"
00214 );
00215 }
00216
00217
00218 static inline void hard_restore_flags(unsigned long flags)
00219 {
00220 debug_flags_set(__builtin_return_address(0),flags);
00221 __asm__ __volatile__ (
00222 "\tmfmsr 0\n"
00223 "\trlwimi %0,0,0,17,15\n"
00224 "\tmtmsr %0\n"
00225 : : "r" (flags) : "r0"
00226 );
00227 }
00228
00229 static inline void hard_sti(void)
00230 {
00231 debug_flags_set(__builtin_return_address(0),MSR_EE);
00232 __asm__ __volatile__ (
00233 "\tmfmsr 0\n"
00234 "\tori 0,0,(1<<15)\n"
00235 "\tmtmsr 0\n"
00236 : : : "r0"
00237 );
00238 }
00239
00240 static inline void __hard_save_flags(unsigned long *flags)
00241 {
00242 __asm__ __volatile__ (
00243 "\tmfmsr %0\n"
00244 : "=r" (*flags)
00245 );
00246 }
00247
00248 #define hard_save_flags(flags) do { __hard_save_flags(&(flags)); } while (0)
00249 #define hard_save_flags_and_cli(flags) do { __hard_save_flags(&(flags)); hard_cli(); } while (0)
00250
00251 #ifdef CONFIG_SMP
00252
00253 #define rt_spin_lock(lock) spin_lock((lock))
00254
00255 #define rt_spin_unlock(lock) spin_unlock((lock))
00256
00257 #define hard_cpu_id() hard_smp_processor_id()
00258
00259 static inline void rt_get_global_lock(void)
00260 {
00261 hard_cli();
00262 if (!test_and_set_bit(hard_cpu_id(), locked_cpus)) {
00263 while (test_and_set_bit(31, locked_cpus));
00264 }
00265 }
00266
00267 static inline void rt_release_global_lock(void)
00268 {
00269 hard_cli();
00270 if (test_and_clear_bit(hard_cpu_id(), locked_cpus)) {
00271 clear_bit(31, locked_cpus);
00272 }
00273 }
00274
00275
00276
00277
00278
00279
00280
00281
00282
00283 #define NR_RT_CPUS 2
00284
00285 #else
00286
00287 #define rt_spin_lock(whatever)
00288 #define rt_spin_unlock(whatever)
00289
00290 #define rt_get_global_lock() hard_cli()
00291 #define rt_release_global_lock()
00292
00293 #define hard_cpu_id() 0
00294
00295 #define NR_RT_CPUS 1
00296
00297 #endif
00298
00299 static inline void rt_spin_lock_irq(spinlock_t *lock)
00300 {
00301 hard_cli();
00302 rt_spin_lock(lock);
00303 }
00304
00305 static inline void rt_spin_unlock_irq(spinlock_t *lock)
00306 {
00307 rt_spin_unlock(lock);
00308 hard_sti();
00309 }
00310
00311
00312
00313
00314
00315
00316
00317
00318 static inline unsigned int rt_spin_lock_irqsave(spinlock_t *lock)
00319 {
00320 unsigned long flags;
00321 hard_save_flags_and_cli(flags);
00322 rt_spin_lock(lock);
00323 return flags;
00324 }
00325
00326 static inline void rt_spin_unlock_irqrestore(unsigned long flags, spinlock_t *lock)
00327 {
00328 rt_spin_unlock(lock);
00329 hard_restore_flags(flags);
00330 }
00331
00332
00333
00334
00335 static inline void rt_global_cli(void)
00336 {
00337 rt_get_global_lock();
00338 }
00339
00340 static inline void rt_global_sti(void)
00341 {
00342 rt_release_global_lock();
00343 hard_sti();
00344 }
00345
00346 static inline int rt_global_save_flags_and_cli(void)
00347 {
00348 unsigned long flags;
00349
00350 hard_save_flags_and_cli(flags);
00351 if (!test_and_set_bit(hard_cpu_id(), locked_cpus)) {
00352 while (test_and_set_bit(31, locked_cpus));
00353 return ((flags & (1 << IFLAG)) + 1);
00354 } else {
00355 return (flags & (1 << IFLAG));
00356 }
00357 }
00358
00359 static inline void rt_global_save_flags(unsigned long *flags)
00360 {
00361 unsigned long hflags, rflags;
00362
00363 hard_save_flags_and_cli(hflags);
00364 hflags = hflags & (1 << IFLAG);
00365 rflags = hflags | !test_bit(hard_cpu_id(), locked_cpus);
00366 if (hflags) {
00367 hard_sti();
00368 }
00369 *flags = rflags;
00370 }
00371
00372 static inline void rt_global_restore_flags(unsigned long flags)
00373 {
00374 switch (flags) {
00375 case (1 << IFLAG) | 1: rt_release_global_lock();
00376 hard_sti();
00377 break;
00378 case (1 << IFLAG) | 0: rt_get_global_lock();
00379 hard_sti();
00380 break;
00381 case (0 << IFLAG) | 1: rt_release_global_lock();
00382 break;
00383 case (0 << IFLAG) | 0: rt_get_global_lock();
00384 break;
00385 }
00386 }
00387
00388 static inline RT_TRAP_HANDLER rt_set_rtai_trap_handler(RT_TRAP_HANDLER handler)
00389 {
00390 return (RT_TRAP_HANDLER) 0;
00391 }
00392
00393 struct calibration_data {
00394 unsigned int cpu_freq;
00395 int latency;
00396 int setup_time_TIMER_CPUNIT;
00397 int setup_time_TIMER_UNIT;
00398 int timers_tol[NR_RT_CPUS];
00399 };
00400
00401 extern struct rt_times rt_times;
00402 extern struct rt_times rt_smp_times[NR_RT_CPUS];
00403 extern struct calibration_data tuned;
00404
00405 #if 0
00406 static inline unsigned int get_dec(void)
00407 {
00408 return (mfspr(SPRN_DEC));
00409 }
00410
00411 static inline void set_dec(unsigned int val)
00412 {
00413 mtspr(SPRN_DEC, val);
00414 }
00415 #endif
00416 #ifdef CONFIG_4xx
00417 static inline unsigned int get_dec_4xx(void)
00418 {
00419 return (mfspr(SPRN_PIT));
00420 }
00421
00422 static inline void set_dec_4xx(unsigned int val)
00423 {
00424 mtspr(SPRN_PIT, val);
00425 }
00426 #endif
00427
00428 #if 0
00429 #define DECLR_8254_TSC_EMULATION
00430 #define TICK_8254_TSC_EMULATION
00431 #define SETUP_8254_TSC_EMULATION
00432 #define CLEAR_8254_TSC_EMULATION
00433 #endif
00434
00435 static inline unsigned long long rdtsc(void)
00436 {
00437 unsigned long long ts;
00438 unsigned long chk;
00439
00440 __asm__ __volatile__ ("1: mftbu %0; mftb %1; mftbu %2; cmpw %2,%0; bne 1b"
00441 : "=r" (((unsigned long *)&ts)[0]), "=r" (((unsigned long *)&ts)[1]), "=r" (chk) );
00442
00443 return ts;
00444 }
00445
00446 #define RT_BUG() do{hard_cli();BUG();}while(0)
00447
00448 static inline void rt_set_decrementer_count(int delay)
00449 {
00450
00451 if(!delay)delay = rt_times.intr_time - rdtsc();
00452
00453 if(delay<1){RT_BUG();}
00454 #ifdef CONFIG_4xx
00455 set_dec_4xx(delay);
00456 #else
00457 set_dec(delay);
00458 #endif
00459 }
00460
00461
00462 static inline int ffnz(long ul)
00463 {
00464 __asm__ __volatile__ ("cntlzw %0, %1" : "=r" (ul) : "r" (ul & (-ul)));
00465
00466 return 31 - ul;
00467 }
00468
00469 #define rt_set_timer_delay(x) rt_set_decrementer_count(x)
00470
00471 #endif
00472
00473 #define RTAI_DEFAULT_TICK 200000
00474 #define RTAI_DEFAULT_STACKSZ 2000
00475
00476 #endif