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* [Adeos-main] New patch for AT91SAM9261 adeos support for 2.6.19 kernel
@ 2007-04-20 14:01 Gregory CLEMENT
  0 siblings, 0 replies; 6+ messages in thread
From: Gregory CLEMENT @ 2007-04-20 14:01 UTC (permalink / raw)
  To: adeos-main, BOUIN Alexandre, Gilles Chanteperdrix

[-- Attachment #1: Type: text/plain, Size: 661 bytes --]

Hi,
this is the new version of patch support for  AT91SAM9261.
To use it:
- take a vanilla linux
- apply the I-pipe patch
- apply the AT91 patch, then solve the three rejects by hand
- finaly apply this patch

Comment from Gilles are integrated.
As I have no better idea we keep all the ifdef around
AT91_VA_BASE_TCB0 ( in include/asm-arm/arch-at91rm9200/hardware.h)
and around __ipipe_mach_irq_mux_p ( in
include/asm-arm/arch-at91rm9200/irqs.h )

Latency under load are running on AT91SAM9261-EK board, we will send
the histogramm later this afternoon.

-- 
Gregory CLEMENT
Adeneo
2, chemin du Ruisseau - BP21
69136 Ecully Cedex
France
Tel : +33-4 72 18 08 40

[-- Attachment #2: adeos-ipipe-2.6.19-arm-AT91SAM9261.patch --]
[-- Type: text/x-patch, Size: 15339 bytes --]

diff -aurdpbB -X nodiff linux-2.6.19.at91/arch/arm/mach-at91rm9200/at91sam9261.c linux-2.6.19.patched/arch/arm/mach-at91rm9200/at91sam9261.c
--- linux-2.6.19.at91/arch/arm/mach-at91rm9200/at91sam9261.c	2007-04-10 08:04:00.000000000 +0200
+++ linux-2.6.19.patched/arch/arm/mach-at91rm9200/at91sam9261.c	2007-04-18 13:51:16.000000000 +0200
@@ -27,6 +27,13 @@ static struct map_desc at91sam9261_io_de
 		.length		= SZ_16K,
 		.type		= MT_DEVICE,
 	}, {
+#ifdef CONFIG_IPIPE
+		.virtual	= AT91_VA_BASE_TCB0,
+		.pfn		= __phys_to_pfn(AT91SAM9261_BASE_TCB0),
+		.length		= SZ_16K,
+		.type		= MT_DEVICE,
+        }, {
+#endif /* CONFIG_IPIPE */
 		.virtual	= AT91_IO_VIRT_BASE - AT91SAM9261_SRAM_SIZE,
 		.pfn		= __phys_to_pfn(AT91SAM9261_SRAM_BASE),
 		.length		= AT91SAM9261_SRAM_SIZE,
@@ -242,6 +249,7 @@ void __init at91sam9261_initialize(unsig
  * The default interrupt priority levels (0 = lowest, 7 = highest).
  */
 static unsigned int at91sam9261_default_irq_priority[NR_AIC_IRQS] __initdata = {
+#ifndef CONFIG_IPIPE
 	7,	/* Advanced Interrupt Controller */
 	7,	/* System Peripherals */
 	0,	/* Parallel IO Controller A */
@@ -274,6 +282,42 @@ static unsigned int at91sam9261_default_
 	0,	/* Advanced Interrupt Controller */
 	0,	/* Advanced Interrupt Controller */
 	0,	/* Advanced Interrupt Controller */
+#else /* CONFIG_IPIPE */
+/* Give the highest priority to TC, since they are used as timer interrupt by
+   I-pipe. */
+	7,	/* Advanced Interrupt Controller */
+	7,	/* System Peripherals */
+	0,	/* Parallel IO Controller A */
+	0,	/* Parallel IO Controller B */
+	0,	/* Parallel IO Controller C */
+	0,
+	6,	/* USART 0 */
+	6,	/* USART 1 */
+	6,	/* USART 2 */
+	0,	/* Multimedia Card Interface */
+	4,	/* USB Device Port */
+	0,	/* Two-Wire Interface */
+	6,	/* Serial Peripheral Interface 0 */
+	6,	/* Serial Peripheral Interface 1 */
+	5,	/* Serial Synchronous Controller 0 */
+	5,	/* Serial Synchronous Controller 1 */
+	5,	/* Serial Synchronous Controller 2 */
+	7,	/* Timer Counter 0 */
+	7,	/* Timer Counter 1 */
+	7,	/* Timer Counter 2 */
+	3,	/* USB Host port */
+	3,	/* LCD Controller */
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,
+	0,	/* Advanced Interrupt Controller */
+	0,	/* Advanced Interrupt Controller */
+	0,	/* Advanced Interrupt Controller */
+#endif /*CONFIG_IPIPE */
 };
 
 void __init at91sam9261_init_interrupts(unsigned int priority[NR_AIC_IRQS])
diff -aurdpbB -X nodiff linux-2.6.19.at91/arch/arm/mach-at91rm9200/at91sam926x_time.c linux-2.6.19.patched/arch/arm/mach-at91rm9200/at91sam926x_time.c
--- linux-2.6.19.at91/arch/arm/mach-at91rm9200/at91sam926x_time.c	2007-04-10 08:04:00.000000000 +0200
+++ linux-2.6.19.patched/arch/arm/mach-at91rm9200/at91sam926x_time.c	2007-04-18 13:51:16.000000000 +0200
@@ -22,10 +22,69 @@
 
 #include <asm/arch/at91_pit.h>
 
+static unsigned long last_crtr;
+
+#ifdef CONFIG_IPIPE
+#include <linux/clk.h>
+#include <linux/console.h>
+#include <linux/module.h>
+#include <asm/arch/at91sam9261.h>
+#include <asm/arch/at91_tc.h>
+#include "clock.h"
+
+#ifdef CONFIG_NO_IDLE_HZ
+#error "dynamic tick timer not yet supported with IPIPE"
+#endif /* CONFIG_NO_IDLE_HZ */
+
+#define TCNXCNS(timer,v) ((v) << ((timer)<<1))
+#define AT91_TC_REG_MASK (0xffff)
+
+#if (CONFIG_IPIPE_AT91_TC==0)
+#   define KERNEL_TIMER_IRQ_NUM AT91SAM9261_ID_TC0
+#elif (CONFIG_IPIPE_AT91_TC==1)
+#   define KERNEL_TIMER_IRQ_NUM AT91SAM9261_ID_TC1
+#elif (CONFIG_IPIPE_AT91_TC==2)
+#   define KERNEL_TIMER_IRQ_NUM AT91SAM9261_ID_TC2
+#else
+#error IPIPE_AT91_TC must be 0, 1 or 2.
+#endif
+
+static inline unsigned int at91_tc_read(unsigned int reg_offset)
+{
+	unsigned long addr =
+		(AT91_VA_BASE_TCB0 + 0x40 * CONFIG_IPIPE_AT91_TC);
+
+	return readl((void __iomem *)(addr + reg_offset));
+}
+
+static inline void at91_tc_write(unsigned int reg_offset, unsigned long value)
+{
+	unsigned long addr =
+		(AT91_VA_BASE_TCB0 + 0x40 * CONFIG_IPIPE_AT91_TC);
+
+	writel(value, (void __iomem *)(addr + reg_offset));
+}
+
+#define read_CV() at91_tc_read(AT91_TC_CV)
+#define read_RC() at91_tc_read(AT91_TC_RC)
+#define write_RC(value) at91_tc_write(AT91_TC_RC, value)
+
+int __ipipe_mach_timerint = KERNEL_TIMER_IRQ_NUM;
+EXPORT_SYMBOL(__ipipe_mach_timerint);
+
+int __ipipe_mach_timerstolen = 0;
+EXPORT_SYMBOL(__ipipe_mach_timerstolen);
+
+unsigned int __ipipe_mach_ticks_per_jiffy = LATCH;
+EXPORT_SYMBOL(__ipipe_mach_ticks_per_jiffy);
+
+static int at91_timer_initialized;
+#endif /* CONFIG_IPIPE */
 
 #define PIT_CPIV(x)	((x) & AT91_PIT_CPIV)
 #define PIT_PICNT(x)	(((x) & AT91_PIT_PICNT) >> 20)
 
+#ifndef CONFIG_IPIPE
 /*
  * Returns number of microseconds since last timer interrupt.  Note that interrupts
  * will have been disabled by do_gettimeofday()
@@ -112,3 +171,209 @@ struct sys_timer at91sam926x_timer = {
 	.resume		= at91sam926x_timer_reset,
 };
 
+#else /* CONFIG_IPIPE */
+
+/*
+ * Returns number of microseconds since last timer interrupt.  Note that interrupts
+ * will have been disabled by do_gettimeofday()
+ *  'LATCH' is hwclock ticks (see CLOCK_TICK_RATE in timex.h) per jiffy.
+*  'tick' is usecs per jiffy (linux/timex.h).
+ */
+static unsigned long at91sam926x_gettimeoffset(void)
+{
+	unsigned long elapsed;
+
+	elapsed = (read_CV() - last_crtr) & AT91_TC_REG_MASK;
+
+	return (unsigned long) (elapsed * (tick_nsec / 1000)) / LATCH;
+}
+
+void __ipipe_mach_acktimer(void)
+{
+	at91_tc_read(AT91_TC_SR);
+}
+
+/*
+ * IRQ handler for the timer.
+ */
+static irqreturn_t at91sam926x_timer_interrupt(int irq, void *dev_id)
+{
+	/*
+	 * - if Linux is running under ipipe, but it still has the control over
+	 *   the timer (no Xenomai for example), then reprogram the timer (ipipe
+	 *   has already acked it)
+	 * - if some other domain has taken over the timer, then do nothing
+	 *   (ipipe has acked it, and the other domain has reprogramed it)
+	 */
+
+	write_seqlock(&xtime_lock);
+
+	if (__ipipe_mach_timerstolen) {
+		timer_tick();
+		last_crtr = (last_crtr + LATCH) & AT91_TC_REG_MASK;
+	} else {
+		while (((read_CV() - last_crtr) & AT91_TC_REG_MASK) >= LATCH) {
+			timer_tick();
+			last_crtr = (last_crtr + LATCH) & AT91_TC_REG_MASK;
+		}
+		write_RC((last_crtr + LATCH) & AT91_TC_REG_MASK);
+	}
+
+	write_sequnlock(&xtime_lock);
+
+	return IRQ_HANDLED;
+}
+
+static irqreturn_t at91sam926x_bad_freq(int irq, void *dev_id)
+{
+	static int ticks = 0;
+
+	if (++ticks != HZ * 120) {
+		if (!console_drivers || try_acquire_console_sem())
+			return at91sam926x_timer_interrupt(irq, dev_id);
+	
+		release_console_sem();
+	}
+
+	panic("AT91 clock rate incorrectly set.\n"
+	      "Please recompile with IPIPE_AT91_MCK set to %lu Hz.",
+	      clk_get_rate(clk_get(NULL, "mck")));
+}
+
+notrace unsigned long long __ipipe_mach_get_tsc(void)
+{
+	if (likely(at91_timer_initialized)) {
+		static union {
+#ifdef __BIG_ENDIAN
+			struct {
+				unsigned long high;
+				unsigned short mid;
+				unsigned short low;
+			};
+#else /* __LITTLE_ENDIAN */
+			struct {
+				unsigned short low;
+				unsigned short mid;
+				unsigned long high;
+			};
+#endif /* __LITTLE_ENDIAN */
+			unsigned long long full;
+		} tsc[NR_CPUS], *local_tsc;
+		unsigned long long result;
+		unsigned short stamp;
+		unsigned long flags;
+
+		local_irq_save_hw(flags);
+		local_tsc = &tsc[ipipe_processor_id()];
+		stamp = read_CV();
+		if (unlikely(stamp < local_tsc->low)) {
+			if (unlikely(!++local_tsc->mid))
+				/* 32 bit counter wrapped, increment high word. */
+				local_tsc->high++;
+		}
+		local_tsc->low = stamp;
+		result = local_tsc->full;
+		local_irq_restore_hw(flags);
+
+		return result;
+	}
+	
+        return 0;
+}
+EXPORT_SYMBOL(__ipipe_mach_get_tsc);
+
+/*
+ * Reprogram the timer
+ */
+
+void __ipipe_mach_set_dec(unsigned long delay)
+{
+	unsigned long flags;
+
+	if (delay > 2) {
+		local_irq_save_hw(flags);
+		write_RC((read_CV() + delay) & AT91_TC_REG_MASK);
+		local_irq_restore_hw(flags);
+	} else
+		ipipe_trigger_irq(KERNEL_TIMER_IRQ_NUM);
+}
+EXPORT_SYMBOL(__ipipe_mach_set_dec);
+
+void __ipipe_mach_release_timer(void)
+{
+       __ipipe_mach_set_dec(__ipipe_mach_ticks_per_jiffy);
+}
+EXPORT_SYMBOL(__ipipe_mach_release_timer);
+
+unsigned long __ipipe_mach_get_dec(void)
+{
+	return (read_RC() - read_CV()) & AT91_TC_REG_MASK;
+}
+
+static struct irqaction at91sam926x_timer_irq = {
+	.name		= "at91_tick",
+	.flags		= IRQF_DISABLED | IRQF_TIMER,
+	.handler	= &at91sam926x_timer_interrupt
+};
+
+static char clk_name [] = "tc%";
+
+static struct clk tc = {
+	.name		= (const char *) clk_name,
+	.users          = 0,
+	.type		= CLK_TYPE_PERIPHERAL,
+	.pmc_mask       = 1 << (KERNEL_TIMER_IRQ_NUM),
+};
+
+void __init at91sam926x_timer_init(void)
+{
+	unsigned long v;
+	
+	if (clk_get_rate(clk_get(NULL, "mck")) != CONFIG_IPIPE_AT91_MCK)
+		at91sam926x_timer_irq.handler = &at91sam926x_bad_freq;
+
+	snprintf(clk_name, sizeof(clk_name), "tc%d", CONFIG_IPIPE_AT91_TC);
+	clk_register(&tc);
+	clk_enable(&tc);
+	
+	/* No Sync. */
+	at91_tc_write(AT91_TC_BCR, 0);
+
+	/* program NO signal on XCN */
+	v = readl((void __iomem *) (AT91_VA_BASE_TCB0 + AT91_TC_BMR));
+	v &= ~TCNXCNS(CONFIG_IPIPE_AT91_TC, 3);
+	v |= TCNXCNS(CONFIG_IPIPE_AT91_TC, 1); /* AT91_TC_TCNXCNS_NONE */
+	writel(v, (void __iomem *) (AT91_VA_BASE_TCB0 + AT91_TC_BMR));
+
+	/* Disable the channel */
+	at91_tc_write(AT91_TC_CCR, AT91_TC_CLKDIS);
+
+	/* Select TIMER_CLOCK3 (MCLK/32) as input frequency for TC. */
+	at91_tc_write(AT91_TC_CMR, AT91_TC_TIMER_CLOCK3);
+
+	/* Disable all interrupts. */
+	at91_tc_write(AT91_TC_IDR, ~0ul);
+
+	/* Load the TC register C. */
+	last_crtr = 0;
+	write_RC(LATCH);
+
+	/* Enable CPCS interrupt. */
+	at91_tc_write(AT91_TC_IER, AT91_TC_CPCS);
+
+	/* Set up the interrupt. */
+	setup_irq(KERNEL_TIMER_IRQ_NUM, &at91sam926x_timer_irq);
+
+	/* Enable the channel. */
+	at91_tc_write(AT91_TC_CCR, AT91_TC_CLKEN | AT91_TC_SWTRG);
+
+	at91_timer_initialized = 1;
+}
+
+struct sys_timer at91sam926x_timer = {
+	.init		= at91sam926x_timer_init,
+	.offset		= at91sam926x_gettimeoffset,
+	.suspend	= NULL,
+	.resume		= NULL,
+};
+#endif /* CONFIG_IPIPE */
diff -aurdpbB -X nodiff linux-2.6.19.at91/arch/arm/mach-at91rm9200/Kconfig linux-2.6.19.patched/arch/arm/mach-at91rm9200/Kconfig
--- linux-2.6.19.at91/arch/arm/mach-at91rm9200/Kconfig	2007-04-20 14:39:20.000000000 +0200
+++ linux-2.6.19.patched/arch/arm/mach-at91rm9200/Kconfig	2007-04-18 13:53:42.000000000 +0200
@@ -84,24 +84,6 @@ config MACH_KAFA
 	help
 	  Select this if you are using Sperry-Sun's KAFA board.
 
-config IPIPE_AT91_TC
-	depends on IPIPE
-	int "AT91 TC used as time base"
-	default 0
-	help
-	When Adeos interrupt pipeline is enabled, TC0 is used by default
-	as time base, but you can use TC1 or TC2 by setting this variable to 1
-	or 2. This should only be needed to avoid conflicts with other drivers.
-
-config IPIPE_AT91_MCK
-	depends on IPIPE
-	int "AT91 Master clock Frequency"
-	default 46080000
-	help
-	When Adeos interrupt pipeline is enabled, AT91 timer is based on
-	the AT91 master clock, whose frequency need hence to be known at
-	compilation time.
-
 endif
 
 # ----------------------------------------------------------
@@ -136,6 +118,38 @@ endif
 
 # ----------------------------------------------------------
 
+if ARCH_AT91
+
+comment "Ipipe dependent"
+
+config IPIPE_AT91_TC
+	depends on IPIPE
+	int "AT91 TC used as time base"
+	default 0
+	help
+	When Adeos interrupt pipeline is enabled, TC0 is used by default
+	as time base, but you can use TC1 or TC2 by setting this variable to 1
+	or 2. This should only be needed to avoid conflicts with other drivers.
+	At the moment, Adeos/I-Pipe has only been implemented for AT91RM9200 and
+	AT91SAM9261 processors.
+
+config IPIPE_AT91_MCK
+	depends on IPIPE
+	int "AT91 Master clock Frequency"
+	default 59904000 if MACH_AT91RM9200EK
+	default 99328000 if MACH_AT91SAM9261EK
+	default 53000000
+	help
+	When Adeos interrupt pipeline is enabled, AT91 timer is based on
+	the AT91 master clock, whose frequency need hence to be known at
+	compilation time.
+	At the moment, Adeos/I-Pipe has only been implemented for AT91RM9200 and
+	AT91SAM9261 processors.
+
+endif
+
+# ----------------------------------------------------------
+
 comment "AT91 Board Options"
 
 config MTD_AT91_DATAFLASH_CARD
Seulement dans linux-2.6.19.patched/include/asm-arm: arch
diff -aurdpbB -X nodiff linux-2.6.19.at91/include/asm-arm/arch-at91rm9200/hardware.h linux-2.6.19.patched/include/asm-arm/arch-at91rm9200/hardware.h
--- linux-2.6.19.at91/include/asm-arm/arch-at91rm9200/hardware.h	2007-04-20 14:44:01.000000000 +0200
+++ linux-2.6.19.patched/include/asm-arm/arch-at91rm9200/hardware.h	2007-04-18 13:54:48.000000000 +0200
@@ -43,8 +43,17 @@
  */
 #define AT91_VA_BASE_SYS	AT91_IO_P2V(AT91_BASE_SYS)
 #define AT91_VA_BASE_EMAC	AT91_IO_P2V(AT91RM9200_BASE_EMAC)
+
 #ifdef CONFIG_IPIPE
-#define AT91_VA_BASE_TCB0       AT91_IO_P2V(AT91RM9200_BASE_TCB0)
+#if defined(CONFIG_ARCH_AT91RM9200)
+	#define AT91_VA_BASE_TCB0       AT91_IO_P2V(AT91RM9200_BASE_TCB0)
+#elif defined(CONFIG_ARCH_AT91SAM9260)
+	#define AT91_VA_BASE_TCB0       AT91_IO_P2V(AT91SAM9260_BASE_TCB0)
+#elif defined(CONFIG_ARCH_AT91SAM9261)
+	#define AT91_VA_BASE_TCB0       AT91_IO_P2V(AT91SAM9261_BASE_TCB0)
+#else
+#error "Unsupported AT91 processor"
+#endif
 #endif /* CONFIG_IPIPE */
 
  /* Internal SRAM is mapped below the IO devices */
diff -aurdpbB -X nodiff linux-2.6.19.at91/include/asm-arm/arch-at91rm9200/irqs.h linux-2.6.19.patched/include/asm-arm/arch-at91rm9200/irqs.h
--- linux-2.6.19.at91/include/asm-arm/arch-at91rm9200/irqs.h	2007-04-20 14:39:20.000000000 +0200
+++ linux-2.6.19.patched/include/asm-arm/arch-at91rm9200/irqs.h	2007-04-18 13:51:16.000000000 +0200
@@ -44,8 +44,19 @@
 #if defined(CONFIG_IPIPE) && !defined(__ASSEMBLY__)
 extern unsigned __ipipe_at91_gpio_banks;
 
-#define __ipipe_mach_irq_mux_p(irq) \
+#if defined(CONFIG_ARCH_AT91RM9200)
+	#define __ipipe_mach_irq_mux_p(irq) \
 	((unsigned) (irq - AT91RM9200_ID_PIOA) < __ipipe_at91_gpio_banks)
+#elif defined(CONFIG_ARCH_AT91SAM9260)
+	#define __ipipe_mach_irq_mux_p(irq) \
+		((unsigned) (irq - AT91SAM9260_ID_PIOA) < __ipipe_at91_gpio_banks)
+#elif defined(CONFIG_ARCH_AT91SAM9261)
+	#define __ipipe_mach_irq_mux_p(irq) \
+		((unsigned) (irq - AT91SAM9261_ID_PIOA) < __ipipe_at91_gpio_banks)
+#else
+#error "Unsupported AT91 processor"
+#endif
+
 
 #endif /* CONFIG_IPIPE && !__ASSEMBLY__ */
 
diff -aurdpbB -X nodiff linux-2.6.19.at91/include/asm-arm/arch-at91rm9200/timex.h linux-2.6.19.patched/include/asm-arm/arch-at91rm9200/timex.h
--- linux-2.6.19.at91/include/asm-arm/arch-at91rm9200/timex.h	2007-04-20 14:39:20.000000000 +0200
+++ linux-2.6.19.patched/include/asm-arm/arch-at91rm9200/timex.h	2007-04-18 14:55:16.000000000 +0200
@@ -23,19 +23,23 @@
 
 #include <asm/hardware.h>
 
+#ifndef CONFIG_IPIPE
+
 #if defined(CONFIG_ARCH_AT91RM9200)
 
-#ifndef CONFIG_IPIPE
 #define CLOCK_TICK_RATE		(AT91_SLOW_CLOCK)
-#else /* !CONFIG_IPIPE */
-#define CLOCK_TICK_RATE         (CONFIG_IPIPE_AT91_MCK / 32)
-#endif /* !CONFIG_IPIPE */
 
 #elif defined(CONFIG_ARCH_AT91SAM9260) || defined(CONFIG_ARCH_AT91SAM9261)
 
 #define AT91SAM9_MASTER_CLOCK	99300000
 #define CLOCK_TICK_RATE		(AT91SAM9_MASTER_CLOCK/16)
 
-#endif
+#endif /* arch specific */
+
+#else /* !CONFIG_IPIPE */
+
+#define CLOCK_TICK_RATE         (CONFIG_IPIPE_AT91_MCK / 32)
+
+#endif /* !CONFIG_IPIPE */
 
 #endif

^ permalink raw reply	[flat|nested] 6+ messages in thread
end of thread, other threads:[~2007-05-03 11:45 UTC | newest]

Thread overview: 6+ messages (download: mbox.gz follow: Atom feed
-- links below jump to the message on this page --
     [not found] <403B28AE6257B548B66BB88414AC78330174BBDE@STEGOSAURE.adetel.com>
2007-04-24 13:14 ` [Adeos-main] New patch for AT91SAM9261 adeos support for 2.6.19 kernel BOUIN Alexandre
2007-04-24 13:26   ` Gilles Chanteperdrix
     [not found] <403B28AE6257B548B66BB88414AC78330174BBEA@STEGOSAURE.adetel.com>
2007-05-03 11:45 ` BOUIN Alexandre
     [not found] <403B28AE6257B548B66BB88414AC78330174BBD8@domain.hid>
2007-04-20 15:21 ` BOUIN Alexandre
2007-04-20 15:27   ` Gilles Chanteperdrix
2007-04-20 14:01 Gregory CLEMENT

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