[Xenomai] OMAP L138 support

[Xenomai] OMAP L138 support

[Peter Howard]

After discussion with Gilles, I'm putting up my patches for the L138
(specifically the da850) though we're still sorting out why things can
go wrong with FCSE best-effort and *lots* of tracing turned on.

Note: I'll be switching to my work email account to post the patches
(for proper attribution).
-- 
Peter Howard <pjh@northern-ridge.com.au>

[Xenomai] [PATCH 1/2] Fix to Ti EDMA code - refer http://www.spinics.net/lists/linux-omap/msg10462

[Peter Howard]

---
 drivers/dma/edma.c | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/drivers/dma/edma.c b/drivers/dma/edma.c
index cd8da45..bf5ad0f 100644
--- a/drivers/dma/edma.c
+++ b/drivers/dma/edma.c
@@ -182,11 +182,13 @@ static void edma_execute(struct edma_chan *echan)
 				  echan->ecc->dummy_slot);
 	}
 
-	edma_resume(echan->ch_num);
-
 	if (edesc->processed <= MAX_NR_SG) {
 		dev_dbg(dev, "first transfer starting %d\n", echan->ch_num);
 		edma_start(echan->ch_num);
+	} else {
+		dev_dbg(dev, "chan: %d: completed %d elements, resuming\n",
+			echan->ch_num, edesc->processed);
+		edma_resume(echan->ch_num);
 	}
 
 	/*
-- 
1.9.3

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[Xenomai] [PATCH 2/2] Add ipipe support for Ti da850 board

[Peter Howard]

---
 arch/arm/mach-davinci/Kconfig   |  1 +
 arch/arm/mach-davinci/cp_intc.c |  1 +
 arch/arm/mach-davinci/time.c    | 46 +++++++++++++++++++++++++++++++++++++++++
 drivers/gpio/gpio-davinci.c     |  7 +++++++
 4 files changed, 55 insertions(+)

diff --git a/arch/arm/mach-davinci/Kconfig b/arch/arm/mach-davinci/Kconfig
index a075b3e..c7cb9f1 100644
--- a/arch/arm/mach-davinci/Kconfig
+++ b/arch/arm/mach-davinci/Kconfig
@@ -41,6 +41,7 @@ config ARCH_DAVINCI_DA850
 	select ARCH_DAVINCI_DA8XX
 	select ARCH_HAS_CPUFREQ
 	select CP_INTC
+	select IPIPE_ARM_KUSER_TSC if IPIPE
 
 config ARCH_DAVINCI_DA8XX
 	bool
diff --git a/arch/arm/mach-davinci/cp_intc.c b/arch/arm/mach-davinci/cp_intc.c
index 006dae8..816affe 100644
--- a/arch/arm/mach-davinci/cp_intc.c
+++ b/arch/arm/mach-davinci/cp_intc.c
@@ -17,6 +17,7 @@
 #include <linux/of.h>
 #include <linux/of_address.h>
 #include <linux/of_irq.h>
+#include <linux/ipipe.h>
 
 #include <mach/common.h>
 #include <mach/cp_intc.h>
diff --git a/arch/arm/mach-davinci/time.c b/arch/arm/mach-davinci/time.c
index 24ad30f..51d7336 100644
--- a/arch/arm/mach-davinci/time.c
+++ b/arch/arm/mach-davinci/time.c
@@ -19,6 +19,10 @@
 #include <linux/err.h>
 #include <linux/platform_device.h>
 #include <linux/sched_clock.h>
+#ifdef CONFIG_IPIPE
+#include <linux/ipipe.h>
+#include <linux/ipipe_tickdev.h>
+#endif /* CONFIG_IPIPE */
 
 #include <asm/mach/irq.h>
 #include <asm/mach/time.h>
@@ -94,9 +98,15 @@ struct timer_s {
 	unsigned long opts;
 	unsigned long flags;
 	void __iomem *base;
+#ifdef CONFIG_IPIPE
+	void *pbase;
+#endif /*CONFIG_IPIPE */
 	unsigned long tim_off;
 	unsigned long prd_off;
 	unsigned long enamode_shift;
+#ifdef CONFIG_IPIPE
+	int irq;
+#endif /* CONFIG_IPIPE */
 	struct irqaction irqaction;
 };
 static struct timer_s timers[];
@@ -166,6 +176,9 @@ static irqreturn_t timer_interrupt(int irq, void *dev_id)
 {
 	struct clock_event_device *evt = &clockevent_davinci;
 
+#ifdef CONFIG_IPIPE
+	__ipipe_tsc_update();
+#endif /* CONFIG_IPIPE */
 	evt->event_handler(evt);
 	return IRQ_HANDLED;
 }
@@ -241,6 +254,9 @@ static void __init timer_init(void)
 		t->base = base[timer];
 		if (!t->base)
 			continue;
+#ifdef CONFIG_IPIPE
+		t->pbase = (void *)dtip[timer].base;
+#endif /* CONFIG_IPIPE */
 
 		if (IS_TIMER_BOT(t->id)) {
 			t->enamode_shift = 6;
@@ -262,6 +278,9 @@ static void __init timer_init(void)
 			irq = USING_COMPARE(t) ? dtip[i].cmp_irq : irq;
 			setup_irq(irq, &t->irqaction);
 		}
+#ifdef CONFIG_IPIPE
+		t->irq = irq;
+#endif /* CONFIG_IPIPE */
 	}
 }
 
@@ -329,10 +348,26 @@ static void davinci_set_mode(enum clock_event_mode mode,
 	}
 }
 
+#ifdef CONFIG_IPIPE
+static struct ipipe_timer davinci_itimer;
+
+static struct __ipipe_tscinfo tsc_info = {
+	.type = IPIPE_TSC_TYPE_FREERUNNING,
+	.u = {
+			{
+				.mask = 0xffffffff,
+			},
+	},
+};
+#endif /* CONFIG_IPIPE */
+
 static struct clock_event_device clockevent_davinci = {
 	.features       = CLOCK_EVT_FEAT_PERIODIC | CLOCK_EVT_FEAT_ONESHOT,
 	.set_next_event	= davinci_set_next_event,
 	.set_mode	= davinci_set_mode,
+#ifdef CONFIG_IPIPE
+	.ipipe_timer	= &davinci_itimer,
+#endif /* CONFIG_IPIPE */
 };
 
 
@@ -398,6 +433,17 @@ void __init davinci_timer_init(void)
 	clockevent_davinci.name = id_to_name[timers[TID_CLOCKEVENT].id];
 
 	clockevent_davinci.cpumask = cpumask_of(0);
+#ifdef CONFIG_IPIPE
+	tsc_info.freq = davinci_clock_tick_rate;
+	tsc_info.counter_vaddr = (void *)(timers[TID_CLOCKSOURCE].base +
+			timers[TID_CLOCKSOURCE].tim_off);
+	tsc_info.u.counter_paddr = timers[TID_CLOCKSOURCE].pbase +
+			timers[TID_CLOCKSOURCE].tim_off;
+	__ipipe_tsc_register(&tsc_info);
+
+	davinci_itimer.irq = timers[TID_CLOCKEVENT].irq;
+	davinci_itimer.min_delay_ticks = 3;
+#endif /* CONFIG_IPIPE */
 	clockevents_config_and_register(&clockevent_davinci,
 					davinci_clock_tick_rate, 1, 0xfffffffe);
 
diff --git a/drivers/gpio/gpio-davinci.c b/drivers/gpio/gpio-davinci.c
index 7629b4f..937399a 100644
--- a/drivers/gpio/gpio-davinci.c
+++ b/drivers/gpio/gpio-davinci.c
@@ -23,6 +23,7 @@
 #include <linux/platform_device.h>
 #include <linux/platform_data/gpio-davinci.h>
 #include <linux/irqchip/chained_irq.h>
+#include <linux/ipipe.h>
 
 struct davinci_gpio_regs {
 	u32	dir;
@@ -338,9 +339,15 @@ gpio_irq_handler(unsigned irq, struct irq_desc *desc)
 		while (status) {
 			bit = __ffs(status);
 			status &= ~BIT(bit);
+#ifdef CONFIG_IPIPE
+			ipipe_handle_demuxed_irq(
+				irq_find_mapping(d->irq_domain,
+						 d->chip.base + bit));
+#else
 			generic_handle_irq(
 				irq_find_mapping(d->irq_domain,
 						 d->chip.base + bit));
+#endif /* CONFIG_IPIPE */
 		}
 	}
 	chained_irq_exit(irq_desc_get_chip(desc), desc);
-- 
1.9.3

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Re: [Xenomai] [PATCH 2/2] Add ipipe support for Ti da850 board

[Gilles Chanteperdrix]

On 05/28/2014 02:37 AM, Peter Howard wrote:
> +#ifdef CONFIG_IPIPE
> +			ipipe_handle_demuxed_irq(
> +				irq_find_mapping(d->irq_domain,
> +						 d->chip.base + bit));
> +#else
>  			generic_handle_irq(
>  				irq_find_mapping(d->irq_domain,
>  						 d->chip.base + bit));
> +#endif /* CONFIG_IPIPE */
>  		}
>  	}
>  	chained_irq_exit(irq_desc_get_chip(desc), desc);
> 

You do not need the #ifdef CONFIG_IPIPE here, ipipe_handle_demuxed_irq
is replaced with generic_handle_irq when CONFIG_IPIPE is off.

-- 
                                                                Gilles.