[Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #5)

[Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #5)

[Mathieu Rondonneau]

>From 6601af599128127850176e304cc76e5b15fab4a8 Mon Sep 17 00:00:00 2001
From: Mathieu Rondonneau <mathieu.rondonneau@gmail.com>
Date: Tue, 17 Nov 2015 16:55:04 -0800
Subject: [PATCH] IPIPE patch for BCM2709/RPI2.

 - kernel: https://github.com/raspberrypi/linux (rpi-3.18.y)
   - 1bb18c8f721ef674a447f3622273f2e2de7a205c
 - xenomai: git://git.xenomai.org/xenomai-3.git (stable-3.0.x)
   - 5c88a11c11e9a2b13be4da91624dc3f3ff323e46
---
 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 4860d5f..1194e5d 100644
--- a/arch/arm/Kconfig
+++ b/arch/arm/Kconfig
@@ -829,6 +829,7 @@ config ARCH_BCM2709
 	select VC4
 	select FIQ
 #	select ZONE_DMA
+	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 fc6cb8b..c50b2cb 100644
--- a/arch/arm/mach-bcm2709/armctrl.c
+++ b/arch/arm/mach-bcm2709/armctrl.c
@@ -333,6 +333,10 @@ 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 c1e9254..7852129 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 6bfd99e..4dd796c 100644
--- a/arch/arm/mach-bcm2709/bcm2709.c
+++ b/arch/arm/mach-bcm2709/bcm2709.c
@@ -1072,11 +1072,13 @@ 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)
 	{
@@ -1085,6 +1087,13 @@ 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 101d9f1..5cecbc0 100644
--- a/arch/arm/mach-bcm2709/include/mach/entry-macro.S
+++ b/arch/arm/mach-bcm2709/include/mach/entry-macro.S
@@ -52,7 +52,11 @@
 	dsb
 	mov	r1, sp
 	adr	lr, BSYM(1b)
+#ifdef CONFIG_IPIPE
+	b	__ipipe_grab_ipi
+#else
 	b	do_IPI
+#endif

 1030:
 	/* check gpu interrupt */
@@ -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
-- 
2.6.3

Re: [Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #5)

[Joe Lee]

Hi Mathieu,
I apply the patch by Xenomai latest stable v3.0.1 to my RPI2, and
sometimes the booting hang like this:
 * Starting configure network device security[ OK ]
 * Stopping load modules from /etc/modules[ OK ]
 * Stopping userspace bootsplash[ OK ]

That's low probability, about 1 of 60 times booting, and the original
not patched kernel is OK.
The kernel is the latest version from
https://github.com/raspberrypi/linux/tree/rpi-3.18.y .
First, I apply the ipipe patch "ipipe-core-3.18.20-arm-6.patch" from
https://xenomai.org/downloads/ipipe/v3.x/arm/ . Then I apply your RPI
patch version #5. The kernel is build follow this instruction
https://www.raspberrypi.org/documentation/linux/kernel/building.md .
The root file system is Ubuntu 14.04 LTS for RPI2, which from
https://wiki.ubuntu.com/ARM/RaspberryPi .
Attached is the kernel booting hang log file and kernel config file.
What can I do to get more infomation for debugging when kernel booting hang?
Look forward to your reply.

-- 
Joe Lee
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Re: [Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #5)

[Mathieu Rondonneau]

On 15-12-04 07:42 PM, Joe Lee wrote:
> Hi Mathieu,
> I apply the patch by Xenomai latest stable v3.0.1 to my RPI2, and
> sometimes the booting hang like this:
>  * Starting configure network device security[ OK ]
>  * Stopping load modules from /etc/modules[ OK ]
>  * Stopping userspace bootsplash[ OK ]
> 
> That's low probability, about 1 of 60 times booting, and the original
> not patched kernel is OK.
> The kernel is the latest version from
> https://github.com/raspberrypi/linux/tree/rpi-3.18.y .
> First, I apply the ipipe patch "ipipe-core-3.18.20-arm-6.patch" from
> https://xenomai.org/downloads/ipipe/v3.x/arm/ . Then I apply your RPI
> patch version #5. The kernel is build follow this instruction
> https://www.raspberrypi.org/documentation/linux/kernel/building.md .
> The root file system is Ubuntu 14.04 LTS for RPI2, which from
> https://wiki.ubuntu.com/ARM/RaspberryPi .
> Attached is the kernel booting hang log file and kernel config file.
> What can I do to get more infomation for debugging when kernel booting hang?
> Look forward to your reply.
> 
Hi Joe,

The only difference with your .config file is that I have earlyprintk
enabled but that should not cause the issue you are observing.

I am using the raspbian rootfs downloaded from the raspberry pi
foundation website:
https://www.raspberrypi.org/downloads/raspbian/

can you try disabling xenomai from the kernel config to see if the
problem happens also when only the IPIPE patch is turned ON?

Thanks,
-Mathieu

Re: [Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #5)

[Joe Lee]

Hi Mathieu,
Disabling xenomai and only leave the IPIPE patch enable is OK. About
1000 times reboot no abnormal found.

2015-12-06 6:34 GMT+08:00 Mathieu Rondonneau <mathieu_rondonneau@hotmail.com>:
> On 15-12-04 07:42 PM, Joe Lee wrote:
>> Hi Mathieu,
>> I apply the patch by Xenomai latest stable v3.0.1 to my RPI2, and
>> sometimes the booting hang like this:
>>  * Starting configure network device security[ OK ]
>>  * Stopping load modules from /etc/modules[ OK ]
>>  * Stopping userspace bootsplash[ OK ]
>>
>> That's low probability, about 1 of 60 times booting, and the original
>> not patched kernel is OK.
>> The kernel is the latest version from
>> https://github.com/raspberrypi/linux/tree/rpi-3.18.y .
>> First, I apply the ipipe patch "ipipe-core-3.18.20-arm-6.patch" from
>> https://xenomai.org/downloads/ipipe/v3.x/arm/ . Then I apply your RPI
>> patch version #5. The kernel is build follow this instruction
>> https://www.raspberrypi.org/documentation/linux/kernel/building.md .
>> The root file system is Ubuntu 14.04 LTS for RPI2, which from
>> https://wiki.ubuntu.com/ARM/RaspberryPi .
>> Attached is the kernel booting hang log file and kernel config file.
>> What can I do to get more infomation for debugging when kernel booting hang?
>> Look forward to your reply.
>>
> Hi Joe,
>
> The only difference with your .config file is that I have earlyprintk
> enabled but that should not cause the issue you are observing.
>
> I am using the raspbian rootfs downloaded from the raspberry pi
> foundation website:
> https://www.raspberrypi.org/downloads/raspbian/
>
> can you try disabling xenomai from the kernel config to see if the
> problem happens also when only the IPIPE patch is turned ON?
>
> Thanks,
> -Mathieu



-- 
Joe Lee

Re: [Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #5)

[Joe]

On Sunday, December 06, 2015 06:34 AM, Mathieu Rondonneau wrote:
> On 15-12-04 07:42 PM, Joe Lee wrote:
>> Hi Mathieu,
>> I apply the patch by Xenomai latest stable v3.0.1 to my RPI2, and
>> sometimes the booting hang like this:
>>   * Starting configure network device security[ OK ]
>>   * Stopping load modules from /etc/modules[ OK ]
>>   * Stopping userspace bootsplash[ OK ]
>>
>> That's low probability, about 1 of 60 times booting, and the original
>> not patched kernel is OK.
>> The kernel is the latest version from
>> https://github.com/raspberrypi/linux/tree/rpi-3.18.y .
>> First, I apply the ipipe patch "ipipe-core-3.18.20-arm-6.patch" from
>> https://xenomai.org/downloads/ipipe/v3.x/arm/ . Then I apply your RPI
>> patch version #5. The kernel is build follow this instruction
>> https://www.raspberrypi.org/documentation/linux/kernel/building.md .
>> The root file system is Ubuntu 14.04 LTS for RPI2, which from
>> https://wiki.ubuntu.com/ARM/RaspberryPi .
>> Attached is the kernel booting hang log file and kernel config file.
>> What can I do to get more infomation for debugging when kernel booting hang?
>> Look forward to your reply.
>
> Hi Joe,
>
> The only difference with your .config file is that I have earlyprintk
> enabled but that should not cause the issue you are observing.
>
> I am using the raspbian rootfs downloaded from the raspberry pi
> foundation website:
> https://www.raspberrypi.org/downloads/raspbian/
>
> can you try disabling xenomai from the kernel config to see if the
> problem happens also when only the IPIPE patch is turned ON?
>
> Thanks,
> -Mathieu
>
I'm so sorry, that's my RTL8192CUS USB WIFI dongle cause the issue.
Without the dongle the patched kernel with Xenomai 3.0.1 enable is OK.
May be the USB or WIFI driver cause the issue, I'm going to test the 
RT5370 WIFI dongle.

-- 
Joe Lee

Re: [Xenomai] [PATCH] IPIPE patch for BCM2709/RPI2 (version #5)

[Nicolas SCHURANDO]

Hi guys,

So I have been playing around with the Raspberry Pi 2 for a couple of days
now. And I keep noticing that at random times, but usually in a matter of
seconds / minutes when there is a couple of hundreds of ko/s ethernet
traffic, the device will freeze entirely.

I have tried a few things, and : cp-ing from a cifs mount or wget-ing from
a http server, from the console right after boot will do it. Apparently,
cp-ing a local file from and to the sd card doesn't seem to speed up the
freeze. This only happens when the Xenomai kernel is loaded, but without
explicitly using any of the Xenomai features.

I was thinking maybe this could be interrupt-related ? I have to admit my
knowledge is very limited here ..

Below are the versions I am currently using :
 - Raspberry Pi 3.18 kernel @ 1bb18c8
 - Xenomai 3.0 @ 4808e75
 - Post patch #5 by Mathieu
 - Raspbian Jessie rootfs 2016-02-09

Regards,

Nicolas

2015-11-18 2:01 GMT+01:00 Mathieu Rondonneau <mathieu_rondonneau@hotmail.com
>:

> From 6601af599128127850176e304cc76e5b15fab4a8 Mon Sep 17 00:00:00 2001
> From: Mathieu Rondonneau <mathieu.rondonneau@gmail.com>
> Date: Tue, 17 Nov 2015 16:55:04 -0800
> Subject: [PATCH] IPIPE patch for BCM2709/RPI2.
>
>  - kernel: https://github.com/raspberrypi/linux (rpi-3.18.y)
>    - 1bb18c8f721ef674a447f3622273f2e2de7a205c
>  - xenomai: git://git.xenomai.org/xenomai-3.git (stable-3.0.x)
>    - 5c88a11c11e9a2b13be4da91624dc3f3ff323e46
> ---
>  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 4860d5f..1194e5d 100644
> --- a/arch/arm/Kconfig
> +++ b/arch/arm/Kconfig
> @@ -829,6 +829,7 @@ config ARCH_BCM2709
>         select VC4
>         select FIQ
>  #      select ZONE_DMA
> +       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 fc6cb8b..c50b2cb 100644
> --- a/arch/arm/mach-bcm2709/armctrl.c
> +++ b/arch/arm/mach-bcm2709/armctrl.c
> @@ -333,6 +333,10 @@ 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 c1e9254..7852129 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 6bfd99e..4dd796c 100644
> --- a/arch/arm/mach-bcm2709/bcm2709.c
> +++ b/arch/arm/mach-bcm2709/bcm2709.c
> @@ -1072,11 +1072,13 @@ 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)
>         {
> @@ -1085,6 +1087,13 @@ 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 101d9f1..5cecbc0 100644
> --- a/arch/arm/mach-bcm2709/include/mach/entry-macro.S
> +++ b/arch/arm/mach-bcm2709/include/mach/entry-macro.S
> @@ -52,7 +52,11 @@
>         dsb
>         mov     r1, sp
>         adr     lr, BSYM(1b)
> +#ifdef CONFIG_IPIPE
> +       b       __ipipe_grab_ipi
> +#else
>         b       do_IPI
> +#endif
>
>  1030:
>         /* check gpu interrupt */
> @@ -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
> --
> 2.6.3
>
> _______________________________________________
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