Applied preempt-rt patch set

Used 2012-05-04 patch set from John Morris, which includes work from
(at least) Michael Abel, Michael Busch, and Jeff Epler.

Currently fails to link HAL modules (on Debian Wheezy), apparently
due to some recent changes in the LinuxCNC code base.

.gitignore

@@ -11,6 +11,7 @@ build-stamp
 *.mod.c
 *.cmd
 .tmp*
+*~
 # Ignore generated html files, 
 *.html
 # Except Gcode quick-ref cards (en,de,sp,fr) which are maintained by hand

scripts/realtime.in

@@ -75,7 +75,7 @@ CheckConfig(){
     MODULES_LOAD=
     MODULES_UNLOAD=
     case $RTPREFIX in
-    sim) SHM_DEV=/dev/zero;;
+    sim|linux) SHM_DEV=/dev/zero;;
     *)
         for  MOD in $MODULES ; do
             eval MOD=\${MODPATH_$MOD}
@@ -103,7 +103,7 @@ CheckConfig(){
 
 CheckStatus(){
     case $RTPREFIX in
-    sim)
+    sim|linux)
         if [ -z "$($PIDOF rtapi_app)" ]; then
             exit 1
         else
@@ -152,7 +152,7 @@ CheckMem(){
 Load(){
     CheckKernel
     case $RTPREFIX in
-    sim)
+    sim|linux)
     ;;
     *)
         for MOD in $MODULES_LOAD ; do
@@ -181,7 +181,7 @@ CheckLoaded(){
 Unload(){
     CheckKernel
     case $RTPREFIX in
-    sim)
+    sim|linux)
         rtapi_app exit 
         ipcrm -M 0x48414c32 2>/dev/null ;# HAL_KEY
         ipcrm -M 0x90280A48 2>/dev/null ;# RTAPI_KEY

src/Makefile

@@ -78,6 +78,7 @@ default: configs userspace modules
 ifeq ($(RUN_IN_PLACE),yes)
 ifneq ($(BUILD_SYS),sim)
 	@if [ -f ../bin/linuxcnc_module_helper ]; then if ! [ `stat -c %u ../bin/linuxcnc_module_helper` -eq 0 -a -u ../bin/linuxcnc_module_helper ]; then $(VECHO) "You now need to run 'sudo make setuid' in order to run in place."; fi; fi
+	@if [ -f ../bin/rtapi_app ]; then if ! [ `stat -c %u ../bin/rtapi_app` -eq 0 -a -u ../bin/rtapi_app ]; then $(VECHO) "You now need to run 'sudo make setuid' in order to run in place."; fi; fi
 endif
 endif
 
@@ -405,12 +406,22 @@ setuid:
 	@echo "'make setuid' is not needed for the simulator"
 else
 setuid:
-	chown root ../bin/linuxcnc_module_helper
-	chmod 4750 ../bin/linuxcnc_module_helper
-	chown root ../bin/pci_write
-	chmod 4750 ../bin/pci_write
-	chown root ../bin/pci_read
-	chmod 4750 ../bin/pci_read
+	if test -f ../bin/rtapi_app; then\
+	  chown root ../bin/rtapi_app;\
+	  chmod 4750 ../bin/rtapi_app;\
+	fi
+	if test -f ../bin/linuxcnc_module_helper; then\
+	  chown root ../bin/linuxcnc_module_helper;\
+	  chmod 4750 ../bin/linuxcnc_module_helper;\
+	fi
+	if test -f ../bin/pci_write; then\
+	  chown root ../bin/pci_write;\
+	  chmod 4750 ../bin/pci_write;\
+	fi
+	if test -f ../bin/pci_read; then\
+	  chown root ../bin/pci_read;\
+	  chmod 4750 ../bin/pci_read;\
+	fi
 endif
 
 # These rules allows a header file from this directory to be installed into
@@ -571,7 +582,7 @@ install-kernel-dep:
 		$(DESTDIR)$(bindir) \
 		$(DESTDIR)$(sysconfdir)/linuxcnc
 	$(FILE) ../rtlib/*$(MODULE_EXT) $(DESTDIR)$(EMC2_RTLIB_DIR)
-ifneq "$(BUILD_SYS)" "sim"
+ifeq "$(filter sim linux,$(BUILD_SYS))" ""
 	$(FILE) Module.symvers $(DESTDIR)$(EMC2_RTLIB_DIR)
 	$(SETUID) ../bin/linuxcnc_module_helper $(DESTDIR)$(bindir)
 	$(SETUID) ../bin/pci_write $(DESTDIR)$(bindir)
@@ -645,7 +656,7 @@ endif
 # find a way around it.
 
 # Subdirectory:  rtapi
-ifneq ($(BUILD_SYS),sim)
+ifeq "$(filter sim linux,$(BUILD_SYS))" ""
 obj-$(CONFIG_RTAPI) += rtapi.o
 rtapi-objs := rtapi/$(RTPREFIX)_rtapi.o
 endif
@@ -704,18 +715,23 @@ obj-$(CONFIG_HAL_STG) += hal_stg.o
 hal_stg-objs := hal/drivers/hal_stg.o $(MATHSTUB)
 obj-$(CONFIG_HAL_VTI) += hal_vti.o
 hal_vti-objs := hal/drivers/hal_vti.o $(MATHSTUB)
-obj-$(CONFIG_HAL_EVOREG) += hal_evoreg.o
-hal_evoreg-objs := hal/drivers/hal_evoreg.o $(MATHSTUB)
+#obj-$(CONFIG_HAL_EVOREG) += hal_evoreg.o
+#hal_evoreg-objs := hal/drivers/hal_evoreg.o $(MATHSTUB)
 obj-$(CONFIG_HAL_MOTENC) += hal_motenc.o
 hal_motenc-objs := hal/drivers/hal_motenc.o $(MATHSTUB)
 obj-$(CONFIG_HAL_AX521H) += hal_ax5214h.o
 hal_ax5214h-objs := hal/drivers/hal_ax5214h.o $(MATHSTUB)
-obj-$(CONFIG_HAL_PPMC) += hal_ppmc.o
-hal_ppmc-objs := hal/drivers/hal_ppmc.o $(MATHSTUB)
 obj-$(CONFIG_HAL_SPEAKER) += hal_speaker.o
 hal_speaker-objs := hal/drivers/hal_speaker.o $(MATHSTUB)
 obj-$(CONFIG_HAL_SKELETON) += hal_skeleton.o
 hal_skeleton-objs := hal/drivers/hal_skeleton.o $(MATHSTUB)
+
+# these won't compile as-is with realtime=linux
+ifneq ($(BUILD_SYS),linux)
+obj-$(CONFIG_HAL_M5I20) += hal_m5i20.o
+hal_m5i20-objs := hal/drivers/hal_m5i20.o $(MATHSTUB)
+obj-$(CONFIG_HAL_PPMC) += hal_ppmc.o
+hal_ppmc-objs := hal/drivers/hal_ppmc.o $(MATHSTUB)
 obj-$(CONFIG_OPTO_AC5) += opto_ac5.o
 opto_ac5-objs := hal/drivers/opto_ac5.o $(MATHSTUB)
 
@@ -752,8 +768,9 @@ hm2_test-objs :=			  \
     hal/drivers/mesa-hostmot2/hm2_test.o  \
     hal/drivers/mesa-hostmot2/bitfile.o   \
     $(MATHSTUB)
+endif
 
-ifneq "$(filter 2.6.%, $(kernelvers))" ""
+ifneq "$(filter linux,$(BUILD_SYS))$(filter 2.6.%, $(kernelvers))" ""
 obj-$(CONFIG_PROBE_PARPORT) += probe_parport.o
 probe_parport-objs := hal/drivers/probe_parport.o $(MATHSTUB)
 endif
@@ -833,7 +850,7 @@ motmod-objs += libnml/posemath/_posemath.o
 motmod-objs += libnml/posemath/sincos.o $(MATHSTUB)
 
 TORTOBJS = $(foreach file,$($(patsubst %.o,%,$(1))-objs), objects/rt$(file))
-ifeq ($(BUILD_SYS),sim)
+ifneq "$(filter sim linux,$(BUILD_SYS))" ""
 EXTRA_CFLAGS += -fPIC -Os
 RTOBJS := $(sort $(foreach mod,$(obj-m),$(call TORTOBJS,$(mod))))
 
@@ -881,8 +898,8 @@ $(sort $(RTOBJS)) : objects/rt%.o : %.c
 	$(Q)ld -r -static -S -Os $(LDFLAGS) -o $@ $^ $(EXTRALINK) $(MATHLIB)
 endif
 
-ifneq "$(filter normal sim,$(BUILD_SYS))" ""
-ifneq "$(BUILD_SYS)" "sim"
+ifneq "$(filter normal sim linux,$(BUILD_SYS))" ""
+ifeq "$(filter sim linux,$(BUILD_SYS))" ""
 ../rtlib/rtapi$(MODULE_EXT): $(addprefix objects/rt,$(rtapi-objs))
 endif
 ../rtlib/classicladder_rt$(MODULE_EXT): $(addprefix objects/rt,$(classicladder_rt-objs))
@@ -906,11 +923,14 @@ endif
 ../rtlib/streamer$(MODULE_EXT): $(addprefix objects/rt,$(streamer-objs))
 ../rtlib/sampler$(MODULE_EXT): $(addprefix objects/rt,$(sampler-objs))
 ../rtlib/hal_parport$(MODULE_EXT): $(addprefix objects/rt,$(hal_parport-objs))
+ifeq ($(BUILD_SYS),linux)
+../rtlib/probe_parport$(MODULE_EXT): $(addprefix objects/rt,$(probe_parport-objs))
+endif
 ../rtlib/pci_8255$(MODULE_EXT): $(addprefix objects/rt,$(pci_8255-objs))
 ../rtlib/hal_tiro$(MODULE_EXT): $(addprefix objects/rt,$(hal_tiro-objs))
 ../rtlib/hal_stg$(MODULE_EXT): $(addprefix objects/rt,$(hal_stg-objs))
 ../rtlib/hal_vti$(MODULE_EXT): $(addprefix objects/rt,$(hal_vti-objs))
-../rtlib/hal_evoreg$(MODULE_EXT): $(addprefix objects/rt,$(hal_evoreg-objs))
+#../rtlib/hal_evoreg$(MODULE_EXT): $(addprefix objects/rt,$(hal_evoreg-objs))
 ../rtlib/hal_motenc$(MODULE_EXT): $(addprefix objects/rt,$(hal_motenc-objs))
 ../rtlib/hal_ax5214h$(MODULE_EXT): $(addprefix objects/rt,$(hal_ax5214h-objs))
 ../rtlib/hal_ppmc$(MODULE_EXT): $(addprefix objects/rt,$(hal_ppmc-objs))

src/Makefile.modinc.in

@@ -70,7 +70,7 @@ install:
 	cp $(patsubst %.o,%.ko,$(obj-m)) $(DESTDIR)$(RTLIBDIR)/
 endif
 
-ifeq ($(BUILDSYS),sim)
+ifneq "$(filter sim linux,$(BUILDSYS))" ""
 EXTRA_CFLAGS += -DSIM -fPIC
 allmodules = $(patsubst %.o,%.so,$(obj-m))
 modules: $(allmodules)

src/configure.in

@@ -83,6 +83,7 @@ RTLINUXPRO=""
 RTPREFIX=""
 KERNELDIR=""
 RTFLAGS=""
+LINUX_REALTIME=no
 
 RTAI3_MOD=""
 RTAI_MOD=""
@@ -116,17 +117,27 @@ AC_ARG_ENABLE(simulator,
 AC_SUBST(SIMULATOR)
 
 AC_ARG_WITH(realtime,
-    [  --with-realtime=<path to realtime>     Path where RTAI or RTlinux is installed],
+    [  --with-realtime=<path to realtime>     Path where RTAI or RTlinux is installed or 'linux' for linux-rt],
     [   case "$withval" in
 	"" | y | ye | yes | n | no)
 	    AC_MSG_ERROR([You must supply a path for --with-realtime.]) ;;
+	linux)
+		LINUX_REALTIME=yes
+		BUILD_SYS=linux
+		RTPREFIX=linux
+		MODEXT=.so
+                MODULE_DIR=${prefix}/lib/emc2/modules
+                AC_MSG_RESULT([configuring for Realtime-Linux])
+		;;
 	*)
-		case "$SIMULATOR" in
-		yes) AC_MSG_ERROR([--with-realtime and --enable-simulator are mutually exclusive]) ;;
-		*) RTDIR="$withval" ;;
-		esac
-	;;
+		RTDIR="$withval" ;;
         esac])
+if test x$RTDIR != x; then
+  case "$SIMULATOR" in
+    yes) AC_MSG_ERROR([--with-realtime and --enable-simulator are mutually exclusive]) ;;
+  esac
+fi
+
 
 ##############################################################################
 # Subsection 2.2                                                             #
@@ -143,13 +154,8 @@ AC_ARG_WITH(realtime,
 ##############################################################################
 
 #at this point if RTDIR is empty, we need to find RT ourselves
-if test $SIMULATOR = yes; then
-  RTS=sim
-  AC_PATH_PROG(PTH_CONFIG,pth-config,"")
-  if test "$PTH_CONFIG" = ""; then
-    AC_MSG_ERROR([GNU PTH library is required: get it with apt-get install libpth-dev])
-  fi
-else
+if test $SIMULATOR != yes -a $LINUX_REALTIME != yes; then
+  # Using realtime hypervisor
   if test -z "$RTDIR"; then
     DIRS="/usr/realtime-`uname -r` /usr/realtime /usr/realtime* /usr /usr/src/rtai*"
   else
@@ -175,6 +181,20 @@ to build without a realtime system.])
   AC_MSG_RESULT([Using $RTS as the RT signature])
 fi
 
+if test $LINUX_REALTIME = yes; then
+  # Using realtime capable linux
+  RTS=linux
+fi
+
+if test $SIMULATOR = yes; then
+  # Using simulator
+  RTS=sim
+  AC_PATH_PROG(PTH_CONFIG,pth-config,"")
+  if test "$PTH_CONFIG" = ""; then
+    AC_MSG_ERROR([GNU PTH library is required: get it with apt-get install libpth-dev])
+  fi
+fi
+
 
 ##############################################################################
 # Subsection 2.3                                                             #
@@ -246,7 +266,7 @@ sim)
     RTFLAGS=-DSIMULATOR
 esac
 
-if test $RTS != sim; then
+if test $RTS != sim -a $RTS != linux; then
     AC_MSG_CHECKING([for location of kernel headers])
     AC_ARG_WITH(kernel-headers,
 	[  --with-kernel-headers=<directory>       Location for kernel headers],
@@ -274,6 +294,8 @@ elif test $RTPREFIX = rtai; then
     AC_DEFINE(RTAPI_RTAI, [], [Realtime system is RTAI])
 elif test $RTPREFIX = rtl; then
     AC_DEFINE(RTAPI_RTL, [], [Realtime system is RTL])
+elif test $RTPREFIX = linux; then
+    AC_DEFINE(RTAPI_LINUX, [], [Realtime capable Linux])
 fi
 
 
@@ -366,7 +388,7 @@ AC_SUBST([HIDRAW_H_USABLE])
 # compiled against.                                                          #
 ##############################################################################
 
-if test $RTS '!=' sim; then
+if test $RTS '!=' sim -a $RTS != linux; then
 AC_CHECK_HEADERS([$KERNELDIR/include/linux/version.h],[],[AC_MSG_ERROR([version.h not found - Is the kernel headers package installed ?])])
 
 # Unfortunately, many distributions (redhat, mandrake) have #defines
@@ -1508,6 +1530,9 @@ echo "#   is possible. Drivers won't be built.                             #"
 else
 echo "#   This means that RT is properly installed                         #"
 fi
+if test $LINUX_REALTIME = yes; then
+echo "#   Using realtime capable Linux.                                    #"
+fi
 echo "#   If things don't work check config.log for errors & warnings      #"
 echo "#                                                                    #"
 

src/hal/drivers/Submakefile

@@ -33,7 +33,7 @@ pluto_clean:
 
 # The kernel's build system won't know how to rebuild generated files
 # so modules must depend on them explicitly
-ifneq ($(BUILD_SYS),sim)
+ifeq "$(filter sim linux,$(BUILD_SYS))" ""
 modules:                                                         \
     hal/drivers/pluto_servo_rbf.h                                \
     hal/drivers/pluto_step_rbf.h

src/hal/drivers/hal_ax5214h.c

@@ -96,7 +96,7 @@
    instead of rtapi_outb() and rtapi_inb() - the <asm.io> ones
    are inlined, and save a microsecond or two (on my 233MHz box)
 */
-#define FASTIO
+#define NOFASTIO
 
 #ifdef FASTIO
 #define rtapi_inb inb

src/hal/drivers/hal_motenc.c

@@ -207,6 +207,7 @@ typedef struct {
 
 typedef struct {
     // Private data.
+    struct rtapi_pcidev			*pDev;
     MotencRegMap			*pCard;
     int					boardType;
     char				*pTypeName;
@@ -273,7 +274,7 @@ int
 rtapi_app_main(void)
 {
     int					i, j;
-    struct pci_dev			*pDev = NULL;
+    struct rtapi_pcidev			*pDev = NULL;
     MotencRegMap			*pCard = NULL;
     Device				*pDevice;
 
@@ -291,7 +292,7 @@ rtapi_app_main(void)
 
     i = 0;
     // Find a MOTENC card.
-    while((i < MAX_DEVICES) && ((pDev = pci_get_device(MOTENC_VENDOR_ID, MOTENC_DEVICE_ID, pDev)) != NULL)){
+    while((i < MAX_DEVICES) && ((pDev = rtapi_pci_get_device(MOTENC_VENDOR_ID, MOTENC_DEVICE_ID, pDev)) != NULL)){
 
 	// Allocate memory for device object.
 	pDevice = hal_malloc(sizeof(Device));
@@ -301,14 +302,15 @@ rtapi_app_main(void)
 	    hal_exit(driver.componentId);
 	    return(-ENOMEM);
 	}
+	pDevice->pDev = pDev;
 
 	// Save pointer to device object.
 	driver.deviceTable[i++] = pDevice;
 
 	// Map card into memory.
-	pCard = (MotencRegMap *)ioremap_nocache(pci_resource_start(pDev, 2), pci_resource_len(pDev, 2));
-	rtapi_print_msg(RTAPI_MSG_INFO, "MOTENC: Card detected in slot %2x\n", PCI_SLOT(pDev->devfn));
-	rtapi_print_msg(RTAPI_MSG_INFO, "MOTENC: Card address @ %p, Len = %d\n", pCard, (int)pci_resource_len(pDev, 2));
+	pCard = (MotencRegMap *)rtapi_pci_ioremap(pDev, 2, sizeof(MotencRegMap));
+	rtapi_print_msg(RTAPI_MSG_INFO, "MOTENC: Card detected\n");
+	rtapi_print_msg(RTAPI_MSG_INFO, "MOTENC: Card address @ %p, Len = %d\n", pCard, (int)sizeof(MotencRegMap));
 
 	// Initialize device.
 	Device_Init(pDevice, pCard);
@@ -376,7 +378,9 @@ rtapi_app_exit(void)
 	    }
 
 	    // Unmap card.
-	    iounmap((void *)(pDevice->pCard));
+	    rtapi_pci_iounmap(pDevice->pDev, (void *)(pDevice->pCard));
+	    // Unregister the device
+	    rtapi_pci_put_device(pDevice->pDev);
 
 	    // TODO: Free device object when HAL supports free.
 //	    hal_free(pDevice);