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2007-02-09libata: update libata LLDs to use devresTejun Heo59-1245/+355
Update libata LLDs to use devres. Core layer is already converted to support managed LLDs. This patch simplifies initialization and fixes many resource related bugs in init failure and detach path. For example, all converted drivers now handle ata_device_add() failure gracefully without excessive resource rollback code. As most resources are released automatically on driver detach, many drivers don't need or can do with much simpler ->{port|host}_stop(). In general, stop callbacks are need iff port or host needs to be given commands to shut it down. Note that freezing is enough in many cases and ports are automatically frozen before being detached. Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: update libata core layer to use devresTejun Heo5-160/+106
Update libata core layer to use devres. * ata_device_add() acquires all resources in managed mode. * ata_host is allocated as devres associated with ata_host_release. * Port attached status is handled as devres associated with ata_host_attach_release(). * Initialization failure and host removal is handedl by releasing devres group. * Except for ata_scsi_release() removal, LLD interface remains the same. Some functions use hacky is_managed test to support both managed and unmanaged devices. These will go away once all LLDs are updated to use devres. Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: implement ata_host_detach()Tejun Heo3-6/+21
Implement ata_host_detach() which calls ata_port_detach() for each port in the host and export it. ata_port_detach() is now internal and thus un-exported. ata_host_detach() will be used as the 'deregister from libata layer' function after devres conversion. Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09devres: device resource managementTejun Heo21-5/+1853
Implement device resource management, in short, devres. A device driver can allocate arbirary size of devres data which is associated with a release function. On driver detach, release function is invoked on the devres data, then, devres data is freed. devreses are typed by associated release functions. Some devreses are better represented by single instance of the type while others need multiple instances sharing the same release function. Both usages are supported. devreses can be grouped using devres group such that a device driver can easily release acquired resources halfway through initialization or selectively release resources (e.g. resources for port 1 out of 4 ports). This patch adds devres core including documentation and the following managed interfaces. * alloc/free : devm_kzalloc(), devm_kzfree() * IO region : devm_request_region(), devm_release_region() * IRQ : devm_request_irq(), devm_free_irq() * DMA : dmam_alloc_coherent(), dmam_free_coherent(), dmam_declare_coherent_memory(), dmam_pool_create(), dmam_pool_destroy() * PCI : pcim_enable_device(), pcim_pin_device(), pci_is_managed() * iomap : devm_ioport_map(), devm_ioport_unmap(), devm_ioremap(), devm_ioremap_nocache(), devm_iounmap(), pcim_iomap_table(), pcim_iomap(), pcim_iounmap() Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09fix CONFIG_SATA_SIS=y compile errorAdrian Bunk3-4/+6
Static code shouldn't be used from other modules. drivers/built-in.o: In function `sis_init_one': sata_sis.c:(.text+0x7634cd): undefined reference to `sis_info133' sata_sis.c:(.text+0x7634d6): undefined reference to `sis_info133' While I was at it, I also moved the prototype of this struct to a header file. Signed-off-by: Adrian Bunk <bunk@stusta.de> Cc: Jeff Garzik <jeff@garzik.org> Cc: Tejun Heo <htejun@gmail.com> Signed-off-by: Andrew Morton <akpm@osdl.org> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_sis: Support for PATA supportsAlan3-12/+33
This is quick rework of the patch Uwe proposed but using Kconfig not ifdefs and user selection to sort out PATA support. Instead of ifdefs and requiring the user to select both drivers the SATA driver selects the PATA one. For neatness I've also moved the extern into the function that uses it. Signed-off-by: Alan Cox Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: implement HDIO_GET_IDENTITYTejun Heo1-1/+42
'hdparm -I' doesn't work with ATAPI devices and sg_sat is not widely spread yet leaving no easy way to access ATAPI IDENTIFY data. Implement HDIO_GET_IDENTITY such that at least 'hdparm -i' works. Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: trivial stuffAlan2-3/+3
Readability/typos etc Signed-off-by: Alan Cox <alan@redhat.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_promise: kill qc->nsectTejun Heo1-2/+0
Merge order left qc->nsect usage in sata_promise dangling. Kill it. Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata piix3 support warning fixAndrew Morton1-1/+1
Signed-off-by: Andrew Morton <akpm@osdl.org> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: PIIX3 supportAlan1-3/+15
This I believe completes the PIIX range of support for libata This adds the table entries needed for the PIIX3, both a new PCI identifier and a new mode list. It also fixes an erroneous access to PCI configuration 0x48 on non UDMA capable chips. Signed-off-by: Alan Cox <alan@redhat.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_promise: handle ATAPI_NODATA ourselvesMikael Pettersson1-7/+23
This patch extends sata_promise to handle ATAPI_NODATA commands internally. However, commands destined to ATA_DFLAG_CDB_INTR devices are excluded from this and continue to be returned to libata. Concrete changes: - pdc_atapi_dma_pkt() is renamed to pdc_atapi_pkt(), and is extended to set up correct headers for NODATA packets - pdc_qc_prep() calls pdc_atapi_pkt() for ATAPI_NODATA - pdc_host_intr() handles ATAPI_NODATA - pdc_qc_issue_prot() sends ATAPI_NODATA packets via the chip's packet mechanism, except for CDB_INTR devices Tested on first- and second-generation chips, SATAPI and PATAPI, with no observable regressions. Signed-off-by: Mikael Pettersson <mikpe@it.uu.se> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_promise: issue ATAPI commands as normal packetsMikael Pettersson1-102/+60
This patch (against libata #upstream + the ATAPI cleanup patch) reimplements sata_promise's ATAPI support to format ATAPI DMA commands as normal packets, and to issue them via the hardware's normal packet machinery. It turns out that the only reason for issuing ATAPI DMA commands via the pdc_issue_atapi_pkt_cmd() procedure was to perform two interrupt-fiddling steps for ATA_DFLAG_CDB_INTR devices. But these steps aren't needed because sata_promise sets ATA_FLAG_PIO_POLLING, which disables DMA for those devices. The remaining steps can easily be done in ATA taskfile packets. Concrete changes: - pdc_atapi_dma_pkt() is extended to program all packet setup steps, and not just contain the CDB; the sequence of steps exactly mirrors what pdc_issue_atapi_pkt_cmd() did - pdc_atapi_dma_pkt() needed more parameters: simplify it by just passing 'qc' and having it extract the data it needs - pdc_issue_atai_pkt_cmd() and its two helper procedures pdc_wait_for_drq() and pdc_wait_on_busy() are removed Tested on first- and second-generation chips, SATAPI and PATAPI, with no observable regressions. Signed-off-by: Mikael Pettersson <mikpe@it.uu.se> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_promise: ATAPI cleanupMikael Pettersson1-11/+16
Here's a cleanup for yesterday's sata_promise ATAPI patch: - add and use a symbolic constant for the altstatus register - check return status from ata_busy_wait() - add missing newline in a warning printk() - update comment in pdc_issue_atapi_pkt_cmd() to clarify that the maybe-wait-for-INT issue cannot occur in the current driver, but may occur if the driver starts issuing ATAPI non-DMA commands as PDC packets Signed-off-by: Mikael Pettersson <mikpe@it.uu.se> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_inic162x: finally, driver for initio 162x SATA controllers, take #2Tejun Heo3-0/+816
Driver for Initio 162x SATA controllers. ATA r/w, ATAPI r, hotplug and suspend/resume work. ATAPI w (recording, that is) broken. Feel free to fix it, but be warned, this controller is weird. Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: kill qc->nsect and cursectTejun Heo6-25/+13
libata used two separate sets of variables to record request size and current offset for ATA and ATAPI. This is confusing and fragile. This patch replaces qc->nsect/cursect with qc->nbytes/curbytes and kills them. Also, ata_pio_sector() is updated to use bytes for qc->cursg_ofs instead of sectors. The field used to be used in bytes for ATAPI and in sectors for ATA. Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[libata] sata_vsc: build fix after PCI MSI feature additionJeff Garzik1-4/+4
Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[libata] sata_vsc: support PCI MSIDan Wolstenholme1-3/+41
Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: handle pci_enable_device() failure while resumingTejun Heo5-9/+30
Handle pci_enable_device() failure while resuming. This patch kills the "ignoring return value of 'pci_enable_device'" warning message and propagates __must_check through ata_pci_device_do_resume(). Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: use ata_id_c_string()Tejun Heo6-78/+23
There were several places where ATA ID strings are manually terminated and in some places possibly unterminated strings were passed to string functions which don't limit length like strstr(). This patch converts all of them over to ata_id_c_string(). Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata: straighten out ATA_ID_* constantsTejun Heo9-46/+45
* Kill _OFS suffixes in ATA_ID_{SERNO|FW_REV|PROD}_OFS for consistency with other ATA_ID_* constants. * Kill ATA_SERNO_LEN * Add and use ATA_ID_SERNO_LEN, ATA_ID_FW_REV_LEN and ATA_ID_PROD_LEN. This change also makes ata_device_blacklisted() use proper length for fwrev. Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_nv: add suspend/resume support v3 (Resubmit)Robert Hancock1-64/+161
Thoughts from Jeff & company on merging the patch below into libata-dev? This has been in the -mm tree for over a month now, I haven't heard any complaints about regressions.. Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09drivers/ata/: make 4 functions staticAdrian Bunk2-7/+7
This patch makes the following needlessly global functions static: - libata-core.c: ata_qc_complete_internal() - libata-scsi.c: ata_scsi_qc_new() - libata-scsi.c: ata_dump_status() - libata-scsi.c: ata_to_sense_error() Signed-off-by: Adrian Bunk <bunk@stusta.de> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09ahci: Remove jmicron fixupAlan1-6/+2
The AHCI set up is handled properly along with the other bits in the JMICRON quirk. Remove the code whacking it in ahci.c as its un-needed and also blindly fiddles with bits it doesn't own. Signed-off-by: Alan Cox <alan@redhat.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09libata-sff: Don't try and activate channels which are not in useAlan1-0/+22
An ATA controller in native mode may have one or more channels disabled and not assigned resources. In that case the existing code crashes trying to access I/O ports 0-7. Add the neccessary check. Signed-off-by: Alan Cox <alan@redhat.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_via: PATA supportAlan1-6/+102
Signed-off-by: Alan Cox <alan@redhat.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09pata_sis: implement laptop list and add ASUS A6K/A6UJakub W. Jozwicki J1-2/+30
In ASUS A6K/A6U hdd is connected to SiS 96x via 40c cable, however it is short cable and is UDMA66 capable. tj: fixed if () conditionals ah: fixed infinite loop Signed-off-by: Jakub W. Jozwicki <jakub007@go2.pl> Cc: Andreas Henriksson <andreas@fatal.se> Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09ata_piix: add ICH7 on Acer 3682WLMi to laptop listJ J1-0/+1
In Acer Aspire hdd is connected to ICH7 via 40c cable, however it is short cable and it is UDMA66 capable. Signed-off-by: J J <jakub007@go2.pl> Signed-off-by: Tejun Heo <htejun@gmail.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09Add pci class code for SATA & AHCI, and replace some magic numbers.Conke Hu3-5/+7
Signed-off-by: Conke Hu <conke.hu@amd.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_promise: ATAPI supportMikael Pettersson1-7/+215
This patch adds ATAPI support to the sata_promise driver. This has been tested on both first- and second-generation chips (20378 and 20575), and with both SATAPI and PATAPI devices. CD-writing works. SATAPI DMA works on second-generation chips, but on first-generation chips SATAPI is limited to PIO due to what appears to be HW limitations. PATAPI DMA works on both first- and second-generation chips, but requires the separate PATA support patch before it can be used on TX2plus chips. The functional changes to the driver are: - remove ATA_FLAG_NO_ATAPI from PDC_COMMON_FLAGS - add ->check_atapi_dma() operation to enable DMA for bulk data transfers but force PIO for other ATAPI commands; this filter is from Promise's driver and largely matches pata_pdc207x.c - use a more restrictive ->check_atapi_dma() on first-generation chips to force SATAPI to always use PIO - add handling of ATAPI protocols to pdc_qc_prep(), pdc_host_intr(), and pdc_qc_issue_prot(): ATAPI_DMA is handled by the driver while non-DMA protocols are handed over to libata generic code - add pdc_issue_atapi_pkt_cmd() to handle the initial steps in issuing ATAPI DMA commands before sending the actual CDB; this procedure was ported from Promise's driver Signed-off-by: Mikael Pettersson <mikpe@it.uu.se> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09sata_promise: TX2plus PATA supportMikael Pettersson1-5/+22
This patch implements a simple way of setting up per-port flags on the SATA+PATA Promise TX2plus chips, which is a prerequisite for supporting the PATA port on those chips. It is based on the observation that ap->flags isn't really used until after ->port_start() has been invoked. So it places the "exceptional" per-port flags array in the driver's private host structure, and uses it in ->port_start() to finalise the port's flags. This patch obsoletes the #promise-sata-pata branch included in the #all branch. Signed-off-by: Mikael Pettersson <mikpe@it.uu.se> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[PATCH] user of the jiffies rounding patch: ATA subsystemArjan van de Ven1-1/+2
This patch introduces users of the round_jiffies() function: ATA subsystem This delayed work is of the "about once a second" variety and can be rounded to coincide with other wakers. Signed-off-by: Arjan van de Ven <arjan@linux.intel.com> Cc: Jeff Garzik <jeff@garzik.org> Signed-off-by: Andrew Morton <akpm@osdl.org> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[PATCH] pci: Move PCI_VDEVICE from libata to coreAlan Cox1-4/+0
Updated diff which doesn't move the comment as per Jeff's request and corrects the docs as per report on l/k Signed-off-by: Alan Cox <alan@redhat.com> Signed-off-by: Andrew Morton <akpm@osdl.org> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[libata] trim trailing whitespaceJeff Garzik19-44/+44
Most of these contributed by that mysterious figger known as A.C. Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[PATCH] libata: Add support for the MPC52xx ATA controllerSylvain Munaut3-0/+573
This patch adds initial libata support for the Freescale MPC5200 integrated IDE controller. Signed-off-by: Sylvain Munaut <tnt@246tNt.com> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[PATCH] pata_it8213: Add new driver for the IT8213 cardAlan4-1/+366
Add a driver for the IT8213 which is a single channel ICH-ish PATA controller. As it is very different to the IT8211/2 it gets its own driver. There is a legacy drivers/ide driver also available and I'll post that once I get time to test it all out (probably early January). If anyone else needs the drivers/ide driver and wants to do the merge for drivers/ide (Bart ??) then I'll forward it. [akpm@osdl.org: add PCI ID, constify needed_pio[]] Signed-off-by: Alan Cox <alan@redhat.com> Cc: Jeff Garzik <jeff@garzik.org> Signed-off-by: Andrew Morton <akpm@osdl.org> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[PATCH] sata_sis: support SiS966/966LUwe Koziolek1-25/+54
The SiS966/966L has different PCI-IDs for native mode and AHCI mode. The SiS966 supports four SATA ports only in native mode. Added additional PCI-ID 0x0183 for SiS965/965L. this patch is based on the code from David Wang from SiS Corporation published on SiS Website. Signed-off-by: Uwe Koziolek <uwe.koziolek@gmx.net> Signed-off-by: Jeff Garzik <jeff@garzik.org>
2007-02-09[PATCH] m68knommu: use irq_handler_t for passing handler typesGreg Ungerer12-12/+14
Use irq_handler_t for passing clock handler routine around. Signed-off-by: Greg Ungerer <gerg@uclinux.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] m68knommu: removed include of system.h from bitopsGreg Ungerer1-1/+0
Remove include of asm/system.h, not needed. Signed-off-by: Greg Ungerer <gerg@uclinux.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] uclinux: correctly remap bin_fmtflat exe allocated mem regionsGreg Ungerer1-7/+24
remap() the region we get from mmap() to mark the fact that we are using all of the available slack space. Any slack space is used to form a simple brk region, and potentially more stack space than requested at load time. Any searches of the vma chain may well fail looking for stack (and especially arg) addresses if the remaping is not done. The simplest example is /proc/<pid>/cmdline, since the args are pretty much always at the top of the data/bss/stack region. Signed-off-by: Greg Ungerer <gerg@uclinux.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] m68knommu: use irq_handler_t passing handler to clock initGreg Ungerer1-2/+3
Use irq_handler_t for passing interrupt handler around. Fix optional profiler handler to return a irq_return_t type. Signed-off-by: Greg Ungerer <gerg@uclinux.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] m68knommu: use irq_handler_t passing handler to PIT initGreg Ungerer1-1/+1
Use irq_handler_t type for passing timer handler to timer init code. Signed-off-by: Greg Ungerer <gerg@uclinux.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] m68knommu: include unused sections in linker scriptGreg Ungerer1-0/+10
Include the unused sections in the m68knommu linker scripts. Needed for modules support. Signed-off-by: Greg Ungerer <gerg@uclinux.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] m68knommu: remove regs arg from coldfire timer interruptGreg Ungerer1-2/+3
Fix coldfire kernel timer to remove regs arg. Signed-off-by: Greg Ungerer <gerg@uclinux.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] kbuild: more Makefile cleanupsRoman Zippel1-36/+36
This adds the remaining changes which should have been part of the review process. - the define command is inappropriate (it's primarily for rule definitions) - execute commands in the current dir as all other commands - .*.tmp (but not .*.null) files are also removed up by "make clean" - printf has other side effects, just use "echo -e" - proper quoting - proper indentation Signed-off-by: Roman Zippel <zippel@linux-m68k.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] SH vdso: use install_special_mapping()Paul Mundt1-49/+9
Signed-off-by: Paul Mundt <lethal@linux-sh.org> Cc: Roland McGrath <roland@redhat.com> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] powerpc vDSO: use install_special_mappingRoland McGrath1-77/+27
This patch uses install_special_mapping for the powerpc vDSO setup, consolidating duplicated code. Signed-off-by: Roland McGrath <roland@redhat.com> Cc: Ingo Molnar <mingo@elte.hu> Cc: Paul Mackerras <paulus@samba.org> Cc: Benjamin Herrenschmidt <benh@kernel.crashing.org> Cc: Andi Kleen <ak@suse.de> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] x86_64 ia32 vDSO: use install_special_mappingRoland McGrath2-47/+13
This patch uses install_special_mapping for the ia32 vDSO setup, consolidating duplicated code. Signed-off-by: Roland McGrath <roland@redhat.com> Cc: Ingo Molnar <mingo@elte.hu> Cc: Paul Mackerras <paulus@samba.org> Cc: Benjamin Herrenschmidt <benh@kernel.crashing.org> Cc: Andi Kleen <ak@suse.de> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] i386 vDSO: use install_special_mappingRoland McGrath1-42/+11
This patch uses install_special_mapping for the i386 vDSO setup, consolidating duplicated code. Signed-off-by: Roland McGrath <roland@redhat.com> Cc: Ingo Molnar <mingo@elte.hu> Cc: Paul Mackerras <paulus@samba.org> Cc: Benjamin Herrenschmidt <benh@kernel.crashing.org> Cc: Andi Kleen <ak@suse.de> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
2007-02-09[PATCH] Add install_special_mappingRoland McGrath2-0/+75
This patch adds a utility function install_special_mapping, for creating a special vma using a fixed set of preallocated pages as backing, such as for a vDSO. This consolidates some nearly identical code used for vDSO mapping reimplemented for different architectures. Signed-off-by: Roland McGrath <roland@redhat.com> Cc: Ingo Molnar <mingo@elte.hu> Cc: Paul Mackerras <paulus@samba.org> Cc: Benjamin Herrenschmidt <benh@kernel.crashing.org> Cc: Andi Kleen <ak@suse.de> Signed-off-by: Andrew Morton <akpm@linux-foundation.org> Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>