Now that disable_irq() defaults to delayed-disable semantics, the IRQ_DISABLED
flag is not needed anymore.
Signed-off-by: Ingo Molnar <mingo@elte.hu>
Cc: Thomas Gleixner <tglx@linutronix.de>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
Never mask interrupts immediately upon request. Disabling interrupts in
high-performance codepaths is rare, and on the other hand this change could
recover lost edges (or even other types of lost interrupts) by conservatively
only masking interrupts after they happen. (NOTE: with this change the
highlevel irq-disable code still soft-disables this IRQ line - and if such an
interrupt happens then the IRQ flow handler keeps the IRQ masked.)
Mark i8529A controllers as 'never loses an edge'.
Signed-off-by: Ingo Molnar <mingo@elte.hu>
Cc: Thomas Gleixner <tglx@linutronix.de>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
This patch converts x86_64 to use the GENERIC_TIME infrastructure and adds
clocksource structures for both TSC and HPET (ACPI PM is shared w/ i386).
[akpm@osdl.org: fix printk timestamps]
[akpm@osdl.org: fix printk ckeanups]
[akpm@osdl.org: hpet build fix]
Signed-off-by: John Stultz <johnstul@us.ibm.com>
Cc: Ingo Molnar <mingo@elte.hu>
Cc: Thomas Gleixner <tglx@linutronix.de>
Cc: Andi Kleen <ak@muc.de>
Cc: Roman Zippel <zippel@linux-m68k.org>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
In preparation for the x86_64 generic time conversion, this patch splits out
TSC and HPET related code from arch/x86_64/kernel/time.c into respective
hpet.c and tsc.c files.
[akpm@osdl.org: fix printk timestamps]
[akpm@osdl.org: cleanup]
Signed-off-by: John Stultz <johnstul@us.ibm.com>
Cc: Ingo Molnar <mingo@elte.hu>
Cc: Thomas Gleixner <tglx@linutronix.de>
Cc: Andi Kleen <ak@muc.de>
Cc: Roman Zippel <zippel@linux-m68k.org>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
In preparation for supporting generic timekeeping, this patch cleans up
x86-64's use of vxtime.hpet_address, changing it to just hpet_address as is
also used in i386. This is necessary since the vxtime structure will be going
away.
Signed-off-by: John Stultz <johnstul@us.ibm.com>
Cc: Ingo Molnar <mingo@elte.hu>
Cc: Thomas Gleixner <tglx@linutronix.de>
Cc: Andi Kleen <ak@muc.de>
Cc: Roman Zippel <zippel@linux-m68k.org>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
make the TSC synchronization code more robust, and unify it between x86_64 and
i386.
The biggest change is the removal of the 'fix up TSCs' code on x86_64 and
i386, in some rare cases it was /causing/ time-warps on SMP systems.
The new code only checks for TSC asynchronity - and if it can prove a
time-warp (if it can observe the TSC going backwards when going from one CPU
to another within a critical section), then the TSC clock-source is turned
off.
The TSC synchronization-checking code also got moved into a separate file.
Signed-off-by: Ingo Molnar <mingo@elte.hu>
Signed-off-by: Thomas Gleixner <tglx@linutronix.de>
Cc: john stultz <johnstul@us.ibm.com>
Cc: Roman Zippel <zippel@linux-m68k.org>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
The semantic effect of insert_at_head is that it would allow new registered
sysctl entries to override existing sysctl entries of the same name. Which is
pain for caching and the proc interface never implemented.
I have done an audit and discovered that none of the current users of
register_sysctl care as (excpet for directories) they do not register
duplicate sysctl entries.
So this patch simply removes the support for overriding existing entries in
the sys_sysctl interface since no one uses it or cares and it makes future
enhancments harder.
Signed-off-by: Eric W. Biederman <ebiederm@xmission.com>
Acked-by: Ralf Baechle <ralf@linux-mips.org>
Acked-by: Martin Schwidefsky <schwidefsky@de.ibm.com>
Cc: Russell King <rmk@arm.linux.org.uk>
Cc: David Howells <dhowells@redhat.com>
Cc: "Luck, Tony" <tony.luck@intel.com>
Cc: Ralf Baechle <ralf@linux-mips.org>
Cc: Paul Mackerras <paulus@samba.org>
Cc: Martin Schwidefsky <schwidefsky@de.ibm.com>
Cc: Andi Kleen <ak@muc.de>
Cc: Jens Axboe <axboe@kernel.dk>
Cc: Corey Minyard <minyard@acm.org>
Cc: Neil Brown <neilb@suse.de>
Cc: "John W. Linville" <linville@tuxdriver.com>
Cc: James Bottomley <James.Bottomley@steeleye.com>
Cc: Jan Kara <jack@ucw.cz>
Cc: Trond Myklebust <trond.myklebust@fys.uio.no>
Cc: Mark Fasheh <mark.fasheh@oracle.com>
Cc: David Chinner <dgc@sgi.com>
Cc: "David S. Miller" <davem@davemloft.net>
Cc: Patrick McHardy <kaber@trash.net>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
Basically everything was done but I removed all element initializers from the
trailing entries to make it clear the entire last entry should be zero filled.
Signed-off-by: Eric W. Biederman <ebiederm@xmission.com>
Acked-by: Andi Kleen <ak@suse.de>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
Just various new acronyms. The new popcnt bit is in the middle
of Intel space. This looks a little weird, but I've been assured
it's ok.
Also I fixed RDTSCP for i386 which was at the wrong place.
For i386 and x86-64.
Signed-off-by: Andi Kleen <ak@suse.de>
Occasionally the kernel has bugs that result in no irq being found for a
given cpu vector. If we acknowledge the irq the system has a good chance
of continuing even though we dropped an irq message. If we continue to
simply print a message and not acknowledge the irq the system is likely to
become non-responsive shortly there after.
AK: Fixed compilation for UP kernels
Signed-off-by: Eric W. Biederman <ebiederm@xmission.com>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: "Luigi Genoni" <luigi.genoni@pirelli.com>
Cc: Andi Kleen <ak@suse.de>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
I've seen my box paralyzed by an endless spew of
rtc: lost some interrupts at 1024Hz.
messages on the serial console. What seems to be happening is that
something real causes an interrupt to be lost and triggers the
message. But then printing the message to the serial console (from
the hpet interrupt handler) takes more than 1/1024th of a second, and
then some more interrupts are lost, so the message triggers again....
Fix this by adding a printk_ratelimit() before printing the warning.
Signed-off-by: Roland Dreier <rolandd@cisco.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Andi Kleen <ak@suse.de>
On the Unisys ES7000/ONE system, we encountered a problem where performing
a kexec reboot or dump on any cell other than cell 0 causes the system
timer to stop working, resulting in a hang during timer calibration in the
new kernel.
We traced the problem to one line of code in disable_IO_APIC(), which needs
to restore the timer's IO-APIC configuration before rebooting. The code is
currently using the 4-bit physical destination field, rather than using the
8-bit logical destination field, and it cuts off the upper 4 bits of the
timer's APIC ID. If we change this to use the logical destination field,
the timer works and we can kexec on the upper cells. This was tested on
two different cells (0 and 2) in an ES7000/ONE system.
For reference, the relevant Intel xAPIC spec is kept at
ftp://download.intel.com/design/chipsets/e8501/datashts/30962001.pdf,
specifically on page 334.
Signed-off-by: Benjamin M Romer <benjamin.romer@unisys.com>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: Andi Kleen <ak@suse.de>
Cc: "Eric W. Biederman" <ebiederm@xmission.com>
Cc: Vivek Goyal <vgoyal@in.ibm.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
During kernel bootup, a new T60 laptop (CoreDuo, 32-bit) hangs about
10%-20% of the time in acpi_init():
Calling initcall 0xc055ce1a: topology_init+0x0/0x2f()
Calling initcall 0xc055d75e: mtrr_init_finialize+0x0/0x2c()
Calling initcall 0xc05664f3: param_sysfs_init+0x0/0x175()
Calling initcall 0xc014cb65: pm_sysrq_init+0x0/0x17()
Calling initcall 0xc0569f99: init_bio+0x0/0xf4()
Calling initcall 0xc056b865: genhd_device_init+0x0/0x50()
Calling initcall 0xc056c4bd: fbmem_init+0x0/0x87()
Calling initcall 0xc056dd74: acpi_init+0x0/0x1ee()
It's a hard hang that not even an NMI could punch through! Frustratingly,
adding printks or function tracing to the ACPI code made the hangs go away
...
After some time an additional detail emerged: disabling the NMI watchdog
made these occasional hangs go away.
So i spent the better part of today trying to debug this and trying out
various theories when i finally found the likely reason for the hang: if
acpi_ns_initialize_devices() executes an _INI AML method and an NMI
happens to hit that AML execution in the wrong moment, the machine would
hang. (my theory is that this must be some sort of chipset setup method
doing stores to chipset mmio registers?)
Unfortunately given the characteristics of the hang it was sheer
impossible to figure out which of the numerous AML methods is impacted
by this problem.
As a workaround i wrote an interface to disable chipset-based NMIs while
executing _INI sections - and indeed this fixed the hang. I did a
boot-loop of 100 separate reboots and none hung - while without the patch
it would hang every 5-10 attempts. Out of caution i did not touch the
nmi_watchdog=2 case (it's not related to the chipset anyway and didnt
hang).
I implemented this for both x86_64 and i686, tested the i686 laptop both
with nmi_watchdog=1 [which triggered the hangs] and nmi_watchdog=2, and
tested an Athlon64 box with the 64-bit kernel as well. Everything builds
and works with the patch applied.
Signed-off-by: Ingo Molnar <mingo@elte.hu>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: Andi Kleen <ak@suse.de>
Cc: Len Brown <lenb@kernel.org>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
- set bad_dma_address explicitly to 0x0
- reserve 32 pages from bad_dma_address and up
- WARN_ON() a driver feeding us bad_dma_address
Thanks to Leo Duran <leo.duran@amd.com> for the suggestion.
Signed-off-by: Muli Ben-Yehuda <muli@il.ibm.com>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: Leo Duran <leo.duran@amd.com>
Cc: Job Mason <jdmason@kudzu.us>
Should be harmless because there is normally no memory there, but
technically it was incorrect.
Pointed out by Leo Duran
Signed-off-by: Andi Kleen <ak@suse.de>
Initialize FS and GS to __KERNEL_DS as well. The actual value of them is not
important, but it is important to reload them in protected mode. At this time,
they still retain the real mode values from initial boot. VT disallows
execution of code under such conditions, which means hardware virtualization
can not be used to boot the kernel on Intel platforms, making the boot time
painfully slow.
This requires moving the GS load before the load of GS_BASE, so just move
all the segments loads there to keep them together in the code.
Signed-off-by: Zachary Amsden <zach@vmware.com>
Signed-off-by: Andi Kleen <ak@suse.de>
The symbol is needed to manipulate page tables, and modules shouldn't
do that.
Leftover from 2.4, but no in tree module should need it now.
Signed-off-by: Andi Kleen <ak@suse.de>
This means if an illegal value is set for the segment registers there
ptrace will error out now with an errno instead of silently ignoring
it.
Signed-off-by: Andi Kleen <ak@suse.de>
Add failsafe mechanism to HPET/TSC clock calibration.
Signed-off-by: Jack Steiner <steiner@sgi.com>
Updated to include failsafe mechanism & additional community feedback.
Patch built on latest 2.6.20-rc4-mm1 tree.
Signed-off-by: Andi Kleen <ak@suse.de>
When a machine check event is detected (including a AMD RevF threshold
overflow event) allow to run a "trigger" program. This allows user space
to react to such events sooner.
The trigger is configured using a new trigger entry in the
machinecheck sysfs interface. It is currently shared between
all CPUs.
I also fixed the AMD threshold handler to run the machine
check polling code immediately to actually log any events
that might have caused the threshold interrupt.
Also added some documentation for the mce sysfs interface.
Signed-off-by: Andi Kleen <ak@suse.de>
while debugging an unrelated problem in Xen, I noticed odd reads from
non-existent MSRs. Having now found time to look why these happen, I
came up with below patch, which
- prevents accessing MCi_MISCj with j > 0 when the block pointer in
MCi_MISC0 is zero
- accesses only contiguous MCi_MISCj until a non-implemented one is
found
- doesn't touch unimplemented blocks in mce_threshold_interrupt at all
- gives names to two bits previously derived from MASK_VALID_HI (it
took me some time to understand the code without this)
The first three items, besides being apparently closer to the spec, should
namely help cutting down on the time mce_threshold_interrupt() takes.
Signed-off-by: Andi Kleen <ak@suse.de>
P6 CPUs and Core/Core 2 CPUs which has 'architectural perf mon' feature,
only supports write of low 32 bits in Performance Monitoring Counters.
Bits 32..39 are sign extended based on bit 31 and bits 40..63 are reserved
and should be zero.
This patch:
Change x86_64 nmi handler to handle this case cleanly.
Signed-off-by: Venkatesh Pallipadi <venkatesh.pallipadi@intel.com>
Signed-off-by: Andi Kleen <ak@suse.de>
This is a tiny cleanup to increase readability
Signed-off-by: Glauber de Oliveira Costa <gcosta@redhat.com>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: Andi Kleen <ak@suse.de>
Signed-off-by: Andrew Morton <akpm@osdl.org>
Unlike x86, x86_64 already passes arguments in registers. The use of
regparm attribute makes no difference in produced code, and the use of
fastcall just bloats the code.
Signed-off-by: Glauber de Oliveira Costa <gcosta@redhat.com>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: Andi Kleen <ak@suse.de>
Signed-off-by: Andrew Morton <akpm@osdl.org>
This patch resolves the issue of running with numa=fake=X on kernel command
line on x86_64 machines that have big IO hole. While calculating the size
of each node now we look at the total hole size in that range.
Previously there were nodes that only had IO holes in them causing kernel
boot problems. We now use the NODE_MIN_SIZE (64MB) as the minimum size of
memory that any node must have. We reduce the number of allocated nodes if
the number of nodes specified on kernel command line results in any node
getting memory smaller than NODE_MIN_SIZE.
This change allows the extra memory to be incremented in NODE_MIN_SIZE
granule and uniformly distribute among as many nodes (called big nodes) as
possible.
[akpm@osdl.org: build fix]
Signed-off-by: David Rientjes <reintjes@google.com>
Signed-off-by: Paul Menage <menage@google.com>
Signed-off-by: Rohit Seth <rohitseth@google.com>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: Andi Kleen <ak@suse.de>
Signed-off-by: Andrew Morton <akpm@osdl.org>
It makes more sense to end the stack trace with ULONG_MAX only if
nr_entries < max_entries. Otherwise, we lose one entry in the long stack
traces and cannot know whether the trace was complete or not.
Signed-off-by: Catalin Marinas <catalin.marinas@arm.com>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: Andi Kleen <ak@suse.de>
Cc: Jan Beulich <jbeulich@novell.com>
Signed-off-by: Andrew Morton <akpm@osdl.org>
- add SWIOTLB config help text
- mention Documentation/x86_64/boot-options.txt in
Documentation/kernel-parameters.txt
- remove the duplication of the iommu kernel parameter documentation.
- Better explanation of some of the iommu kernel parameter options.
- "32MB<<order" instead of "32MB^order".
- Mention the default "order" value.
- list the four existing PCI-DMA mapping implementations of arch x86_64
- group the iommu= option keywords by PCI-DMA mapping implementation.
- Distinguish iommu= option keywords from number arguments.
- Explain the meaning of DAC and SAC.
Signed-off-by: Karsten Weiss <knweiss@science-computing.de>
Signed-off-by: Andi Kleen <ak@suse.de>
Acked-by: Muli Ben-Yehuda <muli@il.ibm.com>
Cc: Andi Kleen <ak@suse.de>
Signed-off-by: Andrew Morton <akpm@osdl.org>
Remove the statically allocated memory to NUMA node hash map in favor of a
dynamically allocated memory to node hash map (it is cache aligned).
This patch has the nice side effect in that it allows the hash map to grow
for systems with large amounts of memory (256GB - 1TB), but suffer from
having small PCI space tacked onto the boot node (which is somewhere
between 192MB to 512MB on the ES7000).
Signed-off-by: Amul Shah <amul.shah@unisys.com>
Signed-off-by: Andi Kleen <ak@suse.de>
Cc: Andi Kleen <ak@suse.de>
Cc: Rohit Seth <rohitseth@google.com>
Signed-off-by: Andrew Morton <akpm@osdl.org>
This does user copies in fs write() into the page cache with write combining.
This pushes the destination out of the CPU's cache, but allows higher bandwidth
in some case.
The theory is that the page cache data is usually not touched by the
CPU again and it's better to not pollute the cache with it. Also it is a little
faster.
Signed-off-by: Andi Kleen <ak@suse.de>
Many struct file_operations in the kernel can be "const". Marking them const
moves these to the .rodata section, which avoids false sharing with potential
dirty data. In addition it'll catch accidental writes at compile time to
these shared resources.
[akpm@osdl.org: sparc64 fix]
Signed-off-by: Arjan van de Ven <arjan@linux.intel.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
Remove in-source externs, linux/init.h is included in all cases.
This is a fixups for "Dynamic kernel command-line" patch.
It also includes some uml __init fixups so that we can __initdata also its
command_line.
Signed-off-by: Alon Bar-Lev <alon.barlev@gmail.com>
Cc: Jeff Dike <jdike@addtoit.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
Delete the few remaining unnecessary calls to memset(0) after a call to
kzalloc().
Signed-off-by: Robert P. J. Day <rpjday@mindspring.com>
Cc: Andi Kleen <ak@suse.de>
Cc: Dmitry Torokhov <dtor@mail.ru>
Cc: Adam Belay <ambx1@neo.rr.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
Update all arch/*/kernel/vmlinux.lds.S to not include space for initramfs
when CONFIG_BLK_DEV_INITRAMFS is not selected. This saves another 4 kbytes
on most platfoms (some reserve PAGE_SIZE for initramfs).
Signed-off-by: Jean-Paul Saman <jean-paul.saman@nxp.com>
Cc: Al Viro <viro@zeniv.linux.org.uk>
Cc: <linux-arch@vger.kernel.org>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
The arch hooks arch_setup_msi_irq and arch_teardown_msi_irq are now
responsible for allocating and freeing the linux irq in addition to
setting up the the linux irq to work with the interrupt.
arch_setup_msi_irq now takes a pci_device and a msi_desc and returns
an irq.
With this change in place this code should be useable by all platforms
except those that won't let the OS touch the hardware like ppc RTAS.
Signed-off-by: Eric W. Biederman <ebiederm@xmission.com>
Acked-by: Ingo Molnar <mingo@elte.hu>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>
- add proper __init decoration to swiotlb's init code (and the code calling
it, where not already the case)
- replace uses of 'unsigned long' with dma_addr_t where appropriate
- do miscellaneous simplicfication and cleanup
Signed-off-by: Jan Beulich <jbeulich@novell.com>
Signed-off-by: Andrew Morton <akpm@linux-foundation.org>
Signed-off-by: Tony Luck <tony.luck@intel.com>
Commit f2802e7f57 and its x86 version
(b7471c6da9) adds nmi_known_cpu() check
while parsing boot options in x86_64 and i386.
With that, "nmi_watchdog=2" stops working for me on Intel Core 2 CPU
based system.
The problem is, setup_nmi_watchdog is called while parsing the boot
option and identify_cpu is not done yet. So, the return value of
nmi_known_cpu() is not valid at this point.
So revert that check. This should not have any adverse effect as the
nmi_known_cpu() check is done again later in enable_lapic_nmi_watchdog().
Signed-off-by: Venkatesh Pallipadi <venkatesh.pallipadi@intel.com>
Cc: Don Zickus <dzickus@redhat.com>
Cc: Andi Kleen <ak@suse.de>
Cc: Ingo Molnar <mingo@elte.hu>
Signed-off-by: Andrew Morton <akpm@osdl.org>
Signed-off-by: Linus Torvalds <torvalds@linux-foundation.org>
Ensure that no SMI interrupts occur between the read of the HPET & TSC
in the clock calibration loop.
I noticed that a 2.66GHz system incorrectly detected the processor
clock speed about 1/7 of the time:
time.c: Detected 2660.005 MHz processor. (most of the time)
time.c: Detected 2988.203 MHz processor. (sometime)
The problem is caused by an SMI interrupt occuring in hpet_calibrate_tsc()
between the read of the HPET & TSC. Prior to switching the BIOS into
ACPI mode, it appears that every 27msec an SMI interrupt occurs. The
SMI interrupt takes 4.8 msec to process.
Note: On my test system, TICK_MIN had to be >380. I picked 5000
to minimize risk of having a value that is too small for other
platforms.
Signed-off-by: Jack Steiner <steiner@sgi.com>
Signed-off-by: Andi Kleen <ak@suse.de>
arch/x86_64/kernel/time.c | 25 +++++++++++++++++++++----
1 file changed, 21 insertions(+), 4 deletions(-)
This reverts commit b026872601, which has
been linked to several problem reports with IO-APIC and the timer.
Machines either don't boot because the timer doesn't happen, or we get
double timer interrupts because we end up double-routing the timer irq
through multiple interfaces.
See for example
http://lkml.org/lkml/2006/12/16/101http://lkml.org/lkml/2007/1/3/9http://bugzilla.kernel.org/show_bug.cgi?id=7789
about some of the discussion.
Patches to fix this cleanup exist (and have been confirmed to work fine
at least for some of the affected cases) and we'll revisit it for
2.6.21, but this late in the -rc series we're better off just reverting
the incomplete commit that caused the problems.
Suggested-by: Adrian Bunk <bunk@stusta.de>
Cc: Eric W. Biederman <ebiederm@xmission.com>
Cc: Yinghai Lu <yinghai.lu@amd.com>
Cc: Andrew Morton <akpm@osdl.org>
Cc: Andi Kleen <ak@suse.de>
Signed-off-by: Linus Torvalds <torvalds@osdl.org>
If caller passed the tsk, we should use it to validate a stack ptr.
Otherwise, sysrq-t and other debugging stuff doesn't work.
Signed-off-by: OGAWA Hirofumi <hirofumi@mail.parknet.co.jp>
Signed-off-by: Linus Torvalds <torvalds@osdl.org>
Robert P. J. Day