Module: xenomai-2.6
Branch: master
Commit: 700b7374db69700eb739032a588472714a6c54f0
URL:
http://git.xenomai.org/?p=xenomai-2.6.git;a=commit;h=700b7374db69700eb739032a588472714a6c54f0
Author: Philippe Gerum <r...@xenomai.org>
Date: Wed May 2 10:17:11 2012 +0200
nucleus: enable back PREEMPT_RT support
---
include/asm-generic/wrappers.h | 6 ++++-
ksrc/arch/generic/compat.c | 2 +-
ksrc/arch/generic/hal.c | 48 ++++++++++++++++++++++++++++++++++++++++
ksrc/drivers/can/rtcan_dev.c | 2 +-
ksrc/nucleus/pipe.c | 13 +++++-----
ksrc/nucleus/registry.c | 2 +-
ksrc/nucleus/shadow.c | 2 +-
7 files changed, 63 insertions(+), 12 deletions(-)
diff --git a/include/asm-generic/wrappers.h b/include/asm-generic/wrappers.h
index 407c203..af927b5 100644
--- a/include/asm-generic/wrappers.h
+++ b/include/asm-generic/wrappers.h
@@ -637,7 +637,11 @@ static inline void wrap_proc_dir_entry_owner(struct
proc_dir_entry *entry)
#ifndef DEFINE_SEMAPHORE
/* Legacy DECLARE_MUTEX vanished in 2.6.37 */
-#define DEFINE_SEMAPHORE(sem) DECLARE_MUTEX(sem)
+#define DEFINE_BINARY_SEMAPHORE(sem) DECLARE_MUTEX(sem)
+#elif CONFIG_PREEMPT_RT
+#define DEFINE_BINARY_SEMAPHORE(sem) DEFINE_SEMAPHORE(sem, 1)
+#else
+#define DEFINE_BINARY_SEMAPHORE(sem) DEFINE_SEMAPHORE(sem)
#endif
#if LINUX_VERSION_CODE >= KERNEL_VERSION(2,6,37) &&
defined(CONFIG_GENERIC_HARDIRQS)
diff --git a/ksrc/arch/generic/compat.c b/ksrc/arch/generic/compat.c
index 0e83095..8af69da 100644
--- a/ksrc/arch/generic/compat.c
+++ b/ksrc/arch/generic/compat.c
@@ -20,7 +20,7 @@ struct kthread_stop_block {
int ret;
};
-static DEFINE_SEMAPHORE(kthread_stop_sem);
+static DEFINE_BINARY_SEMAPHORE(kthread_stop_sem);
static struct kthread_stop_block kthread_stop_info;
diff --git a/ksrc/arch/generic/hal.c b/ksrc/arch/generic/hal.c
index 79466f8..438e09c 100644
--- a/ksrc/arch/generic/hal.c
+++ b/ksrc/arch/generic/hal.c
@@ -493,6 +493,46 @@ void rthal_apc_free(int apc)
clear_bit(apc, &rthal_apc_map);
}
+#ifdef CONFIG_PREEMPT_RT
+
+static inline int setup_apc_handler(void)
+{
+ int cpu;
+
+ for_each_online_cpu(cpu) {
+ rthal_apc_servers[cpu] =
+ kthread_create(rthal_apc_thread,
+ (void *)(unsigned long)cpu,
+ "apc/%d", cpu);
+ if (rthal_apc_servers[cpu] == NULL)
+ return -ENOMEM;
+ wake_up_process(rthal_apc_servers[cpu]);
+ }
+
+ return 0;
+}
+
+static inline void cleanup_apc_handler(void)
+{
+ int cpu;
+
+ for_each_online_cpu(cpu) {
+ if (rthal_apc_servers[cpu])
+ kthread_stop(rthal_apc_servers[cpu]);
+ }
+}
+
+#else /* !CONFIG_PREEMPT_RT */
+
+static inline int setup_apc_handler(void)
+{
+ return 0;
+}
+
+static inline void cleanup_apc_handler(void) { }
+
+#endif /* !CONFIG_PREEMPT_RT */
+
int rthal_init(void)
{
int err;
@@ -548,6 +588,10 @@ int rthal_init(void)
goto out_free_irq;
}
+ err = setup_apc_handler();
+ if (err)
+ goto fail;
+
err = rthal_register_domain(&rthal_domain,
"Xenomai",
RTHAL_DOMAIN_ID,
@@ -575,6 +619,8 @@ int rthal_init(void)
rthal_virtualize_irq(rthal_current_domain, rthal_apc_virq, NULL, NULL,
NULL,
0);
+ cleanup_apc_handler();
+
out_free_irq:
rthal_free_virq(rthal_apc_virq);
@@ -593,6 +639,8 @@ void rthal_exit(void)
rthal_free_virq(rthal_apc_virq);
}
+ cleanup_apc_handler();
+
if (rthal_init_done)
rthal_unregister_domain(&rthal_domain);
diff --git a/ksrc/drivers/can/rtcan_dev.c b/ksrc/drivers/can/rtcan_dev.c
index c3e9e5e..c53dddf 100644
--- a/ksrc/drivers/can/rtcan_dev.c
+++ b/ksrc/drivers/can/rtcan_dev.c
@@ -38,7 +38,7 @@ static rtdm_lock_t rtcan_devices_rt_lock = RTDM_LOCK_UNLOCKED;
static int rtcan_global_init_done;
-DEFINE_SEMAPHORE(rtcan_devices_nrt_lock);
+DEFINE_BINARY_SEMAPHORE(rtcan_devices_nrt_lock);
/* Spinlock for all reception lists and also for some members in
* struct rtcan_socket */
diff --git a/ksrc/nucleus/pipe.c b/ksrc/nucleus/pipe.c
index 1d5e39a..064aa52 100644
--- a/ksrc/nucleus/pipe.c
+++ b/ksrc/nucleus/pipe.c
@@ -174,14 +174,14 @@ static void xnpipe_wakeup_proc(void *cookie)
xnlock_get_irqsave(&nklock, s);
}
}
-#ifdef CONFIG_SMP
+#if defined(CONFIG_SMP) || defined(CONFIG_PREEMPT_RT)
/*
- * A waiter may have entered/left the queue
- * from another CPU, so we need to refetch the
- * sleep queue head to be safe.
+ * Assume a waiter might have entered/left the
+ * queue, so we need to refetch the sleep
+ * queue head to be safe.
*/
nh = getheadq(&xnpipe_sleepq);
-#endif /* CONFIG_SMP */
+#endif
}
}
@@ -190,7 +190,6 @@ static void xnpipe_wakeup_proc(void *cookie)
* subscribers.
*/
nh = getheadq(&xnpipe_asyncq);
-
while ((h = nh) != NULL) {
nh = nextq(&xnpipe_asyncq, h);
state = link2xnpipe(h, alink);
@@ -200,7 +199,7 @@ static void xnpipe_wakeup_proc(void *cookie)
xnlock_put_irqrestore(&nklock, s);
kill_fasync(&state->asyncq, xnpipe_asyncsig, POLL_IN);
xnlock_get_irqsave(&nklock, s);
-#ifdef CONFIG_SMP
+#if defined(CONFIG_SMP) || defined(CONFIG_PREEMPT_RT)
nh = getheadq(&xnpipe_asyncq);
#endif
}
diff --git a/ksrc/nucleus/registry.c b/ksrc/nucleus/registry.c
index 6f505dd..eceadad 100644
--- a/ksrc/nucleus/registry.c
+++ b/ksrc/nucleus/registry.c
@@ -223,7 +223,7 @@ void xnregistry_cleanup(void)
#ifdef CONFIG_XENO_OPT_VFILE
-static DEFINE_SEMAPHORE(export_mutex);
+static DEFINE_BINARY_SEMAPHORE(export_mutex);
/*
* The following stuff implements the mechanism for delegating
diff --git a/ksrc/nucleus/shadow.c b/ksrc/nucleus/shadow.c
index 835ac3a..05b7a1b 100644
--- a/ksrc/nucleus/shadow.c
+++ b/ksrc/nucleus/shadow.c
@@ -113,7 +113,7 @@ static int nucleus_muxid = -1;
static struct semaphore completion_mutex;
-static DEFINE_SEMAPHORE(registration_mutex);
+static DEFINE_BINARY_SEMAPHORE(registration_mutex);
static inline struct task_struct *get_switch_lock_owner(void)
{
_______________________________________________
Xenomai-git mailing list
Xenomai-git@gna.org
https://mail.gna.org/listinfo/xenomai-git
