Module: xenomai-head
Branch: master
Commit: c0bb8cbe4ac60c85f2fec1964cffc0f52b5a7473
URL:
http://git.xenomai.org/?p=xenomai-head.git;a=commit;h=c0bb8cbe4ac60c85f2fec1964cffc0f52b5a7473
Author: Philippe Gerum <r...@xenomai.org>
Date: Sun Sep 20 11:38:46 2009 +0200
nucleus: fix scheduler class init w/ XENO_OPT_NUCLEUS=m
---
include/asm-sim/bits/init.h | 10 +--------
include/nucleus/pod.h | 11 ++++++++++
include/nucleus/sched.h | 2 +-
ksrc/nucleus/Makefile | 13 +++--------
ksrc/nucleus/module.c | 44 +++++++++++++++++-----------------------
ksrc/nucleus/sched-idle.c | 7 ------
ksrc/nucleus/sched-rt.c | 7 ------
ksrc/nucleus/sched-sporadic.c | 7 ------
ksrc/nucleus/sched-tp.c | 7 ------
ksrc/nucleus/sched.c | 25 ++++++++++++++++------
10 files changed, 54 insertions(+), 79 deletions(-)
diff --git a/include/asm-sim/bits/init.h b/include/asm-sim/bits/init.h
index 14682a5..77a05da 100644
--- a/include/asm-sim/bits/init.h
+++ b/include/asm-sim/bits/init.h
@@ -64,14 +64,6 @@ void mvm_root (void *cookie)
__mvm_breakable(mvm_terminate)(0);
}
-static inline void __register_sched_classes(void)
-{
- xnsched_register_class(&xnsched_class_idle);
- xnsched_register_class(&xnsched_class_rt);
- xnsched_register_class(&xnsched_class_sporadic);
- xnsched_register_class(&xnsched_class_tp);
-}
-
int main (int argc, char *argv[])
{
xnarchtcb_t tcb;
@@ -81,7 +73,7 @@ int main (int argc, char *argv[])
if (err)
__mvm_breakable(mvm_fatal)("sys_init() failed, err=%x\n",err);
- __register_sched_classes();
+ xnsched_register_classes();
mvm_init(argc,argv);
diff --git a/include/nucleus/pod.h b/include/nucleus/pod.h
index ec577de..e652a1e 100644
--- a/include/nucleus/pod.h
+++ b/include/nucleus/pod.h
@@ -111,6 +111,17 @@ static inline void xnpod_init_proc(void) {}
static inline void xnpod_cleanup_proc(void) {}
#endif /* !CONFIG_PROC_FS */
+static inline void xnpod_mount(void)
+{
+ xnsched_register_classes();
+ xnpod_init_proc();
+}
+
+static inline void xnpod_umount(void)
+{
+ xnpod_cleanup_proc();
+}
+
#ifdef __cplusplus
extern "C" {
#endif
diff --git a/include/nucleus/sched.h b/include/nucleus/sched.h
index 15dd42b..c96d65d 100644
--- a/include/nucleus/sched.h
+++ b/include/nucleus/sched.h
@@ -241,7 +241,7 @@ void xnsched_init_proc(void);
void xnsched_cleanup_proc(void);
-int xnsched_register_class(struct xnsched_class *sched_class);
+void xnsched_register_classes(void);
void xnsched_init(struct xnsched *sched, int cpu);
diff --git a/ksrc/nucleus/Makefile b/ksrc/nucleus/Makefile
index bc39f1e..ee8512c 100644
--- a/ksrc/nucleus/Makefile
+++ b/ksrc/nucleus/Makefile
@@ -6,12 +6,9 @@ obj-$(CONFIG_XENO_OPT_NUCLEUS) += xeno_nucleus.o
xeno_nucleus-y := \
bufd.o heap.o intr.o pod.o registry.o \
- synch.o thread.o timebase.o timer.o sched.o
+ synch.o thread.o timebase.o timer.o sched.o \
+ sched-idle.o sched-rt.o
-# CAUTION: the declaration order of scheduling classes is
-# significant. Lower priority classes shall be listed first.
-xeno_nucleus-y += sched-idle.o
-xeno_nucleus-y += sched-rt.o
xeno_nucleus-$(CONFIG_XENO_OPT_SCHED_SPORADIC) += sched-sporadic.o
xeno_nucleus-$(CONFIG_XENO_OPT_SCHED_TP) += sched-tp.o
@@ -38,11 +35,9 @@ list-multi := xeno_nucleus.o
xeno_nucleus-objs := \
bufd.o heap.o intr.o pod.o registry.o \
- synch.o thread.o timebase.o timer.o sched.o
+ synch.o thread.o timebase.o timer.o sched.o \
+ sched-idle.o sched-rt.o
-# CAUTION: the declaration order of scheduling classes is
-# significant. Lower priority classes shall be listed first.
-opt_objs-y := sched-idle.o sched-rt.o
opt_objs-$(CONFIG_XENO_OPT_SCHED_SPORADIC) += sched-sporadic.o
opt_objs-$(CONFIG_XENO_OPT_SCHED_TP) += sched-tp.o
diff --git a/ksrc/nucleus/module.c b/ksrc/nucleus/module.c
index de56dec..141276a 100644
--- a/ksrc/nucleus/module.c
+++ b/ksrc/nucleus/module.c
@@ -83,50 +83,45 @@ EXPORT_SYMBOL_GPL(xnmod_alloc_glinks);
int __init __xeno_sys_init(void)
{
- int err;
+ int ret;
xnmod_sysheap_size = module_param_value(sysheap_size_arg) * 1024;
nkmsgbuf = xnarch_alloc_host_mem(XNPOD_FATAL_BUFSZ);
if (nkmsgbuf == NULL) {
- err = -ENOMEM;
+ ret = -ENOMEM;
goto fail;
}
- err = xnarch_init();
-
- if (err)
+ ret = xnarch_init();
+ if (ret)
goto fail;
#ifndef __XENO_SIM__
- err = xnheap_init_mapped(&__xnsys_global_ppd.sem_heap,
+ ret = xnheap_init_mapped(&__xnsys_global_ppd.sem_heap,
CONFIG_XENO_OPT_GLOBAL_SEM_HEAPSZ * 1024,
XNARCH_SHARED_HEAP_FLAGS);
- if (err)
+ if (ret)
goto cleanup_arch;
#endif
#ifdef __KERNEL__
- xnpod_init_proc();
-
+ xnpod_mount();
xnintr_mount();
#ifdef CONFIG_XENO_OPT_PIPE
- err = xnpipe_mount();
-
- if (err)
+ ret = xnpipe_mount();
+ if (ret)
goto cleanup_proc;
#endif /* CONFIG_XENO_OPT_PIPE */
#ifdef CONFIG_XENO_OPT_PERVASIVE
- err = xnshadow_mount();
-
- if (err)
+ ret = xnshadow_mount();
+ if (ret)
goto cleanup_pipe;
- err = xnheap_mount();
-
- if (err)
+ ret = xnheap_mount();
+ if (ret)
goto cleanup_shadow;
#endif /* CONFIG_XENO_OPT_PERVASIVE */
#endif /* __KERNEL__ */
@@ -167,7 +162,7 @@ int __init __xeno_sys_init(void)
#endif /* CONFIG_XENO_OPT_PIPE */
- xnpod_cleanup_proc();
+ xnpod_umount();
cleanup_arch:
@@ -177,11 +172,11 @@ int __init __xeno_sys_init(void)
fail:
- xnlogerr("system init failed, code %d.\n", err);
+ xnlogerr("system init failed, code %d.\n", ret);
- xeno_nucleus_status = err;
+ xeno_nucleus_status = ret;
- return err;
+ return ret;
}
void __exit __xeno_sys_exit(void)
@@ -189,13 +184,12 @@ void __exit __xeno_sys_exit(void)
xnpod_shutdown(XNPOD_NORMAL_EXIT);
#ifdef CONFIG_XENO_OPT_PERVASIVE
- /* Must take place before xnpod_cleanup_proc. */
+ /* Must take place before xnpod_umount(). */
xnshadow_cleanup();
#endif /* CONFIG_XENO_OPT_PERVASIVE */
xntbase_umount();
-
- xnpod_cleanup_proc();
+ xnpod_umount();
xnarch_exit();
diff --git a/ksrc/nucleus/sched-idle.c b/ksrc/nucleus/sched-idle.c
index de25da0..39faa6a 100644
--- a/ksrc/nucleus/sched-idle.c
+++ b/ksrc/nucleus/sched-idle.c
@@ -64,10 +64,3 @@ struct xnsched_class xnsched_class_idle = {
.weight = XNSCHED_CLASS_WEIGHT(0),
.name = "idle"
};
-
-static int __init register_sched_class(void)
-{
- return xnsched_register_class(&xnsched_class_idle);
-}
-
-__initcall(register_sched_class);
diff --git a/ksrc/nucleus/sched-rt.c b/ksrc/nucleus/sched-rt.c
index dc23163..7483166 100644
--- a/ksrc/nucleus/sched-rt.c
+++ b/ksrc/nucleus/sched-rt.c
@@ -363,10 +363,3 @@ struct xnsched_class xnsched_class_rt = {
.name = "rt"
};
EXPORT_SYMBOL_GPL(xnsched_class_rt);
-
-static int __init register_sched_class(void)
-{
- return xnsched_register_class(&xnsched_class_rt);
-}
-
-__initcall(register_sched_class);
diff --git a/ksrc/nucleus/sched-sporadic.c b/ksrc/nucleus/sched-sporadic.c
index 57fc357..0ea14e0 100644
--- a/ksrc/nucleus/sched-sporadic.c
+++ b/ksrc/nucleus/sched-sporadic.c
@@ -630,10 +630,3 @@ struct xnsched_class xnsched_class_sporadic = {
.name = "pss"
};
EXPORT_SYMBOL_GPL(xnsched_class_sporadic);
-
-static int __init register_sched_class(void)
-{
- return xnsched_register_class(&xnsched_class_sporadic);
-}
-
-__initcall(register_sched_class);
diff --git a/ksrc/nucleus/sched-tp.c b/ksrc/nucleus/sched-tp.c
index 3d40c76..a08b360 100644
--- a/ksrc/nucleus/sched-tp.c
+++ b/ksrc/nucleus/sched-tp.c
@@ -466,10 +466,3 @@ struct xnsched_class xnsched_class_tp = {
.name = "tp"
};
EXPORT_SYMBOL_GPL(xnsched_class_tp);
-
-static int __init register_sched_class(void)
-{
- return xnsched_register_class(&xnsched_class_tp);
-}
-
-__initcall(register_sched_class);
diff --git a/ksrc/nucleus/sched.c b/ksrc/nucleus/sched.c
index c12b759..33b0713 100644
--- a/ksrc/nucleus/sched.c
+++ b/ksrc/nucleus/sched.c
@@ -33,20 +33,31 @@ static struct xnsched_class *xnsched_class_highest;
#define for_each_xnsched_class(p) \
for (p = xnsched_class_highest; p; p = p->next)
-int xnsched_register_class(struct xnsched_class *sched_class)
+static void xnsched_register_class(struct xnsched_class *sched_class)
{
- /*
- * The build rules shall ensure that scheduling classes are
- * registered by increasing priority order via initcalls, so
- * that the highest priority class is always registered last.
- */
sched_class->next = xnsched_class_highest;
xnsched_class_highest = sched_class;
+
+ /*
+ * Classes shall be registered by increasing priority order,
+ * idle first and up.
+ */
XENO_BUGON(NUCLEUS, sched_class->next &&
sched_class->next->weight > sched_class->weight);
+
xnloginfo("scheduling class %s registered.\n", sched_class->name);
+}
- return 0;
+void xnsched_register_classes(void)
+{
+ xnsched_register_class(&xnsched_class_idle);
+ xnsched_register_class(&xnsched_class_rt);
+#ifdef CONFIG_XENO_OPT_SCHED_SPORADIC
+ xnsched_register_class(&xnsched_class_sporadic);
+#endif
+#ifdef CONFIG_XENO_OPT_SCHED_TP
+ xnsched_register_class(&xnsched_class_tp);
+#endif
}
#ifdef CONFIG_XENO_OPT_WATCHDOG
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