Module: xenomai-abe
Branch: comedi
Commit: c0bb8cbe4ac60c85f2fec1964cffc0f52b5a7473
URL:    
http://git.xenomai.org/?p=xenomai-abe.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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