Module: xenomai-forge
Branch: master
Commit: 577123b3e671416003cc0c3e0523bd52f253b1e0
URL:
http://git.xenomai.org/?p=xenomai-forge.git;a=commit;h=577123b3e671416003cc0c3e0523bd52f253b1e0
Author: Philippe Gerum <r...@xenomai.org>
Date: Sun Jan 1 16:37:27 2012 +0100
hal, nucleus: refactor nucleus init code
We don't need the bits/init.h indirection for the arch-dep init code
anymore. The relevant bits are dispatched to the HAL layer, or
directly inlined into the nucleus entry routine.
---
config/version | 2 +-
include/asm-arm/bits/Makefile.am | 1 -
include/asm-arm/bits/Makefile.in | 1 -
include/asm-arm/bits/init.h | 71 --------------------------------
include/asm-arm/bits/pod.h | 6 +--
include/asm-arm/calibration.h | 4 --
include/asm-blackfin/bits/Makefile.am | 1 -
include/asm-blackfin/bits/Makefile.in | 1 -
include/asm-blackfin/bits/init.h | 73 ---------------------------------
include/asm-blackfin/bits/pod.h | 6 +--
include/asm-blackfin/calibration.h | 4 --
include/asm-generic/hal.h | 1 +
include/asm-nios2/bits/Makefile.am | 1 -
include/asm-nios2/bits/Makefile.in | 1 -
include/asm-nios2/bits/init.h | 68 ------------------------------
include/asm-nios2/bits/pod.h | 4 +-
include/asm-nios2/calibration.h | 4 --
include/asm-powerpc/bits/Makefile.am | 1 -
include/asm-powerpc/bits/Makefile.in | 1 -
include/asm-powerpc/bits/init.h | 71 --------------------------------
include/asm-powerpc/bits/pod.h | 6 +--
include/asm-powerpc/calibration.h | 6 ---
include/asm-sh/bits/Makefile.am | 1 -
include/asm-sh/bits/Makefile.in | 1 -
include/asm-sh/bits/init.h | 68 ------------------------------
include/asm-sh/bits/pod.h | 6 +--
include/asm-sh/calibration.h | 4 --
include/asm-x86/bits/Makefile.am | 3 -
include/asm-x86/bits/Makefile.in | 3 -
include/asm-x86/bits/init.h | 5 --
include/asm-x86/bits/init_32.h | 69 -------------------------------
include/asm-x86/bits/init_64.h | 69 -------------------------------
include/asm-x86/bits/pod.h | 33 +++++++++++++++
include/asm-x86/bits/pod_32.h | 12 -----
include/asm-x86/bits/pod_64.h | 12 -----
include/asm-x86/calibration.h | 4 --
include/cobalt/nucleus/version.h | 4 +-
kernel/cobalt/arch/blackfin/hal.c | 6 +++
kernel/cobalt/arch/generic/hal.c | 43 ++++++++-----------
kernel/cobalt/nucleus/module.c | 73 ++++++++++++---------------------
40 files changed, 96 insertions(+), 654 deletions(-)
diff --git a/config/version b/config/version
index e70b452..47d8253 100644
--- a/config/version
+++ b/config/version
@@ -1 +1 @@
-2.6.0
+2.99.0
diff --git a/include/asm-arm/bits/Makefile.am b/include/asm-arm/bits/Makefile.am
index f373dc4..1a56ee0 100644
--- a/include/asm-arm/bits/Makefile.am
+++ b/include/asm-arm/bits/Makefile.am
@@ -3,7 +3,6 @@ includesubdir = $(includedir)/asm-arm/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-arm/bits/Makefile.in b/include/asm-arm/bits/Makefile.in
index 0402e52..dd96a9d 100644
--- a/include/asm-arm/bits/Makefile.in
+++ b/include/asm-arm/bits/Makefile.in
@@ -244,7 +244,6 @@ includesubdir = $(includedir)/asm-arm/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-arm/bits/init.h b/include/asm-arm/bits/init.h
deleted file mode 100644
index 453d1cb..0000000
--- a/include/asm-arm/bits/init.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
- * Copyright (C) 2001,2002,2003,2004 Philippe Gerum <r...@xenomai.org>.
- *
- * ARM port
- * Copyright (C) 2005 Stelian Pop
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * Xenomai is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Xenomai; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
- * 02111-1307, USA.
- */
-
-#ifndef _XENO_ASM_ARM_BITS_INIT_H
-#define _XENO_ASM_ARM_BITS_INIT_H
-
-#ifndef __KERNEL__
-#error "Pure kernel header included from user-space!"
-#endif
-
-#include <linux/init.h>
-#include <asm/xenomai/calibration.h>
-#include <asm-generic/xenomai/bits/timeconv.h>
-
-int xnarch_escalation_virq;
-
-void xnpod_schedule_handler(void);
-
-static inline int xnarch_init(void)
-{
- int ret;
-
- ret = rthal_init();
- if (ret)
- return ret;
-
- xnarch_init_timeconv(RTHAL_CLOCK_FREQ);
-
- nktimerlat = rthal_timer_calibrate();
- if (nktimerlat == 0)
- return -ENODEV;
-
- nklatency = xnarch_ns_to_tsc(xnarch_get_sched_latency()) + nktimerlat;
-
- xnarch_escalation_virq = ipipe_alloc_virq();
- if (xnarch_escalation_virq == 0)
- return -ENOSYS;
-
- ipipe_request_irq(&rthal_archdata.domain,
- xnarch_escalation_virq,
- (ipipe_irq_handler_t)xnpod_schedule_handler,
- NULL, NULL);
- return 0;
-}
-
-static inline void xnarch_exit(void)
-{
- ipipe_free_virq(xnarch_escalation_virq);
- rthal_exit();
-}
-
-#endif /* !_XENO_ASM_ARM_BITS_INIT_H */
diff --git a/include/asm-arm/bits/pod.h b/include/asm-arm/bits/pod.h
index 4123ee7..7412586 100644
--- a/include/asm-arm/bits/pod.h
+++ b/include/asm-arm/bits/pod.h
@@ -239,10 +239,8 @@ static inline void xnarch_restore_fpu(xnarchtcb_t * tcb)
static inline int xnarch_escalate(void)
{
- extern int xnarch_escalation_virq;
-
- if (ipipe_current_domain == ipipe_root_domain) {
- ipipe_raise_irq(xnarch_escalation_virq);
+ if (ipipe_root_p) {
+ ipipe_raise_irq(rthal_archdata.escalate_virq);
return 1;
}
diff --git a/include/asm-arm/calibration.h b/include/asm-arm/calibration.h
index 38e687e..6385146 100644
--- a/include/asm-arm/calibration.h
+++ b/include/asm-arm/calibration.h
@@ -23,10 +23,6 @@
#ifndef _XENO_ASM_ARM_CALIBRATION_H
#define _XENO_ASM_ARM_CALIBRATION_H
-#ifndef _XENO_ASM_ARM_BITS_INIT_H
-#error "please don't include asm/calibration.h directly"
-#endif
-
static inline unsigned long xnarch_get_sched_latency (void)
{
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
diff --git a/include/asm-blackfin/bits/Makefile.am
b/include/asm-blackfin/bits/Makefile.am
index 46d5249..7fd7f9d 100644
--- a/include/asm-blackfin/bits/Makefile.am
+++ b/include/asm-blackfin/bits/Makefile.am
@@ -3,7 +3,6 @@ includesubdir = $(includedir)/asm-blackfin/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-blackfin/bits/Makefile.in
b/include/asm-blackfin/bits/Makefile.in
index 362bfdf..3aca3f0 100644
--- a/include/asm-blackfin/bits/Makefile.in
+++ b/include/asm-blackfin/bits/Makefile.in
@@ -244,7 +244,6 @@ includesubdir = $(includedir)/asm-blackfin/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-blackfin/bits/init.h b/include/asm-blackfin/bits/init.h
deleted file mode 100644
index 101abc2..0000000
--- a/include/asm-blackfin/bits/init.h
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
- * Copyright (C) 2005 Philippe Gerum <r...@xenomai.org>.
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * Xenomai is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Xenomai; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
- * 02111-1307, USA.
- */
-
-#ifndef _XENO_ASM_BLACKFIN_BITS_INIT_H
-#define _XENO_ASM_BLACKFIN_BITS_INIT_H
-
-#ifndef __KERNEL__
-#error "Pure kernel header included from user-space!"
-#endif
-
-#include <linux/init.h>
-#include <asm/xenomai/calibration.h>
-#include <asm-generic/xenomai/bits/timeconv.h>
-
-int xnarch_escalation_virq;
-
-void xnpod_schedule_handler(void);
-
-void xnpod_schedule_deferred(void);
-
-static inline int xnarch_init(void)
-{
- int ret;
-
- __ipipe_irq_tail_hook = (unsigned long)xnpod_schedule_deferred;
-
- ret = rthal_init();
- if (ret)
- return ret;
-
- xnarch_init_timeconv(RTHAL_CLOCK_FREQ);
-
- nktimerlat = rthal_timer_calibrate();
- if (nktimerlat == 0)
- return -ENODEV;
-
- nklatency = xnarch_ns_to_tsc(xnarch_get_sched_latency()) + nktimerlat;
-
- xnarch_escalation_virq = ipipe_alloc_virq();
- if (xnarch_escalation_virq == 0)
- return -ENOSYS;
-
- ipipe_request_irq(&rthal_archdata.domain,
- xnarch_escalation_virq,
- (ipipe_irq_handler_t)xnpod_schedule_handler,
- NULL, NULL);
- return 0;
-}
-
-static inline void xnarch_exit(void)
-{
- __ipipe_irq_tail_hook = 0;
- ipipe_free_virq(xnarch_escalation_virq);
- rthal_exit();
-}
-
-#endif /* !_XENO_ASM_BLACKFIN_BITS_INIT_H */
diff --git a/include/asm-blackfin/bits/pod.h b/include/asm-blackfin/bits/pod.h
index 734ec4c..dc9e687 100644
--- a/include/asm-blackfin/bits/pod.h
+++ b/include/asm-blackfin/bits/pod.h
@@ -167,8 +167,6 @@ static inline void xnarch_restore_fpu(xnarchtcb_t * tcb)
static inline int xnarch_escalate(void)
{
- extern int xnarch_escalation_virq;
-
/* The following Blackfin-specific check is likely the most
* braindamage stuff we need to do for this arch, i.e. deferring
* Xenomai's rescheduling procedure whenever:
@@ -198,8 +196,8 @@ static inline int xnarch_escalate(void)
return 1;
}
- if (ipipe_current_domain == ipipe_root_domain) {
- ipipe_raise_irq(xnarch_escalation_virq);
+ if (ipipe_root_p) {
+ ipipe_raise_irq(rthal_archdata.escalate_virq);
__ipipe_unlock_root();
return 1;
}
diff --git a/include/asm-blackfin/calibration.h
b/include/asm-blackfin/calibration.h
index 789016a..7c9548f 100644
--- a/include/asm-blackfin/calibration.h
+++ b/include/asm-blackfin/calibration.h
@@ -20,10 +20,6 @@
#ifndef _XENO_ASM_BLACKFIN_CALIBRATION_H
#define _XENO_ASM_BLACKFIN_CALIBRATION_H
-#ifndef _XENO_ASM_BLACKFIN_BITS_INIT_H
-#error "please don't include asm/calibration.h directly"
-#endif
-
static inline unsigned long xnarch_get_sched_latency (void)
{
diff --git a/include/asm-generic/hal.h b/include/asm-generic/hal.h
index 4adcb68..4e7d6f6 100644
--- a/include/asm-generic/hal.h
+++ b/include/asm-generic/hal.h
@@ -49,6 +49,7 @@ struct rthal_archdata {
unsigned int apc_virq;
unsigned long apc_map;
unsigned long apc_pending[NR_CPUS];
+ unsigned int escalate_virq;
struct {
void (*handler)(void *cookie);
void *cookie;
diff --git a/include/asm-nios2/bits/Makefile.am
b/include/asm-nios2/bits/Makefile.am
index e53056e..d8ef2b6 100644
--- a/include/asm-nios2/bits/Makefile.am
+++ b/include/asm-nios2/bits/Makefile.am
@@ -3,7 +3,6 @@ includesubdir = $(includedir)/asm-nios2/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-nios2/bits/Makefile.in
b/include/asm-nios2/bits/Makefile.in
index 0569738..df6c8fa 100644
--- a/include/asm-nios2/bits/Makefile.in
+++ b/include/asm-nios2/bits/Makefile.in
@@ -244,7 +244,6 @@ includesubdir = $(includedir)/asm-nios2/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-nios2/bits/init.h b/include/asm-nios2/bits/init.h
deleted file mode 100644
index 3971416..0000000
--- a/include/asm-nios2/bits/init.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
- * Copyright (C) 2009 Philippe Gerum <r...@xenomai.org>.
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * Xenomai is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Xenomai; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
- * 02111-1307, USA.
- */
-
-#ifndef _XENO_ASM_NIOS2_BITS_INIT_H
-#define _XENO_ASM_NIOS2_BITS_INIT_H
-
-#ifndef __KERNEL__
-#error "Pure kernel header included from user-space!"
-#endif
-
-#include <linux/init.h>
-#include <asm/xenomai/calibration.h>
-#include <asm-generic/xenomai/bits/timeconv.h>
-
-int xnarch_escalation_virq;
-
-void xnpod_schedule_handler(void);
-
-static inline int xnarch_init(void)
-{
- int ret;
-
- ret = rthal_init();
- if (ret)
- return ret;
-
- xnarch_init_timeconv(RTHAL_CLOCK_FREQ);
-
- nktimerlat = rthal_timer_calibrate();
- if (nktimerlat == 0)
- return -ENODEV;
-
- nklatency = xnarch_ns_to_tsc(xnarch_get_sched_latency()) + nktimerlat;
-
- xnarch_escalation_virq = ipipe_alloc_virq();
- if (xnarch_escalation_virq == 0)
- return -ENOSYS;
-
- ipipe_request_irq(&rthal_archdata.domain,
- xnarch_escalation_virq,
- (ipipe_irq_handler_t)xnpod_schedule_handler,
- NULL, NULL);
- return 0;
-}
-
-static inline void xnarch_exit(void)
-{
- ipipe_free_virq(xnarch_escalation_virq);
- rthal_exit();
-}
-
-#endif /* !_XENO_ASM_NIOS2_BITS_INIT_H */
diff --git a/include/asm-nios2/bits/pod.h b/include/asm-nios2/bits/pod.h
index 24de2ea..66d0d79 100644
--- a/include/asm-nios2/bits/pod.h
+++ b/include/asm-nios2/bits/pod.h
@@ -147,8 +147,8 @@ static inline void xnarch_restore_fpu(struct xnarchtcb *tcb)
static inline int xnarch_escalate(void)
{
- if (unlikely(ipipe_current_domain == ipipe_root_domain)) {
- ipipe_raise_irq(xnarch_escalation_virq);
+ if (ipipe_root_p) {
+ ipipe_raise_irq(rthal_archdata.escalate_virq);
return 1;
}
diff --git a/include/asm-nios2/calibration.h b/include/asm-nios2/calibration.h
index 4251c01..435df31 100644
--- a/include/asm-nios2/calibration.h
+++ b/include/asm-nios2/calibration.h
@@ -20,10 +20,6 @@
#ifndef _XENO_ASM_NIOS2_CALIBRATION_H
#define _XENO_ASM_NIOS2_CALIBRATION_H
-#ifndef _XENO_ASM_NIOS2_BITS_INIT_H
-#error "please don't include asm/calibration.h directly"
-#endif
-
static inline unsigned long xnarch_get_sched_latency (void)
{
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
diff --git a/include/asm-powerpc/bits/Makefile.am
b/include/asm-powerpc/bits/Makefile.am
index bb524d6..19043e0 100644
--- a/include/asm-powerpc/bits/Makefile.am
+++ b/include/asm-powerpc/bits/Makefile.am
@@ -3,7 +3,6 @@ includesubdir = $(includedir)/asm-powerpc/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-powerpc/bits/Makefile.in
b/include/asm-powerpc/bits/Makefile.in
index 07cbf6d..9e5ef49 100644
--- a/include/asm-powerpc/bits/Makefile.in
+++ b/include/asm-powerpc/bits/Makefile.in
@@ -244,7 +244,6 @@ includesubdir = $(includedir)/asm-powerpc/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-powerpc/bits/init.h b/include/asm-powerpc/bits/init.h
deleted file mode 100644
index 7bf602b..0000000
--- a/include/asm-powerpc/bits/init.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
- * Copyright (C) 2001,2002,2003,2004 Philippe Gerum <r...@xenomai.org>.
- *
- * 64-bit PowerPC adoption
- * copyright (C) 2005 Taneli Vähäkangas and Heikki Lindholm
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * Xenomai is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Xenomai; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
- * 02111-1307, USA.
- */
-
-#ifndef _XENO_ASM_POWERPC_BITS_INIT_H
-#define _XENO_ASM_POWERPC_BITS_INIT_H
-
-#ifndef __KERNEL__
-#error "Pure kernel header included from user-space!"
-#endif
-
-#include <linux/init.h>
-#include <asm/xenomai/calibration.h>
-#include <asm-generic/xenomai/bits/timeconv.h>
-
-int xnarch_escalation_virq;
-
-void xnpod_schedule_handler(void);
-
-static inline int xnarch_init(void)
-{
- int ret;
-
- ret = rthal_init();
- if (ret)
- return ret;
-
- xnarch_init_timeconv(RTHAL_CLOCK_FREQ);
-
- nktimerlat = rthal_timer_calibrate();
- if (nktimerlat == 0)
- return -ENODEV;
-
- nklatency = xnarch_ns_to_tsc(xnarch_get_sched_latency()) + nktimerlat;
-
- xnarch_escalation_virq = ipipe_alloc_virq();
- if (xnarch_escalation_virq == 0)
- return -ENOSYS;
-
- ipipe_request_irq(&rthal_archdata.domain,
- xnarch_escalation_virq,
- (ipipe_irq_handler_t)xnpod_schedule_handler,
- NULL, NULL);
- return 0;
-}
-
-static inline void xnarch_exit(void)
-{
- ipipe_free_virq(xnarch_escalation_virq);
- rthal_exit();
-}
-
-#endif /* !_XENO_ASM_POWERPC_BITS_INIT_H */
diff --git a/include/asm-powerpc/bits/pod.h b/include/asm-powerpc/bits/pod.h
index 5758c65..14fdf31 100644
--- a/include/asm-powerpc/bits/pod.h
+++ b/include/asm-powerpc/bits/pod.h
@@ -240,10 +240,8 @@ static void xnarch_restore_fpu(xnarchtcb_t * tcb)
static inline int xnarch_escalate(void)
{
- extern int xnarch_escalation_virq;
-
- if (ipipe_current_domain == ipipe_root_domain) {
- ipipe_raise_irq(xnarch_escalation_virq);
+ if (ipipe_root_p) {
+ ipipe_raise_irq(rthal_archdata.escalate_virq);
return 1;
}
diff --git a/include/asm-powerpc/calibration.h
b/include/asm-powerpc/calibration.h
index 14019ce..9fbfe7a 100644
--- a/include/asm-powerpc/calibration.h
+++ b/include/asm-powerpc/calibration.h
@@ -23,17 +23,11 @@
#ifndef _XENO_ASM_POWERPC_CALIBRATION_H
#define _XENO_ASM_POWERPC_CALIBRATION_H
-#ifndef _XENO_ASM_POWERPC_BITS_INIT_H
-#error "please don't include asm/calibration.h directly"
-#endif
-
static inline unsigned long xnarch_get_sched_latency(void)
{
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
#define __sched_latency CONFIG_XENO_OPT_TIMING_SCHEDLAT
#else
-
-
#if defined(CONFIG_PPC_PASEMI)
#define __sched_latency 1000
#elif defined(CONFIG_WALNUT)
diff --git a/include/asm-sh/bits/Makefile.am b/include/asm-sh/bits/Makefile.am
index b73a9f7..5cf154c 100644
--- a/include/asm-sh/bits/Makefile.am
+++ b/include/asm-sh/bits/Makefile.am
@@ -3,7 +3,6 @@ includesubdir = $(includedir)/asm-sh/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-sh/bits/Makefile.in b/include/asm-sh/bits/Makefile.in
index 1a3d904..e531db2 100644
--- a/include/asm-sh/bits/Makefile.in
+++ b/include/asm-sh/bits/Makefile.in
@@ -244,7 +244,6 @@ includesubdir = $(includedir)/asm-sh/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init.h \
intr.h \
pod.h \
sched.h \
diff --git a/include/asm-sh/bits/init.h b/include/asm-sh/bits/init.h
deleted file mode 100644
index c8d3db4..0000000
--- a/include/asm-sh/bits/init.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/*
- * Copyright (C) 2011 Philippe Gerum <r...@xenomai.org>.
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * Xenomai is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Xenomai; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
- * 02111-1307, USA.
- */
-
-#ifndef _XENO_ASM_SH_BITS_INIT_H
-#define _XENO_ASM_SH_BITS_INIT_H
-
-#ifndef __KERNEL__
-#error "Pure kernel header included from user-space!"
-#endif
-
-#include <linux/init.h>
-#include <asm/xenomai/calibration.h>
-#include <asm-generic/xenomai/bits/timeconv.h>
-
-int xnarch_escalation_virq;
-
-void xnpod_schedule_handler(void);
-
-static inline int xnarch_init(void)
-{
- int ret;
-
- ret = rthal_init();
- if (ret)
- return ret;
-
- xnarch_init_timeconv(RTHAL_CLOCK_FREQ);
-
- nktimerlat = rthal_timer_calibrate();
- if (nktimerlat == 0)
- return -ENODEV;
-
- nklatency = xnarch_ns_to_tsc(xnarch_get_sched_latency()) + nktimerlat;
-
- xnarch_escalation_virq = ipipe_alloc_virq();
- if (xnarch_escalation_virq == 0)
- return -ENOSYS;
-
- ipipe_request_irq(&rthal_archdata.domain,
- xnarch_escalation_virq,
- (ipipe_irq_handler_t)xnpod_schedule_handler,
- NULL, NULL);
- return 0;
-}
-
-static inline void xnarch_exit(void)
-{
- ipipe_free_virq(xnarch_escalation_virq);
- rthal_exit();
-}
-
-#endif /* !_XENO_ASM_SH_BITS_INIT_H */
diff --git a/include/asm-sh/bits/pod.h b/include/asm-sh/bits/pod.h
index 09ab9fd..69b467d 100644
--- a/include/asm-sh/bits/pod.h
+++ b/include/asm-sh/bits/pod.h
@@ -186,10 +186,8 @@ static void xnarch_restore_fpu(xnarchtcb_t * tcb)
static inline int xnarch_escalate(void)
{
- extern int xnarch_escalation_virq;
-
- if (ipipe_current_domain == ipipe_root_domain) {
- ipipe_raise_irq(xnarch_escalation_virq);
+ if (ipipe_root_p) {
+ ipipe_raise_irq(rthal_archdata.escalate_virq);
return 1;
}
diff --git a/include/asm-sh/calibration.h b/include/asm-sh/calibration.h
index 4818e1a..d863cb3 100644
--- a/include/asm-sh/calibration.h
+++ b/include/asm-sh/calibration.h
@@ -20,10 +20,6 @@
#ifndef _XENO_ASM_SH_CALIBRATION_H
#define _XENO_ASM_SH_CALIBRATION_H
-#ifndef _XENO_ASM_SH_BITS_INIT_H
-#error "please don't include asm/calibration.h directly"
-#endif
-
static inline unsigned long xnarch_get_sched_latency (void)
{
#if CONFIG_XENO_OPT_TIMING_SCHEDLAT != 0
diff --git a/include/asm-x86/bits/Makefile.am b/include/asm-x86/bits/Makefile.am
index 695a44d..79fae9b 100644
--- a/include/asm-x86/bits/Makefile.am
+++ b/include/asm-x86/bits/Makefile.am
@@ -3,9 +3,6 @@ includesubdir = $(includedir)/asm-x86/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init_32.h \
- init_64.h \
- init.h \
intr.h \
pod_32.h \
pod_64.h \
diff --git a/include/asm-x86/bits/Makefile.in b/include/asm-x86/bits/Makefile.in
index 2c5fe93..23dc849 100644
--- a/include/asm-x86/bits/Makefile.in
+++ b/include/asm-x86/bits/Makefile.in
@@ -244,9 +244,6 @@ includesubdir = $(includedir)/asm-x86/bits
includesub_HEADERS = \
bind.h \
heap.h \
- init_32.h \
- init_64.h \
- init.h \
intr.h \
pod_32.h \
pod_64.h \
diff --git a/include/asm-x86/bits/init.h b/include/asm-x86/bits/init.h
deleted file mode 100644
index fdd1e06..0000000
--- a/include/asm-x86/bits/init.h
+++ /dev/null
@@ -1,5 +0,0 @@
-#ifdef __i386__
-#include "init_32.h"
-#else
-#include "init_64.h"
-#endif
diff --git a/include/asm-x86/bits/init_32.h b/include/asm-x86/bits/init_32.h
deleted file mode 100644
index c010b6f..0000000
--- a/include/asm-x86/bits/init_32.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (C) 2001,2002,2003 Philippe Gerum <r...@xenomai.org>.
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * Xenomai is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Xenomai; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
- * 02111-1307, USA.
- */
-
-#ifndef _XENO_ASM_X86_BITS_INIT_32_H
-#define _XENO_ASM_X86_BITS_INIT_32_H
-#define _XENO_ASM_X86_BITS_INIT_H
-
-#ifndef __KERNEL__
-#error "Pure kernel header included from user-space!"
-#endif
-
-#include <linux/init.h>
-#include <asm/xenomai/calibration.h>
-#include <asm-generic/xenomai/bits/timeconv.h>
-
-int xnarch_escalation_virq;
-
-void xnpod_schedule_handler(void);
-
-static inline int xnarch_init(void)
-{
- int ret;
-
- ret = rthal_init();
- if (ret)
- return ret;
-
- xnarch_init_timeconv(RTHAL_CLOCK_FREQ);
-
- nktimerlat = rthal_timer_calibrate();
- if (nktimerlat == 0)
- return -ENODEV;
-
- nklatency = xnarch_ns_to_tsc(xnarch_get_sched_latency()) + nktimerlat;
-
- xnarch_escalation_virq = ipipe_alloc_virq();
- if (xnarch_escalation_virq == 0)
- return -ENOSYS;
-
- ipipe_request_irq(&rthal_archdata.domain,
- xnarch_escalation_virq,
- (ipipe_irq_handler_t)xnpod_schedule_handler,
- NULL, NULL);
- return 0;
-}
-
-static inline void xnarch_exit(void)
-{
- ipipe_free_virq(xnarch_escalation_virq);
- rthal_exit();
-}
-
-#endif /* !_XENO_ASM_X86_BITS_INIT_32_H */
diff --git a/include/asm-x86/bits/init_64.h b/include/asm-x86/bits/init_64.h
deleted file mode 100644
index a744ffb..0000000
--- a/include/asm-x86/bits/init_64.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright (C) 2007 Philippe Gerum <r...@xenomai.org>.
- *
- * Xenomai is free software; you can redistribute it and/or modify it
- * under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * Xenomai is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Xenomai; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
- * 02111-1307, USA.
- */
-
-#ifndef _XENO_ASM_X86_BITS_INIT_64_H
-#define _XENO_ASM_X86_BITS_INIT_64_H
-#define _XENO_ASM_X86_BITS_INIT_H
-
-#ifndef __KERNEL__
-#error "Pure kernel header included from user-space!"
-#endif
-
-#include <linux/init.h>
-#include <asm/xenomai/calibration.h>
-#include <asm-generic/xenomai/bits/timeconv.h>
-
-int xnarch_escalation_virq;
-
-void xnpod_schedule_handler(void);
-
-static inline int xnarch_init(void)
-{
- int ret;
-
- ret = rthal_init();
- if (ret)
- return ret;
-
- xnarch_init_timeconv(RTHAL_CLOCK_FREQ);
-
- nktimerlat = rthal_timer_calibrate();
- if (nktimerlat == 0)
- return -ENODEV;
-
- nklatency = xnarch_ns_to_tsc(xnarch_get_sched_latency()) + nktimerlat;
-
- xnarch_escalation_virq = ipipe_alloc_virq();
- if (xnarch_escalation_virq == 0)
- return -ENOSYS;
-
- ipipe_request_irq(&rthal_archdata.domain,
- xnarch_escalation_virq,
- (ipipe_irq_handler_t)xnpod_schedule_handler,
- NULL, NULL);
- return 0;
-}
-
-static inline void xnarch_exit(void)
-{
- ipipe_free_virq(xnarch_escalation_virq);
- rthal_exit();
-}
-
-#endif /* !_XENO_ASM_X86_BITS_INIT_64_H */
diff --git a/include/asm-x86/bits/pod.h b/include/asm-x86/bits/pod.h
index 8a7dba4..c96e803 100644
--- a/include/asm-x86/bits/pod.h
+++ b/include/asm-x86/bits/pod.h
@@ -1,5 +1,38 @@
+/*
+ * Copyright (C) 2012 Philippe Gerum <r...@xenomai.org>.
+ *
+ * Xenomai is free software; you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * Xenomai is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Xenomai; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
+ * 02111-1307, USA.
+ */
+#ifndef _XENO_ASM_X86_BITS_POD_H
+#define _XENO_ASM_X86_BITS_POD_H
+
#ifdef __i386__
#include "pod_32.h"
#else
#include "pod_64.h"
#endif
+
+static inline int xnarch_escalate(void)
+{
+ if (ipipe_root_p) {
+ ipipe_raise_irq(rthal_archdata.escalate_virq);
+ return 1;
+ }
+
+ return 0;
+}
+
+#endif /* !_XENO_ASM_X86_BITS_POD_H */
diff --git a/include/asm-x86/bits/pod_32.h b/include/asm-x86/bits/pod_32.h
index ad0413c..e3f221a 100644
--- a/include/asm-x86/bits/pod_32.h
+++ b/include/asm-x86/bits/pod_32.h
@@ -282,16 +282,4 @@ static inline void xnarch_enable_fpu(xnarchtcb_t * tcb)
#endif /* CONFIG_XENO_HW_FPU */
-static inline int xnarch_escalate(void)
-{
- extern int xnarch_escalation_virq;
-
- if (ipipe_current_domain == ipipe_root_domain) {
- ipipe_raise_irq(xnarch_escalation_virq);
- return 1;
- }
-
- return 0;
-}
-
#endif /* !_XENO_ASM_X86_BITS_POD_32_H */
diff --git a/include/asm-x86/bits/pod_64.h b/include/asm-x86/bits/pod_64.h
index 8af09e3..101a2a9 100644
--- a/include/asm-x86/bits/pod_64.h
+++ b/include/asm-x86/bits/pod_64.h
@@ -320,16 +320,4 @@ static inline void xnarch_enable_fpu(xnarchtcb_t *tcb)
#endif /* CONFIG_XENO_HW_FPU */
-static inline int xnarch_escalate(void)
-{
- extern int xnarch_escalation_virq;
-
- if (ipipe_current_domain == ipipe_root_domain) {
- ipipe_raise_irq(xnarch_escalation_virq);
- return 1;
- }
-
- return 0;
-}
-
#endif /* !_XENO_ASM_X86_BITS_POD_64_H */
diff --git a/include/asm-x86/calibration.h b/include/asm-x86/calibration.h
index 7cd5ac9..864669a 100644
--- a/include/asm-x86/calibration.h
+++ b/include/asm-x86/calibration.h
@@ -20,10 +20,6 @@
#ifndef _XENO_ASM_X86_CALIBRATION_H
#define _XENO_ASM_X86_CALIBRATION_H
-#ifndef _XENO_ASM_X86_BITS_INIT_H
-#error "please don't include asm/calibration.h directly"
-#endif
-
#include <asm/processor.h>
static inline unsigned long xnarch_get_sched_latency (void)
diff --git a/include/cobalt/nucleus/version.h b/include/cobalt/nucleus/version.h
index c79bb60..6303b17 100644
--- a/include/cobalt/nucleus/version.h
+++ b/include/cobalt/nucleus/version.h
@@ -26,8 +26,6 @@
CONFIG_XENO_VERSION_MINOR, \
CONFIG_XENO_REVISION_LEVEL)
-#define XENO_VERSION_NAME "Movin' On"
-
-#define XENO_VERSION_STRING "2.6.0"
+#define XENO_VERSION_STRING "2.99.0"
#endif /* _XENO_NUCLEUS_VERSION_H */
diff --git a/kernel/cobalt/arch/blackfin/hal.c
b/kernel/cobalt/arch/blackfin/hal.c
index 8291778..fb42b42 100644
--- a/kernel/cobalt/arch/blackfin/hal.c
+++ b/kernel/cobalt/arch/blackfin/hal.c
@@ -200,8 +200,12 @@ unsigned long rthal_timer_calibrate(void)
return 20; /* 20 clock cycles */
}
+void xnpod_schedule_deferred(void);
+
int rthal_arch_init(void)
{
+ __ipipe_irq_tail_hook = (unsigned long)xnpod_schedule_deferred;
+
if (rthal_clockfreq_arg == 0)
rthal_clockfreq_arg = rthal_get_clockfreq();
@@ -215,6 +219,8 @@ int rthal_arch_init(void)
void rthal_arch_cleanup(void)
{
+ __ipipe_irq_tail_hook = 0;
+ smp_mb();
printk(KERN_INFO "Xenomai: hal/blackfin stopped.\n");
}
diff --git a/kernel/cobalt/arch/generic/hal.c b/kernel/cobalt/arch/generic/hal.c
index 16559dd..3b216ff 100644
--- a/kernel/cobalt/arch/generic/hal.c
+++ b/kernel/cobalt/arch/generic/hal.c
@@ -237,6 +237,8 @@ void rthal_apc_free(int apc)
}
EXPORT_SYMBOL_GPL(rthal_apc_free);
+void xnpod_schedule_handler(void);
+
int rthal_init(void)
{
int ret;
@@ -267,45 +269,36 @@ int rthal_init(void)
rthal_archdata.timer_freq = rthal_timerfreq_arg;
rthal_archdata.clock_freq = rthal_clockfreq_arg;
- /*
- * Allocate a virtual interrupt to handle apcs within the
- * Linux domain.
- */
+ ipipe_register_head(&rthal_archdata.domain, "Xenomai");
+
rthal_archdata.apc_virq = ipipe_alloc_virq();
- if (rthal_archdata.apc_virq == 0) {
- printk(KERN_ERR "Xenomai: no virtual interrupt available.\n");
- ret = -EBUSY;
- goto out_arch_cleanup;
- }
+ BUG_ON(rthal_archdata.apc_virq == 0);
+ rthal_archdata.escalate_virq = ipipe_alloc_virq();
+ BUG_ON(rthal_archdata.escalate_virq == 0);
- ret = ipipe_request_irq(ipipe_current_domain,
+ ret = ipipe_request_irq(ipipe_root_domain,
rthal_archdata.apc_virq,
&rthal_apc_handler,
NULL, NULL);
- if (ret) {
- printk(KERN_ERR "Xenomai: failed to request IRQ.\n");
- goto out_free_irq;
- }
+ BUG_ON(ret);
- ipipe_register_head(&rthal_archdata.domain, "Xenomai");
-
- printk(KERN_INFO "Xenomai: hal/%s enabled.\n", RTHAL_ARCH_NAME);
+ ret = ipipe_request_irq(&rthal_archdata.domain,
+ rthal_archdata.escalate_virq,
+ (ipipe_irq_handler_t)xnpod_schedule_handler,
+ NULL, NULL);
+ BUG_ON(ret);
return 0;
-out_free_irq:
- ipipe_free_virq(rthal_archdata.apc_virq);
-out_arch_cleanup:
- rthal_arch_cleanup();
-
- return ret;
}
EXPORT_SYMBOL_GPL(rthal_init);
void rthal_exit(void)
{
- ipipe_free_irq(ipipe_current_domain, rthal_archdata.apc_virq);
- ipipe_free_virq(rthal_archdata.apc_virq);
ipipe_unregister_head(&rthal_archdata.domain);
+ ipipe_free_irq(ipipe_root_domain, rthal_archdata.apc_virq);
+ ipipe_free_virq(rthal_archdata.apc_virq);
+ ipipe_free_irq(&rthal_archdata.domain, rthal_archdata.escalate_virq);
+ ipipe_free_virq(rthal_archdata.escalate_virq);
rthal_arch_cleanup();
}
EXPORT_SYMBOL_GPL(rthal_exit);
diff --git a/kernel/cobalt/nucleus/module.c b/kernel/cobalt/nucleus/module.c
index f1b99dc..4584782 100644
--- a/kernel/cobalt/nucleus/module.c
+++ b/kernel/cobalt/nucleus/module.c
@@ -15,14 +15,12 @@
* along with Xenomai; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
* 02111-1307, USA.
- */
-
-/*!
+ *
* \defgroup nucleus Xenomai nucleus.
*
* An abstract RTOS core.
*/
-
+#include <linux/init.h>
#include <nucleus/module.h>
#include <nucleus/pod.h>
#include <nucleus/timer.h>
@@ -34,8 +32,9 @@
#include <nucleus/pipe.h>
#endif /* CONFIG_XENO_OPT_PIPE */
#include <nucleus/select.h>
-#include <asm/xenomai/bits/init.h>
#include <nucleus/vdso.h>
+#include <asm/xenomai/calibration.h>
+#include <asm-generic/xenomai/bits/timeconv.h>
MODULE_DESCRIPTION("Xenomai nucleus");
MODULE_AUTHOR("r...@xenomai.org");
@@ -83,16 +82,26 @@ void xnmod_alloc_glinks(xnqueue_t *freehq)
}
EXPORT_SYMBOL_GPL(xnmod_alloc_glinks);
-int __init __xeno_sys_init(void)
+#ifdef CONFIG_XENO_OPT_DEBUG
+#define boot_notice " [DEBUG]"
+#else
+#define boot_notice ""
+#endif
+
+int __init xenomai_init(void)
{
int ret;
xnmod_sysheap_size = module_param_value(sysheap_size_arg) * 1024;
- ret = xnarch_init();
+ ret = rthal_init();
if (ret)
goto fail;
+ xnarch_init_timeconv(RTHAL_CLOCK_FREQ);
+ nktimerlat = rthal_timer_calibrate();
+ nklatency = xnarch_ns_to_tsc(xnarch_get_sched_latency()) + nktimerlat;
+
ret = xnheap_init_mapped(&__xnsys_global_ppd.sem_heap,
CONFIG_XENO_OPT_GLOBAL_SEM_HEAPSZ * 1024,
XNARCH_SHARED_HEAP_FLAGS);
@@ -124,12 +133,8 @@ int __init __xeno_sys_init(void)
if (ret)
goto cleanup_shadow;
- xnloginfo("real-time nucleus v%s (%s) loaded.\n",
- XENO_VERSION_STRING, XENO_VERSION_NAME);
-
-#ifdef CONFIG_XENO_OPT_DEBUG
- xnloginfo("debug mode enabled.\n");
-#endif
+ xnloginfo("Xenomai/cobalt v%s enabled%s\n",
+ XENO_VERSION_STRING, boot_notice);
initq(&xnmod_glink_queue);
@@ -139,30 +144,26 @@ int __init __xeno_sys_init(void)
return 0;
- cleanup_shadow:
-
+cleanup_shadow:
xnshadow_cleanup();
- cleanup_select:
-
+cleanup_select:
xnselect_umount();
- cleanup_pipe:
+cleanup_pipe:
#ifdef CONFIG_XENO_OPT_PIPE
xnpipe_umount();
- cleanup_proc:
+cleanup_proc:
#endif /* CONFIG_XENO_OPT_PIPE */
xnpod_umount();
- cleanup_arch:
-
- xnarch_exit();
-
- fail:
+cleanup_arch:
+ rthal_exit();
+fail:
xnlogerr("system init failed, code %d.\n", ret);
@@ -170,26 +171,4 @@ int __init __xeno_sys_init(void)
return ret;
}
-
-void __exit __xeno_sys_exit(void)
-{
- xnpod_shutdown(XNPOD_NORMAL_EXIT);
-
- /* Must take place before xnpod_umount(). */
- xnshadow_cleanup();
-
- xnpod_umount();
-
- xnarch_exit();
-
- xnheap_umount();
-#ifdef CONFIG_XENO_OPT_PIPE
- xnpipe_umount();
-#endif
- xnheap_destroy_mapped(&__xnsys_global_ppd.sem_heap, NULL, NULL);
-
- xnloginfo("real-time nucleus unloaded.\n");
-}
-
-module_init(__xeno_sys_init);
-module_exit(__xeno_sys_exit);
+__initcall(xenomai_init);
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