Module: xenomai-3
Branch: master
Commit: 79fb5178686d75a29dc9a0fc6db136c33f7b958d
URL:
http://git.xenomai.org/?p=xenomai-3.git;a=commit;h=79fb5178686d75a29dc9a0fc6db136c33f7b958d
Author: Philippe Gerum <r...@xenomai.org>
Date: Tue Jul 21 15:13:29 2015 +0200
cobalt/kernel: introduce late machine init handler
---
kernel/cobalt/arch/arm/machine.c | 1 +
kernel/cobalt/arch/blackfin/machine.c | 25 ++++++++++----------
kernel/cobalt/arch/nios2/machine.c | 1 +
kernel/cobalt/arch/powerpc/machine.c | 1 +
kernel/cobalt/arch/sh/machine.c | 1 +
kernel/cobalt/arch/x86/machine.c | 1 +
.../cobalt/include/asm-generic/xenomai/machine.h | 1 +
kernel/cobalt/init.c | 12 ++++++++++
8 files changed, 30 insertions(+), 13 deletions(-)
diff --git a/kernel/cobalt/arch/arm/machine.c b/kernel/cobalt/arch/arm/machine.c
index bb50d2b..f48d4a8 100644
--- a/kernel/cobalt/arch/arm/machine.c
+++ b/kernel/cobalt/arch/arm/machine.c
@@ -111,6 +111,7 @@ static const char *const fault_labels[] = {
struct cobalt_machine cobalt_machine = {
.name = "arm",
.init = NULL,
+ .late_init = NULL,
.cleanup = NULL,
.calibrate = mach_arm_calibrate,
.prefault = mach_arm_prefault,
diff --git a/kernel/cobalt/arch/blackfin/machine.c
b/kernel/cobalt/arch/blackfin/machine.c
index 8175d9d..b0a70fe 100644
--- a/kernel/cobalt/arch/blackfin/machine.c
+++ b/kernel/cobalt/arch/blackfin/machine.c
@@ -28,27 +28,25 @@ static unsigned long mach_blackfin_calibrate(void)
static void schedule_deferred(void)
{
+ xnsched_run();
+}
+
+static int mach_blackfin_late_init(void)
+{
/*
- * We have a small race window which turns out to be
- * innocuous, i.e.:
+ * We hook the rescheduling handler late in the init sequence
+ * to prevent the race below from happening:
*
* mach_setup() ...
* IRQ/syscall
* => irq_tail_hook
* => xnsched_run()
* ...
- * xnsys_init()
+ * xenomai_init()
*
- * in which case, we would call xnsched_run() for a not yet
- * initialized system. However, we would be covered by the
- * check for XNSCHED in xnsched_run(), which basically makes
- * this call a nop.
+ * in which case, we would spuriously call xnsched_run()
+ * before the scheduler slot is initialized.
*/
- xnsched_run();
-}
-
-static int mach_blackfin_init(void)
-{
__ipipe_irq_tail_hook = (unsigned long)schedule_deferred;
return 0;
@@ -83,7 +81,8 @@ static const char *const fault_labels[] = {
struct cobalt_machine cobalt_machine = {
.name = "blackfin",
- .init = mach_blackfin_init,
+ .init = NULL,
+ .late_init = mach_blackfin_late_init,
.cleanup = mach_blackfin_cleanup,
.calibrate = mach_blackfin_calibrate,
.prefault = NULL,
diff --git a/kernel/cobalt/arch/nios2/machine.c
b/kernel/cobalt/arch/nios2/machine.c
index 39f5cc1..1c5b194 100644
--- a/kernel/cobalt/arch/nios2/machine.c
+++ b/kernel/cobalt/arch/nios2/machine.c
@@ -53,6 +53,7 @@ static const char *const fault_labels[] = {
struct cobalt_machine cobalt_machine = {
.name = "nios2",
.init = NULL,
+ .late_init = NULL,
.cleanup = NULL,
.calibrate = mach_nios2_calibrate,
.prefault = NULL,
diff --git a/kernel/cobalt/arch/powerpc/machine.c
b/kernel/cobalt/arch/powerpc/machine.c
index 62c339c..2e1643a 100644
--- a/kernel/cobalt/arch/powerpc/machine.c
+++ b/kernel/cobalt/arch/powerpc/machine.c
@@ -65,6 +65,7 @@ static const char *const fault_labels[] = {
struct cobalt_machine cobalt_machine = {
.name = "powerpc",
.init = mach_powerpc_init,
+ .late_init = NULL,
.cleanup = NULL,
.calibrate = mach_powerpc_calibrate,
.prefault = NULL,
diff --git a/kernel/cobalt/arch/sh/machine.c b/kernel/cobalt/arch/sh/machine.c
index 327632c..f331b9d 100644
--- a/kernel/cobalt/arch/sh/machine.c
+++ b/kernel/cobalt/arch/sh/machine.c
@@ -52,6 +52,7 @@ static const char *const fault_labels[] = {
struct cobalt_machine cobalt_machine = {
.name = "sh",
.init = NULL,
+ .late_init = NULL,
.cleanup = NULL,
.calibrate = mach_sh_calibrate,
.prefault = NULL,
diff --git a/kernel/cobalt/arch/x86/machine.c b/kernel/cobalt/arch/x86/machine.c
index 67a3729..4ca5cd8 100644
--- a/kernel/cobalt/arch/x86/machine.c
+++ b/kernel/cobalt/arch/x86/machine.c
@@ -184,6 +184,7 @@ static const char *const fault_labels[] = {
struct cobalt_machine cobalt_machine = {
.name = "x86",
.init = mach_x86_init,
+ .late_init = NULL,
.cleanup = mach_x86_cleanup,
.calibrate = mach_x86_calibrate,
.prefault = NULL,
diff --git a/kernel/cobalt/include/asm-generic/xenomai/machine.h
b/kernel/cobalt/include/asm-generic/xenomai/machine.h
index f0c0562..25764f9 100644
--- a/kernel/cobalt/include/asm-generic/xenomai/machine.h
+++ b/kernel/cobalt/include/asm-generic/xenomai/machine.h
@@ -29,6 +29,7 @@ struct vm_area_struct;
struct cobalt_machine {
const char *name;
int (*init)(void);
+ int (*late_init)(void);
void (*cleanup)(void);
void (*prefault)(struct vm_area_struct *vma);
unsigned long (*calibrate)(void);
diff --git a/kernel/cobalt/init.c b/kernel/cobalt/init.c
index 25d49b6..d89e21d 100644
--- a/kernel/cobalt/init.c
+++ b/kernel/cobalt/init.c
@@ -239,6 +239,14 @@ fail_apc:
return ret;
}
+static inline int __init mach_late_setup(void)
+{
+ if (cobalt_machine.late_init)
+ return cobalt_machine.late_init();
+
+ return 0;
+}
+
static __init void mach_cleanup(void)
{
ipipe_unregister_head(&xnsched_realtime_domain);
@@ -368,6 +376,10 @@ static int __init xenomai_init(void)
if (ret)
goto cleanup_select;
+ ret = mach_late_setup();
+ if (ret)
+ goto cleanup_sys;
+
ret = rtdm_init();
if (ret)
goto cleanup_sys;
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