On 10/09/2012 11:41 PM, Gilles Chanteperdrix wrote:
> Another possible fix would be to lock xenomai scheduler when taking an
> rtdm_spin_lock, as it is almost always wrong to call xnpod_schedule in
> such a situation. It works for other RT-CAN drivers, because they call
> rtdm_sem_up from interrupt context where the scheduler is locked by the
> XNINIRQ bit.
>
IOW, something like:
diff --git a/include/rtdm/rtdm_driver.h b/include/rtdm/rtdm_driver.h
index 68135e4..7b18c34 100644
--- a/include/rtdm/rtdm_driver.h
+++ b/include/rtdm/rtdm_driver.h
@@ -730,6 +730,7 @@ typedef unsigned long rtdm_lockctx_t;
do { \
XENO_BUGON(RTDM, !rthal_local_irq_disabled()); \
rthal_spin_lock(lock); \
+ xnpod_lock_sched(); \
} while (0)
#endif
@@ -749,7 +750,11 @@ typedef unsigned long rtdm_lockctx_t;
*
* Rescheduling: never.
*/
-#define rtdm_lock_put(lock) rthal_spin_unlock(lock)
+#define rtdm_lock_put(lock) \
+ do { \
+ rthal_spin_unlock(lock); \
+ xnpod_unlock_sched(); \
+ } while (0)
/**
* Acquire lock and disable preemption
@@ -768,8 +773,11 @@ typedef unsigned long rtdm_lockctx_t;
*
* Rescheduling: never.
*/
-#define rtdm_lock_get_irqsave(lock, context) \
- rthal_spin_lock_irqsave(lock, context)
+#define rtdm_lock_get_irqsave(lock, context) \
+ do { \
+ rthal_spin_lock_irqsave(lock, context); \
+ xnpod_lock_sched(); \
+ } while (0)
/**
* Release lock and restore preemption state
@@ -788,8 +796,12 @@ typedef unsigned long rtdm_lockctx_t;
*
* Rescheduling: possible.
*/
-#define rtdm_lock_put_irqrestore(lock, context) \
- rthal_spin_unlock_irqrestore(lock, context)
+#define rtdm_lock_put_irqrestore(lock, context) \
+ do { \
+ rthal_spin_unlock(lock); \
+ xnpod_unlock_sched(); \
+ rthal_local_irq_restore(context); \
+ } while (0)
/**
* Disable preemption locally
--
Gilles.
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