/*
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* SPDX-License-Identifier: GPL-2.0
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*
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* Copyright (C) 2019 Philippe Gerum <rpm@xenomai.org>
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*/
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#include <linux/init.h>
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#include <linux/module.h>
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#include <pipeline/machine.h>
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#include <linux/ipipe_tickdev.h>
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#include <cobalt/kernel/sched.h>
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#include <cobalt/kernel/clock.h>
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int __init pipeline_init(void)
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{
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struct ipipe_sysinfo sysinfo;
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int ret, virq;
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ret = ipipe_select_timers(&xnsched_realtime_cpus);
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if (ret < 0)
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return ret;
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ipipe_get_sysinfo(&sysinfo);
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cobalt_pipeline.clock_freq = sysinfo.sys_hrclock_freq;
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if (cobalt_machine.init) {
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ret = cobalt_machine.init();
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if (ret)
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return ret;
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}
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ipipe_register_head(&xnsched_primary_domain, "Xenomai");
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virq = ipipe_alloc_virq();
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if (virq == 0)
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goto fail_escalate;
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cobalt_pipeline.escalate_virq = virq;
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ipipe_request_irq(&xnsched_primary_domain,
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cobalt_pipeline.escalate_virq,
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(ipipe_irq_handler_t)__xnsched_run_handler,
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NULL, NULL);
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ret = xnclock_init();
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if (ret)
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goto fail_clock;
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return 0;
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fail_clock:
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ipipe_free_irq(&xnsched_primary_domain,
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cobalt_pipeline.escalate_virq);
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ipipe_free_virq(cobalt_pipeline.escalate_virq);
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fail_escalate:
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ipipe_unregister_head(&xnsched_primary_domain);
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if (cobalt_machine.cleanup)
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cobalt_machine.cleanup();
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return ret;
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}
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int __init pipeline_late_init(void)
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{
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if (cobalt_machine.late_init)
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return cobalt_machine.late_init();
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return 0;
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}
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__init void pipeline_cleanup(void)
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{
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ipipe_unregister_head(&xnsched_primary_domain);
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ipipe_free_irq(&xnsched_primary_domain,
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cobalt_pipeline.escalate_virq);
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ipipe_free_virq(cobalt_pipeline.escalate_virq);
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ipipe_timers_release();
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xnclock_cleanup();
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}
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