add xenomai

hc

2024-11-01 2f529f9b558ca1c1bd74be7437a84e4711743404

 kernel/drivers/cpuidle/cpuidle.c
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@@ -17,6 +17,7 @@
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 #include <linux/pm_qos.h>
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 #include <linux/cpu.h>
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 #include <linux/cpuidle.h>
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+#include <linux/irq_pipeline.h>
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 #include <linux/ktime.h>
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 #include <linux/hrtimer.h>
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 #include <linux/module.h>
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@@ -219,6 +220,22 @@
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 	broadcast = !!(target_state->flags & CPUIDLE_FLAG_TIMER_STOP);
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 	/*
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+	 * A companion core running on the oob stage of the IRQ
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+	 * pipeline may deny switching to a deeper C-state. If so,
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+	 * call the default idle routine instead. If the core cannot
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+	 * bear with the latency induced by the default idling
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+	 * operation, then CPUIDLE is not usable and should be
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+	 * disabled at build time. The in-band stage is currently
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+	 * stalled, hard irqs are on. irq_cpuidle_enter() leaves us
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+	 * stalled but returns with hard irqs off so that no event may
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+	 * sneak in until we actually go idle.
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+	 */
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+	if (!irq_cpuidle_enter(dev, target_state)) {
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+		default_idle_call();
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+		return -EBUSY;
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+	}
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+
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+	/*
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 	 * Tell the time framework to switch to a broadcast timer because our
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 	 * local timer will be shut down.  If a local timer is used from another
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 	 * CPU as a broadcast timer, this call may fail if it is not available.
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@@ -247,6 +264,7 @@
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 	if (!(target_state->flags & CPUIDLE_FLAG_RCU_IDLE))
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 		rcu_idle_enter();
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 	entered_state = target_state->enter(dev, drv, index);
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+	hard_cond_local_irq_enable();
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 	if (!(target_state->flags & CPUIDLE_FLAG_RCU_IDLE))
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 		rcu_idle_exit();
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 	start_critical_timings();