add xenomai

hc

2024-11-01 2f529f9b558ca1c1bd74be7437a84e4711743404

 kernel/kernel/sched/idle.c
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@@ -80,6 +80,7 @@
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 void __weak arch_cpu_idle(void)
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 {
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 	cpu_idle_force_poll = 1;
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+	hard_local_irq_enable();
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 	raw_local_irq_enable();
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 }
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@@ -87,13 +88,18 @@
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  * default_idle_call - Default CPU idle routine.
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  *
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  * To use when the cpuidle framework cannot be used.
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+ *
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+ * When interrupts are pipelined, this call is entered with hard irqs
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+ * on and the in-band stage is stalled. Returns with hard irqs on,
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+ * in-band stage stalled. irq_cpuidle_enter() then turns off hard irqs
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+ * before synchronizing irqs, making sure we have no event lingering
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+ * in the interrupt log as we go for a nap.
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  */
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 void __cpuidle default_idle_call(void)
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 {
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 	if (current_clr_polling_and_test()) {
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-		local_irq_enable();
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-	} else {
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-
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+		local_irq_enable_full();
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+	} else if (irq_cpuidle_enter(NULL, NULL)) { /* hard irqs off now */
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 		trace_cpu_idle(1, smp_processor_id());
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 		stop_critical_timings();
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@@ -127,6 +133,8 @@
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 		start_critical_timings();
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 		trace_cpu_idle(PWR_EVENT_EXIT, smp_processor_id());
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+	} else {
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+		local_irq_enable_full();
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 	}
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 }
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@@ -249,6 +257,13 @@
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 	__current_set_polling();
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 	/*
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+	 *  Catch mishandling of the CPU's interrupt disable flag when
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+	 *  pipelining IRQs.
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+	 */
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+	if (WARN_ON_ONCE(irq_pipeline_debug() && hard_irqs_disabled()))
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+		hard_local_irq_enable();
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+
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+	/*
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 	 * It is up to the idle functions to reenable local interrupts
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 	 */
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 	if (WARN_ON_ONCE(irqs_disabled()))
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@@ -300,6 +315,7 @@
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 			cpu_idle_poll();
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 		} else {
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 			cpuidle_idle_call();
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+			WARN_ON_ONCE(irq_pipeline_debug() && hard_irqs_disabled());
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 		}
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 		arch_cpu_idle_exit();
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 	}