int xntbase_switch(const char *name, u_long period, xntbase_t **basep)
{
xntbase_t *oldbase = *basep, *newbase;
int err = 0;
if (!*basep)
/* Switching from no time base to a valid one is ok,
we only need to assume that the old time base was the
master one. */
oldbase = &nktbase;
if (period == XN_APERIODIC_TICK) {
if (xntbase_periodic_p(oldbase)) {
/* The following call cannot fail. */
xntbase_alloc(name, XN_APERIODIC_TICK, 0, basep);
xntbase_free(oldbase);
}
} else {
if (xntbase_periodic_p(oldbase))
xntbase_update(oldbase, period);
else {
err = xntbase_alloc(name, period, 0, &newbase);
if (!err) {
int enabled = xntbase_enabled_p(oldbase);
*basep = newbase;
xntbase_free(oldbase);
if (enabled)
xntbase_start(newbase);
}
}
}
return err;
}
RTIME start_rt_timer(int period)
{
/* count2nano() and nano2count() are no-ops, so we should have
been passed nanoseconds. */
xntbase_switch("rtai", period, &rtai_tbase);
xntbase_start(rtai_tbase);
return period;
}
int SKIN_INIT(psos)
{
int err;
initq(&__psos_global_rholder.smq);
initq(&__psos_global_rholder.qq);
initq(&__psos_global_rholder.ptq);
initq(&__psos_global_rholder.rnq);
err = xnpod_init();
if (err != 0)
return err;
err = xntbase_alloc("psos", tick_arg * 1000, sync_time ? 0 : XNTBISO,
&psos_tbase);
if (err != 0)
goto fail;
xntbase_start(psos_tbase);
err = psosrn_init(module_param_value(rn0_size_arg));
if (err != 0) {
fail:
xnpod_shutdown(err);
xnlogerr("pSOS skin init failed, code %d.\n", err);
return err;
}
psossem_init();
psosqueue_init();
psospt_init();
psosasr_init();
psostm_init();
psostask_init(module_param_value(time_slice_arg));
#ifdef CONFIG_XENO_OPT_PERVASIVE
psos_syscall_init();
#endif /* CONFIG_XENO_OPT_PERVASIVE */
xnprintf("starting pSOS+ services.\n");
return err;
}
int SKIN_INIT(native)
{
int err;
initq(&__native_global_rholder.alarmq);
initq(&__native_global_rholder.condq);
initq(&__native_global_rholder.eventq);
initq(&__native_global_rholder.heapq);
initq(&__native_global_rholder.intrq);
initq(&__native_global_rholder.mutexq);
initq(&__native_global_rholder.pipeq);
initq(&__native_global_rholder.queueq);
initq(&__native_global_rholder.semq);
initq(&__native_global_rholder.ioregionq);
initq(&__native_global_rholder.bufferq);
err = xnpod_init();
if (err)
goto fail;
err = xntbase_alloc("native", tick_arg * 1000, 0, &__native_tbase);
if (err)
goto fail;
xntbase_start(__native_tbase);
err = __native_misc_pkg_init();
if (err)
goto cleanup_pod;
err = __native_task_pkg_init();
if (err)
goto cleanup_misc;
err = __native_sem_pkg_init();
if (err)
goto cleanup_task;
err = __native_event_pkg_init();
if (err)
goto cleanup_sem;
err = __native_mutex_pkg_init();
if (err)
goto cleanup_event;
err = __native_cond_pkg_init();
if (err)
goto cleanup_mutex;
err = __native_pipe_pkg_init();
if (err)
goto cleanup_cond;
err = __native_queue_pkg_init();
if (err)
goto cleanup_pipe;
err = __native_heap_pkg_init();
if (err)
goto cleanup_queue;
err = __native_alarm_pkg_init();
if (err)
goto cleanup_heap;
err = __native_intr_pkg_init();
if (err)
goto cleanup_alarm;
err = __native_syscall_init();
if (err)
goto cleanup_intr;
xnprintf("starting native API services.\n");
return 0; /* SUCCESS. */
cleanup_intr:
__native_intr_pkg_cleanup();
cleanup_alarm:
__native_alarm_pkg_cleanup();
cleanup_heap:
__native_heap_pkg_cleanup();
cleanup_queue:
__native_queue_pkg_cleanup();
cleanup_pipe:
__native_pipe_pkg_cleanup();
cleanup_cond:
__native_cond_pkg_cleanup();
cleanup_mutex:
__native_mutex_pkg_cleanup();
cleanup_event:
__native_event_pkg_cleanup();
cleanup_sem:
__native_sem_pkg_cleanup();
cleanup_task:
__native_task_pkg_cleanup();
cleanup_misc:
__native_misc_pkg_cleanup();
cleanup_pod:
xntbase_free(__native_tbase);
xnpod_shutdown(err);
fail:
xnlogerr("native skin init failed, code %d.\n", err);
return err;
}
int SKIN_INIT(uitron)
{
int err;
initq(&__ui_global_rholder.flgq);
initq(&__ui_global_rholder.mbxq);
initq(&__ui_global_rholder.semq);
err = xnpod_init();
if (err)
goto fail;
err = xntbase_alloc("uitron", tick_arg * 1000,
sync_time ? 0 : XNTBISO, &ui_tbase);
if (err)
goto cleanup_pod;
xntbase_start(ui_tbase);
err = uitask_init();
if (err)
goto cleanup_tbase;
err = uisem_init();
if (err)
goto cleanup_task;
err = uiflag_init();
if (err)
goto cleanup_sem;
err = uimbx_init();
if (err)
goto cleanup_flag;
#ifdef CONFIG_XENO_OPT_PERVASIVE
ui_syscall_init();
#endif /* CONFIG_XENO_OPT_PERVASIVE */
xnprintf("starting uITRON services.\n");
return 0;
cleanup_flag:
uiflag_cleanup();
cleanup_sem:
uisem_cleanup();
cleanup_task:
uitask_cleanup();
cleanup_tbase:
xntbase_free(ui_tbase);
cleanup_pod:
xnpod_shutdown(err);
fail:
xnlogerr("uITRON skin init failed, code %d.\n", err);
return err;
}
