xenomai initialize

modules.c:

int __init __xeno_sys_init(void)

include/asm-blackfin/system.h:

static inline int xnarch_init (void)

{
int err;

/* Register the irq_tail_hook - do rescheduling */

__ipipe_irq_tail_hook = (unsigned long)&xnpod_schedule_deferred;

/* Register Xenomai domain */
err = rthal_init();

if (err)
return err;

#ifdef CONFIG_SMP
/* The HAL layer also sets the same CPU affinity so that both
modules keep their execution sequence on SMP boxen. */
set_cpus_allowed(current,cpumask_of_cpu(0));