pre-rpi4-4.19.86-xenomai3-simplerobot.patch

diff -ruN a/drivers/irqchip/irq-bcm2835.c b/drivers/irqchip/irq-bcm2835.c
--- a/drivers/irqchip/irq-bcm2835.c	2019-11-30 00:10:29.015908100 +0900
+++ b/drivers/irqchip/irq-bcm2835.c	2019-11-30 00:13:37.574851000 +0900
@@ -177,6 +177,11 @@
 #ifdef CONFIG_ARM64
 	.irq_ack    = armctrl_ack_irq
 #endif
+#ifdef CONFIG_IPIPE
+	.irq_hold = armctrl_mask_irq,
+	.irq_release = armctrl_unmask_irq,
+#endif
+	.flags	     = IRQCHIP_PIPELINE_SAFE,
 };
 
 static int armctrl_xlate(struct irq_domain *d, struct device_node *ctrlr,
diff -ruN a/drivers/irqchip/irq-bcm2836.c b/drivers/irqchip/irq-bcm2836.c
--- a/drivers/irqchip/irq-bcm2836.c	2019-11-30 00:10:29.015908100 +0900
+++ b/drivers/irqchip/irq-bcm2836.c	2019-11-30 00:21:24.936345500 +0900
@@ -169,12 +169,12 @@
 
 		writel(1 << ipi, mailbox0);
 		dsb(sy);
-		handle_IPI(ipi, regs);
+		ipipe_handle_multi_ipi(ipi, regs);
 #endif
 	} else if (stat) {
 		u32 hwirq = ffs(stat) - 1;
 
-		handle_domain_irq(intc.domain, hwirq, regs);
+		ipipe_handle_domain_irq(intc.domain, hwirq, regs);
 	}
 }
 
diff -ruN a/drivers/pci/controller/pcie-brcmstb.c b/drivers/pci/controller/pcie-brcmstb.c
--- a/drivers/pci/controller/pcie-brcmstb.c	2019-11-30 00:10:29.580915600 +0900
+++ b/drivers/pci/controller/pcie-brcmstb.c	2019-12-12 18:06:29.521761893 +0900
@@ -898,6 +898,7 @@
 	.name = "Brcm_MSI",
 	.irq_mask = pci_msi_mask_irq,
 	.irq_unmask = pci_msi_unmask_irq,
+	.flags = IRQCHIP_PIPELINE_SAFE,	//prevent kernel bug warn @HoTam
 };
 
 static struct msi_domain_info brcm_msi_domain_info = {
@@ -930,7 +931,7 @@
 			virq = irq_find_mapping(msi->inner_domain, hwirq);
 			if (virq) {
 				if (msi->used & (1 << hwirq))
-					generic_handle_irq(virq);
+					ipipe_handle_demuxed_irq(virq); //patched for xenomai, prevent kernel panic when usb devices are connected @HoTam
 				else
 					dev_info(dev, "unhandled MSI %d\n",
 						 hwirq);
diff -ruN a/lib/dump_stack.c b/lib/dump_stack.c
--- a/lib/dump_stack.c	2019-11-30 00:10:28.475900900 +0900
+++ b/lib/dump_stack.c	2019-11-30 00:25:14.663212300 +0900
@@ -105,7 +105,7 @@
 	} else if (old == cpu) {
 		was_locked = 1;
 	} else {
-		local_irq_restore(flags);
+		restore_local_irqs(flags);
 		/*
 		 * Wait for the lock to release before jumping to
 		 * atomic_cmpxchg() in order to mitigate the thundering herd