Philippe Gerum authored Nov 28, 2019 and Jan Kiszka committed Dec 02, 2019

An exit_handler wants to be called from the root domain, with
preemption enabled and hard irqs on in order to keep all options open,
such as using regular sleeping locks.

If such a handler updates the Cobalt scheduler state, it has to
trigger the rescheduling procedure (xnsched_run()) internally as well,
grouping the changes and the rescheduling call into the same
interrupt-free section, in order to guard against CPU migration.

Relying on the core to kick such procedure in order to commit pending
changes later on is unreliable.

Signed-off-by: Philippe Gerum <rpm@xenomai.org>
Signed-off-by: Jan Kiszka <jan.kiszka@siemens.com>