[Xenomai-help] Proper module_cleanup procedure

[Randy Smith <rsmith@domain.hid>]

Hello,

I am running the 2.4 kernel with Xenomai-2.1.0 native skin and I have a 
kernel module that creates 2 shared memory heaps and then creates a a 
periodic realtime task to do some interesting things.  This periodic 
realtime task communicates with a linux user mode task through the 
shared memory that gains access to it through rt_heap_bind/rt_heap_alloc 
calls.  Things go along swimmingly.

I now want to be able to do an "rmmod" on the module and in its cleanup 
routine, right now I just have rt_heap_delete calls for the two shared 
memory heaps.  This completes successfully, but if I then try to install 
another version (debug for instance) of the module with "insmod", I get 
a memory error. 

Is this is due to the fact that I didn't suspend the periodic realtime 
task and then delete it before deleting the heaps?  Is this necessary?  
Are there any use counts or other signs that I could check to ensure 
that everyone was finished with the heaps so that I can delete them?

Is there any consequence to the user mode task due to jerking the rug 
out from under it?

Thanks,

Randy Smith
Software Engineer
ImageMap, Inc.