diff --git a/include/asm-generic/xenomai/wrappers.h b/include/asm-generic/xenomai/wrappers.h
index 7654047b4dad6778786d1c554e4239c4e4aa0dbb..0bded1d9bc076fa1f724eebbf727da1c3819088c 100644
--- a/include/asm-generic/xenomai/wrappers.h
+++ b/include/asm-generic/xenomai/wrappers.h
@@ -248,7 +248,9 @@ devm_hwmon_device_register_with_groups(struct device *dev, const char *name,
 }
 #endif
 
-#if LINUX_VERSION_CODE < KERNEL_VERSION(5,14,0)
+#if LINUX_VERSION_CODE < KERNEL_VERSION(5,14,0) && \
+    (LINUX_VERSION_CODE >= KERNEL_VERSION(5,11,0) || \
+     LINUX_VERSION_CODE < KERNEL_VERSION(5,10,220))
 #define close_fd(__ufd)	__close_fd(current->files, __ufd)
 #endif
 
@@ -258,7 +260,9 @@ devm_hwmon_device_register_with_groups(struct device *dev, const char *name,
     (LINUX_VERSION_CODE >= KERNEL_VERSION(5,5,0) || \
      LINUX_VERSION_CODE < KERNEL_VERSION(5,4,251)) && \
     (LINUX_VERSION_CODE >= KERNEL_VERSION(4,20,0) || \
-     LINUX_VERSION_CODE < KERNEL_VERSION(4,19,291))
+     LINUX_VERSION_CODE < KERNEL_VERSION(4,19,255) || \
+     (LINUX_VERSION_CODE == KERNEL_VERSION(4,19,255) && \
+      CONFIG_KVER_SUBLEVEL < 291))
 #define dev_addr_set(dev, addr)		memcpy((dev)->dev_addr, addr, MAX_ADDR_LEN)
 #define eth_hw_addr_set(dev, addr)	memcpy((dev)->dev_addr, addr, ETH_ALEN)
 #endif
diff --git a/include/xenomai/cobalt/kernel/thread.h b/include/xenomai/cobalt/kernel/thread.h
index b79cb8429650e2503f2a5bc72040d19a613cb55c..325859b6a472b4f70e8482fe4ff2da074c604bee 100644
--- a/include/xenomai/cobalt/kernel/thread.h
+++ b/include/xenomai/cobalt/kernel/thread.h
@@ -65,6 +65,11 @@ struct lostage_signal {
 	struct lostage_signal *self; /* Revisit: I-pipe requirement */
 };
 
+struct lostage_wakeup {
+	struct pipeline_inband_work inband_work; /* Must be first. */
+	struct task_struct *task;
+};
+
 struct xnthread_init_attr {
 	struct xnthread_personality *personality;
 	cpumask_t affinity;
@@ -215,6 +220,7 @@ struct xnthread {
 	u32 proghash;		/* Hash value for exe_path */
 #endif
 	struct lostage_signal sigarray[XNTHREAD_MAX_SIGNALS];
+	struct lostage_wakeup relax_work;
 };
 
 static inline int xnthread_get_state(const struct xnthread *thread)
diff --git a/include/xenomai/pipeline/inband_work.h b/include/xenomai/pipeline/inband_work.h
index af3d70fc69837df65a6013f836f25ba0322ab07f..826785e437c13e89c9795ac864d57d25aeea5f96 100644
--- a/include/xenomai/pipeline/inband_work.h
+++ b/include/xenomai/pipeline/inband_work.h
@@ -25,4 +25,7 @@ struct pipeline_inband_work {
 #define pipeline_post_inband_work(__work)				\
 			irq_work_queue(&(__work)->inband_work.work)
 
+#define pipeline_sync_inband_work(__work)				\
+			irq_work_sync(&(__work)->inband_work.work)
+
 #endif /* !_COBALT_KERNEL_DOVETAIL_INBAND_WORK_H */
diff --git a/include/xenomai/rtdm/analogy/rtdm_helpers.h b/include/xenomai/rtdm/analogy/rtdm_helpers.h
index 1de219f967b68bffe9f16dcd707f13122d6d79c4..6799183c19f14679d346ce2e1e637ae35af239af 100644
--- a/include/xenomai/rtdm/analogy/rtdm_helpers.h
+++ b/include/xenomai/rtdm/analogy/rtdm_helpers.h
@@ -65,7 +65,7 @@
 
 #else /* !CONFIG_XENO_DRIVERS_ANALOGY_DEBUG */
 
-#define __a4l_dbg(level, debug, fmt, args...)
+#define __a4l_dbg(level, debug, fmt, args...)	do {} while (0)
 
 #endif /* CONFIG_XENO_DRIVERS_ANALOGY_DEBUG */
 
diff --git a/init/Kconfig b/init/Kconfig
index e6499123b465eb32759f652583c7c0b2929a0b87..2e0b84f8ad4aa3df3c59cec6475a614fe40a815b 100644
--- a/init/Kconfig
+++ b/init/Kconfig
@@ -2449,8 +2449,8 @@ config XENO_VERSION_MINOR
 
 config XENO_REVISION_LEVEL
        int
-       default 4
+       default 6
 
 config XENO_VERSION_STRING
        string
-       default "3.2.4"
+       default "3.2.6"
diff --git a/kernel/xenomai/posix/process.c b/kernel/xenomai/posix/process.c
index 935007f821150737ea01ad25f18a90b0182528f1..d789c4cdd954647f140c0b591e0d2ec7bd5ad791 100644
--- a/kernel/xenomai/posix/process.c
+++ b/kernel/xenomai/posix/process.c
@@ -838,6 +838,7 @@ static void __handle_taskexit_event(struct task_struct *p)
 {
 	struct cobalt_ppd *sys_ppd;
 	struct xnthread *thread;
+	unsigned int n;
 	spl_t s;
 
 	/*
@@ -861,6 +862,10 @@ static void __handle_taskexit_event(struct task_struct *p)
 
 	xnthread_run_handler_stack(thread, exit_thread);
 
+	for (n = 0; n < XNTHREAD_MAX_SIGNALS; n++)
+		pipeline_sync_inband_work(&thread->sigarray[n]);
+	pipeline_sync_inband_work(&thread->relax_work);
+
 	if (xnthread_test_state(thread, XNUSER)) {
 		cobalt_umm_free(&cobalt_kernel_ppd.umm, thread->u_window);
 		thread->u_window = NULL;
diff --git a/kernel/xenomai/posix/timer.c b/kernel/xenomai/posix/timer.c
index a58ea99a363facb62f0e6a4890c53f0c452a8673..a115ded5358b33d92a5886705dbbd8ba1e5c56e1 100644
--- a/kernel/xenomai/posix/timer.c
+++ b/kernel/xenomai/posix/timer.c
@@ -43,7 +43,7 @@ void cobalt_timer_handler(struct xntimer *xntimer)
 EXPORT_SYMBOL_GPL(cobalt_timer_handler);
 
 static inline struct cobalt_thread *
-timer_init(struct cobalt_timer *timer,
+cobalt_timer_init(struct cobalt_timer *timer,
 	   const struct sigevent *__restrict__ evp) /* nklocked, IRQs off. */
 {
 	struct cobalt_thread *owner = cobalt_current_thread(), *target = NULL;
@@ -88,7 +88,7 @@ timer_init(struct cobalt_timer *timer,
 	return target;
 }
 
-static inline int timer_alloc_id(struct cobalt_process *cc)
+static inline int cobalt_timer_alloc_id(struct cobalt_process *cc)
 {
 	int id;
 
@@ -101,7 +101,7 @@ static inline int timer_alloc_id(struct cobalt_process *cc)
 	return id;
 }
 
-static inline void timer_free_id(struct cobalt_process *cc, int id)
+static inline void cobalt_timer_free_id(struct cobalt_process *cc, int id)
 {
 	__set_bit(id, cc->timers_map);
 }
@@ -118,9 +118,9 @@ cobalt_timer_by_id(struct cobalt_process *cc, timer_t timer_id)
 	return cc->timers[timer_id];
 }
 
-static inline int timer_create(clockid_t clockid,
-			       const struct sigevent *__restrict__ evp,
-			       timer_t * __restrict__ timerid)
+static int cobalt_timer_create_internal(clockid_t clockid,
+					const struct sigevent *__restrict__ evp,
+					timer_t * __restrict__ timerid)
 {
 	struct cobalt_process *cc;
 	struct cobalt_thread *target;
@@ -146,7 +146,7 @@ static inline int timer_create(clockid_t clockid,
 
 	xnlock_get_irqsave(&nklock, s);
 
-	ret = timer_alloc_id(cc);
+	ret = cobalt_timer_alloc_id(cc);
 	if (ret < 0)
 		goto out;
 
@@ -172,7 +172,7 @@ static inline int timer_create(clockid_t clockid,
 	timer->sigp.si.si_tid = timer_id;
 	timer->id = timer_id;
 
-	target = timer_init(timer, evp);
+	target = cobalt_timer_init(timer, evp);
 	if (target == NULL) {
 		ret = -EPERM;
 		goto fail;
@@ -192,7 +192,7 @@ static inline int timer_create(clockid_t clockid,
 
 	return 0;
 fail:
-	timer_free_id(cc, timer_id);
+	cobalt_timer_free_id(cc, timer_id);
 out:
 	xnlock_put_irqrestore(&nklock, s);
 
@@ -201,19 +201,19 @@ static inline int timer_create(clockid_t clockid,
 	return ret;
 }
 
-static void timer_cleanup(struct cobalt_process *p, struct cobalt_timer *timer)
+static void cobalt_timer_cleanup(struct cobalt_process *p,
+				 struct cobalt_timer *timer)
 {
 	xntimer_destroy(&timer->timerbase);
 
 	if (!list_empty(&timer->sigp.next))
 		list_del(&timer->sigp.next);
 
-	timer_free_id(p, cobalt_timer_id(timer));
+	cobalt_timer_free_id(p, cobalt_timer_id(timer));
 	p->timers[cobalt_timer_id(timer)] = NULL;
 }
 
-static inline int
-timer_delete(timer_t timerid)
+static int cobalt_timer_delete_internal(timer_t timerid)
 {
 	struct cobalt_process *cc;
 	struct cobalt_timer *timer;
@@ -248,7 +248,7 @@ timer_delete(timer_t timerid)
 	else
 		ret = 0;
 
-	timer_cleanup(cc, timer);
+	cobalt_timer_cleanup(cc, timer);
 	xnlock_put_irqrestore(&nklock, s);
 	xnfree(timer);
 
@@ -273,9 +273,8 @@ void __cobalt_timer_getval(struct xntimer *__restrict__ timer,
 	}
 }
 
-static inline void
-timer_gettimeout(struct cobalt_timer *__restrict__ timer,
-		 struct itimerspec64 *__restrict__ value)
+static void cobalt_timer_gettimeout(struct cobalt_timer *__restrict__ timer,
+				    struct itimerspec64 *__restrict__ value)
 {
 	int ret = 0;
 
@@ -311,8 +310,9 @@ int __cobalt_timer_setval(struct xntimer *__restrict__ timer, int clock_flag,
 	return xntimer_start(timer, start, period, clock_flag);
 }
 
-static inline int timer_set(struct cobalt_timer *timer, int flags,
-			    const struct itimerspec64 *__restrict__ value)
+static inline int 
+cobalt_timer_set(struct cobalt_timer *timer, int flags,
+		 const struct itimerspec64 *__restrict__ value)
 {				/* nklocked, IRQs off. */
 	struct cobalt_thread *thread;
 	int ret = 0;
@@ -344,7 +344,7 @@ static inline int timer_set(struct cobalt_timer *timer, int flags,
 }
 
 static inline void
-timer_deliver_late(struct cobalt_process *cc, timer_t timerid)
+cobalt_timer_deliver_late(struct cobalt_process *cc, timer_t timerid)
 {
 	struct cobalt_timer *timer;
 	spl_t s;
@@ -382,9 +382,9 @@ int __cobalt_timer_settime(timer_t timerid, int flags,
 	}
 
 	if (ovalue)
-		timer_gettimeout(timer, ovalue);
+		cobalt_timer_gettimeout(timer, ovalue);
 
-	ret = timer_set(timer, flags, value);
+	ret = cobalt_timer_set(timer, flags, value);
 	if (ret == -ETIMEDOUT) {
 		/*
 		 * Time has already passed, deliver a notification
@@ -393,7 +393,7 @@ int __cobalt_timer_settime(timer_t timerid, int flags,
 		 * break the atomic section temporarily.
 		 */
 		xnlock_put_irqrestore(&nklock, s);
-		timer_deliver_late(cc, timerid);
+		cobalt_timer_deliver_late(cc, timerid);
 		return 0;
 	}
 out:
@@ -418,7 +418,7 @@ int __cobalt_timer_gettime(timer_t timerid, struct itimerspec64 *value)
 	if (timer == NULL)
 		goto fail;
 
-	timer_gettimeout(timer, value);
+	cobalt_timer_gettimeout(timer, value);
 
 	xnlock_put_irqrestore(&nklock, s);
 
@@ -431,7 +431,7 @@ int __cobalt_timer_gettime(timer_t timerid, struct itimerspec64 *value)
 
 COBALT_SYSCALL(timer_delete, current, (timer_t timerid))
 {
-	return timer_delete(timerid);
+	return cobalt_timer_delete_internal(timerid);
 }
 
 int __cobalt_timer_create(clockid_t clock,
@@ -441,12 +441,12 @@ int __cobalt_timer_create(clockid_t clock,
 	timer_t timerid = 0;
 	int ret;
 
-	ret = timer_create(clock, sev, &timerid);
+	ret = cobalt_timer_create_internal(clock, sev, &timerid);
 	if (ret)
 		return ret;
 
 	if (cobalt_copy_to_user(u_tm, &timerid, sizeof(timerid))) {
-		timer_delete(timerid);
+		cobalt_timer_delete_internal(timerid);
 		return -EFAULT;
 	}
 
@@ -578,7 +578,7 @@ void cobalt_timer_reclaim(struct cobalt_process *p)
 			continue;
 
 		cobalt_call_extension(timer_cleanup, &timer->extref, ret);
-		timer_cleanup(p, timer);
+		cobalt_timer_cleanup(p, timer);
 		xnlock_put_irqrestore(&nklock, s);
 		xnfree(timer);
 		xnlock_get_irqsave(&nklock, s);
diff --git a/kernel/xenomai/rtdm/drvlib.c b/kernel/xenomai/rtdm/drvlib.c
index 99d54f58f5e11ec4013596e44d1ab75d90ae5a4a..f4a2c5277fb0456b3bc6a8418238cd1d889b9399 100644
--- a/kernel/xenomai/rtdm/drvlib.c
+++ b/kernel/xenomai/rtdm/drvlib.c
@@ -1762,6 +1762,7 @@ static int mmap_iomem_helper(struct vm_area_struct *vma, phys_addr_t pa)
 {
 	pgprot_t prot = PAGE_SHARED;
 	unsigned long len;
+	int ret;
 
 	len = vma->vm_end - vma->vm_start;
 #ifndef CONFIG_MMU
@@ -1775,8 +1776,17 @@ static int mmap_iomem_helper(struct vm_area_struct *vma, phys_addr_t pa)
 #endif
 	vma->vm_page_prot = pgprot_noncached(prot);
 
-	return remap_pfn_range(vma, vma->vm_start, pa >> PAGE_SHIFT,
-			       len, vma->vm_page_prot);
+	ret = remap_pfn_range(vma, vma->vm_start, pa >> PAGE_SHIFT,
+			      len, vma->vm_page_prot);
+	if (ret)
+		return ret;
+
+#ifdef CONFIG_MMU
+	if (cobalt_machine.prefault)
+		cobalt_machine.prefault(vma);
+#endif
+
+	return 0;
 }
 
 static int mmap_buffer_helper(struct rtdm_fd *fd, struct vm_area_struct *vma)
diff --git a/kernel/xenomai/thread.c b/kernel/xenomai/thread.c
index ff12f288ad4ca1b801a61a4d09ffe5a452403b48..343f1f0e09f54facae7a1d7307b2fe26c6fbbe09 100644
--- a/kernel/xenomai/thread.c
+++ b/kernel/xenomai/thread.c
@@ -1967,11 +1967,6 @@ int xnthread_harden(void)
 }
 EXPORT_SYMBOL_GPL(xnthread_harden);
 
-struct lostage_wakeup {
-	struct pipeline_inband_work inband_work; /* Must be first. */
-	struct task_struct *task;
-};
-
 static void lostage_task_wakeup(struct pipeline_inband_work *inband_work)
 {
 	struct lostage_wakeup *rq;
@@ -2045,11 +2040,6 @@ void __xnthread_propagate_schedparam(struct xnthread *curr)
 void xnthread_relax(int notify, int reason)
 {
 	struct task_struct *p = current;
-	struct lostage_wakeup wakework = {
-		.inband_work = PIPELINE_INBAND_WORK_INITIALIZER(wakework,
-					lostage_task_wakeup),
-		.task = p,
-	};
 	struct xnthread *thread = xnthread_current();
 	int cpu __maybe_unused, suspension;
 	kernel_siginfo_t si;
@@ -2063,6 +2053,11 @@ void xnthread_relax(int notify, int reason)
 	 */
 	trace_cobalt_shadow_gorelax(reason);
 
+	thread->relax_work.inband_work = (struct pipeline_inband_work)
+		PIPELINE_INBAND_WORK_INITIALIZER(thread->relax_work,
+						 lostage_task_wakeup);
+	thread->relax_work.task = p;
+
 	/*
 	 * If you intend to change the following interrupt-free
 	 * sequence, /first/ make sure to check the special handling
@@ -2075,7 +2070,7 @@ void xnthread_relax(int notify, int reason)
 	 */
 	splmax();
 	trace_cobalt_lostage_request("wakeup", p);
-	pipeline_post_inband_work(&wakework);
+	pipeline_post_inband_work(&thread->relax_work);
 	/*
 	 * Grab the nklock to synchronize the Linux task state
 	 * manipulation with handle_sigwake_event. This lock will be