diff --git a/miosix/kernel/kernel.cpp b/miosix/kernel/kernel.cpp
index f637224775d82faf18cf4ed47e8dc09c374b040d..202b1de2c13ff8820587cdccf114ad3e2feaa500 100755
--- a/miosix/kernel/kernel.cpp
+++ b/miosix/kernel/kernel.cpp
@@ -272,7 +272,8 @@ void IRQaddToSleepingList(SleepData *x)
while (it != sleepingList->end() && (*it)->wakeup_time < x->wakeup_time ) ++it;
sleepingList->insert(it,x);
}
- //firstSleepItemTicks = tc->ns2tick(sleepingList->front()->wakeup_time);
+ //if (sleepingList->front()->wakeup_time < ContextSwitchTimer::instance().IRQgetCurrentTime())
+ // ContextSwitchTimer::instance().IRQsetNextInterrupt(sleepingList->front()->wakeup_time);
}
/**
@@ -281,7 +282,7 @@ void IRQaddToSleepingList(SleepData *x)
* Also increases the system tick.
* Takes care of clearing SLEEP_FLAG.
* It is used by the kernel, and should not be used by end users.
- * \return true if some thread was woken.
+ * \return true if some thread with higher priority of current thread is woken.
*/
bool IRQwakeThreads(long long currentTick)
{
@@ -298,14 +299,12 @@ bool IRQwakeThreads(long long currentTick)
if((*it)->p == nullptr) ++it; //Only csRecord has p==nullptr
else {
(*it)->p->flags.IRQsetSleep(false); //Wake thread
+ if (const_cast<Thread*>(cur)->getPriority() < (*it)->p->getPriority())
+ result = true;
it = sleepingList->erase(it);
- result = true;
+
}
}
-// if(sleepingList->empty())
-// firstSleepItemTicks = std::numeric_limits<long long>::max();
-// else
-// firstSleepItemTicks = tc->ns2tick(sleepingList->front()->wakeup_time);
return result;
}
@@ -394,8 +393,12 @@ void Thread::nanoSleepUntil(long long absoluteTime)
d.wakeup_time = absoluteTime;
IRQaddToSleepingList(&d);//Also sets SLEEP_FLAG
}
+ // NOTE: There is no need to synchronize the timer (calling IRQsetNextInterrupt)
+ // with the list at this point. Because, Thread::yield will make a supervisor
+ // call and subsequently it will call the IRQfindNextThread. IRQfindNextThread
+ // keeps the timer synchronized with the sleeping list head and beginning of
+ // next burst time. (see ISR_yield() in portability.cpp
Thread::yield();
-
}
void Thread::sleep(unsigned int ms)
diff --git a/miosix/kernel/kernel.h b/miosix/kernel/kernel.h
index d675a65084a0bb3ab17a1370dcddc0a86935bd0c..e2ae35d7ff1d9aa3f3a2eb3e0f067f4d71a5186b 100755
--- a/miosix/kernel/kernel.h
+++ b/miosix/kernel/kernel.h
@@ -1068,7 +1068,7 @@ public:
*/
bool operator() (Thread* a, Thread *b)
{
- return a->getPriority() < b->getPriority();
+ return a->getPriority().mutexLessOp(b->getPriority());
}
};
diff --git a/miosix/kernel/pthread_private.h b/miosix/kernel/pthread_private.h
index 54c47156eb090230f1d396df94b43da947d00520..b05288c6e8bc10a52b7d2b1ef63c35306f639de3 100644
--- a/miosix/kernel/pthread_private.h
+++ b/miosix/kernel/pthread_private.h
@@ -172,7 +172,7 @@ static inline bool IRQdoMutexUnlock(pthread_mutex_t *mutex)
mutex->first=mutex->first->next;
#ifndef SCHED_TYPE_EDF
- if(t->IRQgetPriority() >Thread::IRQgetCurrentThread()->IRQgetPriority())
+ if(Thread::IRQgetCurrentThread()->IRQgetPriority() < t->IRQgetPriority())
return true;
#endif //SCHED_TYPE_EDF
return false;
diff --git a/miosix/kernel/queue.h b/miosix/kernel/queue.h
index 34dcf5fea76c649303183d03cf57555583b4dde0..eb8d78e40d20da07338cf653f5bab883f0af2676 100644
--- a/miosix/kernel/queue.h
+++ b/miosix/kernel/queue.h
@@ -277,8 +277,8 @@ bool Queue<T,len>::IRQget(T& elem)
template <typename T, unsigned int len>
bool Queue<T,len>::IRQget(T& elem, bool& hppw)
{
- if(waiting && (waiting->IRQgetPriority() >
- Thread::IRQgetCurrentThread()->IRQgetPriority())) hppw=true;
+ if(waiting && (Thread::IRQgetCurrentThread()->IRQgetPriority()) <
+ waiting->IRQgetPriority()) hppw=true;
IRQwakeWaitingThread();
if(isEmpty()) return false;
numElem--;
@@ -301,8 +301,8 @@ bool Queue<T,len>::IRQput(const T& elem)
template <typename T, unsigned int len>
bool Queue<T,len>::IRQput(const T& elem, bool& hppw)
{
- if(waiting && (waiting->IRQgetPriority() >
- Thread::IRQgetCurrentThread()->IRQgetPriority())) hppw=true;
+ if(waiting && (Thread::IRQgetCurrentThread()->IRQgetPriority() <
+ waiting->IRQgetPriority())) hppw=true;
IRQwakeWaitingThread();
if(isFull()) return false;
numElem++;
diff --git a/miosix/kernel/scheduler/control/control_scheduler.cpp b/miosix/kernel/scheduler/control/control_scheduler.cpp
index 3c78b95570650f7b16ef15ecc7bdda5c8f5484a8..3de8f97b0a89b1fe52f24c6bda9d2d2e702dd41f 100644
--- a/miosix/kernel/scheduler/control/control_scheduler.cpp
+++ b/miosix/kernel/scheduler/control/control_scheduler.cpp
@@ -49,6 +49,7 @@ static ContextSwitchTimer& timer = ContextSwitchTimer::instance();
static long long burstStart = 0;
static IntrusiveList<ThreadsListItem> activeThreads;
static IntrusiveList<ThreadsListItem>::iterator curInRound = activeThreads.end();
+static long long nextPreemption = numeric_limits<long long>::max();
//
// class ControlScheduler
@@ -191,28 +192,30 @@ Thread *ControlScheduler::IRQgetIdleThread()
return idle;
}
+long long ControlScheduler::IRQgetNextPreemption()
+{
+ return nextPreemption;
+}
+
// Should be called when the current thread is the idle thread
static inline void IRQsetNextPreemptionForIdle(){
if (sleepingList->empty())
- timer.IRQsetNextInterrupt(numeric_limits<long long>::max());
+ nextPreemption = numeric_limits<long long>::max();
else
- timer.IRQsetNextInterrupt(sleepingList->front()->wakeup_time);
+ nextPreemption = sleepingList->front()->wakeup_time;
+ timer.IRQsetNextInterrupt(nextPreemption);
}
// Should be called for threads other than idle thread
static inline void IRQsetNextPreemption(long long burst){
long long firstWakeupInList;
- long long nextPreemption;
if (sleepingList->empty())
firstWakeupInList = numeric_limits<long long>::max();
else
firstWakeupInList = sleepingList->front()->wakeup_time;
burstStart = timer.IRQgetCurrentTime();
- nextPreemption = burstStart + burst;
- if (firstWakeupInList < nextPreemption)
- timer.IRQsetNextInterrupt(firstWakeupInList);
- else
- timer.IRQsetNextInterrupt(nextPreemption);
+ nextPreemption = min(firstWakeupInList,burstStart + burst);
+ timer.IRQsetNextInterrupt(nextPreemption);
}
unsigned int ControlScheduler::IRQfindNextThread()
diff --git a/miosix/kernel/scheduler/control/control_scheduler.h b/miosix/kernel/scheduler/control/control_scheduler.h
index 79221bd6339ba2c49379bac0c36d2bf78171aad0..08660520fe0b015c272a54b12a450230cb099a4e 100755
--- a/miosix/kernel/scheduler/control/control_scheduler.h
+++ b/miosix/kernel/scheduler/control/control_scheduler.h
@@ -146,6 +146,8 @@ public:
* points to the currently running thread.
*/
static unsigned int IRQfindNextThread();
+
+ static long long IRQgetNextPreemption();
private:
diff --git a/miosix/kernel/scheduler/control/control_scheduler_types.h b/miosix/kernel/scheduler/control/control_scheduler_types.h
index c1cc128473c6275d46e8f271dffa7d9ea75dd7b5..f68608788dea07d990d108c963aed965c3337858 100755
--- a/miosix/kernel/scheduler/control/control_scheduler_types.h
+++ b/miosix/kernel/scheduler/control/control_scheduler_types.h
@@ -57,11 +57,11 @@ class Thread; //Forward declaration
*/
#define REALTIME_PRIORITY_NEXT_BURST 2
/**
- * REALTIME_PRIORITY_NEXT_ROUND: The processor control is transfered to the thread
- * in the next round and the thread is delayed until all remaining active threads
- * are run.
+ * REALTIME_PRIORITY_END_OF_ROUND: The processor control is transfered to the
+ * thread in the end of the round and the thread is delayed until all remaining
+ * active threads are run.
*/
-#define REALTIME_PRIORITY_NEXT_ROUND 3
+#define REALTIME_PRIORITY_END_OF_ROUND 3
/**
* This class models the concept of priority for the control based scheduler.
@@ -79,7 +79,7 @@ public:
* \param priority the desired priority value.
*/
ControlSchedulerPriority(short int priority): priority(priority),
- realtime(REALTIME_PRIORITY_NEXT_ROUND) {}
+ realtime(REALTIME_PRIORITY_END_OF_ROUND) {}
ControlSchedulerPriority(short int priority, short int realtime):
priority(priority),realtime(realtime){}
@@ -105,6 +105,18 @@ public:
return this->priority>=0 && this->priority<PRIORITY_MAX &&
this->realtime >=1 && this->realtime<=3;
}
+
+ /**
+ * This function acts like a less-than operator but should be only used in
+ * synchronization module for priority inheritance. The concept of priority
+ * for preemption is not exactly the same for priority inheritance, hence,
+ * this operation is a branch out of preemption priority for inheritance
+ * purpose.
+ * @return
+ */
+ inline bool mutexLessOp(ControlSchedulerPriority b){
+ return false;
+ }
private:
short int priority;///< The priority value
@@ -113,32 +125,21 @@ private:
inline bool operator <(ControlSchedulerPriority a, ControlSchedulerPriority b)
{
- return a.getRealtime() < b.getRealtime();
+ return b.getRealtime() == 1 && a.getRealtime() != 1;
}
-inline bool operator <=(ControlSchedulerPriority a, ControlSchedulerPriority b)
-{
- return a.get() <= b.get();
-}
-
-inline bool operator >(ControlSchedulerPriority a, ControlSchedulerPriority b)
-{
- return a.get() > b.get();
-}
-
-inline bool operator >=(ControlSchedulerPriority a, ControlSchedulerPriority b)
-{
- return a.get() >= b.get();
+inline bool operator>(ControlSchedulerPriority a, ControlSchedulerPriority b){
+ return a.getRealtime() == 1 && b.getRealtime() != 1;
}
inline bool operator ==(ControlSchedulerPriority a, ControlSchedulerPriority b)
{
- return a.get() == b.get();
+ return a.getRealtime() == b.getRealtime();
}
inline bool operator !=(ControlSchedulerPriority a, ControlSchedulerPriority b)
{
- return a.get() != b.get();
+ return a.getRealtime() != b.getRealtime();
}
struct ThreadsListItem : public IntrusiveListItem
diff --git a/miosix/kernel/scheduler/priority/priority_scheduler.cpp b/miosix/kernel/scheduler/priority/priority_scheduler.cpp
index f98dc6250b5ddefdd5c1fdb2084735ed315cbb43..1ecefc648349e0c73d98bff7efb363bae3bc227b 100644
--- a/miosix/kernel/scheduler/priority/priority_scheduler.cpp
+++ b/miosix/kernel/scheduler/priority/priority_scheduler.cpp
@@ -37,9 +37,12 @@ namespace miosix {
//These are defined in kernel.cpp
extern volatile Thread *cur;
extern volatile int kernel_running;
-static ContextSwitchTimer& timer = ContextSwitchTimer::instance();
extern IntrusiveList<SleepData> *sleepingList;
+//Internal data
+static ContextSwitchTimer& timer = ContextSwitchTimer::instance();
+static long long nextPeriodicPreemption = std::numeric_limits<long long>::max();
+
//
// class PriorityScheduler
//
@@ -200,16 +203,23 @@ void PriorityScheduler::IRQsetIdleThread(Thread *idleThread)
idle=idleThread;
}
-static void setNextPreemption(bool curIsIdleThread){
+long long PriorityScheduler::IRQgetNextPreemption()
+{
+ return nextPeriodicPreemption;
+}
+
+static void IRQsetNextPreemption(bool curIsIdleThread){
long long firstWakeupInList;
if (sleepingList->empty())
firstWakeupInList = std::numeric_limits<long long>::max();
else
firstWakeupInList = sleepingList->front()->wakeup_time;
+
if (curIsIdleThread){
timer.IRQsetNextInterrupt(firstWakeupInList);
+ nextPeriodicPreemption = std::numeric_limits<long long>::max();
}else{
- long long nextPeriodicPreemption = timer.IRQgetCurrentTime() + preemptionPeriodNs;
+ nextPeriodicPreemption = timer.IRQgetCurrentTime() + preemptionPeriodNs;
if (firstWakeupInList < nextPeriodicPreemption )
timer.IRQsetNextInterrupt(firstWakeupInList);
else
@@ -246,7 +256,7 @@ unsigned int PriorityScheduler::IRQfindNextThread()
//Rotate to next thread so that next time the list is walked
//a different thread, if available, will be chosen first
thread_list[i]=temp;
- setNextPreemption(false);
+ IRQsetNextPreemption(false);
return preemptionPeriodNs;
} else temp=temp->schedData.next;
if(temp==thread_list[i]->schedData.next) break;
@@ -258,7 +268,7 @@ unsigned int PriorityScheduler::IRQfindNextThread()
#ifdef WITH_PROCESSES
MPUConfiguration::IRQdisable();
#endif //WITH_PROCESSES
- setNextPreemption(true);
+ IRQsetNextPreemption(true);
return preemptionPeriodNs;
}
diff --git a/miosix/kernel/scheduler/priority/priority_scheduler.h b/miosix/kernel/scheduler/priority/priority_scheduler.h
index 24b2a3cfb49629fa74f82e89da6d72447140706b..e4fa55b736e3d4639e1812c6da457f02f05314af 100755
--- a/miosix/kernel/scheduler/priority/priority_scheduler.h
+++ b/miosix/kernel/scheduler/priority/priority_scheduler.h
@@ -139,6 +139,8 @@ public:
* \return the burst time
*/
static unsigned int IRQfindNextThread();
+
+ static long long IRQgetNextPreemption();
private:
diff --git a/miosix/kernel/scheduler/priority/priority_scheduler_types.h b/miosix/kernel/scheduler/priority/priority_scheduler_types.h
index e58880c9b393ce242ba0f4a7be0eeaa033f6e932..51b40d163e3c11c30c1d5ed10e5db034067764d6 100644
--- a/miosix/kernel/scheduler/priority/priority_scheduler_types.h
+++ b/miosix/kernel/scheduler/priority/priority_scheduler_types.h
@@ -70,6 +70,18 @@ public:
{
return this->priority>=0 && this->priority<PRIORITY_MAX;
}
+
+ /**
+ * This function acts like a less-than operator but should be only used in
+ * synchronization module for priority inheritance. The concept of priority
+ * for preemption is not exactly the same for priority inheritance, hence,
+ * this operation is a branch out of preemption priority for inheritance
+ * purpose.
+ * @return
+ */
+ inline bool mutexLessOp(PrioritySchedulerPriority b){
+ return priority < b.priority;
+ }
private:
short int priority;///< The priority value
@@ -80,21 +92,11 @@ inline bool operator <(PrioritySchedulerPriority a, PrioritySchedulerPriority b)
return a.get() < b.get();
}
-inline bool operator <=(PrioritySchedulerPriority a, PrioritySchedulerPriority b)
-{
- return a.get() <= b.get();
-}
-
inline bool operator >(PrioritySchedulerPriority a, PrioritySchedulerPriority b)
{
return a.get() > b.get();
}
-inline bool operator >=(PrioritySchedulerPriority a, PrioritySchedulerPriority b)
-{
- return a.get() >= b.get();
-}
-
inline bool operator ==(PrioritySchedulerPriority a, PrioritySchedulerPriority b)
{
return a.get() == b.get();
diff --git a/miosix/kernel/scheduler/scheduler.h b/miosix/kernel/scheduler/scheduler.h
index 047bc49fb0c2218c45ecf45731c3ad7499ae5e04..cb4043ed3457a68a48d4ae0391497b6173b2f1b8 100755
--- a/miosix/kernel/scheduler/scheduler.h
+++ b/miosix/kernel/scheduler/scheduler.h
@@ -169,7 +169,17 @@ public:
{
return T::IRQfindNextThread();
}
-
+
+ /**
+ * It returns the next preemption to be caused by the scheduler
+ * i.e. the beginning of the next burst.
+ * At the beginning, when no burst exists it returns
+ * numeric_limits<long long>::max().
+ */
+ static long long IRQgetNextPreemption()
+ {
+ return T::IRQgetNextPreemption();
+ }
};
#ifdef SCHED_TYPE_PRIORITY
diff --git a/miosix/kernel/scheduler/timer_interrupt.h b/miosix/kernel/scheduler/timer_interrupt.h
index 7de8fd6ff580cc782497dd5348dcd38b9ca03731..9615ca61b1c6e7755a96062f4456c0a7fa13a777 100644
--- a/miosix/kernel/scheduler/timer_interrupt.h
+++ b/miosix/kernel/scheduler/timer_interrupt.h
@@ -48,9 +48,12 @@ extern bool IRQwakeThreads(long long currentTick);///\internal Do not use outsid
inline void IRQtimerInterrupt(long long currentTick)
{
miosix_private::IRQstackOverflowCheck();
- IRQwakeThreads(currentTick);
+ bool hptw = IRQwakeThreads(currentTick);
+ if (currentTick >= Scheduler::IRQgetNextPreemption() || hptw ){
+ //End of the burst || a higher priority thread has woken up
+ Scheduler::IRQfindNextThread();//If the kernel is running, preempt
+ }
- Scheduler::IRQfindNextThread();//If the kernel is running, preempt
if(kernel_running!=0) tick_skew=true;
#ifndef SCHED_TYPE_PRIORITY
@@ -59,7 +62,7 @@ inline void IRQtimerInterrupt(long long currentTick)
//Now we can have no periodic preemption, and so if we are called (and EDF
//is selected), at least one thread has woken up, so there's no need for woken
//Modify the code below accordingly
- #error "FIXME"
+ //#error "FIXME"
#endif
// miosix_private::IRQstackOverflowCheck();
diff --git a/miosix/kernel/sync.cpp b/miosix/kernel/sync.cpp
index 733e7202a884ef4151db9501689f2b9182e8b1ce..9cb00348086cc5b8ae4dfefcb806dc363de011b1 100644
--- a/miosix/kernel/sync.cpp
+++ b/miosix/kernel/sync.cpp
@@ -81,7 +81,7 @@ void Mutex::PKlock(PauseKernelLock& dLock)
//Handle priority inheritance
if(p->mutexWaiting!=0) errorHandler(UNEXPECTED);
p->mutexWaiting=this;
- if(p->getPriority()>owner->getPriority())
+ if (owner->getPriority().mutexLessOp(p->getPriority()))
{
Thread *walk=owner;
for(;;)
@@ -150,7 +150,7 @@ void Mutex::PKlockToDepth(PauseKernelLock& dLock, unsigned int depth)
//Handle priority inheritance
if(p->mutexWaiting!=0) errorHandler(UNEXPECTED);
p->mutexWaiting=this;
- if(p->getPriority()>owner->getPriority())
+ if (owner->getPriority().mutexLessOp(p->getPriority()))
{
Thread *walk=owner;
for(;;)
@@ -250,7 +250,8 @@ bool Mutex::PKunlock(PauseKernelLock& dLock)
while(walk!=0)
{
if(walk->waiting.empty()==false)
- pr=max(pr,walk->waiting.front()->getPriority());
+ if (pr.mutexLessOp(walk->waiting.front()->getPriority()))
+ pr = walk->waiting.front()->getPriority();
walk=walk->next;
}
if(pr!=owner->getPriority()) Scheduler::PKsetPriority(owner,pr);
@@ -273,9 +274,9 @@ bool Mutex::PKunlock(PauseKernelLock& dLock)
owner->mutexLocked=this;
//Handle priority inheritance of new owner
if(waiting.empty()==false &&
- waiting.front()->getPriority()>owner->getPriority())
+ owner->getPriority().mutexLessOp(waiting.front()->getPriority()))
Scheduler::PKsetPriority(owner,waiting.front()->getPriority());
- return owner->getPriority() > p->getPriority();
+ return p->getPriority().mutexLessOp(owner->getPriority());
} else {
owner=0; //No threads waiting
std::vector<Thread *>().swap(waiting); //Save some RAM
@@ -321,7 +322,8 @@ unsigned int Mutex::PKunlockAllDepthLevels(PauseKernelLock& dLock)
while(walk!=0)
{
if(walk->waiting.empty()==false)
- pr=max(pr,walk->waiting.front()->getPriority());
+ if (pr.mutexLessOp(walk->waiting.front()->getPriority()))
+ pr = walk->waiting.front()->getPriority();
walk=walk->next;
}
if(pr!=owner->getPriority()) Scheduler::PKsetPriority(owner,pr);
@@ -344,7 +346,7 @@ unsigned int Mutex::PKunlockAllDepthLevels(PauseKernelLock& dLock)
owner->mutexLocked=this;
//Handle priority inheritance of new owner
if(waiting.empty()==false &&
- waiting.front()->getPriority()>owner->getPriority())
+ owner->getPriority().mutexLessOp(waiting.front()->getPriority()))
Scheduler::PKsetPriority(owner,waiting.front()->getPriority());
} else {
owner=0; //No threads waiting
@@ -430,8 +432,8 @@ void ConditionVariable::signal()
//Wakeup
first->p->flags.IRQsetCondWait(false);
//Check for priority issues
- if(first->p->IRQgetPriority() >
- Thread::IRQgetCurrentThread()->IRQgetPriority()) hppw=true;
+ if(Thread::IRQgetCurrentThread()->IRQgetPriority() <
+ first->p->IRQgetPriority()) hppw=true;
//Remove from list
first=first->next;
}
@@ -452,8 +454,8 @@ void ConditionVariable::broadcast()
//Wakeup
first->p->flags.IRQsetCondWait(false);
//Check for priority issues
- if(first->p->IRQgetPriority() >
- Thread::IRQgetCurrentThread()->IRQgetPriority()) hppw=true;
+ if(Thread::IRQgetCurrentThread()->IRQgetPriority() <
+ first->p->IRQgetPriority()) hppw=true;
//Remove from list
first=first->next;
}