Disabled multiburst by default and fixed priority comparison, testsuite now...

Disabled multiburst by default and fixed priority comparison, testsuite now passes with control scheduler as long as multiburst is disabled. Still need to look into multiburst code.

miosix/kernel/scheduler/control/control_scheduler_types.h

@@ -136,6 +136,7 @@ private:
 
 inline bool operator<(ControlSchedulerPriority a, ControlSchedulerPriority b)
 {
+    #ifdef SCHED_CONTROL_MULTIBURST
     //rule 1) Idle thread should be always preempted by any thread!
     //rule 2) Only REALTIME_PRIORITY_IMMEDIATE threads can preempt other threads
     //right away, for other real-time priorities, the scheduler does not
@@ -143,23 +144,38 @@ inline bool operator<(ControlSchedulerPriority a, ControlSchedulerPriority b)
     return a.get()==-1 ||
         (a.getRealtime()!=ControlRealtimePriority::REALTIME_PRIORITY_IMMEDIATE &&
          b.getRealtime()==ControlRealtimePriority::REALTIME_PRIORITY_IMMEDIATE);
+    #else
+    return a.get()<b.get();
+    #endif
 }
 
 inline bool operator>(ControlSchedulerPriority a, ControlSchedulerPriority b)
 {
+    #ifdef SCHED_CONTROL_MULTIBURST
     return b.get()==-1 ||
         (a.getRealtime()==ControlRealtimePriority::REALTIME_PRIORITY_IMMEDIATE &&
          b.getRealtime()!=ControlRealtimePriority::REALTIME_PRIORITY_IMMEDIATE);
+    #else
+    return a.get()>b.get();
+    #endif
 }
 
 inline bool operator==(ControlSchedulerPriority a, ControlSchedulerPriority b)
 {
+    #ifdef SCHED_CONTROL_MULTIBURST
     return (a.getRealtime()==b.getRealtime()) && (a.get()==b.get());
+    #else
+    return a.get()==b.get();
+    #endif
 }
 
 inline bool operator!=(ControlSchedulerPriority a, ControlSchedulerPriority b)
 {
+    #ifdef SCHED_CONTROL_MULTIBURST
     return (a.getRealtime()!=b.getRealtime()) || (a.get()!=b.get());
+    #else
+    return a.get()!=b.get();
+    #endif
 }
 
 struct ThreadsListItem : public IntrusiveListItem

miosix/kernel/scheduler/control/parameters.h

@@ -47,7 +47,7 @@ namespace miosix {
 
 ///Enables support for Real-time priorities in the control scheduler, that
 ///are otherwise ignored.
-#define SCHED_CONTROL_MULTIBURST
+//#define SCHED_CONTROL_MULTIBURST
 
 ///Run the scheduler using fixed point math only. Faster but less precise.
 ///Note that the inner integral regulators are always fixed point, this affects