diff options
Diffstat (limited to 'os')
| -rw-r--r-- | os/kernel/include/scheduler.h | 2 | ||||
| -rw-r--r-- | os/kernel/src/chschd.c | 3 | ||||
| -rw-r--r-- | os/ports/GCC/ARMCM3/chcore.c | 6 | ||||
| -rw-r--r-- | os/ports/GCC/ARMCM3/chcore.h | 7 |
4 files changed, 7 insertions, 11 deletions
diff --git a/os/kernel/include/scheduler.h b/os/kernel/include/scheduler.h index 8aa692e58..f3216bb7a 100644 --- a/os/kernel/include/scheduler.h +++ b/os/kernel/include/scheduler.h @@ -117,7 +117,7 @@ extern "C" { * @details This function returns @p TRUE if there is a ready thread with * higher priority. */ -#define chSchMustRescheduleS() (firstprio(&rlist.r_queue) >= currp->p_prio) +#define chSchMustRescheduleS() (firstprio(&rlist.r_queue) > currp->p_prio) #endif /* _SCHEDULER_H_ */ diff --git a/os/kernel/src/chschd.c b/os/kernel/src/chschd.c index 1f7e27c93..08ecf46a0 100644 --- a/os/kernel/src/chschd.c +++ b/os/kernel/src/chschd.c @@ -210,8 +210,7 @@ void chSchDoRescheduleI(void) { * the ready list then make the higher priority thread running. */ void chSchRescheduleS(void) { - /* First thread in the runnable queue has higher priority than the running - * thread?.*/ + if (chSchMustRescheduleS()) chSchDoRescheduleI(); } diff --git a/os/ports/GCC/ARMCM3/chcore.c b/os/ports/GCC/ARMCM3/chcore.c index ce76ffa4c..4e9874f82 100644 --- a/os/ports/GCC/ARMCM3/chcore.c +++ b/os/ports/GCC/ARMCM3/chcore.c @@ -151,13 +151,7 @@ void PendSVVector(void) { Thread *otp;
register struct intctx *sp_thd asm("r12");
- asm volatile ("push {lr}");
chSysLockFromIsr();
- if (!chSchRescRequiredI()) {
- chSysUnlockFromIsr();
- asm volatile ("pop {pc}");
- }
- asm volatile ("pop {lr}");
PUSH_CONTEXT(sp_thd);
diff --git a/os/ports/GCC/ARMCM3/chcore.h b/os/ports/GCC/ARMCM3/chcore.h index 4a6ee2695..daff52090 100644 --- a/os/ports/GCC/ARMCM3/chcore.h +++ b/os/ports/GCC/ARMCM3/chcore.h @@ -209,8 +209,11 @@ struct context { * IRQ epilogue code, inserted at the end of all IRQ handlers enabled to
* invoke system APIs.
*/
-#define PORT_IRQ_EPILOGUE() { \
- SCB_ICSR = ICSR_PENDSVSET; \
+#define PORT_IRQ_EPILOGUE() { \
+ chSysLockFromIsr(); \
+ if (chSchRescRequiredI()) \
+ SCB_ICSR = ICSR_PENDSVSET; \
+ chSysUnlockFromIsr(); \
}
/**
|