rtai_sched.h

rtai-3.1-test3的源代码(Real-Time Application Interface )

/*
COPYRIGHT (C) 2000  Paolo Mantegazza ([e-mail])
                    Stuart Hughes    ([e-mail])

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.
*/


#ifndef RTAI_SCHED_H
#define RTAI_SCHED_H

extern void up_task_sw(void *, void *);

#define  rt_switch_to(new_task) up_task_sw(&rt_current, (new_task))

#define rt_exchange_tasks(oldtask, newtask) up_task_sw(&(oldtask), (new_task))

#define init_arch_stack() \
do { \
	*(task->stack - 28) = data;			\
	*(task->stack - 29) = (int)rt_thread;		\
	*(task->stack - 35) = (int)rt_startup;		\
	*(task->stack - 36) = MSR_KERNEL | MSR_FP;	\
} while(0) 

#define DEFINE_LINUX_CR0

#define DEFINE_LINUX_SMP_CR0

#ifdef CONFIG_RTAI_FPU_SUPPORT
#define init_fp_env() \
do { \
	memset(&task->fpu_reg, 0, sizeof(task->fpu_reg)); \
}while(0)
#else
#define init_fp_env() do { } while(0)
#endif

static inline void *get_stack_pointer(void)
{
	void *sp;
	asm volatile ("mr 1, %0" : "=r" (sp));
	return sp;
}

#define RT_SET_RTAI_TRAP_HANDLER(x)

#define DO_TIMER_PROPER_OP()

#endif