Add support for priority inheritance

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@1581 7fd9a85b-ad96-42d3-883c-3090e2eb8679

1 files changed, 20 insertions, 4 deletions

diff --git a/nuttx/arch/sh/src/common/up_reprioritizertr.c b/nuttx/arch/sh/src/common/up_reprioritizertr.c
index dccc6ad4a6..58ba7a0d69 100644
--- a/nuttx/arch/sh/src/common/up_reprioritizertr.c
+++ b/nuttx/arch/sh/src/common/up_reprioritizertr.c
@@ -1,7 +1,7 @@
 /****************************************************************************
  *  arch/sh/src/common/up_reprioritizertr.c
  *
- *   Copyright (C) 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2008-2009 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -85,14 +85,27 @@ void up_reprioritize_rtr(_TCB *tcb, ubyte priority)
 {
   /* Verify that the caller is sane */
 
-  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
-      tcb->task_state > LAST_READY_TO_RUN_STATE ||
-      priority < SCHED_PRIORITY_MIN || 
+#if CONFIG_DEBUG /* We only check parameters when debug is enabled */
+  if (priority < SCHED_PRIORITY_MIN || 
       priority > SCHED_PRIORITY_MAX)
     {
        PANIC(OSERR_BADREPRIORITIZESTATE);
     }
   else
+#endif
+  if (tcb->task_state < FIRST_READY_TO_RUN_STATE ||
+           tcb->task_state > LAST_READY_TO_RUN_STATE)
+    {
+      /* This is a hack and needs to be fixed.. here some taks is reprioritizing
+       * another task that is not running.  Here we just set the priority of
+       * the task -- BUT some of the other states are also prioritized and the
+       * waiting task should also be re-ordered in the prioritized wiating list.
+       * As a consequence, the other task is still waiting at the lower priority.
+       */
+
+       tcb->sched_priority = priority;
+    }
+  else
     {
       _TCB *rtcb = (_TCB*)g_readytorun.head;
       boolean switch_needed;
@@ -109,6 +122,9 @@ void up_reprioritize_rtr(_TCB *tcb, ubyte priority)
       /* Setup up the new task priority */
 
       tcb->sched_priority = (ubyte)priority;
+#ifdef CONFIG_PRIORITY_INHERITANCE
+      tcb->base_priority = (ubyte)priority;
+#endif
 
       /* Return the task to the specified blocked task list.
        * sched_addreadytorun will return TRUE if the task was