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00025 #ifndef _ASM_ARM_RTAI_SCHED_H_
00026 #define _ASM_ARM_RTAI_SCHED_H_
00027
00028 #define rt_switch_to(new_task) up_task_sw(&rt_current, (new_task), &rt_linux_task);
00029
00030 #define rt_exchange_tasks(old_task, new_task) up_task_sw(&(old_task), (new_task), &rt_linux_task);
00031
00032 static inline unsigned long current_domain_access_control(void)
00033 {
00034 unsigned long domain_access_control;
00035 asm volatile ("mrc p15, 0, %0, c3, c0" : "=r" (domain_access_control));
00036 return domain_access_control;
00037 }
00038
00039 #define init_arch_stack() \
00040 do { \
00041 unsigned long init_arch_flags; \
00042 unsigned long init_domain_access_control; \
00043 \
00044 hard_save_flags(init_arch_flags); \
00045 init_domain_access_control = current_domain_access_control(); \
00046 \
00047 task->stack -= +15; \
00048 \
00049 *(task->stack +14) = (int) rt_startup; \
00050 *(task->stack +03) = (int) data; \
00051 *(task->stack +02) = (int) rt_thread; \
00052 *(task->stack +01) = (int) init_arch_flags; \
00053 *(task->stack +00) = (int) init_domain_access_control; \
00054 } while (0)
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00073 #define DEFINE_LINUX_CR0
00074
00075 #define DEFINE_LINUX_SMP_CR0
00076
00077 #ifdef CONFIG_RTAI_FP_SUPPORT
00078 #define init_fp_env() \
00079 do { \
00080 memset(&task->fpu_reg, 0, sizeof(task->fpu_reg)); \
00081 }while(0)
00082 #else
00083 #define init_fp_env()
00084 #endif
00085
00086 static inline void *get_stack_pointer(void)
00087 {
00088 void *sp;
00089 asm volatile ("mov %0, sp" : "=r" (sp));
00090 return sp;
00091 }
00092
00093 #define RT_SET_RTAI_TRAP_HANDLER(x)
00094
00095
00096 #define DO_TIMER_PROPER_OP() \
00097 if ( timer_irq_ack() < 0 ) \
00098 return
00099
00100 #endif
00101
00102