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00020
00021 #ifndef RTAI_SCHED_H
00022 #define RTAI_SCHED_H
00023
00024 extern void up_task_sw(void *, void *);
00025
00026 #ifdef CONFIG_RTAI_ADEOS
00027 #define rt_switch_to(new_task) \
00028 do { \
00029 unsigned long flags; \
00030 rtai_hw_lock(flags); \
00031 up_task_sw(&rt_current, (new_task)); \
00032 rtai_hw_unlock(flags); \
00033 } while(0)
00034 #define RTAI_MSR_FLAGS (MSR_KERNEL | MSR_FP | MSR_EE)
00035 #else
00036 #define rt_switch_to(new_task) up_task_sw(&rt_current, (new_task))
00037 #define RTAI_MSR_FLAGS (MSR_KERNEL | MSR_FP)
00038 #endif
00039
00040 #define rt_exchange_tasks(oldtask, newtask) up_task_sw(&(oldtask), (new_task))
00041
00042 #define init_arch_stack() \
00043 do { \
00044 *(task->stack - 28) = data; \
00045 *(task->stack - 29) = (int)rt_thread; \
00046 *(task->stack - 35) = (int)rt_startup; \
00047 *(task->stack - 36) = RTAI_MSR_FLAGS; \
00048 } while(0)
00049
00050 #define DEFINE_LINUX_CR0
00051
00052 #define DEFINE_LINUX_SMP_CR0
00053
00054 #ifdef CONFIG_RTAI_FPU_SUPPORT
00055 #define init_fp_env() \
00056 do { \
00057 memset(&task->fpu_reg, 0, sizeof(task->fpu_reg)); \
00058 }while(0)
00059 #else
00060 #define init_fp_env() do { } while(0)
00061 #endif
00062
00063 static inline void *get_stack_pointer(void)
00064 {
00065 void *sp;
00066 asm volatile ("mr 1, %0" : "=r" (sp));
00067 return sp;
00068 }
00069
00070 #define RT_SET_RTAI_TRAP_HANDLER(x)
00071
00072 #define DO_TIMER_PROPER_OP()
00073
00074 #endif