1 | /** |
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2 | * @file |
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3 | * |
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4 | * @ingroup RTEMSScoreMRSP |
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5 | * |
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6 | * @brief Definitions for Multiprocessor Resource Sharing Protocol (MrsP) Implementation. |
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7 | */ |
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8 | |
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9 | /* |
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10 | * Copyright (c) 2014, 2016 embedded brains GmbH. All rights reserved. |
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11 | * |
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12 | * embedded brains GmbH |
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13 | * Dornierstr. 4 |
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14 | * 82178 Puchheim |
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15 | * Germany |
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16 | * <rtems@embedded-brains.de> |
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17 | * |
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18 | * The license and distribution terms for this file may be |
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19 | * found in the file LICENSE in this distribution or at |
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20 | * http://www.rtems.org/license/LICENSE. |
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21 | */ |
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22 | |
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23 | #ifndef _RTEMS_SCORE_MRSPIMPL_H |
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24 | #define _RTEMS_SCORE_MRSPIMPL_H |
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25 | |
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26 | #include <rtems/score/mrsp.h> |
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27 | |
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28 | #if defined(RTEMS_SMP) |
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29 | |
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30 | #include <rtems/score/assert.h> |
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31 | #include <rtems/score/status.h> |
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32 | #include <rtems/score/threadqimpl.h> |
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33 | #include <rtems/score/watchdogimpl.h> |
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34 | #include <rtems/score/wkspace.h> |
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35 | |
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36 | #ifdef __cplusplus |
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37 | extern "C" { |
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38 | #endif /* __cplusplus */ |
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39 | |
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40 | /** |
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41 | * @addtogroup RTEMSScoreMRSP |
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42 | * |
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43 | * @{ |
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44 | */ |
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45 | |
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46 | #define MRSP_TQ_OPERATIONS &_Thread_queue_Operations_priority_inherit |
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47 | |
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48 | /** |
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49 | * @brief Acquires critical accordingt to MrsP. |
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50 | * |
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51 | * @param mrsp The MrsP control for the operation. |
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52 | * @param queue_context The thread queue context. |
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53 | */ |
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54 | RTEMS_INLINE_ROUTINE void _MRSP_Acquire_critical( |
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55 | MRSP_Control *mrsp, |
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56 | Thread_queue_Context *queue_context |
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57 | ) |
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58 | { |
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59 | _Thread_queue_Acquire_critical( &mrsp->Wait_queue, queue_context ); |
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60 | } |
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61 | |
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62 | /** |
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63 | * @brief Releases according to MrsP. |
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64 | * |
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65 | * @param mrsp The MrsP control for the operation. |
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66 | * @param queue_context The thread queue context. |
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67 | */ |
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68 | RTEMS_INLINE_ROUTINE void _MRSP_Release( |
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69 | MRSP_Control *mrsp, |
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70 | Thread_queue_Context *queue_context |
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71 | ) |
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72 | { |
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73 | _Thread_queue_Release( &mrsp->Wait_queue, queue_context ); |
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74 | } |
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75 | |
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76 | /** |
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77 | * @brief Gets owner of the MrsP control. |
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78 | * |
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79 | * @param mrsp The MrsP control to get the owner from. |
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80 | * |
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81 | * @return The owner of the Mrsp control. |
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82 | */ |
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83 | RTEMS_INLINE_ROUTINE Thread_Control *_MRSP_Get_owner( |
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84 | const MRSP_Control *mrsp |
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85 | ) |
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86 | { |
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87 | return mrsp->Wait_queue.Queue.owner; |
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88 | } |
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89 | |
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90 | /** |
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91 | * @brief Sets owner of the MrsP control. |
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92 | * |
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93 | * @param[out] mrsp The MrsP control to set the owner of. |
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94 | * @param owner The desired new owner for @a mrsp. |
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95 | */ |
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96 | RTEMS_INLINE_ROUTINE void _MRSP_Set_owner( |
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97 | MRSP_Control *mrsp, |
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98 | Thread_Control *owner |
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99 | ) |
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100 | { |
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101 | mrsp->Wait_queue.Queue.owner = owner; |
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102 | } |
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103 | |
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104 | /** |
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105 | * @brief Gets priority of the MrsP control. |
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106 | * |
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107 | * @param mrsp The mrsp to get the priority from. |
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108 | * @param scheduler The corresponding scheduler. |
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109 | * |
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110 | * @return The priority of the MrsP control. |
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111 | */ |
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112 | RTEMS_INLINE_ROUTINE Priority_Control _MRSP_Get_priority( |
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113 | const MRSP_Control *mrsp, |
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114 | const Scheduler_Control *scheduler |
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115 | ) |
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116 | { |
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117 | uint32_t scheduler_index; |
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118 | |
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119 | scheduler_index = _Scheduler_Get_index( scheduler ); |
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120 | return mrsp->ceiling_priorities[ scheduler_index ]; |
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121 | } |
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122 | |
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123 | /** |
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124 | * @brief Sets priority of the MrsP control |
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125 | * |
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126 | * @param[out] mrsp The MrsP control to set the priority of. |
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127 | * @param schedulger The corresponding scheduler. |
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128 | * @param new_priority The new priority for the MrsP control |
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129 | */ |
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130 | RTEMS_INLINE_ROUTINE void _MRSP_Set_priority( |
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131 | MRSP_Control *mrsp, |
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132 | const Scheduler_Control *scheduler, |
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133 | Priority_Control new_priority |
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134 | ) |
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135 | { |
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136 | uint32_t scheduler_index; |
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137 | |
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138 | scheduler_index = _Scheduler_Get_index( scheduler ); |
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139 | mrsp->ceiling_priorities[ scheduler_index ] = new_priority; |
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140 | } |
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141 | |
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142 | /** |
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143 | * @brief Adds the priority to the given thread. |
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144 | * |
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145 | * @param mrsp The MrsP control for the operation. |
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146 | * @param[in, out] thread The thread to add the priority node to. |
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147 | * @param[out] priority_node The priority node to initialize and add to |
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148 | * the thread. |
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149 | * @param queue_context The thread queue context. |
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150 | * |
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151 | * @retval STATUS_SUCCESSFUL The operation succeeded. |
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152 | * @retval STATUS_MUTEX_CEILING_VIOLATED The wait priority of the thread |
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153 | * exceeds the ceiling priority. |
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154 | */ |
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155 | RTEMS_INLINE_ROUTINE Status_Control _MRSP_Raise_priority( |
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156 | MRSP_Control *mrsp, |
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157 | Thread_Control *thread, |
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158 | Priority_Node *priority_node, |
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159 | Thread_queue_Context *queue_context |
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160 | ) |
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161 | { |
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162 | Status_Control status; |
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163 | ISR_lock_Context lock_context; |
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164 | const Scheduler_Control *scheduler; |
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165 | Priority_Control ceiling_priority; |
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166 | Scheduler_Node *scheduler_node; |
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167 | |
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168 | _Thread_queue_Context_clear_priority_updates( queue_context ); |
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169 | _Thread_Wait_acquire_default_critical( thread, &lock_context ); |
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170 | |
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171 | scheduler = _Thread_Scheduler_get_home( thread ); |
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172 | scheduler_node = _Thread_Scheduler_get_home_node( thread ); |
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173 | ceiling_priority = _MRSP_Get_priority( mrsp, scheduler ); |
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174 | |
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175 | if ( |
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176 | ceiling_priority |
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177 | <= _Priority_Get_priority( &scheduler_node->Wait.Priority ) |
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178 | ) { |
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179 | _Priority_Node_initialize( priority_node, ceiling_priority ); |
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180 | _Thread_Priority_add( thread, priority_node, queue_context ); |
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181 | status = STATUS_SUCCESSFUL; |
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182 | } else { |
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183 | status = STATUS_MUTEX_CEILING_VIOLATED; |
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184 | } |
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185 | |
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186 | _Thread_Wait_release_default_critical( thread, &lock_context ); |
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187 | return status; |
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188 | } |
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189 | |
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190 | /** |
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191 | * @brief Removes the priority from the given thread. |
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192 | * |
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193 | * @param[in, out] The thread to remove the priority from. |
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194 | * @param priority_node The priority node to remove from the thread |
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195 | * @param queue_context The thread queue context. |
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196 | */ |
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197 | RTEMS_INLINE_ROUTINE void _MRSP_Remove_priority( |
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198 | Thread_Control *thread, |
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199 | Priority_Node *priority_node, |
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200 | Thread_queue_Context *queue_context |
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201 | ) |
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202 | { |
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203 | ISR_lock_Context lock_context; |
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204 | |
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205 | _Thread_queue_Context_clear_priority_updates( queue_context ); |
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206 | _Thread_Wait_acquire_default_critical( thread, &lock_context ); |
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207 | _Thread_Priority_remove( thread, priority_node, queue_context ); |
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208 | _Thread_Wait_release_default_critical( thread, &lock_context ); |
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209 | } |
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210 | |
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211 | /** |
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212 | * @brief Replaces the given priority node with the ceiling priority of |
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213 | * the MrsP control. |
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214 | * |
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215 | * @param mrsp The mrsp control for the operation. |
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216 | * @param[out] thread The thread to replace the priorities. |
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217 | * @param ceiling_priority The node to be replaced. |
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218 | */ |
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219 | RTEMS_INLINE_ROUTINE void _MRSP_Replace_priority( |
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220 | MRSP_Control *mrsp, |
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221 | Thread_Control *thread, |
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222 | Priority_Node *ceiling_priority |
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223 | ) |
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224 | { |
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225 | ISR_lock_Context lock_context; |
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226 | |
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227 | _Thread_Wait_acquire_default( thread, &lock_context ); |
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228 | _Thread_Priority_replace( |
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229 | thread, |
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230 | ceiling_priority, |
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231 | &mrsp->Ceiling_priority |
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232 | ); |
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233 | _Thread_Wait_release_default( thread, &lock_context ); |
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234 | } |
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235 | |
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236 | /** |
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237 | * @brief Claims ownership of the MrsP control. |
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238 | * |
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239 | * @param mrsp The MrsP control to claim the ownership of. |
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240 | * @param[in, out] executing The currently executing thread. |
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241 | * @param queue_context The thread queue context. |
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242 | * |
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243 | * @retval STATUS_SUCCESSFUL The operation succeeded. |
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244 | * @retval STATUS_MUTEX_CEILING_VIOLATED The wait priority of the executing |
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245 | * thread exceeds the ceiling priority. |
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246 | */ |
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247 | RTEMS_INLINE_ROUTINE Status_Control _MRSP_Claim_ownership( |
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248 | MRSP_Control *mrsp, |
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249 | Thread_Control *executing, |
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250 | Thread_queue_Context *queue_context |
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251 | ) |
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252 | { |
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253 | Status_Control status; |
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254 | Per_CPU_Control *cpu_self; |
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255 | |
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256 | status = _MRSP_Raise_priority( |
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257 | mrsp, |
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258 | executing, |
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259 | &mrsp->Ceiling_priority, |
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260 | queue_context |
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261 | ); |
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262 | |
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263 | if ( status != STATUS_SUCCESSFUL ) { |
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264 | _MRSP_Release( mrsp, queue_context ); |
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265 | return status; |
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266 | } |
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267 | |
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268 | _MRSP_Set_owner( mrsp, executing ); |
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269 | cpu_self = _Thread_queue_Dispatch_disable( queue_context ); |
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270 | _MRSP_Release( mrsp, queue_context ); |
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271 | _Thread_Priority_and_sticky_update( executing, 1 ); |
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272 | _Thread_Dispatch_enable( cpu_self ); |
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273 | return STATUS_SUCCESSFUL; |
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274 | } |
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275 | |
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276 | /** |
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277 | * @brief Initializes a MrsP control. |
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278 | * |
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279 | * @param[out] mrsp The MrsP control that is initialized. |
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280 | * @param scheduler The scheduler for the operation. |
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281 | * @param ceiling_priority |
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282 | * @param executing The currently executing thread. Ignored in this method. |
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283 | * @param initially_locked Indicates whether the MrsP control shall be initally |
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284 | * locked. If it is initially locked, this method returns STATUS_INVALID_NUMBER. |
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285 | * |
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286 | * @retval STATUS_SUCCESSFUL The operation succeeded. |
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287 | * @retval STATUS_INVALID_NUMBER The MrsP control is initially locked. |
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288 | * @retval STATUS_NO_MEMORY There is not enough memory to allocate. |
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289 | */ |
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290 | RTEMS_INLINE_ROUTINE Status_Control _MRSP_Initialize( |
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291 | MRSP_Control *mrsp, |
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292 | const Scheduler_Control *scheduler, |
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293 | Priority_Control ceiling_priority, |
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294 | Thread_Control *executing, |
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295 | bool initially_locked |
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296 | ) |
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297 | { |
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298 | uint32_t scheduler_count = _Scheduler_Count; |
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299 | uint32_t i; |
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300 | |
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301 | if ( initially_locked ) { |
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302 | return STATUS_INVALID_NUMBER; |
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303 | } |
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304 | |
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305 | mrsp->ceiling_priorities = _Workspace_Allocate( |
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306 | sizeof( *mrsp->ceiling_priorities ) * scheduler_count |
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307 | ); |
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308 | if ( mrsp->ceiling_priorities == NULL ) { |
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309 | return STATUS_NO_MEMORY; |
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310 | } |
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311 | |
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312 | for ( i = 0 ; i < scheduler_count ; ++i ) { |
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313 | const Scheduler_Control *scheduler_of_index; |
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314 | |
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315 | scheduler_of_index = &_Scheduler_Table[ i ]; |
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316 | |
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317 | if ( scheduler != scheduler_of_index ) { |
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318 | mrsp->ceiling_priorities[ i ] = |
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319 | _Scheduler_Map_priority( scheduler_of_index, 0 ); |
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320 | } else { |
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321 | mrsp->ceiling_priorities[ i ] = ceiling_priority; |
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322 | } |
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323 | } |
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324 | |
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325 | _Thread_queue_Object_initialize( &mrsp->Wait_queue ); |
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326 | return STATUS_SUCCESSFUL; |
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327 | } |
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328 | |
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329 | /** |
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330 | * @brief Waits for the ownership of the MrsP control. |
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331 | * |
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332 | * @param[in, out] mrsp The MrsP control to get the ownership of. |
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333 | * @param[in, out] executing The currently executing thread. |
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334 | * @param queue_context the thread queue context. |
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335 | * |
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336 | * @retval STATUS_SUCCESSFUL The operation succeeded. |
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337 | * @retval STATUS_MUTEX_CEILING_VIOLATED The wait priority of the |
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338 | * currently executing thread exceeds the ceiling priority. |
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339 | * @retval STATUS_DEADLOCK A deadlock occured. |
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340 | * @retval STATUS_TIMEOUT A timeout occured. |
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341 | */ |
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342 | RTEMS_INLINE_ROUTINE Status_Control _MRSP_Wait_for_ownership( |
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343 | MRSP_Control *mrsp, |
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344 | Thread_Control *executing, |
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345 | Thread_queue_Context *queue_context |
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346 | ) |
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347 | { |
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348 | Status_Control status; |
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349 | Priority_Node ceiling_priority; |
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350 | |
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351 | status = _MRSP_Raise_priority( |
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352 | mrsp, |
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353 | executing, |
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354 | &ceiling_priority, |
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355 | queue_context |
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356 | ); |
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357 | |
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358 | if ( status != STATUS_SUCCESSFUL ) { |
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359 | _MRSP_Release( mrsp, queue_context ); |
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360 | return status; |
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361 | } |
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362 | |
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363 | _Thread_queue_Context_set_deadlock_callout( |
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364 | queue_context, |
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365 | _Thread_queue_Deadlock_status |
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366 | ); |
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367 | status = _Thread_queue_Enqueue_sticky( |
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368 | &mrsp->Wait_queue.Queue, |
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369 | MRSP_TQ_OPERATIONS, |
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370 | executing, |
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371 | queue_context |
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372 | ); |
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373 | |
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374 | if ( status == STATUS_SUCCESSFUL ) { |
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375 | _MRSP_Replace_priority( mrsp, executing, &ceiling_priority ); |
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376 | } else { |
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377 | Thread_queue_Context queue_context; |
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378 | Per_CPU_Control *cpu_self; |
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379 | int sticky_level_change; |
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380 | |
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381 | if ( status != STATUS_DEADLOCK ) { |
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382 | sticky_level_change = -1; |
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383 | } else { |
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384 | sticky_level_change = 0; |
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385 | } |
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386 | |
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387 | _ISR_lock_ISR_disable( &queue_context.Lock_context.Lock_context ); |
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388 | _MRSP_Remove_priority( executing, &ceiling_priority, &queue_context ); |
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389 | cpu_self = _Thread_Dispatch_disable_critical( |
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390 | &queue_context.Lock_context.Lock_context |
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391 | ); |
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392 | _ISR_lock_ISR_enable( &queue_context.Lock_context.Lock_context ); |
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393 | _Thread_Priority_and_sticky_update( executing, sticky_level_change ); |
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394 | _Thread_Dispatch_enable( cpu_self ); |
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395 | } |
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396 | |
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397 | return status; |
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398 | } |
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399 | |
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400 | /** |
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401 | * @brief Seizes the MrsP control. |
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402 | * |
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403 | * @param[in, out] mrsp The MrsP control to seize the control of. |
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404 | * @param[in, out] executing The currently executing thread. |
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405 | * @param wait Indicates whether the calling thread is willing to wait. |
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406 | * @param queue_context The thread queue context. |
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407 | * |
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408 | * @retval STATUS_SUCCESSFUL The operation succeeded. |
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409 | * @retval STATUS_MUTEX_CEILING_VIOLATED The wait priority of the executing |
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410 | * thread exceeds the ceiling priority. |
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411 | * @retval STATUS_UNAVAILABLE The executing thread is already the owner of |
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412 | * the MrsP control. Seizing it is not possible. |
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413 | */ |
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414 | RTEMS_INLINE_ROUTINE Status_Control _MRSP_Seize( |
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415 | MRSP_Control *mrsp, |
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416 | Thread_Control *executing, |
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417 | bool wait, |
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418 | Thread_queue_Context *queue_context |
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419 | ) |
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420 | { |
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421 | Status_Control status; |
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422 | Thread_Control *owner; |
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423 | |
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424 | _MRSP_Acquire_critical( mrsp, queue_context ); |
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425 | |
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426 | owner = _MRSP_Get_owner( mrsp ); |
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427 | |
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428 | if ( owner == NULL ) { |
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429 | status = _MRSP_Claim_ownership( mrsp, executing, queue_context ); |
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430 | } else if ( owner == executing ) { |
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431 | _MRSP_Release( mrsp, queue_context ); |
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432 | status = STATUS_UNAVAILABLE; |
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433 | } else if ( wait ) { |
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434 | status = _MRSP_Wait_for_ownership( mrsp, executing, queue_context ); |
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435 | } else { |
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436 | _MRSP_Release( mrsp, queue_context ); |
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437 | status = STATUS_UNAVAILABLE; |
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438 | } |
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439 | |
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440 | return status; |
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441 | } |
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442 | |
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443 | /** |
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444 | * @brief Surrenders the MrsP control. |
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445 | * |
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446 | * @param[in, out] mrsp The MrsP control to surrender the control of. |
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447 | * @param[in, out] executing The currently executing thread. |
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448 | * @param queue_context The thread queue context. |
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449 | * |
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450 | * @retval STATUS_SUCCESSFUL The operation succeeded. |
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451 | * @retval STATUS_NOT_OWNER The executing thread does not own the MrsP control. |
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452 | */ |
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453 | RTEMS_INLINE_ROUTINE Status_Control _MRSP_Surrender( |
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454 | MRSP_Control *mrsp, |
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455 | Thread_Control *executing, |
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456 | Thread_queue_Context *queue_context |
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457 | ) |
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458 | { |
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459 | Thread_queue_Heads *heads; |
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460 | |
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461 | if ( _MRSP_Get_owner( mrsp ) != executing ) { |
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462 | _ISR_lock_ISR_enable( &queue_context->Lock_context.Lock_context ); |
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463 | return STATUS_NOT_OWNER; |
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464 | } |
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465 | |
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466 | _MRSP_Acquire_critical( mrsp, queue_context ); |
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467 | |
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468 | _MRSP_Set_owner( mrsp, NULL ); |
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469 | _MRSP_Remove_priority( executing, &mrsp->Ceiling_priority, queue_context ); |
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470 | |
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471 | heads = mrsp->Wait_queue.Queue.heads; |
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472 | |
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473 | if ( heads == NULL ) { |
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474 | Per_CPU_Control *cpu_self; |
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475 | |
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476 | cpu_self = _Thread_Dispatch_disable_critical( |
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477 | &queue_context->Lock_context.Lock_context |
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478 | ); |
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479 | _MRSP_Release( mrsp, queue_context ); |
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480 | _Thread_Priority_and_sticky_update( executing, -1 ); |
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481 | _Thread_Dispatch_enable( cpu_self ); |
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482 | return STATUS_SUCCESSFUL; |
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483 | } |
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484 | |
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485 | _Thread_queue_Surrender_sticky( |
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486 | &mrsp->Wait_queue.Queue, |
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487 | heads, |
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488 | executing, |
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489 | queue_context, |
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490 | MRSP_TQ_OPERATIONS |
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491 | ); |
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492 | return STATUS_SUCCESSFUL; |
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493 | } |
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494 | |
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495 | /** |
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496 | * @brief Checks if the MrsP control can be destroyed. |
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497 | * |
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498 | * @param mrsp The MrsP control for the operation. |
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499 | * |
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500 | * @retval STATUS_SUCCESSFUL The MrsP is currently not used |
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501 | * and can be destroyed. |
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502 | * @retval STATUS_RESOURCE_IN_USE The MrsP control is in use, |
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503 | * it cannot be destroyed. |
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504 | */ |
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505 | RTEMS_INLINE_ROUTINE Status_Control _MRSP_Can_destroy( MRSP_Control *mrsp ) |
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506 | { |
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507 | if ( _MRSP_Get_owner( mrsp ) != NULL ) { |
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508 | return STATUS_RESOURCE_IN_USE; |
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509 | } |
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510 | |
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511 | return STATUS_SUCCESSFUL; |
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512 | } |
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513 | |
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514 | /** |
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515 | * @brief Destroys the MrsP control |
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516 | * |
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517 | * @param[in, out] The mrsp that is about to be destroyed. |
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518 | * @param queue_context The thread queue context. |
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519 | */ |
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520 | RTEMS_INLINE_ROUTINE void _MRSP_Destroy( |
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521 | MRSP_Control *mrsp, |
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522 | Thread_queue_Context *queue_context |
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523 | ) |
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524 | { |
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525 | _MRSP_Release( mrsp, queue_context ); |
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526 | _Thread_queue_Destroy( &mrsp->Wait_queue ); |
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527 | _Workspace_Free( mrsp->ceiling_priorities ); |
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528 | } |
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529 | |
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530 | /** @} */ |
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531 | |
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532 | #ifdef __cplusplus |
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533 | } |
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534 | #endif /* __cplusplus */ |
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535 | |
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536 | #endif /* RTEMS_SMP */ |
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537 | |
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538 | #endif /* _RTEMS_SCORE_MRSPIMPL_H */ |
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