Fixes#1708.
Currently involuntary preemption causes the current thread not only to
yield for a higher prioritized thread, but all other threads of its own
priority class, too.
This PR adds the function `thread_yield_higher()`, which will yield the
current thread in favor of higher prioritized functions, but not for
threads of its own priority class.
Boards now need to implement `thread_yield_higher()` instead of
`thread_yield()`, but `COREIF_NG` boards are not affected in any way.
`thread_yield()` retains its old meaning: yield for every thread that
has the same or a higher priority.
This PR does not touch the occurrences of `thread_yield()` in the periph
drivers, because the author of this PR did not look into the logic of
the various driver implementations.
PR #1000 overlooked to rename `runqueues` into `sched_runqueues` in
`sched.h`. This shows that the variable is not used outside of
`sched.c`.
As the list should not be accessed outside of the scheduler, so it
can be `static`.
Boards should define HWTIMER_SPIN_BARRIER that is used to decide
whether it makes sense to set a timer and yield or call hwtimer_spin
instead.
Used by `core/hwtimer.c` and `sys/vtimer/vtimer.c`.
A default value is provided and a warning is printed when it is used.
sched_switch() is called by some library functions when a call unblocks
another thread. Then it needs to be tested if the current thread should
be preempted for the newly runnable thread.
A non-volutarily yield should only happen if the unblocked thread has a
_higher_ priority than the current thread. The current implementation,
which tests if the other thread has the same or a higher priority, does
not fit the documentation.
Right now the core component `clist` is a generic cyclic doubly-linked list.
In the core it is used in `tcb_t::rq_entry`.
Further it is used `net_if.c`.
This commit removes the member `clist_node_t::data` which stored the
pointer to the `tcb_t` instance of which the clist is already a member.
The needless member added `sizeof (int)` bytes to every instance of
`tcb_t`.
In `net_if.c` the clist was used in a type-punned way, so that the
change won't affect it.
Closes#1399.
> Using a different value for SCHED_PRIO_LEVELS for 16 and 32 bit
platforms hurts portability, one thing that we heavily advertise about
RIOT. if you want to write a portable application, then you have to
assume the lower value.
This PR defaults `SCHED_PRIO_LEVELS` to 16 for every board.
In many places we needlessly use `sched_active_thread->pid` whilst we
already have `sched_active_pid` with the same value, and one less
indirection.
`thread_getpid()` is made `static inline` so that there is no penalty in
using this function over accessing `sched_active_pid` directly.
