include/, sched/, and libc/: Add support for sporadic scheduling parameters in struct sched_param, posix_spawnattr_t, and pthread_attr_t. Update all user interfaces to pass sporadic scheduling parameters. Feature is dependent on EXPERIMENTAL and no changes have yet been made to core scheduling logic.

ChangeLog

@@ -10756,3 +10756,4 @@
 	  planned scheduling policies (2015-07-23).
 	* pthread_create: Fix an (unlikely) error in fallback value in the
 	  event of a failure (which should never occur) (2015-07-23).
+* include/, sched/, and libc/: Add support for sporadic scheduling parameters in struct sched_param, posix_spawnattr_t, and pthread_attr_t. Update all user interfaces to pass sporadic scheduling parameters.  Feature is dependent on EXPERIMENTAL and no changes have yet been made to core scheduling logic (2015-07-23).

include/nuttx/pthread.h

@@ -51,13 +51,27 @@
 
 /* Default pthread attribute initializer */
 
-#define PTHREAD_ATTR_INITIALIZER \
+#ifdef CONFIG_SCHED_SPORADIC
-{ \
+#  define PTHREAD_ATTR_INITIALIZER \
-  PTHREAD_STACK_DEFAULT,    /* stacksize */ \
+  { \
-  PTHREAD_DEFAULT_PRIORITY, /* priority */ \
+    PTHREAD_DEFAULT_PRIORITY, /* priority */ \
-  SCHED_RR,                 /* policy */ \
+    SCHED_RR,                 /* policy */ \
-  PTHREAD_EXPLICIT_SCHED,   /* inheritsched */ \
+    PTHREAD_EXPLICIT_SCHED,   /* inheritsched */ \
-}
+    0,                        /* low_priority */ \
+    0,                        /* max_repl */ \
+    PTHREAD_STACK_DEFAULT,    /* stacksize */ \
+    {0, 0},                   /* repl_period */ \
+    {0, 0},                   /* budget */ \
+  }
+#else
+#  define PTHREAD_ATTR_INITIALIZER \
+  { \
+    PTHREAD_DEFAULT_PRIORITY, /* priority */ \
+    SCHED_RR,                 /* policy */ \
+    PTHREAD_EXPLICIT_SCHED,   /* inheritsched */ \
+    PTHREAD_STACK_DEFAULT,    /* stacksize */ \
+  }
+#endif
 
 /****************************************************************************
  * Public Data

include/nuttx/sched.h

@@ -485,7 +485,8 @@ struct tcb_s
   uint8_t  base_priority;                /* "Normal" priority of the thread     */
 #endif
 #ifdef CONFIG_SCHED_SPORADIC
-  int32_t  low_priority;                 /* Sporadic low priority               */
+  uint8_t  low_priority;                 /* Sporadic low priority               */
+  uint8_t   max_repl;                    /* Max. replenishments                 */
 #endif
 
   uint8_t  task_state;                   /* Current state of the thread         */
@@ -498,7 +499,7 @@ struct tcb_s
 #endif
 #ifdef CONFIG_SCHED_SPORADIC
   uint32_t spstart;                      /* Start time of execution budget      */
-  uint32_t replen;                       /* Sporadic replenishment interval     */
+  uint32_t repl_period;                  /* Sporadic replenishment period       */
   uint32_t budget;                       /* Sporadic execution budget           */
 #endif
 

include/pthread.h

@@ -1,7 +1,7 @@
 /********************************************************************************
  * include/pthread.h
  *
- *   Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009, 2011-2012, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -166,10 +166,21 @@ typedef pthread_startroutine_t pthread_func_t;
 
 struct pthread_attr_s
 {
-  size_t  stacksize;    /* Size of the stack allocated for the pthread */
+  uint8_t priority;            /* Priority of the pthread */
-  int16_t priority;     /* Priority of the pthread */
+  uint8_t policy;              /* Pthread scheduler policy */
-  uint8_t policy;       /* Pthread scheduler policy */
+  uint8_t inheritsched;        /* Inherit parent prio/policy? */
-  uint8_t inheritsched; /* Inherit parent prio/policy? */
+
+#ifdef CONFIG_SCHED_SPORADIC
+  uint8_t low_priority;        /* Low scheduling priority*/
+  uint8_t max_repl;            /* Maximum pending replenishments */
+#endif
+
+  size_t stacksize;            /* Size of the stack allocated for the pthread */
+
+#ifdef CONFIG_SCHED_SPORADIC
+  struct timespec repl_period; /* Replenishment period */
+  struct timespec budget;      /* Initial budget */
+#endif
 };
 typedef struct pthread_attr_s pthread_attr_t;
 

include/sched.h

@@ -49,7 +49,6 @@
 /********************************************************************************
  * Pre-processor Definitions
  ********************************************************************************/
-
 /* Task Management Definitions **************************************************/
 
 /* POSIX-like scheduling policies */
@@ -71,7 +70,17 @@
 
 struct sched_param
 {
-  int sched_priority;
+  int sched_priority;                   /* Base thread priority */
+
+#ifdef CONFIG_SCHED_SPORADIC
+  int sched_ss_low_priority;            /* Low scheduling priority for sporadic
+                                         * server */
+  struct timespec sched_ss_repl_period; /* Replenishment period for sporadic
+                                         * server. */
+  struct timespec sched_ss_init_budget; /* Initial budget for sporadic server */
+  int sched_ss_max_repl;                /* Maximum pending replenishments for
+                                         * sporadic server. */
+#endif
 };
 
 /********************************************************************************

include/spawn.h

@@ -1,7 +1,7 @@
 /****************************************************************************
  * include/spawn.h
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -78,6 +78,7 @@
  * because the user will be required to allocate this memory.
  */
 
+struct timespec;
 struct posix_spawnattr_s
 {
   /* Used by posix_spawn, posix_spawnp, and task_spawn */
@@ -85,6 +86,12 @@ struct posix_spawnattr_s
   uint8_t  flags;                /* See POSIX_SPAWN_ definitions */
   uint8_t  priority;             /* Task scheduling priority */
   uint8_t  policy;               /* Task scheduling policy */
+
+#ifdef CONFIG_SCHED_SPORADIC
+  uint8_t  low_priority;         /* Low scheduling priority*/
+  uint8_t  max_repl;             /* Maximum pending replenishments */
+#endif
+
 #ifndef CONFIG_DISABLE_SIGNALS
   sigset_t sigmask;              /* Signals to be masked */
 #endif
@@ -94,6 +101,12 @@ struct posix_spawnattr_s
 
   size_t   stacksize;            /* Task stack size */
 #endif
+
+#ifdef CONFIG_SCHED_SPORADIC
+  struct timespec repl_period;  /* Replenishment period */
+  struct timespec budget;       /* Initial budget */
+#endif
+
 };
 
 typedef struct posix_spawnattr_s posix_spawnattr_t;

include/unistd.h

@@ -68,31 +68,45 @@
 
 /* POSIX feature set macros */
 
-#define  POSIX_VERSION
+#define    POSIX_VERSION
-#undef  _POSIX_SAVED_IDS
+#undef    _POSIX_SAVED_IDS
-#undef  _POSIX_JOB_CONTROL
+#undef    _POSIX_JOB_CONTROL
-#define _POSIX_REALTIME_SIGNALS 1
+#define   _POSIX_REALTIME_SIGNALS 1
-#define _POSIX_MESSAGE_PASSING 1
+#define   _POSIX_MESSAGE_PASSING 1
-#undef  _POSIX_MAPPED_FILES
+#undef    _POSIX_MAPPED_FILES
-#undef  _POSIX_SHARED_MEMORY_OBJECTS
+#undef    _POSIX_SHARED_MEMORY_OBJECTS
-#define _POSIX_PRIORITY_SCHEDULING 1
+#define   _POSIX_PRIORITY_SCHEDULING 1
-#define _POSIX_TIMERS 1
+#define   _POSIX_TIMERS 1
-#undef  _POSIX_MEMLOCK
+#undef    _POSIX_MEMLOCK
-#undef  _POSIX_MEMLOCK_RANGE
+#undef    _POSIX_MEMLOCK_RANGE
-#undef  _POSIX_FSYNC
+#undef    _POSIX_FSYNC
-#define _POSIX_SYNCHRONIZED_IO 1
+#define   _POSIX_SYNCHRONIZED_IO 1
-#undef  _POSIX_ASYNCHRONOUS_IO
+
-#undef  _POSIX_PRIORITIZED_IO
+#ifdef CONFIG_FS_AIO
+#  define _POSIX_ASYNCHRONOUS_IO 1
+#else
+#  undef  _POSIX_ASYNCHRONOUS_IO
+#endif
+
+#undef    _POSIX_PRIORITIZED_IO
+
+#ifdef CONFIG_SCHED_SPORADIC
+#  define _POSIX_SPORADIC_SERVER 1
+#  define _POSIX_THREAD_SPORADIC_SERVER 1
+#else
+#  undef  _POSIX_SPORADIC_SERVER
+#  undef  _POSIX_THREAD_SPORADIC_SERVER
+#endif
 
 /* Execution time constants (not supported) */
 
-#undef  _POSIX_CHOWN_RESTRICTED
+#undef    _POSIX_CHOWN_RESTRICTED
-#undef  _POSIX_NO_TRUNC
+#undef    _POSIX_NO_TRUNC
-#undef  _POSIX_VDISABLE
+#undef    _POSIX_VDISABLE
 
-#define _POSIX_SYNC_IO 1
+#define   _POSIX_SYNC_IO 1
-#undef  _POSIX_ASYNC_IO
+#undef    _POSIX_ASYNC_IO
-#undef  _POSIX_PRIO_IO
+#undef    _POSIX_PRIO_IO
 
 #define fdatasync(f) fsync(f)
 

libc/pthread/pthread_attrgetschedparam.c

@@ -45,26 +45,6 @@
 #include <debug.h>
 #include <errno.h>
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Type Declarations
- ****************************************************************************/
-
-/****************************************************************************
- * Global Variables
- ****************************************************************************/
-
-/****************************************************************************
- * Private Variables
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -98,13 +78,18 @@ int pthread_attr_getschedparam(FAR const pthread_attr_t *attr,
     }
   else
     {
-      param->sched_priority = attr->priority;
+      param->sched_priority               = (int)attr->priority;
+#ifdef CONFIG_SCHED_SPORADIC
+      param->sched_ss_low_priority        = (int)attr->low_priority;
+      param->sched_ss_max_repl            = (int)attr->max_repl;
+      param->sched_ss_repl_period.tv_sec  = attr->repl_period.tv_sec;
+      param->sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
+      param->sched_ss_init_budget.tv_sec  = attr->budget.tv_sec;
+      param->sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
+#endif
       ret = OK;
     }
 
   sdbg("Returning %d\n", ret);
   return ret;
 }
-
-
-

libc/pthread/pthread_attrsetschedparam.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * libc/pthread/pthread_attrsetschedparam.c
  *
- *   Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007-2009, 2011, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -45,30 +45,6 @@
 #include <debug.h>
 #include <errno.h>
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/****************************************************************************
- * Private Type Declarations
- ****************************************************************************/
-
-/****************************************************************************
- * Global Variables
- ****************************************************************************/
-
-/****************************************************************************
- * Private Variables
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
 /****************************************************************************
  * Function:  pthread_attr_setschedparam
  *
@@ -86,7 +62,7 @@
  ****************************************************************************/
 
 int pthread_attr_setschedparam(FAR pthread_attr_t *attr,
-			       FAR const struct sched_param *param)
+                               FAR const struct sched_param *param)
 {
   int ret;
 
@@ -98,11 +74,18 @@ int pthread_attr_setschedparam(FAR pthread_attr_t *attr,
     }
   else
     {
-      attr->priority = (short)param->sched_priority;
+      attr->priority            = (short)param->sched_priority;
+#ifdef CONFIG_SCHED_SPORADIC
+      attr->low_priority        = (uint8_t)param->sched_ss_low_priority;
+      attr->max_repl            = (uint8_t)param->sched_ss_max_repl;
+      attr->repl_period.tv_sec  = param->sched_ss_repl_period.tv_sec;
+      attr->repl_period.tv_nsec = param->sched_ss_repl_period.tv_nsec;
+      attr->budget.tv_sec       = param->sched_ss_init_budget.tv_sec;
+      attr->budget.tv_nsec      = param->sched_ss_init_budget.tv_nsec;
+#endif
       ret = OK;
     }
+
   sdbg("Returning %d\n", ret);
   return ret;
 }
-
-

libc/spawn/lib_psa_getschedparam.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * libc/string/lib_psa_getschedparam.c
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -70,5 +70,13 @@ int posix_spawnattr_getschedparam(FAR const posix_spawnattr_t *attr,
 {
   DEBUGASSERT(attr && param);
   param->sched_priority = attr->priority;
+#ifdef CONFIG_SCHED_SPORADIC
+  param->sched_ss_low_priority        = (int)attr->low_priority;
+  param->sched_ss_max_repl            = (int)attr->max_repl;
+  param->sched_ss_repl_period.tv_sec  = attr->repl_period.tv_sec;
+  param->sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
+  param->sched_ss_init_budget.tv_sec  = attr->budget.tv_sec;
+  param->sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
+#endif
   return OK;
 }

libc/spawn/lib_psa_init.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * libc/string/lib_psa_init.c
  *
- *   Copyright (C) 2013-2014 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013-2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -88,22 +88,35 @@ int posix_spawnattr_init(posix_spawnattr_t *attr)
       return errno;
     }
 
-  attr->priority = param.sched_priority;
+  attr->priority            = param.sched_priority;
 
   /* Set the default scheduler policy to the policy of this task */
 
-  attr->policy = sched_getscheduler(0);
+  attr->policy              = sched_getscheduler(0);
 
 #ifndef CONFIG_DISABLE_SIGNALS
-  /* Empty signal masek */
+  /* Empty signal mask */
 
-  attr->sigmask = 0;
+  attr->sigmask             = 0;
 #endif
 
+#ifdef CONFIG_SCHED_SPORADIC
+  /* Sporadic scheduling parameters */
+
+  attr->low_priority        = (uint8_t)param.sched_ss_low_priority;
+  attr->max_repl            = (uint8_t)param.sched_ss_max_repl;
+  attr->repl_period.tv_sec  = param.sched_ss_repl_period.tv_sec;
+  attr->repl_period.tv_nsec = param.sched_ss_repl_period.tv_nsec;
+  attr->budget.tv_sec       = param.sched_ss_init_budget.tv_sec;
+  attr->budget.tv_nsec      = param.sched_ss_init_budget.tv_nsec;
+#endif
+
+
 #ifndef CONFIG_ARCH_ADDRENV
   /* Default stack size */
 
-  attr->stacksize = CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE;
+  attr->stacksize           = CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE;
 #endif
+
   return OK;
 }

libc/spawn/lib_psa_setschedparam.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * libc/string/lib_psa_setschedparam.c
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -69,6 +69,16 @@ int posix_spawnattr_setschedparam(FAR posix_spawnattr_t *attr,
                                   FAR const struct sched_param *param)
 {
   DEBUGASSERT(attr && param && (unsigned)param->sched_priority <= 0xff);
-  attr->priority = (uint8_t)param->sched_priority;
+
+  attr->priority            = (uint8_t)param->sched_priority;
+
+#ifdef CONFIG_SCHED_SPORADIC
+  attr->low_priority        = (uint8_t)param->sched_ss_low_priority;
+  attr->max_repl            = (uint8_t)param->sched_ss_max_repl;
+  attr->repl_period.tv_sec  = param->sched_ss_repl_period.tv_sec;
+  attr->repl_period.tv_nsec = param->sched_ss_repl_period.tv_nsec;
+  attr->budget.tv_sec       = param->sched_ss_init_budget.tv_sec;
+  attr->budget.tv_nsec      = param->sched_ss_init_budget.tv_nsec;
+#endif
   return OK;
 }

libc/wqueue/work_usrthread.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * libc/wqueue/work_usrthread.c
  *
- *   Copyright (C) 2009-2014 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2009-2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -375,7 +375,7 @@ int work_usrstart(void)
     pthread_t usrwork;
     pthread_attr_t attr;
     struct sched_param param;
-    int status;
+    int ret;
 
     /* Set up the work queue lock */
 
@@ -386,13 +386,26 @@ int work_usrstart(void)
     (void)pthread_attr_init(&attr);
     (void)pthread_attr_setstacksize(&attr, CONFIG_LIB_USRWORKSTACKSIZE);
 
++#ifdef CONFIG_SCHED_SPORADIC
+    /* Get the current sporadic scheduling parameters.  Those will not be
+     * modified.
+     */
+
+    ret = set_getparam(pid, &param);
+    if (ret < 0)
+      {
+        int erroode = get_errno();
+        return -errcode;
+      }
+#endif
+
     param.sched_priority = CONFIG_LIB_USRWORKPRIORITY;
     (void)pthread_attr_setschedparam(&attr, &param);
 
-    status = pthread_create(&usrwork, &attr, work_usrthread, NULL);
+    ret = pthread_create(&usrwork, &attr, work_usrthread, NULL);
-    if (status != 0)
+    if (ret != 0)
       {
-        return -status;
+        return -ret;
       }
 
     /* Detach because the return value and completion status will not be

sched/Kconfig

@@ -310,6 +310,7 @@ config RR_INTERVAL
 config SCHED_SPORADIC
 	bool "Support sporadic scheduling"
 	default n
+	depends on EXPERIMENTAL
 	---help---
 		Build in additional logic to support sporadic scheduling (SCHED_SPORADIC).
 

sched/pthread/pthread_create.c

@@ -234,10 +234,11 @@ int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
 {
   FAR struct pthread_tcb_s *ptcb;
   FAR struct join_s *pjoin;
-  int priority;
+#ifdef CONFIG_SCHED_SPORADIC
-#if CONFIG_RR_INTERVAL > 0
+  int ticks;
-  int policy;
 #endif
+  int priority;
+  int policy;
   int errcode;
   pid_t pid;
   int ret;
@@ -315,26 +316,39 @@ int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
     {
       struct sched_param param;
 
-      /* Get the priority for this thread. */
+      /* Get the priority (and any other scheduling parameters) for this
+       * thread.
+       */
 
       ret = sched_getparam(0, &param);
-      if (ret == OK)
+      if (ret == ERROR)
         {
-          priority = param.sched_priority;
+          errcode = get_errno();
-        }
+          goto errout_with_join;
-      else
-        {
-          priority = PTHREAD_DEFAULT_PRIORITY;
         }
 
-#if CONFIG_RR_INTERVAL > 0
+      priority = param.sched_priority;
+
       /* Get the scheduler policy for this thread */
 
       policy = sched_getscheduler(0);
       if (policy == ERROR)
         {
-          policy = SCHED_FIFO;
+          errcode = get_errno();
+          goto errout_with_join;
         }
+
+#ifdef CONFIG_SCHED_SPORADIC
+      /* Save the sporadic scheduling parameters */
+
+      ptcb->cmn.low_priority = param.sched_ss_low_priority;
+      ptcb->cmn.max_repl     = param.sched_ss_max_repl;
+
+      (void)clock_time2ticks(&param.sched_ss_repl_period, &ticks);
+      ptcb->cmn.repl_period  = ticks;
+
+      (void)clock_time2ticks(&param.sched_ss_init_budget, &ticks);
+      ptcb->cmn.budget       = ticks;
 #endif
     }
   else
@@ -342,8 +356,19 @@ int pthread_create(FAR pthread_t *thread, FAR const pthread_attr_t *attr,
       /* Use the priority and scheduler from the attributes */
 
       priority = attr->priority;
-#if CONFIG_RR_INTERVAL > 0
       policy   = attr->policy;
+
+#ifdef CONFIG_SCHED_SPORADIC
+      /* Save the sporadic scheduling parameters */
+
+      ptcb->cmn.low_priority = attr->low_priority;
+      ptcb->cmn.max_repl     = attr->max_repl;
+
+      (void)clock_time2ticks(&attr->repl_period, &ticks);
+      ptcb->cmn.repl_period  = ticks;
+
+      (void)clock_time2ticks(&attr->budget, &ticks);
+      ptcb->cmn.budget       = ticks;
 #endif
     }
 

sched/pthread/pthread_getschedparam.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * pthread_getschedparam.c
  *
- *   Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2008, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without

sched/pthread/pthread_setschedparam.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * sched/pthread/pthread_setschedparam.c
  *
- *   Copyright (C) 2007, 2008, 2012 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2008, 2012, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -118,7 +118,8 @@
  *
  ****************************************************************************/
 
-int pthread_setschedparam(pthread_t thread, int policy, FAR const struct sched_param *param)
+int pthread_setschedparam(pthread_t thread, int policy,
+                          FAR const struct sched_param *param)
 {
   int ret;
 

sched/pthread/pthread_setschedprio.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * sched/pthread/pthread_setschedprio.c
  *
- *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2009, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -102,20 +102,30 @@ int pthread_setschedprio(pthread_t thread, int prio)
   struct sched_param param;
   int ret;
 
-  /* Set the errno to some non-zero value (failsafe) */
+#ifdef CONFIG_SCHED_SPORADIC
+  /* Get the current sporadic scheduling parameters.  Those will not be
+   * modified.
+   */
 
-  set_errno(EINVAL);
+  ret = sched_getparam((pid_t)thread, &param);
+  if (ret < 0)
+    {
+      goto errout_with_errno;
+    }
+#endif
 
   /* Call sched_setparam() to change the priority */
 
   param.sched_priority = prio;
   ret = sched_setparam((pid_t)thread, &param);
-  if (ret != OK)
+  if (ret >= 0)
     {
-      /* If sched_setparam() fails, return the errno */
+      return OK;
-
-      ret = get_errno();
     }
 
+#ifdef CONFIG_SCHED_SPORADIC
+errout_with_errno:
+#endif
+  ret = get_errno();
   return ret;
 }

sched/sched/sched_getparam.c

@@ -1,7 +1,7 @@
 /************************************************************************
  * sched/sched/sched_getparam.c
  *
- *   Copyright (C) 2007, 2009 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2009, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -42,6 +42,7 @@
 #include <sys/types.h>
 #include <sched.h>
 
+#include "clock/clock.h"
 #include "sched/sched.h"
 
 /************************************************************************
@@ -96,7 +97,7 @@
  *
  ************************************************************************/
 
-int sched_getparam (pid_t pid, struct sched_param * param)
+int sched_getparam (pid_t pid, FAR struct sched_param *param)
 {
   FAR struct tcb_s *rtcb;
   FAR struct tcb_s *tcb;
@@ -136,6 +137,16 @@ int sched_getparam (pid_t pid, struct sched_param * param)
           /* Return the priority of the task */
 
           param->sched_priority = (int)tcb->sched_priority;
+
+#ifdef CONFIG_SCHED_SPORADIC
+          /* Return parameters associated with SCHED_SPORADIC */
+
+          param->sched_ss_low_priority = (int)tcb->low_priority;
+          param->sched_ss_max_repl     = (int)tcb->max_repl;
+
+          clock_ticks2time((int)tcb->repl_period, &param->sched_ss_repl_period);
+          clock_ticks2time((int)tcb->budget, &param->sched_ss_init_budget);
+#endif
         }
 
       sched_unlock();

sched/sched/sched_setparam.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * sched/sched/sched_setparam.c
  *
- *   Copyright (C) 2007, 2009, 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2007, 2009, 2013, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -45,6 +45,7 @@
 
 #include <nuttx/arch.h>
 
+#include "clock/clock.h"
 #include "sched/sched.h"
 
 /****************************************************************************
@@ -105,7 +106,7 @@
  *
  ****************************************************************************/
 
-int sched_setparam(pid_t pid, const struct sched_param *param)
+int sched_setparam(pid_t pid, FAR const struct sched_param *param)
 {
   FAR struct tcb_s *rtcb;
   FAR struct tcb_s *tcb;
@@ -148,6 +149,35 @@ int sched_setparam(pid_t pid, const struct sched_param *param)
         }
     }
 
+#ifdef CONFIG_SCHED_SPORADIC
+  /* Update parameters associated with SCHED_SPORADIC */
+
+  if ((rtcb->flags & TCB_FLAG_POLICY_MASK) == TCB_FLAG_SCHED_SPORADIC)
+    {
+      int ticks;
+
+      DEBUGASSERT(param->sched_ss_max_repl <= UINT8_MAX);
+
+      tcb->flags       |= TCB_FLAG_SCHED_SPORADIC;
+      tcb->timeslice    = MSEC2TICK(CONFIG_RR_INTERVAL);
+      tcb->low_priority = param->sched_ss_low_priority;
+      tcb->max_repl     = param->sched_ss_max_repl;
+
+      (void)clock_time2ticks(&param->sched_ss_repl_period, &ticks);
+      tcb->repl_period  = ticks;
+
+      (void)clock_time2ticks(&param->sched_ss_init_budget, &ticks);
+      tcb->budget       = ticks;
+    }
+  else
+    {
+      tcb->low_priority = 0;
+      tcb->max_repl     = 0;
+      tcb->repl_period  = 0;
+      tcb->budget       = 0;
+    }
+#endif
+
  /* Then perform the reprioritization */
 
  ret = sched_reprioritize(tcb, param->sched_priority);

sched/sched/sched_setscheduler.c

@@ -106,7 +106,7 @@
  ****************************************************************************/
 
 int sched_setscheduler(pid_t pid, int policy,
-                       const struct sched_param *param)
+                       FAR const struct sched_param *param)
 {
   FAR struct tcb_s *tcb;
 #if CONFIG_RR_INTERVAL > 0
@@ -157,22 +157,53 @@ int sched_setscheduler(pid_t pid, int policy,
       default:
         DEBUGPANIC();
       case SCHED_FIFO:
-        tcb->flags    |= TCB_FLAG_SCHED_FIFO;
+        {
-#if CONFIG_RR_INTERVAL > 0
+          tcb->flags       |= TCB_FLAG_SCHED_FIFO;
-        tcb->timeslice = 0;
+#if CONFIG_RR_INTERVAL > 0 || defined(CONFIG_SCHED_SPORADIC)
+          tcb->timeslice    = 0;
 #endif
+#ifdef CONFIG_SCHED_SPORADIC
+          tcb->low_priority = 0;
+          tcb->max_repl     = 0;
+          tcb->repl_period  = 0;
+          tcb->budget       = 0;
+#endif
+        }
         break;
 
 #if CONFIG_RR_INTERVAL > 0
       case SCHED_RR:
-        tcb->flags    |= TCB_FLAG_SCHED_RR;
+        {
-        tcb->timeslice = MSEC2TICK(CONFIG_RR_INTERVAL);
+          tcb->flags       |= TCB_FLAG_SCHED_RR;
+          tcb->timeslice    = MSEC2TICK(CONFIG_RR_INTERVAL);
+#ifdef CONFIG_SCHED_SPORADIC
+          tcb->low_priority = 0;
+          tcb->max_repl     = 0;
+          tcb->repl_period  = 0;
+          tcb->budget       = 0;
+#endif
+        }
         break;
 #endif
 
 #ifdef CONFIG_SCHED_SPORADIC
       case SCHED_SPORADIC:
-        tcb->flags    |= TCB_FLAG_SCHED_SPORADIC;
+        {
+          int ticks;
+
+          DEBUGASSERT(param->sched_ss_max_repl <= UINT8_MAX);
+
+          tcb->flags       |= TCB_FLAG_SCHED_SPORADIC;
+          tcb->timeslice    = MSEC2TICK(CONFIG_RR_INTERVAL);
+          tcb->low_priority = param->sched_ss_low_priority;
+          tcb->max_repl     = param->sched_ss_max_repl;
+
+          (void)clock_time2ticks(&param->sched_ss_repl_period, &ticks);
+          tcb->repl_period  = ticks;
+
+          (void)clock_time2ticks(&param->sched_ss_init_budget, &ticks);
+          tcb->budget       = ticks;
+        }
         break;
 #endif
 
@@ -199,4 +230,3 @@ int sched_setscheduler(pid_t pid, int policy,
       return OK;
     }
 }
-

sched/task/task_spawnparms.c

@@ -1,7 +1,7 @@
 /****************************************************************************
  * sched/task/task_spawnparms.c
  *
- *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2013, 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
@@ -111,7 +111,7 @@ static inline int spawn_dup2(FAR struct spawn_dup2_file_action_s *action)
       int errcode = get_errno();
 
       sdbg("ERROR: dup2 failed: %d\n", errcode);
-      return errcode;
+      return -errcode;
     }
 
   return OK;
@@ -202,7 +202,7 @@ void spawn_semtake(FAR sem_t *sem)
  *
  * Returned Value:
  *   Errors are not reported by this function.  This is because errors
- *   cannot occur, but ratther that the new task has already been started
+ *   cannot occur, but rather that the new task has already been started
  *   so there is no graceful way to handle errors detected in this context
  *   (unless we delete the new task and recover).
  *
@@ -229,7 +229,22 @@ int spawn_execattrs(pid_t pid, FAR const posix_spawnattr_t *attr)
 
   if ((attr->flags & POSIX_SPAWN_SETSCHEDPARAM) != 0)
     {
-      /* Get the priority from the attrributes */
+#ifdef CONFIG_SCHED_SPORADIC
+      int ret;
+
+      /* Get the current sporadic scheduling parameters.  Those will not be
+       * modified.
+       */
+
+      ret = sched_getparam(pid, &param);
+      if (ret < 0)
+        {
+          int errcode = get_errno();
+          return -errcode;
+        }
+#endif
+
+      /* Get the priority from the attributes */
 
       param.sched_priority = attr->priority;
 
@@ -265,6 +280,16 @@ int spawn_execattrs(pid_t pid, FAR const posix_spawnattr_t *attr)
       svdbg("Setting policy=%d priority=%d for pid=%d\n",
             attr->policy, param.sched_priority, pid);
 
+#ifdef CONFIG_SCHED_SPORADIC
+      /* But take the sporadic scheduler parameters from the attributes */
+
+      param.sched_ss_low_priority        = (int)attr->low_priority;
+      param.sched_ss_max_repl            = (int)attr->max_repl;
+      param.sched_ss_repl_period.tv_sec  = attr->repl_period.tv_sec;
+      param.sched_ss_repl_period.tv_nsec = attr->repl_period.tv_nsec;
+      param.sched_ss_init_budget.tv_sec  = attr->budget.tv_sec;
+      param.sched_ss_init_budget.tv_nsec = attr->budget.tv_nsec;
+#endif
       (void)sched_setscheduler(pid, attr->policy, &param);
     }