diff --git a/ChangeLog b/ChangeLog
index 96a92e30f3716969dd32e93765ffbe800b1a4ae2..7cbf2249bf97b28309e10ab9b2b421275897190a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -80,6 +80,11 @@
* added pthread_barrierattr_*() APIs
* added pthread_barrier_init(), pthread_barrier_destroy(), and
pthread_barrier_wait();
+ * Added protection so that errno cannot be modified from
+ interrupt handling.
+ * sched_setparam(), sched_setscheduler() now correctly set
+ errno; pthread_setscheduler() now returns the correct errno.
+ * Added pthread_setschedprio().
* Started m68322
diff --git a/Documentation/NuttX.html b/Documentation/NuttX.html
index 953f5eea1035c15fc77454e1e4600cab76793d73..330429e3b478b4da8c83141e93214ef8f0b8923f 100644
--- a/Documentation/NuttX.html
+++ b/Documentation/NuttX.html
@@ -441,6 +441,11 @@ Other memory:
* added pthread_barrierattr_*() APIs
* added pthread_barrier_init(), pthread_barrier_destroy(), and
pthread_barrier_wait();
+ * Added protection so that errno cannot be modified from
+ interrupt handling.
+ * sched_setparam(), sched_setscheduler() now correctly set
+ errno; pthread_setscheduler() now returns the correct errno.
+ * Added pthread_setschedprio().
* Started m68322
</pre></ul>
diff --git a/Documentation/NuttxUserGuide.html b/Documentation/NuttxUserGuide.html
index 883da65c3d807b00e86ac9f9dbce8946287dadce..7ebb2c13bb85251660e91a4d819648dc81da4b93 100644
--- a/Documentation/NuttxUserGuide.html
+++ b/Documentation/NuttxUserGuide.html
@@ -93,11 +93,11 @@ paragraphs.
<p>
<b>Tasks</b>.
- NuttX is a flat address OS. As such it does not support "processes"
+ NuttX is a flat address OS. As such it does not support <i>processes</i>
in the way that, say, Linux does.
NuttX only supports simple threads running within the same address space.
- However, the programming model makes a distinction between "tasks"
- and pthreads:
+ However, the programming model makes a distinction between <i>tasks</i>
+ and <i>pthreads</i>:
</p>
<ul>
<li><i>tasks</i> are threads which have a degree of independence
@@ -553,51 +553,67 @@ Compatible with the POSIX interface of the same name.
</ul>
<H3><a name="schedsetparam">2.2.1 sched_setparam</a></H3>
-
-<P>
-<B>Function Prototype:</B>
-<PRE>
+<p>
+ <b>Function Prototype:</b>
+<pre>
#include <sched.h>
- int sched_setparam( pid_t pid, const struct sched_param *param );
-</PRE>
-
-<P>
-<B>Description:</B> This function sets the priority of the task
-specified by pid input parameter.
-<P>
-NOTE: Setting a task's priority to the same value has the similar
-effect to sched_yield() -- The task will be moved to after all
-other tasks with the same priority.
-<P>
-<B>Input Parameters:</B>
-<UL>
-<LI><I>pid</I>. The task ID of the task. If pid is zero, the
-priority of the calling task is set.
-<li><code>param<code>.</li> A structure whose member sched_priority is the
-integer priority. The range of valid priority numbers is from
-SCHED_PRIORITY_MIN through SCHED_PRIORITY_MAX.
-</UL>
-
-<P>
-<B>Returned Values:</B>
-<UL>
-<LI>
- 0 (OK) if successful, otherwise -1 (ERROR).
- This function can fail for the following reasons:
- (1) parm is NULL or parm->sched_priority is out of range.
- (2) pid does not correspond to any task.
-</LI>
-</UL>
+ int sched_setparam(pid_t pid, const struct sched_param *param);
+</pre>
+<p>
+ <b>Description:</B>
+ This function sets the priority of the task specified by pid input parameter.
+</p>
+<p>
+ NOTE: Setting a task's priority to the same value has the similar
+ effect to <code>sched_yield()</code>: The task will be moved to after all
+ other tasks with the same priority.
+</p>
+<p>
+ <b>Input Parameters:</b>
+</p>
+<ul>
+ <li>
+ <code>pid</code>.
+ The task ID of the task.
+ If <code>pid</code> is zero, the priority of the calling task is set.
+ </li>
+ <li>
+ <code>param</code>.
+ A structure whose member <code>sched_priority</code> is the integer priority.
+ The range of valid priority numbers is from <code>SCHED_PRIORITY_MIN</code> through <code>SCHED_PRIORITY_MAX</code>.
+ </li>
+</ul>
+<p>
+ <b>Returned Values:</b>
+ On success, sched_setparam() returns 0 (OK).
+ On error, -1 (ERROR) is returned, and errno is set appropriately.
+</p>
+<ul>
-<P>
-<B>Assumptions/Limitations:</B>
-<P>
-<B> POSIX Compatibility:</B> Comparable to the POSIX
-interface of the same name.
-Differences from the full POSIX implementation include:
-<UL>
-<LI>The range of priority values for the POSIX call is 0 to 255
-</UL>
+ <li>
+ <code>EINVAL</code>.
+ The parameter <code>param</code> is invalid or does not make sense for the current scheduling policy.
+ </li>
+ <li>
+ <code>EPERM</code>.
+ The calling task does not have appropriate privileges.
+ </li>
+ <li>
+ <code>ESRCH</code>.
+ The task whose ID is <code>pid</code> could not be found.
+ </li>
+</ul>
+<p>
+ <b>Assumptions/Limitations:</b>
+</p>
+<p>
+ <B>POSIX Compatibility:</B>
+ Comparable to the POSIX interface of the same name.
+ Differences from the full POSIX implementation include:
+</p>
+<ul>
+ <li>The range of priority values for the POSIX call is 0 to 255.</li>
+</ul>
<H3><a name="schedgetparam">2.2.2 sched_getparam</a></H3>
@@ -3121,6 +3137,16 @@ be sent.
</ul>
<H2>2.9 <A NAME="Pthread">Pthread Interfaces</A></H2>
+<p>
+ NuttX does not support <i>processes</i> in the way that, say, Linux does.
+ NuttX only supports simple threads or tasks running within the same address space.
+ For the most part, threads and tasks are interchangeable and differ primarily
+ only in such things as the inheritance of file descriptors.
+ Basically, threads are initialized and uninitialized differently and share a
+ few more resources than tasks.
+<p>
+ The following pthread interfaces are supported in some form by NuttX:
+</p>
<ul>
<li><a href="#pthreadattrinit">2.9.1 pthread_attr_init</a></li>
<li><a href="#pthreadattrdestroy">2.9.2 pthread_attr_destroy</a></li>
@@ -3175,6 +3201,64 @@ be sent.
<li><a href="#pthreadkill">2.9.51 pthread_kill</a></li>
<li><a href="#pthreadsigmask">2.9.52 pthread_sigmask</a></li>
</ul>
+<p>
+ No support for the ollowing pthread interfaces is provided by NuttX:
+</p>
+<ul>
+ <li><code>pthread_atfork</code>. register fork handlers.</li>
+ <li><code>pthread_attr_getdetachstate</code>. get and set the detachstate attribute.</li>
+ <li><code>pthread_attr_getguardsize</code>. get and set the thread guardsize attribute.</li>
+ <li><code>pthread_attr_getinheritsched</code>. get and set the inheritsched attribute.</li>
+ <li><code>pthread_attr_getscope</code>. get and set the contentionscope attribute.</li>
+ <li><code>pthread_attr_getstack</code>. get and set stack attributes.</li>
+ <li><code>pthread_attr_getstackaddr</code>. get and set the stackaddr attribute.</li>
+ <li><code>pthread_attr_setdetachstate</code>. get and set the detachstate attribute.</li>
+ <li><code>pthread_attr_setguardsize</code>. get and set the thread guardsize attribute.</li>
+ <li><code>pthread_attr_setscope</code>. get and set the contentionscope attribute.</li>
+ <li><code>pthread_attr_setstack</code>. get and set stack attributes.</li>
+ <li><code>pthread_attr_setstackaddr</code>. get and set the stackaddr attribute.</li>
+ <li><code>pthread_barrier_destroy</code>. destroy and initialize a barrier object.</li>
+ <li><code>pthread_barrier_init</code>. destroy and initialize a barrier object.</li>
+ <li><code>pthread_barrier_wait</code>. synchronize at a barrier.</li>
+ <li><code>pthread_cleanup_pop</code>. establish cancellation handlers.</li>
+ <li><code>pthread_cleanup_push</code>. establish cancellation handlers.</li>
+ <li><code>pthread_condattr_getclock</code>. get and set the clock selection condition variable attribute.</li>
+ <li><code>pthread_condattr_getpshared</code>. get and set the process-shared condition variable attributes.</li>
+ <li><code>pthread_condattr_setclock</code>. get and set the clock selection condition variable attribute.</li>
+ <li><code>pthread_condattr_setpshared</code>. get and set the process-shared condition variable attributes.</li>
+ <li><code>pthread_getconcurrency</code>. get and set the level of concurrency.</li>
+ <li><code>pthread_getcpuclockid</code>. access a thread CPU-time clock.</li>
+ <li><code>pthread_mutex_getprioceiling</code>. get and set the priority ceiling of a mutex.</li>
+ <li><code>pthread_mutex_setprioceiling</code>. get and set the priority ceiling of a mutex.</li>
+ <li><code>pthread_mutex_timedlock</code>. lock a mutex.</li>
+ <li><code>pthread_mutexattr_getprioceiling</code>. get and set the prioceiling attribute of the mutex attributes object.</li>
+ <li><code>pthread_mutexattr_getprotocol</code>. get and set the protocol attribute of the mutex attributes object.</li>
+ <li><code>pthread_mutexattr_gettype</code>. get and set the mutex type attribute.</li>
+ <li><code>pthread_mutexattr_setprioceiling</code>. get and set the prioceiling attribute of the mutex attributes object.</li>
+ <li><code>pthread_mutexattr_setprotocol</code>. get and set the protocol attribute of the mutex attributes object.</li>
+ <li><code>pthread_mutexattr_settype</code>. get and set the mutex type attribute.</li>
+ <li><code>pthread_rwlock_destroy</code>. destroy and initialize a read-write lock object.</li>
+ <li><code>pthread_rwlock_init</code>. destroy and initialize a read-write lock object.</li>
+ <li><code>pthread_rwlock_rdlock</code>. lock a read-write lock object for reading.</li>
+ <li><code>pthread_rwlock_timedrdlock</code>. lock a read-write lock for reading.</li>
+ <li><code>pthread_rwlock_timedwrlock</code>. lock a read-write lock for writing.</li>
+ <li><code>pthread_rwlock_tryrdlock</code>. lock a read-write lock object for reading.</li>
+ <li><code>pthread_rwlock_trywrlock</code>. lock a read-write lock object for writing.</li>
+ <li><code>pthread_rwlock_unlock</code>. unlock a read-write lock object.</li>
+ <li><code>pthread_rwlock_wrlock</code>. lock a read-write lock object for writing.</li>
+ <li><code>pthread_rwlockattr_destroy</code>. destroy and initialize the read-write lock attributes object.</li>
+ <li><code>pthread_rwlockattr_getpshared</code>. get and set the process-shared attribute of the read-write lock attributes object.</li>
+ <li><code>pthread_rwlockattr_init</code>. destroy and initialize the read-write lock attributes object.</li>
+ <li><code>pthread_rwlockattr_setpshared</code>. get and set the process-shared attribute of the read-write lock attributes object.</li>
+ <li><code>pthread_setcanceltype</code>. set cancelability state.</li>
+ <li><code>pthread_setconcurrency</code>. get and set the level of concurrency.</li>
+ <li><code>pthread_spin_destroy</code>. destroy or initialize a spin lock object.</li>
+ <li><code>pthread_spin_init</code>. destroy or initialize a spin lock object.</li>
+ <li><code>pthread_spin_lock</code>. lock a spin lock object.</li>
+ <li><code>pthread_spin_trylock</code>. lock a spin lock object.</li>
+ <li><code>pthread_spin_unlock</code>. unlock a spin lock object.</li>
+ <li><code>pthread_testcancel</code>. set cancelability state.</li>
+</ul>
<H3><a name="pthreadattrinit">2.9.1 pthread_attr_init</A></H3>
<P>
@@ -3825,68 +3909,162 @@ returned to indicate the error:
interface of the same name.
<H3><a name="pthreadgetschedparam">2.9.20 pthread_getschedparam</A></H3>
-<P>
-<B>Function Prototype:</B>
-<P>
-<PRE>
+<p>
+ <b>Function Prototype:</b>
+</p>
+<pre>
#include <pthread.h>
int pthread_getschedparam(pthread_t thread, int *policy,
- struct sched_param *param);
-</PRE>
-<P>
-<B>Description:</B>
-<P>
-<B>Input Parameters:</B>
-<P>
-<UL>
- <li><code>param<code>.</li>
-</UL>
-<P>
-<B>Returned Values:</B>
-<P>
-If successful, the <I>pthread_getschedparam()</I> function will return
-zero (<I>OK</I>). Otherwise, an error number will be
-returned to indicate the error:
-<P>
-<UL>
- <li><code>Exxx</code>. </li>
-</UL>
-<B>Assumptions/Limitations:</B>
-<P>
-<B>POSIX Compatibility:</B> Comparable to the POSIX
-interface of the same name.
+ struct sched_param *param);
+</pre>
+<p>
+ <b>Description:</b>
+ The <code>pthread_getschedparam()</code> functions will get the
+ scheduling policy and parameters of threads.
+ For <code>SCHED_FIFO</code> and <code>SCHED_RR</code>, the only
+ required member of the <code>sched_param</code> structure is the
+ priority <code>sched_priority</code>.
+</p>
+<p>
+ The <code>pthread_getschedparam()</code> function will retrieve the
+ scheduling policy and scheduling parameters for the thread whose thread
+ ID is given by <code>thread</code> and will store those values in
+ <code>policy</code> and <code>param</code>, respectively.
+ The priority value returned from <code>pthread_getschedparam()</code>
+ will be the value specified by the most recent <code>pthread_setschedparam()</code>,
+ <code>pthread_setschedprio()</code>, or <code>pthread_create()</code> call
+ affecting the target thread.
+ It will not reflect any temporary adjustments to its priority (such as might
+ result of any priority inheritance, for example).
+</p>
+<p>
+ The policy parameter may have the value <code>SCHED_FIFO</code> or <code>SCHED_RR</code>
+ (<code>SCHED_OTHER</code> and <code>SCHED_SPORADIC</code>, in particular, are not supported).
+ The <code>SCHED_FIFO</code> and <code>SCHED_RR<code> policies will have a single
+ scheduling parameter, <code>sched_priority</code>.
+</p>
+<p>
+ <b>Input Parameters:</b>
+</p>
+<ul>
+ <li>
+ <code>thread</code>.
+ The ID of thread whose scheduling parameters will be queried.
+ </li>
+ <li>
+ <code>policy</code>.
+ The location to store the thread's scheduling policy.
+ </li>
+ <li>
+ <code>param</code>.
+ The location to store the thread's priority.
+ </li>
+</ul>
+<p>
+ <b>Returned Values:</b>
+ 0 (<code>OK</code>) if successful.
+ Otherwise, the error code <code>ESRCH</code> if the value specified by
+ <code>thread</code> does not refer to an existing thread.
+</p>
+<p>
+ <b>Assumptions/Limitations:</b>
+</p>
+<p>
+ <b>POSIX Compatibility:</b>
+ Comparable to the POSIX interface of the same name.
+</p>
<H3><a name="pthreadsetschedparam">2.9.21 pthread_setschedparam</A></H3>
-<P>
-<B>Function Prototype:</B>
-<P>
-<PRE>
+<p>
+ <b>Function Prototype:</b>
+</p>
+<pre>
#include <pthread.h>
int pthread_setschedparam(pthread_t thread, int policy,
- const struct sched_param *param);
-</PRE>
-<P>
-<B>Description:</B>
-<P>
-<B>Input Parameters:</B>
-<P>
-<UL>
- <li><code>param<code>.</li>
-</UL>
-<P>
-<B>Returned Values:</B>
-<P>
-If successful, the <I>pthread_setschedparam()</I> function will return
-zero (<I>OK</I>). Otherwise, an error number will be
-returned to indicate the error:
-<P>
-<UL>
- <li><code>Exxx</code>. </li>
-</UL>
-<B>Assumptions/Limitations:</B>
-<P>
-<B>POSIX Compatibility:</B> Comparable to the POSIX
-interface of the same name.
+ const struct sched_param *param);
+</pre>
+<p>
+ <b>Description:</b>
+ The <code>pthread_setschedparam()</code> functions will set the scheduling policy
+ and parameters of threads.
+ For <code>SCHED_FIFO</code> and <code>SCHED_RR</code>, the only required member
+ of the <code>sched_param</code> structure is the priority <code>sched_priority</code>.
+</p>
+</p>
+ The <code>pthread_setschedparam()</code> function will set the scheduling policy
+ and associated scheduling parameters for the thread whose thread ID is given by
+ <code>thread</code> to the policy and associated parameters provided in
+ <code>policy</code> and <code>param</code>, respectively.
+</p>
+<p>
+ The policy parameter may have the value <code>SCHED_FIFO</code> or <code>SCHED_RR</code>.
+ (<code>SCHED_OTHER</code> and <code>SCHED_SPORADIC</code>, in particular, are not supported).
+ The <code>SCHED_FIFO</code> and <code>SCHED_RR</code> policies will have a single
+ scheduling parameter, <code>sched_priority</code>.
+</p>
+<p>
+ If the <code>pthread_setschedparam()</code> function fails, the scheduling
+ parameters will not be changed for the target thread.
+</p>
+<p>
+ <b>Input Parameters:</b>
+</p>
+<ul>
+ <li>
+ <code>thread</code>.
+ The ID of thread whose scheduling parameters will be modified.
+ </li>
+ <li>
+ <code>policy</code>.
+ The new scheduling policy of the thread.
+ Either <code>SCHED_FIFO</code> or <code>SCHED_RR<code>.
+ <code>SCHED_OTHER<code> and <code>SCHED_SPORADIC<code> are not supported.
+ </li>
+ <li>
+ <code>param</code>.
+ The location to store the thread's priority.
+ </li>
+</ul>
+<p>
+ <b>Returned Values:</b>
+</p>
+<p>
+ If successful, the <I>pthread_setschedparam()</I> function will return
+ zero (<I>OK</I>). Otherwise, an error number will be
+ returned to indicate the error:
+</p>
+<ul>
+ <li>
+ <code>EINVAL</code>.
+ The value specified by <code>policy</code> or one of the scheduling parameters
+ associated with the scheduling policy <code>policy</code> is invalid.
+ </li>
+ <li>
+ <code>ENOTSUP</code>.
+ An attempt was made to set the policy or scheduling parameters to an unsupported
+ value (<code>SCHED_OTHER</code> and <code>SCHED_SPORADIC</code> in particular are
+ not supported)
+ </li>
+ <li>
+ <code>EPERM</code>.
+ The caller does not have the appropriate permission to set either the scheduling
+ parameters or the scheduling policy of the specified thread.
+ Or, the implementation does not allow the application to modify one of the
+ parameters to the value specified.
+
+ </li>
+ <li>
+ <code>ESRCH</code>.
+ The value specified by thread does not refer to a existing thread.
+ </li>
+</ul>
+<p>
+ <b>Assumptions/Limitations:</b>
+</p>
+<p>
+ <b>POSIX Compatibility:</b>
+ Comparable to the POSIX interface of the same name.
+</p>
<H3><a name="pthreadkeycreate">2.9.22 pthread_key_create</A></H3>
<P>