/**
* @brief Time management handler.
* @note This handler has to be invoked by a periodic ISR in order to
* reschedule the waiting threads.
*
* @iclass
*/
void nilSysTimerHandlerI(void) {
#if NIL_CFG_TIMEDELTA == 0
thread_ref_t tr = &nil.threads[0];
nil.systime++;
do {
/* Is the thread in a wait state with timeout?.*/
if (tr->timeout > 0) {
nilDbgAssert(!NIL_THD_IS_READY(tr),
"nilSysTimerHandlerI(), #1", "is ready");
/* Did the timer reach zero?*/
if (--tr->timeout == 0) {
/* Timeout on semaphores requires a special handling because the
semaphore counter must be incremented.*/
if (NIL_THD_IS_WTSEM(tr))
tr->u1.semp->cnt++;
else if (NIL_THD_IS_SUSP(tr))
tr->u1.trp = NULL;
nilSchReadyI(tr, NIL_MSG_TMO);
}
}
/* Lock released in order to give a preemption chance on those
architectures supporting IRQ preemption.*/
nilSysUnlockFromISR();
tr++;
nilSysLockFromISR();
#if WHG_MOD
} while (tr < nil.idlep);
#else /* WHG_MOD */
} while (tr < &nil.threads[NIL_CFG_NUM_THREADS]);
void imu_isr()
{
#ifdef IRQ_DEBUG
#ifdef __BOARD_YUN__
Console.print(F("ISR"));
#else
Serial.print(F("ISR"));
#endif
#endif
#ifdef USE_NILRTOS
NIL_IRQ_PROLOGUE();
#endif
mpuInterrupt = true;
#ifdef USE_NILRTOS
nilSysLockFromISR();
nilSemSignalI(&dmpSem);
nilSysUnlockFromISR();
NIL_IRQ_EPILOGUE();
#endif
}