+
+/**
+ * Call the scheduler and eventually replace the current running process.
+ */
+void proc_schedule(void)
+{
+ Process *old_process = current_process;
+
+ IRQ_ASSERT_DISABLED();
+
+ /* Poll on the ready queue for the first ready process */
+ LIST_ASSERT_VALID(&proc_ready_list);
+ while (!(current_process = (struct Process *)list_remHead(&proc_ready_list)))
+ {
+ /*
+ * Make sure we physically reenable interrupts here, no matter what
+ * the current task status is. This is important because if we
+ * are idle-spinning, we must allow interrupts, otherwise no
+ * process will ever wake up.
+ *
+ * During idle-spinning, an interrupt can occur and it may
+ * modify \p proc_ready_list. To ensure that compiler reload this
+ * variable every while cycle we call CPU_MEMORY_BARRIER.
+ * The memory barrier ensure that all variables used in this context
+ * are reloaded.
+ * \todo If there was a way to write sig_wait() so that it does not
+ * disable interrupts while waiting, there would not be any
+ * reason to do this.
+ */
+ IRQ_ENABLE;
+ CPU_IDLE;
+ MEMORY_BARRIER;
+ IRQ_DISABLE;
+ }
+ /*
+ * Optimization: don't switch contexts when the active process has not
+ * changed.
+ */
+ if (LIKELY(current_process != old_process)) {
+ cpu_stack_t *dummy;
+
+ /*
+ * Save context of old process and switch to new process. If
+ * there is no old process, we save the old stack pointer into
+ * a dummy variable that we ignore. In fact, this happens only
+ * when the old process has just exited.
+ */
+ asm_switch_context(¤t_process->stack,
+ old_process ? &old_process->stack : &dummy);
+ }
+ /* This RET resumes the execution on the new process */
+ LOG_INFO("resuming %p:%s\n", current_process, proc_currentName());
+}