[ECOS] DSRs and Threads

[Jonathan Larmour]

> Royston Choo wrote:
> 
> Hi,
> 
> I have 5 periodic threads running, and interrupt occurs which call DSR.
> Will the DSR be scheduled to run immediately after the ISR, or will it be
> run at a later time when all the periodic threads has finished.

DSRs run after ISRs, but with interrupts enabled (so an ISR can interrupt a
DSR but not vice-versa).

After all DSRs have been run, threads are then rescheduled.

So a DSR is only guaranteed to run immediately after an ISR if there are no
other interrupts.

Jifl
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