C user guide clean up. Up to timer manager.

1 files changed, 576 insertions, 568 deletions

diff --git a/c_user/rate_monotonic_manager.rst b/c_user/rate_monotonic_manager.rst
index 5bd3b1b..1acb0c1 100644
--- a/c_user/rate_monotonic_manager.rst
+++ b/c_user/rate_monotonic_manager.rst
@@ -1,3 +1,7 @@
+.. COMMENT: COPYRIGHT (c) 1988-2008.
+.. COMMENT: On-Line Applications Research Corporation (OAR).
+.. COMMENT: All rights reserved.
+
 Rate Monotonic Manager
 ######################
 
@@ -9,41 +13,40 @@ Introduction
 
 The rate monotonic manager provides facilities to implement tasks which execute
 in a periodic fashion.  Critically, it also gathers information about the
-execution of those periods and can provide important statistics to the
-user which can be used to analyze and tune the application.  The directives
-provided by the rate monotonic manager are:
+execution of those periods and can provide important statistics to the user
+which can be used to analyze and tune the application.  The directives provided
+by the rate monotonic manager are:
 
-- ``rtems_rate_monotonic_create`` - Create a rate monotonic period
+- rtems_rate_monotonic_create_ - Create a rate monotonic period
 
-- ``rtems_rate_monotonic_ident`` - Get ID of a period
+- rtems_rate_monotonic_ident_ - Get ID of a period
 
-- ``rtems_rate_monotonic_cancel`` - Cancel a period
+- rtems_rate_monotonic_cancel_ - Cancel a period
 
-- ``rtems_rate_monotonic_delete`` - Delete a rate monotonic period
+- rtems_rate_monotonic_delete_ - Delete a rate monotonic period
 
-- ``rtems_rate_monotonic_period`` - Conclude current/Start next period
+- rtems_rate_monotonic_period_ - Conclude current/Start next period
 
-- ``rtems_rate_monotonic_get_status`` - Obtain status from a period
+- rtems_rate_monotonic_get_status_ - Obtain status from a period
 
-- ``rtems_rate_monotonic_get_statistics`` - Obtain statistics from a period
+- rtems_rate_monotonic_get_statistics_ - Obtain statistics from a period
 
-- ``rtems_rate_monotonic_reset_statistics`` - Reset statistics for a period
+- rtems_rate_monotonic_reset_statistics_ - Reset statistics for a period
 
-- ``rtems_rate_monotonic_reset_all_statistics`` - Reset statistics for all periods
+- rtems_rate_monotonic_reset_all_statistics_ - Reset statistics for all periods
 
-- ``rtems_rate_monotonic_report_statistics`` - Print period statistics report
+- rtems_rate_monotonic_report_statistics_ - Print period statistics report
 
 Background
 ==========
 
-The rate monotonic manager provides facilities to
-manage the execution of periodic tasks.  This manager was
-designed to support application designers who utilize the Rate
-Monotonic Scheduling Algorithm (RMS) to ensure that their
-periodic tasks will meet their deadlines, even under transient
-overload conditions.  Although designed for hard real-time
-systems, the services provided by the rate monotonic manager may
-be used by any application which requires periodic tasks.
+The rate monotonic manager provides facilities to manage the execution of
+periodic tasks.  This manager was designed to support application designers who
+utilize the Rate Monotonic Scheduling Algorithm (RMS) to ensure that their
+periodic tasks will meet their deadlines, even under transient overload
+conditions.  Although designed for hard real-time systems, the services
+provided by the rate monotonic manager may be used by any application which
+requires periodic tasks.
 
 Rate Monotonic Manager Required Support
 ---------------------------------------
@@ -58,38 +61,38 @@ statistics are reset implictly at period creation time and may be reset or
 obtained at any time by the application.  The following is a list of the
 information kept:
 
-- ``owner``
+``owner``
   is the id of the thread that owns this period.
 
-- ``count``
+``count``
   is the total number of periods executed.
 
-- ``missed_count``
+``missed_count``
   is the number of periods that were missed.
 
-- ``min_cpu_time``
-  is the minimum amount of CPU execution time consumed
-  on any execution of the periodic loop.
+``min_cpu_time``
+  is the minimum amount of CPU execution time consumed on any execution of the
+  periodic loop.
 
-- ``max_cpu_time``
-  is the maximum amount of CPU execution time consumed
-  on any execution of the periodic loop.
+``max_cpu_time``
+  is the maximum amount of CPU execution time consumed on any execution of the
+  periodic loop.
 
-- ``total_cpu_time``
-  is the total amount of CPU execution time consumed
-  by executions of the periodic loop.
+``total_cpu_time``
+  is the total amount of CPU execution time consumed by executions of the
+  periodic loop.
 
-- ``min_wall_time``
-  is the minimum amount of wall time that passed
-  on any execution of the periodic loop.
+``min_wall_time``
+  is the minimum amount of wall time that passed on any execution of the
+  periodic loop.
 
-- ``max_wall_time``
-  is the maximum amount of wall time that passed
-  on any execution of the periodic loop.
+``max_wall_time``
+  is the maximum amount of wall time that passed on any execution of the
+  periodic loop.
 
-- ``total_wall_time``
-  is the total amount of wall time that passed
-  during executions of the periodic loop.
+``total_wall_time``
+  is the total amount of wall time that passed during executions of the
+  periodic loop.
 
 Each period is divided into two consecutive phases.  The period starts with the
 active phase of the task and is followed by the inactive phase of the task.  In
@@ -102,105 +105,95 @@ executing.  In case the wall time exceeds the period time, then this is a
 period miss.  The gap between the wall time and the period time is the margin
 between a period miss or success.
 
-The period statistics information is inexpensive to maintain
-and can provide very useful insights into the execution
-characteristics of a periodic task loop.  But it is just information.
-The period statistics reported must be analyzed by the user in terms
-of what the applications is.  For example, in an application where
-priorities are assigned by the Rate Monotonic Algorithm, it would
-be very undesirable for high priority (i.e. frequency) tasks to
-miss their period.  Similarly, in nearly any application, if a
-task were supposed to execute its periodic loop every 10 milliseconds
-and it averaged 11 milliseconds, then application requirements
-are not being met.
-
-The information reported can be used to determine the "hot spots"
-in the application.  Given a period's id, the user can determine
-the length of that period.  From that information and the CPU usage,
-the user can calculate the percentage of CPU time consumed by that
-periodic task.  For example, a task executing for 20 milliseconds
-every 200 milliseconds is consuming 10 percent of the processor's
-execution time.  This is usually enough to make it a good candidate
-for optimization.
-
-However, execution time alone is not enough to gauge the value of
-optimizing a particular task.  It is more important to optimize
-a task executing 2 millisecond every 10 milliseconds (20 percent
-of the CPU) than one executing 10 milliseconds every 100 (10 percent
-of the CPU).  As a general rule of thumb, the higher frequency at
-which a task executes, the more important it is to optimize that
-task.
+The period statistics information is inexpensive to maintain and can provide
+very useful insights into the execution characteristics of a periodic task
+loop.  But it is just information.  The period statistics reported must be
+analyzed by the user in terms of what the applications is.  For example, in an
+application where priorities are assigned by the Rate Monotonic Algorithm, it
+would be very undesirable for high priority (i.e. frequency) tasks to miss
+their period.  Similarly, in nearly any application, if a task were supposed to
+execute its periodic loop every 10 milliseconds and it averaged 11
+milliseconds, then application requirements are not being met.
+
+The information reported can be used to determine the "hot spots" in the
+application.  Given a period's id, the user can determine the length of that
+period.  From that information and the CPU usage, the user can calculate the
+percentage of CPU time consumed by that periodic task.  For example, a task
+executing for 20 milliseconds every 200 milliseconds is consuming 10 percent of
+the processor's execution time.  This is usually enough to make it a good
+candidate for optimization.
+
+However, execution time alone is not enough to gauge the value of optimizing a
+particular task.  It is more important to optimize a task executing 2
+millisecond every 10 milliseconds (20 percent of the CPU) than one executing 10
+milliseconds every 100 (10 percent of the CPU).  As a general rule of thumb,
+the higher frequency at which a task executes, the more important it is to
+optimize that task.
 
 Rate Monotonic Manager Definitions
 ----------------------------------
 .. index:: periodic task, definition
 
-A periodic task is one which must be executed at a
-regular interval.  The interval between successive iterations of
-the task is referred to as its period.  Periodic tasks can be
-characterized by the length of their period and execution time.
-The period and execution time of a task can be used to determine
-the processor utilization for that task.  Processor utilization
-is the percentage of processor time used and can be calculated
-on a per-task or system-wide basis.  Typically, the task's
-worst-case execution time will be less than its period.  For
-example, a periodic task's requirements may state that it should
-execute for 10 milliseconds every 100 milliseconds.  Although
-the execution time may be the average, worst, or best case, the
-worst-case execution time is more appropriate for use when
-analyzing system behavior under transient overload conditions... index:: aperiodic task, definition
-
-In contrast, an aperiodic task executes at irregular
-intervals and has only a soft deadline.  In other words, the
-deadlines for aperiodic tasks are not rigid, but adequate
-response times are desirable.  For example, an aperiodic task
-may process user input from a terminal... index:: sporadic task, definition
-
-Finally, a sporadic task is an aperiodic task with a
-hard deadline and minimum interarrival time.  The minimum
-interarrival time is the minimum period of time which exists
-between successive iterations of the task.  For example, a
-sporadic task could be used to process the pressing of a fire
-button on a joystick.  The mechanical action of the fire button
-ensures a minimum time period between successive activations,
-but the missile must be launched by a hard deadline.
+A periodic task is one which must be executed at a regular interval.  The
+interval between successive iterations of the task is referred to as its
+period.  Periodic tasks can be characterized by the length of their period and
+execution time.  The period and execution time of a task can be used to
+determine the processor utilization for that task.  Processor utilization is
+the percentage of processor time used and can be calculated on a per-task or
+system-wide basis.  Typically, the task's worst-case execution time will be
+less than its period.  For example, a periodic task's requirements may state
+that it should execute for 10 milliseconds every 100 milliseconds.  Although
+the execution time may be the average, worst, or best case, the worst-case
+execution time is more appropriate for use when analyzing system behavior under
+transient overload conditions... index:: aperiodic task, definition
+
+In contrast, an aperiodic task executes at irregular intervals and has only a
+soft deadline.  In other words, the deadlines for aperiodic tasks are not
+rigid, but adequate response times are desirable.  For example, an aperiodic
+task may process user input from a terminal.
+
+.. index:: sporadic task, definition
+
+Finally, a sporadic task is an aperiodic task with a hard deadline and minimum
+interarrival time.  The minimum interarrival time is the minimum period of time
+which exists between successive iterations of the task.  For example, a
+sporadic task could be used to process the pressing of a fire button on a
+joystick.  The mechanical action of the fire button ensures a minimum time
+period between successive activations, but the missile must be launched by a
+hard deadline.
 
 Rate Monotonic Scheduling Algorithm
 -----------------------------------
 .. index:: Rate Monotonic Scheduling Algorithm, definition
 .. index:: RMS Algorithm, definition
 
-The Rate Monotonic Scheduling Algorithm (RMS) is
-important to real-time systems designers because it allows one
-to guarantee that a set of tasks is schedulable.  A set of tasks
-is said to be schedulable if all of the tasks can meet their
-deadlines.  RMS provides a set of rules which can be used to
-perform a guaranteed schedulability analysis for a task set.
-This analysis determines whether a task set is schedulable under
-worst-case conditions and emphasizes the predictability of the
-system's behavior.  It has been proven that:
-
-- *RMS is an optimal static priority algorithm for
-  scheduling independent, preemptible, periodic tasks
-  on a single processor.*
-
-RMS is optimal in the sense that if a set of tasks
-can be scheduled by any static priority algorithm, then RMS will
-be able to schedule that task set.  RMS bases it schedulability
-analysis on the processor utilization level below which all
-deadlines can be met.
-
-RMS calls for the static assignment of task
-priorities based upon their period.  The shorter a task's
-period, the higher its priority.  For example, a task with a 1
-millisecond period has higher priority than a task with a 100
-millisecond period.  If two tasks have the same period, then RMS
-does not distinguish between the tasks.  However, RTEMS
-specifies that when given tasks of equal priority, the task
-which has been ready longest will execute first.  RMS's priority
-assignment scheme does not provide one with exact numeric values
-for task priorities.  For example, consider the following task
-set and priority assignments:
+The Rate Monotonic Scheduling Algorithm (RMS) is important to real-time systems
+designers because it allows one to guarantee that a set of tasks is
+schedulable.  A set of tasks is said to be schedulable if all of the tasks can
+meet their deadlines.  RMS provides a set of rules which can be used to perform
+a guaranteed schedulability analysis for a task set.  This analysis determines
+whether a task set is schedulable under worst-case conditions and emphasizes
+the predictability of the system's behavior.  It has been proven that:
+
+.. sidebar:: *RMS*
+
+  RMS is an optimal static priority algorithm for scheduling independent,
+  preemptible, periodic tasks on a single processor.
+
+RMS is optimal in the sense that if a set of tasks can be scheduled by any
+static priority algorithm, then RMS will be able to schedule that task set.
+RMS bases it schedulability analysis on the processor utilization level below
+which all deadlines can be met.
+
+RMS calls for the static assignment of task priorities based upon their period.
+The shorter a task's period, the higher its priority.  For example, a task with
+a 1 millisecond period has higher priority than a task with a 100 millisecond
+period.  If two tasks have the same period, then RMS does not distinguish
+between the tasks.  However, RTEMS specifies that when given tasks of equal
+priority, the task which has been ready longest will execute first.  RMS's
+priority assignment scheme does not provide one with exact numeric values for
+task priorities.  For example, consider the following task set and priority
+assignments:
 
 +--------------------+---------------------+---------------------+
 | Task               | Period              | Priority            |
@@ -215,22 +208,19 @@ set and priority assignments:
 |         4          |          25         |        High         |
 +--------------------+---------------------+---------------------+
 
-RMS only calls for task 1 to have the lowest
-priority, task 4 to have the highest priority, and tasks 2 and 3
-to have an equal priority between that of tasks 1 and 4.  The
-actual RTEMS priorities assigned to the tasks must only adhere
-to those guidelines.
-
-Many applications have tasks with both hard and soft
-deadlines.  The tasks with hard deadlines are typically referred
-to as the critical task set, with the soft deadline tasks being
-the non-critical task set.  The critical task set can be
-scheduled using RMS, with the non-critical tasks not executing
-under transient overload, by simply assigning priorities such
-that the lowest priority critical task (i.e. longest period) has
-a higher priority than the highest priority non-critical task.
-Although RMS may be used to assign priorities to the
-non-critical tasks, it is not necessary.  In this instance,
+RMS only calls for task 1 to have the lowest priority, task 4 to have the
+highest priority, and tasks 2 and 3 to have an equal priority between that of
+tasks 1 and 4.  The actual RTEMS priorities assigned to the tasks must only
+adhere to those guidelines.
+
+Many applications have tasks with both hard and soft deadlines.  The tasks with
+hard deadlines are typically referred to as the critical task set, with the
+soft deadline tasks being the non-critical task set.  The critical task set can
+be scheduled using RMS, with the non-critical tasks not executing under
+transient overload, by simply assigning priorities such that the lowest
+priority critical task (i.e. longest period) has a higher priority than the
+highest priority non-critical task.  Although RMS may be used to assign
+priorities to the non-critical tasks, it is not necessary.  In this instance,
 schedulability is only guaranteed for the critical task set.
 
 Schedulability Analysis
@@ -238,74 +228,67 @@ Schedulability Analysis
 
 .. index:: RMS schedulability analysis
 
-RMS allows application designers to ensure that tasks
-can meet all deadlines, even under transient overload, without
-knowing exactly when any given task will execute by applying
-proven schedulability analysis rules.
+RMS allows application designers to ensure that tasks can meet all deadlines,
+even under transient overload, without knowing exactly when any given task will
+execute by applying proven schedulability analysis rules.
 
 Assumptions
 ~~~~~~~~~~~
 
-The schedulability analysis rules for RMS were
-developed based on the following assumptions:
+The schedulability analysis rules for RMS were developed based on the following
+assumptions:
 
-- The requests for all tasks for which hard deadlines
-  exist are periodic, with a constant interval between requests.
+- The requests for all tasks for which hard deadlines exist are periodic, with
+  a constant interval between requests.
 
-- Each task must complete before the next request for it
-  occurs.
+- Each task must complete before the next request for it occurs.
 
-- The tasks are independent in that a task does not depend
-  on the initiation or completion of requests for other tasks.
+- The tasks are independent in that a task does not depend on the initiation or
+  completion of requests for other tasks.
 
-- The execution time for each task without preemption or
-  interruption is constant and does not vary.
+- The execution time for each task without preemption or interruption is
+  constant and does not vary.
 
-- Any non-periodic tasks in the system are special.  These
-  tasks displace periodic tasks while executing and do not have
-  hard, critical deadlines.
+- Any non-periodic tasks in the system are special.  These tasks displace
+  periodic tasks while executing and do not have hard, critical deadlines.
 
-Once the basic schedulability analysis is understood,
-some of the above assumptions can be relaxed and the
-side-effects accounted for.
+Once the basic schedulability analysis is understood, some of the above
+assumptions can be relaxed and the side-effects accounted for.
 
 Processor Utilization Rule
 ~~~~~~~~~~~~~~~~~~~~~~~~~~
 .. index:: RMS Processor Utilization Rule
 
-The Processor Utilization Rule requires that
-processor utilization be calculated based upon the period and
-execution time of each task.  The fraction of processor time
-spent executing task index is Time(index) / Period(index).  The
-processor utilization can be calculated as follows:
+The Processor Utilization Rule requires that processor utilization be
+calculated based upon the period and execution time of each task.  The fraction
+of processor time spent executing task index is ``Time(index) /
+Period(index)``.  The processor utilization can be calculated as follows:
+
 .. code:: c
 
     Utilization = 0
     for index = 1 to maximum_tasks
     Utilization = Utilization + (Time(index)/Period(index))
 
-To ensure schedulability even under transient
-overload, the processor utilization must adhere to the following
-rule:
+To ensure schedulability even under transient overload, the processor
+utilization must adhere to the following rule:
+
 .. code:: c
 
     Utilization = maximum_tasks * (2**(1/maximum_tasks) - 1)
 
-As the number of tasks increases, the above formula
-approaches ln(2) for a worst-case utilization factor of
-approximately 0.693.  Many tasks sets can be scheduled with a
-greater utilization factor.  In fact, the average processor
-utilization threshold for a randomly generated task set is
-approximately 0.88.
+As the number of tasks increases, the above formula approaches ln(2) for a
+worst-case utilization factor of approximately 0.693.  Many tasks sets can be
+scheduled with a greater utilization factor.  In fact, the average processor
+utilization threshold for a randomly generated task set is approximately 0.88.
 
 Processor Utilization Rule Example
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-This example illustrates the application of the
-Processor Utilization Rule to an application with three critical
-periodic tasks.  The following table details the RMS priority,
-period, execution time, and processor utilization for each task:
-
+This example illustrates the application of the Processor Utilization Rule to
+an application with three critical periodic tasks.  The following table details
+the RMS priority, period, execution time, and processor utilization for each
+task:
 
 +------------+----------+--------+-----------+-------------+
 | Tas   k    | RMS      | Period | Execution | Processor   |
@@ -318,46 +301,40 @@ period, execution time, and processor utilization for each task:
 |     3      |   Low    |  300   |   100     |    0.33     |
 +------------+----------+--------+-----------+-------------+
 
-The total processor utilization for this task set is
-0.73 which is below the upper bound of 3 * (2**(1/3) - 1), or
-0.779, imposed by the Processor Utilization Rule.  Therefore,
-this task set is guaranteed to be schedulable using RMS.
+The total processor utilization for this task set is 0.73 which is below the
+upper bound of 3 * (2**(1/3) - 1), or 0.779, imposed by the Processor
+Utilization Rule.  Therefore, this task set is guaranteed to be schedulable
+using RMS.
 
 First Deadline Rule
 ~~~~~~~~~~~~~~~~~~~
 .. index:: RMS First Deadline Rule
 
-If a given set of tasks do exceed the processor
-utilization upper limit imposed by the Processor Utilization
-Rule, they can still be guaranteed to meet all their deadlines
-by application of the First Deadline Rule.  This rule can be
+If a given set of tasks do exceed the processor utilization upper limit imposed
+by the Processor Utilization Rule, they can still be guaranteed to meet all
+their deadlines by application of the First Deadline Rule.  This rule can be
 stated as follows:
 
-For a given set of independent periodic tasks, if
-each task meets its first deadline when all tasks are started at
-the same time, then the deadlines will always be met for any
-combination of start times.
-
-A key point with this rule is that ALL periodic tasks
-are assumed to start at the exact same instant in time.
-Although this assumption may seem to be invalid,  RTEMS makes it
-quite easy to ensure.  By having a non-preemptible user
-initialization task, all application tasks, regardless of
-priority, can be created and started before the initialization
-deletes itself.  This technique ensures that all tasks begin to
-compete for execution time at the same instant - when the user
-initialization task deletes itself.
+For a given set of independent periodic tasks, if each task meets its first
+deadline when all tasks are started at the same time, then the deadlines will
+always be met for any combination of start times.
+
+A key point with this rule is that ALL periodic tasks are assumed to start at
+the exact same instant in time.  Although this assumption may seem to be
+invalid, RTEMS makes it quite easy to ensure.  By having a non-preemptible user
+initialization task, all application tasks, regardless of priority, can be
+created and started before the initialization deletes itself.  This technique
+ensures that all tasks begin to compete for execution time at the same instant
+- when the user initialization task deletes itself.
 
 First Deadline Rule Example
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
-The First Deadline Rule can ensure schedulability
-even when the Processor Utilization Rule fails.  The example
-below is a modification of the Processor Utilization Rule
-example where task execution time has been increased from 15 to
-25 units.  The following table details the RMS priority, period,
-execution time, and processor utilization for each task:
-.. code:: c
+The First Deadline Rule can ensure schedulability even when the Processor
+Utilization Rule fails.  The example below is a modification of the Processor
+Utilization Rule example where task execution time has been increased from 15
+to 25 units.  The following table details the RMS priority, period, execution
+time, and processor utilization for each task:
 
 +------------+----------+--------+-----------+-------------+
 | Task       | RMS      | Period | Execution | Processor   |
@@ -370,19 +347,15 @@ execution time, and processor utilization for each task:
 |     3      |   Low    |  300   |   100     |    0.33     |
 +------------+----------+--------+-----------+-------------+
 
-The total processor utilization for the modified task
-set is 0.83 which is above the upper bound of 3 * (2**(1/3) - 1),
-or 0.779, imposed by the Processor Utilization Rule.  Therefore,
-this task set is not guaranteed to be schedulable using RMS.
-However, the First Deadline Rule can guarantee the
-schedulability of this task set.  This rule calls for one to
-examine each occurrence of deadline until either all tasks have
-met their deadline or one task failed to meet its first
-deadline.  The following table details the time of each deadline
-occurrence, the maximum number of times each task may have run,
-the total execution time, and whether all the deadlines have
-been met.
-.. code:: c
+The total processor utilization for the modified task set is 0.83 which is
+above the upper bound of 3 * (2**(1/3) - 1), or 0.779, imposed by the Processor
+Utilization Rule.  Therefore, this task set is not guaranteed to be schedulable
+using RMS.  However, the First Deadline Rule can guarantee the schedulability
+of this task set.  This rule calls for one to examine each occurrence of
+deadline until either all tasks have met their deadline or one task failed to
+meet its first deadline.  The following table details the time of each deadline
+occurrence, the maximum number of times each task may have run, the total
+execution time, and whether all the deadlines have been met:
 
 +----------+------+------+------+----------------------+---------------+
 | Deadline | Task | Task | Task | Total                | All Deadlines |
@@ -393,85 +366,74 @@ been met.
 |   200    |  2   |  1   |  1   |  50 + 50 + 100 = 200 |     YES       |
 +----------+------+------+------+----------------------+---------------+
 
-The key to this analysis is to recognize when each
-task will execute.  For example	at time 100, task 1 must have
-met its first deadline, but tasks 2 and 3 may also have begun
-execution.  In this example, at time 100 tasks 1 and 2 have
-completed execution and thus have met their first deadline.
-Tasks 1 and 2 have used (25 + 50) = 75 time units, leaving (100
-- 75) = 25 time units for task 3 to begin.  Because task 3 takes
-100 ticks to execute, it will not have completed execution at
-time 100.  Thus at time 100, all of the tasks except task 3 have
-met their first deadline.
-
-At time 200, task 1 must have met its second deadline
-and task 2 its first deadline.  As a result, of the first 200
-time units, task 1 uses (2 * 25) = 50 and task 2 uses 50,
-leaving (200 - 100) time units for task 3.  Task 3 requires 100
-time units to execute, thus it will have completed execution at
-time 200.  Thus, all of the tasks have met their first deadlines
-at time 200, and the task set is schedulable using the First
-Deadline Rule.
+The key to this analysis is to recognize when each task will execute.  For
+example at time 100, task 1 must have met its first deadline, but tasks 2 and 3
+may also have begun execution.  In this example, at time 100 tasks 1 and 2 have
+completed execution and thus have met their first deadline.  Tasks 1 and 2 have
+used (25 + 50) = 75 time units, leaving (100 - 75) = 25 time units for task 3
+to begin.  Because task 3 takes 100 ticks to execute, it will not have
+completed execution at time 100.  Thus at time 100, all of the tasks except
+task 3 have met their first deadline.
+
+At time 200, task 1 must have met its second deadline and task 2 its first
+deadline.  As a result, of the first 200 time units, task 1 uses (2 * 25) = 50
+and task 2 uses 50, leaving (200 - 100) time units for task 3.  Task 3 requires
+100 time units to execute, thus it will have completed execution at time 200.
+Thus, all of the tasks have met their first deadlines at time 200, and the task
+set is schedulable using the First Deadline Rule.
 
 Relaxation of Assumptions
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
-The assumptions used to develop the RMS
-schedulability rules are uncommon in most real-time systems.
-For example, it was assumed that tasks have constant unvarying
-execution time.  It is possible to relax this assumption, simply
-by using the worst-case execution time of each task.
-
-Another assumption is that the tasks are independent.
-This means that the tasks do not wait for one another or
-contend for resources.  This assumption can be relaxed by
-accounting for the amount of time a task spends waiting to
-acquire resources.  Similarly, each task's execution time must
-account for any I/O performed and any RTEMS directive calls.
-
-In addition, the assumptions did not account for the
-time spent executing interrupt service routines.  This can be
-accounted for by including all the processor utilization by
-interrupt service routines in the utilization calculation.
-Similarly, one should also account for the impact of delays in
-accessing local memory caused by direct memory access and other
-processors accessing local dual-ported memory.
-
-The assumption that nonperiodic tasks are used only
-for initialization or failure-recovery can be relaxed by placing
-all periodic tasks in the critical task set.  This task set can
-be scheduled and analyzed using RMS.  All nonperiodic tasks are
-placed in the non-critical task set.  Although the critical task
-set can be guaranteed to execute even under transient overload,
+The assumptions used to develop the RMS schedulability rules are uncommon in
+most real-time systems.  For example, it was assumed that tasks have constant
+unvarying execution time.  It is possible to relax this assumption, simply by
+using the worst-case execution time of each task.
+
+Another assumption is that the tasks are independent.  This means that the
+tasks do not wait for one another or contend for resources.  This assumption
+can be relaxed by accounting for the amount of time a task spends waiting to
+acquire resources.  Similarly, each task's execution time must account for any
+I/O performed and any RTEMS directive calls.
+
+In addition, the assumptions did not account for the time spent executing
+interrupt service routines.  This can be accounted for by including all the
+processor utilization by interrupt service routines in the utilization
+calculation.  Similarly, one should also account for the impact of delays in
+accessing local memory caused by direct memory access and other processors
+accessing local dual-ported memory.
+
+The assumption that nonperiodic tasks are used only for initialization or
+failure-recovery can be relaxed by placing all periodic tasks in the critical
+task set.  This task set can be scheduled and analyzed using RMS.  All
+nonperiodic tasks are placed in the non-critical task set.  Although the
+critical task set can be guaranteed to execute even under transient overload,
 the non-critical task set is not guaranteed to execute.
 
-In conclusion, the application designer must be fully
-cognizant of the system and its run-time behavior when
-performing schedulability analysis for a system using RMS.
-Every hardware and software factor which impacts the execution
-time of each task must be accounted for in the schedulability
-analysis.
+In conclusion, the application designer must be fully cognizant of the system
+and its run-time behavior when performing schedulability analysis for a system
+using RMS.  Every hardware and software factor which impacts the execution time
+of each task must be accounted for in the schedulability analysis.
 
 Further Reading
 ~~~~~~~~~~~~~~~
 
-For more information on Rate Monotonic Scheduling and
-its schedulability analysis, the reader is referred to the
-following:
+For more information on Rate Monotonic Scheduling and its schedulability
+analysis, the reader is referred to the following:
 
-- *C. L. Liu and J. W. Layland. "Scheduling Algorithms for
-  Multiprogramming in a Hard Real Time Environment." *Journal of
-  the Association of Computing Machinery*. January 1973. pp. 46-61.*
+- C. L. Liu and J. W. Layland. "Scheduling Algorithms for Multiprogramming in a
+  Hard Real Time Environment." *Journal of the Association of Computing
+  Machinery*. January 1973. pp. 46-61.
 
-- *John Lehoczky, Lui Sha, and Ye Ding. "The Rate Monotonic
-  Scheduling Algorithm: Exact Characterization and Average Case
-  Behavior."  *IEEE Real-Time Systems Symposium*. 1989. pp. 166-171.*
+- John Lehoczky, Lui Sha, and Ye Ding. "The Rate Monotonic Scheduling
+  Algorithm: Exact Characterization and Average Case Behavior."  *IEEE
+  Real-Time Systems Symposium*. 1989. pp. 166-171.
 
-- *Lui Sha and John Goodenough. "Real-Time Scheduling
-  theory and Ada."  *IEEE Computer*. April 1990. pp. 53-62.*
+- Lui Sha and John Goodenough. "Real-Time Scheduling theory and Ada."  *IEEE
+  Computer*. April 1990. pp. 53-62.
 
-- *Alan Burns. "Scheduling hard real-time systems: a
-  review."  *Software Engineering Journal*. May 1991. pp. 116-128.*
+- Alan Burns. "Scheduling hard real-time systems: a review."  *Software
+  Engineering Journal*. May 1991. pp. 116-128.
 
 Operations
 ==========
@@ -479,205 +441,202 @@ Operations
 Creating a Rate Monotonic Period
 --------------------------------
 
-The ``rtems_rate_monotonic_create`` directive creates a rate
-monotonic period which is to be used by the calling task to
-delineate a period.  RTEMS allocates a Period Control Block
-(PCB) from the PCB free list.  This data structure is used by
-RTEMS to manage the newly created rate monotonic period.  RTEMS
-returns a unique period ID to the application which is used by
-other rate monotonic manager directives to access this rate
-monotonic period.
+The ``rtems_rate_monotonic_create`` directive creates a rate monotonic period
+which is to be used by the calling task to delineate a period.  RTEMS allocates
+a Period Control Block (PCB) from the PCB free list.  This data structure is
+used by RTEMS to manage the newly created rate monotonic period.  RTEMS returns
+a unique period ID to the application which is used by other rate monotonic
+manager directives to access this rate monotonic period.
 
 Manipulating a Period
 ---------------------
 
-The ``rtems_rate_monotonic_period`` directive is used to
-establish and maintain periodic execution utilizing a previously
-created rate monotonic period.   Once initiated by the``rtems_rate_monotonic_period`` directive, the period is
-said to run until it either expires or is reinitiated.  The state of the rate
+The ``rtems_rate_monotonic_period`` directive is used to establish and maintain
+periodic execution utilizing a previously created rate monotonic period.  Once
+initiated by the ``rtems_rate_monotonic_period`` directive, the period is said
+to run until it either expires or is reinitiated.  The state of the rate
 monotonic period results in one of the following scenarios:
 
-- If the rate monotonic period is running, the calling
-  task will be blocked for the remainder of the outstanding period
-  and, upon completion of that period, the period will be
-  reinitiated with the specified period.
+- If the rate monotonic period is running, the calling task will be blocked for
+  the remainder of the outstanding period and, upon completion of that period,
+  the period will be reinitiated with the specified period.
 
-- If the rate monotonic period is not currently running
-  and has not expired, it is initiated with a length of period
-  ticks and the calling task returns immediately.
+- If the rate monotonic period is not currently running and has not expired, it
+  is initiated with a length of period ticks and the calling task returns
+  immediately.
 
-- If the rate monotonic period has expired before the task
-  invokes the ``rtems_rate_monotonic_period`` directive,
-  the period will be initiated with a length of period ticks and the calling task
-  returns immediately with a timeout error status.
+- If the rate monotonic period has expired before the task invokes the
+  ``rtems_rate_monotonic_period`` directive, the period will be initiated with
+  a length of period ticks and the calling task returns immediately with a
+  timeout error status.
 
 Obtaining the Status of a Period
 --------------------------------
 
-If the ``rtems_rate_monotonic_period`` directive is invoked
-with a period of ``RTEMS_PERIOD_STATUS`` ticks, the current
-state of the specified rate monotonic period will be returned.  The following
-table details the relationship between the period's status and
-the directive status code returned by the``rtems_rate_monotonic_period``
-directive:
+If the ``rtems_rate_monotonic_period`` directive is invoked with a period of
+``RTEMS_PERIOD_STATUS`` ticks, the current state of the specified rate
+monotonic period will be returned.  The following table details the
+relationship between the period's status and the directive status code returned
+by the ``rtems_rate_monotonic_period`` directive:
 
-- ``RTEMS_SUCCESSFUL`` - period is running
+``RTEMS_SUCCESSFUL``
+  period is running
 
-- ``RTEMS_TIMEOUT`` - period has expired
+``RTEMS_TIMEOUT``
+  period has expired
 
-- ``RTEMS_NOT_DEFINED`` - period has never been initiated
+``RTEMS_NOT_DEFINED``
+  period has never been initiated
 
-Obtaining the status of a rate monotonic period does
-not alter the state or length of that period.
+Obtaining the status of a rate monotonic period does not alter the state or
+length of that period.
 
 Canceling a Period
 ------------------
 
-The ``rtems_rate_monotonic_cancel`` directive is used to stop
-the period maintained by the specified rate monotonic period.
-The period is stopped and the rate monotonic period can be
-reinitiated using the ``rtems_rate_monotonic_period`` directive.
+The ``rtems_rate_monotonic_cancel`` directive is used to stop the period
+maintained by the specified rate monotonic period.  The period is stopped and
+the rate monotonic period can be reinitiated using the
+``rtems_rate_monotonic_period`` directive.
 
 Deleting a Rate Monotonic Period
 --------------------------------
 
-The ``rtems_rate_monotonic_delete`` directive is used to delete
-a rate monotonic period.  If the period is running and has not
-expired, the period is automatically canceled.  The rate
-monotonic period's control block is returned to the PCB free
-list when it is deleted.  A rate monotonic period can be deleted
-by a task other than the task which created the period.
+The ``rtems_rate_monotonic_delete`` directive is used to delete a rate
+monotonic period.  If the period is running and has not expired, the period is
+automatically canceled.  The rate monotonic period's control block is returned
+to the PCB free list when it is deleted.  A rate monotonic period can be
+deleted by a task other than the task which created the period.
 
 Examples
 --------
 
-The following sections illustrate common uses of rate
-monotonic periods to construct periodic tasks.
+The following sections illustrate common uses of rate monotonic periods to
+construct periodic tasks.
 
 Simple Periodic Task
 --------------------
 
-This example consists of a single periodic task
-which, after initialization, executes every 100 clock ticks.
-.. code:: c
+This example consists of a single periodic task which, after initialization,
+executes every 100 clock ticks.
+
+.. code-block:: c
+    :linenos:
 
     rtems_task Periodic_task(rtems_task_argument arg)
     {
-    rtems_name        name;
-    rtems_id          period;
-    rtems_status_code status;
-    name = rtems_build_name( 'P', 'E', 'R', 'D' );
-    status = rtems_rate_monotonic_create( name, &period );
-    if ( status != RTEMS_STATUS_SUCCESSFUL ) {
-    printf( "rtems_monotonic_create failed with status of %d.\\n", rc );
-    exit( 1 );
-    }
-    while ( 1 ) {
-    if ( rtems_rate_monotonic_period( period, 100 ) == RTEMS_TIMEOUT )
-    break;
-    /* Perform some periodic actions \*/
-    }
-    /* missed period so delete period and SELF \*/
-    status = rtems_rate_monotonic_delete( period );
-    if ( status != RTEMS_STATUS_SUCCESSFUL ) {
-    printf( "rtems_rate_monotonic_delete failed with status of %d.\\n", status );
-    exit( 1 );
-    }
-    status = rtems_task_delete( SELF );    /* should not return \*/
-    printf( "rtems_task_delete returned with status of %d.\\n", status );
-    exit( 1 );
+        rtems_name        name;
+        rtems_id          period;
+        rtems_status_code status;
+        name = rtems_build_name( 'P', 'E', 'R', 'D' );
+        status = rtems_rate_monotonic_create( name, &period );
+        if ( status != RTEMS_STATUS_SUCCESSFUL ) {
+            printf( "rtems_monotonic_create failed with status of %d.\n", rc );
+            exit( 1 );
+        }
+        while ( 1 ) {
+            if ( rtems_rate_monotonic_period( period, 100 ) == RTEMS_TIMEOUT )
+                break;
+            /* Perform some periodic actions */
+        }
+        /* missed period so delete period and SELF */
+        status = rtems_rate_monotonic_delete( period );
+        if ( status != RTEMS_STATUS_SUCCESSFUL ) {
+            printf( "rtems_rate_monotonic_delete failed with status of %d.\n", status );
+            exit( 1 );
+        }
+        status = rtems_task_delete( SELF );    /* should not return */
+        printf( "rtems_task_delete returned with status of %d.\n", status );
+        exit( 1 );
     }
 
-The above task creates a rate monotonic period as
-part of its initialization.  The first time the loop is
-executed, the ``rtems_rate_monotonic_period``
-directive will initiate the period for 100 ticks and return
-immediately.  Subsequent invocations of the``rtems_rate_monotonic_period`` directive will result
-in the task blocking for the remainder of the 100 tick period.
-If, for any reason, the body of the loop takes more than 100
-ticks to execute, the ``rtems_rate_monotonic_period``
-directive will return the ``RTEMS_TIMEOUT`` status.
-If the above task misses its deadline, it will delete the rate
+The above task creates a rate monotonic period as part of its initialization.
+The first time the loop is executed, the ``rtems_rate_monotonic_period``
+directive will initiate the period for 100 ticks and return immediately.
+Subsequent invocations of the ``rtems_rate_monotonic_period`` directive will
+result in the task blocking for the remainder of the 100 tick period.  If, for
+any reason, the body of the loop takes more than 100 ticks to execute, the
+``rtems_rate_monotonic_period`` directive will return the ``RTEMS_TIMEOUT``
+status.  If the above task misses its deadline, it will delete the rate
 monotonic period and itself.
 
 Task with Multiple Periods
 --------------------------
 
-This example consists of a single periodic task
-which, after initialization, performs two sets of actions every
-100 clock ticks.  The first set of actions is performed in the
-first forty clock ticks of every 100 clock ticks, while the
-second set of actions is performed between the fortieth and
-seventieth clock ticks.  The last thirty clock ticks are not
-used by this task.
-.. code:: c
+This example consists of a single periodic task which, after initialization,
+performs two sets of actions every 100 clock ticks.  The first set of actions
+is performed in the first forty clock ticks of every 100 clock ticks, while the
+second set of actions is performed between the fortieth and seventieth clock
+ticks.  The last thirty clock ticks are not used by this task.
+
+.. code-block:: c
+    :linenos:
 
     rtems_task Periodic_task(rtems_task_argument arg)
     {
-    rtems_name        name_1, name_2;
-    rtems_id          period_1, period_2;
-    rtems_status_code status;
-    name_1 = rtems_build_name( 'P', 'E', 'R', '1' );
-    name_2 = rtems_build_name( 'P', 'E', 'R', '2' );
-    (void ) rtems_rate_monotonic_create( name_1, &period_1 );
-    (void ) rtems_rate_monotonic_create( name_2, &period_2 );
-    while ( 1 ) {
-    if ( rtems_rate_monotonic_period( period_1, 100 ) == TIMEOUT )
-    break;
-    if ( rtems_rate_monotonic_period( period_2, 40 ) == TIMEOUT )
-    break;
-    /*
-    *  Perform first set of actions between clock
-    *  ticks 0 and 39 of every 100 ticks.
-    \*/
-    if ( rtems_rate_monotonic_period( period_2, 30 ) == TIMEOUT )
-    break;
-    /*
-    *  Perform second set of actions between clock 40 and 69
-    *  of every 100 ticks.  THEN ...
-    *
-    *  Check to make sure we didn't miss the period_2 period.
-    \*/
-    if ( rtems_rate_monotonic_period( period_2, STATUS ) == TIMEOUT )
-    break;
-    (void) rtems_rate_monotonic_cancel( period_2 );
-    }
-    /* missed period so delete period and SELF \*/
-    (void ) rtems_rate_monotonic_delete( period_1 );
-    (void ) rtems_rate_monotonic_delete( period_2 );
-    (void ) task_delete( SELF );
+        rtems_name        name_1, name_2;
+        rtems_id          period_1, period_2;
+        rtems_status_code status;
+        name_1 = rtems_build_name( 'P', 'E', 'R', '1' );
+        name_2 = rtems_build_name( 'P', 'E', 'R', '2' );
+        (void ) rtems_rate_monotonic_create( name_1, &period_1 );
+        (void ) rtems_rate_monotonic_create( name_2, &period_2 );
+        while ( 1 ) {
+            if ( rtems_rate_monotonic_period( period_1, 100 ) == TIMEOUT )
+                break;
+            if ( rtems_rate_monotonic_period( period_2, 40 ) == TIMEOUT )
+            break;
+            /*
+             *  Perform first set of actions between clock
+             *  ticks 0 and 39 of every 100 ticks.
+             */
+            if ( rtems_rate_monotonic_period( period_2, 30 ) == TIMEOUT )
+                break;
+            /*
+             *  Perform second set of actions between clock 40 and 69
+             *  of every 100 ticks.  THEN ...
+             *
+             *  Check to make sure we didn't miss the period_2 period.
+             */
+            if ( rtems_rate_monotonic_period( period_2, STATUS ) == TIMEOUT )
+                break;
+            (void) rtems_rate_monotonic_cancel( period_2 );
+        }
+        /* missed period so delete period and SELF */
+        (void ) rtems_rate_monotonic_delete( period_1 );
+        (void ) rtems_rate_monotonic_delete( period_2 );
+        (void ) task_delete( SELF );
     }
 
-The above task creates two rate monotonic periods as
-part of its initialization.  The first time the loop is
-executed, the ``rtems_rate_monotonic_period``
-directive will initiate the period_1 period for 100 ticks
-and return immediately.  Subsequent invocations of the``rtems_rate_monotonic_period`` directive
-for period_1 will result in the task blocking for the remainder
-of the 100 tick period.  The period_2 period is used to control
-the execution time of the two sets of actions within each 100
-tick period established by period_1.  The``rtems_rate_monotonic_cancel( period_2 )``
-call is performed to ensure that the period_2 period
-does not expire while the task is blocked on the period_1
-period.  If this cancel operation were not performed, every time
-the ``rtems_rate_monotonic_period( period_2, 40 )``
-call is executed, except for the initial one, a directive status
-of ``RTEMS_TIMEOUT`` is returned.  It is important to
-note that every time this call is made, the period_2 period will be
-initiated immediately and the task will not block.
-
-If, for any reason, the task misses any deadline, the``rtems_rate_monotonic_period`` directive will
-return the ``RTEMS_TIMEOUT``
-directive status.  If the above task misses its deadline, it
-will delete the rate monotonic periods and itself.
+The above task creates two rate monotonic periods as part of its
+initialization.  The first time the loop is executed, the
+``rtems_rate_monotonic_period`` directive will initiate the period_1 period for
+100 ticks and return immediately.  Subsequent invocations of the
+``rtems_rate_monotonic_period`` directive for period_1 will result in the task
+blocking for the remainder of the 100 tick period.  The period_2 period is used
+to control the execution time of the two sets of actions within each 100 tick
+period established by period_1.  The ``rtems_rate_monotonic_cancel( period_2
+)`` call is performed to ensure that the period_2 period does not expire while
+the task is blocked on the period_1 period.  If this cancel operation were not
+performed, every time the ``rtems_rate_monotonic_period( period_2, 40 )`` call
+is executed, except for the initial one, a directive status of
+``RTEMS_TIMEOUT`` is returned.  It is important to note that every time this
+call is made, the period_2 period will be initiated immediately and the task
+will not block.
+
+If, for any reason, the task misses any deadline, the
+``rtems_rate_monotonic_period`` directive will return the ``RTEMS_TIMEOUT``
+directive status.  If the above task misses its deadline, it will delete the
+rate monotonic periods and itself.
 
 Directives
 ==========
 
-This section details the rate monotonic manager's
-directives.  A subsection is dedicated to each of this manager's
-directives and describes the calling sequence, related
-constants, usage, and status codes.
+This section details the rate monotonic manager's directives.  A subsection is
+dedicated to each of this manager's directives and describes the calling
+sequence, related constants, usage, and status codes.
+
+.. _rtems_rate_monotonic_create:
 
 RATE_MONOTONIC_CREATE - Create a rate monotonic period
 ------------------------------------------------------
@@ -690,29 +649,34 @@ RATE_MONOTONIC_CREATE - Create a rate monotonic period
 .. code:: c
 
     rtems_status_code rtems_rate_monotonic_create(
-    rtems_name  name,
-    rtems_id   \*id
+        rtems_name  name,
+        rtems_id   *id
     );
 
 **DIRECTIVE STATUS CODES:**
 
-``RTEMS_SUCCESSFUL`` - rate monotonic period created successfully
-``RTEMS_INVALID_NAME`` - invalid period name
-``RTEMS_TOO_MANY`` - too many periods created
+``RTEMS_SUCCESSFUL``
+  rate monotonic period created successfully
+
+``RTEMS_INVALID_NAME``
+  invalid period name
+
+``RTEMS_TOO_MANY``
+  too many periods created
 
 **DESCRIPTION:**
 
-This directive creates a rate monotonic period.  The
-assigned rate monotonic id is returned in id.  This id is used
-to access the period with other rate monotonic manager
-directives.  For control and maintenance of the rate monotonic
-period, RTEMS allocates a PCB from the local PCB free pool and
+This directive creates a rate monotonic period.  The assigned rate monotonic id
+is returned in id.  This id is used to access the period with other rate
+monotonic manager directives.  For control and maintenance of the rate
+monotonic period, RTEMS allocates a PCB from the local PCB free pool and
 initializes it.
 
 **NOTES:**
 
-This directive will not cause the calling task to be
-preempted.
+This directive will not cause the calling task to be preempted.
+
+.. _rtems_rate_monotonic_ident:
 
 RATE_MONOTONIC_IDENT - Get ID of a period
 -----------------------------------------
@@ -726,28 +690,31 @@ RATE_MONOTONIC_IDENT - Get ID of a period
 .. code:: c
 
     rtems_status_code rtems_rate_monotonic_ident(
-    rtems_name  name,
-    rtems_id   \*id
+        rtems_name  name,
+        rtems_id   *id
     );
 
 **DIRECTIVE STATUS CODES:**
 
-``RTEMS_SUCCESSFUL`` - period identified successfully
-``RTEMS_INVALID_NAME`` - period name not found
+``RTEMS_SUCCESSFUL``
+  period identified successfully
+
+``RTEMS_INVALID_NAME``
+  period name not found
 
 **DESCRIPTION:**
 
-This directive obtains the period id associated with
-the period name to be acquired.  If the period name is not
-unique, then the period id will match one of the periods with
-that name.  However, this period id is not guaranteed to
-correspond to the desired period.  The period id is used to
-access this period in other rate monotonic manager directives.
+This directive obtains the period id associated with the period name to be
+acquired.  If the period name is not unique, then the period id will match one
+of the periods with that name.  However, this period id is not guaranteed to
+correspond to the desired period.  The period id is used to access this period
+in other rate monotonic manager directives.
 
 **NOTES:**
 
-This directive will not cause the running task to be
-preempted.
+This directive will not cause the running task to be preempted.
+
+.. _rtems_rate_monotonic_cancel:
 
 RATE_MONOTONIC_CANCEL - Cancel a period
 ---------------------------------------
@@ -760,27 +727,33 @@ RATE_MONOTONIC_CANCEL - Cancel a period
 .. code:: c
 
     rtems_status_code rtems_rate_monotonic_cancel(
-    rtems_id id
+        rtems_id id
     );
 
 **DIRECTIVE STATUS CODES:**
 
-``RTEMS_SUCCESSFUL`` - period canceled successfully
-``RTEMS_INVALID_ID`` - invalid rate monotonic period id
-``RTEMS_NOT_OWNER_OF_RESOURCE`` - rate monotonic period not created by calling task
+``RTEMS_SUCCESSFUL``
+  period canceled successfully
+
+``RTEMS_INVALID_ID``
+  invalid rate monotonic period id
+
+``RTEMS_NOT_OWNER_OF_RESOURCE``
+  rate monotonic period not created by calling task
 
 **DESCRIPTION:**
 
-This directive cancels the rate monotonic period id.
-This period will be reinitiated by the next invocation of``rtems_rate_monotonic_period`` with id.
+This directive cancels the rate monotonic period id.  This period will be
+reinitiated by the next invocation of ``rtems_rate_monotonic_period`` with id.
 
 **NOTES:**
 
-This directive will not cause the running task to be
-preempted.
+This directive will not cause the running task to be preempted.
+
+The rate monotonic period specified by id must have been created by the calling
+task.
 
-The rate monotonic period specified by id must have
-been created by the calling task.
+.. _rtems_rate_monotonic_delete:
 
 RATE_MONOTONIC_DELETE - Delete a rate monotonic period
 ------------------------------------------------------
@@ -793,27 +766,31 @@ RATE_MONOTONIC_DELETE - Delete a rate monotonic period
 .. code:: c
 
     rtems_status_code rtems_rate_monotonic_delete(
-    rtems_id id
+        rtems_id id
     );
 
 **DIRECTIVE STATUS CODES:**
 
-``RTEMS_SUCCESSFUL`` - period deleted successfully
-``RTEMS_INVALID_ID`` - invalid rate monotonic period id
+``RTEMS_SUCCESSFUL``
+  period deleted successfully
+
+``RTEMS_INVALID_ID``
+  invalid rate monotonic period id
 
 **DESCRIPTION:**
 
-This directive deletes the rate monotonic period
-specified by id.  If the period is running, it is automatically
-canceled.  The PCB for the deleted period is reclaimed by RTEMS.
+This directive deletes the rate monotonic period specified by id.  If the
+period is running, it is automatically canceled.  The PCB for the deleted
+period is reclaimed by RTEMS.
 
 **NOTES:**
 
-This directive will not cause the running task to be
-preempted.
+This directive will not cause the running task to be preempted.
 
-A rate monotonic period can be deleted by a task
-other than the task which created the period.
+A rate monotonic period can be deleted by a task other than the task which
+created the period.
+
+.. _rtems_rate_monotonic_period:
 
 RATE_MONOTONIC_PERIOD - Conclude current/Start next period
 ----------------------------------------------------------
@@ -828,37 +805,46 @@ RATE_MONOTONIC_PERIOD - Conclude current/Start next period
 .. code:: c
 
     rtems_status_code rtems_rate_monotonic_period(
-    rtems_id       id,
-    rtems_interval length
+        rtems_id       id,
+        rtems_interval length
     );
 
 **DIRECTIVE STATUS CODES:**
 
-``RTEMS_SUCCESSFUL`` - period initiated successfully
-``RTEMS_INVALID_ID`` - invalid rate monotonic period id
-``RTEMS_NOT_OWNER_OF_RESOURCE`` - period not created by calling task
-``RTEMS_NOT_DEFINED`` - period has never been initiated (only
-possible when period is set to PERIOD_STATUS)
-``RTEMS_TIMEOUT`` - period has expired
+``RTEMS_SUCCESSFUL``
+  period initiated successfully
+
+``RTEMS_INVALID_ID``
+  invalid rate monotonic period id
+
+``RTEMS_NOT_OWNER_OF_RESOURCE``
+  period not created by calling task
+
+``RTEMS_NOT_DEFINED``
+  period has never been initiated (only possible when period is set to
+  PERIOD_STATUS)
+
+``RTEMS_TIMEOUT``
+  period has expired
 
 **DESCRIPTION:**
 
-This directive initiates the rate monotonic period id
-with a length of period ticks.  If id is running, then the
-calling task will block for the remainder of the period before
-reinitiating the period with the specified period.  If id was
-not running (either expired or never initiated), the period is
-immediately initiated and the directive returns immediately.
+This directive initiates the rate monotonic period id with a length of period
+ticks.  If id is running, then the calling task will block for the remainder of
+the period before reinitiating the period with the specified period.  If id was
+not running (either expired or never initiated), the period is immediately
+initiated and the directive returns immediately.
 
-If invoked with a period of ``RTEMS_PERIOD_STATUS`` ticks, the
-current state of id will be returned.  The directive status
-indicates the current state of the period.  This does not alter
-the state or period of the period.
+If invoked with a period of ``RTEMS_PERIOD_STATUS`` ticks, the current state of
+id will be returned.  The directive status indicates the current state of the
+period.  This does not alter the state or period of the period.
 
 **NOTES:**
 
 This directive will not cause the running task to be preempted.
 
+.. _rtems_rate_monotonic_get_status:
+
 RATE_MONOTONIC_GET_STATUS - Obtain status from a period
 -------------------------------------------------------
 .. index:: get status of period
@@ -871,46 +857,57 @@ RATE_MONOTONIC_GET_STATUS - Obtain status from a period
 .. code:: c
 
     rtems_status_code rtems_rate_monotonic_get_status(
-    rtems_id                            id,
-    rtems_rate_monotonic_period_status \*status
+        rtems_id                            id,
+        rtems_rate_monotonic_period_status \status
     );
 
 **DIRECTIVE STATUS CODES:**
 
-``RTEMS_SUCCESSFUL`` - period initiated successfully
-``RTEMS_INVALID_ID`` - invalid rate monotonic period id
-``RTEMS_INVALID_ADDRESS`` - invalid address of status
+``RTEMS_SUCCESSFUL``
+  period initiated successfully
+
+``RTEMS_INVALID_ID``
+  invalid rate monotonic period id
+
+``RTEMS_INVALID_ADDRESS``
+  invalid address of status
 
 **DESCRIPTION:**
 
-This directive returns status information associated with
-the rate monotonic period id in the following data structure:.. index:: rtems_rate_monotonic_period_status
+This directive returns status information associated with the rate monotonic
+period id in the following data structure:
+
+.. index:: rtems_rate_monotonic_period_status
 
 .. code:: c
 
     typedef struct {
-    rtems_id                              owner;
-    rtems_rate_monotonic_period_states    state;
-    rtems_rate_monotonic_period_time_t    since_last_period;
-    rtems_thread_cpu_usage_t              executed_since_last_period;
+        rtems_id                              owner;
+        rtems_rate_monotonic_period_states    state;
+        rtems_rate_monotonic_period_time_t    since_last_period;
+        rtems_thread_cpu_usage_t              executed_since_last_period;
     }  rtems_rate_monotonic_period_status;
 
-.. COMMENT: RATE_MONOTONIC_INACTIVE does not have RTEMS_ in front of it.
+.. COMMENT: RATE_MONOTONIC_INACTIVE does not have RTEMS in front of it.
 
 A configure time option can be used to select whether the time information is
 given in ticks or seconds and nanoseconds.  The default is seconds and
-nanoseconds.  If the period's state is ``RATE_MONOTONIC_INACTIVE``, both
-time values will be set to 0.  Otherwise, both time values will contain
-time information since the last invocation of the``rtems_rate_monotonic_period`` directive.  More
-specifically, the ticks_since_last_period value contains the elapsed time
-which has occurred since the last invocation of the``rtems_rate_monotonic_period`` directive and the
-ticks_executed_since_last_period contains how much processor time the
-owning task has consumed since the invocation of the``rtems_rate_monotonic_period`` directive.
+nanoseconds.  If the period's state is ``RATE_MONOTONIC_INACTIVE``, both time
+values will be set to 0.  Otherwise, both time values will contain time
+information since the last invocation of the ``rtems_rate_monotonic_period``
+directive.  More specifically, the ticks_since_last_period value contains the
+elapsed time which has occurred since the last invocation of the
+``rtems_rate_monotonic_period`` directive and the
+``ticks_executed_since_last_period`` contains how much processor time the
+owning task has consumed since the invocation of the
+``rtems_rate_monotonic_period`` directive.
 
 **NOTES:**
 
 This directive will not cause the running task to be preempted.
 
+.. _rtems_rate_monotonic_get_statistics:
+
 RATE_MONOTONIC_GET_STATISTICS - Obtain statistics from a period
 ---------------------------------------------------------------
 .. index:: get statistics of period
@@ -923,54 +920,63 @@ RATE_MONOTONIC_GET_STATISTICS - Obtain statistics from a period
 .. code:: c
 
     rtems_status_code rtems_rate_monotonic_get_statistics(
-    rtems_id                                id,
-    rtems_rate_monotonic_period_statistics \*statistics
+        rtems_id                                id,
+        rtems_rate_monotonic_period_statistics *statistics
     );
 
 **DIRECTIVE STATUS CODES:**
 
-``RTEMS_SUCCESSFUL`` - period initiated successfully
-``RTEMS_INVALID_ID`` - invalid rate monotonic period id
-``RTEMS_INVALID_ADDRESS`` - invalid address of statistics
+``RTEMS_SUCCESSFUL``
+  period initiated successfully
+
+``RTEMS_INVALID_ID``
+  invalid rate monotonic period id
+
+``RTEMS_INVALID_ADDRESS``
+  invalid address of statistics
 
 **DESCRIPTION:**
 
-This directive returns statistics information associated with
-the rate monotonic period id in the following data structure:.. index:: rtems_rate_monotonic_period_statistics
+This directive returns statistics information associated with the rate
+monotonic period id in the following data structure:
+
+.. index:: rtems_rate_monotonic_period_statistics
 
 .. code:: c
 
     typedef struct {
-    uint32_t     count;
-    uint32_t     missed_count;
-    #ifdef RTEMS_ENABLE_NANOSECOND_CPU_USAGE_STATISTICS
-    struct timespec min_cpu_time;
-    struct timespec max_cpu_time;
-    struct timespec total_cpu_time;
-    #else
-    uint32_t  min_cpu_time;
-    uint32_t  max_cpu_time;
-    uint32_t  total_cpu_time;
-    #endif
-    #ifdef RTEMS_ENABLE_NANOSECOND_RATE_MONOTONIC_STATISTICS
-    struct timespec min_wall_time;
-    struct timespec max_wall_time;
-    struct timespec total_wall_time;
-    #else
-    uint32_t  min_wall_time;
-    uint32_t  max_wall_time;
-    uint32_t  total_wall_time;
-    #endif
+        uint32_t     count;
+        uint32_t     missed_count;
+        #ifdef RTEMS_ENABLE_NANOSECOND_CPU_USAGE_STATISTICS
+          struct timespec min_cpu_time;
+          struct timespec max_cpu_time;
+          struct timespec total_cpu_time;
+        #else
+          uint32_t  min_cpu_time;
+          uint32_t  max_cpu_time;
+          uint32_t  total_cpu_time;
+        #endif
+        #ifdef RTEMS_ENABLE_NANOSECOND_RATE_MONOTONIC_STATISTICS
+          struct timespec min_wall_time;
+          struct timespec max_wall_time;
+          struct timespec total_wall_time;
+        #else
+         uint32_t  min_wall_time;
+         uint32_t  max_wall_time;
+         uint32_t  total_wall_time;
+        #endif
     }  rtems_rate_monotonic_period_statistics;
 
-This directive returns the current statistics information for
-the period instance assocaited with ``id``.  The information
-returned is indicated by the structure above.
+This directive returns the current statistics information for the period
+instance assocaited with ``id``.  The information returned is indicated by the
+structure above.
 
 **NOTES:**
 
 This directive will not cause the running task to be preempted.
 
+.. _rtems_rate_monotonic_reset_statistics:
+
 RATE_MONOTONIC_RESET_STATISTICS - Reset statistics for a period
 ---------------------------------------------------------------
 .. index:: reset statistics of period
@@ -982,23 +988,28 @@ RATE_MONOTONIC_RESET_STATISTICS - Reset statistics for a period
 .. code:: c
 
     rtems_status_code rtems_rate_monotonic_reset_statistics(
-    rtems_id  id
+        rtems_id  id
     );
 
 **DIRECTIVE STATUS CODES:**
 
-``RTEMS_SUCCESSFUL`` - period initiated successfully
-``RTEMS_INVALID_ID`` - invalid rate monotonic period id
+``RTEMS_SUCCESSFUL``
+  period initiated successfully
+
+``RTEMS_INVALID_ID``
+  invalid rate monotonic period id
 
 **DESCRIPTION:**
 
-This directive resets the statistics information associated with
-this rate monotonic period instance.
+This directive resets the statistics information associated with this rate
+monotonic period instance.
 
 **NOTES:**
 
 This directive will not cause the running task to be preempted.
 
+.. _rtems_rate_monotonic_reset_all_statistics:
+
 RATE_MONOTONIC_RESET_ALL_STATISTICS - Reset statistics for all periods
 ----------------------------------------------------------------------
 .. index:: reset statistics of all periods
@@ -1017,13 +1028,15 @@ NONE
 
 **DESCRIPTION:**
 
-This directive resets the statistics information associated with
-all rate monotonic period instances.
+This directive resets the statistics information associated with all rate
+monotonic period instances.
 
 **NOTES:**
 
 This directive will not cause the running task to be preempted.
 
+.. _rtems_rate_monotonic_report_statistics:
+
 RATE_MONOTONIC_REPORT_STATISTICS - Print period statistics report
 -----------------------------------------------------------------
 .. index:: print period statistics report
@@ -1043,9 +1056,11 @@ NONE
 
 **DESCRIPTION:**
 
-This directive prints a report on all active periods which have
-executed at least one period. The following is an example of the
-output generated by this directive... index:: rtems_rate_monotonic_period_statistics
+This directive prints a report on all active periods which have executed at
+least one period. The following is an example of the output generated by this
+directive.
+
+.. index:: rtems_rate_monotonic_period_statistics
 
 .. code:: c
 
@@ -1060,10 +1075,3 @@ output generated by this directive... index:: rtems_rate_monotonic_period_statis
 **NOTES:**
 
 This directive will not cause the running task to be preempted.
-
-.. COMMENT: COPYRIGHT (c) 1988-2007.
-
-.. COMMENT: On-Line Applications Research Corporation (OAR).
-
-.. COMMENT: All rights reserved.
-