+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include <ao.h>
-#include <ao_task.h>
-#if HAS_SAMPLE_PROFILE
-#include <ao_sample_profile.h>
-#endif
-#if HAS_STACK_GUARD
-#include <ao_mpu.h>
-#endif
-
-#define DEBUG 0
-
-#define AO_NO_TASK_INDEX 0xff
-
-__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
-__data uint8_t ao_num_tasks;
-__xdata struct ao_task *__data ao_cur_task;
-
-#if !HAS_TASK_QUEUE
-static __data uint8_t ao_cur_task_index;
-#endif
-
-#ifdef ao_arch_task_globals
-ao_arch_task_globals
-#endif
-
-#define AO_CHECK_STACK 0
-
-#if AO_CHECK_STACK
-static uint8_t in_yield;
-
-static inline void ao_check_stack(void) {
- uint8_t q;
- if (!in_yield && ao_cur_task && &q < &ao_cur_task->stack[0])
- ao_panic(AO_PANIC_STACK);
-}
-#else
-#define ao_check_stack()
-#endif
-
-#if HAS_TASK_QUEUE
-
-#define SLEEP_HASH_SIZE 17
-
-static struct ao_list run_queue;
-static struct ao_list alarm_queue;
-static struct ao_list sleep_queue[SLEEP_HASH_SIZE];
-
-static void
-ao_task_to_run_queue(struct ao_task *task)
-{
- ao_list_del(&task->queue);
- ao_list_append(&task->queue, &run_queue);
-}
-
-static struct ao_list *
-ao_task_sleep_queue(void *wchan)
-{
- return &sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
-}
-
-static void
-ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
-{
- ao_list_del(&task->queue);
- ao_list_append(&task->queue, ao_task_sleep_queue(wchan));
-}
-
-#if DEBUG
-static void
-ao_task_validate_alarm_queue(void)
-{
- struct ao_task *alarm, *prev = NULL;
- int i;
-
- if (ao_list_is_empty(&alarm_queue))
- return;
- ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
- if (prev) {
- if ((int16_t) (alarm->alarm - prev->alarm) < 0) {
- ao_panic(1);
- }
- }
- prev = alarm;
- }
- for (i = 0; i < ao_num_tasks; i++) {
- alarm = ao_tasks[i];
- if (alarm->alarm) {
- if (ao_list_is_empty(&alarm->alarm_queue))
- ao_panic(2);
- } else {
- if (!ao_list_is_empty(&alarm->alarm_queue))
- ao_panic(3);
- }
- }
- if (ao_task_alarm_tick != ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm)
- ao_panic(4);
-}
-#else
-#define ao_task_validate_alarm_queue()
-#endif
-
-uint16_t ao_task_alarm_tick;
-
-static void
-ao_task_to_alarm_queue(struct ao_task *task)
-{
- struct ao_task *alarm;
- ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
- if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
- ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
- ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
- ao_task_validate_alarm_queue();
- return;
- }
- }
- ao_list_append(&task->alarm_queue, &alarm_queue);
- ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
- ao_task_validate_alarm_queue();
-}
-
-static void
-ao_task_from_alarm_queue(struct ao_task *task)
-{
- ao_list_del(&task->alarm_queue);
- if (ao_list_is_empty(&alarm_queue))
- ao_task_alarm_tick = 0;
- else
- ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
- ao_task_validate_alarm_queue();
-}
-
-static void
-ao_task_init_queue(struct ao_task *task)
-{
- ao_list_init(&task->queue);
- ao_list_init(&task->alarm_queue);
-}
-
-static void
-ao_task_exit_queue(struct ao_task *task)
-{
- ao_list_del(&task->queue);
- ao_list_del(&task->alarm_queue);
-}
-
-void
-ao_task_check_alarm(uint16_t tick)
-{
- struct ao_task *alarm, *next;
-
- ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
- if ((int16_t) (tick - alarm->alarm) < 0)
- break;
- alarm->alarm = 0;
- ao_task_from_alarm_queue(alarm);
- ao_task_to_run_queue(alarm);
- }
-}
-
-void
-ao_task_init(void)
-{
- uint8_t i;
- ao_list_init(&run_queue);
- ao_list_init(&alarm_queue);
- ao_task_alarm_tick = 0;
- for (i = 0; i < SLEEP_HASH_SIZE; i++)
- ao_list_init(&sleep_queue[i]);
-}
-
-#if DEBUG
-static uint8_t
-ao_task_validate_queue(struct ao_task *task)
-{
- uint32_t flags;
- struct ao_task *m;
- uint8_t ret = 0;
- struct ao_list *queue;
-
- flags = ao_arch_irqsave();
- if (task->wchan) {
- queue = ao_task_sleep_queue(task->wchan);
- ret |= 2;
- } else {
- queue = &run_queue;
- ret |= 4;
- }
- ao_list_for_each_entry(m, queue, struct ao_task, queue) {
- if (m == task) {
- ret |= 1;
- break;
- }
- }
- ao_arch_irqrestore(flags);
- return ret;
-}
-
-static uint8_t
-ao_task_validate_alarm(struct ao_task *task)
-{
- uint32_t flags;
- struct ao_task *m;
- uint8_t ret = 0;
-
- flags = ao_arch_irqsave();
- if (task->alarm == 0)
- return 0xff;
- ao_list_for_each_entry(m, &alarm_queue, struct ao_task, alarm_queue) {
- if (m == task)
- ret |= 1;
- else {
- if (!(ret&1)) {
- if ((int16_t) (m->alarm - task->alarm) > 0)
- ret |= 2;
- } else {
- if ((int16_t) (task->alarm - m->alarm) > 0)
- ret |= 4;
- }
- }
- }
- ao_arch_irqrestore(flags);
- return ret;
-}
-
-
-static void
-ao_task_validate(void)
-{
- uint8_t i;
- struct ao_task *task;
- uint8_t ret;
-
- for (i = 0; i < ao_num_tasks; i++) {
- task = ao_tasks[i];
- ret = ao_task_validate_queue(task);
- if (!(ret & 1)) {
- if (ret & 2)
- printf ("sleeping task not on sleep queue %s %08x\n",
- task->name, task->wchan);
- else
- printf ("running task not on run queue %s\n",
- task->name);
- }
- ret = ao_task_validate_alarm(task);
- if (ret != 0xff) {
- if (!(ret & 1))
- printf ("alarm task not on alarm queue %s %d\n",
- task->name, task->alarm);
- if (ret & 2)
- printf ("alarm queue has sooner entries after %s %d\n",
- task->name, task->alarm);
- if (ret & 4)
- printf ("alarm queue has later entries before %s %d\n",
- task->name, task->alarm);
- }
- }
-}
-#endif /* DEBUG */
-
-#endif /* HAS_TASK_QUEUE */
-
-void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
-{
- uint8_t task_id;
- uint8_t t;
- if (ao_num_tasks == AO_NUM_TASKS)
- ao_panic(AO_PANIC_NO_TASK);
- for (task_id = 1; task_id != 0; task_id++) {
- for (t = 0; t < ao_num_tasks; t++)
- if (ao_tasks[t]->task_id == task_id)
- break;
- if (t == ao_num_tasks)
- break;
- }
- task->task_id = task_id;
- task->name = name;
- task->wchan = NULL;
- /*
- * Construct a stack frame so that it will 'return'
- * to the start of the task
- */
- ao_arch_init_stack(task, start);
- ao_arch_critical(
-#if HAS_TASK_QUEUE
- ao_task_init_queue(task);
- ao_task_to_run_queue(task);
-#endif
- ao_tasks[ao_num_tasks] = task;
- ao_num_tasks++;
- );
-}
-
-__data uint8_t ao_task_minimize_latency;
-
-/* Task switching function. This must not use any stack variables */
-void
-ao_yield(void) ao_arch_naked_define
-{
- ao_arch_save_regs();
-
-#if HAS_TASK_QUEUE
- if (ao_cur_task == NULL)
- ao_cur_task = ao_tasks[ao_num_tasks-1];
-#else
- if (ao_cur_task_index == AO_NO_TASK_INDEX)
- ao_cur_task_index = ao_num_tasks-1;
-#endif
- else
- {
-#if HAS_SAMPLE_PROFILE
- uint16_t tick = ao_sample_profile_timer_value();
- uint16_t run = tick - ao_cur_task->start;
- if (run > ao_cur_task->max_run)
- ao_cur_task->max_run = run;
- ++ao_cur_task->yields;
-#endif
- ao_arch_save_stack();
- }
-
- ao_arch_isr_stack();
-#if !HAS_TASK_QUEUE
- if (ao_task_minimize_latency)
- ao_arch_release_interrupts();
- else
-#endif
- ao_arch_block_interrupts();
-
-#if AO_CHECK_STACK
- in_yield = 1;
-#endif
- /* Find a task to run. If there isn't any runnable task,
- * this loop will run forever, which is just fine
- */
-#if HAS_TASK_QUEUE
- /* If the current task is running, move it to the
- * end of the queue to allow other tasks a chance
- */
- if (ao_cur_task->wchan == NULL)
- ao_task_to_run_queue(ao_cur_task);
- ao_cur_task = NULL;
- for (;;) {
- ao_arch_memory_barrier();
- if (!ao_list_is_empty(&run_queue))
- break;
- /* Wait for interrupts when there's nothing ready */
- ao_arch_wait_interrupt();
- }
- ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
-#else
- {
- __pdata uint8_t ao_last_task_index = ao_cur_task_index;
- for (;;) {
- ++ao_cur_task_index;
- if (ao_cur_task_index == ao_num_tasks)
- ao_cur_task_index = 0;
-
- ao_cur_task = ao_tasks[ao_cur_task_index];
-
- /* Check for ready task */
- if (ao_cur_task->wchan == NULL)
- break;
-
- /* Check if the alarm is set for a time which has passed */
- if (ao_cur_task->alarm &&
- (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
- break;
-
- /* Wait for interrupts when there's nothing ready */
- if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
- ao_arch_wait_interrupt();
- }
- }
-#endif
-#if HAS_SAMPLE_PROFILE
- ao_cur_task->start = ao_sample_profile_timer_value();
-#endif
-#if HAS_STACK_GUARD
- ao_mpu_stack_guard(ao_cur_task->stack);
-#endif
-#if AO_CHECK_STACK
- in_yield = 0;
-#endif
- ao_arch_restore_stack();
-}
-
-uint8_t
-ao_sleep(__xdata void *wchan)
-{
-#if HAS_TASK_QUEUE
- uint32_t flags;
- flags = ao_arch_irqsave();
-#endif
- ao_cur_task->wchan = wchan;
-#if HAS_TASK_QUEUE
- ao_task_to_sleep_queue(ao_cur_task, wchan);
- ao_arch_irqrestore(flags);
-#endif
- ao_yield();
- if (ao_cur_task->wchan) {
- ao_cur_task->wchan = NULL;
- ao_cur_task->alarm = 0;
- return 1;
- }
- return 0;
-}
-
-void
-ao_wakeup(__xdata void *wchan) __reentrant
-{
-#if HAS_TASK_QUEUE
- struct ao_task *sleep, *next;
- struct ao_list *sleep_queue;
- uint32_t flags;
-
- if (ao_num_tasks == 0)
- return;
- sleep_queue = ao_task_sleep_queue(wchan);
- flags = ao_arch_irqsave();
- ao_list_for_each_entry_safe(sleep, next, sleep_queue, struct ao_task, queue) {
- if (sleep->wchan == wchan) {
- sleep->wchan = NULL;
- ao_task_to_run_queue(sleep);
- }
- }
- ao_arch_irqrestore(flags);
-#else
- uint8_t i;
- for (i = 0; i < ao_num_tasks; i++)
- if (ao_tasks[i]->wchan == wchan)
- ao_tasks[i]->wchan = NULL;
-#endif
- ao_check_stack();
-}
-
-void
-ao_alarm(uint16_t delay)
-{
-#if HAS_TASK_QUEUE
- uint32_t flags;
- /* Make sure we sleep *at least* delay ticks, which means adding
- * one to account for the fact that we may be close to the next tick
- */
- flags = ao_arch_irqsave();
-#endif
- if (!(ao_cur_task->alarm = ao_time() + delay + 1))
- ao_cur_task->alarm = 1;
-#if HAS_TASK_QUEUE
- ao_task_to_alarm_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
-#endif
-}
-
-void
-ao_clear_alarm(void)
-{
-#if HAS_TASK_QUEUE
- uint32_t flags;
-
- flags = ao_arch_irqsave();
-#endif
- ao_cur_task->alarm = 0;
-#if HAS_TASK_QUEUE
- ao_task_from_alarm_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
-#endif
-}
-
-static __xdata uint8_t ao_forever;
-
-void
-ao_delay(uint16_t ticks)
-{
- ao_alarm(ticks);
- ao_sleep(&ao_forever);
- ao_clear_alarm();
-}
-
-void
-ao_exit(void)
-{
- uint8_t i;
- ao_arch_block_interrupts();
- ao_num_tasks--;
-#if HAS_TASK_QUEUE
- for (i = 0; i < ao_num_tasks; i++)
- if (ao_tasks[i] == ao_cur_task)
- break;
- ao_task_exit_queue(ao_cur_task);
-#else
- i = ao_cur_task_index;
- ao_cur_task_index = AO_NO_TASK_INDEX;
-#endif
- for (; i < ao_num_tasks; i++)
- ao_tasks[i] = ao_tasks[i+1];
- ao_cur_task = NULL;
- ao_yield();
- /* we'll never get back here */
-}
-
-#if HAS_TASK_INFO
-void
-ao_task_info(void)
-{
- uint8_t i;
- __xdata struct ao_task *task;
-
- for (i = 0; i < ao_num_tasks; i++) {
- task = ao_tasks[i];
- printf("%12s: wchan %04x\n",
- task->name,
- (int) task->wchan);
- }
-#if HAS_TASK_QUEUE && DEBUG
- ao_task_validate();
-#endif
-}
-#endif
-
-void
-ao_start_scheduler(void)
-{
-#if !HAS_TASK_QUEUE
- ao_cur_task_index = AO_NO_TASK_INDEX;
-#endif
- ao_cur_task = NULL;
-#if HAS_ARCH_START_SCHEDULER
- ao_arch_start_scheduler();
-#endif
- ao_yield();
-}
projects / fw / altos / blobdiff