2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
25 #define HAS_TASK_INFO 1
28 /* arm stacks must be 64-bit aligned */
29 #ifndef AO_STACK_ALIGNMENT
31 #define AO_STACK_ALIGNMENT __attribute__ ((aligned(8)))
33 #define AO_STACK_ALIGNMENT
39 void *wchan; /* current wait channel (NULL if running) */
40 AO_TICK_TYPE alarm; /* abort ao_sleep time */
41 uint8_t task_id; /* unique id */
42 /* Saved stack pointer */
47 const char *name; /* task name */
49 struct ao_list alarm_queue;
50 /* Provide both 32-bit and 8-bit stacks */
51 #ifdef AO_STACK_CANARY
52 uint32_t bottom_canary;
55 uint32_t stack32[AO_STACK_SIZE>>2];
56 uint8_t stack8[AO_STACK_SIZE];
58 #ifdef AO_STACK_CANARY
61 #if HAS_SAMPLE_PROFILE
70 #define AO_NUM_TASKS 16 /* maximum number of tasks */
73 extern struct ao_task * ao_tasks[AO_NUM_TASKS];
74 extern uint8_t ao_num_tasks;
75 extern struct ao_task *ao_cur_task;
76 extern uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */
78 #ifndef HAS_ARCH_VALIDATE_CUR_STACK
79 #define ao_validate_cur_stack()
86 /* Suspend the current task until wchan is awoken.
92 ao_sleep(void *wchan);
94 /* Suspend the current task until wchan is awoken or the timeout
100 ao_sleep_for(void *wchan, AO_TICK_TYPE timeout);
102 /* Wake all tasks sleeping on wchan */
104 ao_wakeup(void *wchan);
107 /* set an alarm to go off in 'delay' ticks */
109 ao_alarm(AO_TICK_TYPE delay);
111 /* Clear any pending alarm */
113 ao_clear_alarm(void);
116 /* Yield the processor to another task */
118 ao_yield(void) ao_arch_naked_declare;
120 /* Add a task to the run queue */
122 ao_add_task(struct ao_task * task, void (*start)(void), const char *name);
124 /* Called on timer interrupt to check alarms */
125 extern AO_TICK_TYPE ao_task_alarm_tick;
126 extern volatile AO_TICK_TYPE ao_tick_count;
129 ao_task_alarm(AO_TICK_TYPE tick);
132 ao_task_check_alarm(void) {
134 if ((AO_TICK_SIGNED) (ao_tick_count - ao_task_alarm_tick) >= 0)
135 ao_task_alarm(ao_tick_count);
139 /* Terminate the current task */
141 ao_exit(void) __attribute__ ((noreturn));
143 /* Dump task info to console */
147 /* Start the scheduler. This will not return */
149 ao_start_scheduler(void) __attribute__((noreturn));