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altos: Add stack-guard code. Uses STM MPU to trap stack overflow.
[fw/altos]
/
src
/
core
/
ao_task.c
diff --git
a/src/core/ao_task.c
b/src/core/ao_task.c
index 4593bd790c4717586d258489749212d5cf4a5aae..df70b906ccfa6bec6c793c417a25bc4d4e652ff6 100644
(file)
--- a/
src/core/ao_task.c
+++ b/
src/core/ao_task.c
@@
-16,6
+16,13
@@
*/
#include <ao.h>
*/
#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 AO_NO_TASK_INDEX 0xff
#define AO_NO_TASK_INDEX 0xff
@@
-67,6
+74,8
@@
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
ao_arch_init_stack(task, start);
}
ao_arch_init_stack(task, start);
}
+__xdata uint8_t ao_idle;
+
/* Task switching function. This must not use any stack variables */
void
ao_yield(void) ao_arch_naked_define
/* Task switching function. This must not use any stack variables */
void
ao_yield(void) ao_arch_naked_define
@@
-77,6
+86,13
@@
ao_yield(void) ao_arch_naked_define
ao_cur_task_index = ao_num_tasks-1;
else
{
ao_cur_task_index = ao_num_tasks-1;
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_save_stack();
}
@@
-110,7
+126,13
@@
ao_yield(void) ao_arch_naked_define
if (ao_cur_task_index == ao_last_task_index)
ao_arch_cpu_idle();
}
if (ao_cur_task_index == ao_last_task_index)
ao_arch_cpu_idle();
}
+#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
cli();
in_yield = 0;
#if AO_CHECK_STACK
cli();
in_yield = 0;
@@
-125,6
+147,7
@@
ao_sleep(__xdata void *wchan)
ao_yield();
if (ao_cur_task->wchan) {
ao_cur_task->wchan = NULL;
ao_yield();
if (ao_cur_task->wchan) {
ao_cur_task->wchan = NULL;
+ ao_cur_task->alarm = 0;
return 1;
}
return 0;
return 1;
}
return 0;
@@
-157,6
+180,16
@@
ao_clear_alarm(void)
ao_cur_task->alarm = 0;
}
ao_cur_task->alarm = 0;
}
+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)
{
void
ao_exit(void)
{