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stm32f1: make spi speed per-bus
[fw/altos]
/
src
/
kernel
/
ao_task.h
diff --git
a/src/kernel/ao_task.h
b/src/kernel/ao_task.h
index c6bec0e397dccba3f1625160330ff4af049f27fa..27f47a5629de139565d203e34f3c63ccc21998e3 100644
(file)
--- a/
src/kernel/ao_task.h
+++ b/
src/kernel/ao_task.h
@@
-3,7
+3,8
@@
*
* 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
*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-17,26
+18,46
@@
#ifndef _AO_TASK_H_
#define _AO_TASK_H_
#ifndef _AO_TASK_H_
#define _AO_TASK_H_
-#if HAS_TASK_QUEUE
+
#include <ao_list.h>
#include <ao_list.h>
-#endif
#ifndef HAS_TASK_INFO
#define HAS_TASK_INFO 1
#endif
#ifndef HAS_TASK_INFO
#define HAS_TASK_INFO 1
#endif
+/* arm stacks must be 64-bit aligned */
+#ifndef AO_STACK_ALIGNMENT
+#ifdef __arm__
+#define AO_STACK_ALIGNMENT __attribute__ ((aligned(8)))
+#else
+#define AO_STACK_ALIGNMENT
+#endif
+#endif
+
/* An AltOS task */
struct ao_task {
/* An AltOS task */
struct ao_task {
- __xdata void *wchan; /* current wait channel (NULL if running) */
- uint16_t alarm; /* abort ao_sleep time */
- ao_arch_task_members /* any architecture-specific fields */
+ void *wchan; /* current wait channel (NULL if running) */
+ AO_TICK_TYPE alarm; /* abort ao_sleep time */
uint8_t task_id; /* unique id */
uint8_t task_id; /* unique id */
- __code char *name; /* task name */
-#if HAS_TASK_QUEUE
+ /* Saved stack pointer */
+ union {
+ uint32_t *sp32;
+ uint8_t *sp8;
+ };
+ const char *name; /* task name */
struct ao_list queue;
struct ao_list alarm_queue;
struct ao_list queue;
struct ao_list alarm_queue;
+ /* Provide both 32-bit and 8-bit stacks */
+#ifdef AO_STACK_CANARY
+ uint32_t bottom_canary;
+#endif
+ union {
+ uint32_t stack32[AO_STACK_SIZE>>2];
+ uint8_t stack8[AO_STACK_SIZE];
+ } AO_STACK_ALIGNMENT;
+#ifdef AO_STACK_CANARY
+ uint32_t top_canary;
#endif
#endif
- uint8_t stack[AO_STACK_SIZE]; /* saved stack */
#if HAS_SAMPLE_PROFILE
uint32_t ticks;
uint32_t yields;
#if HAS_SAMPLE_PROFILE
uint32_t ticks;
uint32_t yields;
@@
-49,12
+70,14
@@
struct ao_task {
#define AO_NUM_TASKS 16 /* maximum number of tasks */
#endif
#define AO_NUM_TASKS 16 /* maximum number of tasks */
#endif
-#define AO_NO_TASK 0 /* no task id */
+extern struct ao_task * ao_tasks[AO_NUM_TASKS];
+extern uint8_t ao_num_tasks;
+extern struct ao_task *ao_cur_task;
+extern uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */
-extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
-extern __data uint8_t ao_num_tasks;
-extern __xdata struct ao_task *__data ao_cur_task;
-extern __data uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */
+#ifndef HAS_ARCH_VALIDATE_CUR_STACK
+#define ao_validate_cur_stack()
+#endif
/*
ao_task.c
/*
ao_task.c
@@
-66,7
+89,7
@@
extern __data uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */
* 1 on alarm
*/
uint8_t
* 1 on alarm
*/
uint8_t
-ao_sleep(
__xdata
void *wchan);
+ao_sleep(void *wchan);
/* Suspend the current task until wchan is awoken or the timeout
* expires. returns:
/* Suspend the current task until wchan is awoken or the timeout
* expires. returns:
@@
-74,16
+97,16
@@
ao_sleep(__xdata void *wchan);
* 1 on alarm
*/
uint8_t
* 1 on alarm
*/
uint8_t
-ao_sleep_for(
__xdata void *wchan, uint16_t
timeout);
+ao_sleep_for(
void *wchan, AO_TICK_TYPE
timeout);
/* Wake all tasks sleeping on wchan */
void
/* Wake all tasks sleeping on wchan */
void
-ao_wakeup(
__xdata void *wchan) __reentrant
;
+ao_wakeup(
void *wchan)
;
#if 0
/* set an alarm to go off in 'delay' ticks */
void
#if 0
/* set an alarm to go off in 'delay' ticks */
void
-ao_alarm(
uint16_t
delay);
+ao_alarm(
AO_TICK_TYPE
delay);
/* Clear any pending alarm */
void
/* Clear any pending alarm */
void
@@
-96,18
+119,26
@@
ao_yield(void) ao_arch_naked_declare;
/* Add a task to the run queue */
void
/* Add a task to the run queue */
void
-ao_add_task(
__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
;
+ao_add_task(
struct ao_task * task, void (*start)(void), const char *name)
;
-#if HAS_TASK_QUEUE
/* Called on timer interrupt to check alarms */
/* Called on timer interrupt to check alarms */
-extern uint16_t ao_task_alarm_tick;
+extern AO_TICK_TYPE ao_task_alarm_tick;
+extern volatile AO_TICK_TYPE ao_tick_count;
+
void
void
-ao_task_check_alarm(uint16_t tick);
+ao_task_alarm(AO_TICK_TYPE tick);
+
+static inline void
+ao_task_check_alarm(void) {
+#if HAS_TASK
+ if ((AO_TICK_SIGNED) (ao_tick_count - ao_task_alarm_tick) >= 0)
+ ao_task_alarm(ao_tick_count);
#endif
#endif
+}
/* Terminate the current task */
void
/* Terminate the current task */
void
-ao_exit(void);
+ao_exit(void)
__attribute__ ((noreturn))
;
/* Dump task info to console */
void
/* Dump task info to console */
void
@@
-115,13
+146,9
@@
ao_task_info(void);
/* Start the scheduler. This will not return */
void
/* Start the scheduler. This will not return */
void
-ao_start_scheduler(void);
+ao_start_scheduler(void)
__attribute__((noreturn))
;
-#if HAS_TASK_QUEUE
void
ao_task_init(void);
void
ao_task_init(void);
-#else
-#define ao_task_init()
-#endif
#endif
#endif