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altos/easytimer-v2: Set default log size to 192kB
[fw/altos]
/
src
/
kernel
/
ao_task.h
diff --git
a/src/kernel/ao_task.h
b/src/kernel/ao_task.h
index ffeb7313ba423af2c55cd052c6728ef4d48eb896..27f47a5629de139565d203e34f3c63ccc21998e3 100644
(file)
--- a/
src/kernel/ao_task.h
+++ b/
src/kernel/ao_task.h
@@
-18,40
+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 32-bit aligned */
+/* arm stacks must be 64-bit aligned */
+#ifndef AO_STACK_ALIGNMENT
#ifdef __arm__
#ifdef __arm__
-#define AO_STACK_ALIGNMENT __attribute__ ((aligned(4)))
-#endif
-#ifdef SDCC
+#define AO_STACK_ALIGNMENT __attribute__ ((aligned(8)))
+#else
#define AO_STACK_ALIGNMENT
#endif
#define AO_STACK_ALIGNMENT
#endif
-#ifdef __AVR__
-#define AO_STACK_ALIGNMENT
#endif
/* An AltOS task */
struct ao_task {
#endif
/* An AltOS task */
struct ao_task {
- 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 */
+ /* Saved stack pointer */
+ union {
+ uint32_t *sp32;
+ uint8_t *sp8;
+ };
const char *name; /* task name */
const char *name; /* task name */
-#ifdef NEWLIB
- int __errno; /* storage for errno in newlib libc */
-#endif
-#if HAS_TASK_QUEUE
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] AO_STACK_ALIGNMENT; /* saved stack */
#if HAS_SAMPLE_PROFILE
uint32_t ticks;
uint32_t yields;
#if HAS_SAMPLE_PROFILE
uint32_t ticks;
uint32_t yields;
@@
-64,8
+70,6
@@
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 struct ao_task * ao_tasks[AO_NUM_TASKS];
extern uint8_t ao_num_tasks;
extern struct ao_task *ao_cur_task;
@@
-93,7
+97,7
@@
ao_sleep(void *wchan);
* 1 on alarm
*/
uint8_t
* 1 on alarm
*/
uint8_t
-ao_sleep_for(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
@@
-102,7
+106,7
@@
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
@@
-117,16
+121,24
@@
ao_yield(void) ao_arch_naked_declare;
void
ao_add_task(struct ao_task * task, void (*start)(void), const char *name);
void
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
@@
-134,13
+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