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altos: De-bias height/speed data while on pad
[fw/altos]
/
src
/
kernel
/
ao_task.h
diff --git
a/src/kernel/ao_task.h
b/src/kernel/ao_task.h
index 7d81c1da547243e4c024fbf35ebcc5ae8633812a..beb4da30e5ad7d799b3780017b805e692c34d656 100644
(file)
--- a/
src/kernel/ao_task.h
+++ b/
src/kernel/ao_task.h
@@
-18,9
+18,8
@@
#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
#ifndef HAS_TASK_INFO
#define HAS_TASK_INFO 1
@@
-46,10
+45,8
@@
struct ao_task {
uint8_t *sp8;
};
const char *name; /* task name */
uint8_t *sp8;
};
const char *name; /* task name */
-#if HAS_TASK_QUEUE
struct ao_list queue;
struct ao_list alarm_queue;
struct ao_list queue;
struct ao_list alarm_queue;
-#endif
/* Provide both 32-bit and 8-bit stacks */
union {
uint32_t stack32[AO_STACK_SIZE>>2];
/* Provide both 32-bit and 8-bit stacks */
union {
uint32_t stack32[AO_STACK_SIZE>>2];
@@
-67,8
+64,6
@@
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;
@@
-120,16
+115,24
@@
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 AO_TICK_TYPE 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(AO_TICK_TYPE 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
@@
-139,11
+142,7
@@
ao_task_info(void);
void
ao_start_scheduler(void) __attribute__((noreturn));
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