ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
{
uint8_t __xdata *stack;
+ uint8_t task_id;
+ uint8_t t;
if (ao_num_tasks == AO_NUM_TASKS)
ao_panic(AO_PANIC_NO_TASK);
+ for (task_id = 1; task_id != 0; task_id++) {
+ for (t = 0; t < ao_num_tasks; t++)
+ if (ao_tasks[t]->task_id == task_id)
+ break;
+ if (t == ao_num_tasks)
+ break;
+ }
ao_tasks[ao_num_tasks++] = task;
- task->task_id = ao_num_tasks;
+ task->task_id = task_id;
task->name = name;
/*
* Construct a stack frame so that it will 'return'
*/
stack = task->stack;
- *stack++ = ((uint16_t) start);
- *stack++ = ((uint16_t) start) >> 8;
+ *stack++ = ((uint16_t) start); /* 0 */
+ *stack++ = ((uint16_t) start) >> 8; /* 1 */
/* and the stuff saved by ao_switch */
- *stack++ = 0; /* acc */
- *stack++ = 0x80; /* IE */
- *stack++ = 0; /* DPL */
- *stack++ = 0; /* DPH */
- *stack++ = 0; /* B */
- *stack++ = 0; /* R2 */
- *stack++ = 0; /* R3 */
- *stack++ = 0; /* R4 */
- *stack++ = 0; /* R5 */
- *stack++ = 0; /* R6 */
- *stack++ = 0; /* R7 */
- *stack++ = 0; /* R0 */
- *stack++ = 0; /* R1 */
- *stack++ = 0; /* PSW */
- *stack++ = 0; /* BP */
- task->stack_count = stack - task->stack;
+ *stack++ = 0; /* 2 acc */
+ *stack++ = 0x80; /* 3 IE */
+
+ /* 4 DPL
+ * 5 DPH
+ * 6 B
+ * 7 R2
+ * 8 R3
+ * 9 R4
+ * 10 R5
+ * 11 R6
+ * 12 R7
+ * 13 R0
+ * 14 R1
+ * 15 PSW
+ * 16 BP
+ */
+ for (t = 0; t < 13; t++)
+ *stack++ = 0;
+
+ task->stack_count = 17;
task->wchan = NULL;
}
/* Task switching function. This must not use any stack variables */
void
-ao_yield(void) _naked
+ao_yield(void) __naked
{
/* Save current context */
break;
}
+ /* Check if the alarm is set for a time which has passed */
+ if (ao_cur_task->alarm &&
+ (int16_t) (ao_time() - ao_cur_task->alarm) >= 0) {
+ ao_cur_task_index = ao_next_task_index;
+ break;
+ }
+
/* Enter lower power mode when there isn't anything to do */
if (ao_next_task_index == ao_cur_task_index)
PCON = PCON_IDLE;
_endasm;
}
-void
+uint8_t
ao_sleep(__xdata void *wchan)
{
__critical {
ao_cur_task->wchan = wchan;
}
ao_yield();
+ ao_cur_task->alarm = 0;
+ if (ao_cur_task->wchan) {
+ ao_cur_task->wchan = NULL;
+ return 1;
+ }
+ return 0;
}
void
}
void
-ao_wake_task(__xdata struct ao_task *task)
+ao_alarm(uint16_t delay)
{
- task->wchan = NULL;
+ /* Make sure we sleep *at least* delay ticks, which means adding
+ * one to account for the fact that we may be close to the next tick
+ */
+ if (!(ao_cur_task->alarm = ao_time() + delay + 1))
+ ao_cur_task->alarm = 1;
}
void
-ao_exit(void)
+ao_exit(void) __critical
{
uint8_t i;
ao_num_tasks--;