#define ao_task_validate_alarm_queue()
#endif
+uint16_t ao_task_alarm_tick;
+
static void
ao_task_to_alarm_queue(struct ao_task *task)
{
}
}
ao_list_append(&task->alarm_queue, &alarm_queue);
+ ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
ao_task_validate_alarm_queue();
}
ao_task_from_alarm_queue(struct ao_task *task)
{
ao_list_del(&task->alarm_queue);
+ if (ao_list_is_empty(&alarm_queue))
+ ao_task_alarm_tick = 0;
+ else
+ ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
ao_task_validate_alarm_queue();
}
ao_task_check_alarm(uint16_t tick)
{
struct ao_task *alarm, *next;
- int i;
- if (ao_num_tasks == 0)
- return;
ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
if ((int16_t) (tick - alarm->alarm) < 0)
break;
uint8_t i;
ao_list_init(&run_queue);
ao_list_init(&alarm_queue);
+ ao_task_alarm_tick = 0;
for (i = 0; i < SLEEP_HASH_SIZE; i++)
ao_list_init(&sleep_queue[i]);
}
}
}
}
-#else
-#define ao_task_validate()
-#endif
+#endif /* DEBUG */
-#else
-#define ao_task_to_run_queue(task)
-#define ao_task_to_alarm_queue(task)
-#endif
+#endif /* HAS_TASK_QUEUE */
void
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
);
}
+__data uint8_t ao_task_minimize_latency;
+
/* Task switching function. This must not use any stack variables */
void
ao_yield(void) ao_arch_naked_define
}
ao_arch_isr_stack();
- ao_arch_block_interrupts();
+#if !HAS_TASK_QUEUE
+ if (ao_task_minimize_latency)
+ ao_arch_release_interrupts();
+ else
+#endif
+ ao_arch_block_interrupts();
#if AO_CHECK_STACK
in_yield = 1;
break;
/* Wait for interrupts when there's nothing ready */
- if (ao_cur_task_index == ao_last_task_index)
+ if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
ao_arch_wait_interrupt();
}
}
/* we'll never get back here */
}
+#if HAS_TASK_INFO
void
ao_task_info(void)
{
ao_task_validate();
#endif
}
+#endif
void
ao_start_scheduler(void)
ao_cur_task_index = AO_NO_TASK_INDEX;
#endif
ao_cur_task = NULL;
+#if HAS_ARCH_START_SCHEDULER
+ ao_arch_start_scheduler();
+#endif
ao_yield();
}