*
* 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
#define AO_NO_TASK_INDEX 0xff
-__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
-__data uint8_t ao_num_tasks;
-__xdata struct ao_task *__data ao_cur_task;
+struct ao_task * ao_tasks[AO_NUM_TASKS];
+uint8_t ao_num_tasks;
+struct ao_task *ao_cur_task;
#if !HAS_TASK_QUEUE
-static __data uint8_t ao_cur_task_index;
+static uint8_t ao_cur_task_index;
#endif
#ifdef ao_arch_task_globals
#define ao_check_stack()
#endif
+#if DEBUG
+#define ao_task_irq_check() ao_arch_irq_check()
+#else
+#define ao_task_irq_check()
+#endif
+
#if HAS_TASK_QUEUE
#define SLEEP_HASH_SIZE 17
static struct ao_list run_queue;
static struct ao_list alarm_queue;
-static struct ao_list sleep_queue[SLEEP_HASH_SIZE];
+static struct ao_list ao_sleep_queue[SLEEP_HASH_SIZE];
static void
ao_task_to_run_queue(struct ao_task *task)
{
+ ao_task_irq_check();
ao_list_del(&task->queue);
ao_list_append(&task->queue, &run_queue);
}
static struct ao_list *
ao_task_sleep_queue(void *wchan)
{
- return &sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
+ return &ao_sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
}
static void
ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
{
+ ao_task_irq_check();
ao_list_del(&task->queue);
ao_list_append(&task->queue, ao_task_sleep_queue(wchan));
}
ao_task_to_alarm_queue(struct ao_task *task)
{
struct ao_task *alarm;
+ ao_task_irq_check();
ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
static void
ao_task_from_alarm_queue(struct ao_task *task)
{
+ ao_task_irq_check();
ao_list_del(&task->alarm_queue);
if (ao_list_is_empty(&alarm_queue))
ao_task_alarm_tick = 0;
static void
ao_task_exit_queue(struct ao_task *task)
{
+ ao_task_irq_check();
ao_list_del(&task->queue);
ao_list_del(&task->alarm_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]);
+ ao_list_init(&ao_sleep_queue[i]);
}
#if DEBUG
#endif /* HAS_TASK_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 (*task_func)(void), const char *name)
{
uint8_t task_id;
uint8_t t;
* Construct a stack frame so that it will 'return'
* to the start of the task
*/
- ao_arch_init_stack(task, start);
+ ao_arch_init_stack(task, task_func);
ao_arch_critical(
#if HAS_TASK_QUEUE
ao_task_init_queue(task);
);
}
-__data uint8_t ao_task_minimize_latency;
+uint8_t ao_task_minimize_latency;
/* Task switching function. This must not use any stack variables */
void
if (!ao_list_is_empty(&run_queue))
break;
/* Wait for interrupts when there's nothing ready */
- ao_arch_wait_interrupt();
+ if (ao_task_minimize_latency) {
+ ao_arch_release_interrupts();
+ ao_arch_block_interrupts();
+ } else
+ ao_arch_wait_interrupt();
}
ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
#else
{
- __pdata uint8_t ao_last_task_index = ao_cur_task_index;
+ uint8_t ao_last_task_index = ao_cur_task_index;
for (;;) {
++ao_cur_task_index;
if (ao_cur_task_index == ao_num_tasks)
}
uint8_t
-ao_sleep(__xdata void *wchan)
+ao_sleep(void *wchan)
{
#if HAS_TASK_QUEUE
uint32_t flags;
}
void
-ao_wakeup(__xdata void *wchan) __reentrant
+ao_wakeup(void *wchan)
{
ao_validate_cur_stack();
#if HAS_TASK_QUEUE
}
uint8_t
-ao_sleep_for(__xdata void *wchan, uint16_t timeout)
+ao_sleep_for(void *wchan, uint16_t timeout)
{
uint8_t ret;
if (timeout) {
#if HAS_TASK_QUEUE
uint32_t flags;
+ flags = ao_arch_irqsave();
+#endif
/* 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
*/
- flags = ao_arch_irqsave();
-#endif
if (!(ao_cur_task->alarm = ao_time() + timeout + 1))
ao_cur_task->alarm = 1;
#if HAS_TASK_QUEUE
return ret;
}
-static __xdata uint8_t ao_forever;
+static uint8_t ao_forever;
void
ao_delay(uint16_t ticks)
{
+ if (!ticks)
+ ticks = 1;
ao_sleep_for(&ao_forever, ticks);
}
ao_task_info(void)
{
uint8_t i;
- __xdata struct ao_task *task;
+ struct ao_task *task;
+ uint16_t now = ao_time();
for (i = 0; i < ao_num_tasks; i++) {
task = ao_tasks[i];
- printf("%12s: wchan %04x\n",
- task->name,
- (int) task->wchan);
+ printf("%2d: wchan %08x alarm %5d %s\n",
+ task->task_id,
+ (int) task->wchan,
+ task->alarm ? (int16_t) (task->alarm - now) : 9999,
+ task->name);
}
#if HAS_TASK_QUEUE && DEBUG
ao_task_validate();
ao_arch_start_scheduler();
#endif
ao_yield();
+ __builtin_unreachable();
}