#ifndef _AO_TASK_H_
#define _AO_TASK_H_
-#if HAS_TASK_QUEUE
+
#include <ao_list.h>
-#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__
-#define AO_STACK_ALIGNMENT __attribute__ ((aligned(4)))
+#define AO_STACK_ALIGNMENT __attribute__ ((aligned(8)))
#else
#define AO_STACK_ALIGNMENT
#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 */
+ /* Saved stack pointer */
+ union {
+ uint32_t *sp32;
+ uint8_t *sp8;
+ };
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;
-#endif
- uint8_t stack[AO_STACK_SIZE] AO_STACK_ALIGNMENT; /* saved stack */
+ /* Provide both 32-bit and 8-bit stacks */
+ union {
+ uint32_t stack32[AO_STACK_SIZE>>2];
+ uint8_t stack8[AO_STACK_SIZE];
+ } AO_STACK_ALIGNMENT;
#if HAS_SAMPLE_PROFILE
uint32_t ticks;
uint32_t yields;
#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;
* 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
#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
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 */
-extern uint16_t ao_task_alarm_tick;
+extern AO_TICK_TYPE ao_task_alarm_tick;
+extern volatile AO_TICK_TYPE ao_tick_count;
+
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
+}
/* Terminate the current task */
void
-ao_exit(void);
+ao_exit(void) __attribute__ ((noreturn));
/* Dump task info to console */
void
void
ao_start_scheduler(void) __attribute__((noreturn));
-#if HAS_TASK_QUEUE
void
ao_task_init(void);
-#else
-#define ao_task_init()
-#endif
#endif