#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
uint8_t *sp8;
};
const char *name; /* task name */
-#if HAS_TASK_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];
#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;
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 AO_TICK_TYPE 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(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
+}
/* 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