X-Git-Url: https://git.gag.com/?a=blobdiff_plain;ds=sidebyside;f=ao_task.c;h=4fb8405595c5b4a1ffc0fc68e1844f243bb07be2;hb=022f83ca6fd589005d8eb3e25e633950fef69fa7;hp=d03fa02aa90a21d76eafc99f4ea48b552dd2bf25;hpb=c5c1e3fb1c253d387be02c127253ac2a55d577b4;p=fw%2Faltos

diff --git a/ao_task.c b/ao_task.c
index d03fa02a..4fb84055 100644
--- a/ao_task.c
+++ b/ao_task.c
@@ -17,11 +17,11 @@
 
 #include "ao.h"
 
-#define AO_NO_TASK	0xff
+#define AO_NO_TASK_INDEX	0xff
 
 __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
 __data uint8_t ao_num_tasks;
-__data uint8_t ao_cur_task_id;
+__data uint8_t ao_cur_task_index;
 __xdata struct ao_task *__data ao_cur_task;
 
 void
@@ -29,8 +29,9 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void))
 {
 	uint8_t	__xdata *stack;
 	if (ao_num_tasks == AO_NUM_TASKS)
-		ao_panic(AO_ERROR_NO_TASK);
+		ao_panic(AO_PANIC_NO_TASK);
 	ao_tasks[ao_num_tasks++] = task;
+	task->task_id = ao_num_tasks;
 	/*
 	 * Construct a stack frame so that it will 'return'
 	 * to the start of the task
@@ -64,9 +65,6 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void))
 void
 ao_yield(void) _naked
 {
-	static uint8_t __data stack_len;
-	static __data uint8_t * __data stack_ptr;
-	static __xdata uint8_t * __data save_ptr;
 
 	/* Save current context */
 	_asm
@@ -94,15 +92,19 @@ ao_yield(void) _naked
 		push	_bp
 	_endasm;
 	
-	if (ao_cur_task_id != AO_NO_TASK)
+	if (ao_cur_task_index != AO_NO_TASK_INDEX)
 	{
+	uint8_t stack_len;
+	__data uint8_t *  stack_ptr;
+	__xdata uint8_t * save_ptr;
 		/* Save the current stack */
 		stack_len = SP - (AO_STACK_START - 1);
 		ao_cur_task->stack_count = stack_len;
 		stack_ptr = (uint8_t __data *) AO_STACK_START;
 		save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
-		while (stack_len--)
+		do
 			*save_ptr++ = *stack_ptr++;
+		while (--stack_len);
 	}
 	
 	/* Empty the stack; might as well let interrupts have the whole thing */
@@ -112,22 +114,29 @@ ao_yield(void) _naked
 	 * this loop will run forever, which is just fine
 	 */
 	for (;;) {
-		++ao_cur_task_id;
-		if (ao_cur_task_id == ao_num_tasks)
-			ao_cur_task_id = 0;
-		ao_cur_task = ao_tasks[ao_cur_task_id];
+		++ao_cur_task_index;
+		if (ao_cur_task_index == ao_num_tasks)
+			ao_cur_task_index = 0;
+		ao_cur_task = ao_tasks[ao_cur_task_index];
 		if (ao_cur_task->wchan == NULL)
 			break;
 	}
 
-	/* Restore the old stack */
-	stack_len = ao_cur_task->stack_count;
-	SP = AO_STACK_START - 1 + stack_len;
+	{
+		uint8_t stack_len;
+		__data uint8_t *  stack_ptr;
+		__xdata uint8_t * save_ptr;
 
-	stack_ptr = (uint8_t __data *) AO_STACK_START;
-	save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
-	while (stack_len--)
-		*stack_ptr++ = *save_ptr++;
+		/* Restore the old stack */
+		stack_len = ao_cur_task->stack_count;
+		SP = AO_STACK_START - 1 + stack_len;
+	
+		stack_ptr = (uint8_t __data *) AO_STACK_START;
+		save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
+		do
+			*stack_ptr++ = *save_ptr++;
+		while (--stack_len);
+	}
 
 	_asm
 		pop		_bp
@@ -162,7 +171,9 @@ ao_yield(void) _naked
 int
 ao_sleep(__xdata void *wchan)
 {
+	__critical {
 	ao_cur_task->wchan = wchan;
+	}
 	ao_yield();
 }
 
@@ -179,13 +190,8 @@ ao_wakeup(__xdata void *wchan)
 void
 ao_start_scheduler(void)
 {
-	ao_timer_init();
-	ao_adc_init();
-	ao_beep_init();
-	ao_led_init();
-	ao_usb_init();
 
-	ao_cur_task_id = AO_NO_TASK;
+	ao_cur_task_index = AO_NO_TASK_INDEX;
 	ao_cur_task = NULL;
 	ao_yield();
 }