X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_task.c;h=4593bd790c4717586d258489749212d5cf4a5aae;hb=d13d0fbfcb0fd6d8a1af46f6270a968d746c830e;hp=32826114c4e5e855fa6e1159378c57321cb2c9ae;hpb=8125acc030574afed6f23aa8aa302d9c768bb04e;p=fw%2Faltos

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 32826114..4593bd79 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-#include "ao.h"
+#include <ao.h>
 
 #define AO_NO_TASK_INDEX	0xff
 
@@ -28,6 +28,20 @@ __xdata struct ao_task *__data ao_cur_task;
 ao_arch_task_globals
 #endif
 
+#define AO_CHECK_STACK	0
+
+#if AO_CHECK_STACK
+static uint8_t	in_yield;
+
+static inline void ao_check_stack(void) {
+	uint8_t	q;
+	if (!in_yield && ao_cur_task && &q < &ao_cur_task->stack[0])
+		ao_panic(AO_PANIC_STACK);
+}
+#else
+#define ao_check_stack()
+#endif
+
 void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
 {
@@ -68,46 +82,47 @@ ao_yield(void) ao_arch_naked_define
 
 	ao_arch_isr_stack();
 
+#if AO_CHECK_STACK
+	in_yield = 1;
+#endif
 	/* Find a task to run. If there isn't any runnable task,
 	 * this loop will run forever, which is just fine
 	 */
 	{
-		__pdata uint8_t	ao_next_task_index = ao_cur_task_index;
+		__pdata uint8_t	ao_last_task_index = ao_cur_task_index;
 		for (;;) {
-			++ao_next_task_index;
-			if (ao_next_task_index == ao_num_tasks)
-				ao_next_task_index = 0;
+			++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];
 
-			ao_cur_task = ao_tasks[ao_next_task_index];
-			if (ao_cur_task->wchan == NULL) {
-				ao_cur_task_index = ao_next_task_index;
+			/* Check for ready task */
+			if (ao_cur_task->wchan == NULL)
 				break;
-			}
 
 			/* Check if the alarm is set for a time which has passed */
 			if (ao_cur_task->alarm &&
-			    (int16_t) (ao_time() - ao_cur_task->alarm) >= 0) {
-				ao_cur_task_index = ao_next_task_index;
+			    (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
 				break;
-			}
 
 			/* Enter lower power mode when there isn't anything to do */
-			if (ao_next_task_index == ao_cur_task_index) {
+			if (ao_cur_task_index == ao_last_task_index)
 				ao_arch_cpu_idle();
-			}
 		}
 	}
+#if AO_CHECK_STACK
+	cli();
+	in_yield = 0;
+#endif
 	ao_arch_restore_stack();
 }
 
 uint8_t
 ao_sleep(__xdata void *wchan)
 {
-	ao_arch_critical(
-		ao_cur_task->wchan = wchan;
-		);
+	ao_cur_task->wchan = wchan;
 	ao_yield();
-	ao_cur_task->alarm = 0;
 	if (ao_cur_task->wchan) {
 		ao_cur_task->wchan = NULL;
 		return 1;
@@ -120,6 +135,7 @@ ao_wakeup(__xdata void *wchan)
 {
 	uint8_t	i;
 
+	ao_check_stack();
 	for (i = 0; i < ao_num_tasks; i++)
 		if (ao_tasks[i]->wchan == wchan)
 			ao_tasks[i]->wchan = NULL;
@@ -135,6 +151,12 @@ ao_alarm(uint16_t delay)
 		ao_cur_task->alarm = 1;
 }
 
+void
+ao_clear_alarm(void)
+{
+	ao_cur_task->alarm = 0;
+}
+
 void
 ao_exit(void)
 {
@@ -152,14 +174,14 @@ ao_exit(void)
 void
 ao_task_info(void)
 {
-	uint8_t	i;
+	uint8_t		i;
 	__xdata struct ao_task *task;
 
 	for (i = 0; i < ao_num_tasks; i++) {
 		task = ao_tasks[i];
 		printf("%12s: wchan %04x\n",
 		       task->name,
-		       (int16_t) task->wchan);
+		       (int) task->wchan);
 	}
 }