X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_task.c;h=df70b906ccfa6bec6c793c417a25bc4d4e652ff6;hb=4b13d3c659240e5a8347b1ba7ab0bf1d8355eba3;hp=a19a6a6f5e62f1f484ea09991c89d30cae9c7b79;hpb=f6f54d70b768dca1715ddddea64a4df00d82b09e;p=fw%2Faltos

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index a19a6a6f..df70b906 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -15,7 +15,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-#include "ao.h"
+#include <ao.h>
+#include <ao_task.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
 
 #define AO_NO_TASK_INDEX	0xff
 
@@ -28,6 +35,20 @@ __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
 {
@@ -53,6 +74,8 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 	ao_arch_init_stack(task, start);
 }
 
+__xdata uint8_t	ao_idle;
+
 /* Task switching function. This must not use any stack variables */
 void
 ao_yield(void) ao_arch_naked_define
@@ -63,52 +86,68 @@ ao_yield(void) ao_arch_naked_define
 		ao_cur_task_index = ao_num_tasks-1;
 	else
 	{
+#if HAS_SAMPLE_PROFILE
+		uint16_t	tick = ao_sample_profile_timer_value();
+		uint16_t	run = tick - ao_cur_task->start;
+		if (run > ao_cur_task->max_run)
+			ao_cur_task->max_run = run;
+		++ao_cur_task->yields;
+#endif
 		ao_arch_save_stack();
 	}
 
 	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 HAS_SAMPLE_PROFILE
+	ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
 	}
+#if HAS_STACK_GUARD
+	ao_mpu_stack_guard(ao_cur_task->stack);
+#endif
+#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();
 	if (ao_cur_task->wchan) {
 		ao_cur_task->wchan = NULL;
+		ao_cur_task->alarm = 0;
 		return 1;
 	}
 	return 0;
@@ -119,6 +158,7 @@ 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;
@@ -140,6 +180,16 @@ ao_clear_alarm(void)
 	ao_cur_task->alarm = 0;
 }
 
+static __xdata uint8_t ao_forever;
+
+void
+ao_delay(uint16_t ticks)
+{
+	ao_alarm(ticks);
+	ao_sleep(&ao_forever);
+	ao_clear_alarm();
+}
+
 void
 ao_exit(void)
 {
@@ -157,14 +207,14 @@ 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);
 	}
 }