X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_task.c;h=15cd2a556b68a5176732eaf3329e9eacf2490c83;hb=4c5942fb082811f136322ec26de615cdb7e17580;hp=03d69caab88906ca573ebd8483f3548139625c29;hpb=a7e0bb5eb661cfde31c383d605cb9cb8ca568bc7;p=fw%2Faltos

diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index 03d69caa..15cd2a55 100644
--- a/src/kernel/ao_task.c
+++ b/src/kernel/ao_task.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -23,17 +24,18 @@
 #if HAS_STACK_GUARD
 #include <ao_mpu.h>
 #endif
+#include <picotls.h>
 
 #define DEBUG	0
 
 #define AO_NO_TASK_INDEX	0xff
 
-__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
-__data uint8_t ao_num_tasks;
-__xdata struct ao_task *__data ao_cur_task;
+struct ao_task * ao_tasks[AO_NUM_TASKS];
+uint8_t ao_num_tasks;
+struct ao_task *ao_cur_task;
 
 #if !HAS_TASK_QUEUE
-static __data uint8_t ao_cur_task_index;
+static uint8_t ao_cur_task_index;
 #endif
 
 #ifdef ao_arch_task_globals
@@ -54,17 +56,24 @@ static inline void ao_check_stack(void) {
 #define ao_check_stack()
 #endif
 
+#if DEBUG
+#define ao_task_irq_check()	ao_arch_irq_check()
+#else
+#define ao_task_irq_check()
+#endif
+
 #if HAS_TASK_QUEUE
 
 #define SLEEP_HASH_SIZE	17
 
 static struct ao_list	run_queue;
 static struct ao_list	alarm_queue;
-static struct ao_list	sleep_queue[SLEEP_HASH_SIZE];
+static struct ao_list	ao_sleep_queue[SLEEP_HASH_SIZE];
 
 static void
 ao_task_to_run_queue(struct ao_task *task)
 {
+	ao_task_irq_check();
 	ao_list_del(&task->queue);
 	ao_list_append(&task->queue, &run_queue);
 }
@@ -72,12 +81,13 @@ ao_task_to_run_queue(struct ao_task *task)
 static struct ao_list *
 ao_task_sleep_queue(void *wchan)
 {
-	return &sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
+	return &ao_sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
 }
 
 static void
 ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
 {
+	ao_task_irq_check();
 	ao_list_del(&task->queue);
 	ao_list_append(&task->queue, ao_task_sleep_queue(wchan));
 }
@@ -122,6 +132,7 @@ static void
 ao_task_to_alarm_queue(struct ao_task *task)
 {
 	struct ao_task	*alarm;
+	ao_task_irq_check();
 	ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
 		if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
 			ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
@@ -138,6 +149,7 @@ ao_task_to_alarm_queue(struct ao_task *task)
 static void
 ao_task_from_alarm_queue(struct ao_task *task)
 {
+	ao_task_irq_check();
 	ao_list_del(&task->alarm_queue);
 	if (ao_list_is_empty(&alarm_queue))
 		ao_task_alarm_tick = 0;
@@ -156,6 +168,7 @@ ao_task_init_queue(struct ao_task *task)
 static void
 ao_task_exit_queue(struct ao_task *task)
 {
+	ao_task_irq_check();
 	ao_list_del(&task->queue);
 	ao_list_del(&task->alarm_queue);
 }
@@ -183,7 +196,7 @@ ao_task_init(void)
 	ao_list_init(&alarm_queue);
 	ao_task_alarm_tick = 0;
 	for (i = 0; i < SLEEP_HASH_SIZE; i++)
-		ao_list_init(&sleep_queue[i]);
+		ao_list_init(&ao_sleep_queue[i]);
 }
 
 #if DEBUG
@@ -277,8 +290,23 @@ ao_task_validate(void)
 
 #endif /* HAS_TASK_QUEUE */
 
+static inline void *
+ao_stack_top(struct ao_task *task)
+{
+	uint8_t *top = &task->stack8[AO_STACK_SIZE];
+
+	/* Subtract off the TLS space, but keep the resulting
+	 * stack 8-byte aligned
+	 */
+#if USE_TLS
+	return top - ((_tls_size() + 7) & ~3);
+#else
+	return top;
+#endif
+}
+
 void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
+ao_add_task(struct ao_task * task, void (*task_func)(void), const char *name) 
 {
 	uint8_t task_id;
 	uint8_t t;
@@ -298,7 +326,11 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 	 * Construct a stack frame so that it will 'return'
 	 * to the start of the task
 	 */
-	ao_arch_init_stack(task, start);
+	uint32_t *sp = ao_stack_top(task);
+#if USE_TLS
+	_init_tls(sp);
+#endif
+	ao_arch_init_stack(task, sp, task_func);
 	ao_arch_critical(
 #if HAS_TASK_QUEUE
 		ao_task_init_queue(task);
@@ -309,7 +341,7 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 		);
 }
 
-__data uint8_t	ao_task_minimize_latency;
+uint8_t	ao_task_minimize_latency;
 
 /* Task switching function. This must not use any stack variables */
 void
@@ -361,12 +393,16 @@ ao_yield(void) ao_arch_naked_define
 		if (!ao_list_is_empty(&run_queue))
 			break;
 		/* Wait for interrupts when there's nothing ready */
-		ao_arch_wait_interrupt();
+		if (ao_task_minimize_latency) {
+			ao_arch_release_interrupts();
+			ao_arch_block_interrupts();
+		} else
+			ao_arch_wait_interrupt();
 	}
 	ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
 #else
 	{
-		__pdata uint8_t	ao_last_task_index = ao_cur_task_index;
+		uint8_t	ao_last_task_index = ao_cur_task_index;
 		for (;;) {
 			++ao_cur_task_index;
 			if (ao_cur_task_index == ao_num_tasks)
@@ -397,12 +433,15 @@ ao_yield(void) ao_arch_naked_define
 #endif
 #if AO_CHECK_STACK
 	in_yield = 0;
+#endif
+#if USE_TLS
+	_set_tls(ao_stack_top(ao_cur_task));
 #endif
 	ao_arch_restore_stack();
 }
 
 uint8_t
-ao_sleep(__xdata void *wchan)
+ao_sleep(void *wchan)
 {
 #if HAS_TASK_QUEUE
 	uint32_t flags;
@@ -423,7 +462,7 @@ ao_sleep(__xdata void *wchan)
 }
 
 void
-ao_wakeup(__xdata void *wchan) __reentrant
+ao_wakeup(void *wchan) 
 {
 	ao_validate_cur_stack();
 #if HAS_TASK_QUEUE
@@ -454,17 +493,17 @@ ao_wakeup(__xdata void *wchan) __reentrant
 }
 
 uint8_t
-ao_sleep_for(__xdata void *wchan, uint16_t timeout)
+ao_sleep_for(void *wchan, uint16_t timeout)
 {
 	uint8_t	ret;
 	if (timeout) {
 #if HAS_TASK_QUEUE
 		uint32_t flags;
+		flags = ao_arch_irqsave();
+#endif
 		/* Make sure we sleep *at least* delay ticks, which means adding
 		 * one to account for the fact that we may be close to the next tick
 		 */
-		flags = ao_arch_irqsave();
-#endif
 		if (!(ao_cur_task->alarm = ao_time() + timeout + 1))
 			ao_cur_task->alarm = 1;
 #if HAS_TASK_QUEUE
@@ -488,11 +527,13 @@ ao_sleep_for(__xdata void *wchan, uint16_t timeout)
 	return ret;
 }
 
-static __xdata uint8_t ao_forever;
+static uint8_t ao_forever;
 
 void
 ao_delay(uint16_t ticks)
 {
+	if (!ticks)
+		ticks = 1;
 	ao_sleep_for(&ao_forever, ticks);
 }
 
@@ -523,13 +564,16 @@ void
 ao_task_info(void)
 {
 	uint8_t		i;
-	__xdata struct ao_task *task;
+	struct ao_task *task;
+	uint16_t	now = ao_time();
 
 	for (i = 0; i < ao_num_tasks; i++) {
 		task = ao_tasks[i];
-		printf("%12s: wchan %04x\n",
-		       task->name,
-		       (int) task->wchan);
+		printf("%2d: wchan %08x alarm %5d %s\n",
+		       task->task_id,
+		       (int) task->wchan,
+		       task->alarm ? (int16_t) (task->alarm - now) : 9999,
+		       task->name);
 	}
 #if HAS_TASK_QUEUE && DEBUG
 	ao_task_validate();
@@ -548,4 +592,5 @@ ao_start_scheduler(void)
 	ao_arch_start_scheduler();
 #endif
 	ao_yield();
+	__builtin_unreachable();
 }