X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_task.c;h=de23ea02421013e4186801b85664abb81630d99a;hb=359e2d6eca5258f4fabc59772f1320e195a7397c;hp=55e423bb90bae9589f926ddbb3aeae690e2ad48a;hpb=9c75faf1ec51eb2f9a8dc9402653490143a784d9;p=fw%2Faltos

diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index 55e423bb..de23ea02 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
@@ -54,6 +55,12 @@ 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
@@ -65,6 +72,7 @@ static struct ao_list	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);
 }
@@ -78,6 +86,7 @@ ao_task_sleep_queue(void *wchan)
 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 +131,7 @@ 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 +148,7 @@ 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 +167,7 @@ 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);
 }
@@ -165,13 +177,14 @@ ao_task_check_alarm(uint16_t tick)
 {
 	struct ao_task	*alarm, *next;
 
-	ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
-		if ((int16_t) (tick - alarm->alarm) < 0)
-			break;
-		alarm->alarm = 0;
-		ao_task_from_alarm_queue(alarm);
-		ao_task_to_run_queue(alarm);
-	}
+	ao_arch_critical(
+		ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
+			if ((int16_t) (tick - alarm->alarm) < 0)
+				break;
+			alarm->alarm = 0;
+			ao_task_from_alarm_queue(alarm);
+			ao_task_to_run_queue(alarm);
+		});
 }
 
 void
@@ -355,13 +368,16 @@ ao_yield(void) ao_arch_naked_define
 	 */
 	if (ao_cur_task->wchan == NULL)
 		ao_task_to_run_queue(ao_cur_task);
-	ao_cur_task = NULL;
 	for (;;) {
 		ao_arch_memory_barrier();
 		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
@@ -425,6 +441,7 @@ ao_sleep(__xdata void *wchan)
 void
 ao_wakeup(__xdata void *wchan) __reentrant
 {
+	ao_validate_cur_stack();
 #if HAS_TASK_QUEUE
 	struct ao_task	*sleep, *next;
 	struct ao_list	*sleep_queue;
@@ -442,10 +459,12 @@ ao_wakeup(__xdata void *wchan) __reentrant
 	}
 	ao_arch_irqrestore(flags);
 #else
+	{
 	uint8_t	i;
 	for (i = 0; i < ao_num_tasks; i++)
 		if (ao_tasks[i]->wchan == wchan)
 			ao_tasks[i]->wchan = NULL;
+	}
 #endif
 	ao_check_stack();
 }
@@ -457,11 +476,11 @@ ao_sleep_for(__xdata void *wchan, uint16_t timeout)
 	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
@@ -490,6 +509,8 @@ static __xdata uint8_t ao_forever;
 void
 ao_delay(uint16_t ticks)
 {
+	if (!ticks)
+		ticks = 1;
 	ao_sleep_for(&ao_forever, ticks);
 }
 
@@ -521,12 +542,15 @@ ao_task_info(void)
 {
 	uint8_t		i;
 	__xdata 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();