X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_task.h;h=03b629693c0e44baa9ba61a24caa39edc6d61ff4;hb=HEAD;hp=f3789fa2cd2725a6fd3207561e124263815ed530;hpb=2cdb1f30c49ba460b0850d23ba9c85e0336af290;p=fw%2Faltos

diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h
index f3789fa2..27f47a56 100644
--- a/src/kernel/ao_task.h
+++ b/src/kernel/ao_task.h
@@ -18,40 +18,46 @@
 
 #ifndef _AO_TASK_H_
 #define _AO_TASK_H_
-#if HAS_TASK_QUEUE
+
 #include <ao_list.h>
-#endif
 
 #ifndef HAS_TASK_INFO
 #define HAS_TASK_INFO 1
 #endif
 
-/* arm stacks must be 32-bit aligned */
+/* arm stacks must be 64-bit aligned */
+#ifndef AO_STACK_ALIGNMENT
 #ifdef __arm__
-#define AO_STACK_ALIGNMENT __attribute__ ((aligned(4)))
-#endif
-#ifdef SDCC
+#define AO_STACK_ALIGNMENT __attribute__ ((aligned(8)))
+#else
 #define AO_STACK_ALIGNMENT
 #endif
-#ifdef __AVR__
-#define AO_STACK_ALIGNMENT
 #endif
 
 /* An AltOS task */
 struct ao_task {
-	void *wchan;		/* current wait channel (NULL if running) */
-	uint16_t alarm;			/* abort ao_sleep time */
-	ao_arch_task_members		/* any architecture-specific fields */
+	void *wchan;			/* current wait channel (NULL if running) */
+	AO_TICK_TYPE alarm;		/* abort ao_sleep time */
 	uint8_t task_id;		/* unique id */
+	/* Saved stack pointer */
+	union {
+		uint32_t	*sp32;
+		uint8_t		*sp8;
+	};
 	const char *name;		/* task name */
-#ifdef NEWLIB
-	int __errno;			/* storage for errno in newlib libc */
-#endif
-#if HAS_TASK_QUEUE
 	struct ao_list	queue;
 	struct ao_list	alarm_queue;
+	/* Provide both 32-bit and 8-bit stacks */
+#ifdef AO_STACK_CANARY
+	uint32_t	bottom_canary;
+#endif
+	union {
+		uint32_t stack32[AO_STACK_SIZE>>2];
+		uint8_t stack8[AO_STACK_SIZE];
+	} AO_STACK_ALIGNMENT;
+#ifdef AO_STACK_CANARY
+	uint32_t top_canary;
 #endif
-	uint8_t stack[AO_STACK_SIZE] AO_STACK_ALIGNMENT;	/* saved stack */
 #if HAS_SAMPLE_PROFILE
 	uint32_t ticks;
 	uint32_t yields;
@@ -64,8 +70,6 @@ struct ao_task {
 #define AO_NUM_TASKS		16	/* maximum number of tasks */
 #endif
 
-#define AO_NO_TASK		0	/* no task id */
-
 extern struct ao_task * ao_tasks[AO_NUM_TASKS];
 extern uint8_t ao_num_tasks;
 extern struct ao_task *ao_cur_task;
@@ -93,7 +97,7 @@ ao_sleep(void *wchan);
  *  1 on alarm
  */
 uint8_t
-ao_sleep_for(void *wchan, uint16_t timeout);
+ao_sleep_for(void *wchan, AO_TICK_TYPE timeout);
 
 /* Wake all tasks sleeping on wchan */
 void
@@ -102,7 +106,7 @@ ao_wakeup(void *wchan);
 #if 0
 /* set an alarm to go off in 'delay' ticks */
 void
-ao_alarm(uint16_t delay);
+ao_alarm(AO_TICK_TYPE delay);
 
 /* Clear any pending alarm */
 void
@@ -117,16 +121,24 @@ ao_yield(void) ao_arch_naked_declare;
 void
 ao_add_task(struct ao_task * task, void (*start)(void), const char *name);
 
-#if HAS_TASK_QUEUE
 /* Called on timer interrupt to check alarms */
-extern uint16_t	ao_task_alarm_tick;
+extern AO_TICK_TYPE		ao_task_alarm_tick;
+extern volatile AO_TICK_TYPE	ao_tick_count;
+
 void
-ao_task_check_alarm(uint16_t tick);
+ao_task_alarm(AO_TICK_TYPE tick);
+
+static inline void
+ao_task_check_alarm(void) {
+#if HAS_TASK
+	if ((AO_TICK_SIGNED) (ao_tick_count - ao_task_alarm_tick) >= 0)
+		ao_task_alarm(ao_tick_count);
 #endif
+}
 
 /* Terminate the current task */
 void
-ao_exit(void);
+ao_exit(void) __attribute__ ((noreturn));
 
 /* Dump task info to console */
 void
@@ -136,11 +148,7 @@ ao_task_info(void);
 void
 ao_start_scheduler(void) __attribute__((noreturn));
 
-#if HAS_TASK_QUEUE
 void
 ao_task_init(void);
-#else
-#define ao_task_init()
-#endif
 
 #endif