X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_task.h;h=beb4da30e5ad7d799b3780017b805e692c34d656;hb=eb77758b7dcdd0bcef12cd1d56cf4d447cbe5c8c;hp=f1dbd65426ae709353c0f226eda63a42c76ecaef;hpb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;p=fw%2Faltos

diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h
index f1dbd654..beb4da30 100644
--- a/src/kernel/ao_task.h
+++ b/src/kernel/ao_task.h
@@ -18,26 +18,40 @@
 
 #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 64-bit aligned */
+#ifndef AO_STACK_ALIGNMENT
+#ifdef __arm__
+#define AO_STACK_ALIGNMENT __attribute__ ((aligned(8)))
+#else
+#define AO_STACK_ALIGNMENT
+#endif
+#endif
+
 /* An AltOS task */
 struct ao_task {
-	__xdata void *wchan;		/* current wait channel (NULL if running) */
-	uint16_t alarm;			/* abort ao_sleep time */
-	ao_arch_task_members		/* any architecture-specific fields */
-	uint8_t task_id;		/* unique id */
-	__code char *name;		/* task name */
-#if HAS_TASK_QUEUE
+	void *wchan;			/* current wait channel (NULL if running) */
+	AO_TICK_TYPE alarm;		/* abort ao_sleep time */
+	uint16_t task_id;		/* unique id */
+	/* Saved stack pointer */
+	union {
+		uint32_t	*sp32;
+		uint8_t		*sp8;
+	};
+	const char *name;		/* task name */
 	struct ao_list	queue;
 	struct ao_list	alarm_queue;
-#endif
-	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
+	/* Provide both 32-bit and 8-bit stacks */
+	union {
+		uint32_t stack32[AO_STACK_SIZE>>2];
+		uint8_t stack8[AO_STACK_SIZE];
+	} AO_STACK_ALIGNMENT;
 #if HAS_SAMPLE_PROFILE
 	uint32_t ticks;
 	uint32_t yields;
@@ -50,12 +64,10 @@ struct ao_task {
 #define AO_NUM_TASKS		16	/* maximum number of tasks */
 #endif
 
-#define AO_NO_TASK		0	/* no task id */
-
-extern __xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
-extern __data uint8_t ao_num_tasks;
-extern __xdata struct ao_task *__data ao_cur_task;
-extern __data uint8_t ao_task_minimize_latency;	/* Reduce IRQ latency */
+extern struct ao_task * ao_tasks[AO_NUM_TASKS];
+extern uint8_t ao_num_tasks;
+extern struct ao_task *ao_cur_task;
+extern uint8_t ao_task_minimize_latency;	/* Reduce IRQ latency */
 
 #ifndef HAS_ARCH_VALIDATE_CUR_STACK
 #define ao_validate_cur_stack()
@@ -71,7 +83,7 @@ extern __data uint8_t ao_task_minimize_latency;	/* Reduce IRQ latency */
  *  1 on alarm
  */
 uint8_t
-ao_sleep(__xdata void *wchan);
+ao_sleep(void *wchan);
 
 /* Suspend the current task until wchan is awoken or the timeout
  * expires. returns:
@@ -79,16 +91,16 @@ ao_sleep(__xdata void *wchan);
  *  1 on alarm
  */
 uint8_t
-ao_sleep_for(__xdata void *wchan, uint16_t timeout);
+ao_sleep_for(void *wchan, AO_TICK_TYPE timeout);
 
 /* Wake all tasks sleeping on wchan */
 void
-ao_wakeup(__xdata void *wchan) __reentrant;
+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
@@ -101,18 +113,26 @@ ao_yield(void) ao_arch_naked_declare;
 
 /* Add a task to the run queue */
 void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+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
@@ -120,13 +140,9 @@ ao_task_info(void);
 
 /* Start the scheduler. This will not return */
 void
-ao_start_scheduler(void);
+ao_start_scheduler(void) __attribute__((noreturn));
 
-#if HAS_TASK_QUEUE
 void
 ao_task_init(void);
-#else
-#define ao_task_init()
-#endif
 
 #endif