altos: Add -Wshadow to CFLAGS

[fw/altos] / src / kernel / ao_task.c

diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index 0a790ccd1e44c18c1d69715b3bc8ee3e800730bc..0bc85d40aad2dc86c2df71ee884fb313733fbcb7 100644 (file)
--- 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
@@ -28,12 +29,12 @@
 
 #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
@@ -66,7 +67,7 @@ static inline void ao_check_stack(void) {
 
 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)
@@ -79,7 +80,7 @@ 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
@@ -194,7 +195,7 @@ 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
@@ -289,7 +290,7 @@ ao_task_validate(void)
 #endif /* HAS_TASK_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 (*task_func)(void), const char *name) 
 {
        uint8_t task_id;
        uint8_t t;
@@ -309,7 +310,7 @@ 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);
+       ao_arch_init_stack(task, task_func);
        ao_arch_critical(
 #if HAS_TASK_QUEUE
                ao_task_init_queue(task);
@@ -320,7 +321,7 @@ 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
@@ -372,12 +373,16 @@ 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)
@@ -413,7 +418,7 @@ ao_yield(void) ao_arch_naked_define
 }
 
 uint8_t
-ao_sleep(__xdata void *wchan)
+ao_sleep(void *wchan)
 {
 #if HAS_TASK_QUEUE
        uint32_t flags;
@@ -434,7 +439,7 @@ ao_sleep(__xdata void *wchan)
 }
 
 void
-ao_wakeup(__xdata void *wchan) __reentrant
+ao_wakeup(void *wchan) 
 {
        ao_validate_cur_stack();
 #if HAS_TASK_QUEUE
@@ -465,7 +470,7 @@ 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) {
@@ -499,7 +504,7 @@ 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)
@@ -536,13 +541,16 @@ 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();
@@ -561,4 +569,5 @@ ao_start_scheduler(void)
        ao_arch_start_scheduler();
 #endif
        ao_yield();
+       __builtin_unreachable();
 }