#define DEBUG 0
-#define AO_NO_TASK_INDEX 0xff
-
struct ao_task * ao_tasks[AO_NUM_TASKS];
uint8_t ao_num_tasks;
struct ao_task *ao_cur_task;
-#if !HAS_TASK_QUEUE
-static uint8_t ao_cur_task_index;
-#endif
-
#ifdef ao_arch_task_globals
ao_arch_task_globals
#endif
#define ao_task_irq_check()
#endif
-#if HAS_TASK_QUEUE
-
+#ifndef SLEEP_HASH_SIZE
#define SLEEP_HASH_SIZE 17
+#endif
static struct ao_list run_queue;
static struct ao_list alarm_queue;
static struct ao_list ao_sleep_queue[SLEEP_HASH_SIZE];
static void
-ao_task_to_run_queue(struct ao_task *task)
+_ao_task_to_run_queue(struct ao_task *task)
{
ao_task_irq_check();
ao_list_del(&task->queue);
}
static void
-ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
+_ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
{
ao_task_irq_check();
ao_list_del(&task->queue);
AO_TICK_TYPE ao_task_alarm_tick;
static void
-ao_task_to_alarm_queue(struct ao_task *task)
+_ao_task_to_alarm_queue(struct ao_task *task)
{
struct ao_task *alarm;
ao_task_irq_check();
}
static void
-ao_task_from_alarm_queue(struct ao_task *task)
+_ao_task_from_alarm_queue(struct ao_task *task)
{
ao_task_irq_check();
ao_list_del(&task->alarm_queue);
}
void
-ao_task_check_alarm(AO_TICK_TYPE tick)
+ao_task_alarm(AO_TICK_TYPE tick)
{
struct ao_task *alarm, *next;
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)
+ if ((AO_TICK_SIGNED) (tick - alarm->alarm) < 0)
break;
alarm->alarm = 0;
- ao_task_from_alarm_queue(alarm);
- ao_task_to_run_queue(alarm);
+ _ao_task_from_alarm_queue(alarm);
+ _ao_task_to_run_queue(alarm);
});
}
}
#endif /* DEBUG */
-#endif /* HAS_TASK_QUEUE */
-
static inline void *
ao_stack_top(struct ao_task *task)
{
_init_tls(sp);
#endif
ao_arch_init_stack(task, sp, task_func);
+ ao_task_init_queue(task);
ao_arch_critical(
-#if HAS_TASK_QUEUE
- ao_task_init_queue(task);
- ao_task_to_run_queue(task);
-#endif
+ _ao_task_to_run_queue(task);
ao_tasks[ao_num_tasks] = task;
ao_num_tasks++;
);
uint8_t ao_task_minimize_latency;
-/* Task switching function. This must not use any stack variables */
+/* Task switching function. */
void
-ao_yield(void) ao_arch_naked_define
+ao_yield(void)
{
- ao_arch_save_regs();
-
-#if HAS_TASK_QUEUE
- if (ao_cur_task == NULL)
- ao_cur_task = ao_tasks[ao_num_tasks-1];
-#else
- if (ao_cur_task_index == AO_NO_TASK_INDEX)
- ao_cur_task_index = ao_num_tasks-1;
-#endif
- else
+ if (ao_cur_task)
{
#if HAS_SAMPLE_PROFILE
AO_TICK_TYPE tick = ao_sample_profile_timer_value();
ao_cur_task->max_run = run;
++ao_cur_task->yields;
#endif
+ ao_arch_save_regs();
ao_arch_save_stack();
}
ao_arch_isr_stack();
-#if !HAS_TASK_QUEUE
- if (ao_task_minimize_latency)
- ao_arch_release_interrupts();
- else
-#endif
- ao_arch_block_interrupts();
+ ao_arch_block_interrupts();
#if AO_CHECK_STACK
in_yield = 1;
/* Find a task to run. If there isn't any runnable task,
* this loop will run forever, which is just fine
*/
-#if HAS_TASK_QUEUE
/* If the current task is running, move it to the
* end of the queue to allow other tasks a chance
*/
- if (ao_cur_task->wchan == NULL)
- ao_task_to_run_queue(ao_cur_task);
+ if (ao_cur_task && ao_cur_task->wchan == NULL)
+ _ao_task_to_run_queue(ao_cur_task);
for (;;) {
ao_arch_memory_barrier();
if (!ao_list_is_empty(&run_queue))
ao_arch_wait_interrupt();
}
ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
-#else
- {
- uint8_t ao_last_task_index = ao_cur_task_index;
- for (;;) {
- ++ao_cur_task_index;
- if (ao_cur_task_index == ao_num_tasks)
- ao_cur_task_index = 0;
-
- ao_cur_task = ao_tasks[ao_cur_task_index];
-
- /* Check for ready task */
- if (ao_cur_task->wchan == NULL)
- break;
-
- /* Check if the alarm is set for a time which has passed */
- if (ao_cur_task->alarm &&
- (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
- break;
-
- /* Wait for interrupts when there's nothing ready */
- if (ao_cur_task_index == ao_last_task_index && !ao_task_minimize_latency)
- ao_arch_wait_interrupt();
- }
- }
-#endif
#if HAS_SAMPLE_PROFILE
ao_cur_task->start = ao_sample_profile_timer_value();
#endif
uint8_t
ao_sleep(void *wchan)
{
-#if HAS_TASK_QUEUE
- uint32_t flags;
- flags = ao_arch_irqsave();
-#endif
- ao_cur_task->wchan = wchan;
-#if HAS_TASK_QUEUE
- ao_task_to_sleep_queue(ao_cur_task, wchan);
- ao_arch_irqrestore(flags);
-#endif
+ ao_arch_critical(
+ ao_cur_task->wchan = wchan;
+ _ao_task_to_sleep_queue(ao_cur_task, wchan);
+ );
ao_yield();
if (ao_cur_task->wchan) {
ao_cur_task->wchan = NULL;
ao_wakeup(void *wchan)
{
ao_validate_cur_stack();
-#if HAS_TASK_QUEUE
struct ao_task *sleep, *next;
struct ao_list *sleep_queue;
uint32_t flags;
ao_list_for_each_entry_safe(sleep, next, sleep_queue, struct ao_task, queue) {
if (sleep->wchan == wchan) {
sleep->wchan = NULL;
- ao_task_to_run_queue(sleep);
+ _ao_task_to_run_queue(sleep);
}
}
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();
}
{
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
- */
- if (!(ao_cur_task->alarm = ao_time() + timeout + 1))
- ao_cur_task->alarm = 1;
-#if HAS_TASK_QUEUE
- ao_task_to_alarm_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
-#endif
+ ao_arch_critical(
+ /* 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
+ */
+ if (!(ao_cur_task->alarm = ao_time() + timeout + 1))
+ ao_cur_task->alarm = 1;
+ _ao_task_to_alarm_queue(ao_cur_task);
+ );
}
ret = ao_sleep(wchan);
if (timeout) {
-#if HAS_TASK_QUEUE
- uint32_t flags;
-
- flags = ao_arch_irqsave();
-#endif
- ao_cur_task->alarm = 0;
-#if HAS_TASK_QUEUE
- ao_task_from_alarm_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
-#endif
+ ao_arch_critical(
+ ao_cur_task->alarm = 0;
+ _ao_task_from_alarm_queue(ao_cur_task);
+ );
}
return ret;
}
{
uint8_t i;
ao_arch_block_interrupts();
- ao_num_tasks--;
-#if HAS_TASK_QUEUE
for (i = 0; i < ao_num_tasks; i++)
if (ao_tasks[i] == ao_cur_task)
break;
ao_task_exit_queue(ao_cur_task);
-#else
- i = ao_cur_task_index;
- ao_cur_task_index = AO_NO_TASK_INDEX;
-#endif
+ /* Remove task from list */
+ ao_num_tasks--;
for (; i < ao_num_tasks; i++)
ao_tasks[i] = ao_tasks[i+1];
ao_cur_task = NULL;
ao_yield();
- /* we'll never get back here */
+ __builtin_unreachable();
}
#if HAS_TASK_INFO
task->alarm ? (int16_t) (task->alarm - now) : 9999,
task->name);
}
-#if HAS_TASK_QUEUE && DEBUG
+#if DEBUG
ao_task_validate();
#endif
}
void
ao_start_scheduler(void)
{
-#if !HAS_TASK_QUEUE
- ao_cur_task_index = AO_NO_TASK_INDEX;
-#endif
ao_cur_task = NULL;
#if HAS_ARCH_START_SCHEDULER
ao_arch_start_scheduler();
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