altos: ARM ABI requires 8-byte aligned stack

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

diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h
index 30b018ffe36aff064afb91b0a8fe1c41e1a20483..03b629693c0e44baa9ba61a24caa39edc6d61ff4 100644 (file)
--- a/src/kernel/ao_task.h
+++ b/src/kernel/ao_task.h
@@ -26,29 +26,35 @@
 #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 {
-       __xdata void *wchan;            /* current wait channel (NULL if running) */
+       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 */
+       uint16_t task_id;               /* unique id */
+       /* Saved stack pointer */
+       union {
+               uint32_t        *sp32;
+               uint8_t         *sp8;
+       };
+       const char *name;               /* task name */
 #if HAS_TASK_QUEUE
        struct ao_list  queue;
        struct ao_list  alarm_queue;
 #endif
-       uint8_t stack[AO_STACK_SIZE] AO_STACK_ALIGNMENT;        /* 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;
@@ -63,10 +69,10 @@ struct ao_task {
 
 #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()
@@ -82,7 +88,7 @@ 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:
@@ -90,11 +96,11 @@ ao_sleep(__xdata void *wchan);
  *  1 on alarm
  */
 uint8_t
-ao_sleep_for(__xdata void *wchan, uint16_t timeout);
+ao_sleep_for(void *wchan, uint16_t 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 */
@@ -112,7 +118,7 @@ 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 */
@@ -131,7 +137,7 @@ 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