first cut at turnon scripts for EasyTimer v2

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

diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h
index c6bec0e397dccba3f1625160330ff4af049f27fa..27f47a5629de139565d203e34f3c63ccc21998e3 100644 (file)
--- a/src/kernel/ao_task.h
+++ b/src/kernel/ao_task.h
@@ -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
@@ -17,26 +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 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 */
+       void *wchan;                    /* current wait channel (NULL if running) */
+       AO_TICK_TYPE alarm;             /* abort ao_sleep time */
        uint8_t task_id;                /* unique id */
-       __code char *name;              /* task name */
-#if HAS_TASK_QUEUE
+       /* Saved stack pointer */
+       union {
+               uint32_t        *sp32;
+               uint8_t         *sp8;
+       };
+       const char *name;               /* task name */
        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];   /* saved stack */
 #if HAS_SAMPLE_PROFILE
        uint32_t ticks;
        uint32_t yields;
@@ -49,12 +70,14 @@ 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;
+extern uint8_t ao_task_minimize_latency;       /* Reduce IRQ latency */
 
-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 */
+#ifndef HAS_ARCH_VALIDATE_CUR_STACK
+#define ao_validate_cur_stack()
+#endif
 
 /*
  ao_task.c
@@ -66,7 +89,7 @@ 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:
@@ -74,16 +97,16 @@ 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
@@ -96,18 +119,26 @@ 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
@@ -115,13 +146,9 @@ 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