X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_task.c;h=f5850fa4c15bab07b88fcd6c4a191ffd33323762;hp=14aa84c841d698d3a285de7370c80de369c7b56f;hb=6492218fc316f8cf6214a577807a8dd0a80a9b6a;hpb=73db30b2f9128c37dc7fa075793a8862814ce044

diff --git a/src/ao_task.c b/src/ao_task.c
index 14aa84c8..f5850fa4 100644
--- a/src/ao_task.c
+++ b/src/ao_task.c
@@ -28,10 +28,19 @@ void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
 {
 	uint8_t	__xdata *stack;
+	uint8_t task_id;
+	uint8_t t;
 	if (ao_num_tasks == AO_NUM_TASKS)
 		ao_panic(AO_PANIC_NO_TASK);
+	for (task_id = 1; task_id != 0; task_id++) {
+		for (t = 0; t < ao_num_tasks; t++)
+			if (ao_tasks[t]->task_id == task_id)
+				break;
+		if (t == ao_num_tasks)
+			break;
+	}
 	ao_tasks[ao_num_tasks++] = task;
-	task->task_id = ao_num_tasks;
+	task->task_id = task_id;
 	task->name = name;
 	/*
 	 * Construct a stack frame so that it will 'return'
@@ -39,32 +48,37 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 	 */
 	stack = task->stack;
 
-	*stack++ = ((uint16_t) start);
-	*stack++ = ((uint16_t) start) >> 8;
+	*stack++ = ((uint16_t) start);		/* 0 */
+	*stack++ = ((uint16_t) start) >> 8;	/* 1 */
 
 	/* and the stuff saved by ao_switch */
-	*stack++ = 0;		/* acc */
-	*stack++ = 0x80;	/* IE */
-	*stack++ = 0;		/* DPL */
-	*stack++ = 0;		/* DPH */
-	*stack++ = 0;		/* B */
-	*stack++ = 0;		/* R2 */
-	*stack++ = 0;		/* R3 */
-	*stack++ = 0;		/* R4 */
-	*stack++ = 0;		/* R5 */
-	*stack++ = 0;		/* R6 */
-	*stack++ = 0;		/* R7 */
-	*stack++ = 0;		/* R0 */
-	*stack++ = 0;		/* R1 */
-	*stack++ = 0;		/* PSW */
-	*stack++ = 0;		/* BP */
-	task->stack_count = stack - task->stack;
+	*stack++ = 0;				/* 2 acc */  
+	*stack++ = 0x80;			/* 3 IE */
+
+	/*  4 DPL
+	 *  5 DPH
+	 *  6 B
+	 *  7 R2
+	 *  8 R3
+	 *  9 R4
+	 * 10 R5
+	 * 11 R6
+	 * 12 R7
+	 * 13 R0
+	 * 14 R1
+	 * 15 PSW
+	 * 16 BP
+	 */
+	for (t = 0; t < 13; t++)
+		*stack++ = 0;
+
+	task->stack_count = 17;
 	task->wchan = NULL;
 }
 
 /* Task switching function. This must not use any stack variables */
 void
-ao_yield(void) _naked
+ao_yield(void) __naked
 {
 
 	/* Save current context */
@@ -195,12 +209,11 @@ ao_sleep(__xdata void *wchan)
 		ao_cur_task->wchan = wchan;
 	}
 	ao_yield();
+	ao_cur_task->alarm = 0;
 	if (ao_cur_task->wchan) {
 		ao_cur_task->wchan = NULL;
-		ao_cur_task->alarm = 0;
 		return 1;
 	}
-	ao_cur_task->alarm = 0;
 	return 0;
 }
 
@@ -217,18 +230,15 @@ ao_wakeup(__xdata void *wchan)
 void
 ao_alarm(uint16_t delay)
 {
-	if (!(ao_cur_task->alarm = ao_time() + delay))
+	/* 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() + delay + 1))
 		ao_cur_task->alarm = 1;
 }
 
 void
-ao_wake_task(__xdata struct ao_task *task)
-{
-	task->wchan = NULL;
-}
-
-void
-ao_exit(void)
+ao_exit(void) __critical
 {
 	uint8_t	i;
 	ao_num_tasks--;