X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_task.c;h=bafb49439d4441022be1b9159947f30a9f8d7bff;hp=a11979f0a81fb78a5063ee9066189647c649285e;hb=bb9fdef607728cc326a82aa632e59724f272e53b;hpb=282f0451dd141db3304ab73e4020a849e59721eb

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index a11979f0..bafb4943 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -109,11 +109,15 @@ ao_task_validate_alarm_queue(void)
 				ao_panic(3);
 		}
 	}
+	if (ao_task_alarm_tick != ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm)
+		ao_panic(4);
 }
 #else
 #define ao_task_validate_alarm_queue()
 #endif
 
+uint16_t	ao_task_alarm_tick;
+
 static void
 ao_task_to_alarm_queue(struct ao_task *task)
 {
@@ -121,11 +125,13 @@ ao_task_to_alarm_queue(struct ao_task *task)
 	ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
 		if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
 			ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
+			ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
 			ao_task_validate_alarm_queue();
 			return;
 		}
 	}
 	ao_list_append(&task->alarm_queue, &alarm_queue);
+	ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
 	ao_task_validate_alarm_queue();
 }
 
@@ -133,6 +139,10 @@ static void
 ao_task_from_alarm_queue(struct ao_task *task)
 {
 	ao_list_del(&task->alarm_queue);
+	if (ao_list_is_empty(&alarm_queue))
+		ao_task_alarm_tick = 0;
+	else
+		ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
 	ao_task_validate_alarm_queue();
 }
 
@@ -154,10 +164,7 @@ void
 ao_task_check_alarm(uint16_t tick)
 {
 	struct ao_task	*alarm, *next;
-	int		i;
 
-	if (ao_num_tasks == 0)
-		return;
 	ao_list_for_each_entry_safe(alarm, next, &alarm_queue, struct ao_task, alarm_queue) {
 		if ((int16_t) (tick - alarm->alarm) < 0)
 			break;
@@ -173,6 +180,7 @@ ao_task_init(void)
 	uint8_t	i;
 	ao_list_init(&run_queue);
 	ao_list_init(&alarm_queue);
+	ao_task_alarm_tick = 0;
 	for (i = 0; i < SLEEP_HASH_SIZE; i++)
 		ao_list_init(&sleep_queue[i]);
 }
@@ -264,14 +272,9 @@ ao_task_validate(void)
 		}
 	}
 }
-#else
-#define ao_task_validate()
-#endif
+#endif /* DEBUG */
 
-#else
-#define ao_task_to_run_queue(task)
-#define ao_task_to_alarm_queue(task)
-#endif
+#endif /* HAS_TASK_QUEUE */
 
 void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
@@ -305,6 +308,8 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 		);
 }
 
+__data uint8_t	ao_task_minimize_latency;
+
 /* Task switching function. This must not use any stack variables */
 void
 ao_yield(void) ao_arch_naked_define
@@ -331,6 +336,12 @@ ao_yield(void) ao_arch_naked_define
 	}
 
 	ao_arch_isr_stack();
+#if !HAS_TASK_QUEUE
+	if (ao_task_minimize_latency)
+		ao_arch_release_interrupts();
+	else
+#endif
+		ao_arch_block_interrupts();
 
 #if AO_CHECK_STACK
 	in_yield = 1;
@@ -339,21 +350,19 @@ ao_yield(void) ao_arch_naked_define
 	 * this loop will run forever, which is just fine
 	 */
 #if HAS_TASK_QUEUE
-	if (ao_cur_task->wchan == NULL) {
-		uint32_t flags;
-		flags = ao_arch_irqsave();
+	/* 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);
-		ao_arch_irqrestore(flags);
-	}
 	ao_cur_task = NULL;
-
 	for (;;) {
 		ao_arch_memory_barrier();
 		if (!ao_list_is_empty(&run_queue))
 			break;
-		ao_arch_cpu_idle();
+		/* Wait for interrupts when there's nothing ready */
+		ao_arch_wait_interrupt();
 	}
-		
 	ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
 #else
 	{
@@ -374,20 +383,19 @@ ao_yield(void) ao_arch_naked_define
 			    (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
 				break;
 
-			/* Enter lower power mode when there isn't anything to do */
-			if (ao_cur_task_index == ao_last_task_index)
-				ao_arch_cpu_idle();
+			/* 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();
 		}
-#if HAS_SAMPLE_PROFILE
-		ao_cur_task->start = ao_sample_profile_timer_value();
-#endif
 	}
 #endif
+#if HAS_SAMPLE_PROFILE
+	ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
 #if HAS_STACK_GUARD
 	ao_mpu_stack_guard(ao_cur_task->stack);
 #endif
 #if AO_CHECK_STACK
-	ao_arch_block_interrupts();
 	in_yield = 0;
 #endif
 	ao_arch_restore_stack();
@@ -415,7 +423,7 @@ ao_sleep(__xdata void *wchan)
 }
 
 void
-ao_wakeup(__xdata void *wchan)
+ao_wakeup(__xdata void *wchan) __reentrant
 {
 #if HAS_TASK_QUEUE
 	struct ao_task	*sleep, *next;
@@ -507,6 +515,7 @@ ao_exit(void)
 	/* we'll never get back here */
 }
 
+#if HAS_TASK_INFO
 void
 ao_task_info(void)
 {
@@ -519,10 +528,11 @@ ao_task_info(void)
 		       task->name,
 		       (int) task->wchan);
 	}
-#if HAS_TASK_QUEUE
+#if HAS_TASK_QUEUE && DEBUG
 	ao_task_validate();
 #endif
 }
+#endif
 
 void
 ao_start_scheduler(void)
@@ -531,5 +541,8 @@ ao_start_scheduler(void)
 	ao_cur_task_index = AO_NO_TASK_INDEX;
 #endif
 	ao_cur_task = NULL;
+#if HAS_ARCH_START_SCHEDULER
+	ao_arch_start_scheduler();
+#endif
 	ao_yield();
 }