Merge branch 'new-debian' into debian

Conflicts:
	ChangeLog
	debian/altos.install
	debian/changelog
	debian/control
	debian/copyright
	debian/dirs
	debian/docs
	debian/menu
	debian/rules
	src/Makefile

1 files changed, 205 insertions, 0 deletions

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
new file mode 100644
index 00000000..65654731
--- /dev/null
+++ b/src/core/ao_task.c
@@ -0,0 +1,205 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+
+#define AO_NO_TASK_INDEX	0xff
+
+__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
+__data uint8_t ao_num_tasks;
+__data uint8_t ao_cur_task_index;
+__xdata struct ao_task *__data ao_cur_task;
+
+#ifdef ao_arch_task_globals
+ao_arch_task_globals
+#endif
+
+#define AO_CHECK_STACK	0
+
+#if AO_CHECK_STACK
+static uint8_t	in_yield;
+
+static inline void ao_check_stack(void) {
+	uint8_t	q;
+	if (!in_yield && ao_cur_task && &q < &ao_cur_task->stack[0])
+		ao_panic(AO_PANIC_STACK);
+}
+#else
+#define ao_check_stack()
+#endif
+
+void
+ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
+{
+	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 = task_id;
+	task->name = name;
+	task->wchan = NULL;
+	/*
+	 * Construct a stack frame so that it will 'return'
+	 * to the start of the task
+	 */
+	ao_arch_init_stack(task, start);
+}
+
+/* Task switching function. This must not use any stack variables */
+void
+ao_yield(void) ao_arch_naked_define
+{
+	ao_arch_save_regs();
+
+	if (ao_cur_task_index == AO_NO_TASK_INDEX)
+		ao_cur_task_index = ao_num_tasks-1;
+	else
+	{
+		ao_arch_save_stack();
+	}
+
+	ao_arch_isr_stack();
+
+#if AO_CHECK_STACK
+	in_yield = 1;
+#endif
+	/* Find a task to run. If there isn't any runnable task,
+	 * this loop will run forever, which is just fine
+	 */
+	{
+		__pdata 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;
+
+			/* Enter lower power mode when there isn't anything to do */
+			if (ao_cur_task_index == ao_last_task_index)
+				ao_arch_cpu_idle();
+		}
+	}
+#if AO_CHECK_STACK
+	cli();
+	in_yield = 0;
+#endif
+	ao_arch_restore_stack();
+}
+
+uint8_t
+ao_sleep(__xdata void *wchan)
+{
+	ao_cur_task->wchan = wchan;
+	ao_yield();
+	if (ao_cur_task->wchan) {
+		ao_cur_task->wchan = NULL;
+		ao_cur_task->alarm = 0;
+		return 1;
+	}
+	return 0;
+}
+
+void
+ao_wakeup(__xdata void *wchan)
+{
+	uint8_t	i;
+
+	ao_check_stack();
+	for (i = 0; i < ao_num_tasks; i++)
+		if (ao_tasks[i]->wchan == wchan)
+			ao_tasks[i]->wchan = NULL;
+}
+
+void
+ao_alarm(uint16_t 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_clear_alarm(void)
+{
+	ao_cur_task->alarm = 0;
+}
+
+static __xdata uint8_t ao_forever;
+
+void
+ao_delay(uint16_t ticks)
+{
+	ao_alarm(ticks);
+	ao_sleep(&ao_forever);
+	ao_clear_alarm();
+}
+
+void
+ao_exit(void)
+{
+	ao_arch_critical(
+		uint8_t	i;
+		ao_num_tasks--;
+		for (i = ao_cur_task_index; i < ao_num_tasks; i++)
+			ao_tasks[i] = ao_tasks[i+1];
+		ao_cur_task_index = AO_NO_TASK_INDEX;
+		ao_yield();
+		);
+	/* we'll never get back here */
+}
+
+void
+ao_task_info(void)
+{
+	uint8_t		i;
+	__xdata struct ao_task *task;
+
+	for (i = 0; i < ao_num_tasks; i++) {
+		task = ao_tasks[i];
+		printf("%12s: wchan %04x\n",
+		       task->name,
+		       (int) task->wchan);
+	}
+}
+
+void
+ao_start_scheduler(void)
+{
+	ao_cur_task_index = AO_NO_TASK_INDEX;
+	ao_cur_task = NULL;
+	ao_yield();
+}