diff options
| -rw-r--r-- | ao.h | 9 | ||||
| -rw-r--r-- | ao_cmd.c | 6 | ||||
| -rw-r--r-- | ao_flight.c | 40 | ||||
| -rw-r--r-- | ao_log.c | 10 | ||||
| -rw-r--r-- | ao_task.c | 29 | ||||
| -rw-r--r-- | ao_usb.c | 2 |
6 files changed, 60 insertions, 36 deletions
@@ -29,7 +29,7 @@ /* Stack runs from above the allocated __data space to 0xfe, which avoids * writing to 0xff as that triggers the stack overflow indicator */ -#define AO_STACK_START 0x6f +#define AO_STACK_START 0x62 #define AO_STACK_END 0xfe #define AO_STACK_SIZE (AO_STACK_END - AO_STACK_START + 1) @@ -38,6 +38,7 @@ struct ao_task { __xdata void *wchan; /* current wait channel (NULL if running) */ uint8_t stack_count; /* amount of saved stack */ uint8_t task_id; /* index in the task array */ + __code char *name; /* task name */ uint8_t stack[AO_STACK_SIZE]; /* saved stack */ }; @@ -64,7 +65,11 @@ ao_yield(void) _naked; /* Add a task to the run queue */ void -ao_add_task(__xdata struct ao_task * task, void (*start)(void)); +ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name); + +/* Dump task info to console */ +void +ao_task_info(void); /* Start the scheduler. This will not return */ void @@ -494,6 +494,7 @@ static const uint8_t help_txt[] = "l Dump last flight log\n" "E <0 off, 1 on> Set command echo mode\n" "S<data> Send data to serial line\n" + "T Show task states\n" "\n" "Target debug commands:\n" "D Enable debug mode\n" @@ -554,6 +555,9 @@ ao_cmd(void *parameters) case 'l': dump_log(); break; + case 'T': + ao_task_info(); + break; case 'S': send_serial(); break; @@ -595,5 +599,5 @@ __xdata struct ao_task ao_cmd_task; void ao_cmd_init(void) { - ao_add_task(&ao_cmd_task, ao_cmd); + ao_add_task(&ao_cmd_task, ao_cmd, "cmd"); } diff --git a/ao_flight.c b/ao_flight.c index bf20f357..dac110aa 100644 --- a/ao_flight.c +++ b/ao_flight.c @@ -20,29 +20,29 @@ /* Main flight thread. */ __xdata struct ao_adc ao_flight_data; /* last acquired data */ -__data enum flight_state ao_flight_state; /* current flight state */ -__data uint16_t ao_flight_tick; /* time of last data */ -__data int16_t ao_flight_accel; /* filtered acceleration */ -__data int16_t ao_flight_pres; /* filtered pressure */ -__data int16_t ao_ground_pres; /* startup pressure */ -__data int16_t ao_ground_accel; /* startup acceleration */ -__data int16_t ao_min_pres; /* minimum recorded pressure */ -__data uint16_t ao_launch_time; /* time of launch detect */ -__data int16_t ao_main_pres; /* pressure to eject main */ +__pdata enum flight_state ao_flight_state; /* current flight state */ +__pdata uint16_t ao_flight_tick; /* time of last data */ +__pdata int16_t ao_flight_accel; /* filtered acceleration */ +__pdata int16_t ao_flight_pres; /* filtered pressure */ +__pdata int16_t ao_ground_pres; /* startup pressure */ +__pdata int16_t ao_ground_accel; /* startup acceleration */ +__pdata int16_t ao_min_pres; /* minimum recorded pressure */ +__pdata uint16_t ao_launch_time; /* time of launch detect */ +__pdata int16_t ao_main_pres; /* pressure to eject main */ /* * track min/max data over a long interval to detect * resting */ -__data uint16_t ao_interval_end; -__data int16_t ao_interval_cur_min_accel; -__data int16_t ao_interval_cur_max_accel; -__data int16_t ao_interval_cur_min_pres; -__data int16_t ao_interval_cur_max_pres; -__data int16_t ao_interval_min_accel; -__data int16_t ao_interval_max_accel; -__data int16_t ao_interval_min_pres; -__data int16_t ao_interval_max_pres; +__pdata uint16_t ao_interval_end; +__pdata int16_t ao_interval_cur_min_accel; +__pdata int16_t ao_interval_cur_max_accel; +__pdata int16_t ao_interval_cur_min_pres; +__pdata int16_t ao_interval_cur_max_pres; +__pdata int16_t ao_interval_min_accel; +__pdata int16_t ao_interval_max_accel; +__pdata int16_t ao_interval_min_pres; +__pdata int16_t ao_interval_max_pres; #define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5) @@ -101,7 +101,7 @@ __data int16_t ao_interval_max_pres; void ao_flight(void) { - __data static uint8_t nsamples = 0; + __pdata static uint8_t nsamples = 0; for (;;) { ao_sleep(&ao_adc_ring); @@ -212,6 +212,6 @@ ao_flight_init(void) ao_interval_max_pres = 0x7fff; ao_interval_end = AO_INTERVAL_TICKS; - ao_add_task(&flight_task, ao_flight); + ao_add_task(&flight_task, ao_flight, "flight"); } @@ -17,10 +17,10 @@ #include "ao.h" -__data uint32_t ao_log_current_pos; -__data uint32_t ao_log_start_pos; -__xdata uint8_t ao_log_running; -__xdata uint8_t ao_log_mutex; +static __pdata uint32_t ao_log_current_pos; +static __pdata uint32_t ao_log_start_pos; +static __xdata uint8_t ao_log_running; +static __xdata uint8_t ao_log_mutex; static uint8_t ao_log_csum(uint8_t *b) @@ -191,5 +191,5 @@ ao_log_init(void) ao_log_state = ao_flight_invalid; /* Create a task to log events to eeprom */ - ao_add_task(&ao_log_task, ao_log); + ao_add_task(&ao_log_task, ao_log, "log"); } @@ -25,13 +25,14 @@ __data uint8_t ao_cur_task_index; __xdata struct ao_task *__data ao_cur_task; void -ao_add_task(__xdata struct ao_task * task, void (*start)(void)) +ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) { uint8_t __xdata *stack; if (ao_num_tasks == AO_NUM_TASKS) ao_panic(AO_PANIC_NO_TASK); ao_tasks[ao_num_tasks++] = task; task->task_id = ao_num_tasks; + task->name = name; /* * Construct a stack frame so that it will 'return' * to the start of the task @@ -94,9 +95,9 @@ ao_yield(void) _naked if (ao_cur_task_index != AO_NO_TASK_INDEX) { - uint8_t stack_len; - __data uint8_t * stack_ptr; - __xdata uint8_t * save_ptr; + uint8_t stack_len; + __data uint8_t *stack_ptr; + __xdata uint8_t *save_ptr; /* Save the current stack */ stack_len = SP - (AO_STACK_START - 1); ao_cur_task->stack_count = stack_len; @@ -124,8 +125,8 @@ ao_yield(void) _naked { uint8_t stack_len; - __data uint8_t * stack_ptr; - __xdata uint8_t * save_ptr; + __data uint8_t *stack_ptr; + __xdata uint8_t *save_ptr; /* Restore the old stack */ stack_len = ao_cur_task->stack_count; @@ -188,9 +189,23 @@ ao_wakeup(__xdata void *wchan) } void -ao_start_scheduler(void) +ao_task_info(void) { + uint8_t i; + uint8_t pc_loc; + for (i = 0; i < ao_num_tasks; i++) { + pc_loc = ao_tasks[i]->stack_count - 17; + printf("%-8s: wchan %04x pc %04x\n", + ao_tasks[i]->name, + (int16_t) ao_tasks[i]->wchan, + (ao_tasks[i]->stack[pc_loc]) | (ao_tasks[i]->stack[pc_loc+1] << 8)); + } +} + +void +ao_start_scheduler(void) +{ ao_cur_task_index = AO_NO_TASK_INDEX; ao_cur_task = NULL; ao_yield(); @@ -537,5 +537,5 @@ ao_usb_init(void) USBOIF = 0; USBIIF = 0; - ao_add_task(&ao_usb_task, ao_usb_ep0); + ao_add_task(&ao_usb_task, ao_usb_ep0, "usb"); } |