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-rw-r--r--src/core/ao.h3
-rw-r--r--src/core/ao_flight.c2
-rw-r--r--src/core/ao_ignite.c10
-rw-r--r--src/core/ao_list.h213
-rw-r--r--src/core/ao_mutex.c8
-rw-r--r--src/core/ao_packet.h3
-rw-r--r--src/core/ao_panic.c3
-rw-r--r--src/core/ao_sample_profile.c173
-rw-r--r--src/core/ao_sample_profile.h29
-rw-r--r--src/core/ao_stdio.c26
-rw-r--r--src/core/ao_task.c356
-rw-r--r--src/core/ao_task.h32
12 files changed, 819 insertions, 39 deletions
diff --git a/src/core/ao.h b/src/core/ao.h
index e559e876..87e69e19 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -64,6 +64,7 @@
#define AO_PANIC_BT 11 /* Communications with bluetooth device failed */
#define AO_PANIC_STACK 12 /* Stack overflow */
#define AO_PANIC_SPI 13 /* SPI communication failure */
+#define AO_PANIC_CRASH 14 /* Processor crashed */
#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
@@ -101,7 +102,7 @@ ao_delay(uint16_t ticks);
/* Set the ADC interval */
void
-ao_timer_set_adc_interval(uint8_t interval) __critical;
+ao_timer_set_adc_interval(uint8_t interval);
/* Timer interrupt */
void
diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
index aa4f6961..64c95063 100644
--- a/src/core/ao_flight.c
+++ b/src/core/ao_flight.c
@@ -115,7 +115,7 @@ ao_flight(void)
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
-#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG
+#if HAS_USB && HAS_RADIO && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
/* Disable the USB controller in flight mode
* to save power
*/
diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c
index c7829fc3..693b7c7a 100644
--- a/src/core/ao_ignite.c
+++ b/src/core/ao_ignite.c
@@ -21,10 +21,12 @@
__xdata struct ao_ignition ao_ignition[2];
void
-ao_ignite(enum ao_igniter igniter) __critical
+ao_ignite(enum ao_igniter igniter)
{
+ cli();
ao_ignition[igniter].request = 1;
ao_wakeup(&ao_ignition);
+ sei();
}
#ifndef AO_SENSE_DROGUE
@@ -39,12 +41,12 @@ ao_igniter_status(enum ao_igniter igniter)
__pdata int16_t value;
__pdata uint8_t request, firing, fired;
- __critical {
+ ao_arch_critical(
ao_data_get(&packet);
request = ao_ignition[igniter].request;
fired = ao_ignition[igniter].fired;
firing = ao_ignition[igniter].firing;
- }
+ );
if (firing || (request && !fired))
return ao_igniter_active;
@@ -79,7 +81,7 @@ ao_igniter_status(enum ao_igniter igniter)
#endif
void
-ao_igniter_fire(enum ao_igniter igniter) __critical
+ao_igniter_fire(enum ao_igniter igniter)
{
ao_ignition[igniter].firing = 1;
switch(ao_config.ignite_mode) {
diff --git a/src/core/ao_list.h b/src/core/ao_list.h
new file mode 100644
index 00000000..23cf1841
--- /dev/null
+++ b/src/core/ao_list.h
@@ -0,0 +1,213 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+#ifndef _AO_LIST_H_
+#define _AO_LIST_H_
+
+#include <stddef.h>
+
+struct ao_list {
+ struct ao_list *next, *prev;
+};
+
+static inline void
+ao_list_init(struct ao_list *list)
+{
+ list->next = list->prev = list;
+}
+
+static inline void
+__ao_list_add(struct ao_list *list, struct ao_list *prev, struct ao_list *next)
+{
+ next->prev = list;
+ list->next = next;
+ list->prev = prev;
+ prev->next = list;
+}
+
+/**
+ * Insert a new element after the given list head. The new element does not
+ * need to be initialised as empty list.
+ * The list changes from:
+ * head → some element → ...
+ * to
+ * head → new element → older element → ...
+ *
+ * Example:
+ * struct foo *newfoo = malloc(...);
+ * ao_list_add(&newfoo->entry, &bar->list_of_foos);
+ *
+ * @param entry The new element to prepend to the list.
+ * @param head The existing list.
+ */
+static inline void
+ao_list_insert(struct ao_list *entry, struct ao_list *head)
+{
+ __ao_list_add(entry, head, head->next);
+}
+
+/**
+ * Append a new element to the end of the list given with this list head.
+ *
+ * The list changes from:
+ * head → some element → ... → lastelement
+ * to
+ * head → some element → ... → lastelement → new element
+ *
+ * Example:
+ * struct foo *newfoo = malloc(...);
+ * ao_list_append(&newfoo->entry, &bar->list_of_foos);
+ *
+ * @param entry The new element to prepend to the list.
+ * @param head The existing list.
+ */
+static inline void
+ao_list_append(struct ao_list *entry, struct ao_list *head)
+{
+ __ao_list_add(entry, head->prev, head);
+}
+
+static inline void
+__ao_list_del(struct ao_list *prev, struct ao_list *next)
+{
+ next->prev = prev;
+ prev->next = next;
+}
+
+/**
+ * Remove the element from the list it is in. Using this function will reset
+ * the pointers to/from this element so it is removed from the list. It does
+ * NOT free the element itself or manipulate it otherwise.
+ *
+ * Using ao_list_del on a pure list head (like in the example at the top of
+ * this file) will NOT remove the first element from
+ * the list but rather reset the list as empty list.
+ *
+ * Example:
+ * ao_list_del(&foo->entry);
+ *
+ * @param entry The element to remove.
+ */
+static inline void
+ao_list_del(struct ao_list *entry)
+{
+ __ao_list_del(entry->prev, entry->next);
+ ao_list_init(entry);
+}
+
+/**
+ * Check if the list is empty.
+ *
+ * Example:
+ * ao_list_is_empty(&bar->list_of_foos);
+ *
+ * @return True if the list contains one or more elements or False otherwise.
+ */
+static inline uint8_t
+ao_list_is_empty(struct ao_list *head)
+{
+ return head->next == head;
+}
+
+/**
+ * Returns a pointer to the container of this list element.
+ *
+ * Example:
+ * struct foo* f;
+ * f = container_of(&foo->entry, struct foo, entry);
+ * assert(f == foo);
+ *
+ * @param ptr Pointer to the struct ao_list.
+ * @param type Data type of the list element.
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the data struct containing the list head.
+ */
+#define ao_container_of(ptr, type, member) \
+ (type *)((char *)(ptr) - offsetof(type, member))
+
+/**
+ * Alias of ao_container_of
+ */
+#define ao_list_entry(ptr, type, member) \
+ ao_container_of(ptr, type, member)
+
+/**
+ * Retrieve the first list entry for the given list pointer.
+ *
+ * Example:
+ * struct foo *first;
+ * first = ao_list_first_entry(&bar->list_of_foos, struct foo, list_of_foos);
+ *
+ * @param ptr The list head
+ * @param type Data type of the list element to retrieve
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the first list element.
+ */
+#define ao_list_first_entry(ptr, type, member) \
+ ao_list_entry((ptr)->next, type, member)
+
+/**
+ * Retrieve the last list entry for the given listpointer.
+ *
+ * Example:
+ * struct foo *first;
+ * first = ao_list_last_entry(&bar->list_of_foos, struct foo, list_of_foos);
+ *
+ * @param ptr The list head
+ * @param type Data type of the list element to retrieve
+ * @param member Member name of the struct ao_list field in the list element.
+ * @return A pointer to the last list element.
+ */
+#define ao_list_last_entry(ptr, type, member) \
+ ao_list_entry((ptr)->prev, type, member)
+
+/**
+ * Loop through the list given by head and set pos to struct in the list.
+ *
+ * Example:
+ * struct foo *iterator;
+ * ao_list_for_each_entry(iterator, &bar->list_of_foos, entry) {
+ * [modify iterator]
+ * }
+ *
+ * This macro is not safe for node deletion. Use ao_list_for_each_entry_safe
+ * instead.
+ *
+ * @param pos Iterator variable of the type of the list elements.
+ * @param head List head
+ * @param member Member name of the struct ao_list in the list elements.
+ *
+ */
+#define ao_list_for_each_entry(pos, head, type, member) \
+ for (pos = ao_container_of((head)->next, type, member); \
+ &pos->member != (head); \
+ pos = ao_container_of(pos->member.next, type, member))
+
+/**
+ * Loop through the list, keeping a backup pointer to the element. This
+ * macro allows for the deletion of a list element while looping through the
+ * list.
+ *
+ * See ao_list_for_each_entry for more details.
+ */
+#define ao_list_for_each_entry_safe(pos, tmp, head, type, member) \
+ for ((pos = ao_container_of((head)->next, type, member)), \
+ (tmp = ao_container_of(pos->member.next, type, member)); \
+ &pos->member != (head); \
+ (pos = tmp), (tmp = ao_container_of(pos->member.next, type, member)))
+
+#endif /* _AO_LIST_H_ */
diff --git a/src/core/ao_mutex.c b/src/core/ao_mutex.c
index c82a7d57..952ff462 100644
--- a/src/core/ao_mutex.c
+++ b/src/core/ao_mutex.c
@@ -22,11 +22,11 @@ ao_mutex_get(__xdata uint8_t *mutex) __reentrant
{
if (*mutex == ao_cur_task->task_id)
ao_panic(AO_PANIC_MUTEX);
- __critical {
+ ao_arch_critical(
while (*mutex)
ao_sleep(mutex);
*mutex = ao_cur_task->task_id;
- }
+ );
}
void
@@ -34,8 +34,8 @@ ao_mutex_put(__xdata uint8_t *mutex) __reentrant
{
if (*mutex != ao_cur_task->task_id)
ao_panic(AO_PANIC_MUTEX);
- __critical {
+ ao_arch_critical(
*mutex = 0;
ao_wakeup(mutex);
- }
+ );
}
diff --git a/src/core/ao_packet.h b/src/core/ao_packet.h
index f232a878..0eafd3b2 100644
--- a/src/core/ao_packet.h
+++ b/src/core/ao_packet.h
@@ -48,6 +48,7 @@ extern __xdata struct ao_task ao_packet_task;
extern __xdata uint8_t ao_packet_enable;
extern __xdata uint8_t ao_packet_master_sleeping;
extern __pdata uint8_t ao_packet_rx_len, ao_packet_rx_used, ao_packet_tx_used;
+extern __xdata uint8_t ao_packet_restart;
void
ao_packet_send(void);
@@ -62,7 +63,7 @@ void
ao_packet_putchar(char c) __reentrant;
char
-ao_packet_pollchar(void) __critical;
+ao_packet_pollchar(void);
#if PACKET_HAS_MASTER
/* ao_packet_master.c */
diff --git a/src/core/ao_panic.c b/src/core/ao_panic.c
index 3c0b471e..c29cd8fe 100644
--- a/src/core/ao_panic.c
+++ b/src/core/ao_panic.c
@@ -53,7 +53,8 @@ ao_panic(uint8_t reason)
ao_cur_task = NULL;
printf ("panic %d\n", reason);
#endif
- __critical for (;;) {
+ ao_arch_block_interrupts();
+ for (;;) {
ao_panic_delay(20);
for (n = 0; n < 5; n++) {
ao_led_on(AO_LED_PANIC);
diff --git a/src/core/ao_sample_profile.c b/src/core/ao_sample_profile.c
new file mode 100644
index 00000000..1d9ed414
--- /dev/null
+++ b/src/core/ao_sample_profile.c
@@ -0,0 +1,173 @@
+/*
+ * Copyright © 2012 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>
+#include <ao_sample_profile.h>
+#include <ao_task.h>
+
+#ifndef AO_SAMPLE_PROFILE_LOW_PC
+#define AO_SAMPLE_PROFILE_LOW_PC 0x08000000
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_HIGH_PC
+#define AO_SAMPLE_PROFILE_HIGH_PC (AO_SAMPLE_PROFILE_LOW_PC + 44 * 1024)
+#endif
+
+#ifndef AO_SAMPLE_PROFILE_SHIFT
+#define AO_SAMPLE_PROFILE_SHIFT 6
+#endif
+
+#define AO_SAMPLE_PROFILE_RANGE (AO_SAMPLE_PROFILE_HIGH_PC - AO_SAMPLE_PROFILE_LOW_PC)
+#define AO_SAMPLE_PROFILE_NUM (AO_SAMPLE_PROFILE_RANGE >> AO_SAMPLE_PROFILE_SHIFT)
+
+static uint16_t prev_tick;
+static uint16_t samples[AO_SAMPLE_PROFILE_NUM];
+static uint8_t missed[AO_SAMPLE_PROFILE_NUM/8];
+static uint16_t max_miss;
+static uint32_t task, isr, os, idle;
+
+extern uint8_t ao_idle_loc;
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr)
+{
+ uint16_t delta = tick - prev_tick;
+
+ if (pc < AO_SAMPLE_PROFILE_LOW_PC)
+ return;
+ if (pc >= AO_SAMPLE_PROFILE_HIGH_PC)
+ return;
+ if (ao_cur_task) {
+ uint8_t *sp;
+ int32_t sp_delta;
+
+ asm("mov %0,sp" : "=&r" (sp));
+ sp_delta = sp - (uint8_t *) ao_cur_task->stack;
+ if (-96 < sp_delta && sp_delta < 16)
+ ao_panic(AO_PANIC_STACK);
+ }
+
+ if (in_isr)
+ isr += delta;
+ else if (ao_cur_task) {
+ ao_cur_task->ticks += delta;
+ task += delta;
+ } else if (pc == (uint32_t) &ao_idle_loc)
+ idle += delta;
+ else
+ os += delta;
+
+ pc -= AO_SAMPLE_PROFILE_LOW_PC;
+ pc >>= AO_SAMPLE_PROFILE_SHIFT;
+ samples[pc] += delta;
+
+ if (delta > 1)
+ missed[pc >> 3] |= (1 << (pc & 7));
+ if (delta > max_miss)
+ max_miss = delta;
+ prev_tick = tick;
+}
+
+static void
+ao_sample_profile_start(void)
+{
+ prev_tick = ao_sample_profile_timer_start();
+}
+
+static void
+ao_sample_profile_stop(void)
+{
+ ao_sample_profile_timer_stop();
+}
+
+static void
+ao_sample_profile_dump(void)
+{
+ uint16_t a;
+ uint8_t t;
+
+ printf ("task %6d\n", task);
+ printf ("isr %6d\n", isr);
+ printf ("os %6d\n", os);
+ printf ("idle %6d\n", idle);
+ printf ("irq blocked %d\n", max_miss);
+ for (t = 0; t < ao_num_tasks; t++)
+ printf ("task %6d %6d %6d %s\n",
+ ao_tasks[t]->ticks,
+ ao_tasks[t]->yields,
+ ao_tasks[t]->max_run,
+ ao_tasks[t]->name);
+ for (a = 0; a < AO_SAMPLE_PROFILE_NUM; a++) {
+ if (samples[a])
+ printf ("%04x %c %u\n",
+ (a << AO_SAMPLE_PROFILE_SHIFT) + AO_SAMPLE_PROFILE_LOW_PC,
+ missed[a >> 3] & (1 << (a & 7)) ? '*' : ' ',
+ samples[a]);
+ }
+}
+
+static void
+ao_sample_profile_clear(void)
+{
+ int t;
+
+ task = isr = os = idle = 0;
+ max_miss = 0;
+ memset(samples, '\0', sizeof (samples));
+ memset(missed, '\0', sizeof (missed));
+ for (t = 0; t < ao_num_tasks; t++) {
+ ao_tasks[t]->ticks = 0;
+ ao_tasks[t]->yields = 0;
+ ao_tasks[t]->max_run = 0;
+ }
+}
+
+static void
+ao_sample_profile_cmd(void)
+{
+ ao_cmd_white();
+ switch (ao_cmd_lex_c) {
+ case '1':
+ ao_sample_profile_start();
+ break;
+ case '0':
+ ao_sample_profile_stop();
+ break;
+ case 'd':
+ ao_sample_profile_dump();
+ break;
+ case 'c':
+ ao_sample_profile_clear();
+ break;
+ default:
+ ao_cmd_status = ao_cmd_syntax_error;
+ break;
+ }
+}
+
+static __code struct ao_cmds ao_sample_profile_cmds[] = {
+ { ao_sample_profile_cmd, "S <1 start,0 stop, d dump,c clear>\0Sample profile" },
+ { 0, NULL }
+};
+
+void
+ao_sample_profile_init(void)
+{
+ ao_sample_profile_timer_init();
+ ao_cmd_register(&ao_sample_profile_cmds[0]);
+ ao_sample_profile_clear();
+}
diff --git a/src/core/ao_sample_profile.h b/src/core/ao_sample_profile.h
new file mode 100644
index 00000000..dbc29d3d
--- /dev/null
+++ b/src/core/ao_sample_profile.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright © 2012 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.
+ */
+
+#ifndef _AO_SAMPLE_PROFILE_H_
+#define _AO_SAMPLE_PROFILE_H_
+
+#include <ao_sample_profile_timer.h>
+
+void
+ao_sample_profile_point(uint32_t pc, uint16_t tick, uint8_t in_isr);
+
+void
+ao_sample_profile_init(void);
+
+#endif /* _AO_SAMPLE_PROFILE_H_ */
diff --git a/src/core/ao_stdio.c b/src/core/ao_stdio.c
index 656b23c9..8cf66a23 100644
--- a/src/core/ao_stdio.c
+++ b/src/core/ao_stdio.c
@@ -96,21 +96,23 @@ flush(void)
__xdata uint8_t ao_stdin_ready;
char
-getchar(void) __reentrant __critical
+getchar(void) __reentrant
{
char c;
- int8_t stdio = ao_cur_stdio;
+ ao_arch_critical(
+ int8_t stdio = ao_cur_stdio;
- for (;;) {
- c = ao_stdios[stdio].pollchar();
- if (c != AO_READ_AGAIN)
- break;
- if (++stdio == ao_num_stdios)
- stdio = 0;
- if (stdio == ao_cur_stdio)
- ao_sleep(&ao_stdin_ready);
- }
- ao_cur_stdio = stdio;
+ for (;;) {
+ c = ao_stdios[stdio].pollchar();
+ if (c != AO_READ_AGAIN)
+ break;
+ if (++stdio == ao_num_stdios)
+ stdio = 0;
+ if (stdio == ao_cur_stdio)
+ ao_sleep(&ao_stdin_ready);
+ }
+ ao_cur_stdio = stdio;
+ );
return c;
}
diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 65654731..a11979f0 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -16,14 +16,26 @@
*/
#include <ao.h>
+#include <ao_task.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+
+#define DEBUG 0
#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;
+#if !HAS_TASK_QUEUE
+static __data uint8_t ao_cur_task_index;
+#endif
+
#ifdef ao_arch_task_globals
ao_arch_task_globals
#endif
@@ -42,6 +54,225 @@ static inline void ao_check_stack(void) {
#define ao_check_stack()
#endif
+#if HAS_TASK_QUEUE
+
+#define SLEEP_HASH_SIZE 17
+
+static struct ao_list run_queue;
+static struct ao_list alarm_queue;
+static struct ao_list sleep_queue[SLEEP_HASH_SIZE];
+
+static void
+ao_task_to_run_queue(struct ao_task *task)
+{
+ ao_list_del(&task->queue);
+ ao_list_append(&task->queue, &run_queue);
+}
+
+static struct ao_list *
+ao_task_sleep_queue(void *wchan)
+{
+ return &sleep_queue[(uintptr_t) wchan % SLEEP_HASH_SIZE];
+}
+
+static void
+ao_task_to_sleep_queue(struct ao_task *task, void *wchan)
+{
+ ao_list_del(&task->queue);
+ ao_list_append(&task->queue, ao_task_sleep_queue(wchan));
+}
+
+#if DEBUG
+static void
+ao_task_validate_alarm_queue(void)
+{
+ struct ao_task *alarm, *prev = NULL;
+ int i;
+
+ if (ao_list_is_empty(&alarm_queue))
+ return;
+ ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
+ if (prev) {
+ if ((int16_t) (alarm->alarm - prev->alarm) < 0) {
+ ao_panic(1);
+ }
+ }
+ prev = alarm;
+ }
+ for (i = 0; i < ao_num_tasks; i++) {
+ alarm = ao_tasks[i];
+ if (alarm->alarm) {
+ if (ao_list_is_empty(&alarm->alarm_queue))
+ ao_panic(2);
+ } else {
+ if (!ao_list_is_empty(&alarm->alarm_queue))
+ ao_panic(3);
+ }
+ }
+}
+#else
+#define ao_task_validate_alarm_queue()
+#endif
+
+static void
+ao_task_to_alarm_queue(struct ao_task *task)
+{
+ struct ao_task *alarm;
+ 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_validate_alarm_queue();
+ return;
+ }
+ }
+ ao_list_append(&task->alarm_queue, &alarm_queue);
+ ao_task_validate_alarm_queue();
+}
+
+static void
+ao_task_from_alarm_queue(struct ao_task *task)
+{
+ ao_list_del(&task->alarm_queue);
+ ao_task_validate_alarm_queue();
+}
+
+static void
+ao_task_init_queue(struct ao_task *task)
+{
+ ao_list_init(&task->queue);
+ ao_list_init(&task->alarm_queue);
+}
+
+static void
+ao_task_exit_queue(struct ao_task *task)
+{
+ ao_list_del(&task->queue);
+ ao_list_del(&task->alarm_queue);
+}
+
+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;
+ alarm->alarm = 0;
+ ao_task_from_alarm_queue(alarm);
+ ao_task_to_run_queue(alarm);
+ }
+}
+
+void
+ao_task_init(void)
+{
+ uint8_t i;
+ ao_list_init(&run_queue);
+ ao_list_init(&alarm_queue);
+ for (i = 0; i < SLEEP_HASH_SIZE; i++)
+ ao_list_init(&sleep_queue[i]);
+}
+
+#if DEBUG
+static uint8_t
+ao_task_validate_queue(struct ao_task *task)
+{
+ uint32_t flags;
+ struct ao_task *m;
+ uint8_t ret = 0;
+ struct ao_list *queue;
+
+ flags = ao_arch_irqsave();
+ if (task->wchan) {
+ queue = ao_task_sleep_queue(task->wchan);
+ ret |= 2;
+ } else {
+ queue = &run_queue;
+ ret |= 4;
+ }
+ ao_list_for_each_entry(m, queue, struct ao_task, queue) {
+ if (m == task) {
+ ret |= 1;
+ break;
+ }
+ }
+ ao_arch_irqrestore(flags);
+ return ret;
+}
+
+static uint8_t
+ao_task_validate_alarm(struct ao_task *task)
+{
+ uint32_t flags;
+ struct ao_task *m;
+ uint8_t ret = 0;
+
+ flags = ao_arch_irqsave();
+ if (task->alarm == 0)
+ return 0xff;
+ ao_list_for_each_entry(m, &alarm_queue, struct ao_task, alarm_queue) {
+ if (m == task)
+ ret |= 1;
+ else {
+ if (!(ret&1)) {
+ if ((int16_t) (m->alarm - task->alarm) > 0)
+ ret |= 2;
+ } else {
+ if ((int16_t) (task->alarm - m->alarm) > 0)
+ ret |= 4;
+ }
+ }
+ }
+ ao_arch_irqrestore(flags);
+ return ret;
+}
+
+
+static void
+ao_task_validate(void)
+{
+ uint8_t i;
+ struct ao_task *task;
+ uint8_t ret;
+
+ for (i = 0; i < ao_num_tasks; i++) {
+ task = ao_tasks[i];
+ ret = ao_task_validate_queue(task);
+ if (!(ret & 1)) {
+ if (ret & 2)
+ printf ("sleeping task not on sleep queue %s %08x\n",
+ task->name, task->wchan);
+ else
+ printf ("running task not on run queue %s\n",
+ task->name);
+ }
+ ret = ao_task_validate_alarm(task);
+ if (ret != 0xff) {
+ if (!(ret & 1))
+ printf ("alarm task not on alarm queue %s %d\n",
+ task->name, task->alarm);
+ if (ret & 2)
+ printf ("alarm queue has sooner entries after %s %d\n",
+ task->name, task->alarm);
+ if (ret & 4)
+ printf ("alarm queue has later entries before %s %d\n",
+ task->name, task->alarm);
+ }
+ }
+}
+#else
+#define ao_task_validate()
+#endif
+
+#else
+#define ao_task_to_run_queue(task)
+#define ao_task_to_alarm_queue(task)
+#endif
+
void
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
{
@@ -56,7 +287,6 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
if (t == ao_num_tasks)
break;
}
- ao_tasks[ao_num_tasks++] = task;
task->task_id = task_id;
task->name = name;
task->wchan = NULL;
@@ -65,6 +295,14 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
* to the start of the task
*/
ao_arch_init_stack(task, start);
+ ao_arch_critical(
+#if HAS_TASK_QUEUE
+ ao_task_init_queue(task);
+ ao_task_to_run_queue(task);
+#endif
+ ao_tasks[ao_num_tasks] = task;
+ ao_num_tasks++;
+ );
}
/* Task switching function. This must not use any stack variables */
@@ -73,10 +311,22 @@ ao_yield(void) ao_arch_naked_define
{
ao_arch_save_regs();
+#if HAS_TASK_QUEUE
+ if (ao_cur_task == NULL)
+ ao_cur_task = ao_tasks[ao_num_tasks-1];
+#else
if (ao_cur_task_index == AO_NO_TASK_INDEX)
ao_cur_task_index = ao_num_tasks-1;
+#endif
else
{
+#if HAS_SAMPLE_PROFILE
+ uint16_t tick = ao_sample_profile_timer_value();
+ uint16_t run = tick - ao_cur_task->start;
+ if (run > ao_cur_task->max_run)
+ ao_cur_task->max_run = run;
+ ++ao_cur_task->yields;
+#endif
ao_arch_save_stack();
}
@@ -88,6 +338,24 @@ ao_yield(void) ao_arch_naked_define
/* Find a task to run. If there isn't any runnable task,
* 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();
+ 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();
+ }
+
+ ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
+#else
{
__pdata uint8_t ao_last_task_index = ao_cur_task_index;
for (;;) {
@@ -110,9 +378,16 @@ ao_yield(void) ao_arch_naked_define
if (ao_cur_task_index == ao_last_task_index)
ao_arch_cpu_idle();
}
+#if HAS_SAMPLE_PROFILE
+ ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
}
+#endif
+#if HAS_STACK_GUARD
+ ao_mpu_stack_guard(ao_cur_task->stack);
+#endif
#if AO_CHECK_STACK
- cli();
+ ao_arch_block_interrupts();
in_yield = 0;
#endif
ao_arch_restore_stack();
@@ -121,7 +396,15 @@ ao_yield(void) ao_arch_naked_define
uint8_t
ao_sleep(__xdata void *wchan)
{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
+ flags = ao_arch_irqsave();
+#endif
ao_cur_task->wchan = wchan;
+#if HAS_TASK_QUEUE
+ ao_task_to_sleep_queue(ao_cur_task, wchan);
+ ao_arch_irqrestore(flags);
+#endif
ao_yield();
if (ao_cur_task->wchan) {
ao_cur_task->wchan = NULL;
@@ -134,28 +417,62 @@ ao_sleep(__xdata void *wchan)
void
ao_wakeup(__xdata void *wchan)
{
- uint8_t i;
+#if HAS_TASK_QUEUE
+ struct ao_task *sleep, *next;
+ struct ao_list *sleep_queue;
+ uint32_t flags;
- ao_check_stack();
+ if (ao_num_tasks == 0)
+ return;
+ sleep_queue = ao_task_sleep_queue(wchan);
+ flags = ao_arch_irqsave();
+ ao_list_for_each_entry_safe(sleep, next, sleep_queue, struct ao_task, queue) {
+ if (sleep->wchan == wchan) {
+ sleep->wchan = NULL;
+ ao_task_to_run_queue(sleep);
+ }
+ }
+ ao_arch_irqrestore(flags);
+#else
+ uint8_t i;
for (i = 0; i < ao_num_tasks; i++)
if (ao_tasks[i]->wchan == wchan)
ao_tasks[i]->wchan = NULL;
+#endif
+ ao_check_stack();
}
void
ao_alarm(uint16_t delay)
{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
/* 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
*/
+ flags = ao_arch_irqsave();
+#endif
if (!(ao_cur_task->alarm = ao_time() + delay + 1))
ao_cur_task->alarm = 1;
+#if HAS_TASK_QUEUE
+ ao_task_to_alarm_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
+#endif
}
void
ao_clear_alarm(void)
{
+#if HAS_TASK_QUEUE
+ uint32_t flags;
+
+ flags = ao_arch_irqsave();
+#endif
ao_cur_task->alarm = 0;
+#if HAS_TASK_QUEUE
+ ao_task_from_alarm_queue(ao_cur_task);
+ ao_arch_irqrestore(flags);
+#endif
}
static __xdata uint8_t ao_forever;
@@ -171,14 +488,22 @@ ao_delay(uint16_t ticks)
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();
- );
+ uint8_t i;
+ ao_arch_block_interrupts();
+ ao_num_tasks--;
+#if HAS_TASK_QUEUE
+ for (i = 0; i < ao_num_tasks; i++)
+ if (ao_tasks[i] == ao_cur_task)
+ break;
+ ao_task_exit_queue(ao_cur_task);
+#else
+ i = ao_cur_task_index;
+ ao_cur_task_index = AO_NO_TASK_INDEX;
+#endif
+ for (; i < ao_num_tasks; i++)
+ ao_tasks[i] = ao_tasks[i+1];
+ ao_cur_task = NULL;
+ ao_yield();
/* we'll never get back here */
}
@@ -194,12 +519,17 @@ ao_task_info(void)
task->name,
(int) task->wchan);
}
+#if HAS_TASK_QUEUE
+ ao_task_validate();
+#endif
}
void
ao_start_scheduler(void)
{
+#if !HAS_TASK_QUEUE
ao_cur_task_index = AO_NO_TASK_INDEX;
+#endif
ao_cur_task = NULL;
ao_yield();
}
diff --git a/src/core/ao_task.h b/src/core/ao_task.h
index 18edd866..b3f152a0 100644
--- a/src/core/ao_task.h
+++ b/src/core/ao_task.h
@@ -17,6 +17,9 @@
#ifndef _AO_TASK_H_
#define _AO_TASK_H_
+#if HAS_TASK_QUEUE
+#include <ao_list.h>
+#endif
/* An AltOS task */
struct ao_task {
@@ -25,14 +28,26 @@ struct ao_task {
ao_arch_task_members /* any architecture-specific fields */
uint8_t task_id; /* unique id */
__code char *name; /* task name */
+#if HAS_TASK_QUEUE
+ struct ao_list queue;
+ struct ao_list alarm_queue;
+#endif
uint8_t stack[AO_STACK_SIZE]; /* saved stack */
+#if HAS_SAMPLE_PROFILE
+ uint32_t ticks;
+ uint32_t yields;
+ uint16_t start;
+ uint16_t max_run;
+#endif
};
-extern __xdata struct ao_task *__data ao_cur_task;
-
#define AO_NUM_TASKS 16 /* maximum number of tasks */
#define AO_NO_TASK 0 /* no task id */
+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;
+
/*
ao_task.c
*/
@@ -65,6 +80,12 @@ ao_yield(void) ao_arch_naked_declare;
void
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant;
+#if HAS_TASK_QUEUE
+/* Called on timer interrupt to check alarms */
+void
+ao_task_check_alarm(uint16_t tick);
+#endif
+
/* Terminate the current task */
void
ao_exit(void);
@@ -77,4 +98,11 @@ ao_task_info(void);
void
ao_start_scheduler(void);
+#if HAS_TASK_QUEUE
+void
+ao_task_init(void);
+#else
+#define ao_task_init()
+#endif
+
#endif
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-21 03:49:41 +0000