diff options
Diffstat (limited to 'src/core')
| -rw-r--r-- | src/core/ao_ignite.c | 4 | ||||
| -rw-r--r-- | src/core/ao_list.h | 2 | ||||
| -rw-r--r-- | src/core/ao_task.c | 48 | ||||
| -rw-r--r-- | src/core/ao_task.h | 1 |
4 files changed, 27 insertions, 28 deletions
diff --git a/src/core/ao_ignite.c b/src/core/ao_ignite.c index 693b7c7a..74bd0c5a 100644 --- a/src/core/ao_ignite.c +++ b/src/core/ao_ignite.c @@ -23,10 +23,10 @@ __xdata struct ao_ignition ao_ignition[2]; void ao_ignite(enum ao_igniter igniter) { - cli(); + ao_arch_block_interrupts(); ao_ignition[igniter].request = 1; ao_wakeup(&ao_ignition); - sei(); + ao_arch_release_interrupts(); } #ifndef AO_SENSE_DROGUE diff --git a/src/core/ao_list.h b/src/core/ao_list.h index 23cf1841..8a6fa4d9 100644 --- a/src/core/ao_list.h +++ b/src/core/ao_list.h @@ -137,7 +137,7 @@ ao_list_is_empty(struct ao_list *head) * @return A pointer to the data struct containing the list head. */ #define ao_container_of(ptr, type, member) \ - (type *)((char *)(ptr) - offsetof(type, member)) + ((type *)((char *)(ptr) - offsetof(type, member))) /** * Alias of ao_container_of diff --git a/src/core/ao_task.c b/src/core/ao_task.c index a11979f0..0411fbdd 100644 --- a/src/core/ao_task.c +++ b/src/core/ao_task.c @@ -114,6 +114,8 @@ ao_task_validate_alarm_queue(void) #define ao_task_validate_alarm_queue() #endif +uint16_t ao_task_alarm_tick; + static void ao_task_to_alarm_queue(struct ao_task *task) { @@ -126,6 +128,7 @@ ao_task_to_alarm_queue(struct ao_task *task) } } 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 +136,10 @@ 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 +161,7 @@ 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 +177,7 @@ 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 +269,9 @@ 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 @@ -331,6 +331,7 @@ ao_yield(void) ao_arch_naked_define } ao_arch_isr_stack(); + ao_arch_block_interrupts(); #if AO_CHECK_STACK in_yield = 1; @@ -339,21 +340,19 @@ 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 +373,19 @@ 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 */ + /* Wait for interrupts when there's nothing ready */ if (ao_cur_task_index == ao_last_task_index) - ao_arch_cpu_idle(); + 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(); @@ -519,7 +517,7 @@ ao_task_info(void) task->name, (int) task->wchan); } -#if HAS_TASK_QUEUE +#if HAS_TASK_QUEUE && DEBUG ao_task_validate(); #endif } diff --git a/src/core/ao_task.h b/src/core/ao_task.h index b3f152a0..049f69a7 100644 --- a/src/core/ao_task.h +++ b/src/core/ao_task.h @@ -82,6 +82,7 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam #if HAS_TASK_QUEUE /* Called on timer interrupt to check alarms */ +extern uint16_t ao_task_alarm_tick; void ao_task_check_alarm(uint16_t tick); #endif |