diff options
Diffstat (limited to 'src/kernel')
| -rw-r--r-- | src/kernel/ao.h | 1 | ||||
| -rw-r--r-- | src/kernel/ao_flight.c | 2 | ||||
| -rw-r--r-- | src/kernel/ao_task.c | 41 |
3 files changed, 31 insertions, 13 deletions
diff --git a/src/kernel/ao.h b/src/kernel/ao.h index 6ed0299e..27a16606 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -73,6 +73,7 @@ typedef AO_PORT_TYPE ao_port_t; #define AO_PANIC_EXTI 16 /* Mis-using exti API */ #define AO_PANIC_FAST_TIMER 17 /* Mis-using fast timer API */ #define AO_PANIC_ADC 18 /* Mis-using ADC interface */ +#define AO_PANIC_IRQ 19 /* interrupts not blocked */ #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 */ diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 9ba02bb8..9031a54a 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -130,7 +130,7 @@ ao_flight(void) { /* Set pad mode - we can fly! */ ao_flight_state = ao_flight_pad; -#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE +#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE && !DEBUG /* Disable the USB controller in flight mode * to save power */ diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c index e430edc6..cf0b58ed 100644 --- a/src/kernel/ao_task.c +++ b/src/kernel/ao_task.c @@ -54,6 +54,12 @@ static inline void ao_check_stack(void) { #define ao_check_stack() #endif +#if DEBUG +#define ao_task_irq_check() ao_arch_irq_check() +#else +#define ao_task_irq_check() +#endif + #if HAS_TASK_QUEUE #define SLEEP_HASH_SIZE 17 @@ -65,6 +71,7 @@ static struct ao_list sleep_queue[SLEEP_HASH_SIZE]; static void ao_task_to_run_queue(struct ao_task *task) { + ao_task_irq_check(); ao_list_del(&task->queue); ao_list_append(&task->queue, &run_queue); } @@ -78,6 +85,7 @@ ao_task_sleep_queue(void *wchan) static void ao_task_to_sleep_queue(struct ao_task *task, void *wchan) { + ao_task_irq_check(); ao_list_del(&task->queue); ao_list_append(&task->queue, ao_task_sleep_queue(wchan)); } @@ -122,6 +130,7 @@ static void ao_task_to_alarm_queue(struct ao_task *task) { struct ao_task *alarm; + ao_task_irq_check(); 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); @@ -138,6 +147,7 @@ ao_task_to_alarm_queue(struct ao_task *task) static void ao_task_from_alarm_queue(struct ao_task *task) { + ao_task_irq_check(); ao_list_del(&task->alarm_queue); if (ao_list_is_empty(&alarm_queue)) ao_task_alarm_tick = 0; @@ -156,6 +166,7 @@ ao_task_init_queue(struct ao_task *task) static void ao_task_exit_queue(struct ao_task *task) { + ao_task_irq_check(); ao_list_del(&task->queue); ao_list_del(&task->alarm_queue); } @@ -165,13 +176,14 @@ ao_task_check_alarm(uint16_t tick) { struct ao_task *alarm, *next; - 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); - } + ao_arch_critical( + 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 @@ -459,11 +471,11 @@ ao_sleep_for(__xdata void *wchan, uint16_t timeout) if (timeout) { #if HAS_TASK_QUEUE uint32_t flags; + flags = ao_arch_irqsave(); +#endif /* 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() + timeout + 1)) ao_cur_task->alarm = 1; #if HAS_TASK_QUEUE @@ -492,6 +504,8 @@ static __xdata uint8_t ao_forever; void ao_delay(uint16_t ticks) { + if (!ticks) + ticks = 1; ao_sleep_for(&ao_forever, ticks); } @@ -523,12 +537,15 @@ ao_task_info(void) { uint8_t i; __xdata struct ao_task *task; + uint16_t now = ao_time(); for (i = 0; i < ao_num_tasks; i++) { task = ao_tasks[i]; - printf("%12s: wchan %04x\n", - task->name, - (int) task->wchan); + printf("%2d: wchan %08x alarm %5d %s\n", + task->task_id, + (int) task->wchan, + task->alarm ? (int16_t) (task->alarm - now) : 9999, + task->name); } #if HAS_TASK_QUEUE && DEBUG ao_task_validate(); |