sched: Introduce sched_wake_tasks() function to wake up tasks

Add function to indicate when tasks need to be run.  This will allow
the scheduler code to know if there are any tasks that need to be
processed.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

7 files changed, 25 insertions, 4 deletions

diff --git a/src/avr/serial.c b/src/avr/serial.c
index 10b95992..8b9dd14a 100644
--- a/src/avr/serial.c
+++ b/src/avr/serial.c
@@ -65,6 +65,8 @@ DECL_INIT(serial_init);
 ISR(USART0_RX_vect)
 {
     uint8_t data = UDR0;
+    if (data == MESSAGE_SYNC)
+        sched_wake_tasks();
     if (receive_pos >= sizeof(receive_buf))
         // Serial overflow - ignore it as crc error will force retransmit
         return;
@@ -104,6 +106,7 @@ console_pop_input(uint8_t len)
             memmove(&receive_buf[copied], &receive_buf[copied + len]
                     , needcopy - copied);
             copied = needcopy;
+            sched_wake_tasks();
         }
         irqstatus_t flag = irq_save();
         if (rpos != readb(&receive_pos)) {
diff --git a/src/avr/usbserial.c b/src/avr/usbserial.c
index 1b42d6d3..cc7bb12c 100644
--- a/src/avr/usbserial.c
+++ b/src/avr/usbserial.c
@@ -42,8 +42,10 @@ static void
 console_pop_input(uint8_t len)
 {
     uint8_t needcopy = receive_pos - len;
-    if (needcopy)
+    if (needcopy) {
         memmove(receive_buf, &receive_buf[len], needcopy);
+        sched_wake_tasks();
+    }
     receive_pos = needcopy;
 }
 
diff --git a/src/command.c b/src/command.c
index 53263a8f..87284ee8 100644
--- a/src/command.c
+++ b/src/command.c
@@ -11,7 +11,7 @@
 #include "board/misc.h" // crc16_ccitt
 #include "board/pgm.h" // READP
 #include "command.h" // output_P
-#include "sched.h" // DECL_TASK
+#include "sched.h" // sched_is_shutdown
 
 static uint8_t next_sequence = MESSAGE_DEST;
 
diff --git a/src/pru/main.c b/src/pru/main.c
index 3c2a2725..04d440df 100644
--- a/src/pru/main.c
+++ b/src/pru/main.c
@@ -85,7 +85,10 @@ timer_kick(void)
 static void
 _irq_poll(void)
 {
-    if (CT_INTC.SECR0 & (1 << IEP_EVENT)) {
+    uint32_t secr0 = CT_INTC.SECR0;
+    if (secr0 & (1 << KICK_PRU1_EVENT))
+        sched_wake_tasks();
+    if (secr0 & (1 << IEP_EVENT)) {
         CT_IEP.TMR_CMP_STS = 0xff;
         uint32_t next = timer_dispatch_many();
         timer_set(next);
@@ -121,7 +124,6 @@ console_task(void)
     const struct command_parser *cp = SHARED_MEM->next_command;
     if (!cp)
         return;
-    barrier();
 
     if (sched_is_shutdown() && !(cp->flags & HF_IN_SHUTDOWN)) {
         sched_report_shutdown();
diff --git a/src/sam3x8e/serial.c b/src/sam3x8e/serial.c
index 713c6337..7741d6f8 100644
--- a/src/sam3x8e/serial.c
+++ b/src/sam3x8e/serial.c
@@ -56,6 +56,8 @@ UART_Handler(void)
     uint32_t status = UART->UART_SR;
     if (status & UART_SR_RXRDY) {
         uint8_t data = UART->UART_RHR;
+        if (data == MESSAGE_SYNC)
+            sched_wake_tasks();
         if (receive_pos >= sizeof(receive_buf))
             // Serial overflow - ignore it as crc error will force retransmit
             return;
@@ -94,6 +96,7 @@ console_pop_input(uint32_t len)
             memmove(&receive_buf[copied], &receive_buf[copied + len]
                     , needcopy - copied);
             copied = needcopy;
+            sched_wake_tasks();
         }
         irqstatus_t flag = irq_save();
         if (rpos != readl(&receive_pos)) {
diff --git a/src/sched.c b/src/sched.c
index 0aadcc75..a2f5fea8 100644
--- a/src/sched.c
+++ b/src/sched.c
@@ -28,6 +28,9 @@ static struct timer sentinel_timer, deleted_timer;
 static uint_fast8_t
 periodic_event(struct timer *t)
 {
+    // Make sure the stats task runs periodically
+    sched_wake_tasks();
+    // Reschedule timer
     periodic_timer.waketime += timer_from_us(100000);
     sentinel_timer.waketime = periodic_timer.waketime + 0x80000000;
     return SF_RESCHEDULE;
@@ -177,10 +180,17 @@ sched_timer_reset(void)
  * Task waking
  ****************************************************************/
 
+// Note that at least one task is ready to run
+void
+sched_wake_tasks(void)
+{
+}
+
 // Note that a task is ready to run
 void
 sched_wake_task(struct task_wake *w)
 {
+    sched_wake_tasks();
     writeb(&w->wake, 1);
 }
 
diff --git a/src/sched.h b/src/sched.h
index bb6bb975..ba883778 100644
--- a/src/sched.h
+++ b/src/sched.h
@@ -29,6 +29,7 @@ struct task_wake {
 void sched_add_timer(struct timer*);
 void sched_del_timer(struct timer *del);
 unsigned int sched_timer_dispatch(void);
+void sched_wake_tasks(void);
 void sched_wake_task(struct task_wake *w);
 uint8_t sched_check_wake(struct task_wake *w);
 uint8_t sched_is_shutdown(void);