Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / kernel / ao_task.c

diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index bafb49439d4441022be1b9159947f30a9f8d7bff..55e423bb90bae9589f926ddbb3aeae690e2ad48a 100644 (file)
--- a/src/kernel/ao_task.c
+++ b/src/kernel/ao_task.c
@@ -450,37 +450,39 @@ ao_wakeup(__xdata void *wchan) __reentrant
        ao_check_stack();
 }
 
-void
-ao_alarm(uint16_t delay)
+uint8_t
+ao_sleep_for(__xdata void *wchan, uint16_t timeout)
 {
+       uint8_t ret;
+       if (timeout) {
 #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();
+               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 (!(ao_cur_task->alarm = ao_time() + timeout + 1))
+                       ao_cur_task->alarm = 1;
 #if HAS_TASK_QUEUE
-       ao_task_to_alarm_queue(ao_cur_task);
-       ao_arch_irqrestore(flags);
+               ao_task_to_alarm_queue(ao_cur_task);
+               ao_arch_irqrestore(flags);
 #endif
-}
-
-void
-ao_clear_alarm(void)
-{
+       }
+       ret = ao_sleep(wchan);
+       if (timeout) {
 #if HAS_TASK_QUEUE
-       uint32_t flags;
+               uint32_t flags;
 
-       flags = ao_arch_irqsave();
+               flags = ao_arch_irqsave();
 #endif
-       ao_cur_task->alarm = 0;
+               ao_cur_task->alarm = 0;
 #if HAS_TASK_QUEUE
-       ao_task_from_alarm_queue(ao_cur_task);
-       ao_arch_irqrestore(flags);
+               ao_task_from_alarm_queue(ao_cur_task);
+               ao_arch_irqrestore(flags);
 #endif
+       }
+       return ret;
 }
 
 static __xdata uint8_t ao_forever;
@@ -488,9 +490,7 @@ static __xdata uint8_t ao_forever;
 void
 ao_delay(uint16_t ticks)
 {
-       ao_alarm(ticks);
-       ao_sleep(&ao_forever);
-       ao_clear_alarm();
+       ao_sleep_for(&ao_forever, ticks);
 }
 
 void