X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_task.c;h=65654731aeaeaccc9f45477e156ffa1419d13c0b;hb=e2b458a448106ba1ab207f0ea6824b56927d8547;hp=4011a36e06297f7423c85aabed8d6f2f2a0561d9;hpb=8efac8eb99a9aabb45d9fbf742e4be91e4b331a5;p=fw%2Faltos

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 4011a36e..65654731 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -82,39 +82,36 @@ ao_yield(void) ao_arch_naked_define
 
 	ao_arch_isr_stack();
 
-#if CHECK_STACK
+#if AO_CHECK_STACK
 	in_yield = 1;
 #endif
 	/* Find a task to run. If there isn't any runnable task,
 	 * this loop will run forever, which is just fine
 	 */
 	{
-		__pdata uint8_t	ao_next_task_index = ao_cur_task_index;
+		__pdata uint8_t	ao_last_task_index = ao_cur_task_index;
 		for (;;) {
-			++ao_next_task_index;
-			if (ao_next_task_index == ao_num_tasks)
-				ao_next_task_index = 0;
+			++ao_cur_task_index;
+			if (ao_cur_task_index == ao_num_tasks)
+				ao_cur_task_index = 0;
+
+			ao_cur_task = ao_tasks[ao_cur_task_index];
 
-			ao_cur_task = ao_tasks[ao_next_task_index];
-			if (ao_cur_task->wchan == NULL) {
-				ao_cur_task_index = ao_next_task_index;
+			/* Check for ready task */
+			if (ao_cur_task->wchan == NULL)
 				break;
-			}
 
 			/* Check if the alarm is set for a time which has passed */
 			if (ao_cur_task->alarm &&
-			    (int16_t) (ao_time() - ao_cur_task->alarm) >= 0) {
-				ao_cur_task_index = ao_next_task_index;
+			    (int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
 				break;
-			}
 
 			/* Enter lower power mode when there isn't anything to do */
-			if (ao_next_task_index == ao_cur_task_index) {
+			if (ao_cur_task_index == ao_last_task_index)
 				ao_arch_cpu_idle();
-			}
 		}
 	}
-#if CHECK_STACK
+#if AO_CHECK_STACK
 	cli();
 	in_yield = 0;
 #endif
@@ -128,6 +125,7 @@ ao_sleep(__xdata void *wchan)
 	ao_yield();
 	if (ao_cur_task->wchan) {
 		ao_cur_task->wchan = NULL;
+		ao_cur_task->alarm = 0;
 		return 1;
 	}
 	return 0;
@@ -160,6 +158,16 @@ ao_clear_alarm(void)
 	ao_cur_task->alarm = 0;
 }
 
+static __xdata uint8_t ao_forever;
+
+void
+ao_delay(uint16_t ticks)
+{
+	ao_alarm(ticks);
+	ao_sleep(&ao_forever);
+	ao_clear_alarm();
+}
+
 void
 ao_exit(void)
 {
@@ -177,7 +185,7 @@ ao_exit(void)
 void
 ao_task_info(void)
 {
-	uint8_t	i;
+	uint8_t		i;
 	__xdata struct ao_task *task;
 
 	for (i = 0; i < ao_num_tasks; i++) {