Add gps, debug dongle support and pressure alt tables

[fw/altos] / ao_task.c

diff --git a/ao_task.c b/ao_task.c
index f79d6e1f184aa530917f59050856a00256b61860..4fb8405595c5b4a1ffc0fc68e1844f243bb07be2 100644 (file)
--- a/ao_task.c
+++ b/ao_task.c
@@ -65,9 +65,6 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void))
 void
 ao_yield(void) _naked
 {
-       static uint8_t __data stack_len;
-       static __data uint8_t * __data stack_ptr;
-       static __xdata uint8_t * __data save_ptr;
 
        /* Save current context */
        _asm
@@ -97,13 +94,17 @@ ao_yield(void) _naked
        
        if (ao_cur_task_index != AO_NO_TASK_INDEX)
        {
+       uint8_t stack_len;
+       __data uint8_t *  stack_ptr;
+       __xdata uint8_t * save_ptr;
                /* Save the current stack */
                stack_len = SP - (AO_STACK_START - 1);
                ao_cur_task->stack_count = stack_len;
                stack_ptr = (uint8_t __data *) AO_STACK_START;
                save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
-               while (stack_len--)
+               do
                        *save_ptr++ = *stack_ptr++;
+               while (--stack_len);
        }
        
        /* Empty the stack; might as well let interrupts have the whole thing */
@@ -121,14 +122,21 @@ ao_yield(void) _naked
                        break;
        }
 
-       /* Restore the old stack */
-       stack_len = ao_cur_task->stack_count;
-       SP = AO_STACK_START - 1 + stack_len;
+       {
+               uint8_t stack_len;
+               __data uint8_t *  stack_ptr;
+               __xdata uint8_t * save_ptr;
 
-       stack_ptr = (uint8_t __data *) AO_STACK_START;
-       save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
-       while (stack_len--)
-               *stack_ptr++ = *save_ptr++;
+               /* Restore the old stack */
+               stack_len = ao_cur_task->stack_count;
+               SP = AO_STACK_START - 1 + stack_len;
+       
+               stack_ptr = (uint8_t __data *) AO_STACK_START;
+               save_ptr = (uint8_t __xdata *) ao_cur_task->stack;
+               do
+                       *stack_ptr++ = *save_ptr++;
+               while (--stack_len);
+       }
 
        _asm
                pop             _bp