X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_task.c;h=35f34b491eef2a92d507756504cb47e8222c6ecc;hp=136444b0899ef0b6112544f507f7ca9e8b7d80fa;hb=3f0bc801fd08a613c681504f0d1f9374486a2487;hpb=b657aa209b9ea3b3efd33a940283b3ba60a169af

diff --git a/src/ao_task.c b/src/ao_task.c
index 136444b0..35f34b49 100644
--- a/src/ao_task.c
+++ b/src/ao_task.c
@@ -28,10 +28,19 @@ void
 ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
 {
 	uint8_t	__xdata *stack;
+	uint8_t task_id;
+	uint8_t t;
 	if (ao_num_tasks == AO_NUM_TASKS)
 		ao_panic(AO_PANIC_NO_TASK);
+	for (task_id = 1; task_id != 0; task_id++) {
+		for (t = 0; t < ao_num_tasks; t++)
+			if (ao_tasks[t]->task_id == task_id)
+				break;
+		if (t == ao_num_tasks)
+			break;
+	}
 	ao_tasks[ao_num_tasks++] = task;
-	task->task_id = ao_num_tasks;
+	task->task_id = task_id;
 	task->name = name;
 	/*
 	 * Construct a stack frame so that it will 'return'
@@ -129,6 +138,13 @@ ao_yield(void) _naked
 				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;
+				break;
+			}
+
 			/* Enter lower power mode when there isn't anything to do */
 			if (ao_next_task_index == ao_cur_task_index)
 				PCON = PCON_IDLE;
@@ -181,13 +197,19 @@ ao_yield(void) _naked
 	_endasm;
 }
 
-void
+uint8_t
 ao_sleep(__xdata void *wchan)
 {
 	__critical {
 		ao_cur_task->wchan = wchan;
 	}
 	ao_yield();
+	ao_cur_task->alarm = 0;
+	if (ao_cur_task->wchan) {
+		ao_cur_task->wchan = NULL;
+		return 1;
+	}
+	return 0;
 }
 
 void
@@ -201,13 +223,17 @@ ao_wakeup(__xdata void *wchan)
 }
 
 void
-ao_wake_task(__xdata struct ao_task *task)
+ao_alarm(uint16_t delay)
 {
-	task->wchan = NULL;
+	/* 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
+	 */
+	if (!(ao_cur_task->alarm = ao_time() + delay + 1))
+		ao_cur_task->alarm = 1;
 }
 
 void
-ao_exit(void)
+ao_exit(void) __critical
 {
 	uint8_t	i;
 	ao_num_tasks--;