X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_task.c;h=72c9d7d61f67216a71436ce9ffd7c4d0989c5bef;hp=12b73943f0c1c73eec79064c4b97e8f0dc1f21ab;hb=9e10e43eff9de3f034da49c4f88728fb933f5035;hpb=17d2432a8b9c15963cd3b821f025ad33972ef477

diff --git a/src/ao_task.c b/src/ao_task.c
index 12b73943..72c9d7d6 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'
@@ -93,7 +102,9 @@ ao_yield(void) _naked
 		push	_bp
 	_endasm;
 
-	if (ao_cur_task_index != AO_NO_TASK_INDEX)
+	if (ao_cur_task_index == AO_NO_TASK_INDEX)
+		ao_cur_task_index = ao_num_tasks-1;
+	else
 	{
 		uint8_t stack_len;
 		__data uint8_t *stack_ptr;
@@ -127,6 +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;
@@ -179,13 +197,20 @@ ao_yield(void) _naked
 	_endasm;
 }
 
-void
+uint8_t
 ao_sleep(__xdata void *wchan)
 {
 	__critical {
 		ao_cur_task->wchan = wchan;
 	}
 	ao_yield();
+	if (ao_cur_task->wchan) {
+		ao_cur_task->wchan = NULL;
+		ao_cur_task->alarm = 0;
+		return 1;
+	}
+	ao_cur_task->alarm = 0;
+	return 0;
 }
 
 void
@@ -198,6 +223,34 @@ ao_wakeup(__xdata void *wchan)
 			ao_tasks[i]->wchan = NULL;
 }
 
+void
+ao_alarm(uint16_t delay)
+{
+	/* 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_wake_task(__xdata struct ao_task *task)
+{
+	task->wchan = NULL;
+}
+
+void
+ao_exit(void) __critical
+{
+	uint8_t	i;
+	ao_num_tasks--;
+	for (i = ao_cur_task_index; i < ao_num_tasks; i++)
+		ao_tasks[i] = ao_tasks[i+1];
+	ao_cur_task_index = AO_NO_TASK_INDEX;
+	ao_yield();
+	/* we'll never get back here */
+}
+
 void
 ao_task_info(void)
 {