X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_task.c;h=72c9d7d61f67216a71436ce9ffd7c4d0989c5bef;hp=14aa84c841d698d3a285de7370c80de369c7b56f;hb=9e10e43eff9de3f034da49c4f88728fb933f5035;hpb=73db30b2f9128c37dc7fa075793a8862814ce044

diff --git a/src/ao_task.c b/src/ao_task.c
index 14aa84c8..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'
@@ -217,7 +226,10 @@ ao_wakeup(__xdata void *wchan)
 void
 ao_alarm(uint16_t delay)
 {
-	if (!(ao_cur_task->alarm = ao_time() + 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;
 }
 
@@ -228,7 +240,7 @@ ao_wake_task(__xdata struct ao_task *task)
 }
 
 void
-ao_exit(void)
+ao_exit(void) __critical
 {
 	uint8_t	i;
 	ao_num_tasks--;