diff options
Diffstat (limited to 'src/kernel')
| -rw-r--r-- | src/kernel/ao_packet.h | 2 | ||||
| -rw-r--r-- | src/kernel/ao_pyro.c | 4 | ||||
| -rw-r--r-- | src/kernel/ao_serial.h | 8 | ||||
| -rw-r--r-- | src/kernel/ao_task.c | 20 | ||||
| -rw-r--r-- | src/kernel/ao_task.h | 10 | ||||
| -rw-r--r-- | src/kernel/ao_telemetry.c | 4 |
6 files changed, 32 insertions, 16 deletions
diff --git a/src/kernel/ao_packet.h b/src/kernel/ao_packet.h index b8426cf9..136609c3 100644 --- a/src/kernel/ao_packet.h +++ b/src/kernel/ao_packet.h @@ -54,7 +54,7 @@ void ao_packet_send(void); uint8_t -ao_packet_recv(void); +ao_packet_recv(uint16_t timeout); void ao_packet_flush(void); diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c index 3044d565..43e73de4 100644 --- a/src/kernel/ao_pyro.c +++ b/src/kernel/ao_pyro.c @@ -375,9 +375,7 @@ ao_pyro(void) ao_sleep(&ao_flight_state); for (;;) { - ao_alarm(AO_MS_TO_TICKS(100)); - ao_sleep(&ao_pyro_wakeup); - ao_clear_alarm(); + ao_sleep_for(&ao_pyro_wakeup, AO_MS_TO_TICKS(100)); if (ao_flight_state >= ao_flight_landed) break; any_waiting = ao_pyro_check(); diff --git a/src/kernel/ao_serial.h b/src/kernel/ao_serial.h index dbc9f8e4..e21643ac 100644 --- a/src/kernel/ao_serial.h +++ b/src/kernel/ao_serial.h @@ -35,7 +35,7 @@ int _ao_serial0_pollchar(void); uint8_t -_ao_serial0_sleep(void); +_ao_serial0_sleep_for(uint16_t timeout); void ao_serial0_putchar(char c); @@ -58,7 +58,7 @@ int _ao_serial1_pollchar(void); uint8_t -_ao_serial1_sleep(void); +_ao_serial1_sleep_for(uint16_t timeout); void ao_serial1_putchar(char c); @@ -81,7 +81,7 @@ int _ao_serial2_pollchar(void); uint8_t -_ao_serial2_sleep(void); +_ao_serial2_sleep_for(uint16_t timeout); void ao_serial2_putchar(char c); @@ -104,7 +104,7 @@ int _ao_serial3_pollchar(void); uint8_t -_ao_serial3_sleep(void); +_ao_serial3_sleep_for(uint16_t timeout); void ao_serial3_putchar(char c); diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c index bafb4943..1ecdd7dd 100644 --- a/src/kernel/ao_task.c +++ b/src/kernel/ao_task.c @@ -450,7 +450,7 @@ ao_wakeup(__xdata void *wchan) __reentrant ao_check_stack(); } -void +static void ao_alarm(uint16_t delay) { #if HAS_TASK_QUEUE @@ -468,7 +468,7 @@ ao_alarm(uint16_t delay) #endif } -void +static void ao_clear_alarm(void) { #if HAS_TASK_QUEUE @@ -483,14 +483,24 @@ ao_clear_alarm(void) #endif } +uint8_t +ao_sleep_for(__xdata void *wchan, uint16_t timeout) +{ + uint8_t ret; + if (timeout) + ao_alarm(timeout); + ret = ao_sleep(wchan); + if (timeout) + ao_clear_alarm(); + return ret; +} + static __xdata uint8_t ao_forever; void ao_delay(uint16_t ticks) { - ao_alarm(ticks); - ao_sleep(&ao_forever); - ao_clear_alarm(); + ao_sleep_for(&ao_forever, ticks); } void diff --git a/src/kernel/ao_task.h b/src/kernel/ao_task.h index 9c56b480..c6bec0e3 100644 --- a/src/kernel/ao_task.h +++ b/src/kernel/ao_task.h @@ -68,10 +68,19 @@ extern __data uint8_t ao_task_minimize_latency; /* Reduce IRQ latency */ uint8_t ao_sleep(__xdata void *wchan); +/* Suspend the current task until wchan is awoken or the timeout + * expires. returns: + * 0 on normal wake + * 1 on alarm + */ +uint8_t +ao_sleep_for(__xdata void *wchan, uint16_t timeout); + /* Wake all tasks sleeping on wchan */ void ao_wakeup(__xdata void *wchan) __reentrant; +#if 0 /* set an alarm to go off in 'delay' ticks */ void ao_alarm(uint16_t delay); @@ -79,6 +88,7 @@ ao_alarm(uint16_t delay); /* Clear any pending alarm */ void ao_clear_alarm(void); +#endif /* Yield the processor to another task */ void diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index e2197f7a..854ac898 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -486,9 +486,7 @@ ao_telemetry(void) #endif /* HAS_APRS */ delay = time - ao_time(); if (delay > 0) { - ao_alarm(delay); - ao_sleep(&telemetry); - ao_clear_alarm(); + ao_sleep_for(&telemetry, delay); } } } |