From 022f83ca6fd589005d8eb3e25e633950fef69fa7 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 17 Apr 2009 23:38:14 -0700 Subject: Add gps, debug dongle support and pressure alt tables GPS also pulled in serial support. The altitude tables take raw 11-bit pressure sample numbers and convert them to standard pressure altitude values. Signed-off-by: Keith Packard --- ao_task.c | 30 +++++++++++++++++++----------- 1 file changed, 19 insertions(+), 11 deletions(-) (limited to 'ao_task.c') diff --git a/ao_task.c b/ao_task.c index f79d6e1f..4fb84055 100644 --- 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 -- cgit v1.2.3