amiro-os / os / core / src / aos_thread.c @ 0128be0f
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <aos_thread.h> |
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20 | |||
21 | /**
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22 | * @brief Lets the calling thread sleep until the specifide system uptime.
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23 | *
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24 | * @param[in] t Deadline until the thread will sleep.
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25 | */
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26 | void aosThdSleepUntilS(const aos_timestamp_t* t) |
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27 | { |
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28 | aosDbgCheck(t != NULL);
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29 | |||
30 | aos_timestamp_t uptime; |
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31 | |||
32 | // get the current system uptime
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33 | aosSysGetUptimeX(&uptime); |
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34 | |||
35 | // while the remaining time is too long, it must be split into multiple sleeps
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36 | 512abac1 | Thomas Schöpping | while ( (*t > uptime) && ((*t - uptime) > AOS_THD_MAX_SLEEP_US) ) {
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37 | 0128be0f | Marc Rothmann | chThdSleepS(TIME_US2I(AOS_THD_MAX_SLEEP_US)); |
38 | e545e620 | Thomas Schöpping | aosSysGetUptimeX(&uptime); |
39 | } |
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40 | |||
41 | // sleep the remaining time
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42 | if (*t > uptime) {
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43 | 0128be0f | Marc Rothmann | systime_t rest = TIME_US2I(*t - uptime); |
44 | e545e620 | Thomas Schöpping | if (rest > TIME_IMMEDIATE) {
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45 | chThdSleepS(rest); |
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46 | } |
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47 | } |
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48 | |||
49 | return;
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50 | } |