AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <aos_thread.h>

/**

 * @brief   Lets the calling thread sleep until the specifide system uptime.

 *

 * @param[in] t     Deadline until the thread will sleep.

 */

void aosThdSleepUntilS(const aos_timestamp_t* t)

{

  aosDbgCheck(t != NULL);

  aos_timestamp_t uptime;

  // get the current system uptime

  aosSysGetUptimeX(&uptime);

  // while the remaining time is too long, it must be split into multiple sleeps

  while ( (*t > uptime) && ((*t - uptime) > AOS_THD_MAX_SLEEP_US) ) {

    chThdSleepS(US2ST(AOS_THD_MAX_SLEEP_US));

    aosSysGetUptimeX(&uptime);

  }

  // sleep the remaining time

  if (*t > uptime) {

    systime_t rest = US2ST(*t - uptime);

    if (rest > TIME_IMMEDIATE) {

      chThdSleepS(rest);

    }

  }

  return;

}