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-rw-r--r--task.c16
1 files changed, 15 insertions, 1 deletions
diff --git a/task.c b/task.c
index e156940..d8af217 100644
--- a/task.c
+++ b/task.c
@@ -83,12 +83,16 @@ static tcb_t *cur_task = NULL;
#ifdef TASK_METRICS
static uint32_t tick_start = 0;
-static uint32_t tick_prev = 0;
static uint32_t tick_idle = 0;
static uint32_t tick_max = 0;
static uint32_t nyield = 0;
#endif
+static uint32_t tick_prev = 0;
+#ifndef TASK_YIELD_THRESHOLD
+#define TASK_YIELD_THRESHOLD 100
+#endif
+
/* Add a task.
*/
tcb_t *task_add(char *name, funcp_t func, void *cookie, void *stack, size_t stack_len)
@@ -221,6 +225,8 @@ void task_yield(void)
}
tick_prev = tick;
++nyield;
+#else
+ tick_prev = HAL_GetTick();
#endif
/* If there are no other runnable tasks (and cur_task is runnable),
@@ -256,6 +262,14 @@ void task_yield(void)
}
}
+/* Yield if it's been "too long" since the last yield.
+ */
+void task_yield_maybe(void)
+{
+ if (HAL_GetTick() - tick_prev >= TASK_YIELD_THRESHOLD)
+ task_yield();
+}
+
/* Put the current task to sleep (make it non-runnable).
*/
void task_sleep(void)