From e234cacf79a496d20a113d1141e7607089fc6e8e Mon Sep 17 00:00:00 2001
From: Paul Selkirk <paul@psgd.org>
Date: Sat, 29 Apr 2017 15:44:30 -0400
Subject: Add task_delay.

---
 task.c | 10 ++++++++++
 task.h |  4 +++-
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/task.c b/task.c
index 980ca1d..600b679 100644
--- a/task.c
+++ b/task.c
@@ -316,3 +316,13 @@ tcb_t *task_iterate(tcb_t *t)
 
     return t->next;
 }
+
+/* Delay a number of 1ms ticks.
+ */
+void task_delay(uint32_t delay)
+{
+    uint32_t tickstart = HAL_GetTick();
+
+    while ((HAL_GetTick() - tickstart) < delay)
+	task_yield();
+}
diff --git a/task.h b/task.h
index ee0dc61..9178c2d 100644
--- a/task.h
+++ b/task.h
@@ -49,6 +49,8 @@ typedef void (*funcp_t)(void);
 
 extern tcb_t *task_add(char *name, funcp_t func, void *cookie, void *stack, size_t stack_len);
 
+extern void task_set_idle_hook(funcp_t func);
+
 extern void task_yield(void);
 extern void task_sleep(void);
 extern void task_wake(tcb_t *t);
@@ -63,6 +65,6 @@ extern size_t task_get_stack_highwater(tcb_t *t);
 
 extern tcb_t *task_iterate(tcb_t *t);
 
-extern void task_set_idle_hook(funcp_t func);
+extern void task_delay(uint32_t delay);
 
 #endif /* _TASK_H_ */
-- 
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