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#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <stdint.h>
#include <stdlib.h>
#include "mcu/mcu_def.h"
#include "timer.h"
#ifndef _IOE_TASKS_H_
#define _IOE_TASKS_H_
#ifdef CONFIG_IOE_TASKS
#ifndef CONFIG_IOE_TIMERS
#error "To use tasks you must enable timers (CONFIG_IOE_TIMERS)."
#endif
int8_t tasks_run(void);
union StackPointer {
uint8_t lh8[2];
uint16_t lh16;
};
struct Task {
uint8_t flags;
void (*func) (void *data);
void *data;
uint8_t _rflags;
uint8_t _stack_size;
union StackPointer _sp;
};
typedef task_t volatile struct Task;
int8_t task_spawn(struct Task * t, uint8_t stack_size);
Task *tasks_self(void);
void taks_exit(void);
int8_t task_kill(struct Task * t);
int8_t task_safe(void);
int8_t task_unsafe(void);
int8_t task_delay(uint16_t cycles);
int8_t task_delay_ms(uint16_t ms);
int8_t task_delay_till(volatile int8_t * boolean, uint16_t ms);
#else /* CONFIG_IOE_TASKS */
#define task_safe()
#define task_unsafe()
#define task_delay(CC) _delay_us(CC) // TODO this should be cycles
#define task_delay_ms(MS) _delay_ms(MS)
int8_t task_delay_till(volatile int8_t * boolean, uint16_t ms);
#endif /* CONFIG_IOE_TASKS */
#endif /* _IOE_TASKS_H_ */
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