1 // Copyright 2020 The Pigweed Authors
3 // Licensed under the Apache License, Version 2.0 (the "License"); you may not
4 // use this file except in compliance with the License. You may obtain a copy of
7 // https://www.apache.org/licenses/LICENSE-2.0
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
11 // WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
12 // License for the specific language governing permissions and limitations under
15 #include "pw_thread/sleep.h"
20 #include "pw_assert/assert.h"
21 #include "pw_chrono/system_clock.h"
22 #include "pw_chrono_freertos/system_clock_constants.h"
23 #include "pw_thread/id.h"
26 using pw::chrono::freertos::kMaxTimeout;
28 namespace pw::this_thread {
30 void sleep_for(chrono::SystemClock::duration for_at_least) {
31 PW_DCHECK(get_id() != thread::Id());
33 // Clamp negative durations to be 0 which maps to yield with vTaskDelay.
34 for_at_least = std::max(for_at_least, chrono::SystemClock::duration::zero());
36 while (for_at_least > kMaxTimeout) {
37 vTaskDelay(kMaxTimeout.count());
38 for_at_least -= kMaxTimeout;
40 vTaskDelay(for_at_least.count());
43 } // namespace pw::this_thread