coroutine: kinda works now

src/concurrency/InterruptableDelay.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "../freertosinc.h"
+
+namespace concurrency
+{
+
+/**
+ * An object that provides delay(msec) like functionality, but can be interrupted by calling interrupt().
+ *
+ * Useful for they top level loop() delay call to keep the CPU powered down until our next scheduled event or some external event.
+ *
+ * This is implmented for FreeRTOS but should be easy to port to other operating systems.
+ */
+class InterruptableDelay
+{
+    SemaphoreHandle_t semaphore;
+
+  public:
+    InterruptableDelay();
+    ~InterruptableDelay();
+
+    /**
+     * Returns false if we were interrupted
+     */
+    bool delay(uint32_t msec);
+
+    void interrupt();
+
+    void interruptFromISR(BaseType_t *pxHigherPriorityTaskWoken);
+};
+
+} // namespace concurrency