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altos: Add ao_task_minimize_latency to reduce IRQ delays
[fw/altos]
/
src
/
core
/
ao_task.c
diff --git
a/src/core/ao_task.c
b/src/core/ao_task.c
index 0411fbdd425921c42f26b68d5116f932bfc18d96..9cb074b5220a2c6279353d1b4ab5371be2dd5385 100644
(file)
--- a/
src/core/ao_task.c
+++ b/
src/core/ao_task.c
@@
-305,6
+305,8
@@
ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
);
}
);
}
+__data uint8_t ao_task_minimize_latency;
+
/* Task switching function. This must not use any stack variables */
void
ao_yield(void) ao_arch_naked_define
/* Task switching function. This must not use any stack variables */
void
ao_yield(void) ao_arch_naked_define
@@
-331,7
+333,12
@@
ao_yield(void) ao_arch_naked_define
}
ao_arch_isr_stack();
}
ao_arch_isr_stack();
- ao_arch_block_interrupts();
+#if !HAS_TASK_QUEUE
+ if (ao_task_minimize_latency)
+ ao_arch_release_interrupts();
+ else
+#endif
+ ao_arch_block_interrupts();
#if AO_CHECK_STACK
in_yield = 1;
#if AO_CHECK_STACK
in_yield = 1;
@@
-374,7
+381,7
@@
ao_yield(void) ao_arch_naked_define
break;
/* Wait for interrupts when there's nothing ready */
break;
/* Wait for interrupts when there's nothing ready */
- if (ao_cur_task_index == ao_last_task_index)
+ if (ao_cur_task_index == ao_last_task_index
&& !ao_task_minimize_latency
)
ao_arch_wait_interrupt();
}
}
ao_arch_wait_interrupt();
}
}