altos: Provide ao_task_alarm_tick to reduce per-tick cost

[fw/altos] / src / stm / ao_timer.c

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 78228e65b72d10ad43df98e47694fc92c4b374bf..e07625d8d7d1e809db29f18c5f6deaae388f0869 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -16,6 +16,7 @@
  */
 
 #include "ao.h"
+#include <ao_task.h>
 
 volatile __data AO_TICK_TYPE ao_tick_count;
 
@@ -28,15 +29,6 @@ uint16_t ao_time(void)
        return v;
 }
 
-static __xdata uint8_t ao_forever;
-
-void
-ao_delay(uint16_t ticks)
-{
-       ao_alarm(ticks);
-       ao_sleep(&ao_forever);
-}
-
 #if AO_DATA_ALL
 volatile __data uint8_t        ao_data_interval = 1;
 volatile __data uint8_t        ao_data_count;
@@ -51,6 +43,10 @@ void stm_tim6_isr(void)
        if (stm_tim6.sr & (1 << STM_TIM67_SR_UIF)) {
                stm_tim6.sr = 0;
                ++ao_tick_count;
+#if HAS_TASK_QUEUE
+               if (ao_task_alarm_tick && (int16_t) (ao_tick_count - ao_task_alarm_tick) >= 0)
+                       ao_task_check_alarm((uint16_t) ao_tick_count);
+#endif
 #if AO_DATA_ALL
                if (++ao_data_count == ao_data_interval) {
                        ao_data_count = 0;
@@ -65,10 +61,12 @@ void stm_tim6_isr(void)
 
 #if HAS_ADC
 void
-ao_timer_set_adc_interval(uint8_t interval) __critical
+ao_timer_set_adc_interval(uint8_t interval)
 {
-       ao_data_interval = interval;
-       ao_data_count = 0;
+       ao_arch_critical(
+               ao_data_interval = interval;
+               ao_data_count = 0;
+               );
 }
 #endif
 
@@ -96,7 +94,7 @@ ao_timer_init(void)
        stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_TIM6EN);
 
        stm_tim6.psc = TIMER_10kHz;
-       stm_tim6.arr = 100;
+       stm_tim6.arr = 99;
        stm_tim6.cnt = 0;
 
        /* Enable update interrupt */
@@ -275,6 +273,7 @@ ao_clock_init(void)
        stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF);
 
 
+#if DEBUG_THE_CLOCK
        /* Output SYSCLK on PA8 for measurments */
 
        stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
@@ -285,4 +284,5 @@ ao_clock_init(void)
 
        stm_rcc.cfgr |= (STM_RCC_CFGR_MCOPRE_DIV_1 << STM_RCC_CFGR_MCOPRE);
        stm_rcc.cfgr |= (STM_RCC_CFGR_MCOSEL_HSE << STM_RCC_CFGR_MCOSEL);
+#endif
 }