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 d69035f82b76227c2033eb3397a15a1d4f3c51f9..e07625d8d7d1e809db29f18c5f6deaae388f0869 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -44,7 +44,8 @@ void stm_tim6_isr(void)
                stm_tim6.sr = 0;
                ++ao_tick_count;
 #if HAS_TASK_QUEUE
-               ao_task_check_alarm((uint16_t) ao_tick_count);
+               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) {