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 f3011d3f0e159097c71ce8c3e3f49443c98d070b..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;
 
@@ -42,6 +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;
@@ -56,10 +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