X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_task.c;h=0aad650898d9c54dddca6d53e6fa2c799aec89d8;hb=988924b51980ad43e39bc4785a625ff25eb16449;hp=0411fbdd425921c42f26b68d5116f932bfc18d96;hpb=e57ab2a7bfb69c0ef9b5b7fa8e53e20a500e7c6c;p=fw%2Faltos

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 0411fbdd..0aad6508 100644
--- 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
@@ -331,7 +333,12 @@ ao_yield(void) ao_arch_naked_define
 	}
 
 	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;
@@ -374,7 +381,7 @@ ao_yield(void) ao_arch_naked_define
 				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();
 		}
 	}
@@ -505,6 +512,7 @@ ao_exit(void)
 	/* we'll never get back here */
 }
 
+#if HAS_TASK_INFO
 void
 ao_task_info(void)
 {
@@ -521,6 +529,7 @@ ao_task_info(void)
 	ao_task_validate();
 #endif
 }
+#endif
 
 void
 ao_start_scheduler(void)
@@ -529,5 +538,8 @@ ao_start_scheduler(void)
 	ao_cur_task_index = AO_NO_TASK_INDEX;
 #endif
 	ao_cur_task = NULL;
+#if HAS_ARCH_START_SCHEDULER
+	ao_arch_start_scheduler();
+#endif
 	ao_yield();
 }