X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_task.c;h=bafb49439d4441022be1b9159947f30a9f8d7bff;hb=5c4b3658a96f1a64ccebf7bddda06b15b4ac4a6f;hp=0411fbdd425921c42f26b68d5116f932bfc18d96;hpb=e57ab2a7bfb69c0ef9b5b7fa8e53e20a500e7c6c;p=fw%2Faltos

diff --git a/src/core/ao_task.c b/src/core/ao_task.c
index 0411fbdd..bafb4943 100644
--- a/src/core/ao_task.c
+++ b/src/core/ao_task.c
@@ -109,6 +109,8 @@ ao_task_validate_alarm_queue(void)
 				ao_panic(3);
 		}
 	}
+	if (ao_task_alarm_tick != ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm)
+		ao_panic(4);
 }
 #else
 #define ao_task_validate_alarm_queue()
@@ -123,6 +125,7 @@ ao_task_to_alarm_queue(struct ao_task *task)
 	ao_list_for_each_entry(alarm, &alarm_queue, struct ao_task, alarm_queue) {
 		if ((int16_t) (alarm->alarm - task->alarm) >= 0) {
 			ao_list_insert(&task->alarm_queue, alarm->alarm_queue.prev);
+			ao_task_alarm_tick = ao_list_first_entry(&alarm_queue, struct ao_task, alarm_queue)->alarm;
 			ao_task_validate_alarm_queue();
 			return;
 		}
@@ -305,6 +308,8 @@ 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 +336,12 @@ 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 +384,7 @@ 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();
 		}
 	}
@@ -413,7 +423,7 @@ ao_sleep(__xdata void *wchan)
 }
 
 void
-ao_wakeup(__xdata void *wchan)
+ao_wakeup(__xdata void *wchan) __reentrant
 {
 #if HAS_TASK_QUEUE
 	struct ao_task	*sleep, *next;
@@ -505,6 +515,7 @@ ao_exit(void)
 	/* we'll never get back here */
 }
 
+#if HAS_TASK_INFO
 void
 ao_task_info(void)
 {
@@ -521,6 +532,7 @@ ao_task_info(void)
 	ao_task_validate();
 #endif
 }
+#endif
 
 void
 ao_start_scheduler(void)
@@ -529,5 +541,8 @@ 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();
 }