X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_task.c;h=4f7072cb84bfbb26ce5d4ca2b193acaf960867e7;hb=2de8922b505f0358a36933721fbddf6a9ef7e9a4;hp=cf0b58ed8eaa0bf939e0e77bc80635b69f6f52db;hpb=a35424cd48205af89ba023db979959dc75b06706;p=fw%2Faltos

diff --git a/src/kernel/ao_task.c b/src/kernel/ao_task.c
index cf0b58ed..4f7072cb 100644
--- a/src/kernel/ao_task.c
+++ b/src/kernel/ao_task.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -28,12 +29,12 @@
 
 #define AO_NO_TASK_INDEX	0xff
 
-__xdata struct ao_task * __xdata ao_tasks[AO_NUM_TASKS];
-__data uint8_t ao_num_tasks;
-__xdata struct ao_task *__data ao_cur_task;
+struct ao_task * ao_tasks[AO_NUM_TASKS];
+uint8_t ao_num_tasks;
+struct ao_task *ao_cur_task;
 
 #if !HAS_TASK_QUEUE
-static __data uint8_t ao_cur_task_index;
+static uint8_t ao_cur_task_index;
 #endif
 
 #ifdef ao_arch_task_globals
@@ -289,7 +290,7 @@ ao_task_validate(void)
 #endif /* HAS_TASK_QUEUE */
 
 void
-ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *name) __reentrant
+ao_add_task(struct ao_task * task, void (*start)(void), const char *name) 
 {
 	uint8_t task_id;
 	uint8_t t;
@@ -320,7 +321,7 @@ ao_add_task(__xdata struct ao_task * task, void (*start)(void), __code char *nam
 		);
 }
 
-__data uint8_t	ao_task_minimize_latency;
+uint8_t	ao_task_minimize_latency;
 
 /* Task switching function. This must not use any stack variables */
 void
@@ -372,12 +373,16 @@ ao_yield(void) ao_arch_naked_define
 		if (!ao_list_is_empty(&run_queue))
 			break;
 		/* Wait for interrupts when there's nothing ready */
-		ao_arch_wait_interrupt();
+		if (ao_task_minimize_latency) {
+			ao_arch_release_interrupts();
+			ao_arch_block_interrupts();
+		} else
+			ao_arch_wait_interrupt();
 	}
 	ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
 #else
 	{
-		__pdata uint8_t	ao_last_task_index = ao_cur_task_index;
+		uint8_t	ao_last_task_index = ao_cur_task_index;
 		for (;;) {
 			++ao_cur_task_index;
 			if (ao_cur_task_index == ao_num_tasks)
@@ -413,7 +418,7 @@ ao_yield(void) ao_arch_naked_define
 }
 
 uint8_t
-ao_sleep(__xdata void *wchan)
+ao_sleep(void *wchan)
 {
 #if HAS_TASK_QUEUE
 	uint32_t flags;
@@ -434,7 +439,7 @@ ao_sleep(__xdata void *wchan)
 }
 
 void
-ao_wakeup(__xdata void *wchan) __reentrant
+ao_wakeup(void *wchan) 
 {
 	ao_validate_cur_stack();
 #if HAS_TASK_QUEUE
@@ -465,7 +470,7 @@ ao_wakeup(__xdata void *wchan) __reentrant
 }
 
 uint8_t
-ao_sleep_for(__xdata void *wchan, uint16_t timeout)
+ao_sleep_for(void *wchan, uint16_t timeout)
 {
 	uint8_t	ret;
 	if (timeout) {
@@ -499,7 +504,7 @@ ao_sleep_for(__xdata void *wchan, uint16_t timeout)
 	return ret;
 }
 
-static __xdata uint8_t ao_forever;
+static uint8_t ao_forever;
 
 void
 ao_delay(uint16_t ticks)
@@ -536,7 +541,7 @@ void
 ao_task_info(void)
 {
 	uint8_t		i;
-	__xdata struct ao_task *task;
+	struct ao_task *task;
 	uint16_t	now = ao_time();
 
 	for (i = 0; i < ao_num_tasks; i++) {