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altos: Leave interrupts disabled while checking for task to run
[fw/altos]
/
src
/
core
/
ao_task.c
diff --git
a/src/core/ao_task.c
b/src/core/ao_task.c
index a11979f0a81fb78a5063ee9066189647c649285e..985c37fa79953849f6237dd475879e92aa7231cb 100644
(file)
--- a/
src/core/ao_task.c
+++ b/
src/core/ao_task.c
@@
-331,6
+331,7
@@
ao_yield(void) ao_arch_naked_define
}
ao_arch_isr_stack();
}
ao_arch_isr_stack();
+ ao_arch_block_interrupts();
#if AO_CHECK_STACK
in_yield = 1;
#if AO_CHECK_STACK
in_yield = 1;
@@
-339,21
+340,19
@@
ao_yield(void) ao_arch_naked_define
* this loop will run forever, which is just fine
*/
#if HAS_TASK_QUEUE
* this loop will run forever, which is just fine
*/
#if HAS_TASK_QUEUE
- if (ao_cur_task->wchan == NULL) {
- uint32_t flags;
- flags = ao_arch_irqsave();
+ /* If the current task is running, move it to the
+ * end of the queue to allow other tasks a chance
+ */
+ if (ao_cur_task->wchan == NULL)
ao_task_to_run_queue(ao_cur_task);
ao_task_to_run_queue(ao_cur_task);
- ao_arch_irqrestore(flags);
- }
ao_cur_task = NULL;
ao_cur_task = NULL;
-
for (;;) {
ao_arch_memory_barrier();
if (!ao_list_is_empty(&run_queue))
break;
for (;;) {
ao_arch_memory_barrier();
if (!ao_list_is_empty(&run_queue))
break;
- ao_arch_cpu_idle();
+ /* Wait for interrupts when there's nothing ready */
+ ao_arch_wait_interrupt();
}
}
-
ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
#else
{
ao_cur_task = ao_list_first_entry(&run_queue, struct ao_task, queue);
#else
{
@@
-374,20
+373,19
@@
ao_yield(void) ao_arch_naked_define
(int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
break;
(int16_t) (ao_time() - ao_cur_task->alarm) >= 0)
break;
- /*
Enter lower power mode when there isn't anything to do
*/
+ /*
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_arch_
cpu_idle
();
+ ao_arch_
wait_interrupt
();
}
}
-#if HAS_SAMPLE_PROFILE
- ao_cur_task->start = ao_sample_profile_timer_value();
-#endif
}
#endif
}
#endif
+#if HAS_SAMPLE_PROFILE
+ ao_cur_task->start = ao_sample_profile_timer_value();
+#endif
#if HAS_STACK_GUARD
ao_mpu_stack_guard(ao_cur_task->stack);
#endif
#if AO_CHECK_STACK
#if HAS_STACK_GUARD
ao_mpu_stack_guard(ao_cur_task->stack);
#endif
#if AO_CHECK_STACK
- ao_arch_block_interrupts();
in_yield = 0;
#endif
ao_arch_restore_stack();
in_yield = 0;
#endif
ao_arch_restore_stack();
@@
-519,7
+517,7
@@
ao_task_info(void)
task->name,
(int) task->wchan);
}
task->name,
(int) task->wchan);
}
-#if HAS_TASK_QUEUE
+#if HAS_TASK_QUEUE
&& DEBUG
ao_task_validate();
#endif
}
ao_task_validate();
#endif
}