altos/stm: Interrupt priority is in the upper bits of the priority mask

[fw/altos] / src / stm / ao_timer.c

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 34f9edb90b084d40b5fbee14cdca7d313a03d30c..a641eb2a7656e147ddd216fab0c92decea12a1ab 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.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
@@ -17,6 +18,9 @@
 
 #include "ao.h"
 #include <ao_task.h>
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
 
 #ifndef HAS_TICK
 #define HAS_TICK 1
@@ -38,22 +42,29 @@ volatile __data uint8_t     ao_data_count;
 
 void stm_systick_isr(void)
 {
-       if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
-               ++ao_tick_count;
+       ao_validate_cur_stack();
+       ++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);
+       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;
+       if (++ao_data_count == ao_data_interval) {
+               ao_data_count = 0;
+#if HAS_FAKE_FLIGHT
+               if (ao_fake_flight_active)
+                       ao_fake_flight_poll();
+               else
+#endif
                        ao_adc_poll();
 #if (AO_DATA_ALL & ~(AO_DATA_ADC))
-                       ao_wakeup((void *) &ao_data_count);
-#endif
-               }
+               ao_wakeup((void *) &ao_data_count);
 #endif
        }
+#endif
+#ifdef AO_TIMER_HOOK
+       AO_TIMER_HOOK;
+#endif
 }
 
 #if HAS_ADC
@@ -77,6 +88,7 @@ ao_timer_init(void)
        stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) |
                           (1 << STM_SYSTICK_CSR_TICKINT) |
                           (STM_SYSTICK_CSR_CLKSOURCE_HCLK_8 << STM_SYSTICK_CSR_CLKSOURCE));
+       stm_nvic.shpr15_12 |= AO_STM_NVIC_CLOCK_PRIORITY << 24;
 }
 
 #endif