2 * Copyright © 2020 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
22 #include <ao_fake_flight.h>
30 volatile AO_TICK_TYPE ao_tick_count;
42 AO_TICK_TYPE before, after;
46 before = ao_tick_count;
47 cvr = stm_systick.cvr;
48 after = ao_tick_count;
49 } while (before != after);
51 return (uint64_t) after * (1000000000ULL / AO_HERTZ) +
52 (uint64_t) cvr * (1000000000ULL / AO_SYSTICK);
57 volatile uint8_t ao_data_interval = 1;
58 volatile uint8_t ao_data_count;
61 void stm_systick_isr(void)
63 if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
65 ao_task_check_alarm();
67 if (++ao_data_count == ao_data_interval && ao_data_interval) {
71 if (ao_fake_flight_active)
72 ao_fake_flight_poll();
77 #if (AO_DATA_ALL & ~(AO_DATA_ADC))
78 ao_wakeup((void *) &ao_data_count);
88 #define SYSTICK_RELOAD (AO_SYSTICK / 100 - 1)
94 stm_systick.rvr = SYSTICK_RELOAD;
96 stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) |
97 (1 << STM_SYSTICK_CSR_TICKINT) |
98 (STM_SYSTICK_CSR_CLKSOURCE_HCLK_8 << STM_SYSTICK_CSR_CLKSOURCE));