Version 1.9.6.2

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

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 9e9436cfa685dae451ae27ff59b8c9af6b32be1c..0d81b5de47e6170fccfe160f34a90f4f9c1fa97b 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -36,6 +36,23 @@ ao_time(void)
 {
        return ao_tick_count;
 }
+
+uint64_t
+ao_time_ns(void)
+{
+       AO_TICK_TYPE    before, after;
+       uint32_t        cvr;
+
+       do {
+               before = ao_tick_count;
+               cvr = stm_systick.cvr;
+               after = ao_tick_count;
+       } while (before != after);
+
+       return (uint64_t) after * (1000000000ULL / AO_HERTZ) +
+               (uint64_t) cvr * (1000000000ULL / AO_SYSTICK);
+}
+
 #endif
 
 #if AO_DATA_ALL
@@ -50,10 +67,7 @@ void stm_systick_isr(void)
 #if HAS_TICK
                ++ao_tick_count;
 #endif
-#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);
-#endif
+               ao_task_check_alarm();
 #if AO_DATA_ALL
                if (++ao_data_count == ao_data_interval) {
                        ao_data_count = 0;