*
* 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
#include "ao.h"
#include <ao_task.h>
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
#ifndef HAS_TICK
#define HAS_TICK 1
#endif
+#if HAS_TICK || defined(AO_TIMER_HOOK)
+
#if HAS_TICK
volatile AO_TICK_TYPE ao_tick_count;
{
return ao_tick_count;
}
+#endif
#if AO_DATA_ALL
-volatile __data uint8_t ao_data_interval = 1;
-volatile __data uint8_t ao_data_count;
+volatile uint8_t ao_data_interval = 1;
+volatile uint8_t ao_data_count;
#endif
void stm_systick_isr(void)
{
+ ao_validate_cur_stack();
if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
+#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);
#if AO_DATA_ALL
if (++ao_data_count == ao_data_interval) {
ao_data_count = 0;
- ao_adc_poll();
+#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
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
#define STM_RCC_CFGR_PLLSRC_TARGET_CLOCK (0 << STM_RCC_CFGR_PLLSRC)
#endif
-#if !AO_HSE || HAS_ADC
+#if !AO_HSE || HAS_ADC || HAS_ADC_SINGLE
/* Enable HSI RC clock 16MHz */
stm_rcc.cr |= (1 << STM_RCC_CR_HSION);
while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY)))