Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

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

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index 9d118b721349d2198f69e37f7e32dd73ee593734..eec0a35ad3dbc9807d4c9e5980d77a624a85134a 100644 (file)
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -36,11 +36,28 @@ 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
-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)
@@ -50,12 +67,9 @@ 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) {
+               if (++ao_data_count == ao_data_interval && ao_data_interval) {
                        ao_data_count = 0;
 #if HAS_FAKE_FLIGHT
                        if (ao_fake_flight_active)