ao_companion: Make motor_number uint16_t

[fw/altos] / src / stmf0 / ao_timer.c

diff --git a/src/stmf0/ao_timer.c b/src/stmf0/ao_timer.c
index 58e52995cf32f35cbb4146b092f60e6217771972..5b180074c07d8ddf7b850bf7e527a25a5e62ed31 100644 (file)
--- a/src/stmf0/ao_timer.c
+++ b/src/stmf0/ao_timer.c
@@ -60,12 +60,9 @@ void stm_systick_isr(void)
 {
        if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
                ++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);
-#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_ADC
 #if HAS_FAKE_FLIGHT
@@ -294,9 +291,6 @@ ao_clock_init(void)
        /* Enable 1 wait state so the CPU can run at 48MHz */
        stm_flash.acr |= (STM_FLASH_ACR_LATENCY_1 << STM_FLASH_ACR_LATENCY);
 
-       /* Enable power interface clock */
-       stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
-
        /* HCLK to 48MHz -> AHB prescaler = /1 */
        cfgr = stm_rcc.cfgr;
        cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE);