X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Flpc%2Fao_timer_lpc.c;h=a334ee0d286f8b78fa57ed5a80720545d52e795c;hb=ac2003b9556595db12e1fc671ef6226c56b777ad;hp=8999c7acf1af925e67d17125320644f503811eae;hpb=0686a7b8aec524d81bda4c572549a3a068ce0eed;p=fw%2Faltos

diff --git a/src/lpc/ao_timer_lpc.c b/src/lpc/ao_timer_lpc.c
index 8999c7ac..a334ee0d 100644
--- a/src/lpc/ao_timer_lpc.c
+++ b/src/lpc/ao_timer_lpc.c
@@ -17,15 +17,34 @@
  */
 
 #include <ao.h>
+#include <ao_task.h>
+
+#define AO_SYSTICK	(AO_LPC_SYSCLK / 2)
 
 volatile AO_TICK_TYPE ao_tick_count;
 
-uint16_t
+AO_TICK_TYPE
 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 = lpc_systick.cvr;
+		after = ao_tick_count;
+	} while (before != after);
+
+	return (uint64_t) after * (1000000000ULL / AO_HERTZ) +
+		(uint64_t) cvr * (1000000000ULL / AO_SYSTICK);
+}
+
 #if AO_DATA_ALL
 volatile uint8_t	ao_data_interval = 1;
 volatile uint8_t	ao_data_count;
@@ -35,10 +54,7 @@ void lpc_systick_isr(void)
 {
 	if (lpc_systick.csr & (1 << LPC_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) {
 			ao_data_count = 0;