X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fstm%2Fao_timer.c;h=1576a6c91f78e38132b119b025415e0c112a3970;hb=e64438271e481ca9f9eeb0ce2b1f9eca071b7ad4;hp=d93531fc7da8623d1e4531959f50ce8fea75cd51;hpb=d6d56c20465455b759f60a03fc96aa228ab9102e;p=fw%2Faltos

diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c
index d93531fc..1576a6c9 100644
--- a/src/stm/ao_timer.c
+++ b/src/stm/ao_timer.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -17,6 +18,9 @@
 
 #include "ao.h"
 #include <ao_task.h>
+#if HAS_FAKE_FLIGHT
+#include <ao_fake_flight.h>
+#endif
 
 #ifndef HAS_TICK
 #define HAS_TICK 1
@@ -38,6 +42,7 @@ volatile __data uint8_t	ao_data_count;
 
 void stm_systick_isr(void)
 {
+	ao_validate_cur_stack();
 	if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
 		++ao_tick_count;
 #if HAS_TASK_QUEUE
@@ -47,7 +52,12 @@ void stm_systick_isr(void)
 #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
@@ -80,6 +90,7 @@ ao_timer_init(void)
 	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