X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fstm32f4%2Fao_timer.c;h=fb83db003aa46085f37a3b294e2da02402dc49b3;hb=HEAD;hp=d6ef9bc379e5d074b68bb98506957f46ce94e599;hpb=015d3055a52532070e96469907683c3aa3eda44e;p=fw%2Faltos

diff --git a/src/stm32f4/ao_timer.c b/src/stm32f4/ao_timer.c
index d6ef9bc3..83ffe4a7 100644
--- a/src/stm32f4/ao_timer.c
+++ b/src/stm32f4/ao_timer.c
@@ -47,12 +47,9 @@ 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)
@@ -262,13 +259,12 @@ ao_clock_init(void)
 #if DEBUG_THE_CLOCK
 	/* Output PLL clock on PA8 and SYCLK on PC9 for measurments */
 
-	stm_rcc.ahb1enr |= ((1 << STM_RCC_AHB1ENR_IOPAEN) |
-			    (1 << STM_RCC_AHB1ENR_IOPCEN));
-
+	ao_enable_port(&stm_gpioa);
 	stm_afr_set(&stm_gpioa, 8, STM_AFR_AF0);
 	stm_moder_set(&stm_gpioa, 8, STM_MODER_ALTERNATE);
 	stm_ospeedr_set(&stm_gpioa, 8, STM_OSPEEDR_HIGH);
 
+	ao_enable_port(&stm_gpioc);
 	stm_afr_set(&stm_gpioc, 9, STM_AFR_AF0);
 	stm_moder_set(&stm_gpioc, 9, STM_MODER_ALTERNATE);
 	stm_ospeedr_set(&stm_gpioc, 9, STM_OSPEEDR_HIGH);